diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c5d5671cf11d8d5c0ebc8ddfe353df5efd410eb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_98_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29158018524105034, + -0.18149583708016018, + 1.004766687401264 + ], + "current_z": 1.004766687401264, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14366023899114266, + "gripper_z": 1.0056096758588113, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28808267629082424, + -0.1853768854093449, + 1.0056096758588113 + ], + "object_minus_gripper": [ + 0.0034975089502261025, + 0.003881048329184733, + -0.0008429884575473778 + ], + "object_to_gripper_xy": 0.005224471742710386, + "object_to_gripper_z": -0.0008429884575473778, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29158018524105034, + -0.20505542691457404, + 1.004766687401264 + ], + "finger_b": [ + 0.2815458554503526, + -0.18149583708016018, + 1.004766687401264 + ], + "finger_midpoint": [ + 0.28656302034570147, + -0.1932756319973671, + 1.004766687401264 + ], + "object_minus_finger_midpoint": [ + 0.005017164895348869, + 0.011779794917206932, + 0.0 + ], + "finger_gap": 0.025607460778341556, + "fingertip_max_gap": 0.09390056471398625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012803730389170778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004766687401264, + "object_top_z": 1.0547169254522426, + "finger_top_clearance": 0.049950238050978646, + "fingertip_min_top_clearance": 0.014985071415293576, + "object_projection_between_fingers": 0.8464521609828777, + "object_to_finger_line_xy": 0.009231867859855363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945028235699313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.407858844907968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2869887462860767, + -0.02254334199554466, + 0.7701465090059012 + ], + "gripper_position": [ + 0.28873966790692795, + -0.05878260453930263, + 1.0245588585825542 + ], + "target_minus_gripper": [ + -0.0017509216208512757, + 0.03623926254375798, + -0.25441234957665304 + ], + "held_position": [ + 0.29227262648640784, + -0.05495361490404358, + 1.023685102551662 + ], + "held_minus_target": [ + 0.005283880200331159, + -0.03241027290849892, + 0.2535385935457608 + ], + "held_minus_gripper": [ + 0.0035329585794798835, + 0.0038289896352590516, + -0.0008737560308922365 + ], + "xy_dist": 0.03628153629930497, + "held_xy_dist": 0.03283816651359864, + "held_gripper_dist": 0.005282651564580265, + "max_held_gripper_dist": 0.005293428960412093, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.023685102551662, + "required_height": 0.8001465090059012, + "gripper_z": 1.0245588585825542, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.40772698400376, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.6192308318819464, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3379240413963216, + "max_source_tilt_deg": 89.9112602066545, + "source_upright_tilt_deg": 3.832066348875237, + "max_source_upright_tilt_deg": 89.66346061183609, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3379240413963216, + "source_upright_return_tilt_deg": 3.832066348875237, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.963374150388733e-08, + "max_target_xy_drift": 1.2798147936390254e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.287, + -0.0225, + 0.7701 + ], + "controller_target_position": [ + 0.287, + -0.0225, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0019, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.2885, + -0.0459, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015529585387777304, + 0.001851892646350572, + -0.0018271957744162176 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8320556254421954, + "source_return_step_error_deg": 2.3379340297236624, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8257911754325407, + "source_return_best_wrist_position": -1.5855096578598022, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5855096578598022 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.287, + -0.0225, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.287, + -0.0225, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0019, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2885, + -0.0459, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015529585387777304, + 0.001851892646350572, + -0.0018271957744162176 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8320556254421954, + "pour_controller_source_return_step_error_deg": 2.3379340297236624, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8257911754325407, + "pour_controller_source_return_best_wrist_position": -1.5855096578598022, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5855096578598022, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03628153629930497, + "valid_pour_held_xy_dist": 0.03283816651359864, + "valid_pour_held_gripper_dist": 0.005282651564580265, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.023685102551662, + "valid_pour_source_tilt_deg": 2.3379240413963216, + "valid_pour_source_upright_tilt_deg": 3.832066348875237, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.963374150388733e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.29227262648640784, + -0.07816662687248145, + 1.023685102551662 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2825921504064046, + -0.05495361490404358, + 1.023685102551662 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28743238844640623, + -0.06656012088826252, + 1.023685102551662 + ], + "valid_pour_held_grasp_object_position": [ + 0.29227262648640784, + -0.05495361490404358, + 1.023685102551662 + ], + "valid_pour_held_grasp_finger_gap": 0.02515065688570289, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0236923611816564, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05487830751434875, + -0.9977642311107344, + 0.03814328879849771 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005487366321951099, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038405317622470576, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29227262648640784, + -0.07816662687248145, + 1.023685102551662 + ], + "held_grasp_finger_b": [ + 0.2825921504064046, + -0.05495361490404358, + 1.023685102551662 + ], + "held_grasp_midpoint": [ + 0.28743238844640623, + -0.06656012088826252, + 1.023685102551662 + ], + "held_grasp_object_position": [ + 0.29227262648640784, + -0.05495361490404358, + 1.023685102551662 + ], + "held_grasp_finger_gap": 0.02515065688570289, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0236923611816564, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05487830751434875, + -0.9977642311107344, + 0.03814328879849771 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005487366321951099, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038405317622470576, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2506076949736863, + -0.1593983055325325, + 0.7611065786439151 + ], + "target_position": [ + 0.2698245938456421, + -0.18376094485107347, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.031029460143874484, + "xy_threshold": 0.08, + "gripper_dist": 0.2056627232426683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065786439151, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08597021366853719, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526854998559912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1842789732733499, + "release_required_pad_clearance": 0.05263427499279956, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3286490075928595, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "2e52b83b1304555728b236bde857f072e7e24bb8376a177ed6f38b387376bc8d", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0827794293e490d8fe18dd79f6ab7845a540c60ff89b7e9da01694f9ab5967d1", + "visual_seed": 5675264886535704652, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "d979acce9e428a64c96b031f16cedcfeec6e7276cfebc783834b34be742107aa" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddba6684daafe1f81ead7124b33027fe4399971c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29151075666551246, + -0.18294882004991184, + 1.0016131443713916 + ], + "current_z": 1.0016131443713916, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14050669596127052, + "gripper_z": 1.0024793363467408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28813440606481977, + -0.18681489638547233, + 1.0024793363467408 + ], + "object_minus_gripper": [ + 0.0033763506006926902, + 0.003866076335560492, + -0.0008661919753492064 + ], + "object_to_gripper_xy": 0.005132863685232517, + "object_to_gripper_z": -0.0008661919753492064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29151075666551246, + -0.20631860688946643, + 1.0016131443713916 + ], + "finger_b": [ + 0.28132424577518256, + -0.18294882004991184, + 1.0016131443713916 + ], + "finger_midpoint": [ + 0.2864175012203475, + -0.19463371346968913, + 1.0016131443713916 + ], + "object_minus_finger_midpoint": [ + 0.005093255445164979, + 0.011684893419777298, + 0.0 + ], + "finger_gap": 0.02549337053127791, + "fingertip_max_gap": 0.0931989724426133, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012746685265638966, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016131443713916, + "object_top_z": 1.051424605216021, + "finger_top_clearance": 0.049811460844629396, + "fingertip_min_top_clearance": 0.014943438253388801, + "object_projection_between_fingers": 0.840339902122801, + "object_to_finger_line_xy": 0.009337980156595548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909948622130665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.198881478780868, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.28531662738387037, + -0.027588640482492672, + 0.7701464494012564 + ], + "gripper_position": [ + 0.28655976113666654, + -0.06517745367270572, + 1.0237993124113047 + ], + "target_minus_gripper": [ + -0.0012431337527961661, + 0.03758881319021305, + -0.2536528630100483 + ], + "held_position": [ + 0.2900117960886291, + -0.06139188012469324, + 1.0229400336831573 + ], + "held_minus_target": [ + 0.004695168704758723, + -0.03380323964220057, + 0.2527935842819009 + ], + "held_minus_gripper": [ + 0.003452034951962557, + 0.003785573548012483, + -0.0008592787281473946 + ], + "xy_dist": 0.03760936397462839, + "held_xy_dist": 0.03412775438663062, + "held_gripper_dist": 0.005194754308880214, + "max_held_gripper_dist": 0.005206106273533881, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0229400336831573, + "required_height": 0.8001464494012565, + "gripper_z": 1.0237993124113047, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.84871814776562, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.978802208491705, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.415367002111887, + "max_source_tilt_deg": 89.71163143517977, + "source_upright_tilt_deg": 3.0697242560317175, + "max_source_upright_tilt_deg": 89.93328348141635, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.415367002111887, + "source_upright_return_tilt_deg": 3.0697242560317175, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.7706993203109864e-08, + "max_target_xy_drift": 1.0285107562436176e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2853, + -0.0276, + 0.7701 + ], + "controller_target_position": [ + 0.2853, + -0.0276, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0004, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.2869, + -0.0532, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001608354532117091, + -0.0004165976072027049, + -0.0016670989398286503 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0697376264023, + "source_return_step_error_deg": 2.4153720176944393, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0639130369221164, + "source_return_best_wrist_position": -1.5707964897155762, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5707964897155762 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2853, + -0.0276, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2853, + -0.0276, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0004, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2869, + -0.0532, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001608354532117091, + -0.0004165976072027049, + -0.0016670989398286503 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0697376264023, + "pour_controller_source_return_step_error_deg": 2.4153720176944393, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0639130369221164, + "pour_controller_source_return_best_wrist_position": -1.5707964897155762, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5707964897155762, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03760936397462839, + "valid_pour_held_xy_dist": 0.03412775438663062, + "valid_pour_held_gripper_dist": 0.005194754308880214, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0229400336831573, + "valid_pour_source_tilt_deg": 2.415367002111887, + "valid_pour_source_upright_tilt_deg": 3.0697242560317175, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.7706993203109864e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.2900117960886291, + -0.0845661269633072, + 1.0229400336831573 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2804677917168541, + -0.06139188012469324, + 1.0229400336831573 + ], + "valid_pour_held_grasp_midpoint": [ + 0.28523979390274157, + -0.07297900354400022, + 1.0229400336831573 + ], + "valid_pour_held_grasp_object_position": [ + 0.2900117960886291, + -0.06139188012469324, + 1.0229400336831573 + ], + "valid_pour_held_grasp_finger_gap": 0.025062596353639614, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023543101780455652, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04213192825522886, + -0.9985651155850243, + 0.033054660158042364 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052696476746182065, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038350806487326444, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2900117960886291, + -0.0845661269633072, + 1.0229400336831573 + ], + "held_grasp_finger_b": [ + 0.2804677917168541, + -0.06139188012469324, + 1.0229400336831573 + ], + "held_grasp_midpoint": [ + 0.28523979390274157, + -0.07297900354400022, + 1.0229400336831573 + ], + "held_grasp_object_position": [ + 0.2900117960886291, + -0.06139188012469324, + 1.0229400336831573 + ], + "held_grasp_finger_gap": 0.025062596353639614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023543101780455652, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04213192825522886, + -0.9985651155850243, + 0.033054660158042364 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0052696476746182065, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038350806487326444, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26629819082532025, + -0.1848395859548107, + 0.761110753674918 + ], + "target_position": [ + 0.2694356743673745, + -0.18583407282731845, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0032913230039379924, + "xy_threshold": 0.08, + "gripper_dist": 0.21386396419290615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110753674918, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556803550142686, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09085169140883924, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18536502280251554, + "release_required_pad_clearance": 0.05542584570441962, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.967987949334371, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "2e52b83b1304555728b236bde857f072e7e24bb8376a177ed6f38b387376bc8d", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02bae05f80f745d6204bde9b4d02f5dddb8e0df40a6a0717c75fd1ede93d38a5", + "visual_seed": 8086241093919341457, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "d979acce9e428a64c96b031f16cedcfeec6e7276cfebc783834b34be742107aa" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f800e7574409aa22194b8b7feafe8b71663a9ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2900319935607158, + -0.17836293361111963, + 1.0027780502874348 + ], + "current_z": 1.0027780502874348, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.1416714826680242, + "gripper_z": 1.0033563333971376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.286492454704639, + -0.18219103568545814, + 1.0033563333971376 + ], + "object_minus_gripper": [ + 0.0035395388560767738, + 0.0038281020743385075, + -0.0005782831097027596 + ], + "object_to_gripper_xy": 0.005213703175788976, + "object_to_gripper_z": -0.0005782831097027596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2900319935607158, + -0.20207309288521766, + 1.0027780502874348 + ], + "finger_b": [ + 0.28027545043865865, + -0.17836293361111963, + 1.0027780502874348 + ], + "finger_midpoint": [ + 0.28515372199968725, + -0.19021801324816864, + 1.0027780502874348 + ], + "object_minus_finger_midpoint": [ + 0.0048782715610285465, + 0.011855079637049015, + 0.0 + ], + "finger_gap": 0.02563906758241527, + "fingertip_max_gap": 0.0942742856998757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012819533791207623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027780502874348, + "object_top_z": 1.0527757699387388, + "finger_top_clearance": 0.04999771965130395, + "fingertip_min_top_clearance": 0.014999315895391201, + "object_projection_between_fingers": 0.855193691437387, + "object_to_finger_line_xy": 0.009022527463020505, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963714284993785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.602686215532858, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.2859219721562092, + -0.026980414198107934, + 0.7701463301919669 + ], + "gripper_position": [ + 0.2877031122381706, + -0.06464470393785268, + 1.0249072985024297 + ], + "target_minus_gripper": [ + -0.0017811400819613965, + 0.03766428973974475, + -0.2547609683104628 + ], + "held_position": [ + 0.29124464355834767, + -0.060830243671367995, + 1.0242983707898508 + ], + "held_minus_target": [ + 0.00532267140213849, + -0.03384982947326006, + 0.2541520405978839 + ], + "held_minus_gripper": [ + 0.0035415313201770937, + 0.003814460266484687, + -0.0006089277125789216 + ], + "xy_dist": 0.037706381178668036, + "held_xy_dist": 0.03426575238082375, + "held_gripper_dist": 0.005240548079689026, + "max_held_gripper_dist": 0.005244744013455387, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0242983707898508, + "required_height": 0.8001463301919669, + "gripper_z": 1.0249072985024297, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.36535932058217, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.4206412410584, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.305590650628787, + "max_source_tilt_deg": 89.91725751037905, + "source_upright_tilt_deg": 3.7015372646627953, + "max_source_upright_tilt_deg": 89.90608560238711, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.305590650628787, + "source_upright_return_tilt_deg": 3.7015372646627953, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.587935447692871e-09, + "max_target_xy_drift": 9.95600820531138e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.2859, + -0.027, + 0.7701 + ], + "controller_target_position": [ + 0.2859, + -0.027, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0006, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.2875, + -0.0528, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001610956217964205, + -0.0005933617707093229, + -0.0002161969172475625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7015322078154247, + "source_return_step_error_deg": 1.3055680653287087, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6987293753508226, + "source_return_best_wrist_position": -1.5592255592346191, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5592255592346191 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.2859, + -0.027, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.2859, + -0.027, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0006, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2875, + -0.0528, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001610956217964205, + -0.0005933617707093229, + -0.0002161969172475625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7015322078154247, + "pour_controller_source_return_step_error_deg": 1.3055680653287087, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6987293753508226, + "pour_controller_source_return_best_wrist_position": -1.5592255592346191, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5592255592346191, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037706381178668036, + "valid_pour_held_xy_dist": 0.03426575238082375, + "valid_pour_held_gripper_dist": 0.005240548079689026, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0242983707898508, + "valid_pour_source_tilt_deg": 1.305590650628787, + "valid_pour_source_upright_tilt_deg": 3.7015372646627953, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.587935447692871e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.29124464355834767, + -0.08446944713132261, + 1.0242983707898508 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2815706147921283, + -0.060830243671367995, + 1.0242983707898508 + ], + "valid_pour_held_grasp_midpoint": [ + 0.286407629175238, + -0.07264984540134531, + 1.0242983707898508 + ], + "valid_pour_held_grasp_object_position": [ + 0.29124464355834767, + -0.060830243671367995, + 1.0242983707898508 + ], + "valid_pour_held_grasp_finger_gap": 0.025542098049901263, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024194803885386067, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06252972785733699, + -0.9979138907667582, + 0.01605925741864278 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005569777639885631, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822776251343778, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.29124464355834767, + -0.08446944713132261, + 1.0242983707898508 + ], + "held_grasp_finger_b": [ + 0.2815706147921283, + -0.060830243671367995, + 1.0242983707898508 + ], + "held_grasp_midpoint": [ + 0.286407629175238, + -0.07264984540134531, + 1.0242983707898508 + ], + "held_grasp_object_position": [ + 0.29124464355834767, + -0.060830243671367995, + 1.0242983707898508 + ], + "held_grasp_finger_gap": 0.025542098049901263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024194803885386067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06252972785733699, + -0.9979138907667582, + 0.01605925741864278 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005569777639885631, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822776251343778, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26941243404933857, + -0.18295666735930138, + 0.7611150307293956 + ], + "target_position": [ + 0.26850502096326534, + -0.18008512678959518, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030115019097197286, + "xy_threshold": 0.08, + "gripper_dist": 0.2166966718910006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611150307293956, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585103484421132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08791549670583541, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18656306499024305, + "release_required_pad_clearance": 0.05395774835291771, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9060993014073406, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "2e52b83b1304555728b236bde857f072e7e24bb8376a177ed6f38b387376bc8d", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1620eec0e50c3314ec7ba7cac4245a1cf92c417334453e618a72283131d17d95", + "visual_seed": 2244545075795531460, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "d979acce9e428a64c96b031f16cedcfeec6e7276cfebc783834b34be742107aa" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c166dfb56c91ed76e6495cf6d0fc006be74298e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00010", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1197459a952f35f769632e9c3ba1d8c361f569a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b13f8e73e34ee0bb600561efb17ef787c26dbdd00a2a3ac21a5f91ea92a2562 +size 4749112 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b9bda7e46f2a3437bd79f1a9ff122689f28bcfc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cba25d4a51b7571912a971f90d638ff161f91e4237a7939e9b33a20d1f6e7b4e +size 5090464 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e98ad983128a14f7e77b3a9121e543bc67977684 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ec4d19f80dceacc289a3b2c1c30c07eb9750f1783be11fc67d3ad31cba7d674 +size 4662612 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb54396bb1f59b4b67cba6158c0f6d17afbd6b74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b483df30f6bcecc318f9e1758e954336b285be0bf58d6bdd9912329560a466f +size 5969689 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0c667f6f0fba63596e44502c8d8db770727330c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0753812936a8cf26cdfb8c2bded2fe74a6aa221327ca1fd803409755e84e2688 +size 3840550 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38e18c82dde50434a837d03eaa93f0e75d0f652c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32c938503c2b5f981984c9cb65a58975407ba5682278c9c9195d55b32d06d2f9 +size 5039072 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca30b34fdb25ecf78caf3e8390dc9e20e5fd216d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1cedf37554a91d24825e6c47c2a372dec63abe8758a0007ca85b950d9eb7776 +size 5084036 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19c1d1aeb4dce835b9bcf379fb3b4b700890edd3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28f06176bf0545d738e3af66cb23158ffa2ce6c9d74149a1d4803188035cf342 +size 5991620 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8296676e7147cb7fcbfda88579b4d3031ef3780f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a04173492b5ad4d35d660a37750646d88c1ba48209302f38637032ffb40b2907 +size 4075970 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e7b594b6c2a3ea21805490e6b491fe83c619ec2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d048ce586c50389685c9dd1d62fb534f6dbe08e6f815eea18b1c399dec5d231 +size 4868470 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abbb5d1d06e9c668cad23db6325b0b934de2ee0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2815bb7f8bcc451b27eebb99d8e29552c88b7161a8cf2de169c717026979481 +size 4027723 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..220a6a4f4e07e7974253ccd568f37e7a8725b232 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2858c11aedd523ca08117eb3ddc552b81fa440e4e0530f3ad69b21deed242b92 +size 4194495 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ffd6198234968182b016846709af11cd8b5ad5cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7bdb1accfb68ab6c0e18567dc1cc6d908059568b55d35b8570f95414db489c7 +size 4367813 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd8d099ea939001e71f865cdcb1f5cc49033989c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:196f3fb08fc70a4b90229933e74c160878710d23af6cbabdef08d9e26ca5da23 +size 4604547 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9dddf1f23738cab614191777d3753b91faa47515 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c4582389b4899d0a32455ef981fa454ea80177cc1c660181a838581088f3a9f +size 4628951 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8889b6307a73409001224cc198c3663acc099818 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f37591a8c14b19628127c3a71cce5e951e6adeb8210edc6bccfd7efce36500 +size 5381494 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7fd4f88be9668ade62f23006b20285cc6c71797 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a648c79a331265e158c3e79aa5ff31d254b5e382d233bd76b208aefe441fc7ce +size 6745478 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f097d8ba06b3ff4e88f6eb742e6612bccc0565ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2c2b1ffa3dc6d77a05f228c006a3ddec1a8899b7913215055de9a973c87497e +size 4900740 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e35bd2158da45f85fa3b9f7258a90b9f169f3cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cd002ee3a3ee13ca7427186c10a8fd3bd9bb7bc636ad8184cb1ca301e20ac66 +size 5692122 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17a3a5f6328b7aacf4b4ae289782446838202764 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36158941bbf8925638181373e924da7d085f4394d7cc01676e10c024ed13d2f3 +size 4508020 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abff67a3e97bed49cc561a69acd199d24dad5064 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f88ebbed7790b341661e5505bd5ed8570c1cb8c686ee6d3429d347416560986c +size 3817584 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..314358c564c4e985defa6f39c31d33365a46eac4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2535df57ed62dc8f0dd8614eb06e3be63ef43fd9fbaa0756e6a0d08ca8fa34ab +size 4174232 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..430e2baf3e252ee84dd246ed0c99ba6062ee617d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d74ddb7a63e6bc4eaa446fb6802708f6769a57a4e770b9a2b6274dd3631278 +size 5226951 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..728ac7592468c5ffed2a5d51f9ffa4eb69526876 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbe35c8a4f0e84e455dadc82eba480b29cf13c2b01fb169a019cfca12c60f155 +size 5110327 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87a00b4011309bb335f1745d6e65e1ba06b52f33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11f72f9088245fe62edfe447c36a627e82eed82eba875d70376de6c503460177 +size 4027099 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb6d6a60fe257f570e88948e130a504a27fd7c9a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:705952f4e8113d5ca10dd073505d1c56ddf223b37ff213bcdab236dd0369fa82 +size 3851488 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d5c1ebb56a328fe7892be102af386cfa0413e43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4ef368a89bffbea5f05a161e03c3db5ed62019f016d43574a9f7cb45f331951 +size 3975931 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bfa774b8dc17e23268be6d289bc84ccbd50e3cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d8d5f9e4522214c0746507b80621e7e45b719678f5ab1bea702114a75a23407 +size 3917610 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abf7f9a867a78c56d94403cf073e5346579ee119 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2193f7ce6dedd47fc616e5c6f1eedb2cc897e5802ecbd2dbd1a95303d180607a +size 6192851 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21532a5c088f93ffc5cf27e660ae5d22d86f0652 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cef100ab01334826d0c7dfa3a174276f303d6d4d7af42dc9fb32a6add2a0c9e +size 4784867 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..370052da6e026332b5f6e0a5c917a819bc93d7d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2a884bc5749c1cb0e6e8dec8974abaef7724ca66a46e1e8124384a96e889448 +size 4382959 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa6e8686772b5e3a308461954af12a88df2361e0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ccedf272c38778d102c0e874ed533a38bc0bcceb59a719467edfd4350590359 +size 5062170 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..98ed11df645fa0726734d421d7c976b10e640f94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:297a435a23a8f618cfe230644aa8228454f52dbfafc7f4a32ddd05f3281abf10 +size 4338392 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5e9d6c2dd0aea7d6006d4389b204f1478801fc6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa964cfe167e81b6003315268477e0bb6ac3c1dc32e60d4810a2468a24d28c91 +size 4967691 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb7db9998014d2ac72243d079f5bb61b4962258a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fb0165be3ea5ca6618d75b16eebe8b136cc3b61fb5eb95408e16698ec3a56b5 +size 4818768 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..28c2e5ca141e8dead5029731175b744c64fcbe0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e6ec5ea75c814269ed63290c486e36e4571574008dac5dabe872edc9632f963 +size 4296855 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c7f2ac14abbc0c88ab621399e255377091f38e2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c46240247c55026fb586cc31851ee7afe19b77bc9616f3db6dbf387aa5dcf79 +size 4587966 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a989912e7f75abe1034cbdd01eaae732698a9b19 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b8ef96bd98fd9bdd1ef6b8c63a63f06e9ed537964551d1a70cf7d87b131f27 +size 5397941 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5594715ec77e10029980527adfda441a3c188654 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d92a004f2dbd70dc66cc32dc365c55e17e1c55a54e36797da65ff2f083a6362 +size 4414752 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b395007d508305a15b59594c96ecb71d29709d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9420dbddb944bc6a9410d16dafce3e5840eecfd60117c3f6053fd6bfd430d79 +size 4382990 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..678eecc58c726f423942c4239a3af3dbdc0fdb0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9a7435226cc41e569d37201b1b832f5d5a07fc846657ea617f12e350f57a11a +size 6125321 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..457ddc9ae3e805988fb575a73a780b8ed0acd822 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:881009f9dc0551723805d0a5a28f15080223b9b9a6671ddb127edae3856f5501 +size 3758836 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8748bb8b8e7c5461a7c38bf0cf05846f2b9d8d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a09e298f655c3333b86e4b56b5580d4c04d9575ac92a4e792a1963d6eab0dd48 +size 4967583 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa22d525f89602ca01a95311ab2f638b0fcc1a43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:713809a5812cb9b2da4fc0d44a90f794e18689b75e3fff4aef7b1c5ff80a581a +size 4131595 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c85a97145a66fd7d3087a611e9312838c1a104d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0ef5e2afdaa7a76a52e51ffe313f75efb91c58594ec99493f4c2de380e63d7c +size 3946686 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25b8052b67082db7baa10ef4a84010cbacf0bd3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e087d1e4ad550cf2d47700c8474d79241faeb1011ec4af193b269b945a65cce6 +size 5688902 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..594ba9433b2aab15064706abb4e258e4d5646a10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38d7c8ab6fead2404095a2d7258d53ddd345aecd0382918edd86e47d6dcd097e +size 4630033 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7feb066207f41c2834212b1ed175b81cc074e621 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8517388f3aa668c964a3af16ccdd319bd56808573e057a1f598e3c2377b46c6 +size 5274597 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b1a5b3de787c5d52398371e668b920798c38e867 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0122b6f0fc7280a91d72e7c73ae470f98fdf14f252881f2d5bec3e5a27abd291 +size 5149100 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8dcf3c85c7393ad68d1ef6f0cd0b596ad4afd5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:501a35b1cee31d8432fb86d71b25bdd9c979ae5460d6df368776e53257796ba5 +size 5648231 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fffe59d85c09f52be89ff1cfe8c8fdb77479d211 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25ec8b6e41ff0747942e3051243041724195b23ff81048461d182abfad4c101 +size 4400709 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d145a167355b88cee9659223d6b5852a80f9bf1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74576ce5df3cea0f63bb8a455bb9af7f65537d356e48e510cfd32d25d709dd0 +size 4075266 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ebdb53a07213fdc25ce74bbb760e060924a754b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4b244585761fa9cb51680cbcc52b75282576b7cc22126960c63a0ff77695df2 +size 3992309 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb75f6136b4fa60cde392475e7c45bb9958b8cdd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02a3f4a8716edcd8a845bc4afca503605358d32dc039a85146ed50d16be7cf01 +size 6219778 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbe4352b2d327add7aee5243e58f5564429d7603 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d256bed8cbc65336067ed0c1849cb43aef9117bcb69a3180b8ab7d010b28bbe3 +size 4609829 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b71b9a73b529be0824ab04e619fd4a486ef69874 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87bddbc7f189dd1eb78fbcef0b9110cbf932fc5e5976f3584a6785e7f314a836 +size 3973718 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6850cc034f19429fb44bd0c082b0264742c03f58 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d71866fbe1c83993e4540657ec8e9db35b24f832e9f79fad209e34b9e5bae13e +size 3978654 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc26b858d283005bb67982433b29ba932603d8bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd2647ddc186a906d61a3a9a2622058bedd694646f30f229f427d2b8fb1d8b78 +size 4766255 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a33cbcd78aae9b37610bc8930a218c1c7d2b9f67 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:325b7a73e89c20a97d1a7a591f8e1b553e61c693982187e4ecc7ab399044f025 +size 5121512 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f59a7653ad5db489c34e58be1c4bd83155f9b055 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45a2d7cc4e90c94e42cc96a2f221e0db332ec1f01f8ca1605fdfd22aaaa3017e +size 4792480 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ca610cfe1070889e5d36f9a988e63ca8d59ba10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53119c7026013ae3d85d7a5093593609a5778c799743760f1fb6d2f4fab790db +size 4884891 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0d176fa1d9c031302933a59d2f0caccf92f1b50 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c70a579a9c888ad87d3124fbcc552de109d7e0684de7e9f0999bf25c50e1966e +size 4216035 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ec1e9be40adb8c6ef1652d4e86dc7dc21cb9ad1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:009b346a03afff7e58ae90127ceba312d799bc0277bec18f94375341d677f600 +size 5954256 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4d7ea4ed9c0eb7c8b8621995e6d1c0ec5c99d02 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b4eeffa6412f1d9663241e5e46f8558cbd7889823c75f96de0f10a745aa0f5 +size 4388901 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd77777e6bf237a42f1ccc132dbfa7fb7ed72c87 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdceac7a448ba993e1087cfb40ba0693428e819cf6a73bc556813aa99151b29c +size 5154140 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e34dba19a37cc248e22afc0e587f380a32344db0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33c7ce20f1d7960dedf90e96c17e38ebb69793d9f7db56dd6e1c871e9f298e81 +size 4164103 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff017224caa8ca55163bac70265de84d3927b8ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efee3691b515f402245164cb1b43630e132f8a8096760cd45a0705bfba24054d +size 5165312 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b2cbabcbe412244483a8c8542a71a9bd6e707f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f16b88783b4025837219201464ec93ed116d6f8dddcee878e0d612bd43d600e1 +size 4793896 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66746745b0280c00d5724c70c3f8846e22a309dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8276f2eab298c9fccd04c58fff4addac2cdbf5c7634373b7e901f458fcbe0f86 +size 5489302 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a10edce9bfafb2b2ef044aa06b6a0ab1ce9dee42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff4e5817d5d7ce132103e437dc225382ab0fd62cb63610034a0ac365237ac341 +size 4905965 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..40d17b8a78c04e7e0922cb09593b2cb0f5a65fc4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9b442854bed2ca0617d641ca7e669ce04d92ca617870d43a25a5c6d3d74d1c4 +size 5859827 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..94bff3896e7a360bf9902fcb1a88fbdb98edc74e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a056d06dda0c13b2a58a6ea10e1eacb62f2c9ddeac0446f7fa1586da23cd7843 +size 4448820 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a89cb987a50c309e56714099a144475ed4b6b39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c217ad5d5e2d1a307111db20572c9042ee1f408f7e8a46bca9fa1fd4060d4867 +size 4051402 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b98189354e8b40aa68f87c82786a4d79d01355cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c0505790668c66adbefc04c32cc34e42c4abb6177b99679519d946ea1c8e714 +size 4906101 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c05d497e4f0bc4665214a48b80bd4cf819c3e694 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ab6e91a1739a69a4aff2378708b9e286b108c3cf76a388ee01162de6114c2a9 +size 4706065 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..107fec66404372c120e0d13c500d8e6e47397a23 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2089468ca4904ab1d5cd8dccd8ba8477f6ee6546bda5a7389b2f75d95d42dde1 +size 3881830 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d2038f30114c045c5c851122d4623b9d73bbbd2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06bd0235b2cf5cbf1f5d2eb350f50f659ad21cf08cc38bb8b56cbfc85331baae +size 4405286 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..baa54431a1ec4bc866006b0d83d39bf14f42f2b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85e1d7e7d4ecb15402929b1941213c4b555a7639677a4d23af67b0c004397cda +size 3960968 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a1373482ee413fd28d90052031d1d2a4351ffcf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9600353cf955fce5ae089a082998db1491d048a1c26df0867be5d500c5bde068 +size 3764391 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f29d2bae163c6e2669175af794af91ce9e343002 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b91764b3cf27cc58543a386be31d50198e2730845a3a5c9d767105dc15b2fddb +size 4851581 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7e1eaf6fb44f3ee648a904998c817a6a3412669 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3eb58bc861f25a7c0ae93c608a44957270c8f483afc04c38fbb0c57669773f15 +size 5016044 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6110ed08663ec8c4625e4c58d7e259f58be0878 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0ea72f1e5fc3cad10c5e59abcb4f766de358f1ea373af6eb4e566b264cc1056 +size 4778881 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b56249c978107c9354f2ef0f3659fb563d638b80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51583753233157e3592bc6a0f03c1a1a334a5e6cb1dbdff38c2d0139b2a08ece +size 4641002 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4138cc4b0998c88963fd33a936ec5ea6f8176df8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90fec0a5f2d9ba602c305537c965b50a43c55df1f8a200c22411ae0b5d4e30e8 +size 4327382 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb07ecb7dadf4a27ddf2fc67736b089dcfa841f8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a8144b0a5cf08bb56770e623d58f41ff1155e52903422a059cdf79bb94566e9 +size 4468475 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4d01ae5d24dae7adcc817e1dff1fa45c4eadee4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79fc72fca65505cb273e7e009fe2cd2a758345b56ec6c3d1bc03e2d9f6988837 +size 4267618 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eae9220314afba114374c895d4d3bc09daf97c38 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7c9d832df8dbea3e626ae51ff8eb29d7bc4b662458ab3c16a5ab9b634fe731d +size 4054801 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..604fe2a99ec2fadab8d172ad2ab904a50ad9bec1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e8ead8c67dcbb699db9019d515355757095c92ffd23e8e19f84ee395c7e08f1 +size 5263633 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59f34365e83be53ccd8242be3fa373f6346c078e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efc9bee60901eb3a109e66151751cf70e2a0bdb157420c9b44baebbfaab14434 +size 4524578 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c14493fbef519dd1514f6e513f63036f309c76c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9ecb56fffe4e03f51da21ad0b0887cebb6223b7f107a1c6eb7f81d93e3370a6 +size 5321281 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c96295b2fcb14e2e8e5635fcd425af1f6552269f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b56f48d9d9458cc0aa7670b5dcaf30fa88ddf8a9565b2f56b8509291056b5304 +size 4009404 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..001dcd392b231e1b2be9de0263ef5081dc0efbc6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c39262cc76be2443178f304099961a448a02e0527ebc4eee6b4600f28748a10e +size 6506364 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbd655484d370d686cbe60a0bf137261bd6de00c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d99c4458dc99395bf4726feba065363cfb23832a5df4cef60a5c6d15f0ddbf02 +size 4966624 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..675a5cabcdc24221f2121e6ee9a61a684e22338d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4660076723164faf2167cac333a0c469ebb20c29c702b5e2332554b552d07eb9 +size 4240926 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9657956eaca61c38067d9b153296d45f48ad3b0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81629f868527eb96863a2aaca55594841deadb8b6c4e667b0a554bf200102946 +size 5687601 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cbd5469dcaee1b5a56182c973cdcbb88bf43c66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2b1d59ecbfea063d35a8ada16063b2294ccb564a2cedafbfdbd473b3a5ce857 +size 3571205 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cca3d9ebf5515dc6eacd0ae5180cf23008b4045a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f1d53219df6b401bed241d5138f084a6b7de94d72b6ed1ab35bd81186dc91d5 +size 5296073 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..30627754bd289c4f8616f7938899beacb39d61ce --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:396f49f6788f0e78b486b31a4ef218084311221f73201dd6582751cb57b600ab +size 5488431 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22f427de624cd9c30924f564314052638dca8437 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ff85ba7cf16e8059475c3a94dcf41ff77bf88fd87ee5f48c140989d254c4538 +size 5096329 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5d9b6cf5f229b124248da7ed46433b85339ad4e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b751b0509d9aa3a326ba25eae6d3a69a06254302483f0342df6c3d6e7bae5e +size 4958418 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87f8e8c87267ded234990eb5933497cee3fdebb0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":874,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":872,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":871,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":874,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":872,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":872,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":872,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":870,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":874,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":873,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":874,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":874,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":871,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":882,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b45962d0c889b46c7b9da17d9152c932532605cf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T16:05:01","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.47709725494626776,-0.7075266468467407,0.71338606911949],"aabb_xy":[[0.46522517193476665,-0.7925266465403911],[0.48896933795776887,-0.6225266471530904]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.6944672903619162,0.14660129124345023,0.71338606911949],"aabb_xy":[[0.6835615142743536,0.06660129484462105],[0.7053730664494791,0.22660128764227935]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[0.6162949807305063,1.4692938000846465,0.71338606911949],"aabb_xy":[[0.5950169725870341,1.4042937977585732],[0.6375729888739786,1.5342938024107193]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.24918309332708438,-1.8053712898289909,0.71338606911949],"aabb_xy":[[-0.3068135622143552,-1.865371288755701],[-0.19155262443981347,-1.7453712909022798]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.35927570876573756,0.8949509626904786,0.71338606911949],"aabb_xy":[[-0.42327571081546955,0.8548564796011706],[-0.29527570671600556,0.9350454457797865]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.2979325299516924,1.2569322101887717,0.71338606911949],"aabb_xy":[[0.21793252967808538,1.183982662363055],[0.3779325302252993,1.3298817580144884]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[-0.4053224194120295,-1.531799837972572,0.71338606911949],"aabb_xy":[[-0.4228224186901164,-1.5491379380389179],[-0.38782242013394264,-1.514461737906226]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.29779211541146644,-1.722458129824032,0.71338606911949],"aabb_xy":[[0.22779211900150456,-1.7428960654757133],[0.3677921118214281,-1.7020201941723498]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.23974067112216363,0.646896214540909,0.71338606911949],"aabb_xy":[[-0.30374066842451003,0.6025297875730522],[-0.17574067381981723,0.6912626415087657]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.6378204780349201,-1.8301374239961894,0.71338606911949],"aabb_xy":[[-0.6753204783831479,-1.841928819577273],[-0.6003204776866924,-1.8183460284151058]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.6048818420985157,0.6523047595714639,0.71338606911949],"aabb_xy":[[-0.6501604569796648,0.5883047602232803],[-0.5596032272173663,0.7163047589196476]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.1497606548413628,-1.5045782008466768,0.71338606911949],"aabb_xy":[[-0.15854188198859903,-1.5133579481352073],[-0.14097942769412658,-1.495798453558147]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.04367643532617593,-1.3527140345682909,0.71338606911949],"aabb_xy":[[0.034044799105746315,-1.3623513473479998],[0.05330807154660555,-1.343076721788582]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.43695189912817956,-2.3360712295979087,0.71338606911949],"aabb_xy":[[0.42407999562723936,-2.416071230011745],[0.44982380262911964,-2.2560712291840725]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.2752305582671779,0.9689141872093257,0.71338606911949],"aabb_xy":[[0.2577998431881713,0.9516420725454748],[0.2926612733461843,0.9861863018731765]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.36107043829244795,-2.4469057966050434,0.71338606911949],"aabb_xy":[[-0.44107043530669593,-2.4670403482784544],[-0.28107044127819997,-2.4267712449316314]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.4826298542705413,-1.0260363878676946,0.71338606911949],"aabb_xy":[[-0.5201298545627161,-1.030077863268298],[-0.44512985397836646,-1.021994912467091]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.4875921956656255,-0.43864789374503976,0.71338606911949],"aabb_xy":[[0.4525921956891296,-0.4481125097926564],[0.5225921956421213,-0.42918327769742315]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.19435677337445312,1.79247361485154,0.71338606911949],"aabb_xy":[[0.1593567741816348,1.7815065688538774],[0.22935677256727133,1.8034406608492024]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.15401868591929624,0.2540316467898647,0.71338606911949],"aabb_xy":[[-0.19151868449491702,0.2412953511263067],[-0.11651868734367542,0.26676794245342256]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.44782331502153827,0.5675394775268527,0.71338606911949],"aabb_xy":[[-0.4978233153821043,0.5175594903172497],[-0.39782331466097215,0.6175194647364556]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.6477170648489597,0.9885842171000179,0.71338606911949],"aabb_xy":[[-0.6603438521361561,0.979038143398445],[-0.6350902775617634,0.9981302908015908]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.6625491892239275,1.565429452376303,0.71338606911949],"aabb_xy":[[-0.6824402291042678,1.5527736410916064],[-0.6426581493435873,1.578085263661]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.01661170350343799,1.3260699079942886,0.71338606911949],"aabb_xy":[[-0.096611702160324,1.311565049070026],[0.06338829515344802,1.3405747669185517]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.39579922521374716,-1.1964785853185202,0.71338606911949],"aabb_xy":[[-0.40495910415762376,-1.2030098033620575],[-0.38663934626987057,-1.1899473672749834]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.5283290192650765,-0.125932032858044,0.71338606911949],"aabb_xy":[[0.4733290200884869,-0.1809217076330016],[0.5833290184416658,-0.07094235808308633]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.38390366921505525,-0.6136369450854715,0.71338606911949],"aabb_xy":[[-0.4288962559335056,-0.6586369443599202],[-0.3389110824966048,-0.5686369458110226]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[-0.5505011326258142,1.6276531609312657,0.71338606911949],"aabb_xy":[[-0.5546369889585144,1.5901531614869087],[-0.546365276293114,1.6651531603756227]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.07165160657991687,-1.7522251751398286,0.71338606911949],"aabb_xy":[[-0.09415160682343227,-1.7644298097996007],[-0.04915160633640148,-1.7400205404800568]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_29","position":[-0.182096719643153,1.4983024522111434,0.71338606911949],"aabb_xy":[[-0.19524796561444238,1.473302452454457],[-0.16894547367186363,1.5233024519678302]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_30","position":[0.4745630436053756,-1.7215368070844264,0.71338606911949],"aabb_xy":[[0.4708597822762367,-1.7252388253931439],[0.4782663049345145,-1.7178347887757084]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[-0.6513090552638424,-0.45911227141087263,0.71338606911949],"aabb_xy":[[-0.6583505062145901,-0.4661390231486673],[-0.6442676043130949,-0.4520855196730782]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_32","position":[0.5881355164177386,-2.050666105533181,0.71338606911949],"aabb_xy":[[0.5662268342783875,-2.0725667723532717],[0.6100441985570896,-2.0287654387130902]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_33","position":[-0.48097966093363187,-0.07887829444771421,0.71338606911949],"aabb_xy":[[-0.5034796609437802,-0.0929745140873175],[-0.45847966092348363,-0.06478207480811093]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639918510793195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/271.png","name":"271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/271.png","name":"271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9694.png","name":"9694"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4536.png","name":"4536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3498.png","name":"3498"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":817.7527970630206,"rotation_z_degrees":287.334485756419,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011439116045730394,-0.00863112945715967,0.01864212214376112]},{"name":"camera_2","offset_m":[-0.006614561224661912,-0.008761658519559986,0.004203021349235274]},{"name":"camera_3","offset_m":[-0.0069448807661106615,-0.012261444941331408,0.006863847517523745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00181604371788495,0.00030137844037289585,0.0004236095167966035],"end_effector_yaw_offset_degrees":-0.1325077045854124},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001434673506731729,0.0016869373379078652,-0.0017257992133915207],"end_effector_yaw_offset_degrees":0.3876745880640138},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00020191788370247515,-0.0016089363391675522,0.0005145880976863463],"end_effector_yaw_offset_degrees":-0.6929309899671374}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004245403157119497,0.0017907938629627739],"position_m":[0.30635459684288047,0.22279079386296277,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036132389178834103,-0.0005023141597858506],"position_m":[0.31418676108211663,-0.19360231415978585,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003602290575251186,0.004452232157769925],"position_m":[0.3072977094247488,0.04105223215776992,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00048611857559678444,0.004749059969320094],"position_m":[0.056886118575596785,0.3947490599693201,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021438534539321707,-0.0006051794351644053],"position_m":[0.15255614654606783,-0.4281051794351644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f6640606e12fd1fd0be9d6c59c37c81145a2357d5bc51c5112833b1d60097ee6","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_271/tex_ceiling_textures_3498/tex_floor_textures_4536/tex_table_textures_6755/tex_wall_textures_9694","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7853428508448390993,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7853428508448390993,"visual_seed":7853428508448390993,"scene_id":"lab_003","finished_at":"2026-09-03T16:07:51"} +{"episode_id":"ep_000001","started_at":"2026-09-03T16:07:55","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.6201603947595906,0.9354722020698172,0.71338606911949],"aabb_xy":[[0.6085914140126539,0.9104722019528855],[0.6317293755065271,0.9604722021867489]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.3470564295568024,-0.630188711425588,0.71338606911949],"aabb_xy":[[0.2670564321532089,-0.7101812826237708],[0.42705642696039575,-0.5501961402274052]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.5263703671759614,-1.5196193410187273,0.71338606911949],"aabb_xy":[[0.446370366102841,-1.529397387356112],[0.6063703682490816,-1.509841294681343]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.3123846078614274,-1.5756855274919044,0.71338606911949],"aabb_xy":[[0.24838460457171926,-1.6190204464958218],[0.3763846111511355,-1.5323506084879865]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.4431610912050874,-0.0552780363598071,0.71338606911949],"aabb_xy":[[0.4357486356636989,-0.061129246781435054],[0.4505735467464759,-0.04942682593817915]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.12772968914031668,-1.5132037799786693,0.71338606911949],"aabb_xy":[[-0.15024338096377388,-1.5832037805796766],[-0.10521599731685949,-1.4432037793776615]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.5298170810526743,1.644761185524667,0.71338606911949],"aabb_xy":[[0.521119118761959,1.6326362112171924],[0.5385150433433896,1.6568861598321418]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.676477089246563,0.3906502532668821,0.71338606911949],"aabb_xy":[[0.6540123192751579,0.36815025238802157],[0.6989418592179681,0.4131502541457426]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.48815031417495747,0.9087370173745835,0.71338606911949],"aabb_xy":[[0.4682592742946173,0.8960812060898867],[0.5080413540552977,0.9213928286592804]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.08487520586508168,-0.5067320397912436,0.71338606911949],"aabb_xy":[[-0.12237520621330944,-0.5185234353723271],[-0.047375205516853924,-0.49494064421016004]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.14575080389432638,-2.394182290468816,0.71338606911949],"aabb_xy":[[-0.2007508020960712,-2.4347042570952535],[-0.09075080569258155,-2.3536603238423783]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.2753079300470284,-0.748209552248718,0.71338606911949],"aabb_xy":[[-0.36530793372394654,-0.8096419588258221],[-0.1853079263701102,-0.6867771456716135]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.6646199108277937,-2.047081090149312,0.71338606911949],"aabb_xy":[[0.609626699490657,-2.102081090488106],[0.7196131221649305,-1.9920810898105188]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.1954747032293207,1.189669968519277,0.71338606911949],"aabb_xy":[[-0.19959065334139334,1.1855544134864313],[-0.191358753117248,1.1937855235521224]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.2902470660176412,-1.8717630782949954,0.71338606911949],"aabb_xy":[[-0.3402313017258184,-1.921763077108491],[-0.24026283030946394,-1.8217630794814998]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.43700134833541426,-0.3966349526834292,0.71338606911949],"aabb_xy":[[0.4120013491697812,-0.40358719838878576],[0.46200134750104743,-0.3896827069780726]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.6221265723284046,-2.2910833349638198,0.71338606911949],"aabb_xy":[[-0.6721095225158839,-2.3410833346063797],[-0.5721436221409252,-2.241083335321259]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.3896473709917765,-1.6332009551661106,0.71338606911949],"aabb_xy":[[-0.4252765268917363,-1.6688336219229636],[-0.3540182150918168,-1.5975682884092577]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.5351681931018856,-1.443316253065424,0.71338606911949],"aabb_xy":[[-0.5576681931120339,-1.4574124727050273],[-0.5126681930917373,-1.4292200334258207]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.40923776078628255,-0.10511309036131511,0.71338606911949],"aabb_xy":[[-0.43375138488328846,-0.12937768366335156],[-0.38472413668927674,-0.08084849705927867]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6455563886558288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8589.png","name":"8589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8589.png","name":"8589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1123.png","name":"1123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7640.png","name":"7640"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5523.png","name":"5523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4451.png","name":"4451"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.4430668618957,"rotation_z_degrees":80.96999480641443,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007543833853638996,0.01367620646580443,-0.00403600885395973]},{"name":"camera_2","offset_m":[0.004837277586527029,0.013202023455014412,0.01858103591839078]},{"name":"camera_3","offset_m":[0.013166013158877814,0.004118782137794947,0.010611176696736887]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013473913291270415,0.00035841092375071305,-0.0019270112846386757],"end_effector_yaw_offset_degrees":0.9686521698928461},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005435459689625533,0.0002897218798589836,-0.00026558735743679746],"end_effector_yaw_offset_degrees":0.7648721165191756},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003427155738670107,-0.00013627093733921663,0.0019249446517270842],"end_effector_yaw_offset_degrees":0.5290553970354253}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001355533107177189,-0.0047369911322436686],"position_m":[0.31195553310717716,0.21626300886775635,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003277554517298835,0.0033586796955361745],"position_m":[0.3145224454827012,-0.1897413203044638,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0031174788214064367,1.7233419299943903e-05],"position_m":[0.31401747882140646,0.03661723341929994,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029004593814209974,0.0030892822140676625],"position_m":[0.059300459381421,0.3930892822140677,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023541936190396018,-0.004034913210232921],"position_m":[0.1570541936190396,-0.4315349132102329,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa48e9f4344ecaf1ae87e7cb744fcebed5bc13ce86df7deacd1f258f9c8ebf2c","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8589/tex_ceiling_textures_4451/tex_floor_textures_5523/tex_table_textures_1123/tex_wall_textures_7640","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3327496023340521588,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3327496023340521588,"visual_seed":3327496023340521588,"scene_id":"lab_003","finished_at":"2026-09-03T16:11:08"} +{"episode_id":"ep_000002","started_at":"2026-09-03T16:11:13","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.2677239962572553,1.007706180638651,0.71338606911949],"aabb_xy":[[0.25796800674808135,0.9979436465794163],[0.2774799857664291,1.0174687146978851]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[-0.58457719837118,0.7782962046671265,0.71338606911949],"aabb_xy":[[-0.5900351440082,0.6982962013594672],[-0.5791192527341599,0.8582962079747855]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.36866580847825947,-1.226290580007328,0.71338606911949],"aabb_xy":[[0.3560390211910631,-1.2358366537089007],[0.3812925957654558,-1.216744506305755]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.24771307388749664,-2.1808363158136435,0.71338606911949],"aabb_xy":[[0.1877130730266838,-2.2322627458201287],[0.3077130747483094,-2.1294098858071564]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.6083391480356395,-0.12389347768704262,0.71338606911949],"aabb_xy":[[-0.6258390814696227,-0.14139347760727713],[-0.590839214601656,-0.10639347776680805]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.3411551558536663,1.6559532748127803,0.71338606911949],"aabb_xy":[[-0.3761551541643617,1.6482382598892344],[-0.3061551575429708,1.6636682897363257]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.3387009681198736,0.7199408656487329,0.71338606911949],"aabb_xy":[[0.301850420182886,0.6824408648256993],[0.3755515160568612,0.7574408664717668]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.6101250911325957,-2.510354750703926,0.71338606911949],"aabb_xy":[[-0.6741250944223038,-2.5536896697078433],[-0.5461250878428876,-2.467019831700008]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.21300658534970252,0.5087891407252036,0.71338606911949],"aabb_xy":[[-0.2629853938600184,0.45878914071948484],[-0.16302777683938663,0.5587891407309225]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.3804990888209584,-1.6897880292551863,0.71338606911949],"aabb_xy":[[-0.43049908826115396,-1.7397559537395024],[-0.3304990893807627,-1.6398201047708698]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.04905812639921525,-1.9717996288869046,0.71338606911949],"aabb_xy":[[-0.040941877277702925,-2.0332320354640085],[0.1390581300761334,-1.9103672223098]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.06350948406148627,-0.8320390537970566,0.71338606911949],"aabb_xy":[[-0.07229071120872249,-0.8408188010855869],[-0.05472825691425004,-0.8232593065085266]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.5395679591138409,1.7324319593429185,0.71338606911949],"aabb_xy":[[0.5283229035432231,1.7211901616188228],[0.5508130146844588,1.7436737570670133]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.40182584040118896,-2.0505775122514573,0.71338606911949],"aabb_xy":[[0.38995375738968785,-2.1355775119451077],[0.41369792341269007,-1.965577512557807]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.6900568377569825,0.8499806905989287,0.71338606911949],"aabb_xy":[[0.6681670901680417,0.7599806933096795],[0.7119465853459233,0.9399806878881778]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.20234147199899888,-1.7432044510758138,0.71338606911949],"aabb_xy":[[0.17850525435839384,-1.8332044518843003],[0.226177689639604,-1.6532044502673273]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.3336878326250105,-0.5728997670983316,0.71338606911949],"aabb_xy":[[-0.34310530719487325,-0.5823159442360505],[-0.32427035805514776,-0.5634835899606124]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.5419168996066575,-1.1862306887004548,0.71338606911949],"aabb_xy":[[0.5069168982551756,-1.2065904246572754],[0.5769169009581391,-1.1658709527436337]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.0203800325225465,-1.0136809670686375,0.71338606911949],"aabb_xy":[[0.012386043944843102,-1.0216810471637279],[0.028374021100249888,-1.0056808869735472]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.5216767556550899,1.3158759427722346,0.71338606911949],"aabb_xy":[[-0.5266327758399711,1.293375942570113],[-0.5167207354702088,1.3383759429743562]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.4506011570325526,-1.1029509286509482,0.71338606911949],"aabb_xy":[[-0.47511478112955846,-1.1272155219529845],[-0.42608753293554674,-1.0786863353489116]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.054783238754456454,-1.2031081356249091,0.71338606911949],"aabb_xy":[[-0.0969676529152872,-1.2671081359021203],[-0.01259882459362572,-1.139108135347698]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.04789426837986066,0.41482117065756663,0.71338606911949],"aabb_xy":[[-0.07147939184375551,0.3498211684121349],[-0.024309144915965815,0.47982117290299847]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.20002122937250777,-1.4314451941385233,0.71338606911949],"aabb_xy":[[-0.2151235308335258,-1.4465467157695846],[-0.18491892791148962,-1.4163436725074612]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.46491266393856856,1.5928849541453176,0.71338606911949],"aabb_xy":[[0.4149126652926473,1.5429654104858552],[0.5149126625844898,1.64280449780478]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.5388007375755437,-1.6434713531964853,0.71338606911949],"aabb_xy":[[-0.5747142420005333,-1.6793848614132398],[-0.5028872331505541,-1.6075578449797308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6388076271259129,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7224.png","name":"7224"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2706.png","name":"2706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4768.png","name":"4768"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":685.056695355229,"rotation_z_degrees":47.01166381215171,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004022648639179272,0.009266180388995026,0.0052511792275342535]},{"name":"camera_2","offset_m":[-0.016940421605166473,0.0031054958277961127,0.012276248161858464]},{"name":"camera_3","offset_m":[0.011322658822192685,0.016840180255342004,-0.016203393996722874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017497317620931712,-0.0008982918258536659,-0.00047148903491941486],"end_effector_yaw_offset_degrees":0.051816250208466696},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006023976636527237,0.0005453897803154952,-0.0005585474777430881],"end_effector_yaw_offset_degrees":0.4331528416455772},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[9.563623642790944e-05,-0.0004537963619894842,0.0019626801255563297],"end_effector_yaw_offset_degrees":0.3997916435737481}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003154285018226126,0.0006929805882355334],"position_m":[0.3137542850182261,0.22169298058823553,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004058822327918186,-0.000943079070777425],"position_m":[0.31820588223279184,-0.19404307907077742,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004290096113504177,0.004306440184137654],"position_m":[0.30660990388649584,0.04090644018413765,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004807999655237964,0.002182978425556422],"position_m":[0.06120799965523796,0.39218297842555644,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002865050044586091,0.003137712533067708],"position_m":[0.15441349499554138,-0.4243622874669323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f05616d63e18164ef3a1b90827478e00e412bda3d5b0bd91a24a27853f19f1ec","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9506/tex_ceiling_textures_4768/tex_floor_textures_7542/tex_table_textures_7224/tex_wall_textures_2706","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1901639483616771858,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1901639483616771858,"visual_seed":1901639483616771858,"scene_id":"lab_003","finished_at":"2026-09-03T16:14:03"} +{"episode_id":"ep_000003","started_at":"2026-09-03T16:14:06","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.0023792313843600255,0.9565748611645173,0.71338606911949],"aabb_xy":[[-0.020536481500689877,0.9336705640280938],[0.02529494426940993,0.9794791583009408]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.6148445622561445,1.0253448718821563,0.71338606911949],"aabb_xy":[[0.5498445622218417,0.978644195201829],[0.6798445622904472,1.0720455485624836]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.6023488315104182,-1.3222950184241542,0.71338606911949],"aabb_xy":[[0.5867930621001529,-1.3378454516685614],[0.6179046009206834,-1.306744585179747]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.46116743954118333,0.8652646549059688,0.71338606911949],"aabb_xy":[[0.3971717421460867,0.8012646566052599],[0.5251631369362799,0.9292646532066773]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.631804930669025,1.3431256069415332,0.71338606911949],"aabb_xy":[[-0.6868004084896844,1.288125605507626],[-0.5768094528483656,1.3981256083754399]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.1434976462064088,-1.0658334409176968,0.71338606911949],"aabb_xy":[[0.12100122477254471,-1.0883334407244443],[0.1659940676402729,-1.0433334411109494]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[-0.2606063080166647,1.1883896744497315,0.71338606911949],"aabb_xy":[[-0.2703622975258385,1.178627140390497],[-0.25085031850749073,1.198152208508966]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.08112984209360197,-0.2534996660262574,0.71338606911949],"aabb_xy":[[-0.0904768496758972,-0.2678032882439014],[-0.07178283451130674,-0.23919604380861337]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.22128458003065765,-1.8832750742838513,0.71338606911949],"aabb_xy":[[0.18628458005416182,-1.892739690331468],[0.2562845800071535,-1.8738104582362347]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.37986445893245807,0.17469241794394064,0.71338606911949],"aabb_xy":[[-0.4438644611528651,0.13031933381865235],[-0.31586445671205104,0.21906550206922892]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.1449816935473064,-1.185777376095394,0.71338606911949],"aabb_xy":[[-0.20898169213387888,-1.2327843394949025],[-0.08098169496073396,-1.138770412695885]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.45517159917919825,-1.6389643692651137,0.71338606911949],"aabb_xy":[[-0.5191715983489682,-1.685731056384076],[-0.3911716000094283,-1.592197682146151]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.2156736869135648,-1.4522567416949088,0.71338606911949],"aabb_xy":[[-0.21937694824270368,-1.4559587600036263],[-0.21197042558442594,-1.4485547233861908]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.2517160620291332,0.7567689501837402,0.71338606911949],"aabb_xy":[[0.2016185980480596,0.6927689496739284],[0.30181352601020683,0.820768950693552]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[-0.21381302950196734,-1.3491436908501986,0.71338606911949],"aabb_xy":[[-0.24972653392695704,-1.385057199066953],[-0.17789952507697765,-1.3132301826334438]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.19206795763085183,0.8286349960251718,0.71338606911949],"aabb_xy":[[-0.21212636924409212,0.8085699091160142],[-0.17200954601761154,0.8487000829343293]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.34036509133803383,-0.5070616278603426,0.71338606911949],"aabb_xy":[[0.30536509214521546,-0.5180286738580051],[0.375365090530852,-0.49609458186267985]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.5004759009630957,-0.9223637761689469,0.71338606911949],"aabb_xy":[[-0.5644758973904176,-0.9695333999910435],[-0.4364759045357738,-0.8751941523468506]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.5031079430960603,-1.6905928350452168,0.71338606911949],"aabb_xy":[[0.48643080710296493,-1.7072927590191471],[0.5197850790891559,-1.6738929110712866]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.5749997712658541,-0.7398640078111798,0.71338606911949],"aabb_xy":[[-0.6649997706842249,-0.7732395046553694],[-0.4849997718474831,-0.70648851096699]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.035520155300893475,0.7613476158659158,0.71338606911949],"aabb_xy":[[0.030676560539663507,0.7564959633869318],[0.040363750062123456,0.7661992683449]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.13947952634560057,1.303313629359165,0.71338606911949],"aabb_xy":[[0.08447952814385572,1.2627916627327274],[0.19447952454734538,1.3438355959856025]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.1697575011069471,0.5557805075873361,0.71338606911949],"aabb_xy":[[-0.1806632771945098,0.47578051118850695],[-0.15885172501938438,0.6357805039861653]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.0960463589565026,-1.0765697986436733,0.71338606911949],"aabb_xy":[[-0.13354635930473036,-1.0883611942247566],[-0.058546358608274826,-1.0647784030625895]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.37545432011091034,0.7563271763010087,0.71338606911949],"aabb_xy":[[-0.439454317396559,0.7148204573481647],[-0.3114543228252617,0.7978338952538526]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[0.6447003677955105,-1.4572497955269652,0.71338606911949],"aabb_xy":[[0.59472707379225,-1.507249796081512],[0.6946736617987709,-1.4072497949724174]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[0.13057417283928363,-0.6628872516099851,0.71338606911949],"aabb_xy":[[0.0505741754356902,-0.7428798228081679],[0.21057417024287703,-0.5828946804118023]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.3867706111179354,1.806825269221473,0.71338606911949],"aabb_xy":[[0.3833299348778783,1.8029638362471088],[0.39021128735799265,1.8106867021958377]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[-0.13204876156030554,1.1445058584871473,0.71338606911949],"aabb_xy":[[-0.14168039778073516,1.1348685457074383],[-0.12241712533987592,1.1541431712668562]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[-0.5809694232623486,-0.30678812238730924,0.71338606911949],"aabb_xy":[[-0.644969420564695,-0.351154549355166],[-0.5169694259600022,-0.2624216954194525]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_30","position":[0.42003889371235825,-0.15331201720663712,0.71338606911949],"aabb_xy":[[0.39814914612341745,-0.24331201449588624],[0.44192864130129905,-0.06331201991738801]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[0.061634411353818974,1.5200781509221897,0.71338606911949],"aabb_xy":[[0.0440015757602914,1.5024552049065665],[0.07926724694734655,1.5377010969378124]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_32","position":[-0.29264284502949933,1.8057725058445286,0.71338606911949],"aabb_xy":[[-0.327642844159455,1.800027284768864],[-0.25764284589954367,1.8115177269201923]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[-0.1885315624458127,-2.3434333248440438,0.71338606911949],"aabb_xy":[[-0.19657492237176785,-2.42843332593941],[-0.1804882025198575,-2.2584333237486773]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_34","position":[-0.20816383359453688,-0.39085222905797856,0.71338606911949],"aabb_xy":[[-0.2721638355068792,-0.446763378315989],[-0.14416383168219454,-0.3349410797999681]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6423707820009046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2535.png","name":"2535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2535.png","name":"2535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3854.png","name":"3854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6186.png","name":"6186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/702.png","name":"702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/337.png","name":"337"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.813984490515,"rotation_z_degrees":27.973869488589173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014270574426203785,-0.0016303032595195444,0.0046659311172243985]},{"name":"camera_2","offset_m":[0.008001971214944434,-0.0005856203913177267,0.01961738507924408]},{"name":"camera_3","offset_m":[-0.0010299534406316493,0.019935425186622103,-0.0008040316848022359]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004585980791103235,-0.0014392894179781344,-0.0011340829679593184],"end_effector_yaw_offset_degrees":0.7321549388376292},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009730680363561088,-0.0012028683413594279,-0.0013332383880573723],"end_effector_yaw_offset_degrees":0.17466529527741526},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009140200410305624,-0.0019790048033590107,-0.0010329348304116376],"end_effector_yaw_offset_degrees":0.4763928539899427}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004139657056099184,-0.0028661552848384987],"position_m":[0.3064603429439008,0.2181338447151615,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00035204035818103396,-0.004908324566864437],"position_m":[0.317447959641819,-0.19800832456686443,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003632825620593183,-0.0008650751200772518],"position_m":[0.3145328256205932,0.03573492487992275,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003933739088962682,-0.0010218613054833727],"position_m":[0.052466260911037316,0.38897813869451664,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003139770798209154,0.0016306739783553325],"position_m":[0.15783977079820916,-0.4258693260216447,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"56103ae7037a52fb0b1b6aa60aa55493d7dfdf4c7f937260a9c81e192225c7a9","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2535/tex_ceiling_textures_337/tex_floor_textures_702/tex_table_textures_3854/tex_wall_textures_6186","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3178564220823586033,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3178564220823586033,"visual_seed":3178564220823586033,"scene_id":"lab_003","finished_at":"2026-09-03T16:17:21"} +{"episode_id":"ep_000004","started_at":"2026-09-03T16:17:24","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.14557008729778997,-1.100676840142694,0.71338606911949],"aabb_xy":[[0.08157008703731912,-1.145685639495622],[0.20957008755826073,-1.055668040789766]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.29812340857148223,1.6842730264412542,0.71338606911949],"aabb_xy":[[0.2731234092995199,1.6679276628450919],[0.32312340784344445,1.7006183900374165]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.04106075537797538,-2.024506016027187,0.71338606911949],"aabb_xy":[[-0.00892348033020185,-2.0745060148406824],[0.0910449910861526,-1.9745060172136912]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.10784810464166084,0.13218164880063954,0.71338606911949],"aabb_xy":[[-0.1154723727318391,0.12454842526409585],[-0.10022383655148262,0.1398148723371833]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.6192552403542634,-0.11520103910061685,0.71338606911949],"aabb_xy":[[-0.6245928160202681,-0.14020104002975664],[-0.6139176646882589,-0.09020103817147707]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.32229492688156824,-1.243438118757322,0.71338606911949],"aabb_xy":[[-0.35792408278152793,-1.279070785514175],[-0.28666577098160845,-1.207805452000469]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.5959720841788143,0.7654110366770905,0.71338606911949],"aabb_xy":[[-0.6184857760022714,0.695411036076083],[-0.573458392355357,0.8354110372780981]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.5064291617017189,-0.9055932789368555,0.71338606911949],"aabb_xy":[[0.4777798293413026,-0.9342388382139312],[0.535078494062135,-0.8769477196597796]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.39838301651466757,-2.47780850705455,0.71338606911949],"aabb_xy":[[0.31838301911107414,-2.5578010782527327],[0.478383013918261,-2.397815935856367]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.6958347812578156,-2.2091594676010184,0.71338606911949],"aabb_xy":[[0.686203145037386,-2.2187967803807274],[0.7054664174782452,-2.1995221548213095]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.5314325389084414,-2.3042540049557108,0.71338606911949],"aabb_xy":[[-0.6114325368892265,-2.3118555459175627],[-0.45143254092765644,-2.296652463993859]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.6143680597520406,0.8969586990834473,0.71338606911949],"aabb_xy":[[-0.6182819329474631,0.8882096836768902],[-0.610454186556618,0.9057077144900039]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.1580346428435363,-2.2502486120021445,0.71338606911949],"aabb_xy":[[-0.20803464450503104,-2.3002470542578464],[-0.10803464118204152,-2.200250169746441]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.34051504899260365,-1.7724927063859828,0.71338606911949],"aabb_xy":[[-0.3453586437538336,-1.777344358864967],[-0.3356714542313737,-1.7676410539069989]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.5745086490685993,-0.7574860307478051,0.71338606911949],"aabb_xy":[[-0.6296338546981901,-0.8174860321890921],[-0.5193834434390086,-0.6974860293065178]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.5482061272949728,0.8137625350356847,0.71338606911949],"aabb_xy":[[0.5394249001477366,0.8049827877471548],[0.5569873544422091,0.8225422823242151]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.15657720825589205,-0.7509621727241782,0.71338606911949],"aabb_xy":[[0.1015839969187553,-0.8059621730629719],[0.21157041959302883,-0.6959621723853846]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.007937207997791518,1.320968779778961,0.71338606911949],"aabb_xy":[[-0.0007607542929237729,1.3088438054714864],[0.016635170288506806,1.3330937540864358]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.15336032842631475,-1.0883139487528384,0.71338606911949],"aabb_xy":[[-0.21736032482188783,-1.152277237171572],[-0.08936033203074167,-1.0243506603341048]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.02000824495689124,1.6592714076782378,0.71338606911949],"aabb_xy":[[-0.03780175189180768,1.6414716620824403],[-0.0022147380219748047,1.6770711532740357]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.669818217531861,-0.7172067646957747,0.71338606911949],"aabb_xy":[[0.6596652019777114,-0.7532763062685148],[0.6799712330860102,-0.6811372231230343]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.6926965047332332,-2.369047451228897,0.71338606911949],"aabb_xy":[[0.670787822593882,-2.3909481180489878],[0.7146051868725841,-2.3471467844088063]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.24653203092665588,-1.5123711567557687,0.71338606911949],"aabb_xy":[[-0.2654164146951661,-1.5312570815361213],[-0.22764764715814567,-1.4934852319754157]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.41378893652897597,0.059036825600566445,0.71338606911949],"aabb_xy":[[-0.493788935185862,0.04453196667630366],[-0.33378893787208996,0.07354168452482923]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[-0.44543191378662345,1.7159319666839603,0.71338606911949],"aabb_xy":[[-0.46997812940937417,1.6856830701349232],[-0.4208856981638727,1.7461808632329974]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.23471545417433387,0.4414500671579442,0.71338606911949],"aabb_xy":[[-0.28971545237607865,0.40092810053150657],[-0.17971545597258898,0.48197203378438175]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_26","position":[0.26420478450461193,-2.0313636452831902,0.71338606911949],"aabb_xy":[[0.2528430498513257,-2.0427321116894777],[0.27556651915789804,-2.019995178876902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6453585756956808,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8272.png","name":"8272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8272.png","name":"8272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5676.png","name":"5676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8612.png","name":"8612"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3945.png","name":"3945"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":529.6936539690954,"rotation_z_degrees":208.1159812308477,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004760144561165015,-0.01301695807935181,-0.01704595597376942]},{"name":"camera_2","offset_m":[0.008391773794813026,0.0006789811744662456,-0.009473179774986984]},{"name":"camera_3","offset_m":[-0.0020130881004186037,0.016429996740096455,0.0036838750173722908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00032143624215459935,-0.00032870602764234523,0.0018037957302448984],"end_effector_yaw_offset_degrees":-0.18222023826122014},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000790547102541297,-0.001214101454451804,-5.52334091244945e-05],"end_effector_yaw_offset_degrees":0.2006327304192288},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00013163150658291028,0.0005744658423519479,0.0013140385698776841],"end_effector_yaw_offset_degrees":0.5728237542855832}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003936453757738449,-0.0018681562845652344],"position_m":[0.30666354624226155,0.21913184371543476,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036308940752376208,0.004978823196572371],"position_m":[0.3141691059247624,-0.18812117680342763,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0014829788468189442,-0.0006063800989014982],"position_m":[0.312382978846819,0.035993619901098506,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025076228569737005,0.004141825622857128],"position_m":[0.0589076228569737,0.39414182562285716,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004510303071946226,-0.0013263499137458347],"position_m":[0.15921030307194622,-0.42882634991374585,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"80f0169a36b8a5441a5282c59b7be24dee3c05aecb2f87fde0874d97cf39a2b9","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8272/tex_ceiling_textures_7211/tex_floor_textures_3945/tex_table_textures_5676/tex_wall_textures_8612","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6341013181587651842,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6341013181587651842,"visual_seed":6341013181587651842,"scene_id":"lab_003","finished_at":"2026-09-03T16:20:06"} +{"episode_id":"ep_000005","started_at":"2026-09-03T16:20:10","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.5161530645179837,1.7060224443656478,0.71338606911949],"aabb_xy":[[-0.5200669377134062,1.697273428959091],[-0.5122391913225612,1.7147714597722046]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.5205712637045066,-2.175444766573529,0.71338606911949],"aabb_xy":[[0.5059278581504736,-2.190103486230313],[0.5352146692585396,-2.1607860469167446]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.3957072988359545,1.562842394092939,0.71338606911949],"aabb_xy":[[-0.43220311946323314,1.5263584516661814],[-0.35921147820867566,1.5993263365196966]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.22893241094072247,1.233373264376537,0.71338606911949],"aabb_xy":[[0.19778549209713936,1.1633732656897298],[0.2600793297843056,1.3033732630633441]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.46195697978772765,-1.7440782933273593,0.71338606911949],"aabb_xy":[[0.3979569833921546,-1.8080415817460929],[0.5259569761833007,-1.6801150049086258]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.49318838415692984,0.49456576845302047,0.71338606911949],"aabb_xy":[[-0.5236726342839598,0.44456576867152453],[-0.46270413402989957,0.5445657682345164]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.18105980437161362,-1.4226596598296977,0.71338606911949],"aabb_xy":[[-0.21537608154623153,-1.4726596598028754],[-0.14674352719699565,-1.37265965985652]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.546004056390194,1.0322510750669993,0.71338606911949],"aabb_xy":[[0.4960040547286992,0.9822526328112965],[0.5960040580516887,1.0822495173227018]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.43765388270834393,-0.7628902933510364,0.71338606911949],"aabb_xy":[[-0.5226538811257673,-0.8477645888133214],[-0.35265388429092076,-0.6780159978887514]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.06914445639701006,-2.0547761317174826,0.71338606911949],"aabb_xy":[[0.03566528913596912,-2.0882552450885896],[0.102623623658051,-2.0212970183463757]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.6009572192674665,-2.4650241420803294,0.71338606911949],"aabb_xy":[[-0.6234219892388715,-2.48752414295919],[-0.5784924492960613,-2.442524141201469]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.49423620784345984,1.3923978391036456,0.71338606911949],"aabb_xy":[[-0.5038678440638895,1.3827605263239366],[-0.48460457162303017,1.4020351518833545]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.4153411888029399,-0.5594165628417591,0.71338606911949],"aabb_xy":[[-0.46515796826777467,-0.6094165613260625],[-0.36552440933810515,-0.5094165643574557]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.4478048842455771,0.23521688858116319,0.71338606911949],"aabb_xy":[[-0.511804880672899,0.18804726475906675],[-0.3838048878182552,0.2823865124032596]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.20165673007062318,-2.182684157527742,0.71338606911949],"aabb_xy":[[-0.28165673332846614,-2.262680665319726],[-0.12165672681278022,-2.102687649735758]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.5525958411104832,0.8501717475450885,0.71338606911949],"aabb_xy":[[0.5175958411339875,0.8407071314974719],[0.5875958410869792,0.8596363635927051]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.6113336843326743,-0.5751439935329157,0.71338606911949],"aabb_xy":[[-0.6498793771578752,-0.6136897645891043],[-0.5727879915074732,-0.5365982224767271]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.5336086404829825,-2.3226522860910785,0.71338606911949],"aabb_xy":[[0.4696086431806361,-2.367018713058935],[0.5976086377853289,-2.2782858591232213]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.2303889809681321,-1.3984651822234813,0.71338606911949],"aabb_xy":[[0.16538898093382937,-1.4451658589038086],[0.2953889810024348,-1.351764505543154]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.6894661756201774,0.47142645407181405,0.71338606911949],"aabb_xy":[[0.6807522065702427,0.4489264534126257],[0.6981801446701117,0.49392645473100216]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.571772880597738,0.13699330888621253,0.71338606911949],"aabb_xy":[[0.5637793908024561,0.12899517694573687],[0.5797663703930201,0.1449914408266882]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.014897221438940567,1.2212249885287854,0.71338606911949],"aabb_xy":[[0.009997929132377067,1.1935480692262166],[0.01979651374550406,1.2489019078313541]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.059193373020051565,0.7462991318987529,0.71338606911949],"aabb_xy":[[-0.06789133531076685,0.7341741575912781],[-0.050495410729336276,0.7584241062062277]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6441903615213892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1946.png","name":"1946"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1946.png","name":"1946"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9547.png","name":"9547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4948.png","name":"4948"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8348.png","name":"8348"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":695.7976067065777,"rotation_z_degrees":291.0122228666102,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001986099426110985,-0.015051158637167852,-0.009039133676238337]},{"name":"camera_2","offset_m":[0.01282013062795807,0.013552625851908317,0.007825381062819554]},{"name":"camera_3","offset_m":[-0.0012366782639253449,0.01537581023497395,-0.0014616868901830664]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00073852905409177,-0.0017856169775204464,-0.001026487703308395],"end_effector_yaw_offset_degrees":0.044350798184811024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0019486890002964898,-0.00036365061575821664,0.0004355434287611898],"end_effector_yaw_offset_degrees":-0.4276003929233896},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018670760633330765,-0.0009751458128697368,-0.0010307760904345615],"end_effector_yaw_offset_degrees":-0.058125095529563575}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010413160483302153,-0.002243553467595204],"position_m":[0.30955868395166974,0.2187564465324048,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028185229652540424,0.004010273736630934],"position_m":[0.314981477034746,-0.18908972626336906,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004623947620934919,0.004879934709663836],"position_m":[0.31552394762093494,0.04147993470966384,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004056170498111051,0.0045321923971776016],"position_m":[0.05234382950188895,0.39453219239717763,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004224098839004765,0.00011075383203648648],"position_m":[0.15892409883900477,-0.4273892461679635,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f171553e3eea60dc74f27c4d4047d8507d8ddaca1e837c0915cad32e351400a9","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1946/tex_ceiling_textures_8348/tex_floor_textures_1939/tex_table_textures_9547/tex_wall_textures_4948","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8967921770198384747,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8967921770198384747,"visual_seed":8967921770198384747,"scene_id":"lab_003","finished_at":"2026-09-03T16:22:59"} +{"episode_id":"ep_000006","started_at":"2026-09-03T16:23:01","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.23800615900478794,-0.8729318681802138,0.71338606911949],"aabb_xy":[[0.15800615757466072,-0.9524490231928233],[0.31800616043491514,-0.7934147131676044]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.626038325626654,-0.22993907590970553,0.71338606911949],"aabb_xy":[[0.6181150453879056,-0.2524390761477089],[0.6339616058654023,-0.2074390756717022]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.0914008604973705,0.7011474193912779,0.71338606911949],"aabb_xy":[[0.06140919776350018,0.6711474200544774],[0.12139252323124083,0.7311474187280784]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.31117316257591465,-0.3979467224984403,0.71338606911949],"aabb_xy":[[-0.32174064223401366,-0.4084917526114489],[-0.30060568291781564,-0.38740169238543176]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.31859145907229647,-1.0730653510486432,0.71338606911949],"aabb_xy":[[-0.3785914589188632,-1.1298839732416817],[-0.2585914592257296,-1.0162467288556043]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.08579363528947292,0.28117038849317666,0.71338606911949],"aabb_xy":[[-0.09521110985933567,0.2717542113554576],[-0.07637616071961018,0.29058656563089563]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.6420577341897327,0.43570572653947126,0.71338606911949],"aabb_xy":[[0.5921750373120365,0.38570572729319663],[0.6919404310674289,0.4857057257857461]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.5057501218585871,0.06525672188743004,0.71338606911949],"aabb_xy":[[0.4557501224183915,0.015288797403113716],[0.5557501212987828,0.11522464637174633]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.6028001545475015,-0.1385336125204124,0.71338606911949],"aabb_xy":[[-0.6668001537172713,-0.18530029963937486],[-0.5388001553777314,-0.09176692540144991]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.40177846271420675,-0.9020148589550046,0.71338606911949],"aabb_xy":[[-0.48177846298781374,-0.9749644067807214],[-0.32177846244059977,-0.8290653111292879]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.2980675991066373,0.881155291470793,0.71338606911949],"aabb_xy":[[-0.3315077743026568,0.8477116656398628],[-0.2646274239106176,0.9145989173017229]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.4528458105966432,-2.5806650023712288,0.71338606911949],"aabb_xy":[[-0.49034581109400144,-2.584633685919347],[-0.41534581009928495,-2.57669631882311]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.20880214088473642,-2.4646380271351123,0.71338606911949],"aabb_xy":[[-0.21476867982547215,-2.4705991717944764],[-0.20283560194400058,-2.458676882475748]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.23468761316837278,0.3353926273928751,0.71338606911949],"aabb_xy":[[-0.26301732311691306,0.33093188519915806],[-0.20635790321983258,0.3398533695865922]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.3997658199222594,-1.8509854247747897,0.71338606911949],"aabb_xy":[[-0.46976581633222114,-1.871423360426471],[-0.32976582351229755,-1.8305474891231075]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.34481784978253177,1.5471056309163322,0.71338606911949],"aabb_xy":[[-0.3623177832165151,1.5296056309960975],[-0.32731791634854834,1.5646056308365666]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.6143478874393786,-0.715422058999867,0.71338606911949],"aabb_xy":[[-0.6759386466633714,-0.7794220571089139],[-0.5527571282153858,-0.6514220608908201]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.20728490872989636,1.0797029240912468,0.71338606911949],"aabb_xy":[[-0.28728490588947164,1.0681553231334295],[-0.12728491157032104,1.0912505250490636]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.38285750364359267,0.2936871548907254,0.71338606911949],"aabb_xy":[[-0.41070254042419985,0.2629026561524137],[-0.3550124668629856,0.32447165362903707]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.31044373388808855,1.5876000537839654,0.71338606911949],"aabb_xy":[[0.27294373394432214,1.5793069637491288],[0.34794373383185495,1.595893143818802]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.4953893329055895,1.1698590165231604,0.71338606911949],"aabb_xy":[[-0.5453681414159053,1.1198590165174416],[-0.44541052439527357,1.2198590165288792]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.5440756635847102,1.347985252305406,0.71338606911949],"aabb_xy":[[0.5215756635745619,1.3338890326658024],[0.5665756635948584,1.362081471945009]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.16441937068792578,-0.9154439400265002,0.71338606911949],"aabb_xy":[[-0.1761875574825833,-1.000443939931722],[-0.15265118389326826,-0.8304439401212789]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.14386758288149226,0.9967524225490032,0.71338606911949],"aabb_xy":[[0.12566175922024458,0.9857270219670117],[0.16207340654273994,1.0077778231309948]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.5663400050919132,0.8191046926573038,0.71338606911949],"aabb_xy":[[-0.5745545502075969,0.8104281023596622],[-0.558125459976229,0.8277812829549449]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6391995786169007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1408.png","name":"1408"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1408.png","name":"1408"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1735.png","name":"1735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4525.png","name":"4525"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":710.2138726299999,"rotation_z_degrees":235.58874875700985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00184831954705535,0.019822902308794983,0.012251089463126034]},{"name":"camera_2","offset_m":[0.004999239923719829,0.0038289348763003127,0.0017777680130776977]},{"name":"camera_3","offset_m":[0.0035991994135650893,0.00445532573337442,0.017374113843855888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018097220171362201,-0.001964934802967645,0.001503424422347601],"end_effector_yaw_offset_degrees":-0.9903810069934418},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017005027517114479,-0.0003546427438893289,0.0008244763867710091],"end_effector_yaw_offset_degrees":0.670724958737611},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017301388635698506,-0.0003602240239348102,0.0010837586321696476],"end_effector_yaw_offset_degrees":0.25403215538193247}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005096340573867864,0.004990253829090599],"position_m":[0.3111096340573868,0.2259902538290906,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001082193086267477,0.0010024310288657221],"position_m":[0.3167178069137325,-0.19209756897113428,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0035142197190799786,0.0017743478774090672],"position_m":[0.30738578028092,0.038374347877409065,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004749619022934546,0.0036362188322435424],"position_m":[0.05165038097706545,0.39363621883224353,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033250205088246852,-0.0008417110747488974],"position_m":[0.15137497949117532,-0.4283417110747489,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e879b05e9fc57d49f71b54bb398104097ade6de0a4e0aff7bb8f26bd47341aed","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1408/tex_ceiling_textures_4525/tex_floor_textures_3671/tex_table_textures_6237/tex_wall_textures_1735","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4610803968273308378,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4610803968273308378,"visual_seed":4610803968273308378,"scene_id":"lab_003","finished_at":"2026-09-03T16:26:06"} +{"episode_id":"ep_000007","started_at":"2026-09-03T16:26:13","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.5094127337249277,-0.8754022084385658,0.71338606911949],"aabb_xy":[[0.48952169384458744,-0.8880580197232627],[0.5293037736052679,-0.862746397153869]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.1768360325484959,-2.500266299039186,0.71338606911949],"aabb_xy":[[-0.2408360329260295,-2.5500115658899984],[-0.11283603217096227,-2.450521032188374]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.6599538941422756,1.7195396310825815,0.71338606911949],"aabb_xy":[[-0.6715228748892121,1.6945396309656495],[-0.648384913395339,1.744539631199513]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.5140060440540284,0.7161593751041195,0.71338606911949],"aabb_xy":[[0.46792095279929685,0.6521593778515644],[0.5600911353087598,0.7801593723566747]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.6815738683798341,-0.36910632787231323,0.71338606911949],"aabb_xy":[[-0.692141348037933,-0.37965135798532185],[-0.671006388721735,-0.35856129775930473]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.05935304165284283,0.8996490595060576,0.71338606911949],"aabb_xy":[[0.05389509601582276,0.8196490561983983],[0.0648109872898629,0.9796490628137166]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.5559833220529883,-0.4623670490980465,0.71338606911949],"aabb_xy":[[-0.5897588812436813,-0.47640554431121146],[-0.5222077628622953,-0.4483285538848814]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.1512582043899362,-0.15879024177499002,0.71338606911949],"aabb_xy":[[-0.16141121994408553,-0.1948597833477303],[-0.14110518883578677,-0.12272070020224965]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.4997554726697522,0.664209738991024,0.71338606911949],"aabb_xy":[[-0.5797554696840002,0.6440751873176127],[-0.4197554756555042,0.6843442906644353]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.466154149112279,-1.5076950945977081,0.71338606911949],"aabb_xy":[[-0.4911541482779121,-1.514647340303065],[-0.44115414994664587,-1.5007428488923518]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.16341456475740979,-0.9819629331653956,0.71338606911949],"aabb_xy":[[-0.1863302776424597,-1.0048672303018193],[-0.14049885187235991,-0.9590586360289722]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.6814534441634141,-1.5207674948757792,0.71338606911949],"aabb_xy":[[0.6439534438151864,-1.5325588904568628],[0.7189534445116419,-1.5089760992946957]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.1199189082454627,1.1240587847359773,0.71338606911949],"aabb_xy":[[-0.20491890693753734,1.0920729213410985],[-0.034918909553388056,1.1560446481308562]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.5847493894192519,-1.3605229992307808,0.71338606911949],"aabb_xy":[[0.5207493862006141,-1.4072461111297894],[0.6487493926378898,-1.3137998873317727]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.28283700063330913,1.3990836374017706,0.71338606911949],"aabb_xy":[[-0.3203370004503427,1.3944454260906285],[-0.24533700081627557,1.4037218487129122]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[0.1758721410948858,-1.1070018359143958,0.71338606911949],"aabb_xy":[[0.15087214182292352,-1.123347199510558],[0.20087214036684808,-1.0906564723182333]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.25738364082636944,-1.6422823456094737,0.71338606911949],"aabb_xy":[[0.2473019337477959,-1.722282343501588],[0.26746534790494286,-1.5622823477173586]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[0.4437053877452444,1.6354885180296406,0.71338606911949],"aabb_xy":[[0.4286030862842262,1.6203869963985784],[0.4588076892062624,1.6505900396607023]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.272426710800274,-2.2124732727074603,0.71338606911949],"aabb_xy":[[-0.3524267122304012,-2.29199042772007],[-0.19242670937014678,-2.132956117694851]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.1434041815988435,-1.6781138141684568,0.71338606911949],"aabb_xy":[[0.11094248071691602,-1.7082466462833592],[0.17586588248077092,-1.647980982053554]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.02613607905625781,-2.206602182879776,0.71338606911949],"aabb_xy":[[0.001622454959251951,-2.230866776181813],[0.05064970315326367,-2.18233758957774]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.19919514702827512,-2.0928753500134545,0.71338606911949],"aabb_xy":[[0.14919587185983899,-2.142875351289402],[0.2491944221967113,-2.0428753487375078]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.25755523062180896,-1.1191600993769042,0.71338606911949],"aabb_xy":[[-0.2821014462445597,-1.149408995925941],[-0.23300901499905827,-1.088911202827867]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.5573114465139155,1.791356000610667,0.71338606911949],"aabb_xy":[[-0.5873031092477857,1.7613560012738665],[-0.5273197837800451,1.8213559999474676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6413962899757972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/648.png","name":"648"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9837.png","name":"9837"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1834.png","name":"1834"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":614.4663553169794,"rotation_z_degrees":354.2199647063009,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012057390068338815,-0.005608185484506253,-0.00987121960504536]},{"name":"camera_2","offset_m":[-0.011811955246722886,0.01845727727001258,-0.010209314909040309]},{"name":"camera_3","offset_m":[-0.004074720514677509,0.003935312792137359,0.006468208887592409]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008434428760630791,0.001222477110114114,0.0015384566506191286],"end_effector_yaw_offset_degrees":-0.8292488051411142},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0001763187210653942,-0.001689887446376077,-0.0013424063777383371],"end_effector_yaw_offset_degrees":-0.3517308879515193},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013256103906354416,0.0006140805574977809,-0.001326193155079804],"end_effector_yaw_offset_degrees":0.857892593803806}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003301455707777518,-0.0034495154939629966],"position_m":[0.3139014557077775,0.217550484506037,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009803031843764317,-0.0005025179532105462],"position_m":[0.3168196968156236,-0.19360251795321054,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0031368827862853525,-0.0033259871405116473],"position_m":[0.30776311721371463,0.033274012859488354,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002710057719935668,0.0029552321010080313],"position_m":[0.05368994228006433,0.392955232101008,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018503911160419485,-0.0024863672316378306],"position_m":[0.15284960888395804,-0.4299863672316378,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e64723b20de01203195c2cd8c3434d4487e201fd3c32a8cd9b6ae863cc247a4c","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1584/tex_ceiling_textures_1834/tex_floor_textures_9837/tex_table_textures_6903/tex_wall_textures_648","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1273984583139650716,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1273984583139650716,"visual_seed":1273984583139650716,"scene_id":"lab_003","finished_at":"2026-09-03T16:29:11"} +{"episode_id":"ep_000008","started_at":"2026-09-03T16:29:14","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.6469950858705102,0.07896655521102414,0.71338606911949],"aabb_xy":[[0.6343682985833138,0.06942048150945122],[0.6596218731577065,0.08851262891259702]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.16600048086649288,-0.5870573226102098,0.71338606911949],"aabb_xy":[[-0.2159953137944345,-0.6370573215054534],[-0.11600564793855131,-0.5370573237149663]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.36884523375578426,0.06806794817783945,0.71338606911949],"aabb_xy":[[-0.43884523535806375,0.05463515497618189],[-0.2988452321535048,0.08150074137949705]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.6563582069136519,1.5797126699120159,0.71338606911949],"aabb_xy":[[-0.6627720205568366,1.573302849664347],[-0.6499443932704667,1.5861224901596838]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.4542747476468938,-2.21671030000987,0.71338606911949],"aabb_xy":[[-0.5342747479205008,-2.289659847835586],[-0.3742747473732868,-2.1437607521841526]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.40830850362042503,0.8789921473132019,0.71338606911949],"aabb_xy":[[-0.4983085059544441,0.8015097927280892],[-0.318308501286406,0.9564745018983145]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.35959061651117114,-2.419466370173644,0.71338606911949],"aabb_xy":[[-0.3945906148218666,-2.4271813850971897],[-0.3245906182004757,-2.4117513552500984]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.005491327845322913,0.704088343165854,0.71338606911949],"aabb_xy":[[-0.03200867281925578,0.6884012851656317],[0.04299132850990161,0.7197754011660761]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.647702831682565,-0.25163298372431786,0.71338606911949],"aabb_xy":[[0.5837028330959925,-0.29863994712382663],[0.7117028302691374,-0.2046260203248092]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.48350731695497595,-2.1828249987898802,0.71338606911949],"aabb_xy":[[0.45351565422110557,-2.2128249981266808],[0.5134989796888463,-2.1528249994530797]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.6306844616085021,-1.4871972052586633,0.71338606911949],"aabb_xy":[[-0.6806575271410177,-1.5371972050711966],[-0.5807113960759868,-1.4371972054461306]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.5358811253165792,-1.0654341854223934,0.71338606911949],"aabb_xy":[[-0.5440088135098924,-1.0743477938331012],[-0.527753437123266,-1.0565205770116861]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.40383502362961354,-2.015820740302818,0.71338606911949],"aabb_xy":[[0.3628170802432426,-2.065820740933775],[0.44485296701598437,-1.9658207396718606]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.6239193508299862,-2.0045112762457733,0.71338606911949],"aabb_xy":[[-0.6489193499956193,-2.0114635219511303],[-0.5989193516643531,-1.9975590305404172]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.13560242325996974,-2.3957897542745186,0.71338606911949],"aabb_xy":[[0.12956541025930504,-2.401816455343467],[0.1416394362606345,-2.389763053205571]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.23508381164136183,1.2042765566942362,0.71338606911949],"aabb_xy":[[0.15508381448178649,1.1927289557364191],[0.31508380880093706,1.2158241576520532]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.09642329928799043,-1.118316407104086,0.71338606911949],"aabb_xy":[[-0.18142329770541366,-1.2031907025663708],[-0.011423300870567199,-1.0334421116418009]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.119767765505996,-0.36812487109768677,0.71338606911949],"aabb_xy":[[-0.17474148754232888,-0.42312487066192],[-0.06479404346966311,-0.31312487153345364]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.5804195669307912,0.7222053326087057,0.71338606911949],"aabb_xy":[[-0.6504195703223531,0.6868895589052748],[-0.5104195635392291,0.7575211063121365]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.4292419970160019,1.4185133004929011,0.71338606911949],"aabb_xy":[[-0.46424199620882006,1.4075462544952384],[-0.39424199782318353,1.4294803464905634]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.5872123437755501,1.0802878611623714,0.71338606911949],"aabb_xy":[[0.5172123473655881,1.0598499255106892],[0.6572123401855117,1.1007257968140527]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.10644978734068922,-0.9170886606371575,0.71338606911949],"aabb_xy":[[0.07144978907056931,-0.9241627883321458],[0.14144978561080912,-0.9100145329421695]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.3178652758052373,-0.2831761413362126,0.71338606911949],"aabb_xy":[[-0.38186527606570814,-0.32818494068914056],[-0.2538652755447665,-0.23816734198328457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6409573360916102,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9235.png","name":"9235"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6428.png","name":"6428"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":619.4116432812352,"rotation_z_degrees":62.623606655604775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01938099153797922,-0.017465622112777256,-0.012508515053599614]},{"name":"camera_2","offset_m":[-0.009719935218907879,0.014532959686503883,-0.0003480121049233703]},{"name":"camera_3","offset_m":[0.016020014454550976,0.018554991839073488,-0.009296688563407396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019328270960105036,0.0002338103809489795,-0.0010377471658017884],"end_effector_yaw_offset_degrees":0.3769264531629024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0014124984957608216,2.467513577987957e-05,0.00013889437065841637],"end_effector_yaw_offset_degrees":-0.8224241137484942},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016643147683782758,-0.0012322573693414336,-0.0016687060671217906],"end_effector_yaw_offset_degrees":0.06895747310405831}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021213238960009076,0.002083177879735918],"position_m":[0.3127213238960009,0.22308317787973592,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004031050420281179,-0.0013006056548050238],"position_m":[0.31376894957971885,-0.19440060565480502,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0024684168261354055,-0.0023666190201221617],"position_m":[0.3084315831738646,0.03423338097987784,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002595151751989172,-0.0003011231604497875],"position_m":[0.05899515175198917,0.38969887683955023,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003679911471459429,0.004379441174612658],"position_m":[0.15837991147145944,-0.42312055882538735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ede0fa59e8162b72d746f6020473c654cfbf56fbec714f6354301d5a2e0f0fae","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9197/tex_ceiling_textures_6428/tex_floor_textures_7585/tex_table_textures_8377/tex_wall_textures_9235","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8264441781150597997,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8264441781150597997,"visual_seed":8264441781150597997,"scene_id":"lab_003","finished_at":"2026-09-03T16:32:02"} +{"episode_id":"ep_000009","started_at":"2026-09-03T16:32:05","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.5204925641329066,0.5387735167546848,0.71338606911949],"aabb_xy":[[-0.5548088413075245,0.48877351678150704],[-0.48617628695828863,0.5887735167278625]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.06067208645204414,-1.3040309254618345,0.71338606911949],"aabb_xy":[[-0.08450830409264921,-1.394030926270321],[-0.03683586881143908,-1.214030924653348]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.3773889491556564,-2.3298121708332737,0.71338606911949],"aabb_xy":[[-0.38146710706270615,-2.3338931510815373],[-0.37331079124860667,-2.32573119058501]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.36331423404589036,-0.17058198575210382,0.71338606911949],"aabb_xy":[[-0.4483142324633136,-0.2554562812143888],[-0.27831423562846713,-0.08570769028981887]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[0.5445585856774362,1.5995266474295984,0.71338606911949],"aabb_xy":[[0.5035406422910653,1.5495266467986408],[0.5855765290638071,1.6495266480605555]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.41414103325541585,-0.9555971742368632,0.71338606911949],"aabb_xy":[[-0.43664103306931823,-0.9600717906073439],[-0.39164103344151346,-0.9511225578663824]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.2775621452812123,-1.4897566820905055,0.71338606911949],"aabb_xy":[[-0.29506214441557943,-1.499636309128093],[-0.2600621461468451,-1.4798770550529174]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.45635945182205606,-1.8055262438952344,0.71338606911949],"aabb_xy":[[-0.5114846574516467,-1.8655262453365211],[-0.4012342461924653,-1.7455262424539468]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.4502776167397129,-0.41363200847848525,0.71338606911949],"aabb_xy":[[0.44052162723053895,-0.42339454253771963],[0.46003360624888673,-0.40386947441925075]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.6133564172100987,-0.04260599323686565,0.71338606911949],"aabb_xy":[[0.5333564201958507,-0.06274054491027692],[0.6933564142243467,-0.022471441563454375]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.5247639505605576,0.9933262996453851,0.71338606911949],"aabb_xy":[[-0.5847639514213703,0.9418998696388986],[-0.4647639496997447,1.0447527296518713]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.22199242760326432,-0.11945128213411182,0.71338606911949],"aabb_xy":[[-0.23486433110420446,-0.19945128254794797],[-0.20912052410232418,-0.039451281720275684]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.3113616357562969,-1.973778198272047,0.71338606911949],"aabb_xy":[[-0.39136163622651293,-1.9820889058863957],[-0.231361635286081,-1.9654674906576992]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.5132404987246982,1.6773585271191833,0.71338606911949],"aabb_xy":[[-0.5310340056596147,1.6595587815233859],[-0.4954469917897818,1.6951582727149812]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.6449895081805913,-0.011861763331132646,0.71338606911949],"aabb_xy":[[-0.655895284268154,-0.0918617597299618],[-0.6340837320930286,0.06813823306769651]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.522238508173476,-0.916636755807406,0.71338606911949],"aabb_xy":[[0.4522385060420462,-0.9393987214331015],[0.5922385103049053,-0.8938747901817102]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.27017434516565164,0.8448231080236299,0.71338606911949],"aabb_xy":[[0.21017434456963546,0.7900106354784066],[0.3301743457616678,0.8996355805688535]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.2610707271462467,-2.3671631897443035,0.71338606911949],"aabb_xy":[[0.22403661771818698,-2.4015403970780125],[0.2981048365743064,-2.3327859824105937]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.15412316272041127,0.3658909075385113,0.71338606911949],"aabb_xy":[[-0.16138441029081868,0.35310389727500185],[-0.14686191515000385,0.3786779178020208]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.33861106217232373,-1.680520612725698,0.71338606911949],"aabb_xy":[[0.28863225366200784,-1.7305206127314168],[0.3885898706826396,-1.6305206127199792]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.3657185505340233,-0.3124421314414634,0.71338606911949],"aabb_xy":[[-0.44571854919090936,-0.32694699036572616],[-0.28571855187713735,-0.2979372725172006]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.4881768277910826,-1.512869455856272,0.71338606911949],"aabb_xy":[[-0.5256768276081162,-1.517507667167414],[-0.45067682797404907,-1.5082312445451302]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.040878495612821086,-2.293867662924031,0.71338606911949],"aabb_xy":[[0.03146102104295834,-2.30328384006175],[0.050295970182683836,-2.284451485786312]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[-0.4699334822080037,-0.586377988425534,0.71338606911949],"aabb_xy":[[-0.5199334816481993,-0.6363459129098503],[-0.41993348276780806,-0.5364100639412177]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.6420713787314225,-2.1817047405816243,0.71338606911949],"aabb_xy":[[0.6339577240580454,-2.1898105570356536],[0.6501850334047996,-2.173598924127595]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.5756416523168704,-1.2600451904640984,0.71338606911949],"aabb_xy":[[0.5106416496790769,-1.3115247891635453],[0.6406416549546639,-1.2085655917646514]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.44513482886146627,0.17804589011422634,0.71338606911949],"aabb_xy":[[-0.5251286524400245,0.0980458875213848],[-0.36514100528290805,0.2580458927070679]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.13401299629076646,-1.4785027413594787,0.71338606911949],"aabb_xy":[[-0.14724394182544773,-1.4917301603814779],[-0.12078205075608514,-1.465275322337479]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.10763720757150419,-1.8129775591095685,0.71338606911949],"aabb_xy":[[0.017637207848330002,-1.836050911644748],[0.19763720729467835,-1.7899042065743884]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_29","position":[0.05675421968880501,1.0682384950989987,0.71338606911949],"aabb_xy":[[-0.01324578211994043,1.0468847263348113],[0.12675422149755045,1.089592263863186]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[-0.1866540603999005,1.147426788985673,0.71338606911949],"aabb_xy":[[-0.20915048183376458,1.1249267891789259],[-0.16415763896603638,1.1699267887924207]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_31","position":[0.16153699443057712,1.3749797735269196,0.71338606911949],"aabb_xy":[[0.11153699407001107,1.3249997863173162],[0.21153699479114318,1.424959760736522]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[-0.6650290551126042,-1.783493324646332,0.71338606911949],"aabb_xy":[[-0.6900290550451222,-1.7903759928672554],[-0.6400290551800865,-1.7766106564254087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6355853555376098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6008.png","name":"6008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6236.png","name":"6236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":579.3157466887483,"rotation_z_degrees":261.4181900711808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008492938765583094,0.011039207865921268,-0.007349153628528157]},{"name":"camera_2","offset_m":[0.0085755636025866,-0.008365367643619509,0.0006634695618645929]},{"name":"camera_3","offset_m":[0.0005974449599667822,-0.009912458152404508,-0.002996422331504482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000977402962579033,-0.0017651970528593673,0.0017842136411300633],"end_effector_yaw_offset_degrees":0.12935925980671814},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001485165055906091,0.0004980385488849003,-0.0012024191227482848],"end_effector_yaw_offset_degrees":0.3325929368163878},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010751558718744274,-0.0003566688076656313,0.0012340097408287416],"end_effector_yaw_offset_degrees":0.5883252159214551}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00228832688908977,-0.0013609377524870982],"position_m":[0.31288832688908974,0.2196390622475129,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002908322995451929,-0.0043055185844867],"position_m":[0.3180908322995452,-0.19740551858448668,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002587195150519451,-0.003915405280370597],"position_m":[0.30831280484948054,0.0326845947196294,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033634812732511446,0.00014170887439583606],"position_m":[0.059763481273251144,0.39014170887439586,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00420244823266013,0.0035882918419082874],"position_m":[0.15049755176733987,-0.4239117081580917,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ffe11acdcff9f87a1dba6801f91d0da9f4d3be4d52de719e53404619783dbc24","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_731/tex_ceiling_textures_8233/tex_floor_textures_8553/tex_table_textures_6008/tex_wall_textures_6236","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2747447442806688384,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2747447442806688384,"visual_seed":2747447442806688384,"scene_id":"lab_003","finished_at":"2026-09-03T16:34:47"} +{"episode_id":"ep_000010","started_at":"2026-09-03T16:34:50","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.1164766254884334,-1.1665523984483674,0.71338606911949],"aabb_xy":[[-0.19647662346921846,-1.1741539394102192],[-0.03647662750764836,-1.1589508574865153]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.07634179472385294,-0.7456468594991208,0.71338606911949],"aabb_xy":[[0.03106317984270368,-0.8096468588473045],[0.1216204096050022,-0.6816468601509371]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.5940461642368127,0.9886536571991429,0.71338606911949],"aabb_xy":[[-0.6165461640507152,0.9841790408286619],[-0.5715461644229104,0.9931282735696234]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[0.15539517617495957,-1.0131705334291563,0.71338606911949],"aabb_xy":[[0.11789517606936663,-1.0199926952821372],[0.19289517628055253,-1.006348371576175]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.05356724549375824,1.49353425136681,0.71338606911949],"aabb_xy":[[-0.00643275614916361,1.4415341020748658],[0.1135672471366801,1.5455344006587541]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.7000588734770348,0.24149141823513842,0.71338606911949],"aabb_xy":[[0.6871869699760945,0.16149141782130222],[0.7129307769779748,0.32149141864897446]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.499831671952083,-2.02123264476362,0.71338606911949],"aabb_xy":[[0.4503512507381243,-2.0852326426764716],[0.5493120931660419,-1.957232646850768]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5704277448530504,-0.3944505138643044,0.71338606911949],"aabb_xy":[[-0.6604277415886605,-0.44763397718159886],[-0.48042774811744005,-0.34126705054700984]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.3571106272681075,1.3420092031735007,0.71338606911949],"aabb_xy":[[0.3483966582181729,1.319509202514312],[0.3658245963180419,1.3645092038326885]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.08567360173399519,-0.4724698501818887,0.71338606911949],"aabb_xy":[[-0.09295591811065881,-0.5624698537913976],[-0.0783912853573315,-0.38246984657237965]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.06020817585017346,-0.7675205268966909,0.71338606911949],"aabb_xy":[[-0.08270731157640043,-0.7900205276749539],[-0.0377090401239465,-0.745020526118428]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.015563621961075524,-1.3125343438864765,0.71338606911949],"aabb_xy":[[-0.049860532978816145,-1.3468312300964176],[0.018733289056665096,-1.278237457676535]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.6785958575738946,0.7417057326974512,0.71338606911949],"aabb_xy":[[0.6535958576413768,0.7348230644765279],[0.7035958575064126,0.7485884009183745]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.06360940936440262,-1.8320359510621342,0.71338606911949],"aabb_xy":[[0.03013024210336169,-1.8655150644332412],[0.09708857662544357,-1.7985568376910273]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.04652435162782187,0.26298181367734275,0.71338606911949],"aabb_xy":[[-0.05473889674350583,0.25430522337970135],[-0.03830980651213787,0.2716584039749839]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.48404569026866584,-1.7955189608666253,0.71338606911949],"aabb_xy":[[0.42404569001726455,-1.84980028590309],[0.5440456905200669,-1.7412376358301607]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.25201545909753964,-1.7830470047342906,0.71338606911949],"aabb_xy":[[-0.30198852463005516,-1.8330470045468237],[-0.20204239356502424,-1.733047004921758]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.5140615275690257,-0.14270764463943397,0.71338606911949],"aabb_xy":[[0.4965615941350422,-0.1602076445596685],[0.5315614610030089,-0.1252076447191994]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.30429119146288397,-2.4029142809630097,0.71338606911949],"aabb_xy":[[0.2542911901019967,-2.4528921855384254],[0.35429119282377114,-2.352936376387594]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.6324621413113225,0.5672103028352957,0.71338606911949],"aabb_xy":[[0.5949621409630947,0.5554189072542121],[0.6699621416595503,0.5790016984163792]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.4360972358907971,-1.5014455204143662,0.71338606911949],"aabb_xy":[[-0.5010972385285906,-1.5529251191138131],[-0.3710972332530036,-1.4499659217149192]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.6003247852432044,-0.6455759056479287,0.71338606911949],"aabb_xy":[[-0.6110977591645722,-0.6805759038669676],[-0.5895518113218366,-0.6105759074288897]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.4264032965694341,-1.8507646481808093,0.71338606911949],"aabb_xy":[[-0.4608656439675758,-1.885258530578632],[-0.3919409491712922,-1.8162707657829866]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[0.05870202922106271,1.8125967131512275,0.71338606911949],"aabb_xy":[[0.047340294567776546,1.8012282467449392],[0.07006376387434887,1.8239651795575154]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.48122922912260074,-0.878505736148407,0.71338606911949],"aabb_xy":[[-0.4846699053626579,-0.8823671691227716],[-0.47778855288254357,-0.8746443031740426]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.5311854469678781,-2.462585383996932,0.71338606911949],"aabb_xy":[[-0.5951811443629745,-2.52658538229764],[-0.46718974957278137,-2.3985853856962227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639411606838016,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1126.png","name":"1126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1126.png","name":"1126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/472.png","name":"472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3688.png","name":"3688"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7215.png","name":"7215"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":616.5694497681977,"rotation_z_degrees":89.26044799337271,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012443145558930464,0.005234166028499715,-0.004725561548986828]},{"name":"camera_2","offset_m":[0.00737585539424045,0.018642993209656688,0.00220068776142341]},{"name":"camera_3","offset_m":[-0.007759783801702343,-0.010160025914482805,0.01333585694743573]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009597062673671439,-0.0014430360244697365,-0.0013969952095390728],"end_effector_yaw_offset_degrees":-0.5813435553302406},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005653094833770293,-0.0013806070467529765,0.0013788771714138568],"end_effector_yaw_offset_degrees":0.5525649177084231},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017979165021377046,0.0013481139035774344,0.0010204620628089444],"end_effector_yaw_offset_degrees":-0.9318197178716205}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004018680476190974,-0.002335778885049883],"position_m":[0.306581319523809,0.21866422111495012,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004120793452619507,-0.0005282342016433069],"position_m":[0.3136792065473805,-0.1936282342016433,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0033951808778269,0.004828244503348576],"position_m":[0.3075048191221731,0.041428244503348574,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002009488910734575,0.004555811279726023],"position_m":[0.058409488910734574,0.39455581127972605,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008959959679539133,0.0035604506464616817],"position_m":[0.15559599596795393,-0.42393954935353834,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"735d2a37f82bf5cfa752136e443670f83c125f19d8b9a21933f7560088f1ec4a","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1126/tex_ceiling_textures_7215/tex_floor_textures_4400/tex_table_textures_472/tex_wall_textures_3688","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5097206105016207663,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5097206105016207663,"visual_seed":5097206105016207663,"scene_id":"lab_003","finished_at":"2026-09-03T16:37:38"} +{"episode_id":"ep_000011","started_at":"2026-09-03T16:37:43","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.4316504614293135,-0.8065963680980393,0.71338606911949],"aabb_xy":[[-0.4916504630722354,-0.8585965173899835],[-0.3716504597863917,-0.7545962188060952]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.3807369145700399,0.6720856648165392,0.71338606911949],"aabb_xy":[[-0.460736917834053,0.6585256325076259],[-0.30073691130602676,0.6856456971254525]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.019386150661563906,-1.2627296831426875,0.71338606911949],"aabb_xy":[[-0.05688615100979166,-1.274521078723771],[0.018113849686663856,-1.250938287561604]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.263466358066524,-1.857712890055124,0.71338606911949],"aabb_xy":[[-0.27471141363714185,-1.8689546877792196],[-0.2522213024959062,-1.846471092331029]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.3510709306754155,0.38368214598195705,0.71338606911949],"aabb_xy":[[-0.3550314144451499,0.37601428139643644],[-0.3471104469056812,0.39135001056747765]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.2964528912226637,-2.072182683840012,0.71338606911949],"aabb_xy":[[0.23645289137609693,-2.1290013060330506],[0.3564528910692305,-2.0153640616469732]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.2766484054574915,0.7667187943941483,0.71338606911949],"aabb_xy":[[0.2696069545067439,0.7596920426563538],[0.28368985640823907,0.7737455461319429]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.29324810966493314,-2.222025596681185,0.71338606911949],"aabb_xy":[[-0.3769703351650156,-2.3120256002158803],[-0.20952588416485068,-2.1320255931464884]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.3636474138640784,-1.214877297202579,0.71338606911949],"aabb_xy":[[0.33913378976707254,-1.2391418905046154],[0.38816103796108425,-1.1906127039005425]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.08719515927215304,-0.647087250993917,0.71338606911949],"aabb_xy":[[0.0021951605800783897,-0.6790731143887958],[0.17219515796422769,-0.6151013875990381]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.40393511883245115,-0.9042331857762433,0.71338606911949],"aabb_xy":[[0.3539351184718851,-0.9542131729858462],[0.4539351191930172,-0.8542531985666403]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.37366896649539216,-0.4987152187553945,0.71338606911949],"aabb_xy":[[-0.38382198204954143,-0.5347847603281348],[-0.3635159509412427,-0.4626456771826541]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.3378980513464178,-1.101450254084216,0.71338606911949],"aabb_xy":[[-0.4278980507647887,-1.1348257509284054],[-0.24789805192804693,-1.068074757240026]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.2914167120580085,0.23398226026577662,0.71338606911949],"aabb_xy":[[-0.31358923903465935,0.2118065931096534],[-0.26924418508135767,0.2561579274218998]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.5145640223065095,-0.28811838284483837,0.71338606911949],"aabb_xy":[[0.4909788988426148,-0.3531183850902702],[0.5381491457704045,-0.22311838059940664]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.4158643369179347,-1.8002849839352895,0.71338606911949],"aabb_xy":[[0.40773664872462145,-1.8091985923459972],[0.4239920251112479,-1.7913713755245821]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.12848767750800305,0.9988099530848054,0.71338606911949],"aabb_xy":[[-0.16598767780017787,0.9947684776842017],[-0.09098767721582823,1.0028514284854089]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.2530557635454491,-0.24645670969280786,0.71338606911949],"aabb_xy":[[-0.33805576196287235,-0.33133100515509284],[-0.1680557651280259,-0.16158241423052289]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.20243176738004526,-0.6348790096491583,0.71338606911949],"aabb_xy":[[-0.2674317683371724,-0.6868272215828638],[-0.13743176642291804,-0.5829307977154526]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.13426977468684242,1.5151165586548223,0.71338606911949],"aabb_xy":[[0.09676977474307602,1.5068234686199857],[0.17176977463060883,1.523409648689659]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.27627895529847335,-0.7406860596130951,0.71338606911949],"aabb_xy":[[-0.2839032233886516,-0.7483192831496388],[-0.2686546872082951,-0.7330528360765514]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.517879170283366,-1.6297922717109001,0.71338606911949],"aabb_xy":[[0.46287917208162127,-1.6703142383373377],[0.5728791684851109,-1.5892703050844625]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.47221350784720684,-1.7408961938226295,0.71338606911949],"aabb_xy":[[-0.5222135091310467,-1.7908750482132514],[-0.42221350656336687,-1.6909173394320072]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.642449504797191,0.7156372093351138,0.71338606911949],"aabb_xy":[[0.5784495044196573,0.6658919424843015],[0.7064495051747245,0.765382476185926]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.17241094871025697,1.1283601139125814,0.71338606911949],"aabb_xy":[[0.1505022665709059,1.1064594470924907],[0.194319630849608,1.1502607807326721]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.31741067825188063,0.09929750262680814,0.71338606911949],"aabb_xy":[[-0.33730171813222093,0.0866416913421113],[-0.29751963837154044,0.111953313911505]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.4737105076859407,-2.463571164845224,0.71338606911949],"aabb_xy":[[0.42389372822110594,-2.5135711633295275],[0.5235272871507755,-2.4135711663609207]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[-0.6156335509616533,1.2595301955675948,0.71338606911949],"aabb_xy":[[-0.6617186422163848,1.1955301983150395],[-0.5695484597069218,1.3235301928201497]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_28","position":[-0.6446360248959931,0.16038685449929657,0.71338606911949],"aabb_xy":[[-0.6856539682823639,0.11038685386833927],[-0.6036180815096222,0.21038685513025393]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[-0.5515175153458824,-1.4993421252551107,0.71338606911949],"aabb_xy":[[-0.6014002122235786,-1.5493421245013859],[-0.5016348184681862,-1.4493421260088362]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_30","position":[-0.3043340043511612,1.7248108725338391,0.71338606911949],"aabb_xy":[[-0.36833400505463054,1.6787924900609186],[-0.24033400364769186,1.7708292550067606]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[0.2818312451222441,1.266051298708367,0.71338606911949],"aabb_xy":[[0.2443312436066124,1.254824525692222],[0.3193312466378758,1.277278071724512]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_32","position":[0.6642180581161168,-1.9423778966800005,0.71338606911949],"aabb_xy":[[0.6299017809414988,-1.992377896653178],[0.6985343352907347,-1.8923778967068225]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_33","position":[-0.054037683143215554,0.2384135710403963,0.71338606911949],"aabb_xy":[[-0.0700996106017332,0.15341356922780444],[-0.03797575568469791,0.32341357285298805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.643015715718913,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8737.png","name":"8737"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8737.png","name":"8737"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5776.png","name":"5776"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8197.png","name":"8197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/523.png","name":"523"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":567.1976694790044,"rotation_z_degrees":104.48432716406448,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011272767544120743,-0.002682638684762942,0.0029597607587210986]},{"name":"camera_2","offset_m":[0.009103896963708596,-0.0008350153338774202,0.012310650442187484]},{"name":"camera_3","offset_m":[0.0016772706407261403,-0.0124399604776151,-0.010134732108723114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001093621579628989,0.0010808533435969605,-0.00015988906042690987],"end_effector_yaw_offset_degrees":-0.8773455656362916},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009224720598911247,-0.0018179543236820713,-0.00016133175431682517],"end_effector_yaw_offset_degrees":0.8829950188029163},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008456058228850166,-0.0009327007393344826,0.000938518455770971],"end_effector_yaw_offset_degrees":-0.41642606090880463}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004031224693924847,-0.003677897576749407],"position_m":[0.31463122469392485,0.2173221024232506,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020060734209262966,-0.002070781880802216],"position_m":[0.31579392657907374,-0.1951707818808022,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0018725605435560757,-0.004907565041268047],"position_m":[0.30902743945644395,0.03169243495873195,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026549352484718826,0.0019269502039684742],"position_m":[0.059054935248471885,0.3919269502039685,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006928998117642915,-0.003620859566795296],"position_m":[0.1540071001882357,-0.4311208595667953,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5f98ad92a35f0e9020c9ad69b9b3353b3164437591e4dd40c6629e1e6cc828a9","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8737/tex_ceiling_textures_523/tex_floor_textures_8197/tex_table_textures_5776/tex_wall_textures_1221","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7007123772451667247,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7007123772451667247,"visual_seed":7007123772451667247,"scene_id":"lab_003","finished_at":"2026-09-03T16:40:59"} +{"episode_id":"ep_000012","started_at":"2026-09-03T16:41:01","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.42819669090635015,-2.2143461285615604,0.71338606911949],"aabb_xy":[[0.39069669073447827,-2.247046863944467],[0.46569669107822215,-2.181645393178653]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.39105639740990455,-0.8328941711613729,0.71338606911949],"aabb_xy":[[-0.42785103053481083,-0.8698000462579552],[-0.3542617642849983,-0.7959882960647906]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.4436139803380862,-1.51151364936564,0.71338606911949],"aabb_xy":[[-0.5236139783188712,-1.519115190327492],[-0.3636139823573012,-1.503912108403788]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[-0.3489764076956108,-1.5791413641117322,0.71338606911949],"aabb_xy":[[-0.386476408192969,-1.583110047659851],[-0.31147640719825254,-1.575172680563614]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.5677687400575315,1.1228975401891472,0.71338606911949],"aabb_xy":[[0.5636328837248313,1.0853975407447902],[0.5719045963902317,1.1603975396335042]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.4240946476436753,-0.8693713359096082,0.71338606911949],"aabb_xy":[[0.38909464845085695,-0.8803383819072707],[0.4590946468364935,-0.8584042899119454]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.47147834150363593,-2.538071772608457,0.71338606911949],"aabb_xy":[[-0.48077195974078646,-2.5755717710965906],[-0.4621847232664853,-2.500571774120323]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.48786585827345164,1.4306510321140675,0.71338606911949],"aabb_xy":[[-0.5528658592739522,1.3798646669593924],[-0.4228658572729511,1.4814373972687422]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.11596845958960844,-2.5147750080511697,0.71338606911949],"aabb_xy":[[0.02596846017123755,-2.548150504895359],[0.20596845900797933,-2.4813995112069795]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.16310855246168,-2.0708820971307897,0.71338606911949],"aabb_xy":[[0.1454757168681524,-2.0885050431464123],[0.18074138805520754,-2.0532591511151663]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.12589521281409166,1.0989376166565767,0.71338606911949],"aabb_xy":[[0.07089521363750217,1.0439479418816189],[0.18089521199068115,1.1539272914315342]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.4151973816028936,-0.28956339975115686,0.71338606911949],"aabb_xy":[[-0.4233250697962068,-0.2984770081618645],[-0.4070696934095804,-0.2806497913404492]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.2582987817867779,1.3003173810857978,0.71338606911949],"aabb_xy":[[0.24636604742494983,1.2879352282779384],[0.27023151614860597,1.3126995338936571]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.22734685163712642,-0.769623387198799,0.71338606911949],"aabb_xy":[[0.219352863059423,-0.7776234672938893],[0.2353408402148298,-0.7616233071037086]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.029821307092274707,0.7441988963487134,0.71338606911949],"aabb_xy":[[-0.025174170728384685,0.6891988949148063],[0.0848167849129341,0.7991988977826202]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.3000441516545094,1.2082291910263927,0.71338606911949],"aabb_xy":[[-0.3800441527276297,1.1984511446890083],[-0.22004415058138904,1.2180072373637771]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.5750961754006734,-0.6672268141126902,0.71338606911949],"aabb_xy":[[0.5446980643015296,-0.6976337161143596],[0.6054942864998167,-0.6368199121110206]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.5533102371575196,-1.9437453424451199,0.71338606911949],"aabb_xy":[[0.4992946408756196,-2.0077453453373773],[0.6073258334394196,-1.8797453395528625]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5121887570646875,-1.2158031945975294,0.71338606911949],"aabb_xy":[[0.428466531564605,-1.3058031981322253],[0.5959109825647699,-1.1258031910628334]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.07177322092801253,1.5568741545840807,0.71338606911949],"aabb_xy":[[-0.15177322419202566,1.5433141222751674],[0.008226782336000604,1.570434186892994]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.26107830267025595,-1.8738262995166621,0.71338606911949],"aabb_xy":[[-0.27192990891913155,-1.8846855902443127],[-0.25022669642138035,-1.8629670087890107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6378222376853426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6968.png","name":"6968"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9000.png","name":"9000"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.6071067159808,"rotation_z_degrees":294.3821586271913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016363396778248714,-0.006810387011468274,0.003859998187363562]},{"name":"camera_2","offset_m":[0.006918371079492204,0.003816212601366699,-0.0083166093784221]},{"name":"camera_3","offset_m":[-0.008379151504542772,-0.00574705392777103,0.014771664368681308]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000763350088382902,0.0014944541629865978,0.0009965734315337533],"end_effector_yaw_offset_degrees":-0.30810912320153405},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015633538432666132,0.0015832373471572044,-0.0004756096687405678],"end_effector_yaw_offset_degrees":-0.10638046550490854},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002084648521864631,0.0004871643743297534,-0.0013630762171664454],"end_effector_yaw_offset_degrees":-0.5179611316046655}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004159958036516359,-0.0004440670862767733],"position_m":[0.31475995803651635,0.22055593291372322,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004837747921433195,-0.0034621265265073076],"position_m":[0.3129622520785668,-0.1965621265265073,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016892568962390575,0.00445283840093686],"position_m":[0.30921074310376095,0.04105283840093686,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004805618899905347,-0.004724889381456298],"position_m":[0.05159438110009465,0.3852751106185437,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036756516016943795,0.0008264285217838736],"position_m":[0.1510243483983056,-0.4266735714782161,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0ccbc7ebcdd993dff527b7ab9c0b0fe3ef44a415d807df718451657a7561ce03","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2788/tex_ceiling_textures_9000/tex_floor_textures_6968/tex_table_textures_3292/tex_wall_textures_2992","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1521371572952013319,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1521371572952013319,"visual_seed":1521371572952013319,"scene_id":"lab_003","finished_at":"2026-09-03T16:43:48"} +{"episode_id":"ep_000013","started_at":"2026-09-03T16:43:51","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.12434202547422657,0.07709526683276335,0.71338606911949],"aabb_xy":[[-0.16184202541799297,0.06880217679792677],[-0.08684202553046015,0.08538835686759993]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.4241546516035788,-1.9443006343613076,0.71338606911949],"aabb_xy":[[0.3903790924128858,-1.9583391295744723],[0.45793021079427176,-1.9302621391481425]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.5264200570871782,-1.4580122747758664,0.71338606911949],"aabb_xy":[[-0.5527088814076188,-1.4842837084305174],[-0.5001312327667374,-1.431740841121215]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.14431813985596276,-1.550709400880643,0.71338606911949],"aabb_xy":[[-0.15942044131698083,-1.565810922511704],[-0.12921583839494463,-1.5356078792495806]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.5917088948726463,-0.1428033079380886,0.71338606911949],"aabb_xy":[[-0.6217005576065165,-0.17280330727488913],[-0.5617172321387759,-0.11280330860128807]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.1272871561129898,-1.9314349070105474,0.71338606911949],"aabb_xy":[[-0.20728715937083275,-2.0114314148025314],[-0.04728715285514684,-1.8514383992185635]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.18503174071485418,0.6948010842579886,0.71338606911949],"aabb_xy":[[0.16253174119114674,0.6723051368073677],[0.20753174023856155,0.7172970317086093]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.44752556141740407,-0.2561218611724838,0.71338606911949],"aabb_xy":[[-0.5275255600742901,-0.2706267200967466],[-0.36752556276051807,-0.24161700224822102]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.419619451683806,1.399011763213705,0.71338606911949],"aabb_xy":[[-0.4347916209654394,1.3838429062855018],[-0.4044472824021727,1.4141806201419085]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.323889947708386,0.537897546393987,0.71338606911949],"aabb_xy":[[-0.3563516485903134,0.5077647142790842],[-0.29142824682645846,0.5680303785088894]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.13209384499209098,-0.4599168753738416,0.71338606911949],"aabb_xy":[[-0.16888847811699725,-0.49682275047042396],[-0.09529921186718471,-0.4230110002772594]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.5257108755139721,-0.7375397708178266,0.71338606911949],"aabb_xy":[[0.5011972514169662,-0.7618043641198631],[0.550224499610978,-0.7132751775157902]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.2092732156602824,1.5070428467952746,0.71338606911949],"aabb_xy":[[-0.27927321207024414,1.4866049111435926],[-0.13927321925032055,1.527480782446956]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.0846979720349269,0.27752814559141203,0.71338606911949],"aabb_xy":[[-0.09657005504642802,0.19252814589776163],[-0.0728258890234258,0.36252814528506233]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.19611325799147528,1.0056255831542722,0.71338606911949],"aabb_xy":[[0.11611325582871276,0.9256703995281284],[0.27611326015423776,1.0855807667804156]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.519037812445605,0.6844126920853664,0.71338606911949],"aabb_xy":[[0.455037810395873,0.6443182089960584],[0.583037814495337,0.7245071751746743]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.6068684787696363,1.5848363388362823,0.71338606911949],"aabb_xy":[[0.57821914640922,1.5561907795592065],[0.6355178111300525,1.613481898113358]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[0.6788063884164808,-1.8741599770757453,0.71338606911949],"aabb_xy":[[0.6555245462183493,-1.9591599783729732],[0.702088230614612,-1.789159975778517]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.4215666316927291,1.7306960839100438,0.71338606911949],"aabb_xy":[[0.37376046407896046,1.6656960812029846],[0.4693727993064977,1.7956960866171026]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.08573014031212,-1.1552852228935366,0.71338606911949],"aabb_xy":[[-0.10161463357744516,-1.169638163192361],[-0.06984564704679486,-1.1409322825947128]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.050031430933226595,-1.1549822468766837,0.71338606911949],"aabb_xy":[[0.04469891627861361,-1.1603065751219193],[0.05536394558783958,-1.1496579186314482]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.45213463006123145,1.047187536667618,0.71338606911949],"aabb_xy":[[-0.46034917517691537,1.0385109463699762],[-0.4439200849455474,1.0558641269652589]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.5536463447035331,-1.6709722804446883,0.71338606911949],"aabb_xy":[[0.5311463448896306,-1.6754468968151688],[0.5761463445174354,-1.6664976640742073]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.22410099091596192,0.506000792306319,0.71338606911949],"aabb_xy":[[0.1441009876519488,0.49244075999740566],[0.30410099417997505,0.5195608246152323]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.10997901636896701,-2.5534721611338838,0.71338606911949],"aabb_xy":[[-0.11393950013870138,-2.5611400257194044],[-0.10601853259923263,-2.545804296548363]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[0.19322890686572747,-0.899791506645087,0.71338606911949],"aabb_xy":[[0.18931503367030494,-0.9085405220516437],[0.19714278006115,-0.8910424912385301]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.1853487511552373,-0.6955710547332572,0.71338606911949],"aabb_xy":[[-0.2503487521123645,-0.7475192666669628],[-0.1203487501981101,-0.6436228427995516]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[-0.5403393800105736,-0.5318497480002562,0.71338606911949],"aabb_xy":[[-0.5778393798276072,-0.5364879593113979],[-0.5028393801935401,-0.5272115366891142]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[-0.10341530085072248,1.6152329209332001,0.71338606911949],"aabb_xy":[[-0.1286361377105621,1.5900091700803132],[-0.07819446399088278,1.6404566717860867]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.498477908710912,-2.0565808002061643,0.71338606911949],"aabb_xy":[[-0.5031130238631453,-2.0604481352833126],[-0.4938427935586786,-2.052713465129015]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[-0.3499421998923014,-2.118630076352699,0.71338606911949],"aabb_xy":[[-0.42994219705187664,-2.130177677310516],[-0.26994220273272607,-2.107082475394882]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407965519875578,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7178.png","name":"7178"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7652.png","name":"7652"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5585.png","name":"5585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6486.png","name":"6486"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":541.7889582834466,"rotation_z_degrees":327.3832355254941,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009238762725424607,-0.015199732987796182,-0.010985002425539934]},{"name":"camera_2","offset_m":[-0.014210687545355573,0.0036579562607725845,-0.014023166216250278]},{"name":"camera_3","offset_m":[0.01490260610008597,0.015489970991675431,0.008611849577227416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012442420880855991,-0.0013286521922755545,-0.0016673908840956475],"end_effector_yaw_offset_degrees":-0.6809271195640227},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001381034070553522,0.0017950228132693831,-0.0015334341017086714],"end_effector_yaw_offset_degrees":-0.6463240523769385},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009281850139503931,0.0016485739408606103,-0.0014135264934840564],"end_effector_yaw_offset_degrees":0.3044354534782663}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00021853563781024186,-0.001363408481290974],"position_m":[0.31081853563781026,0.21963659151870904,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035187240171458034,0.002110476668931047],"position_m":[0.3142812759828542,-0.19098952333106894,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0010035426946910456,-0.002902999276602982],"position_m":[0.31190354269469106,0.03369700072339702,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005229944635838819,0.003071250941667267],"position_m":[0.056922994463583884,0.3930712509416673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025730126526182784,-0.0023913665908767267],"position_m":[0.15212698734738173,-0.42989136659087673,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"98c40eb1970651f3cd8a7bf4c1f49eb3941beb61e41756c08d8e529706c824ad","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6386/tex_ceiling_textures_6486/tex_floor_textures_5585/tex_table_textures_7178/tex_wall_textures_7652","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1078345098175734018,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1078345098175734018,"visual_seed":1078345098175734018,"scene_id":"lab_003","finished_at":"2026-09-03T16:46:35"} +{"episode_id":"ep_000014","started_at":"2026-09-03T16:46:39","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.45738192020460233,1.1408430552967501,0.71338606911949],"aabb_xy":[[0.44945863996585395,1.1183430550587468],[0.4653052004433506,1.1633430555347535]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.6444779961610909,1.441215928891975,0.71338606911949],"aabb_xy":[[0.58948574552558,1.3862159271486623],[0.6994702467966019,1.4962159306352878]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.2778272369202949,0.6709439844513443,0.71338606911949],"aabb_xy":[[0.2596214132590472,0.6599185838693528],[0.29603306058154255,0.681969385033336]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.07214227294817377,-1.3788425309485626,0.71338606911949],"aabb_xy":[[0.01214227235215759,-1.433655003493786],[0.13214227354418995,-1.324030058403339]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.040434836829557064,-0.9050649182034756,0.71338606911949],"aabb_xy":[[-0.130434835424027,-0.9213155045168966],[0.04956516176491287,-0.8888143318900545]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.5276330694457916,-0.9355486230518486,0.71338606911949],"aabb_xy":[[0.5188518422985554,-0.944328370340379],[0.536414296593028,-0.9267688757633187]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.28482012054890726,-2.4496727640202285,0.71338606911949],"aabb_xy":[[0.256170788188491,-2.4783183232973034],[0.31346945290932343,-2.421027204743152]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.5644815919852859,-0.14468164327186805,0.71338606911949],"aabb_xy":[[-0.5726961371009697,-0.15335823356950928],[-0.5562670468696017,-0.13600505297422671]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.008481204754950733,-2.016088123631004,0.71338606911949],"aabb_xy":[[-0.01443450813009917,-2.038992420767428],[0.03139691764000064,-1.993183826494581]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.43025065387773753,-1.6020480905203969,0.71338606911949],"aabb_xy":[[0.38036795700004145,-1.6520480897666718],[0.48013335075543384,-1.5520480912741224]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.6108571655640638,-0.3936774448139819,0.71338606911949],"aabb_xy":[[0.525857166871989,-0.4256633082088607],[0.6958571642561383,-0.361691581419103]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.5019768507165167,-1.2065351743030233,0.71338606911949],"aabb_xy":[[-0.5635676099405095,-1.2705351724120704],[-0.44038609149252383,-1.1425351761939766]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.39262537918399376,-2.2175302158136767,0.71338606911949],"aabb_xy":[[0.38015802107425817,-2.2299955404470007],[0.40509273729372947,-2.2050648911803536]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.4652326675263087,1.7202727391897956,0.71338606911949],"aabb_xy":[[-0.4733463221996858,1.7121669227357665],[-0.4571190128529316,1.7283785556438247]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.1349695386455677,-0.3468967025430958,0.71338606911949],"aabb_xy":[[-0.15276304558048415,-0.36469644813889346],[-0.11717603171065127,-0.3290969569472981]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.3636690245432814,-1.5438168298504218,0.71338606911949],"aabb_xy":[[-0.4136690231892026,-1.5937363735098842],[-0.31366902589736023,-1.4938972861909594]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.09474106569355045,-0.21350757933056697,0.71338606911949],"aabb_xy":[[-0.1007780786942152,-0.21953428039951517],[-0.08870405269288574,-0.20748087826161876]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.2035278273497111,-1.9926565665274756,0.71338606911949],"aabb_xy":[[0.11352782501569206,-2.070138921112588],[0.29352782968373015,-1.915174211942363]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.1432626520405672,-2.3700343712221654,0.71338606911949],"aabb_xy":[[0.1265855160474717,-2.3867342951960957],[0.1599397880336627,-2.353334447248235]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.5864815465287828,0.15653586163230582,0.71338606911949],"aabb_xy":[[-0.5973873226163455,0.07653586523347666],[-0.5755757704412201,0.23653585803113497]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367895651253372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7943.png","name":"7943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7943.png","name":"7943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3132.png","name":"3132"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/200.png","name":"200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2445.png","name":"2445"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":505.75671862098704,"rotation_z_degrees":2.8494133473681726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01591729219307139,0.012071564232502812,0.0157408986231594]},{"name":"camera_2","offset_m":[-0.01867541026133918,0.003212548651084172,0.0007862354317556344]},{"name":"camera_3","offset_m":[0.009611976905033327,0.0063504836842375526,-0.0008968108970692119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014712419679555628,0.0013989729274560226,0.0011863625449283224],"end_effector_yaw_offset_degrees":-0.603958381637852},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015388862321430703,-0.00045426919992830024,-0.001631230626819582],"end_effector_yaw_offset_degrees":0.28133882095062157},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001395521700146317,0.0002452151196951262,0.0003608435102812036],"end_effector_yaw_offset_degrees":-0.9043510157794088}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037264541327252775,0.001049564920556423],"position_m":[0.31022735458672746,0.2220495649205564,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013582231931841557,0.004081877666300487],"position_m":[0.3191582231931842,-0.1890181223336995,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006007558768965247,-0.0037126958570347732],"position_m":[0.3115007558768965,0.03288730414296523,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039828926545914635,-0.004383110328833804],"position_m":[0.05241710734540853,0.3856168896711662,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004475520214614165,0.0014813760737624705],"position_m":[0.15022447978538583,-0.4260186239262375,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"03bfd28d2807ef230d48477521d0d25a88808373dc68c7f9cc1e53f83c02c3f7","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7943/tex_ceiling_textures_9198/tex_floor_textures_2445/tex_table_textures_3132/tex_wall_textures_200","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":974852991677469166,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":974852991677469166,"visual_seed":974852991677469166,"scene_id":"lab_003","finished_at":"2026-09-03T16:49:30"} +{"episode_id":"ep_000015","started_at":"2026-09-03T16:49:32","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.16620620375297368,-2.5636498739384317,0.71338606911949],"aabb_xy":[[-0.17880890289005016,-2.5762452701632976],[-0.15360350461589725,-2.5510544777135666]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.2319363804736484,-1.7780812939023227,0.71338606911949],"aabb_xy":[[-0.24005003514702553,-1.7861871103563514],[-0.22382272580027132,-1.7699754774482932]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.22489968717235942,-1.4238103051884545,0.71338606911949],"aabb_xy":[[0.21227289988516304,-1.4333563788900272],[0.23752647445955574,-1.4142642314868814]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.08105548998894407,1.3081695562412414,0.71338606911949],"aabb_xy":[[-0.09621836296588117,1.293004098946123],[-0.065892617012007,1.3233350135363604]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.6509458770770185,-0.973002571580158,0.71338606911949],"aabb_xy":[[0.5869458797913698,-1.014509290533002],[0.7149458743626671,-0.931495852627314]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.1594503566866935,0.581133766049057,0.71338606911949],"aabb_xy":[[0.13698558671528838,0.5586337651701965],[0.1819151266580986,0.6036337669279175]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.5471084452732726,0.17949140300464306,0.71338606911949],"aabb_xy":[[0.4571084487724008,0.13357976058618476],[0.6371084417741443,0.22540304542310124]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.2302961950418324,-1.3454100439862022,0.71338606911949],"aabb_xy":[[-0.26377536230287335,-1.3788891573573092],[-0.1968170277807915,-1.3119309306150952]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.2959785241187729,0.6310039309613029,0.71338606911949],"aabb_xy":[[0.23597852361091995,0.5741571972753815],[0.35597852462662577,0.6878506646472241]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.4548467535495184,-0.38198143179905486,0.71338606911949],"aabb_xy":[[0.39084675715394535,-0.44594472021778836],[0.5188467499450915,-0.31801814338032125]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.28239056492227477,0.20103606752735237,0.71338606911949],"aabb_xy":[[-0.31918519804718104,0.16413019243077007],[-0.2455959317973685,0.23794194262393462]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[0.5951920890016591,-0.0721411491546613,0.71338606911949],"aabb_xy":[[0.5888799894653207,-0.07790808840788015],[0.6015041885379975,-0.06637420990144248]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.4453000375739493,0.23497859062802862,0.71338606911949],"aabb_xy":[[-0.4523414885246969,0.22795183889023404],[-0.4382585866232017,0.24200534236582313]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.11920390064999398,0.1661919497872404,0.71338606911949],"aabb_xy":[[-0.15670390099822173,0.1544005542061568],[-0.0817039003017662,0.17798334536832391]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.3199903689855461,-1.2475846057840247,0.71338606911949],"aabb_xy":[[0.3023147383969478,-1.2652648220634275],[0.33766599957414445,-1.229904389504622]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.09442056893079831,-1.6120912811339336,0.71338606911949],"aabb_xy":[[0.0599582215326565,-1.646585163531756],[0.12888291632894008,-1.5775973987361107]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.06260964959851856,1.192218248873775,0.71338606911949],"aabb_xy":[[-0.10010965111415027,1.1809914758576299],[-0.02510964808288685,1.20344502188992]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.5318041083894408,1.1475624631905976,0.71338606911949],"aabb_xy":[[-0.5661203855640587,1.09756246321742],[-0.4974878312148229,1.1975624631637753]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.05803820531573922,-0.06601045554399354,0.71338606911949],"aabb_xy":[[-0.10803131742493113,-0.1160104562181892],[-0.008045093206547347,-0.01601045486979791]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.42060129559573467,-0.601857765219254,0.71338606911949],"aabb_xy":[[-0.458101295539501,-0.6101508552540906],[-0.3831012956519682,-0.5935646751844175]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.6362603295026165,-0.46486365439194843,0.71338606911949],"aabb_xy":[[-0.6862336235058768,-0.5148636549464957],[-0.5862870354993559,-0.414863653837401]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.4197259195773103,-1.9694024011785882,0.71338606911949],"aabb_xy":[[-0.437931743238558,-1.9804278017605796],[-0.40152009591606264,-1.9583770005965964]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.19073106597422906,1.2455199514731645,0.71338606911949],"aabb_xy":[[-0.19486692230692929,1.2080199520288075],[-0.1865952096415289,1.2830199509175215]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.4738102983049357,0.7725162749526433,0.71338606911949],"aabb_xy":[[0.4285316834237864,0.7085162756044596],[0.519088913186085,0.836516274300827]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.10935763719393166,-1.3199118432517882,0.71338606911949],"aabb_xy":[[-0.1468576376912899,-1.3238805267999068],[-0.0718576366965734,-1.3159431597036697]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[0.3934079401131212,-2.4214640782670833,0.71338606911949],"aabb_xy":[[0.33841472877598444,-2.4764640786058774],[0.448401151450258,-2.36646407792829]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.4593726569555896,-0.17499070227797064,0.71338606911949],"aabb_xy":[[0.4374639748162385,-0.19689136909806135],[0.4812813390949406,-0.15309003545787989]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.09896868966333061,-1.7293738954498876,0.71338606911949],"aabb_xy":[[-0.1629686917130626,-1.7694683785391958],[-0.034968687613598615,-1.6892794123605799]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.5789688001306791,-1.254587090484977,0.71338606911949],"aabb_xy":[[-0.658968800404286,-1.3275366383106937],[-0.49896879985707204,-1.1816375426592602]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[-0.35433936871125904,-1.8780622160237899,0.71338606911949],"aabb_xy":[[-0.4193393698172024,-1.9030275890919182],[-0.2893393676053158,-1.8530968429556616]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_30","position":[0.3041759248319117,1.6477857528358064,0.71338606911949],"aabb_xy":[[0.24017592412844235,1.6017673703628859],[0.36817592553538103,1.6938041353087279]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[-0.24942852867819715,1.1038885970819425,0.71338606911949],"aabb_xy":[[-0.2844285286546929,1.0944239810343261],[-0.2144285287017013,1.1133532131295594]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_32","position":[-0.3271755342893226,1.4948050057826596,0.71338606911949],"aabb_xy":[[-0.377175535308458,1.4583387900448317],[-0.2771755332701874,1.5312712215204878]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_33","position":[-0.10240457739547071,1.5612929416613883,0.71338606911949],"aabb_xy":[[-0.13990457750106364,1.554470779808407],[-0.06490457728987774,1.5681151035143692]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_34","position":[0.43221874003178007,-1.940752277409686,0.71338606911949],"aabb_xy":[[0.3894520331523599,-2.0047522808314886],[0.47498544691120026,-1.8767522739878835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6443773486545555,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2584.png","name":"2584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2584.png","name":"2584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8330.png","name":"8330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7799.png","name":"7799"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6318.png","name":"6318"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":619.1352175675986,"rotation_z_degrees":50.75793955368864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025683101553265926,0.00580846128508437,0.01153153911282118]},{"name":"camera_2","offset_m":[-0.01605658779282001,-0.009151733667050608,-0.0074895039961521]},{"name":"camera_3","offset_m":[0.014764097383034056,-0.013903405517946645,-0.010573371184509716]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008976038641268264,-0.0011079453359183749,0.0015381340482913193],"end_effector_yaw_offset_degrees":0.06600977373324435},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005632484746739342,0.00055578154232105,0.0005656638588814934],"end_effector_yaw_offset_degrees":0.15382152068900745},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00039498810859512376,0.0007887559611490717,0.0013365561181463222],"end_effector_yaw_offset_degrees":0.12120571856288942}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004580252978087422,-0.0006184467497192658],"position_m":[0.3060197470219126,0.22038155325028075,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004520894827731655,-0.0019324955017647606],"position_m":[0.31327910517226837,-0.19503249550176474,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0007183663471788506,-0.0042340573334051345],"position_m":[0.3116183663471789,0.032365942666594864,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00498010298861905,0.0009445649431607207],"position_m":[0.05141989701138095,0.3909445649431607,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017479499605234138,-0.0029454496476770797],"position_m":[0.1564479499605234,-0.43044544964767706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6eff7dddcf7e7985338d67d6e462d19caa617ec12e15934dcec0911012f11acb","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2584/tex_ceiling_textures_6318/tex_floor_textures_6385/tex_table_textures_8330/tex_wall_textures_7799","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6055164927433973226,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6055164927433973226,"visual_seed":6055164927433973226,"scene_id":"lab_003","finished_at":"2026-09-03T16:52:28"} +{"episode_id":"ep_000016","started_at":"2026-09-03T16:52:31","dimensions":{"distractor":{"count":25,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.1499635871022208,-1.6503070752967242,0.71338606911949],"aabb_xy":[[-0.1572459034788844,-1.7403070789062327],[-0.14268127072555709,-1.5603070716872147]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[-0.5547612816041214,0.46916836770309267,0.71338606911949],"aabb_xy":[[-0.6187612838245284,0.42479528357780444],[-0.4907612793837144,0.513541451828381]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.4220396894058491,-2.1100223506273066,0.71338606911949],"aabb_xy":[[0.3570396884053486,-2.1608087157819815],[0.48703969040634965,-2.0592359854726316]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6957185739182696,0.41405274225054,0.71338606911949],"aabb_xy":[[0.6732185736747544,0.40184810759076806],[0.7182185741617851,0.42625737691031196]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.3665431778381178,-0.5884780794095639,0.71338606911949],"aabb_xy":[[-0.3735846287888654,-0.5955048311473584],[-0.3595017268873702,-0.5814513276717693]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.4100989022028739,-1.6510834868593618,0.71338606911949],"aabb_xy":[[-0.418092391998156,-1.6590816187998378],[-0.40210541240759196,-1.6430853549188866]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.536988657121907,1.1329288891167097,0.71338606911949],"aabb_xy":[[-0.544691847795984,1.1252195184179714],[-0.5292854664478298,1.1406382598154476]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.30937157308974284,-1.0491418061906672,0.71338606911949],"aabb_xy":[[0.22937157281613582,-1.122091354016384],[0.38937157336334977,-0.9761922583649506]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.04461964639964977,-1.6642878180060707,0.71338606911949],"aabb_xy":[[-0.0789165574173904,-1.6985847042160118],[-0.01032273538190915,-1.6299909317961292]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.32590685661871543,-0.18207258854889652,0.71338606911949],"aabb_xy":[[-0.3313648022557355,-0.2620725918565556],[-0.32044891098169537,-0.10207258524123738]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.08024798181277337,0.6523207277159981,0.71338606911949],"aabb_xy":[[0.015247980855646158,0.6003725157822924],[0.14524798276990056,0.7042689396497036]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.007598471775286719,1.6390873445924794,0.71338606911949],"aabb_xy":[[-0.02686387562285508,1.6045934621946565],[0.042060819173428514,1.6735812269903019]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.4921177156355958,0.4918512802147852,0.71338606911949],"aabb_xy":[[0.4121177186213477,0.4717167285413739],[0.5721177126498437,0.5119858318881965]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.45089714632022615,-2.1655235215402078,0.71338606911949],"aabb_xy":[[-0.5408971428210978,-2.211435163958666],[-0.3608971498193543,-2.1196118791217495]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.1446684887846481,1.653181205292079,0.71338606911949],"aabb_xy":[[-0.16988932564448775,1.627957454439192],[-0.11944765192480843,1.6784049561449654]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.4988629650976768,1.3266046744413211,0.71338606911949],"aabb_xy":[[0.4615316885724342,1.2919516196464689],[0.5361942416229194,1.3612577292361734]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.5866886191766192,1.4801270246898794,0.71338606911949],"aabb_xy":[[0.5491886188844444,1.4760855492892762],[0.624188619468794,1.4841685000904832]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.49452481721876873,-2.4234950023265562,0.71338606911949],"aabb_xy":[[-0.5017685832650141,-2.5034950005301586],[-0.4872810511725234,-2.343495004122954]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.5493688675883106,-1.9315535517591473,0.71338606911949],"aabb_xy":[[0.49936886622742344,-1.981531456334563],[0.5993688689491978,-1.8815756471837317]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.41220549521312205,1.6981097195956516,0.71338606911949],"aabb_xy":[[-0.47720549336904106,1.6718134750457392],[-0.34720549705720294,1.7244059641455636]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.5944882258852707,-2.1746602655590936,0.71338606911949],"aabb_xy":[[-0.6004547648260066,-2.180621410218458],[-0.5885216869445349,-2.1686991208997295]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.7142210915849412,-2.1863188835594896,0.71338606911949],"aabb_xy":[[0.7061847568836563,-2.194357002863906],[0.722257426286226,-2.178280764255072]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.6613284788983989,-0.022592360058175665,0.71338606911949],"aabb_xy":[[-0.6835010058750496,-0.044768027214298844],[-0.6391559519217479,-0.0004166929020524879]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.1555448442640348,0.7103697119917611,0.71338606911949],"aabb_xy":[[-0.1968493873277708,0.646369712423644],[-0.11424030120029882,0.7743697115598782]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.389182933491103,-0.5720872877307999,0.71338606911949],"aabb_xy":[[0.34401161564293403,-0.6360872848753384],[0.434354251339272,-0.5080872905862616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6416106233872066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4383.png","name":"4383"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4383.png","name":"4383"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4046.png","name":"4046"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1898.png","name":"1898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/954.png","name":"954"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8610.png","name":"8610"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":679.0449880236697,"rotation_z_degrees":291.71995810858397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009001478035954871,0.013280260796854567,0.013948287831911672]},{"name":"camera_2","offset_m":[0.016262950090946044,0.008242853670694307,-0.013717258093877915]},{"name":"camera_3","offset_m":[-0.012565488706618059,-0.006415558548047788,0.003444789888471446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001031259442282594,7.528044601977976e-05,-0.0017084930503914412],"end_effector_yaw_offset_degrees":-0.7621059165374537},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[1.4292196597361605e-05,0.000221635702121796,-3.0043790654608188e-05],"end_effector_yaw_offset_degrees":-0.01858130360736121},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013207410724637146,0.0018224278471980185,0.0010850037679401838],"end_effector_yaw_offset_degrees":-0.23773877732053506}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049286883679968375,0.003520988200222351],"position_m":[0.3056713116320032,0.22452098820022234,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005562669242762577,-0.0022969492722190576],"position_m":[0.31835626692427627,-0.19539694927221904,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003350259380640242,0.00189824903788967],"position_m":[0.3142502593806403,0.03849824903788967,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002522282795983113,-0.0030329122575610836],"position_m":[0.053877717204016885,0.38696708774243893,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002041786924107586,0.0015381513613267148],"position_m":[0.1567417869241076,-0.42596184863867326,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b82beae119712692942d8d376ed085b50d5e83dea5a18faa311ec039ef8cc59","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4383/tex_ceiling_textures_8610/tex_floor_textures_954/tex_table_textures_4046/tex_wall_textures_1898","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":578329311425459083,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":578329311425459083,"visual_seed":578329311425459083,"scene_id":"lab_003","finished_at":"2026-09-03T16:55:24"} +{"episode_id":"ep_000017","started_at":"2026-09-03T16:55:26","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.6185880319615542,1.503699523078628,0.71338606911949],"aabb_xy":[[0.6146275481918199,1.4960316584931077],[0.6225485157312886,1.511367387664149]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.04685890673781934,-2.280888710605896,0.71338606911949],"aabb_xy":[[-0.042828169570296115,-2.3708887108603465],[0.1365459830459348,-2.1908887103514454]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.0910397211035574,-2.0168400131964206,0.71338606911949],"aabb_xy":[[-0.12853972092059096,-2.0214782245075624],[-0.05353972128652383,-2.0122018018852788]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.35838459619226515,-1.8282803560489842,0.71338606911949],"aabb_xy":[[-0.36754447513614175,-1.8348115740925213],[-0.34922471724838855,-1.8217491380054471]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.21839161622722325,-0.7861761046633926,0.71338606911949],"aabb_xy":[[-0.27998237545121607,-0.8501761027724396],[-0.15680085700323043,-0.7221761065543458]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.5425894499155088,-1.9929103171637585,0.71338606911949],"aabb_xy":[[0.5250894507811417,-2.002789944201346],[0.560089449049876,-1.9830306901261705]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.06371466361255429,-1.306165052040285,0.71338606911949],"aabb_xy":[[0.013731713425074952,-1.3561650516828452],[0.11369761380003361,-1.2561650523977244]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.10976890240761494,-1.1721088603015566,0.71338606911949],"aabb_xy":[[0.10533827305277478,-1.1775572320362393],[0.11419953176245513,-1.1666604885668739]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.18021115666086296,-1.6302227358860735,0.71338606911949],"aabb_xy":[[-0.19077863631896197,-1.640767765999082],[-0.16964367700276395,-1.619677705773065]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.3056651457717343,1.5852606371009847,0.71338606911949],"aabb_xy":[[0.26816514734833397,1.5720964231331538],[0.34316514419513466,1.5984248510688153]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.4283043068935288,-2.4084727628196725,0.71338606911949],"aabb_xy":[[-0.4783043081773687,-2.4584516172102946],[-0.37830430560968875,-2.3584939084290504]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.3464839253067813,-0.6606155916288663,0.71338606911949],"aabb_xy":[[-0.36339465774312296,-0.6740877972214807],[-0.3295731928704394,-0.6471433860362517]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.44232285796495335,1.7756306477075063,0.71338606911949],"aabb_xy":[[-0.46482199369118027,1.7531306469292431],[-0.4198237222387263,1.798130648485769]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.18812760032380227,-0.1824219044246589,0.71338606911949],"aabb_xy":[[-0.20555831540280875,-0.19969401908850967],[-0.17069688524479573,-0.16514978976080805]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.4576189844352654,-0.05450007962902026,0.71338606911949],"aabb_xy":[[-0.4926189843312842,-0.06287431514096019],[-0.42261898453924646,-0.04612584411708031]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.4111957495371312,0.2393292437602761,0.71338606911949],"aabb_xy":[[0.37369574802149946,0.22810247074413104],[0.4486957510527629,0.25055601677642114]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.31528386254703245,1.6425461825180911,0.71338606911949],"aabb_xy":[[-0.33196099854012795,1.6258462585441606],[-0.29860672655393694,1.6592461064920212]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[0.15915621512868883,1.3343956311021419,0.71338606911949],"aabb_xy":[[0.12415621685856892,1.3273215034071535],[0.19415621339880873,1.3414697587971298]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.18095884008765473,0.8677629149094175,0.71338606911949],"aabb_xy":[[-0.21780938802464234,0.8302629140863838],[-0.14410829215066712,0.9052629157324512]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.44207007298465983,-1.560566744648586,0.71338606911949],"aabb_xy":[[0.43403373828337494,-1.568604863953003],[0.4501064076859446,-1.5525286253441695]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.5327978853944497,0.9126547728453729,0.71338606911949],"aabb_xy":[[0.49779788626449406,0.9069095517697087],[0.5677978845244054,0.9183999939210369]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.4497997745718223,-2.228225622784093,0.71338606911949],"aabb_xy":[[0.38579977235141527,-2.2725987069093807],[0.5137997767922293,-2.183852538658804]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.4283301517367386,0.8819694684851855,0.71338606911949],"aabb_xy":[[0.42343085943017506,0.8542925491826168],[0.43322944404330205,0.9096463877877543]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.6759493689228182,-0.5212264979830836,0.71338606911949],"aabb_xy":[[-0.6918338621881434,-0.5355794382819077],[-0.660064875657493,-0.5068735576842596]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[-0.537886155180015,0.2492720516782545,0.71338606911949],"aabb_xy":[[-0.6018861537665875,0.20226508827874576],[-0.4738861565934426,0.2962790150777632]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.49145991141109746,-0.19935859826296642,0.71338606911949],"aabb_xy":[[-0.5027049669817152,-0.2106003959870617],[-0.48021485584047957,-0.18811680053887114]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.2285984611516012,-1.97868128458465,0.71338606911949],"aabb_xy":[[-0.26984727218151594,-2.033681284096867],[-0.18734965012168647,-1.9236812850724323]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.3298373096127522,-0.10770406223303342,0.71338606911949],"aabb_xy":[[-0.33913092784990273,-0.14520406072116732],[-0.32054369137560157,-0.07020406374489951]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[-0.6474065898771825,-0.37292198804213994,0.71338606911949],"aabb_xy":[[-0.6785535087207656,-0.44292198672894706],[-0.6162596710335994,-0.3029219893553327]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[0.46796457694474625,-0.5228229408043958,0.71338606911949],"aabb_xy":[[0.4605521214033578,-0.5286741512260238],[0.4753770324861347,-0.5169717303827679]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_30","position":[0.13538937596415757,-1.6443251622246566,0.71338606911949],"aabb_xy":[[0.08041565392782471,-1.6993251617888896],[0.19036309800049048,-1.5893251626604232]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.0992797482687432,1.2866452299744915,0.71338606911949],"aabb_xy":[[-0.10936145534731666,1.2066452320823766],[-0.0891980411901697,1.366645227866606]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[-0.5320311663575102,-1.4201798854317853,0.71338606911949],"aabb_xy":[[-0.5870311655340996,-1.4751695602067427],[-0.47703116718092065,-1.3651902106568274]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_33","position":[0.4711089552556744,1.26337201197031,0.71338606911949],"aabb_xy":[[0.4564655497016414,1.2487132923135256],[0.48575236080970735,1.278030731627094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6424693948621929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4498.png","name":"4498"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4498.png","name":"4498"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/991.png","name":"991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5923.png","name":"5923"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4626.png","name":"4626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1778.png","name":"1778"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":519.2824870003983,"rotation_z_degrees":172.26489922743144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006047435835055938,0.017550737994273462,-0.006107332343113576]},{"name":"camera_2","offset_m":[0.01667075547457274,-0.014647671915355787,-0.0011632486641593165]},{"name":"camera_3","offset_m":[-0.01865970448892961,0.015478069269701227,0.017075776634368437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019768776824962636,0.001695135748303395,0.0008062220918910838],"end_effector_yaw_offset_degrees":-0.9047320994236969},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011847664465892563,0.0018679886518987998,-0.00019301065877555252],"end_effector_yaw_offset_degrees":-0.671067579091092},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015778642711867632,0.0015024649460764969,0.0010666487730056125],"end_effector_yaw_offset_degrees":0.4589322229817625}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004305685802339995,0.0025397918253709986],"position_m":[0.30629431419766,0.223539791825371,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038189973041724444,-0.0028144121283730774],"position_m":[0.31398100269582757,-0.19591441212837307,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004100781757537333,0.004945697884827359],"position_m":[0.3067992182424627,0.04154569788482736,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006414641702370541,-0.0013441025126351893],"position_m":[0.055758535829762944,0.38865589748736484,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00256121327688154,0.0008297539197630269],"position_m":[0.15726121327688156,-0.42667024608023696,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8376ed8e194ae6cf40b762c8839a7c2aa05cc03a9a7e3ee16b52bebb13644535","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4498/tex_ceiling_textures_1778/tex_floor_textures_4626/tex_table_textures_991/tex_wall_textures_5923","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1153162316971594720,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1153162316971594720,"visual_seed":1153162316971594720,"scene_id":"lab_003","finished_at":"2026-09-03T16:58:14"} +{"episode_id":"ep_000018","started_at":"2026-09-03T16:58:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.5341554461314859,1.5907585237307216,0.71338606911949],"aabb_xy":[[0.49665544770808545,1.5775943097628906],[0.5716554445548861,1.603922737698552]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.45714149784039815,0.3249353491220477,0.71338606911949],"aabb_xy":[[-0.4605821740804553,0.3210739161476832],[-0.453700821600341,0.32879678209641217]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.6042172868144408,-1.6950390965287028,0.71338606911949],"aabb_xy":[[-0.6593424924440315,-1.7550390979699897],[-0.54909208118485,-1.6350390950874154]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.5262359753621098,-0.8907535941268065,0.71338606911949],"aabb_xy":[[-0.5762090408946253,-0.9407535939393397],[-0.4762629098295944,-0.8407535943142739]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.24269539208479485,1.0319531803352602,0.71338606911949],"aabb_xy":[[0.23665837908413018,1.025926479266312],[0.24873240508545963,1.0379798814042083]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.133918720266604,-1.8821340507675668,0.71338606911949],"aabb_xy":[[-0.2239187170022142,-1.935317514084861],[-0.04391872353099377,-1.828950587450272]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.32643472061098966,1.4114232662759396,0.71338606911949],"aabb_xy":[[0.3025985029703846,1.3214232654674534],[0.3502709382515947,1.5014232670844265]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.6415903953200737,-0.5746278277934986,0.71338606911949],"aabb_xy":[[0.6264275223431367,-0.5897932850886175],[0.6567532682970109,-0.55946237049838]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.23863171076351963,-1.7048373870728988,0.71338606911949],"aabb_xy":[[0.2161180189400624,-1.774837387673906],[0.2611454025869768,-1.634837386471891]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.6524863161763313,1.306339976691441,0.71338606911949],"aabb_xy":[[-0.6574423363612125,1.2838399764893196],[-0.6475302959914502,1.3288399768935628]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.26600314953898335,-0.7824608573598191,0.71338606911949],"aabb_xy":[[-0.2964873996660135,-0.8324608571413151],[-0.2355188994119532,-0.7324608575783232]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.6445978488827319,0.7136394949069538,0.71338606911949],"aabb_xy":[[-0.6820978492309596,0.7018480993258701],[-0.6070978485345041,0.7254308904880372]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.10917390079993572,1.16904938136111,0.71338606911949],"aabb_xy":[[-0.17317389938650818,1.122042417961601],[-0.045173902213363246,1.2160563447606185]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.434708754276141,-1.5623345125602182,0.71338606911949],"aabb_xy":[[0.393404211212405,-1.6263345121283352],[0.47601329733987696,-1.498334512992101]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.04754369491177046,0.9674301519868016,0.71338606911949],"aabb_xy":[[-0.00647190137012954,0.9034301490945443],[0.10155929119367046,1.0314301548790588]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.5972713390108002,0.22606724392453614,0.71338606911949],"aabb_xy":[[0.5841200930395108,0.20106724416784966],[0.6104225849820896,0.25106724368122274]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.11679936945311975,-1.6180561833966836,0.71338606911949],"aabb_xy":[[-0.12311146898945818,-1.6238231226499025],[-0.11048726991678132,-1.6122892441434646]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.07056068145198424,-0.723255130362813,0.71338606911949],"aabb_xy":[[-0.13456067787930615,-0.7704247541849095],[-0.006560685024662352,-0.6760855065407166]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.3555816613877356,-2.351713058814782,0.71338606911949],"aabb_xy":[[0.31878702826282934,-2.388618933911365],[0.3923762945126419,-2.3148071837182003]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.109969000022893,0.5278836016027428,0.71338606911949],"aabb_xy":[[-0.14746899983992656,0.523245390291601],[-0.07246900020585943,0.5325218129138847]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.3476874409403907,-1.832839909189531,0.71338606911949],"aabb_xy":[[0.33964408101443555,-1.9178399102848978],[0.3557308008663459,-1.747839908094165]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[0.03233863476347887,-1.5395183338183411,0.71338606911949],"aabb_xy":[[-0.04766136630964146,-1.5492963801557256],[0.1123386358365992,-1.5297402874809567]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[-0.4576972156198726,-1.861305719026058,0.71338606911949],"aabb_xy":[[-0.46315516125689266,-1.941305722333717],[-0.4522392699828525,-1.7813057157183987]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.37123962223199364,0.3682943910985754,0.71338606911949],"aabb_xy":[[-0.37886389032217194,0.3606611675620317],[-0.3636153541418154,0.3759276146351192]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[-0.5233917378291504,1.6595004903990653,0.71338606911949],"aabb_xy":[[-0.5873917398788823,1.6194060073097574],[-0.4593917357794183,1.6995949734883733]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[-0.23552414927370324,-0.6302268567958444,0.71338606911949],"aabb_xy":[[-0.23966000560640346,-0.6677268562402014],[-0.23138829294100308,-0.5927268573514874]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.2661116938188306,-2.5122705771655705,0.71338606911949],"aabb_xy":[[-0.31611169339516537,-2.562251156117677],[-0.21611169424249593,-2.462289998213465]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.02627721105073677,-1.0678271724915285,0.71338606911949],"aabb_xy":[[-0.09027720833638542,-1.1093338914443724],[0.037722786234911876,-1.0263204535386845]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[0.5296940969775712,-1.2211566464734056,0.71338606911949],"aabb_xy":[[0.4496940995739777,-1.3011492176715884],[0.6096940943811645,-1.1411640752752228]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[0.5162376164711671,-2.2908932547243985,0.71338606911949],"aabb_xy":[[0.4792035070431072,-2.325270462058108],[0.5532717258992267,-2.256516047390689]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[0.6733792687493443,-0.9775008636560867,0.71338606911949],"aabb_xy":[[0.6512067417726933,-0.9996765308122098],[0.695551795725995,-0.9553251964999634]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.31578292371596806,1.2262908586171215,0.71338606911949],"aabb_xy":[[-0.37978292397643887,1.1812820592641935],[-0.25178292345549724,1.2712996579700495]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.645657888717888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5714.png","name":"5714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7368.png","name":"7368"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3154.png","name":"3154"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":516.4886504770337,"rotation_z_degrees":296.24925570753305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019088124125465962,0.008860153192665275,-0.002426484353272449]},{"name":"camera_2","offset_m":[-0.016092033821405338,0.011994673700621437,-0.01510282846926307]},{"name":"camera_3","offset_m":[-0.002210266046819155,0.001148028349915852,3.932455567998844e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009217097637130864,-0.0004147323556257306,0.001532012418922495],"end_effector_yaw_offset_degrees":-0.6932499223246165},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010514022033939253,0.0018761365232863817,-0.0011157830492635554],"end_effector_yaw_offset_degrees":0.5022846449098131},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005243993994159112,-0.00017624938909264207,0.0008500045976944965],"end_effector_yaw_offset_degrees":0.9847494580181901}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00019337659188017886,0.0024102588411762764],"position_m":[0.3104066234081198,0.22341025884117627,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002521484014431639,0.0005848606604612347],"position_m":[0.32032148401443167,-0.19251513933953876,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.000419095426563011,-0.0007996576682722913],"position_m":[0.310480904573437,0.03580034233172771,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008286745160238336,-0.0016995663877900137],"position_m":[0.05557132548397616,0.38830043361221,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032745516212288077,-0.003160938734884322],"position_m":[0.1579745516212288,-0.4306609387348843,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"05e96ee872fb34631f967afd592055fce36c206a53944d961c16a366a4ba4415","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4251/tex_ceiling_textures_3154/tex_floor_textures_2346/tex_table_textures_5714/tex_wall_textures_7368","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4661569721752459409,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4661569721752459409,"visual_seed":4661569721752459409,"scene_id":"lab_003","finished_at":"2026-09-03T17:01:08"} +{"episode_id":"ep_000019","started_at":"2026-09-03T17:01:11","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.2965254015890415,-0.5587827508455092,0.71338606911949],"aabb_xy":[[0.23652540099302533,-0.6135952233907327],[0.3565254021850577,-0.5039702783002857]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.1611994642787149,0.4765630380163661,0.71338606911949],"aabb_xy":[[-0.17000151958768756,0.468751711861437],[-0.15239740896974213,0.48437436417129515]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.22824348922677223,0.24725322411376593,0.71338606911949],"aabb_xy":[[-0.23433811711489058,0.23868382956209724],[-0.22214886133865394,0.25582261866543465]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.14649008339928593,0.6646023614128684,0.71338606911949],"aabb_xy":[[0.10999426277200719,0.6281184189861109],[0.18298590402656467,0.701086303839626]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[0.674453153333697,-2.423735981217837,0.71338606911949],"aabb_xy":[[0.6664591647559935,-2.4317360613129266],[0.6824471419114003,-2.4157359011227464]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.5786604110946572,-2.525397672611149,0.71338606911949],"aabb_xy":[[0.5660336238074608,-2.534943746312722],[0.5912871983818535,-2.5158515989095758]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.34959493304694983,1.0200561238850212,0.71338606911949],"aabb_xy":[[-0.4095949335548027,0.9632093901991],[-0.28959493253909685,1.0769028575709425]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.3473677899648518,0.2191033690948183,0.71338606911949],"aabb_xy":[[-0.36170221509101524,0.20704315354027947],[-0.33303336483868834,0.23116358464935716]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.133725424573775,-1.1990172852365768,0.71338606911949],"aabb_xy":[[0.11080971168872514,-1.2219215823730005],[0.15664113745882494,-1.1761129881001535]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.4458511957724302,0.4746704423972594,0.71338606911949],"aabb_xy":[[-0.4833511972880619,0.46344366938111436],[-0.4083511942567985,0.48589721541340447]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.5472072136504313,-0.32097899247294537,0.71338606911949],"aabb_xy":[[-0.6368942899585468,-0.4109789927273959],[-0.4575201373423159,-0.23097899221849483]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[0.5290686009384358,0.9345003040365465,0.71338606911949],"aabb_xy":[[0.47906859965459575,0.8845214496459244],[0.5790686022222756,0.9844791584271686]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.5694389086760733,1.7014408078837522,0.71338606911949],"aabb_xy":[[-0.6172450762898419,1.636440805176693],[-0.5216327410623046,1.766440810590811]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.457235419135936,-0.7919268615523292,0.71338606911949],"aabb_xy":[[0.4479418008987854,-0.829426860040463],[0.46652903737308654,-0.7544268630641952]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.41937222152711673,1.597196680104331,0.71338606911949],"aabb_xy":[[0.41166903085303963,1.5894873094055924],[0.4270754122011937,1.6049060508030686]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[-0.4142567275020592,1.2259614639188872,0.71338606911949],"aabb_xy":[[-0.45942804535022824,1.1619614667743488],[-0.36908540965389025,1.2899614610634256]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.6270208706956264,-1.763032124508487,0.71338606911949],"aabb_xy":[[-0.6361807496395029,-1.769563342552024],[-0.6178609917517497,-1.75650090646495]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.030567585767927508,1.0036323320350946,0.71338606911949],"aabb_xy":[[0.02015602708744379,0.9982865986991959],[0.04097914444841121,1.0089780653709928]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.08824480994691064,1.6753138523108801,0.71338606911949],"aabb_xy":[[-0.11608984672751778,1.6445293535725682],[-0.06039977316630353,1.7060983510491916]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.23322200376264912,-1.7325498597810052,0.71338606911949],"aabb_xy":[[0.1682220028055219,-1.7844980717147108],[0.29822200471977633,-1.6806016478472996]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.38211280721997665,1.7773195718911716,0.71338606911949],"aabb_xy":[[0.3181128086334042,1.7303126084916627],[0.4461128058065491,1.8243265352906801]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.20912804304148136,-2.227434759289401,0.71338606911949],"aabb_xy":[[0.17162804224948588,-2.2338026002475906],[0.24662804383347678,-2.22106691833121]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.21434915257147924,1.157482222524639,0.71338606911949],"aabb_xy":[[-0.22512212649284702,1.1224822243055999],[-0.20357617865011146,1.1924822207436778]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.6658303858136772,0.2016609700862424,0.71338606911949],"aabb_xy":[[0.6433303853016364,0.17916911172084404],[0.6883303863257176,0.22415282845164075]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.5549719810530207,-2.0696679125411444,0.71338606911949],"aabb_xy":[[0.48497197841643436,-2.0897727775370094],[0.624971983689607,-2.0495630475452784]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.2534726647317583,1.350257599482207,0.71338606911949],"aabb_xy":[[-0.2598864783749431,1.3438477792345385],[-0.24705885108857326,1.3566674197298751]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.23864930066462448,-1.9234042916204608,0.71338606911949],"aabb_xy":[[-0.24256317386004694,-1.9321533070270176],[-0.2347354274692019,-1.914655276213904]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[-0.371800692846122,0.8605799067668065,0.71338606911949],"aabb_xy":[[-0.4618006922644929,0.8272044099226168],[-0.2818006934277511,0.8939554036109962]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[0.6706859767091486,1.3862481769211392,0.71338606911949],"aabb_xy":[[0.6551302072988835,1.3706977436767322],[0.686241746119414,1.4017986101655466]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[-0.4731500656370251,0.02956564850027643,0.71338606911949],"aabb_xy":[[-0.5531500630406185,-0.05042692269790637],[-0.39315006823343174,0.10955821969845923]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[-0.04191422675075185,-2.382193980957711,0.71338606911949],"aabb_xy":[[-0.09188729228326731,-2.4321939807702444],[0.00805883878176362,-2.3321939811451786]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_31","position":[-0.13605321173587592,-1.4291132248719973,0.71338606911949],"aabb_xy":[[-0.21605320889545118,-1.4406608258298146],[-0.05605321457630061,-1.4175656239141805]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_32","position":[0.3511207755260033,1.2545204922878774,0.71338606911949],"aabb_xy":[[0.28112077371725785,1.23316672352369],[0.42112077733474873,1.2758742610520648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6431986066061819,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2386.png","name":"2386"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1286.png","name":"1286"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1090.png","name":"1090"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2911.png","name":"2911"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":648.8219261968599,"rotation_z_degrees":241.22409034639583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011210444446490815,-0.015549124643376856,-0.015395188952324683]},{"name":"camera_2","offset_m":[0.009735388195686562,0.018169433698168532,0.0010906761893932082]},{"name":"camera_3","offset_m":[-0.005710771248431739,-0.010943447080811394,-0.008044023996085867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003767887780114906,-0.0007288646095612687,0.00036376182836375193],"end_effector_yaw_offset_degrees":0.9971541919519007},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009709209248272592,0.0010403445524913317,0.0004297813686884402],"end_effector_yaw_offset_degrees":0.2689645805728309},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016062219622192315,-0.0018720249489891524,0.0019063481893084227],"end_effector_yaw_offset_degrees":-0.03534423488476701}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037967788880245773,0.0033522826054501265],"position_m":[0.3143967788880246,0.22435228260545012,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002007866470005889,0.00486588222588575],"position_m":[0.3198078664700059,-0.18823411777411425,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0036710660300192446,0.0028673944208007377],"position_m":[0.30722893396998074,0.03946739442080074,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002908758262787273,0.0011657471055830813],"position_m":[0.059308758262787274,0.3911657471055831,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012998821520789328,-0.004563881035457553],"position_m":[0.15340011784792107,-0.43206388103545756,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"035060a7578cbfbe8b3fa4fdbf7de3439b4f32da0844b1adee441e1fb4b8606b","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5173/tex_ceiling_textures_2911/tex_floor_textures_1090/tex_table_textures_2386/tex_wall_textures_1286","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3598971446322085663,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3598971446322085663,"visual_seed":3598971446322085663,"scene_id":"lab_003","finished_at":"2026-09-03T17:04:02"} +{"episode_id":"ep_000020","started_at":"2026-09-03T17:04:05","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.3090468574942498,0.31464080641067893,0.71338606911949],"aabb_xy":[[-0.37904686088581174,0.27932503270724807],[-0.2390468541026878,0.3499565801141098]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.13923256059900868,-0.7136383056423807,0.71338606911949],"aabb_xy":[[0.12866508094090964,-0.7241833357553892],[0.14980004025710766,-0.7030932755293721]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.09334677151540594,-1.1227653877855677,0.71338606911949],"aabb_xy":[[0.03334677166883915,-1.1795840099786061],[0.15334677136197272,-1.0659467655925288]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.17387721327634065,0.3140135394646757,0.71338606911949],"aabb_xy":[[-0.19637363471020478,0.29151353965792826],[-0.15138079184247658,0.33651353927142313]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.005158557618788029,-2.295992982433627,0.71338606911949],"aabb_xy":[[-0.04248983414403065,-2.330646037228479],[0.032172718906454595,-2.2613399276387747]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.3347170717943091,1.4524206525397223,0.71338606911949],"aabb_xy":[[0.27972482115879815,1.3974206507964095],[0.3897093224298201,1.5074206542830353]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.6140019382374149,-0.07756037231384205,0.71338606911949],"aabb_xy":[[-0.6340603498506553,-0.09762545922299959],[-0.5939435266241747,-0.057495285404684515]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.17978927780807485,1.8254988837273687,0.71338606911949],"aabb_xy":[[-0.1834925391372137,1.821796865418651],[-0.17608601647893596,1.8292009020360864]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.2830793848603299,-1.651313729693354,0.71338606911949],"aabb_xy":[[0.26874495973416646,-1.6633739452478928],[0.29741380998649336,-1.6392535141388151]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.4279433602155722,1.6570989771690443,0.71338606911949],"aabb_xy":[[-0.4454433594936591,1.6397608771026981],[-0.41044336093748535,1.67443707723539]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.6327639770685243,0.4829614357027383,0.71338606911949],"aabb_xy":[[0.6281288619162909,0.4790941006255896],[0.6373990922207576,0.4868287707798869]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.17541329475757084,-1.878074684223055,0.71338606911949],"aabb_xy":[[0.13322888059674012,-1.942074684500266],[0.2175977089184016,-1.8140746839458437]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.6390565042162575,-1.705391800500329,0.71338606911949],"aabb_xy":[[0.6286449455357738,-1.710737533836227],[0.6494680628967412,-1.7000460671644302]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.45351334572750623,-2.1867407048222947,0.71338606911949],"aabb_xy":[[-0.46867621870444337,-2.2019061621174134],[-0.4383504727505692,-2.171575247527176]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.10279534387430878,-0.5103269344612458,0.71338606911949],"aabb_xy":[[-0.10883235687497353,-0.516353635530194],[-0.09675833087364408,-0.5043002333922976]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.4408336160221755,-1.3663880713542627,0.71338606911949],"aabb_xy":[[0.3908336147383355,-1.4163669257448845],[0.49083361730601544,-1.3164092169636403]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.35385175528482415,0.019476143687483738,0.71338606911949],"aabb_xy":[[-0.37576043742417514,-0.0024245231326069927],[-0.33194307314547306,0.04137681050757447]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.4663296628299376,-0.8378293773780481,0.71338606911949],"aabb_xy":[[0.4487829679138186,-0.8753293789422992],[0.4838763577460565,-0.8003293758137967]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.25333841893985004,1.0500402779245301,0.71338606911949],"aabb_xy":[[-0.2609626870300283,1.0424070543879864],[-0.2457141508496718,1.0576735014610739]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.4240307991590105,1.5450228811249525,0.71338606911949],"aabb_xy":[[-0.42893009146557404,1.5173459618223835],[-0.41913150685244704,1.572699800427521]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.44055194710929,-1.1645264911793045,0.71338606911949],"aabb_xy":[[0.4229191115157624,-1.1821494371949273],[0.45818478270281754,-1.1469035451636813]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.5603913493556012,-0.5701116431516304,0.71338606911949],"aabb_xy":[[-0.597891349647776,-0.574153118552234],[-0.5228913490634264,-0.5660701677510268]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.06714776119841026,-1.644740279698889,0.71338606911949],"aabb_xy":[[0.02612981781203938,-1.6947402803298464],[0.10816570458478114,-1.5947402790679317]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.06089487536781757,1.669093212917098,0.71338606911949],"aabb_xy":[[-0.019105126794944922,1.5891380292909543],[0.14089487753058005,1.7490483965432415]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.7001234185962417,1.327300132993222,0.71338606911949],"aabb_xy":[[0.6776234187823393,1.3228255166227412],[0.7226234184101441,1.3317747493637027]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.5672513177273923,-1.499346829894556,0.71338606911949],"aabb_xy":[[-0.5744950837736377,-1.5793468280981582],[-0.560007551681147,-1.4193468316909534]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.6577691847594782,-0.42751056829244805,0.71338606911949],"aabb_xy":[[0.6077691851831436,-0.477491147244554],[0.707769184335813,-0.3775299893403421]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.4233336608862659,-2.363344291682234,0.71338606911949],"aabb_xy":[[0.34333365945613864,-2.442861446694843],[0.5033336623163931,-2.283827136669624]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[0.6187361963419284,-1.172794677911217,0.71338606911949],"aabb_xy":[[0.5587361958340755,-1.2296414115971381],[0.6787361968497814,-1.1159479442252955]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[-0.6491664394805283,-1.352788550173202,0.71338606911949],"aabb_xy":[[-0.6650509327458535,-1.367141490472026],[-0.6332819462152032,-1.338435609874378]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[0.5031387182774179,1.157188139413285,0.71338606911949],"aabb_xy":[[0.4944407559867027,1.1450631651058105],[0.5118366805681333,1.16931311372076]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_31","position":[-0.24799299818529452,1.5395032370896398,0.71338606911949],"aabb_xy":[[-0.28549299835716646,1.5068025017067326],[-0.21049299801342258,1.572203972472547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429184812607741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5859.png","name":"5859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5859.png","name":"5859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5980.png","name":"5980"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":536.7495080682236,"rotation_z_degrees":308.77568273770197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0071444525301798695,-0.012393092669990141,-0.011308678100077026]},{"name":"camera_2","offset_m":[0.012993146606690747,0.017833995438253824,0.011412731290512911]},{"name":"camera_3","offset_m":[-0.00925224974858078,-0.01210482461677768,0.01793788738488662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019263187635841028,-0.0018414498364263774,9.142103383735388e-05],"end_effector_yaw_offset_degrees":-0.19140452551888454},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002899222696054675,-0.0007150406946163938,0.0017778380151150732],"end_effector_yaw_offset_degrees":0.10335806416812199},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004043503188212276,-0.0017071346757181693,-0.0016519868381917773],"end_effector_yaw_offset_degrees":-0.9491839690431918}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003478916500873044,-0.0009261209275174412],"position_m":[0.31407891650087305,0.22007387907248255,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001051328208386838,0.0005547339336078767],"position_m":[0.31885132820838685,-0.1925452660663921,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004147233842310784,0.003288402770428787],"position_m":[0.3067527661576892,0.03988840277042879,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012261714462869135,0.004379009912776584],"position_m":[0.057626171446286914,0.3943790099127766,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046242581154427405,0.002483939147212312],"position_m":[0.15932425811544274,-0.4250160608527877,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"898955173d21e41f69dbcc108796fd3edafb7062f59332e3168394c72750eb67","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5859/tex_ceiling_textures_5980/tex_floor_textures_6373/tex_table_textures_7196/tex_wall_textures_4657","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3884796959083221823,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3884796959083221823,"visual_seed":3884796959083221823,"scene_id":"lab_003","finished_at":"2026-09-03T17:07:04"} +{"episode_id":"ep_000021","started_at":"2026-09-03T17:07:06","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.32065313989631833,-1.2025092964691169,0.71338606911949],"aabb_xy":[[-0.4006531403665343,-1.2108200040834654],[-0.2406531394261024,-1.1941985888547688]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.4552801092733876,-2.408057557221455,0.71338606911949],"aabb_xy":[[0.41936660484839783,-2.44397106543821],[0.4911936136983772,-2.3721440490047003]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4752868399530529,-2.354325191938209,0.71338606911949],"aabb_xy":[[-0.48398480224376816,-2.366450166245684],[-0.4665888776623376,-2.3422002176307344]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.3268598081780707,-1.4226387409497565,0.71338606911949],"aabb_xy":[[0.30435980836416826,-1.4271133573202373],[0.349359807991973,-1.4181641245792758]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.07868673903167955,-1.8805206994255224,0.71338606911949],"aabb_xy":[[-0.12868673998221236,-1.9120698464290435],[-0.02868673808114673,-1.8489715524220007]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.5864814773160849,-0.053168190749430355,0.71338606911949],"aabb_xy":[[0.5811489626614718,-0.058492518994665954],[0.5918139919706978,-0.047843862504194756]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.35020464529186085,-1.1008266936442221,0.71338606911949],"aabb_xy":[[-0.4152046438489337,-1.130579227058105],[-0.285204646734788,-1.0710741602303397]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.4034430462648635,-2.206079379932061,0.71338606911949],"aabb_xy":[[0.32344304886127007,-2.286071951130243],[0.4834430436684569,-2.1260868087338776]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.05480226839296265,-0.37552606560982627,0.71338606911949],"aabb_xy":[[-0.0898022683694585,-0.3849906816574429],[-0.01980226841646683,-0.36606144956220965]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.5793322724032115,-2.457090084445311,0.71338606911949],"aabb_xy":[[-0.6076619823517517,-2.4615508266390287],[-0.5510025624546713,-2.4526293422515946]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.05493848591637562,-0.10986240008021664,0.71338606911949],"aabb_xy":[[-0.07621649405984787,-0.1748624024062897],[-0.033660477772903374,-0.04486239775414358]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.6748460473469173,1.693955450415206,0.71338606911949],"aabb_xy":[[0.6714053711068602,1.6900940174408416],[0.6782867235869745,1.6978168833895706]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[0.048772395270398006,0.9325128577562651,0.71338606911949],"aabb_xy":[[0.03127239502534862,0.9150130699166982],[0.06627239551544739,0.9500126455958319]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.5605553783038962,-2.182566542859866,0.71338606911949],"aabb_xy":[[-0.6305553804353256,-2.2053285084855614],[-0.4905553761724665,-2.1598045772341696]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.5491082448779863,1.2338029752420452,0.71338606911949],"aabb_xy":[[0.5116082436931934,1.2293847525459842],[0.586608246062779,1.2382211979381053]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.5295269511539937,-2.0425804335774265,0.71338606911949],"aabb_xy":[[0.45952694955171425,-2.056013226779084],[0.5995269527562732,-2.029147640375769]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.5095889661134447,-1.9509296854031106,0.71338606911949],"aabb_xy":[[-0.5247611353950781,-1.966098542331314],[-0.4944167968318114,-1.9357608284749073]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.12142155142436861,-2.0231584394982525,0.71338606911949],"aabb_xy":[[0.07143860123688926,-2.0731584391408124],[0.17140450161184792,-1.9731584398556918]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.5178587339829752,1.55386044222459,0.71338606911949],"aabb_xy":[[0.45785873413640843,1.4970418200315514],[0.577858733829542,1.6106790644176288]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.1938049390759149,-0.841207869499647,0.71338606911949],"aabb_xy":[[0.1298049370261829,-0.8813023525889548],[0.2578049411256469,-0.8011133864103389]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.31397321259672406,-1.0834777380351843,0.71338606911949],"aabb_xy":[[0.259957616314824,-1.1474777409274415],[0.367988808878624,-1.0194777351429272]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.18554801089654327,1.8053278221751854,0.71338606911949],"aabb_xy":[[0.17470753267002834,1.7881415408845365],[0.19638848912305815,1.8225141034658339]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[-0.3544074501177088,1.0366810720741668,0.71338606911949],"aabb_xy":[[-0.38437500702753447,1.006681071776281],[-0.32443989320788313,1.0666810723720526]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.6192924611436113,1.5976683334530226,0.71338606911949],"aabb_xy":[[-0.6417572311150164,1.5751683325741621],[-0.5968276911722061,1.6201683343318831]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[0.38965061959762926,0.6755663587356171,0.71338606911949],"aabb_xy":[[0.3721506203195424,0.6582282586692711],[0.40715061887571613,0.692904458801963]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.5131258258258479,-0.4746298192548193,0.71338606911949],"aabb_xy":[[-0.5213403709415317,-0.48330640955246046],[-0.5049112807101638,-0.4659532289571779]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[-0.2570165197759766,-0.13329347983778073,0.71338606911949],"aabb_xy":[[-0.33701652303381957,-0.2132899876297647],[-0.17701651651813366,-0.05329697204579675]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.30250749257223686,1.2979721781008466,0.71338606911949],"aabb_xy":[[0.296540953631501,1.2920110334414823],[0.3084740315129726,1.3039333227602106]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[0.39509054539025934,-1.517342982941367,0.71338606911949],"aabb_xy":[[0.3500905439240305,-1.5623428398028478],[0.44009054685648824,-1.4723431260798863]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.19096988308812957,-0.5485421003012405,0.71338606911949],"aabb_xy":[[-0.25496988020023525,-0.5975744700956511],[-0.12696988597602388,-0.4995097305068299]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[0.5400265758637792,-0.3317489816960615,0.71338606911949],"aabb_xy":[[0.48502657766203433,-0.372270948322499],[0.595026574065524,-0.29122701506962384]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[0.4716840417252781,-0.4729109933558209,0.71338606911949],"aabb_xy":[[0.4218672622604433,-0.5229109918401242],[0.5215008211901129,-0.42291099487151756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6421702591180337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7818.png","name":"7818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2391.png","name":"2391"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8926.png","name":"8926"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1214.png","name":"1214"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":763.6630869824849,"rotation_z_degrees":95.63749933538556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006108107398461283,0.0017847009969189677,-0.013163432335723764]},{"name":"camera_2","offset_m":[-0.006756454519156848,-0.015645712301912425,0.013657025198754048]},{"name":"camera_3","offset_m":[-0.009767825139328381,-0.0015811068055625113,0.01880178488472205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003270864776085806,0.0014901994977850855,0.0018455148857330185],"end_effector_yaw_offset_degrees":0.8807030427261251},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003187193010623793,-0.0019519132710138125,0.00047797779833406],"end_effector_yaw_offset_degrees":-0.07776108873516763},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016376542094385337,0.0014253218396513348,-0.001784808091777665],"end_effector_yaw_offset_degrees":-0.14263917269670845}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002140240474243924,0.004496965146864855],"position_m":[0.30845975952575605,0.22549696514686485,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[9.564406917541256e-05,-0.0010900217946262789],"position_m":[0.3178956440691754,-0.19419002179462627,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004505826934319705,0.0031226197074343863],"position_m":[0.31540582693431973,0.03972261970743439,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003343136920980601,0.001260221991488568],"position_m":[0.0530568630790194,0.3912602219914886,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017788892718151109,0.00040031711100630904],"position_m":[0.1564788892718151,-0.4270996828889937,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"94206f34717b0f4c540105e5ae089578539cf01d771ed689ed481948c4903080","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_946/tex_ceiling_textures_1214/tex_floor_textures_8926/tex_table_textures_7818/tex_wall_textures_2391","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":385922304649128224,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":385922304649128224,"visual_seed":385922304649128224,"scene_id":"lab_003","finished_at":"2026-09-03T17:10:05"} +{"episode_id":"ep_000022","started_at":"2026-09-03T17:10:10","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.5338812445545638,0.9752766851924743,0.71338606911949],"aabb_xy":[[0.46888124452026103,0.928576008512147],[0.5988812445888665,1.0219773618728016]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.14468978163056523,-1.1563070295137647,0.71338606911949],"aabb_xy":[[0.11124960643454558,-1.1897506553446944],[0.17812995682658478,-1.1228634036828342]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.01574006766032865,-1.3529809551076644,0.71338606911949],"aabb_xy":[[-0.024899946604205248,-1.3595121731512012],[-0.006580188716452051,-1.346449737064127]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.35040180467939985,-0.26298661136542245,0.71338606911949],"aabb_xy":[[-0.38790180325502066,-0.27572290702898034],[-0.31290180610377905,-0.25025031570186446]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.4136471841600635,0.11634912916635365,0.71338606911949],"aabb_xy":[[0.3907314712750137,0.09344483202993015],[0.4365628970451135,0.13925342630277715]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.31191555666161375,-0.8851741788666196,0.71338606911949],"aabb_xy":[[-0.37591555305718677,-0.9491374672853531],[-0.2479155602660406,-0.821210890447886]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.572434941174403,-2.134592214179147,0.71338606911949],"aabb_xy":[[-0.6274349393761478,-2.1751141808055845],[-0.5174349429726581,-2.0940702475527093]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.18718155405494974,-0.8940827239573141,0.71338606911949],"aabb_xy":[[0.16950592346635138,-0.9117629402367168],[0.20485718464354805,-0.8764025076779113]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.3252110701234963,0.18042653738859116,0.71338606911949],"aabb_xy":[[-0.36271107062085456,0.17645785384047274],[-0.28771106962613807,0.18439522093670957]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.44893304298826053,-2.446057779556813,0.71338606911949],"aabb_xy":[[-0.473933042539999,-2.4562002634219477],[-0.42393304343652205,-2.4359152956916783]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.06263120102501318,-2.2510852804134602,0.71338606911949],"aabb_xy":[[0.055218745483624695,-2.2569364908350877],[0.07004365656640164,-2.245234069991832]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.6290660011749143,0.36827590717904757,0.71338606911949],"aabb_xy":[[0.5795855799609555,0.30427590926619574],[0.6785464223888731,0.4322759050918994]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.06047142441917863,1.3723559858696062,0.71338606911949],"aabb_xy":[[-0.08912075677959486,1.3437104265925304],[-0.03182209205876241,1.401001545146682]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.5844532828867429,0.15281757795353945,0.71338606911949],"aabb_xy":[[-0.5978998095207863,0.1393477263004482],[-0.5710067562526996,0.16628742960663065]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.3353454938176283,-1.8887719239222105,0.71338606911949],"aabb_xy":[[-0.3406780084722413,-1.8940962521674463],[-0.3300129791630153,-1.8834475956769752]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.4886920225635324,-0.9277114186992039,0.71338606911949],"aabb_xy":[[-0.4923952838926713,-0.9314134370079218],[-0.4849887612343935,-0.9240094003904861]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.3728192118953212,1.0450890768569323,0.71338606911949],"aabb_xy":[[-0.39781921116728347,1.0287437132607697],[-0.3478192126233589,1.0614344404530944]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.13691636661851714,-0.7362661375244799,0.71338606911949],"aabb_xy":[[0.05191636820109391,-0.8211404329867649],[0.22191636503594037,-0.6513918420621949]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.08275320924136986,0.7632743824923813,0.71338606911949],"aabb_xy":[[-0.13273615942884917,0.7132743828498208],[-0.03277025905389052,0.8132743821349416]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.3776803796549808,1.020361724426445,0.71338606911949],"aabb_xy":[[0.34420121239393986,0.9868826110553381],[0.41115954691602175,1.053840837797552]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[0.3960668055887002,1.1474879590103524,0.71338606911949],"aabb_xy":[[0.38565524690821645,1.1421422256744538],[0.4064783642691839,1.1528336923462505]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.25686095572750506,-1.3188182214076136,0.71338606911949],"aabb_xy":[[-0.2943609560757328,-1.330609616988697],[-0.2193609553792773,-1.3070268258265298]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.24569162401814132,-0.14312385418731655,0.71338606911949],"aabb_xy":[[-0.3096916213204877,-0.1874902811551733],[-0.18169162671579492,-0.09875742721945979]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6377404804745817,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6578.png","name":"6578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6578.png","name":"6578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/997.png","name":"997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9433.png","name":"9433"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1948.png","name":"1948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3218.png","name":"3218"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.1328130458387,"rotation_z_degrees":134.12062548568872,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019385336572138062,-0.018021475544449595,0.013807642685799554]},{"name":"camera_2","offset_m":[0.013364942244146295,0.019892017829126963,-0.019268135451112292]},{"name":"camera_3","offset_m":[0.01361905215527669,-0.014235574619810488,-0.01903549929398559]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014883214123813573,0.0011229851661042917,0.000572964501738325],"end_effector_yaw_offset_degrees":0.06047362233555442},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0003958245860082744,0.001921880040538144,0.0013526676158012525],"end_effector_yaw_offset_degrees":-0.5176428566331435},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010127969690692513,-0.0006742592282659844,-0.00015346423323701962],"end_effector_yaw_offset_degrees":-0.6026984516103688}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004123096237253637,0.0009758150514476314],"position_m":[0.30647690376274633,0.22197581505144764,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003877107993871494,0.0006137315324059476],"position_m":[0.3216771079938715,-0.19248626846759403,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0014809962333373504,0.004119565619226277],"position_m":[0.30941900376666265,0.04071956561922628,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003761488857526216,0.00011182404909476553],"position_m":[0.05263851114247378,0.3901118240490948,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002670011346933849,0.002069003635662651],"position_m":[0.15202998865306616,-0.42543099636433734,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"594809c6b3d45a4671bb38b233724a2aeb42b763baa60e653d6c31a300e189be","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6578/tex_ceiling_textures_3218/tex_floor_textures_1948/tex_table_textures_997/tex_wall_textures_9433","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2644202953931983386,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2644202953931983386,"visual_seed":2644202953931983386,"scene_id":"lab_003","finished_at":"2026-09-03T17:12:58"} +{"episode_id":"ep_000023","started_at":"2026-09-03T17:13:01","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.6485211805902208,-0.05746221729122558,0.71338606911949],"aabb_xy":[[-0.671803022788352,-0.14246221858845362],[-0.6252393383920893,0.027537784006002482]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.38572366408346165,0.6582748177755091,0.71338606911949],"aabb_xy":[[-0.41072366363520013,0.6481323339103743],[-0.36072366453172316,0.6684173016406437]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.045827495688150366,-1.917113357249764,0.71338606911949],"aabb_xy":[[0.008327495395975548,-1.9211548326503674],[0.08332749598032518,-1.9130718818491603]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.43002091169016876,-0.580802176588437,0.71338606911949],"aabb_xy":[[-0.43882296699914136,-0.5886135027433661],[-0.42121885638119594,-0.572990850433508]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.2550328814942866,-0.7232391089210759,0.71338606911949],"aabb_xy":[[0.2509169313822139,-0.7273546639539213],[0.2591488316063592,-0.7191235538882302]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.051724375284119106,-1.9066257467465093,0.71338606911949],"aabb_xy":[[-0.06329335603105568,-1.9316257468634412],[-0.04015539453718253,-1.8816257466295778]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.02136238505336807,-0.9467478241901013,0.71338606911949],"aabb_xy":[[-0.023637616412860784,-0.991747681051582],[0.06636238651959693,-0.9017479673286206]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.5704887135656422,-1.860515449891947,0.71338606911949],"aabb_xy":[[0.5528130829770439,-1.8781956661713495],[0.5881643441542406,-1.842835233612544]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.5216807220716568,1.7505517180569883,0.71338606911949],"aabb_xy":[[0.46668072386991194,1.7100297514305507],[0.5766807202734016,1.7910736846834259]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.5101506601530322,-2.450199262851276,0.71338606911949],"aabb_xy":[[-0.5253228294346656,-2.4653681197794794],[-0.4949784908713989,-2.4350304059230723]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.05154040840672114,-2.273524807110917,0.71338606911949],"aabb_xy":[[0.016540409213902867,-2.284491853108579],[0.0865404075995394,-2.262557761113254]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.38492124253482585,1.0557703696279828,0.71338606911949],"aabb_xy":[[0.3745096838543421,1.0504246362920844],[0.3953328012153095,1.0611161029638811]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.209874156878044,-0.8313859542468456,0.71338606911949],"aabb_xy":[[-0.29956123318615946,-0.9213859545012961],[-0.12018708056992855,-0.741385953992395]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.6505137128189546,-2.1269737901686963,0.71338606911949],"aabb_xy":[[0.6422991677032704,-2.1356503804663367],[0.6587282579346384,-2.118297199871054]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.15179792573030282,1.4847967311648946,0.71338606911949],"aabb_xy":[[-0.19707654061145208,1.4207967318167107],[-0.10651931084915356,1.548796730513078]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.03104381188016081,-2.1213754590520475,0.71338606911949],"aabb_xy":[[0.024629998236975866,-2.1277852792997156],[0.03745762552334574,-2.1149656388043785]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.14118097801397744,-1.034316902903001,0.71338606911949],"aabb_xy":[[0.12368097776892804,-1.0518166907425677],[0.1586809782590268,-1.016817115063434]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.41438254376696904,1.7335649773513704,0.71338606911949],"aabb_xy":[[0.40905002911235605,1.7282406491061348],[0.419715058421582,1.738889305596606]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.21343467046189846,-2.4725199226503443,0.71338606911949],"aabb_xy":[[-0.25093467040566486,-2.480813012685181],[-0.17593467051813205,-2.4642268326155077]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.41736586302739354,-2.263848320692636,0.71338606911949],"aabb_xy":[[0.36736586358719797,-2.3138162451769517],[0.4673658624675892,-2.213880396208319]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[0.23156086921033447,0.9484252010176646,0.71338606911949],"aabb_xy":[[0.16656086820983396,0.8976388358629896],[0.296560870210835,0.9992115661723395]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.1985987235951831,0.725868861228347,0.71338606911949],"aabb_xy":[[-0.2625987208808318,0.684362142275503],[-0.13459872630953448,0.7673755801811909]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.22008877520026243,-2.213001773870043,0.71338606911949],"aabb_xy":[[-0.24258877472396984,-2.2354977213206633],[-0.19758877567655503,-2.1905058264194217]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.49746865521084405,-0.2220795122522743,0.71338606911949],"aabb_xy":[[-0.5674686516208056,-0.24251744790395596],[-0.4274686588008821,-0.2016415766005925]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.36226178998925684,-2.4238288449572116,0.71338606911949],"aabb_xy":[[-0.40356633305299283,-2.4878288445253283],[-0.32095724692552086,-2.359828845389094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6419673144931816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9547.png","name":"9547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1430.png","name":"1430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1729.png","name":"1729"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":519.1591819957364,"rotation_z_degrees":81.78682358209262,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007915445354703099,-0.01767273835063491,-0.00959597506075169]},{"name":"camera_2","offset_m":[-0.0010331073303840033,0.002064186333905371,0.006648938605628301]},{"name":"camera_3","offset_m":[0.008547282564388747,-0.018250415875685815,0.0030239941854031394]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00010810581822306943,-0.00017954986233485759,0.0005207903099541415],"end_effector_yaw_offset_degrees":-0.7002568351348655},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001759364012674452,-0.0013690799358600319,0.001355433363159752],"end_effector_yaw_offset_degrees":0.39976925314761536},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008044496631638674,0.0010769509115041145,0.00021214887078966488],"end_effector_yaw_offset_degrees":0.7031773552867184}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012927726190335742,-0.002870159792336937],"position_m":[0.3093072273809664,0.21812984020766307,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014137332908188338,0.0006386335069042768],"position_m":[0.31921373329081887,-0.19246136649309573,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016724616698923379,-0.0009063255417967354],"position_m":[0.3092275383301077,0.03569367445820326,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004901771333875168,0.003122169010909905],"position_m":[0.056890177133387516,0.3931221690109099,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009013206273267363,-0.002286991969164507],"position_m":[0.15379867937267327,-0.4297869919691645,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f01d8868c2113734f74edc7fd205575b4f42a67f41f1c59764072824f6099ea7","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1124/tex_ceiling_textures_1729/tex_floor_textures_5874/tex_table_textures_9547/tex_wall_textures_1430","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3677677402099465485,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3677677402099465485,"visual_seed":3677677402099465485,"scene_id":"lab_003","finished_at":"2026-09-03T17:15:53"} +{"episode_id":"ep_000024","started_at":"2026-09-03T17:15:56","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.6259753910915207,0.8432100968632432,0.71338606911949],"aabb_xy":[[0.6133726919544442,0.8306147006383778],[0.6385780902285971,0.8558054930881088]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.05406914509263572,-1.8733131157099971,0.71338606911949],"aabb_xy":[[0.004186448214939514,-1.9233131149562723],[0.10395184197033194,-1.8233131164637228]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.1578397532327359,-0.7413323686659332,0.71338606911949],"aabb_xy":[[0.12033975341570236,-0.745970579977075],[0.19533975304976947,-0.7366941573547914]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.3057317686942149,1.0266503534922284,0.71338606911949],"aabb_xy":[[0.28823176955984775,1.0167707264546404],[0.3232317678285821,1.036529980529816]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.1818718564875711,0.9201467099053087,0.71338606911949],"aabb_xy":[[0.11787185622710027,0.8751379105523807],[0.24587185674804188,0.9651555092582367]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.5223529381773195,-2.020353274828616,0.71338606911949],"aabb_xy":[[0.5056758021842241,-2.037053198802546],[0.5390300741704152,-2.0036533508546857]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.19112331411642147,-1.6121802821083,0.71338606911949],"aabb_xy":[[0.12712331341295216,-1.6581986645812214],[0.25512331481989087,-1.5661618996353794]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.6330743408219989,1.7749363675848895,0.71338606911949],"aabb_xy":[[-0.6531327524352392,1.7548712806757318],[-0.6130159292087586,1.7950014544940467]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.2683590620165443,0.5349695132922623,0.71338606911949],"aabb_xy":[[-0.2858589954505277,0.5174695133720276],[-0.25085912858256093,0.5524695132124967]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.2819169930048132,-1.0200163280336922,0.71338606911949],"aabb_xy":[[0.23915028612539302,-1.0840163314554947],[0.3246836998842334,-0.9560163246118898]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.11381831955397215,0.7532598028316038,0.71338606911949],"aabb_xy":[[0.06853970467282287,0.6892598034834201],[0.1590969344351214,0.8172598021797874]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.4490506939543438,-1.1128326633654413,0.71338606911949],"aabb_xy":[[-0.47288691159494894,-1.202832664173928],[-0.4252144763137388,-1.022832662556955]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.5459946589856137,-0.11180505435403942,0.71338606911949],"aabb_xy":[[0.53591295190704,-0.19180505224615405],[0.556076366064187,-0.03180505646192475]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.28083276105175425,0.11086649728202547,0.71338606911949],"aabb_xy":[[-0.34583276108605693,0.06416582060169816],[-0.21583276101745147,0.15756717396235276]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[-0.2116722583997035,-0.3950701936158145,0.71338606911949],"aabb_xy":[[-0.276672261037497,-0.4465497923152615],[-0.14667225576191,-0.34359059491636756]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.5959222668266883,1.0280203667304186,0.71338606911949],"aabb_xy":[[-0.6459222678458235,0.9915541509925905],[-0.545922265807553,1.0644865824682463]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.5053497093856856,-2.362851505978873,0.71338606911949],"aabb_xy":[[0.4808360852886798,-2.3871160992809095],[0.5298633334826915,-2.3385869126768366]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.06140780715665395,0.686906291037066,0.71338606911949],"aabb_xy":[[-0.09255472600023706,0.616906292350259],[-0.030260888313070833,0.7569062897238733]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.5516781161965152,-0.6487298704641331,0.71338606911949],"aabb_xy":[[0.5425182372526386,-0.6552610885076702],[0.5608379951403918,-0.642198652420596]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.19837782247554386,0.24764506333730818,0.71338606911949],"aabb_xy":[[-0.26237782164531376,0.20087837621834573],[-0.1343778233057739,0.29441175045627066]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.0014541556661684663,-1.4281460933274206,0.71338606911949],"aabb_xy":[[-0.061454156174021383,-1.4849928270133417],[0.05854584484168445,-1.371299359641499]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.5734565535312219,0.2834962834596997,0.71338606911949],"aabb_xy":[[0.49345655612762857,0.2035037122615169],[0.6534565509348154,0.3634888546578825]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.14409376861813095,1.2596657991862048,0.71338606911949],"aabb_xy":[[0.11061460135709,1.2261866858150978],[0.1775729358791719,1.2931449125573118]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.24179729805210304,-1.3290216897070117,0.71338606911949],"aabb_xy":[[0.2139522612714959,-1.3598061884453234],[0.26964233483271016,-1.2982371909687]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.5651835843820362,0.47674416385796103,0.71338606911949],"aabb_xy":[[-0.6026835828054364,0.4635799498901304],[-0.5276835859586357,0.48990837782579166]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.13079644057962447,1.6697431994628222,0.71338606911949],"aabb_xy":[[0.09633409318148263,1.635249317064999],[0.16525878797776622,1.7042370818606445]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[-0.11009137049281836,-0.5536882297404309,0.71338606911949],"aabb_xy":[[-0.12752208557182482,-0.5709603444042816],[-0.09266065541381183,-0.5364161150765799]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6439446494307368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8031.png","name":"8031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8189.png","name":"8189"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.0233371489802,"rotation_z_degrees":323.35193383599267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012507880187806597,0.019792719951729553,0.010621874949618585]},{"name":"camera_2","offset_m":[-0.004488044866826888,0.015917448696830958,-7.369004880851404e-05]},{"name":"camera_3","offset_m":[-0.0084286729404944,-0.005450678697421437,0.008165771031921568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00034053330662759773,0.0012063884658317548,0.00041173441228414646],"end_effector_yaw_offset_degrees":-0.3333204670509362},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-2.2202118522612543e-07,-7.022808037108986e-05,0.0017287985453225603],"end_effector_yaw_offset_degrees":0.8674668964102603},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000489113025771959,0.000772036373127981,0.0014126864968765454],"end_effector_yaw_offset_degrees":0.7833284618025276}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036675070794543398,0.004819885861959299],"position_m":[0.30693249292054564,0.2258198858619593,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014980938129999562,-0.002191454683749453],"position_m":[0.319298093813,-0.19529145468374945,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0046390778386685766,-0.002234486759973554],"position_m":[0.3155390778386686,0.034365513240026443,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004092714668070123,-0.0036353527331310464],"position_m":[0.06049271466807012,0.386364647266869,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035272598382156415,-0.0003040464779626873],"position_m":[0.15822725983821564,-0.42780404647796266,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"08ce8340a9c3aeb25be6402b26f0f4b73c98e35a406999b35b751f35379f4f12","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8422/tex_ceiling_textures_8189/tex_floor_textures_3602/tex_table_textures_8031/tex_wall_textures_1814","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":9164897605981062052,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":9164897605981062052,"visual_seed":9164897605981062052,"scene_id":"lab_003","finished_at":"2026-09-03T17:18:46"} +{"episode_id":"ep_000025","started_at":"2026-09-03T17:18:50","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.28696172013557025,-0.5126897388464777,0.71338606911949],"aabb_xy":[[-0.32044088739661125,-0.5461688522175848],[-0.25348255287452937,-0.47921062547537085]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.5308164305000798,1.2447520043973226,0.71338606911949],"aabb_xy":[[-0.5404480667205094,1.2351146916176134],[-0.5211847942796501,1.2543893171770313]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.44516308121656256,1.343909620985666,0.71338606911949],"aabb_xy":[[0.3551630844809524,1.2907261576683713],[0.5351630779521728,1.3970930843029603]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.41844762607962305,1.558709825789863,0.71338606911949],"aabb_xy":[[0.4140169967247829,1.5532614540551806],[0.4228782554344633,1.5641581975245455]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.26343124290339104,-2.3742018962981524,0.71338606911949],"aabb_xy":[[0.24337283129015075,-2.39426698320731],[0.28348965451663133,-2.354136809388995]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.3810764503102772,-1.9976571877068663,0.71338606911949],"aabb_xy":[[-0.39284463710493484,-2.0826571876120883],[-0.36930826351561974,-1.9126571878016452]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.1635088403519095,1.017685448159901,0.71338606911949],"aabb_xy":[[0.12904636233882172,1.011021770976978],[0.19797131836499726,1.0243491253428234]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.23429784106247759,-1.2275789403036488,0.71338606911949],"aabb_xy":[[-0.29829783745805066,-1.2915422287223823],[-0.1702978446669045,-1.1636156518849152]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.11562180536967703,-1.8793849001218887,0.71338606911949],"aabb_xy":[[0.06062955473416608,-1.9343849018652015],[0.17061405600518798,-1.824384898378576]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.21664001575071606,-1.6822212884591203,0.71338606911949],"aabb_xy":[[-0.22388378179696136,-1.7622212866627227],[-0.2093962497044707,-1.602221290255518]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.4921960968843062,-1.090751748073869,0.71338606911949],"aabb_xy":[[0.46764988126155554,-1.1210006446229062],[0.5167423125070569,-1.060502851524832]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.09522550353256298,-1.396612821666486,0.71338606911949],"aabb_xy":[[0.033634744308570164,-1.4606128197755333],[0.1568162627565558,-1.3326128235574395]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.43730459341647765,-2.298110025074928,0.71338606911949],"aabb_xy":[[0.4333907202210551,-2.3068590404814846],[0.4412184666119002,-2.289361009668371]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.4422883765217088,-2.5167524600598066,0.71338606911949],"aabb_xy":[[-0.5062883767956872,-2.5668185602570945],[-0.37828837624773065,-2.4666863598625186]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.04139258979060145,-2.505984990529959,0.71338606911949],"aabb_xy":[[0.00014377876068671217,-2.560984990042176],[0.08264140082051616,-2.4509849910177413]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.4865865188778462,0.02284714345576333,0.71338606911949],"aabb_xy":[[0.4265865183699933,-0.033999590230157965],[0.5465865193856991,0.07969387714168462]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.015036996385111134,-2.2147290999282516,0.71338606911949],"aabb_xy":[[0.009455324750982375,-2.227229099746027],[0.020618668019239894,-2.2022291001104763]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.4532486432690337,1.267781950831603,0.71338606911949],"aabb_xy":[[-0.46066109881042216,1.261930740409975],[-0.4458361877276452,1.273633161253231]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.036048459230935914,0.8485378440498117,0.71338606911949],"aabb_xy":[[-0.04330970680134333,0.8357508337863022],[-0.0287872116605285,0.8613248543133212]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.23779310056368325,1.0277391062938541,0.71338606911949],"aabb_xy":[[-0.30179310094121686,0.9779938394430416],[-0.17379310018614963,1.0774843731446662]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.2729512781034714,-1.2241299097225447,0.71338606911949],"aabb_xy":[[0.2179512799017266,-1.2646518763489822],[0.32795127630521625,-1.183607943096107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6424348223592362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9943.png","name":"9943"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1524.png","name":"1524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2164.png","name":"2164"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":788.0239923923801,"rotation_z_degrees":236.30329132103026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[8.087804419408887e-05,-0.018990364763880396,0.01624957560808193]},{"name":"camera_2","offset_m":[0.0051598787110173384,-0.01333323877413298,-0.0022496142612578804]},{"name":"camera_3","offset_m":[-0.014251191692834043,-0.01777566686065595,0.01739848660985661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014590343083937863,-0.00019466332039986948,0.0017802491714972559],"end_effector_yaw_offset_degrees":0.8627592999896865},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005345689786795563,-0.000988735849116374,-0.0007021124164263766],"end_effector_yaw_offset_degrees":0.08684789879920807},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009515912266049894,0.0009429798306304703,-0.0019689785716428656],"end_effector_yaw_offset_degrees":0.7311692277485873}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001946636921690486,-0.0029361323988529933],"position_m":[0.3125466369216905,0.21806386760114702,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004627921540859463,2.2882061446207608e-05],"position_m":[0.3131720784591406,-0.19307711793855378,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004833634694514336,0.004940129232048371],"position_m":[0.3157336346945143,0.04154012923204837,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010427212932683826,0.0007030663256514993],"position_m":[0.055357278706731614,0.3907030663256515,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001986689324529478,-0.004184217396032924],"position_m":[0.15271331067547053,-0.4316842173960329,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8aa5a4635aa2b19119f40854d8d8961c72fdad50c1e562ddf99e025f80109c39","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5210/tex_ceiling_textures_2164/tex_floor_textures_980/tex_table_textures_9943/tex_wall_textures_1524","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":834990818850545015,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":834990818850545015,"visual_seed":834990818850545015,"scene_id":"lab_003","finished_at":"2026-09-03T17:21:48"} +{"episode_id":"ep_000026","started_at":"2026-09-03T17:21:51","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.2440698111332868,-1.1632851091433976,0.71338606911949],"aabb_xy":[[-0.25694171463422694,-1.2432851095572337],[-0.23119790763234668,-1.0832851087295614]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.04061107207219039,-2.248796974124228,0.71338606911949],"aabb_xy":[[-0.04938892765098379,-2.2718703266594074],[0.13061107179536455,-2.2257236215890477]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.38790842543023296,-2.169165084952295,0.71338606911949],"aabb_xy":[[0.35040842532463995,-2.1759872468052754],[0.42540842553582586,-2.1623429230993136]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[0.43779942051675436,-0.7659321371101946,0.71338606911949],"aabb_xy":[[0.4132857964197485,-0.790196730412231],[0.4623130446137602,-0.7416675438081581]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.4475418752971547,1.4543313040576815,0.71338606911949],"aabb_xy":[[0.4250454538632906,1.431831304250934],[0.4700382967310188,1.476831303864429]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.044046341693956825,1.1510222400609202,0.71338606911949],"aabb_xy":[[-0.035953656286828214,1.1434206990990683],[0.12404633967474188,1.1586237810227722]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.05807109155841139,0.6225812391289907,0.71338606911949],"aabb_xy":[[0.049357122508476896,0.6000812384698023],[0.06678506060834587,0.6450812397881788]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.26918012722346063,0.6138930728944221,0.71338606911949],"aabb_xy":[[0.2627663135802757,0.6074832526467536],[0.27559394086664557,0.6203028931420903]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.6586997680934454,-0.8660841288477998,0.71338606911949],"aabb_xy":[[0.6241086852394001,-0.9310841291328307],[0.6932908509474905,-0.8010841285627686]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.6438868699384237,0.1855716245717174,0.71338606911949],"aabb_xy":[[0.6357591817451105,0.17665801616100973],[0.6520145581317369,0.19448523298242504]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.48696791240348775,-1.5983481374505897,0.71338606911949],"aabb_xy":[[-0.5509679096891364,-1.6398548564034336],[-0.4229679151178391,-1.5568414184977457]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.09863771225584106,-1.3003228796090864,0.71338606911949],"aabb_xy":[[0.08430328712967759,-1.3123830951636253],[0.1129721373820045,-1.2882626640545476]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.625423103534392,1.7087895410571394,0.71338606911949],"aabb_xy":[[0.5804305168159416,1.6637895417826907],[0.6704156902528424,1.7537895403315882]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.39745149254582013,1.2246271090498904,0.71338606911949],"aabb_xy":[[0.37965798561090364,1.2068273634540927],[0.4152449994807365,1.242426854645688]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.41563838456337776,-1.818962807587151,0.71338606911949],"aabb_xy":[[0.3356383871597843,-1.8989553787853335],[0.49563838196697113,-1.7389702363889679]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.15658303216229763,-1.5817232661745986,0.71338606911949],"aabb_xy":[[-0.18442806894290475,-1.6125077649129103],[-0.1287379953816905,-1.550938767436287]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.2739743043026087,1.3875356208874199,0.71338606911949],"aabb_xy":[[-0.3379743050060781,1.341517238414499],[-0.20997430359913943,1.4335540033603411]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.23582192416286196,1.0141501572567155,0.71338606911949],"aabb_xy":[[0.2106010873030223,0.9889264064038285],[0.26104276102270163,1.0393739081096018]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.4375672729011301,-0.09139717444308548,0.71338606911949],"aabb_xy":[[-0.4734807773261198,-0.1273106826598401],[-0.4016537684761404,-0.055483666226330865]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.1256248872895479,-1.4094742469849562,0.71338606911949],"aabb_xy":[[-0.1856248871361147,-1.4662928691779948],[-0.06562488744298112,-1.3526556247919175]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.5872235539662728,0.4006831926563512,0.71338606911949],"aabb_xy":[[-0.6512235560160049,0.36058870956704325],[-0.5232235519165409,0.4407776757456592]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.6248795614655822,-0.10906275906026508,0.71338606911949],"aabb_xy":[[0.6209656882701597,-0.11781177446682184],[0.6287934346610047,-0.10031374365370832]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.19957927662312547,1.6713192646927566,0.71338606911949],"aabb_xy":[[0.16843235777954232,1.6013192660059492],[0.23072619546670856,1.7413192633795636]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.5869881864598447,-0.4505827593394516,0.71338606911949],"aabb_xy":[[-0.6669881869300607,-0.4588934669538],[-0.5069881859896288,-0.44227205172510325]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[0.4349875845426834,-0.3706987760432856,0.71338606911949],"aabb_xy":[[0.3549875834695631,-0.38047682238067004],[0.5149875856158037,-0.36092072970590117]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.49260706121069564,-2.0144121289447394,0.71338606911949],"aabb_xy":[[0.42260705940195026,-2.035765897708927],[0.5626070630194411,-1.993058360180552]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[0.1136065830733487,-1.7895906969624935,0.71338606911949],"aabb_xy":[[0.0336065809105862,-1.8695458805886371],[0.19360658523611118,-1.7096355133363499]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[-0.2164517631450772,1.1709670000258385,0.71338606911949],"aabb_xy":[[-0.22444575172278056,1.162966919930748],[-0.20845777456737377,1.1789670801209287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6433730068149017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9197.png","name":"9197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2673.png","name":"2673"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2417.png","name":"2417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3566.png","name":"3566"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.1957750577603,"rotation_z_degrees":2.72727828801667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002438603012653126,0.0036789600072103835,0.019504399654502683]},{"name":"camera_2","offset_m":[-0.00763490984352079,-0.017279994837637928,0.005786245409605161]},{"name":"camera_3","offset_m":[-0.015347545935013484,0.01750920134333561,-0.002208721347499956]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005997565581104536,-0.0007077807317164972,0.0007935208111289178],"end_effector_yaw_offset_degrees":0.057079317750741154},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009226610337361278,0.0006736527993485512,0.0019837193811074036],"end_effector_yaw_offset_degrees":0.14937871246207735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006626648964134882,0.0005554831627268757,0.0010480940207560495],"end_effector_yaw_offset_degrees":-0.9509578676447137}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.175952169800146e-05,0.001782218031070447],"position_m":[0.310518240478302,0.22278221803107046,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037721940872979367,-0.0002900511642275087],"position_m":[0.3140278059127021,-0.1933900511642275,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[3.532654939622168e-05,-0.0032197647740679946],"position_m":[0.3109353265493962,0.033380235225932,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004868700482739327,-0.0004987268972692256],"position_m":[0.06126870048273932,0.3895012731027308,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004025482176740441,0.0011191725795115463],"position_m":[0.15872548217674046,-0.42638082742048844,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"146385b89bf108778d8b85c10977cbf66566b6389b5e2dee788571b56895a1f7","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9197/tex_ceiling_textures_3566/tex_floor_textures_2417/tex_table_textures_2673/tex_wall_textures_6362","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8722576991454157493,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8722576991454157493,"visual_seed":8722576991454157493,"scene_id":"lab_003","finished_at":"2026-09-03T17:24:37"} +{"episode_id":"ep_000027","started_at":"2026-09-03T17:24:41","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.11303131722991833,-1.5489143132527528,0.71338606911949],"aabb_xy":[[0.07553131604512553,-1.553332535948813],[0.15053131841471112,-1.544496090556692]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.060392486178598825,-1.0717319716056992,0.71338606911949],"aabb_xy":[[-0.06452834251129902,-1.1092319710500562],[-0.05625662984589864,-1.0342319721613422]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.30991235746103296,-1.7632352811057777,0.71338606911949],"aabb_xy":[[0.30265110989062555,-1.7760222913692874],[0.3171736050314404,-1.7504482708422684]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.652896059929188,-2.1444558874764446,0.71338606911949],"aabb_xy":[[0.6153960613535671,-2.157192183140002],[0.6903960585048087,-2.131719591812886]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.5074405403696025,-0.811013836178837,0.71338606911949],"aabb_xy":[[-0.5299542321930597,-0.8810138367798445],[-0.4849268485461453,-0.7410138355778294]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.5450774543038327,1.2048917057914776,0.71338606911949],"aabb_xy":[[-0.6347645306119482,1.114891705537027],[-0.45539037799571724,1.2948917060459282]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.2812192267412086,-2.3844235271890444,0.71338606911949],"aabb_xy":[[-0.3361929487775415,-2.439423526753278],[-0.22624550470487576,-2.3294235276248116]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.2723246660513792,0.661632453425919,0.71338606911949],"aabb_xy":[[-0.29687088167412995,0.631383556876882],[-0.24777845042862853,0.6918813499749561]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.4237834240237557,-0.2847157698742335,0.71338606911949],"aabb_xy":[[-0.4837834238703224,-0.34153439206727215],[-0.36378342417718884,-0.2278971476811948]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.06615768708990022,1.4020700978490561,0.71338606911949],"aabb_xy":[[-0.01384231507286228,1.3221149142229125],[0.1461576892526627,1.4820252814751997]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.03211399370716417,0.8155246128147158,0.71338606911949],"aabb_xy":[[0.0076003696101583085,0.7912600195126794],[0.05662761780417003,0.8397892061167523]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.5147370973077662,-1.1607830320925943,0.71338606911949],"aabb_xy":[[-0.5787370975682369,-1.205791831445522],[-0.4507370970472953,-1.115774232739666]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.5837649819427404,-2.4699870970294464,0.71338606911949],"aabb_xy":[[-0.5969162279140298,-2.494987096786133],[-0.570613735971451,-2.44498709727276]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.6148238784423672,-0.32573587759649625,0.71338606911949],"aabb_xy":[[-0.6948238770296866,-0.40505147953465714],[-0.5348238798550478,-0.24642027565833538]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.39958817366996935,-2.3683792068894998,0.71338606911949],"aabb_xy":[[0.38171906591551386,-2.3822121148667113],[0.41745728142442484,-2.354546298912289]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.4327447488114784,-2.190251031161999,0.71338606911949],"aabb_xy":[[-0.4827235573217943,-2.240251031167718],[-0.3827659403011625,-2.1402510311562803]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.6208073409020729,0.7328038200932876,0.71338606911949],"aabb_xy":[[0.5358073422099983,0.7008179566984087],[0.7058073395941475,0.7647896834881664]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[-0.18129669601124077,-1.3753211340430196,0.71338606911949],"aabb_xy":[[-0.2187966961831127,-1.4080218694259266],[-0.14379669583936883,-1.3426203986601122]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.5317250102167805,-1.867672258025589,0.71338606911949],"aabb_xy":[[0.5276468523097307,-1.8717532382738522],[0.5358031681238301,-1.8635912777773256]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.5330752765334268,-1.99469792466525,0.71338606911949],"aabb_xy":[[0.522302302612059,-2.0296979228842895],[0.5438482504547946,-1.9596979264462113]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.48825595773181973,-1.3104720689167448,0.71338606911949],"aabb_xy":[[0.4032559593143965,-1.3953463643790298],[0.573255956149243,-1.2255977734544599]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.600135836735415,1.0084615289443684,0.71338606911949],"aabb_xy":[[0.5921418481577114,1.0004614488492778],[0.6081298253131182,1.0164616090394585]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.01091667242953609,-2.0279825498697583,0.71338606911949],"aabb_xy":[[-0.02414761796421738,-2.0412099688917573],[0.002314273105145207,-2.0147551308477585]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.4280174799582741,-0.0114932775523795,0.71338606911949],"aabb_xy":[[-0.4920174818706165,-0.06740442681038994],[-0.3640174780459318,0.04441787170563094]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.04971990851847907,0.039048652972310194,0.71338606911949],"aabb_xy":[[-0.05935154473890869,0.029411340192601276],[-0.040088272298049454,0.04868596575201911]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.24745527931099986,-0.9499147994647221,0.71338606911949],"aabb_xy":[[0.23934162463762274,-0.9580206159187512],[0.25556893398437697,-0.941808983010693]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.5514324783480549,-0.10179521958768278,0.71338606911949],"aabb_xy":[[0.4864324773909276,-0.15374343152138834],[0.616432479305182,-0.0498470076539772]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[-0.62181389006211,-0.14059489362834965,0.71338606911949],"aabb_xy":[[-0.6373696594723752,-0.15614532687275687],[-0.6062581206518447,-0.12504446038394249]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[-0.30035478747690963,0.13683390314431243,0.71338606911949],"aabb_xy":[[-0.315526956758543,0.1216650462161091],[-0.2851826181952763,0.1520027600725158]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[-0.3839513349773049,1.2855111543303237,0.71338606911949],"aabb_xy":[[-0.40641610494871006,1.263011153451463],[-0.3614865650058998,1.308011155209184]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[-0.5954179715499518,-1.75924071350544,0.71338606911949],"aabb_xy":[[-0.6063237476375145,-1.839240709904269],[-0.5845121954623891,-1.6792407171066106]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_31","position":[0.6791507255087881,-1.0783715368420415,0.71338606911949],"aabb_xy":[[0.6698037179264928,-1.0926751590596857],[0.6884977330910833,-1.0640679146243976]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[0.5194492506716439,0.40823881018660924,0.71338606911949],"aabb_xy":[[0.48600907547562416,0.37479518435567905],[0.5528894258676633,0.4416824360175392]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_33","position":[0.08293572267478,1.153819300718299,0.71338606911949],"aabb_xy":[[-0.007064279659239059,1.0763369461331864],[0.17293572500879906,1.2313016553034117]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_34","position":[0.3352958557804149,-0.4378898361049788,0.71338606911949],"aabb_xy":[[0.3233631214185868,-0.45027198891283815],[0.34722859014224294,-0.4255076832971194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6419994975106749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1589.png","name":"1589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5358.png","name":"5358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":522.6767073466782,"rotation_z_degrees":8.772672866983244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01860326716924852,0.012172691630534926,-0.018622688369133958]},{"name":"camera_2","offset_m":[-0.008479570609298982,-0.018700258397582364,-0.006757348909958627]},{"name":"camera_3","offset_m":[0.01264387564501632,0.018334291642448066,-0.006908941383945044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009720639895114446,0.00076875343590177,-0.0019239826521647858],"end_effector_yaw_offset_degrees":0.8341865448991532},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005016009697786576,-0.0008079531341005982,0.0014740339148853225],"end_effector_yaw_offset_degrees":0.8692360755615862},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014373047343482896,0.001252092435655724,0.00196939339690606],"end_effector_yaw_offset_degrees":-0.757977649241165}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009404845567567623,-0.0004112507689041098],"position_m":[0.3096595154432432,0.2205887492310959,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011584059288077633,0.0032168569692901028],"position_m":[0.31664159407119224,-0.18988314303070988,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003267496066238387,0.0019996350966660272],"position_m":[0.3141674960662384,0.03859963509666603,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001958771700197751,-0.0037385669263887145],"position_m":[0.05835877170019775,0.38626143307361127,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022081678145414183,0.0011398656457511855],"position_m":[0.15690816781454142,-0.4263601343542488,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3869f607fc7d5cc9c3523be73bb8f98581fcecfa727d716e3d0fde672ace298","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7013/tex_ceiling_textures_3219/tex_floor_textures_5358/tex_table_textures_1589/tex_wall_textures_5392","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8633691781363469157,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8633691781363469157,"visual_seed":8633691781363469157,"scene_id":"lab_003","finished_at":"2026-09-03T17:27:34"} +{"episode_id":"ep_000028","started_at":"2026-09-03T17:27:38","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.34752576053357787,-2.5680238877694403,0.71338606911949],"aabb_xy":[[-0.42752575919046387,-2.5825287466937032],[-0.26752576187669186,-2.5535190288451775]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.05858173178300974,1.5512803430001747,0.71338606911949],"aabb_xy":[[-0.11858173203441091,1.49699901796371],[0.001418268468391444,1.6055616680366394]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.12913586042092207,1.7544954205915952,0.71338606911949],"aabb_xy":[[-0.14824816777890093,1.7353606417143532],[-0.1100235530629432,1.7736301994688373]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.39941396762661663,0.7953642381007286,0.71338606911949],"aabb_xy":[[0.362563419689629,0.7578642372776949],[0.43626451556360424,0.8328642389237624]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.26335526672299325,-1.078316682112397,0.71338606911949],"aabb_xy":[[-0.3128356879369521,-1.1423166800252489],[-0.21387484550903452,-1.0143166841995452]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.29701652014915497,-2.195172326676101,0.71338606911949],"aabb_xy":[[-0.34711398413022854,-2.259172327185913],[-0.2469190561680813,-2.1311723261662894]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.26793421739817225,-1.9809198734719269,0.71338606911949],"aabb_xy":[[0.25092412010812154,-1.9970543619702006],[0.28494431468822284,-1.9647853849736527]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.3987606401611903,-0.9602936983941224,0.71338606911949],"aabb_xy":[[0.3832048707509251,-0.9758441316385297],[0.4143164095714556,-0.9447432651497153]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.441557117080444,-1.372615750269534,0.71338606911949],"aabb_xy":[[0.43692200192821057,-1.3764830853466823],[0.4461922322326773,-1.3687484151923852]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.37517040676587976,-1.6581347790187957,0.71338606911949],"aabb_xy":[[-0.42515464247405693,-1.7081347778322913],[-0.3251861710577025,-1.6081347802053]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.41388471169276553,-0.28518171514903656,0.71338606911949],"aabb_xy":[[-0.46888018951342486,-0.3401817165829435],[-0.3588892338721061,-0.23018171371512963]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.2644842442956514,0.8086164628569783,0.71338606911949],"aabb_xy":[[0.22698424278001972,0.7973896898408332],[0.30198424581128314,0.8198432358731234]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.004938360345933646,0.9285782900625792,0.71338606911949],"aabb_xy":[[-0.012930747408521848,0.9147453820853682],[0.02280746810038914,0.94241119803979]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.25399054375598457,-0.7496372508764277,0.71338606911949],"aabb_xy":[[-0.26198403355126665,-0.7576353828169035],[-0.2459970539607026,-0.7416391189359521]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.45816297643106463,-0.2503614342278939,0.71338606911949],"aabb_xy":[[0.4081629768547299,-0.3003420131799999],[0.5081629760073993,-0.20038085527578803]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.4808509479859384,-2.1853848007669128,0.71338606911949],"aabb_xy":[[0.42585094880934893,-2.2403744755418704],[0.5358509471625279,-2.130395125991955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.3273050929296377,-1.1727804081675912,0.71338606911949],"aabb_xy":[[0.3181452139857611,-1.1793116262111283],[0.3364649718735143,-1.1662491901240541]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.6131714804254884,1.2977328187010544,0.71338606911949],"aabb_xy":[[-0.6771714790120609,1.2507258553015455],[-0.549171481838916,1.3447397821005629]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[-0.6731650420123719,-1.17683309419141,0.71338606911949],"aabb_xy":[[-0.6824586602495225,-1.214333092679544],[-0.6638714237752213,-1.1393330957032761]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.4734678560244592,-1.1745931000437366,0.71338606911949],"aabb_xy":[[0.38346785660608823,-1.2079685968879263],[0.5634678554428301,-1.141217603199547]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.04914736452452817,-1.414506543017528,0.71338606911949],"aabb_xy":[[-0.106777833411799,-1.4745065419442385],[0.008483104362742687,-1.3545065440908173]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.5090901513610562,1.5093632384271278,0.71338606911949],"aabb_xy":[[0.4591168573577957,1.4593632378725805],[0.5590634453643166,1.5593632389816752]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[-0.3832502512543531,1.605451762165202,0.71338606911949],"aabb_xy":[[-0.4197460718816318,1.5689678197384445],[-0.34675443062707434,1.6419357045919596]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.22369236938608034,1.5377232434020747,0.71338606911949],"aabb_xy":[[-0.26048700251098666,1.5008173683054926],[-0.1868977362611741,1.5746291184986572]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.19236171416724068,-0.9142991729260326,0.71338606911949],"aabb_xy":[[-0.1964975704999409,-0.9517991723703897],[-0.18822585783454052,-0.8767991734816757]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.3727649451186366,0.57714648938724,0.71338606911949],"aabb_xy":[[-0.38154617226587295,0.56836674209871],[-0.36398371797140044,0.5859262366757703]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[-0.05833389511410969,-1.719243399462348,0.71338606911949],"aabb_xy":[[-0.09396305101406943,-1.7548760662192007],[-0.022704739214149942,-1.6836107327054948]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[0.4096677087173215,1.215369748334088,0.71338606911949],"aabb_xy":[[0.3296677113137281,1.135377177135905],[0.4896677061209149,1.2953623195322705]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[-0.5870896512817143,0.9501547459538751,0.71338606911949],"aabb_xy":[[-0.6770896480173245,0.8969712826365804],[-0.4970896545461041,1.0033382092711696]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_29","position":[-0.008923765561743457,-0.7869167749701051,0.71338606911949],"aabb_xy":[[-0.016917754139446847,-0.7949168550651954],[-0.0009297769840400615,-0.7789166948750147]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.48813137479686397,0.28773275761299644,0.71338606911949],"aabb_xy":[[-0.56813137526708,0.27942204999864806],[-0.4081313743266481,0.2960434652273448]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_31","position":[0.2768079908840205,-1.7579597863677758,0.71338606911949],"aabb_xy":[[0.2590144839491041,-1.7757595319635735],[0.29460149781893696,-1.7401600407719782]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[0.019303006624494135,-2.4380383119204523,0.71338606911949],"aabb_xy":[[-0.0656969917929291,-2.5229126073827373],[0.10430300504191736,-2.3531640164581673]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_33","position":[0.4600307539906425,-2.3057431124734458,0.71338606911949],"aabb_xy":[[0.4426000389116359,-2.323015227137296],[0.4774614690696489,-2.2884709978095947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6437054703863297,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3725.png","name":"3725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5458.png","name":"5458"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":640.6259466984397,"rotation_z_degrees":135.37492346837203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035337955944979398,0.005586722823720684,-0.01778942784683807]},{"name":"camera_2","offset_m":[-0.0018300103187213652,0.015226323407753779,-0.0021486383415708493]},{"name":"camera_3","offset_m":[-0.0088613576357686,0.01946993186871288,0.017471823248805193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001925984894608423,-0.0012376849810477508,0.0013383466147753775],"end_effector_yaw_offset_degrees":-0.2990729761234754},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005784714756354177,0.001791288883320093,0.000435055180051398],"end_effector_yaw_offset_degrees":-0.17235885099262438},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017230542046604521,-0.0013206501350957805,-0.0018500891868718345],"end_effector_yaw_offset_degrees":0.6205532140674632}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017524427239545238,-0.0026220709468130553],"position_m":[0.30884755727604546,0.21837792905318695,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004723721003481573,0.0005011828806887521],"position_m":[0.31732762789965185,-0.19259881711931123,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0013241014170209432,0.004772890008636787],"position_m":[0.31222410141702095,0.04137289000863679,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004523826886916544,-0.0046537350382752415],"position_m":[0.05187617311308346,0.38534626496172475,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018939867791371353,-0.0017758952999654886],"position_m":[0.15659398677913713,-0.42927589529996546,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2daa3d208d35cc68ea123ac69f0499151fb1db8b6d6ca8f04a5e9a78f53b3d1c","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9602/tex_ceiling_textures_5458/tex_floor_textures_3725/tex_table_textures_7850/tex_wall_textures_9266","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3836694981425032420,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3836694981425032420,"visual_seed":3836694981425032420,"scene_id":"lab_003","finished_at":"2026-09-03T17:30:26"} +{"episode_id":"ep_000029","started_at":"2026-09-03T17:30:29","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.21072689010474643,0.9762856056942173,0.71338606911949],"aabb_xy":[[0.1507268895968935,0.9194388720082961],[0.27072689061259936,1.0331323393801386]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.009741282205091517,-2.424685205512549,0.71338606911949],"aabb_xy":[[-0.027241281339458686,-2.4345648325501363],[0.007758716929275654,-2.4148055784749607]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.3615753136257156,0.3411212282990439,0.71338606911949],"aabb_xy":[[0.33657531446008254,0.3341689825936873],[0.38657531279134877,0.3480734740044005]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.46796001834414447,1.3563191657435896,0.71338606911949],"aabb_xy":[[-0.5279600192049572,1.3048927357371027],[-0.40796001748333166,1.4077455957500755]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.0707848129892451,-2.2525020086412715,0.71338606911949],"aabb_xy":[[0.047869100104195206,-2.2754063057776954],[0.093700525874295,-2.2295977115048484]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.3494562900836961,-2.0240273812644674,0.71338606911949],"aabb_xy":[[-0.39955375406476973,-2.0880273817742787],[-0.2993588261026225,-1.960027380754655]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.6248300977990899,-1.0727691053812793,0.71338606911949],"aabb_xy":[[0.5798300963328611,-1.11776896224276],[0.6698300992653188,-1.0277692485197987]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.6021385796604428,1.2751651746608195,0.71338606911949],"aabb_xy":[[-0.6246377153866698,1.2526651738825567],[-0.5796394439342158,1.2976651754390827]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.4824082366127096,-1.37571811837999,0.71338606911949],"aabb_xy":[[0.47306122903041437,-1.390021740597634],[0.4917552441950048,-1.361414496162346]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.43578264894916385,0.6647926651909377,0.71338606911949],"aabb_xy":[[-0.44765473196066496,0.5797926654972874],[-0.42391056593766274,0.7497926648845881]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.47619078546108873,1.312920087518366,0.71338606911949],"aabb_xy":[[0.4702242465203529,1.3069589428590016],[0.48215732440182446,1.31888123217773]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.12292010282080246,-0.888964716966683,0.71338606911949],"aabb_xy":[[-0.1929201046295479,-0.9103184857308704],[-0.05292010101205703,-0.8676109482024956]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.2707073132736062,-1.6279596269620118,0.71338606911949],"aabb_xy":[[0.180707309596688,-1.6893920335391157],[0.3607073169505243,-1.566527220384907]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.38945295396948165,-1.826139498925853,0.71338606911949],"aabb_xy":[[-0.4394317624797974,-1.8761394989315716],[-0.33947414545916565,-1.776139498920134]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.4857232721480629,1.0539523711045926,0.71338606911949],"aabb_xy":[[-0.5076130197370037,0.9639523738153436],[-0.46383352455912213,1.1439523683938417]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.20129210657686458,0.20866559305541754,0.71338606911949],"aabb_xy":[[-0.2512921060170602,0.1586976685711012],[-0.15129210713666894,0.25863351753973385]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.1384231046806237,1.2825782532167578,0.71338606911949],"aabb_xy":[[-0.18841621678981563,1.2325782525425621],[-0.08842999257143182,1.3325782538909534]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.11085872928545415,0.42712494638385534,0.71338606911949],"aabb_xy":[[-0.11429940552551134,0.4232635134094909],[-0.10741805304539699,0.4309863793582199]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.6226214696236827,-0.6129376202694583,0.71338606911949],"aabb_xy":[[-0.647621468895645,-0.6292829838656205],[-0.5976214703517204,-0.5965922566732959]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.6244309121526528,-0.41806816302635985,0.71338606911949],"aabb_xy":[[0.5894309130226971,-0.42381338410202396],[0.6594309112826084,-0.41232294195069574]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.6307645170883107,1.4117724825874154,0.71338606911949],"aabb_xy":[[0.593264515572679,1.4005457095712701],[0.6682645186039424,1.4229992556035602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6446580206474712,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2181.png","name":"2181"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2181.png","name":"2181"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/351.png","name":"351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8664.png","name":"8664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2223.png","name":"2223"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7420.png","name":"7420"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":547.5826345660439,"rotation_z_degrees":221.05245065065407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019572645967323627,-0.005581934774200374,-0.0006087077962436023]},{"name":"camera_2","offset_m":[0.015886013083418225,0.006713089106685655,-0.017863049236969592]},{"name":"camera_3","offset_m":[-0.008987483583770222,-0.014197209730196248,0.005665650544597351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.265251502309352e-05,-0.000397602077774455,0.0010682397463918085],"end_effector_yaw_offset_degrees":-0.3332297500093324},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018406099044375713,-0.0011834293540906305,-0.0015411296625723993],"end_effector_yaw_offset_degrees":0.3606617368958276},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016922131872925607,0.0010354253924968844,-3.932602165929123e-05],"end_effector_yaw_offset_degrees":-0.7454976115510641}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002165055281232554,0.0010463954653847597],"position_m":[0.3084349447187674,0.22204639546538477,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023788563896718438,-0.002441939596445252],"position_m":[0.32017885638967186,-0.19554193959644525,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001559487635404626,-0.0038916946879278347],"position_m":[0.30934051236459537,0.03270830531207217,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003875732664608102,0.003611118699323362],"position_m":[0.0602757326646081,0.39361111869932336,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006185861392437484,-0.004619043289974568],"position_m":[0.15531858613924376,-0.4321190432899746,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b5dfdfee41420d171ea27152f653bc3a69181192753495afa57e7dcb6761beb7","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2181/tex_ceiling_textures_7420/tex_floor_textures_2223/tex_table_textures_351/tex_wall_textures_8664","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8732936666142157019,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8732936666142157019,"visual_seed":8732936666142157019,"scene_id":"lab_003","finished_at":"2026-09-03T17:33:21"} +{"episode_id":"ep_000030","started_at":"2026-09-03T17:33:24","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.4762822150048345,1.128794405970293,0.71338606911949],"aabb_xy":[[0.43948758187992815,1.0918885308737107],[0.5130768481297407,1.1657002810668753]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.15825181002743027,-1.2330389303560882,0.71338606911949],"aabb_xy":[[-0.16766928459729302,-1.2424551074938073],[-0.14883433545756752,-1.2236227532183692]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.5885650978023595,1.2183745310068552,0.71338606911949],"aabb_xy":[[0.5772033631490733,1.207006064600567],[0.5999268324556456,1.229742997413143]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[0.06250644237637337,1.1336707494981098,0.71338606911949],"aabb_xy":[[-0.0014935549259730285,1.0893043225302528],[0.12650643967871977,1.1780371764659663]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.31256371255022936,-2.1735194630526724,0.71338606911949],"aabb_xy":[[-0.3169943419050696,-2.1789678347873553],[-0.30813308319538923,-2.1680710913179904]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.6275237897230437,0.8509036356239279,0.71338606911949],"aabb_xy":[[0.602977574100293,0.8206547390748907],[0.6520700053457944,0.8811525321729649]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.23139381188355013,-0.9402381633202201,0.71338606911949],"aabb_xy":[[0.2276905505544112,-0.9439401816289378],[0.23509707321268894,-0.9365361450115021]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.14199848099684576,1.4337739933277907,0.71338606911949],"aabb_xy":[[-0.19199331392478738,1.3837739944325473],[-0.09200364806890418,1.4837739922230344]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[-0.4518529070122044,1.430224408255135,0.71338606911949],"aabb_xy":[[-0.49702422486037345,1.3662244111105968],[-0.4066815891640355,1.4942244053996736]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.11008073555693054,-1.7147667470237704,0.71338606911949],"aabb_xy":[[-0.11937435379408111,-1.7522667455119043],[-0.10078711731977995,-1.6772667485356365]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.08314382543869436,-2.400942626107773,0.71338606911949],"aabb_xy":[[-0.13314382501502908,-2.4509232050598793],[-0.03314382586235966,-2.3509620471556674]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.23936508373345655,-1.6272920932365031,0.71338606911949],"aabb_xy":[[-0.26264692593158784,-1.712292094533731],[-0.21608324153532518,-1.5422920919392749]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[0.2862387547277544,-2.5574534143470844,0.71338606911949],"aabb_xy":[[0.27035426146242925,-2.5718063546459087],[0.30212324799307955,-2.54310047404826]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.12072719096239881,0.8607368757221483,0.71338606911949],"aabb_xy":[[0.10314888877345195,0.8431623861480433],[0.13830549315134566,0.8783113652962531]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.2550801446487504,1.0459047706745257,0.71338606911949],"aabb_xy":[[0.20727397703498168,0.9809047679674667],[0.302886312262519,1.1109047733815847]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.6511133219736827,-1.0841576285754642,0.71338606911949],"aabb_xy":[[0.6336133885396992,-1.1016576284956985],[0.6686132554076659,-1.0666576286552294]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.17223130813846932,-0.8223105719262669,0.71338606911949],"aabb_xy":[[-0.23723130924441263,-0.8472759449943952],[-0.10723130703252606,-0.7973451988581386]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.5033162124297108,-0.7128509349483056,0.71338606911949],"aabb_xy":[[0.49068942514251446,-0.7223970086498784],[0.5159429997169072,-0.7033048612467326]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.3373803614290318,1.5245981789798155,0.71338606911949],"aabb_xy":[[0.24769328512091637,1.434598178725365],[0.4270674377371473,1.614598179234266]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.5067416607001558,-2.3027415951760863,0.71338606911949],"aabb_xy":[[-0.5707416639187938,-2.3494647070750942],[-0.44274165748151806,-2.2560184832770775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6427955743745898,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8405.png","name":"8405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8405.png","name":"8405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4102.png","name":"4102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9518.png","name":"9518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1957.png","name":"1957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5482.png","name":"5482"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":735.6021094983389,"rotation_z_degrees":158.39903839729803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009207442835137556,-0.016320781084494546,-0.01926584479011672]},{"name":"camera_2","offset_m":[-0.005461047146536564,0.004308898964514505,-0.010586029968795358]},{"name":"camera_3","offset_m":[0.019634720243457842,0.006974392445143262,-0.01805177762207655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015029016033484867,0.00101334908084852,-0.0009120984015477767],"end_effector_yaw_offset_degrees":-0.7633455135315124},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000497902490347858,-0.0006730942516041188,0.00019812115772712465],"end_effector_yaw_offset_degrees":-0.052204215743625104},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010264297861588053,0.0019066405185778328,-0.00018592136327204756],"end_effector_yaw_offset_degrees":0.7730553673239624}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004852230676317878,-0.0023476605149795817],"position_m":[0.3154522306763179,0.2186523394850204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032369076563632084,0.0018635364641436695],"position_m":[0.3210369076563632,-0.19123646353585633,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004433621892829018,0.00280600056063794],"position_m":[0.306466378107171,0.03940600056063794,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005599376186362004,0.0006738206313434839],"position_m":[0.0569599376186362,0.3906738206313435,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008021249508031606,-0.0016310565817927005],"position_m":[0.15550212495080318,-0.4291310565817927,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5731972584f21ffb4c135d78c4fcf0678f7c3bfb8ad6fa42ef01d3d09df14cf7","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8405/tex_ceiling_textures_5482/tex_floor_textures_1957/tex_table_textures_4102/tex_wall_textures_9518","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7749882983711258550,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7749882983711258550,"visual_seed":7749882983711258550,"scene_id":"lab_003","finished_at":"2026-09-03T17:36:48"} +{"episode_id":"ep_000031","started_at":"2026-09-03T17:36:51","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.11321294214565325,-2.246072147528813,0.71338606911949],"aabb_xy":[[-0.19321294540966638,-2.2596321798377264],[-0.033212938881640106,-2.2325121152198997]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.22717436721776563,-1.0285544504168092,0.71338606911949],"aabb_xy":[[-0.3108965927178481,-1.118554453951505],[-0.14345214171768317,-0.9385544468821132]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.389610275561125,1.5921881707492544,0.71338606911949],"aabb_xy":[[-0.3992419117815546,1.5825508579695455],[-0.37997863934069537,1.6018254835289634]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.36517141678867104,-1.7411761165313924,0.71338606911949],"aabb_xy":[[0.30117141538068043,-1.7929650680553169],[0.42917141819666177,-1.6893871650074674]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.0523575808886344,0.89244811079881,0.71338606911949],"aabb_xy":[[-0.032642417528788825,0.8075738153365251],[0.13735757930605763,0.977322406261095]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.5820613045577334,0.03580359235942421,0.71338606911949],"aabb_xy":[[-0.6021197161709737,0.01573850545026667],[-0.5620028929444931,0.055868679268581745]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.4348536820172413,1.1314237236499092,0.71338606911949],"aabb_xy":[[-0.5048536854088033,1.096107949946478],[-0.3648536786256793,1.1667394973533398]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.21254136146580677,-1.85816743479091,0.71338606911949],"aabb_xy":[[-0.22065501613918387,-1.866273251244939],[-0.20442770679242966,-1.8500616183368808]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.10662299483879911,-2.160639991348817,0.71338606911949],"aabb_xy":[[0.042622992495997554,-2.205580842592949],[0.17062299718160068,-2.115699140104684]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.2980292482715359,-1.4000652716418966,0.71338606911949],"aabb_xy":[[0.24303377045087643,-1.4550652730758034],[0.3530247260921952,-1.3450652702079895]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.4049917328519314,-0.7739030493794421,0.71338606911949],"aabb_xy":[[-0.42015460582886854,-0.789068506674561],[-0.3898288598749944,-0.7587375920843235]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.23401508727000797,1.666030677504208,0.71338606911949],"aabb_xy":[[-0.26398264417983364,1.6360306772063222],[-0.2040475303601823,1.6960306778020937]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.2756338797841675,0.39593707756796936,0.71338606911949],"aabb_xy":[[-0.29313381321815074,0.3784370776477348],[-0.258133946350184,0.4134370774882039]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[-0.6253325645428462,-0.8880986789525298,0.71338606911949],"aabb_xy":[[-0.6340305268335616,-0.9002236532600045],[-0.6166346022521311,-0.8759737046450551]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[0.5698700855480447,0.24643257645402095,0.71338606911949],"aabb_xy":[[0.52005330608321,0.19643257796971758],[0.6196868650128795,0.2964325749383243]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.5394421963701027,1.5243604043950083,0.71338606911949],"aabb_xy":[[-0.6034421980481001,1.475843012915694],[-0.47544219469210536,1.5728777958743225]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.5173230596350633,-1.5706697075552214,0.71338606911949],"aabb_xy":[[0.4673401094475839,-1.6206697071977816],[0.5673060098225425,-1.5206697079126608]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.3213961022151335,-0.53498904166009,0.71338606911949],"aabb_xy":[[0.3038961029370466,-0.5523271417264359],[0.33889610149322036,-0.517650941593744]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.5257445614472772,-2.4524542373396416,0.71338606911949],"aabb_xy":[[-0.5502581855442831,-2.476718830641678],[-0.5012309373502714,-2.428189644037605]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.2400989987823845,1.0823133363644235,0.71338606911949],"aabb_xy":[[0.2148781619225448,1.0570895855115365],[0.2653198356422241,1.10753708721731]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.27230014751715753,0.48926549240860107,0.71338606911949],"aabb_xy":[[-0.3079293034171173,0.4536328256517481],[-0.2366709916171978,0.524898159165454]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.6817067075561976,0.27754249005205045,0.71338606911949],"aabb_xy":[[0.671625000477624,0.19754249215993575],[0.6917884146347709,0.35754248794416504]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.01967892524837378,1.5272664731995236,0.71338606911949],"aabb_xy":[[-0.02308778163104641,1.4632664697777211],[0.06244563212779397,1.591266476621326]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.18458751431340414,-0.12289960091237395,0.71338606911949],"aabb_xy":[[-0.2485832117085007,-0.18689959921308263],[-0.12059181691830753,-0.058899602611665255]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.6375743905958636,0.5923793705328633,0.71338606911949],"aabb_xy":[[-0.6614106082364688,0.5023793697243769],[-0.6137381729552587,0.6823793713413498]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.49373403124964677,-0.749946287920173,0.71338606911949],"aabb_xy":[[0.4137340342866076,-0.8270219295639465],[0.5737340282126859,-0.6728706462763996]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.36926802645101725,-2.010689213954624,0.71338606911949],"aabb_xy":[[-0.39426802638353514,-2.017571882175547],[-0.34426802651849936,-2.003806545733701]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_27","position":[-0.11419647765155028,-2.360461042466792,0.71338606911949],"aabb_xy":[[-0.17919647875749356,-2.38542641553492],[-0.04919647654560701,-2.3354956693986635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436864807325645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5824.png","name":"5824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5824.png","name":"5824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5208.png","name":"5208"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3751.png","name":"3751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":772.1483042183245,"rotation_z_degrees":239.2676947757044,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033833311893866035,0.0008007547559179991,0.01480099652858385]},{"name":"camera_2","offset_m":[0.017780078869277568,-0.004084396070372646,-0.010402727845597455]},{"name":"camera_3","offset_m":[-0.0020085971117845547,0.01365425614676177,0.014083407021446021]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008352748093560748,-0.001087457507996031,0.0013181347085082728],"end_effector_yaw_offset_degrees":0.33962975090380265},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013691812135832948,-0.00040109282512269264,0.0016490234866080094],"end_effector_yaw_offset_degrees":-0.967025064717872},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007097223873151664,-0.0013574062532066816,0.0014985752377580479],"end_effector_yaw_offset_degrees":0.8665883745440051}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003955204668946331,0.0023295504589643124],"position_m":[0.3109955204668946,0.22332955045896433,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002829784936376323,0.0016882069848668255],"position_m":[0.3149702150636237,-0.19141179301513317,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0014263558641525189,0.0010771367374405039],"position_m":[0.3094736441358475,0.037677136737440504,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013239097333392646,-0.0014235766221407232],"position_m":[0.055076090266660736,0.3885764233778593,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016668031900954035,-0.002001144447967035],"position_m":[0.1563668031900954,-0.42950114444796705,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eb1b6e0b3d6e3a4c18abb5734396fb56efb34dedfdaf7cf04f676015d7788ea1","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5824/tex_ceiling_textures_2682/tex_floor_textures_3751/tex_table_textures_8354/tex_wall_textures_5208","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":422586767115496100,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":422586767115496100,"visual_seed":422586767115496100,"scene_id":"lab_003","finished_at":"2026-09-03T17:39:44"} +{"episode_id":"ep_000032","started_at":"2026-09-03T17:39:47","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.5158659957010046,1.1033453843458565,0.71338606911949],"aabb_xy":[[0.4658659946818693,1.0668791686080288],[0.5658659967201398,1.1398116000836847]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.21810766756829125,0.7223088580283634,0.71338606911949],"aabb_xy":[[0.13810767055404324,0.7021743063549521],[0.29810766458253923,0.7424434097017747]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.15658009756449998,-0.5283897670336839,0.71338606911949],"aabb_xy":[[-0.18904179844642738,-0.5585225991485863],[-0.12411839668257248,-0.4982569349187811]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.45828807907724944,-0.836971560126681,0.71338606911949],"aabb_xy":[[0.41048191146348073,-0.9019715628337398],[0.5060942466910181,-0.7719715574196219]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.19952225805165336,-0.31356478800062204,0.71338606911949],"aabb_xy":[[-0.2170222582967027,-0.33106457584018883],[-0.18202225780660394,-0.29606500016105514]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.5137903755269534,-1.9120653974219521,0.71338606911949],"aabb_xy":[[-0.5218267102282381,-1.920103516726369],[-0.5057540408256684,-1.9040272781175354]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.07212930158827657,-1.3191904421414957,0.71338606911949],"aabb_xy":[[-0.12210811009859245,-1.3691904421472145],[-0.022150493077960673,-1.269190442135777]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.04450729724804825,-1.5359103828751073,0.71338606911949],"aabb_xy":[[-0.025492706143513722,-1.5712261565785381],[0.11450730063961023,-1.5005946091716764]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.038105319839383034,-0.7831132805768168,0.71338606911949],"aabb_xy":[[-0.06675465219979924,-0.8117588398538925],[-0.009455987478966796,-0.7544677212997409]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.6633819438516761,-0.5103135398208045,0.71338606911949],"aabb_xy":[[0.6258819454282757,-0.523477753788635],[0.7008819422750764,-0.4971493258529738]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.3921207213788578,0.2697284071519106,0.71338606911949],"aabb_xy":[[0.38087566580823995,0.25848660942781526],[0.4033657769494756,0.2809702048760058]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.5017652601747457,-1.5357097411614915,0.71338606911949],"aabb_xy":[[-0.556760737995405,-1.5907097425953984],[-0.44676978235408626,-1.4807097397275846]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.57912919685944,0.26354135075567253,0.71338606911949],"aabb_xy":[[-0.6135916748725276,0.2568776735727497],[-0.5446667188463521,0.27020502793859535]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.5265191533154545,-0.1497356751532215,0.71338606911949],"aabb_xy":[[-0.5905191553651865,-0.18983015824252947],[-0.4625191512657225,-0.10964119206391354]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.3181415826218771,-1.7999701547215894,0.71338606911949],"aabb_xy":[[-0.3556415838066698,-1.8043883774176497],[-0.28064158143708423,-1.7955519320255287]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.15430174935309526,-2.0633445259811443,0.71338606911949],"aabb_xy":[[-0.2183017496270735,-2.1134106261784322],[-0.09030174907911703,-2.0132784257838563]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.6109749258869408,-2.4241509142517166,0.71338606911949],"aabb_xy":[[0.6044732893789362,-2.433918736278027],[0.6174765623949454,-2.4143830922254073]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.6531501777689002,-1.5248787140945812,0.71338606911949],"aabb_xy":[[0.589150178474732,-1.5888648544634354],[0.7171501770630684,-1.460892573725727]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[-0.06247916434705558,1.2410311315903817,0.71338606911949],"aabb_xy":[[-0.07040244458580391,1.2185311313523783],[-0.05455588410830725,1.263531131828385]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.40191184308454214,0.06053856742145802,0.71338606911949],"aabb_xy":[[-0.45179453996223834,0.010538568175183284],[-0.3520291462068459,0.11053856666773279]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.3851279381022301,-1.4902910247348349,0.71338606911949],"aabb_xy":[[-0.3928311287763071,-1.4980003954335726],[-0.377424747428153,-1.4825816540360968]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.07275422838257262,-2.2728668549098194,0.71338606911949],"aabb_xy":[[-0.10775422665269252,-2.2799409826048076],[-0.037754230112452714,-2.2657927272148313]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.39713305304959046,-1.7850321930506858,0.71338606911949],"aabb_xy":[[0.31713305197647024,-1.79481023938807],[0.4771330541227109,-1.7752541467133012]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.3426947134569305,-1.6656792764138957,0.71338606911949],"aabb_xy":[[0.2926947148110093,-1.7155988200733578],[0.3926947121028517,-1.615759732754433]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.2885293337574088,-2.266385944550678,0.71338606911949],"aabb_xy":[[-0.3385243447168608,-2.3163859435862704],[-0.23853432279795678,-2.216385945515087]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.6534261344355579,1.6231212895782137,0.71338606911949],"aabb_xy":[[-0.6712196413704743,1.605321543982416],[-0.6356326275006414,1.6409210351740113]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.3282317687897489,0.6098832230647848,0.71338606911949],"aabb_xy":[[-0.3459073993783472,0.592203006785382],[-0.3105561382011505,0.6275634393441875]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.6553801745355757,-2.1429646893472674,0.71338606911949],"aabb_xy":[[-0.6832252113161829,-2.173749188085579],[-0.6275351377549686,-2.1121801906089557]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.47167728393539865,-0.1976466251844191,0.71338606911949],"aabb_xy":[[0.4675613338233259,-0.20176218021726458],[0.4757932340474712,-0.1935310701515736]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[0.047028530763236764,1.255660681725964,0.71338606911949],"aabb_xy":[[-0.002971468813097962,1.205680102773858],[0.09702853033957148,1.3056412606780698]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[-0.5579570381901452,-0.7556394214383235,0.71338606911949],"aabb_xy":[[-0.6429570366075684,-0.8405137169006085],[-0.47295703977272197,-0.6707651259760385]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[0.32461475535451445,0.8885142688470342,0.71338606911949],"aabb_xy":[[0.3069819197609869,0.870891322831411],[0.342247590948042,0.906137214862657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6417301880027874,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6375.png","name":"6375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6375.png","name":"6375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/68.png","name":"68"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9891.png","name":"9891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3936.png","name":"3936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":721.4279919760095,"rotation_z_degrees":261.1889291239839,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006838038749190579,-0.0027347560897143935,-0.009010696260978572]},{"name":"camera_2","offset_m":[-0.012894151446501637,-0.013517543538048767,-0.0011613090428764204]},{"name":"camera_3","offset_m":[0.019701540348811355,0.006867346828426955,-0.014045573361990464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006528295580973725,-0.000797331721776918,-0.00031147961510288717],"end_effector_yaw_offset_degrees":-0.15399818983090374},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015734467404720743,-0.0008315327794570938,0.0006100302727540191],"end_effector_yaw_offset_degrees":0.6223183245031938},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015812131077783272,0.0012634002889416124,0.000808500941576373],"end_effector_yaw_offset_degrees":0.43079541595110604}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002268495248048481,0.0028015744245424743],"position_m":[0.3083315047519515,0.2238015744245425,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019863264562678985,-0.004309347722818128],"position_m":[0.3197863264562679,-0.19740934772281812,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0017390224027877387,0.004110857738273503],"position_m":[0.31263902240278774,0.0407108577382735,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00217496990325745,-0.0018273991334811722],"position_m":[0.05422503009674255,0.38817260086651884,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028178858498655703,-0.004051431021636132],"position_m":[0.15188211415013445,-0.4315514310216361,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"df8a2b45845f348f82c8e6a190d597644c06f3830d2628187444172f614e3146","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6375/tex_ceiling_textures_1298/tex_floor_textures_3936/tex_table_textures_68/tex_wall_textures_9891","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4568287387832098792,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4568287387832098792,"visual_seed":4568287387832098792,"scene_id":"lab_003","finished_at":"2026-09-03T17:42:51"} +{"episode_id":"ep_000033","started_at":"2026-09-03T17:42:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.6758375518846813,0.5391671694213613,0.71338606911949],"aabb_xy":[[0.6678012171833965,0.5311290501169444],[0.6838738865859662,0.547205288725778]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.5677646649713989,0.8572849227872981,0.71338606911949],"aabb_xy":[[-0.6277646666143207,0.8052847734953539],[-0.507764663328477,0.9092850720792423]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.4395566893863885,-1.4202738017591885,0.71338606911949],"aabb_xy":[[-0.45718952497991605,-1.4378967477748115],[-0.4219238537928609,-1.4026508557435655]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.16310637037596887,-0.9999478577169578,0.71338606911949],"aabb_xy":[[-0.24310636903285487,-1.0144527166412205],[-0.08310637171908286,-0.9854429987926951]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.1439686055373165,-0.49015231168197504,0.71338606911949],"aabb_xy":[[-0.20896860664325978,-0.5151176847501034],[-0.07896860443137321,-0.46518693861384686]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.494850967869662,-0.8704061806095671,0.71338606911949],"aabb_xy":[[-0.5122816829486685,-0.8876782952734178],[-0.4774202527906555,-0.8531340659457162]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.03776126649691136,1.7426101849137097,0.71338606911949],"aabb_xy":[[-0.11776126508423079,1.663294582975549],[0.04223873209040806,1.8219257868518708]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5613790636076987,-0.07269089051118405,0.71338606911949],"aabb_xy":[[-0.5788790638670355,-0.08678243269995667],[-0.5438790633483622,-0.058599348322411426]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.5643224072795161,1.0261711618150353,0.71338606911949],"aabb_xy":[[-0.6144198712605897,0.9621711613052235],[-0.5142249432984425,1.0901711623248471]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.12293908043539703,-0.9753596605209682,0.71338606911949],"aabb_xy":[[0.11523588976131996,-0.9830690312197061],[0.13064227110947405,-0.9676502898222301]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.5674054609070389,-0.6758113183527561,0.71338606911949],"aabb_xy":[[-0.6087100039707748,-0.7398113179208732],[-0.5261009178433028,-0.611811318784639]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.05854052589820491,-1.2310718975717958,0.71338606911949],"aabb_xy":[[-0.07545125833454668,-1.24454410316441],[-0.04162979346186312,-1.2175996919791812]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.4380726809848272,-0.6606307461602088,0.71338606911949],"aabb_xy":[[-0.4512239269561167,-0.6856307459168954],[-0.42492143501353796,-0.6356307464035224]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.5830686391354116,-0.2906238683153086,0.71338606911949],"aabb_xy":[[0.5678964698537783,-0.305792725243512],[0.598240808417045,-0.27545501138710526]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.43310729232758605,-0.8574827596328531,0.71338606911949],"aabb_xy":[[0.4160052143692179,-0.8745895651641229],[0.4502093702859542,-0.8403759541015834]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.1783036954905315,-1.2904277991234674,0.71338606911949],"aabb_xy":[[-0.1865182406062154,-1.2991043894211083],[-0.17008915037484745,-1.2817512088258256]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.547742366271667,-0.4018546785275534,0.71338606911949],"aabb_xy":[[0.5190930339112506,-0.4305002378046292],[0.5763916986320831,-0.3732091192504776]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.5383501903521392,-2.3879264267784714,0.71338606911949],"aabb_xy":[[-0.5726664675267571,-2.437926426751649],[-0.5040339131775212,-2.3379264268052937]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.32210623406929284,-1.5068874332305369,0.71338606911949],"aabb_xy":[[0.2581062323912955,-1.555404824709851],[0.3861062357472902,-1.4583700417512226]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.14283647974522962,-1.190412877385573,0.71338606911949],"aabb_xy":[[0.09283720457679345,-1.2404128786615203],[0.19283575491366578,-1.140412876109626]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.6460784696366142,1.2026686716159385,0.71338606911949],"aabb_xy":[[0.6367848513994635,1.1651686731278044],[0.6553720878737647,1.2401686701040722]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.6562888018861901,-0.7872125268496737,0.71338606911949],"aabb_xy":[[0.5922888004781994,-0.8390014783735984],[0.7202888032941808,-0.735423575325749]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.4328576491665506,-2.3513342656805007,0.71338606911949],"aabb_xy":[[-0.4398979591000877,-2.4313342650801726],[-0.42581733923301374,-2.27133426628083]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.27393611457442424,1.755265755166001,0.71338606911949],"aabb_xy":[[-0.35393611173399947,1.7437181542081837],[-0.1939361174148489,1.7668133561238177]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.07077005533684377,-1.3865854700193645,0.71338606911949],"aabb_xy":[[0.06445795580050534,-1.3923524092725834],[0.07708215487318221,-1.3808185307661456]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[0.447202719144548,-1.1714113106803117,0.71338606911949],"aabb_xy":[[0.4188730091960078,-1.1758720528740287],[0.47553242909308824,-1.1669505684865946]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.4740367621462087,-0.9649502284655016,0.71338606911949],"aabb_xy":[[0.4608058166115274,-0.9781776474875009],[0.48726770768089,-0.9517228094435021]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.43315102647847753,-1.7659225284401607,0.71338606911949],"aabb_xy":[[-0.4445127611317636,-1.777290994846449],[-0.42178929182519126,-1.7545540620338729]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[0.4480836960158381,0.2155701631762068,0.71338606911949],"aabb_xy":[[0.43930246886860197,0.20679041588767672],[0.4568649231630744,0.224349910464737]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[-0.17767394749327503,-1.406059329149157,0.71338606911949],"aabb_xy":[[-0.21517394778544985,-1.41010080454976],[-0.1401739472011002,-1.402017853748553]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_30","position":[-0.0780362042712649,-1.9013762602017472,0.71338606911949],"aabb_xy":[[-0.08361787590539366,-1.9138762600195227],[-0.07245453263713614,-1.8888762603839717]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_31","position":[0.22182515913624656,-0.8434653837503812,0.71338606911949],"aabb_xy":[[0.16682968131558712,-0.8984653851842881],[0.2768206369569059,-0.7884653823164742]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_32","position":[0.16855110139720753,-2.4589308170944215,0.71338606911949],"aabb_xy":[[0.14471488375660246,-2.548930817902908],[0.19238731903781262,-2.368930816285935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6425977090792633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1570.png","name":"1570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8507.png","name":"8507"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":709.8897028614764,"rotation_z_degrees":281.52812140695863,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010976533584348558,-0.013512472093662208,-0.0001630239637769905]},{"name":"camera_2","offset_m":[-0.01213831428868808,-0.0054211147502928325,-0.008842357830311842]},{"name":"camera_3","offset_m":[-0.010722654112670624,-0.016397482442466492,0.006506500289688005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008686597180598823,-0.0018050277033219077,0.0006496693141857437],"end_effector_yaw_offset_degrees":-0.5002866264267578},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017445808585590994,0.0005068872291846245,0.0012888952249547627],"end_effector_yaw_offset_degrees":0.7377531740839476},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00022734172509198064,-0.0009153033922718707,-0.00037653049266897086],"end_effector_yaw_offset_degrees":0.9098629543797596}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019893932960113768,0.0010322906660809742],"position_m":[0.3086106067039886,0.222032290666081,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004675297916275678,-0.004170177104529221],"position_m":[0.3224752979162757,-0.1972701771045292,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015543952494995582,-0.004966830471356863],"position_m":[0.30934560475050044,0.03163316952864314,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002384903282577613,-0.0024353011947505056],"position_m":[0.05616150967174224,0.3875646988052495,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00031987487228072285,-0.001872181467118711],"position_m":[0.15501987487228072,-0.4293721814671187,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"297aad9cd3d651621c32f70dabfde27f3668eed6df811296d45270037e181fac","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6235/tex_ceiling_textures_6119/tex_floor_textures_8507/tex_table_textures_1570/tex_wall_textures_3416","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6182183226748707276,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6182183226748707276,"visual_seed":6182183226748707276,"scene_id":"lab_003","finished_at":"2026-09-03T17:45:41"} +{"episode_id":"ep_000034","started_at":"2026-09-03T17:45:45","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.2468278016473916,1.4855671820842393,0.71338606911949],"aabb_xy":[[0.24274964374034183,1.481486201835976],[0.2509059595544413,1.4896481623325026]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.4382230832774503,1.3607313107594816,0.71338606911949],"aabb_xy":[[0.3682230868674884,1.3402933751077994],[0.5082230796874119,1.381169246411163]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.06528203657870224,1.0675525245368997,0.71338606911949],"aabb_xy":[[-0.0753637436572757,0.9875525266447851],[-0.05520032950012875,1.1475525224290144]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.06841595345082341,-1.6666534431508742,0.71338606911949],"aabb_xy":[[-0.12341143127148278,-1.7216534445847806],[-0.013420475630164005,-1.6116534417169668]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.07958759083651734,0.4112498381690375,0.71338606911949],"aabb_xy":[[-0.14358758813886374,0.36688341120118073],[-0.01558759353417094,0.45561626513689424]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.3273904215565367,-0.7531164205314205,0.71338606911949],"aabb_xy":[[-0.3443011539928784,-0.766588626124035],[-0.31047968912019486,-0.7396442149388059]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.6589923191969226,-0.9966676776597407,0.71338606911949],"aabb_xy":[[-0.6702373747675403,-1.007909475383836],[-0.6477472636263046,-0.9854258799356453]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.11119891223545508,-2.153185071615489,0.71338606911949],"aabb_xy":[[0.10393766466504767,-2.1659720818789987],[0.1184601598058625,-2.1403980613519797]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.557083367486797,-0.9420207693382572,0.71338606911949],"aabb_xy":[[0.49308336890022453,-0.9890277327377658],[0.6210833660733694,-0.8950138059387484]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.3064019530917982,1.6906852318151304,0.71338606911949],"aabb_xy":[[-0.3230790890848937,1.6739853078412001],[-0.2897248170987027,1.7073851557890607]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.2417587275299743,-1.4113852229541204,0.71338606911949],"aabb_xy":[[-0.28675872899620314,-1.456385079815601],[-0.19675872606374548,-1.3663853660926397]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.18395220931527112,-1.3269987562362577,0.71338606911949],"aabb_xy":[[0.17354065063478738,-1.332344489572156],[0.1943637679957548,-1.3216530229003591]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[0.498967103782618,0.2985429591680009,0.71338606911949],"aabb_xy":[[0.4929300907819534,0.2925162580990527],[0.5050041167832828,0.3045696602369491]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.48639789110208675,-0.4541298497225701,0.71338606911949],"aabb_xy":[[0.44122657325391784,-0.5181298468671085],[0.5315692089502557,-0.39012985257803173]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.6502840326188213,1.1068604267964917,0.71338606911949],"aabb_xy":[[0.6385158458241639,1.02186042689127],[0.6620522194134789,1.1918604267017132]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.5583786472689276,-2.33540402083181,0.71338606911949],"aabb_xy":[[-0.6133718586060644,-2.390404021170604],[-0.5033854359317909,-2.280404020493017]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.38567449689317757,1.1128439024851904,0.71338606911949],"aabb_xy":[[0.36804166129964994,1.0952209564695672],[0.4033073324867051,1.1304668485008131]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.22047637436412504,-1.5556774445017039,0.71338606911949],"aabb_xy":[[0.17049756585380912,-1.6056774445074227],[0.2704551828744409,-1.505677444495985]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.10014096732682354,-1.8771665891911629,0.71338606911949],"aabb_xy":[[0.09192642221113954,-1.8858431794888038],[0.1083555124425075,-1.868489998893521]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.49970567583739295,-0.3357195549938994,0.71338606911949],"aabb_xy":[[-0.5222193676608502,-0.40571955559490686],[-0.4771919840139357,-0.2657195543928918]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.2178911351504974,1.7775884053380913,0.71338606911949],"aabb_xy":[[0.21255862049588445,1.7722640770928557],[0.22322364980511042,1.7829127335833268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436460014508978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4643.png","name":"4643"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4643.png","name":"4643"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1286.png","name":"1286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2915.png","name":"2915"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2002.png","name":"2002"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4993.png","name":"4993"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":847.8079595752073,"rotation_z_degrees":157.68617462022422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009751618419129358,-0.007805657891982176,-0.0002232633926477802]},{"name":"camera_2","offset_m":[-0.013139150434408942,0.016474919566557587,-0.001944947028653686]},{"name":"camera_3","offset_m":[0.008325397684148705,-0.008888630446379553,-0.009497807364613085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011962547107402292,0.001996305179447864,-0.00035425135555757544],"end_effector_yaw_offset_degrees":-0.2888317481158913},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016597759119248514,0.00038333078912855447,-0.0010172262500381085],"end_effector_yaw_offset_degrees":0.8520571092609877},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007050846353898383,1.7343313543422955e-05,0.0005059779539401707],"end_effector_yaw_offset_degrees":0.011909228092294555}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004756452399314168,0.004665964293456215],"position_m":[0.30584354760068583,0.22566596429345623,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012137213867867104,-0.0033646012827175612],"position_m":[0.31901372138678674,-0.19646460128271756,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004124882426676414,0.0024719877347124768],"position_m":[0.3067751175733236,0.039071987734712474,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010776880874786088,0.004093560160294825],"position_m":[0.05747768808747861,0.39409356016029484,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002880752743775558,-0.000581371421678102],"position_m":[0.15758075274377556,-0.42808137142167807,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"21d85c7b00f318ccbdd95eab4412fcb89001578ca05dc911fd0cb28842d0bcdd","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4643/tex_ceiling_textures_4993/tex_floor_textures_2002/tex_table_textures_1286/tex_wall_textures_2915","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8878689070872229998,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8878689070872229998,"visual_seed":8878689070872229998,"scene_id":"lab_003","finished_at":"2026-09-03T17:48:59"} +{"episode_id":"ep_000035","started_at":"2026-09-03T17:49:02","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.12002977722139896,0.16674232098452801,0.71338606911949],"aabb_xy":[[-0.15752977732699192,0.15992015913154686],[-0.082529777115806,0.1735644828375091]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.16950915928644028,-0.9790405968767024,0.71338606911949],"aabb_xy":[[0.16139550461306318,-0.9871464133307313],[0.17762281395981738,-0.9709347804226731]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.5111941089820682,1.056769288532457,0.71338606911949],"aabb_xy":[[0.4960312360051312,1.0416038312373386],[0.5263569819590054,1.071934745827576]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.5419397080452595,0.13087834725601066,0.71338606911949],"aabb_xy":[[0.4779397088754896,0.08411166013704817],[0.6059397072150294,0.17764503437497312]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.4502268340701243,-1.9789983255798447,0.71338606911949],"aabb_xy":[[0.40414174281539283,-2.0429983228323993],[0.4963119253248558,-1.9149983283272893]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.16328115862426051,-0.5148176015387085,0.71338606911949],"aabb_xy":[[0.14772538921399528,-0.5303680347831158],[0.1788369280345258,-0.4992671682943014]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.4092725367861586,-1.3387535499926577,0.71338606911949],"aabb_xy":[[-0.4467725370783334,-1.3427950253932612],[-0.3717725364939838,-1.3347120745920542]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.4447058891318534,1.2435412384616704,0.71338606911949],"aabb_xy":[[0.4101148062778081,1.1785412381766391],[0.47929697198589855,1.3085412387467013]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.22470691501633083,-0.5508643700701614,0.71338606911949],"aabb_xy":[[-0.2617410244443906,-0.5852415774038707],[-0.18767280558827115,-0.5164871627364519]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.6043883112986419,0.34256463071257137,0.71338606911949],"aabb_xy":[[-0.6169910104357184,0.3299692344877059],[-0.5917856121615654,0.35516002693743687]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.3468310374155173,-2.216590947311757,0.71338606911949],"aabb_xy":[[-0.41083104063415515,-2.2633140592107654],[-0.28283103419687944,-2.1698678354127487]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.27945105923225855,-1.405595007799947,0.71338606911949],"aabb_xy":[[0.209451057629979,-1.4190278010016046],[0.349451060834538,-1.3921622145982895]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.1921467414512128,1.417976745300653,0.71338606911949],"aabb_xy":[[-0.2721467401080988,1.4034718863763904],[-0.11214674279432682,1.4324816042249162]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.08815914964026061,-2.322746404774034,0.71338606911949],"aabb_xy":[[-0.16815915011047655,-2.3310571123883825],[-0.008159149170044665,-2.314435697159686]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.06710850803315138,-1.3350404422442024,0.71338606911949],"aabb_xy":[[-0.14710850662047079,-1.414356044182363],[0.012891490554168048,-1.2557248403060413]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.6187100476807272,-0.40686609708465893,0.71338606911949],"aabb_xy":[[0.6086283406021538,-0.4868660949767736],[0.6287917547593007,-0.3268660991925443]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.24139809949090985,-1.7650065553605707,0.71338606911949],"aabb_xy":[[0.17739809921693162,-1.8150726555578587],[0.3053980997648881,-1.7149404551632828]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[0.5501414641742806,-1.8181436343952577,0.71338606911949],"aabb_xy":[[0.5372695606733403,-1.8981436348090939],[0.5630133676752206,-1.7381436339814216]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.27030791242013574,-2.1936069891280146,0.71338606911949],"aabb_xy":[[0.25339717998379396,-2.2070791947206287],[0.2872186448564775,-2.1801347835353995]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.33647333704872073,1.3870915464600064,0.71338606911949],"aabb_xy":[[0.31736102969074187,1.3679567675827646],[0.3555856444066996,1.4062263253372487]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.13049296570827162,0.5611694334407993,0.71338606911949],"aabb_xy":[[-0.17762234471010727,0.4971694323963972],[-0.08336358670643593,0.6251694344852011]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.020625305458449983,1.5815851030331909,0.71338606911949],"aabb_xy":[[-0.09062530809503633,1.5614802380373252],[0.04937469717813636,1.6016899680290562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6452287636199392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2895.png","name":"2895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7654.png","name":"7654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3967.png","name":"3967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":668.6764802213106,"rotation_z_degrees":163.88795611601972,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014019632007770736,-0.01155591572647094,-0.010096371960948446]},{"name":"camera_2","offset_m":[0.015295429781998927,-0.008510174263755084,-0.01135239868761511]},{"name":"camera_3","offset_m":[-0.010770778292833417,-0.019689145241914754,0.002907916293196977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010503862683057942,-0.0014462828333333651,-0.00027879152641550106],"end_effector_yaw_offset_degrees":-0.8639117565894994},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00048425604932674036,-0.0009043196777695855,0.0004324349160276979],"end_effector_yaw_offset_degrees":-0.8708851483008713},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-8.874085229622873e-05,-0.0011502667059954787,-0.0002620324034843611],"end_effector_yaw_offset_degrees":0.3839650060512325}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009796865636257455,-0.002876774005978584],"position_m":[0.3115796865636257,0.21812322599402142,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030385734696208025,0.004006430818073022],"position_m":[0.31476142653037925,-0.18909356918192696,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028626040911667585,0.003782873371528889],"position_m":[0.3080373959088333,0.04038287337152889,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00464396856422359,0.0026040307604456026],"position_m":[0.05175603143577641,0.3926040307604456,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003072793173008094,-0.002742914512434146],"position_m":[0.1577727931730081,-0.4302429145124341,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0217aad422042e95e9da91fe14b9fd38d027baa844eb85d67a4e9895472e38ff","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5153/tex_ceiling_textures_3523/tex_floor_textures_3967/tex_table_textures_2895/tex_wall_textures_7654","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":226374356933077344,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":226374356933077344,"visual_seed":226374356933077344,"scene_id":"lab_003","finished_at":"2026-09-03T17:51:48"} +{"episode_id":"ep_000036","started_at":"2026-09-03T17:51:51","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.5024157394488382,-0.6762207343865505,0.71338606911949],"aabb_xy":[[0.48978895216164187,-0.6857668080881233],[0.5150425267360346,-0.6666746606849775]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.3237531630005717,-1.2354371698109308,0.71338606911949],"aabb_xy":[[-0.3317471515782751,-1.243437249906021],[-0.3157591744228683,-1.2274370897158402]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.7017593816493592,0.7093466173203979,0.71338606911949],"aabb_xy":[[0.6976434315372865,0.7052310622875523],[0.7058753317614318,0.7134621723532434]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.2730831347175575,0.9194601727861875,0.71338606911949],"aabb_xy":[[-0.2784156493721705,0.914135844540952],[-0.26775062006294453,0.9247845010314231]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.193959890611904,-0.4382374173383621,0.71338606911949],"aabb_xy":[[-0.20100020054544104,-0.5182374167380335],[-0.18691958067836703,-0.3582374179386907]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.18757752590031973,-1.4758971732239141,0.71338606911949],"aabb_xy":[[-0.2515775230124254,-1.5249295430183247],[-0.12357752878821404,-1.4268648034295035]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.40491850578213895,-0.9575159324918581,0.71338606911949],"aabb_xy":[[0.35492539367294706,-1.007515933166054],[0.4549116178913309,-0.9075159318176627]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.009581776052086988,-2.0353816255747947,0.71338606911949],"aabb_xy":[[-0.0022903069594141234,-2.1203816252684455],[0.0214538590635881,-1.9503816258811448]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.040781317855279164,-1.7436139157434354,0.71338606911949],"aabb_xy":[[-0.05633708726554444,-1.7591643489878428],[-0.025225548445013908,-1.7280634824990284]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.5800290697894412,0.3188391707003122,0.71338606911949],"aabb_xy":[[0.5300290681279464,0.2688407284446094],[0.6300290714509359,0.3688376129560148]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.16809587933776238,-2.1338006790799904,0.71338606911949],"aabb_xy":[[-0.18500661177410413,-2.1472728846726046],[-0.15118514690142057,-2.1203284734873753]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.13976948611100715,1.1994462953134595,0.71338606911949],"aabb_xy":[[0.05976948745412114,1.1849414363891968],[0.21976948476789315,1.2139511542377226]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.16483179851522467,-0.744497228915314,0.71338606911949],"aabb_xy":[[-0.19531604864225482,-0.7944972286968099],[-0.13434754838819452,-0.6944972291338181]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.15976501088244288,1.2191061725281913,0.71338606911949],"aabb_xy":[[-0.2397588344610011,1.13910616993535],[-0.07977118730388466,1.299106175121033]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.015219739308863778,1.352207809899308,0.71338606911949],"aabb_xy":[[-0.007245030662541339,1.3297078090204475],[0.037684509280268896,1.3747078107781685]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.4661610629992507,1.6073893463451863,0.71338606911949],"aabb_xy":[[-0.5361610663908126,1.5720735726417554],[-0.39616105960768866,1.6427051200486171]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.32546461074986777,0.8285972981976264,0.71338606911949],"aabb_xy":[[-0.34796461099338316,0.8163926635378546],[-0.30296461050635237,0.8408019328573985]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.33631275653733317,-2.264740643846106,0.71338606911949],"aabb_xy":[[0.31440407439798207,-2.2866413106661967],[0.35822143867668416,-2.2428399770260152]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.10846008301023602,-1.8232152796902459,0.71338606911949],"aabb_xy":[[0.0584600820597032,-1.854764426693767],[0.15846008396076883,-1.7916661326867243]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.2921258496027329,0.3447852025607645,0.71338606911949],"aabb_xy":[[-0.3420989151352484,0.29478520274823167],[-0.2421527840702175,0.3947852023732975]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.2784924265468237,-1.1928559408342254,0.71338606911949],"aabb_xy":[[0.24402994853373594,-1.199519618017148],[0.3129549045599115,-1.1861922636513025]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.4515419629942501,-2.3017184757611524,0.71338606911949],"aabb_xy":[[0.4016592661165539,-2.351718475007427],[0.5014246598719463,-2.2517184765148777]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.17404689529966555,-2.233719066362803,0.71338606911949],"aabb_xy":[[-0.1911489732580337,-2.250825871894073],[-0.1569448173412974,-2.2166122608315333]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.49097400830098337,0.01995253172542455,0.71338606911949],"aabb_xy":[[-0.515520223923734,-0.010296364823612509],[-0.46642779267823264,0.05020142827446161]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.6749008431058421,0.42614423584661676,0.71338606911949],"aabb_xy":[[0.6602574375518091,0.4114855161898324],[0.6895442486598751,0.440802955503401]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.5943234756402143,1.0072324074918186,0.71338606911949],"aabb_xy":[[0.5883569366994785,1.0012712628324545],[0.60029001458095,1.0131935521511828]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.6387501411406886,-0.6549193704444101,0.71338606911949],"aabb_xy":[[-0.6452517776486932,-0.66468719247072],[-0.632248504632684,-0.6451515484181004]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.38436214192687584,-0.7961714206959454,0.71338606911949],"aabb_xy":[[-0.42186214050249665,-0.8089077163595033],[-0.34686214335125504,-0.7834351250323874]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_28","position":[0.18108062455743967,1.5645272239783208,0.71338606911949],"aabb_xy":[[0.13889621039660896,1.5005272237011098],[0.22326503871827044,1.6285272242555322]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[-0.5796581165091612,-0.831931490345065,0.71338606911949],"aabb_xy":[[-0.601547864098102,-0.9219314876343141],[-0.5577683689202204,-0.7419314930558158]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[0.4544332542235281,0.8387691662156116,0.71338606911949],"aabb_xy":[[0.4319195624000709,0.7687691656146041],[0.4769469460469853,0.9087691668166191]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[-0.6142045605730084,0.6969767846725494,0.71338606911949],"aabb_xy":[[-0.6223182152463855,0.6888709682185203],[-0.6060909058996313,0.7050826011265785]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[-0.3796283009689006,1.5203493920939697,0.71338606911949],"aabb_xy":[[-0.4171283007859342,1.5157111807828276],[-0.3421283011518671,1.5249876034051113]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_33","position":[0.028981432239677196,1.751381129362668,0.71338606911949],"aabb_xy":[[0.010097048471166988,1.7324952045823154],[0.0478658160081874,1.770267054143021]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_34","position":[-0.27279400741859705,-0.3754428130960301,0.71338606911949],"aabb_xy":[[-0.2963791308824919,-0.4404428153414619],[-0.2492088839547022,-0.3104428108505983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.641059237466751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8176.png","name":"8176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6310.png","name":"6310"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5292.png","name":"5292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3991.png","name":"3991"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":579.7890767864217,"rotation_z_degrees":67.53604799973918,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008641972315161369,0.004371701962192116,0.018346113988293482]},{"name":"camera_2","offset_m":[-0.015772718850868343,-0.015253051886956751,-0.0004642273938428691]},{"name":"camera_3","offset_m":[-0.018723719973347937,0.003778142325614041,-0.009632835602187369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014148384073164894,0.0010880906918934894,1.5439653811828366e-05],"end_effector_yaw_offset_degrees":-0.610624813507288},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011558020633640337,0.0011763262493028658,-0.0018091571369665375],"end_effector_yaw_offset_degrees":-0.7453466154736594},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001092718827016731,0.0010125435516566824,-0.0012427334334559567],"end_effector_yaw_offset_degrees":0.0705814426142799}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000917409937759607,-0.004414726479054595],"position_m":[0.30968259006224036,0.21658527352094542,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004653749949504357,-0.00032504138819261594],"position_m":[0.3131462500504957,-0.1934250413881926,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004740476284079466,-0.004394465887437773],"position_m":[0.3156404762840795,0.03220553411256223,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00338937128657973,0.003323443762709213],"position_m":[0.059789371286579726,0.3933234437627092,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011485307216057626,-0.001204441428954297],"position_m":[0.15355146927839425,-0.4287044414289543,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"376cd6bc8cf54f1a396d659584d74b78edd34bc967493576d2b904938e7e4590","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2340/tex_ceiling_textures_3991/tex_floor_textures_5292/tex_table_textures_8176/tex_wall_textures_6310","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1617171766926034626,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1617171766926034626,"visual_seed":1617171766926034626,"scene_id":"lab_003","finished_at":"2026-09-03T17:54:16"} +{"episode_id":"ep_000037","started_at":"2026-09-03T17:57:38","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.3306565078747164,-0.051234956974977486,0.71338606911949],"aabb_xy":[[-0.3361144535117364,-0.1312349602826366],[-0.3251985622376963,0.028765046332681628]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.5450648605529171,-1.27186023824946,0.71338606911949],"aabb_xy":[[-0.6090648569484902,-1.3358235266681933],[-0.48106486415734406,-1.2078969498307262]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.2851158744591296,1.2678828040966112,0.71338606911949],"aabb_xy":[[-0.2956833541172286,1.2573377739836027],[-0.2745483948010306,1.2784278342096198]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.18871634647738567,-0.6846603345150373,0.71338606911949],"aabb_xy":[[0.18060269180400854,-0.6927661509690662],[0.19683000115076274,-0.6765545180610081]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.6100919746746156,-1.3896909031000557,0.71338606911949],"aabb_xy":[[0.605976024562543,-1.3938064581329013],[0.6142079247866883,-1.3855753480672102]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.17990075876953382,1.5640011152877293,0.71338606911949],"aabb_xy":[[-0.20240075877968214,1.5499048956481258],[-0.15740075875938556,1.5780973349273324]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.3154347460738631,-0.7986171168676053,0.71338606911949],"aabb_xy":[[0.30815242969719936,-0.888617120477114],[0.32271706245052667,-0.7086171132580961]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.5154081093022591,-2.2688655284594406,0.71338606911949],"aabb_xy":[[-0.5529081091192927,-2.2735037397705824],[-0.47790810948522555,-2.2642273171482987]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.014433437823632822,0.7950723282694119,0.71338606911949],"aabb_xy":[[-0.051933437767399226,0.7867792382345752],[0.023066562120133582,0.8033654183042483]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.30021237370160403,-2.1355149813946466,0.71338606911949],"aabb_xy":[[-0.30823864433223,-2.144266476371999],[-0.29218610307097803,-2.126763486417294]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.6405304810435113,-0.11409894270209486,0.71338606911949],"aabb_xy":[[0.6364523231364615,-0.11817992295035817],[0.6446086389505609,-0.11001796245383155]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.14072124348374893,1.1423821241333112,0.71338606911949],"aabb_xy":[[0.05103416717563347,1.0523821238788609],[0.23040831979186438,1.232382124387762]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.1993730737491095,-0.4189020020716612,0.71338606911949],"aabb_xy":[[-0.21224497725004968,-0.4989020024854973],[-0.1865011702481694,-0.338902001657825]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.6116898280455223,-1.1382726166114856,0.71338606911949],"aabb_xy":[[0.5866898284937838,-1.1484151004766203],[0.6366898275972608,-1.1281301327463509]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.3779109157356761,-0.4112231023350148,0.71338606911949],"aabb_xy":[[-0.4479109175444216,-0.43257687109920223],[-0.3079109139269307,-0.3898693335708275]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[-0.21382462306344735,1.1674180941265955,0.71338606911949],"aabb_xy":[[-0.27782462376691675,1.1213997116536745],[-0.149824622359978,1.2134364765995165]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.5863122063094784,-2.4210179059035704,0.71338606911949],"aabb_xy":[[-0.6363122073286138,-2.4574841216413983],[-0.5363122052903433,-2.3845516901657424]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.145536194887952,-1.3742510239291892,0.71338606911949],"aabb_xy":[[-0.17897637008397155,-1.407694649760119],[-0.11209601969193235,-1.3408073980982589]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.7006141758133817,1.4904383863865696,0.71338606911949],"aabb_xy":[[0.683604078523331,1.4743038978882954],[0.7176242731034324,1.5065728748848433]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.3891488411232796,0.5690055350479186,0.71338606911949],"aabb_xy":[[-0.4062509190816477,0.5518987295166489],[-0.37204676316491136,0.5861123405791884]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.5182363409368642,-1.1540875103898314,0.71338606911949],"aabb_xy":[[0.5101086527435511,-1.1630011188005391],[0.5263640291301775,-1.1451739019791236]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.3655530203880761,-1.3489147442347345,0.71338606911949],"aabb_xy":[[-0.3831858559816036,-1.3665376902503574],[-0.34792018479454845,-1.3312917982191115]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.3009787343202066,0.40515086479079443,0.71338606911949],"aabb_xy":[[-0.345971321038657,0.3601508655163456],[-0.2559861476017562,0.45015086406524313]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.018696163845420166,-0.6556421018730749,0.71338606911949],"aabb_xy":[[-0.06869616550691492,-0.7056405441287775],[0.031303837816074584,-0.6056436596173721]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.5047034165333508,1.701011720035885,0.71338606911949],"aabb_xy":[[-0.5541838377473097,1.6370117221230334],[-0.45522299531939214,1.765011717948737]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.33769143405058877,-2.5100832390897336,0.71338606911949],"aabb_xy":[[0.32506464676339236,-2.5196293127913063],[0.35031822133778506,-2.50053716538816]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[-0.6004639848863647,-0.38457771298512045,0.71338606911949],"aabb_xy":[[-0.6098109924686599,-0.3988813352027644],[-0.5911169773040694,-0.37027409076747636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6431779733029676,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3582.png","name":"3582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/108.png","name":"108"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4042.png","name":"4042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1681.png","name":"1681"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":561.6299346811323,"rotation_z_degrees":68.77206216781572,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024538569236751823,0.016639589746055967,-0.006167296371363618]},{"name":"camera_2","offset_m":[0.004814934095642959,-0.01936416783248155,-0.0059921512004968945]},{"name":"camera_3","offset_m":[-0.0010600627444459047,0.005351356650208,0.018766310870169164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017119668726638124,0.0016556402204377157,0.0013401001118413442],"end_effector_yaw_offset_degrees":-0.7408575831666757},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011958236448522755,0.001342032528386476,0.0018946558559913129],"end_effector_yaw_offset_degrees":0.1985577581216349},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017814448041728501,-0.001970954826741746,0.0017656839951461383],"end_effector_yaw_offset_degrees":-0.12647966691663082}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004518862358676295,0.002638640845460825],"position_m":[0.3060811376413237,0.22363864084546084,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004500660094014012,-0.00340679972939437],"position_m":[0.313299339905986,-0.19650679972939436,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0013200550874053496,0.0024319965003967966],"position_m":[0.30957994491259466,0.0390319965003968,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00340654055832098,0.0013251530099398865],"position_m":[0.05980654055832098,0.3913251530099399,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002116416701159957,-0.0007353944099040112],"position_m":[0.15681641670115995,-0.428235394409904,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58b65b042f715528367c1c0bd2496f6c06dc81a827116d4864803bd69fa7c944","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3330/tex_ceiling_textures_1681/tex_floor_textures_4042/tex_table_textures_3582/tex_wall_textures_108","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2006238963129146765,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2006238963129146765,"visual_seed":2006238963129146765,"scene_id":"lab_003","finished_at":"2026-09-03T18:00:21"} +{"episode_id":"ep_000038","started_at":"2026-09-03T18:00:24","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.19860704491695447,1.6201737345254057,0.71338606911949],"aabb_xy":[[0.18667431055512643,1.6077915817175463],[0.21053977927878256,1.632555887333265]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.2969124561933055,0.3861277667764984,0.71338606911949],"aabb_xy":[[-0.31201475765432346,0.3710262451454365],[-0.28181015473228727,0.4012292884075601]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.19909184285593368,-1.131843917265384,0.71338606911949],"aabb_xy":[[-0.24039638591966964,-1.1958439168335009],[-0.15778729979219766,-1.0678439176972667]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.2089855568928496,-1.78236700248056,0.71338606911949],"aabb_xy":[[-0.23895311380267528,-1.8123670027784458],[-0.17901799998302395,-1.7523670021826743]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.10182753105552356,1.3722423006366644,0.71338606911949],"aabb_xy":[[0.0218275277976806,1.2922457928446804],[0.1818275343133665,1.4522388084286484]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.5488204135181937,1.0554995743883007,0.71338606911949],"aabb_xy":[[-0.5853162341454723,1.019015631961543],[-0.5123245928909148,1.0919835168150582]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.4429049611216336,-1.6792081868611446,0.71338606911949],"aabb_xy":[[-0.5029049613730348,-1.733489511897609],[-0.38290496087023235,-1.6249268618246797]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.15354665916095833,-0.6989686740209509,0.71338606911949],"aabb_xy":[[0.1310329673375011,-0.7689686746219584],[0.1760603509844155,-0.6289686734199433]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.09198474802294065,1.5837023270436466,0.71338606911949],"aabb_xy":[[-0.11490046090799057,1.5607980299072233],[-0.06906903513789076,1.6066066241800703]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.3898971358044179,0.06495764713440488,0.71338606911949],"aabb_xy":[[-0.45389713606488874,0.019948847781476885],[-0.3258971355439471,0.10996644648733289]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.04587249602772636,0.8726511364080225,0.71338606911949],"aabb_xy":[[0.041028901266496394,0.8677994839290384],[0.05071609078895634,0.8775027888870066]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.23792941560944703,1.7772914523733268,0.71338606911949],"aabb_xy":[[0.22038272069332807,1.7397914508090755],[0.25547611052556596,1.814791453937578]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.20734807093583196,-1.5353590597416091,0.71338606911949],"aabb_xy":[[0.20103597139949353,-1.541125998994828],[0.2136601704721704,-1.5295921204883902]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.4166453960794116,-0.7921460486767244,0.71338606911949],"aabb_xy":[[-0.43552977984792174,-0.8110319734570772],[-0.39776101231090133,-0.7732601238963717]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.40064089669372627,-2.4626672791069186,0.71338606911949],"aabb_xy":[[-0.406607435634462,-2.468628423766283],[-0.3946743577529904,-2.456706134447555]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.3029065704176205,-1.7962427275943096,0.71338606911949],"aabb_xy":[[0.23890657313197183,-1.8377494465471536],[0.3669065677032691,-1.7547360086414656]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.4346156411953596,0.36328897237391056,0.71338606911949],"aabb_xy":[[-0.49961564215248677,0.311340760440205],[-0.36961564023823235,0.41523718430761614]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.6619084224798033,1.1251864642645186,0.71338606911949],"aabb_xy":[[0.6394120010459392,1.1026864644577714],[0.6844048439136674,1.1476864640712663]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.2955178786416929,-0.14231034881896099,0.71338606911949],"aabb_xy":[[-0.3035118672193962,-0.15031042891405133],[-0.28752389006398943,-0.13431026872387064]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.258634624711043,1.6454171116146896,0.71338606911949],"aabb_xy":[[-0.32263462110661606,1.581453823195956],[-0.1946346283154699,1.7093804000334232]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.4433936861211123,-2.0840951290419096,0.71338606911949],"aabb_xy":[[0.3633936891068643,-2.1042296807153202],[0.5233936831353603,-2.063960577368498]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.3620829677997102,1.164319506179167,0.71338606911949],"aabb_xy":[[-0.37531391333439146,1.1510920871571675],[-0.34885202226502887,1.1775469252011663]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.3819730572874651,-1.3993685282607098,0.71338606911949],"aabb_xy":[[-0.441973057795318,-1.4562152619466309],[-0.32197305677961213,-1.3425217945747883]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.0961363502145135,1.7104787571143665,0.71338606911949],"aabb_xy":[[0.0161363530549382,1.6989311561565492],[0.1761363473740888,1.7220263580721833]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[-0.1657907684639851,1.202068514941065,0.71338606911949],"aabb_xy":[[-0.21579076974782507,1.1520896605504425],[-0.11579076718014515,1.2520473693316867]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[-0.3317414044421414,-2.3366974712393196,0.71338606911949],"aabb_xy":[[-0.3817256401503186,-2.386697470052815],[-0.28175716873396417,-2.286697472425824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6400383780954694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/60.png","name":"60"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/60.png","name":"60"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2717.png","name":"2717"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1481.png","name":"1481"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2691.png","name":"2691"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":539.3728416841154,"rotation_z_degrees":286.1221045466044,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01735530597291905,-0.017601574899155127,0.0068226076710110745]},{"name":"camera_2","offset_m":[-0.011554617299188292,-0.014181716024593052,-0.017285371572084915]},{"name":"camera_3","offset_m":[0.004940348978603234,0.01460005444772271,0.014179807296900309]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001625642238742198,-0.0017585205725146338,0.0002964358047132681],"end_effector_yaw_offset_degrees":0.955022974820875},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004725206255029261,-0.0006139915255638938,0.00017574052650821612],"end_effector_yaw_offset_degrees":0.9202102306278834},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002003579313962689,0.001408326360123033,0.0006654949307492602],"end_effector_yaw_offset_degrees":-0.21811612082841902}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006473136869666885,0.0008331459290741037],"position_m":[0.3099526863130333,0.2218331459290741,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035749160407413444,-0.001632728283835593],"position_m":[0.32137491604074137,-0.1947327282838356,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009733896176403493,0.0024659046446017362],"position_m":[0.30992661038235964,0.03906590464460174,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002952428689948531,0.002533005307210231],"position_m":[0.05344757131005147,0.39253300530721025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004798743973500192,-0.003714347977559115],"position_m":[0.1499012560264998,-0.4312143479775591,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d0809fbf01173dc67fcaa93071dbb015904a121ad717346fd2946f8223847472","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_60/tex_ceiling_textures_3238/tex_floor_textures_2691/tex_table_textures_2717/tex_wall_textures_1481","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7470528600327430761,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7470528600327430761,"visual_seed":7470528600327430761,"scene_id":"lab_003","finished_at":"2026-09-03T18:03:08"} +{"episode_id":"ep_000039","started_at":"2026-09-03T18:03:11","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.2491706301646811,1.2466955490116103,0.71338606911949],"aabb_xy":[[0.1691706331504331,1.226560997338199],[0.3291706271789291,1.2668301006850216]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.2294882233243447,1.1513289441927261,0.71338606911949],"aabb_xy":[[0.1919882229761169,1.1395375486116426],[0.2669882236725724,1.1631203397738097]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.5424608742478263,0.4167645116507215,0.71338606911949],"aabb_xy":[[0.5146158374672192,0.38598001291240985],[0.5703059110284334,0.4475490103890332]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.5353844876066802,-2.575586762629855,0.71338606911949],"aabb_xy":[[0.53095385825184,-2.581035134364538],[0.5398151169615204,-2.570138390895173]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.04443070883172062,-1.3375815774358577,0.71338606911949],"aabb_xy":[[-0.07439826574154629,-1.3675815777337437],[-0.014463151921894957,-1.3075815771379722]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.3996328945659029,1.4821320750235025,0.71338606911949],"aabb_xy":[[0.34963289361537003,1.4505829280199811],[0.44963289551643565,1.513681222027024]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.013214791898510048,-1.641252979461488,0.71338606911949],"aabb_xy":[[-0.07721479381085239,-1.6971641287194985],[0.050785210013832294,-1.5853418302034776]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.5225992303070968,-0.22007455057810654,0.71338606911949],"aabb_xy":[[0.4575992317500239,-0.24982708399198916],[0.5875992288641696,-0.19032201716422392]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.2606498337102314,-0.737963622192539,0.71338606911949],"aabb_xy":[[0.24075879382989118,-0.7506194334772359],[0.28054087359057167,-0.7253078109078421]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.28362971245543106,-0.23197903275314413,0.71338606911949],"aabb_xy":[[-0.36362971043621606,-0.2395805737149961],[-0.20362971447464598,-0.2243774917912922]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.261223130907208,-0.5655991731664507,0.71338606911949],"aabb_xy":[[-0.2740950344081481,-0.6455991735802868],[-0.24835122740626783,-0.4855991727526146]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.1627891144518806,0.9262532292887706,0.71338606911949],"aabb_xy":[[-0.2127733501600578,0.876253230475275],[-0.11280487874370335,0.9762532281022662]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.2380456223548506,0.32995800561363353,0.71338606911949],"aabb_xy":[[-0.3030456233119778,0.2780097936799279],[-0.17304562139772342,0.38190621754733906]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.33177466430600566,-1.5567187483123068,0.71338606911949],"aabb_xy":[[-0.347330433716271,-1.5722691815567142],[-0.31621889489574045,-1.5411683150678999]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.3315013873108894,-1.2145742880380328,0.71338606911949],"aabb_xy":[[0.2715013867148732,-1.2693867605832563],[0.3915013879069056,-1.1597618154928093]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.3561880592298443,-1.3903644651786848,0.71338606911949],"aabb_xy":[[-0.39118805842266247,-1.4013315111763474],[-0.32118806003702594,-1.3793974191810223]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.08414805679697701,0.7272878949321644,0.71338606911949],"aabb_xy":[[0.062239374657625954,0.7053872281120735],[0.10605673893632804,0.749188561752255]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.2805029572188527,-1.7013853727465469,0.71338606911949],"aabb_xy":[[-0.3354766792551856,-1.7563853723107803],[-0.22552923518251983,-1.646385373182314]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.5921366164458184,-1.6258090504767595,0.71338606911949],"aabb_xy":[[0.5880007601131183,-1.6633090499211165],[0.5962724727785187,-1.5883090510324025]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.5779863555782083,-2.3835007744531604,0.71338606911949],"aabb_xy":[[-0.6279863572397031,-2.4334992167088627],[-0.5279863539167136,-2.3335023321974573]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.1415578064572166,-0.1543455449035962,0.71338606911949],"aabb_xy":[[-0.1523982846837315,-0.171531826194245],[-0.1307173282307017,-0.1371592636129474]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[-0.30489880553772686,1.279285423866999,0.71338606911949],"aabb_xy":[[-0.33989880688920854,1.258925687910178],[-0.26989880418624507,1.2996451598238197]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.6645108617834604,-0.9142228277398903,0.71338606911949],"aabb_xy":[[-0.6732920889306967,-0.9230025750284206],[-0.6557296346362244,-0.9054430804513603]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[-0.15773052255473485,-2.080591771444702,0.71338606911949],"aabb_xy":[[-0.19273052245075373,-2.088966006956642],[-0.122730522658716,-2.072217535932762]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[0.042419691104435775,-2.3849697614849728,0.71338606911949],"aabb_xy":[[-0.021580311115971258,-2.4293428456102606],[0.1064196933248428,-2.340596677359684]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.4421734787993841,-1.5369776973918206,0.71338606911949],"aabb_xy":[[-0.44943472636979154,-1.5497647076553303],[-0.4349122312289767,-1.5241906871283113]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.03840351216298166,1.117643555760858,0.71338606911949],"aabb_xy":[[-0.0447156116993201,1.111876616507639],[-0.03209141262664323,1.1234104950140769]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6437753286480724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2335.png","name":"2335"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2335.png","name":"2335"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1788.png","name":"1788"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/987.png","name":"987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4803.png","name":"4803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8891.png","name":"8891"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.3820365777685,"rotation_z_degrees":82.78353869422459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012353160382897788,-0.004392678357683932,0.014217355891988078]},{"name":"camera_2","offset_m":[-0.008704862199247399,-0.011866402026653322,-0.0041094440875933565]},{"name":"camera_3","offset_m":[0.014539600303924882,-0.013944187807991715,0.008758145914566636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012790697011454322,-0.0005625462671357395,-0.001974603098029671],"end_effector_yaw_offset_degrees":-0.4578480995351657},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0003191152903523303,-0.0015710419096758197,-0.0011240169409890987],"end_effector_yaw_offset_degrees":0.8841826487767441},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017348099187790285,-0.0015682993595819163,-0.0005390410561043231],"end_effector_yaw_offset_degrees":0.2897797518676668}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005783367519060908,-0.001013135324058753],"position_m":[0.3100216632480939,0.21998686467594125,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029922902022544292,0.0032768474637507048],"position_m":[0.32079229020225447,-0.1898231525362493,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004700058481486574,-0.004135354286662067],"position_m":[0.3156000584814866,0.03246464571333793,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024217444163281525,0.002661197928109713],"position_m":[0.05882174441632815,0.3926611979281097,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017486209971586206,-0.0020429687499827587],"position_m":[0.15644862099715862,-0.42954296874998277,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b74e3d03a6d2f307e63ba99b136fa1dfc43d8f8ae4615fdd76aea656b819b4a3","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2335/tex_ceiling_textures_8891/tex_floor_textures_4803/tex_table_textures_1788/tex_wall_textures_987","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6066390422974830130,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6066390422974830130,"visual_seed":6066390422974830130,"scene_id":"lab_003","finished_at":"2026-09-03T18:06:12"} +{"episode_id":"ep_000040","started_at":"2026-09-03T18:06:17","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.1993989399440555,-0.4572698992109032,0.71338606911949],"aabb_xy":[[-0.26339894020452626,-0.5022786985638312],[-0.13539893968358466,-0.4122610998579752]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.4230288943149376,-0.6222117198973414,0.71338606911949],"aabb_xy":[[-0.5030288945885444,-0.6951612677230581],[-0.3430288940413305,-0.5492621720716246]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.48044395163791737,-1.6722250484373329,0.71338606911949],"aabb_xy":[[-0.5067327759583579,-1.6984964820919837],[-0.45415512731747665,-1.6459536147826812]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.15200611394493135,-1.3261432475098816,0.71338606911949],"aabb_xy":[[-0.21700611658272484,-1.3776228462093285],[-0.08700611130713787,-1.2746636488104346]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.5953471755416777,0.1260787329854205,0.71338606911949],"aabb_xy":[[0.5578471748770988,0.1103916749851983],[0.6328471762062562,0.14176579098564265]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.17868338967570663,-1.0499062800240098,0.71338606911949],"aabb_xy":[[0.14188875655080035,-1.086812155120592],[0.2154780228006129,-1.0130004049274275]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.4145899973096845,-0.7102815358351848,0.71338606911949],"aabb_xy":[[0.36459072214124827,-0.7602815371111321],[0.4645892724781206,-0.6602815345592378]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.4788020995011674,-1.5506645933954564,0.71338606911949],"aabb_xy":[[-0.4867955892964495,-1.5586627253359324],[-0.47080860970588545,-1.5426664614549812]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.40619363607417186,-2.109105306454707,0.71338606911949],"aabb_xy":[[-0.46619363592073865,-2.165923928647746],[-0.3461936362276051,-2.0522866842616687]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.46527732080932327,0.213454056638259,0.71338606911949],"aabb_xy":[[0.4582370108757864,0.13345405723858764],[0.4723176307428604,0.29345405603793046]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.42954076963838483,-1.6545171912375767,0.71338606911949],"aabb_xy":[[0.3795407683545447,-1.7044960456281986],[0.47954077092222464,-1.6045383368469543]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.4591210452358055,0.03627738494694199,0.71338606911949],"aabb_xy":[[-0.48163473705926263,-0.033722615654065535],[-0.43660735341234824,0.10627738554794952]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.22187955633515333,1.1253440271237949,0.71338606911949],"aabb_xy":[[0.20671668335821627,1.1101785698286761],[0.23704242931209044,1.1405094844189136]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.44392614614233156,1.1317276807880576,0.71338606911949],"aabb_xy":[[-0.4773663213383511,1.0982840549571273],[-0.4104859709463119,1.1651713066189875]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.09970736354320797,0.9815590632891267,0.71338606911949],"aabb_xy":[[0.07519373944620211,0.9572944699870902],[0.12422098764021383,1.0058236565911631]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.262233135815434,1.1607961255620611,0.71338606911949],"aabb_xy":[[-0.2741052188269351,1.0757961258684108],[-0.2503610528039329,1.2457961252557115]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.40657983781486534,-2.4552173636189605,0.71338606911949],"aabb_xy":[[-0.44407983623826564,-2.4683815775867908],[-0.36907983939146494,-2.4420531496511293]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.15805383203881307,0.878979336258606,0.71338606911949],"aabb_xy":[[0.12375692102107244,0.8446824500486646],[0.1923507430565537,0.9132762224685472]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.44652190562549077,-1.3306214011347908,0.71338606911949],"aabb_xy":[[0.3825219042175001,-1.3824103526587155],[0.5105219070334814,-1.278832449610866]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.6098760152690257,0.2611167682178168,0.71338606911949],"aabb_xy":[[0.5598972067587097,0.21111676821209802],[0.6598548237793415,0.3111167682235356]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.07717484740132596,0.9108026145963084,0.71338606911949],"aabb_xy":[[-0.13480531628859677,0.8508026156695976],[-0.019544378514055088,0.9708026135230188]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.5629880663675735,-1.1044314171926237,0.71338606911949],"aabb_xy":[[-0.6004880661846069,-1.1090696285037656],[-0.5254880665505398,-1.0997932058814819]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429944957646306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1784.png","name":"1784"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1784.png","name":"1784"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8757.png","name":"8757"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1427.png","name":"1427"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":609.8470468472427,"rotation_z_degrees":97.58327122938259,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008270123669293312,-0.006721442838996125,-0.004825255581403742]},{"name":"camera_2","offset_m":[-0.019124485838056152,-0.003934867212537517,-0.009683046038576877]},{"name":"camera_3","offset_m":[0.012198421947650317,-0.0006120736758927249,-0.00734738595908337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009202031623630246,0.00022236774435077438,0.0016332759000982355],"end_effector_yaw_offset_degrees":-0.8408298400429792},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006628267078967473,-0.001519776499635257,0.0005221956704502206],"end_effector_yaw_offset_degrees":0.7104073266735647},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003413669145561676,-0.0017847552712761333,-0.001022189638390191],"end_effector_yaw_offset_degrees":0.2643752723229982}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011388707438514433,-0.004638209464994422],"position_m":[0.30946112925614855,0.2163617905350056,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005287667349506394,-0.0046810775253784635],"position_m":[0.31832876673495064,-0.19778107752537846,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[3.676667056275347e-05,-0.0005654701623675875],"position_m":[0.31093676667056275,0.03603452983763241,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039604707874384,0.0015515463562163568],"position_m":[0.0524395292125616,0.39155154635621636,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000741931153909455,-0.0019960291130023842],"position_m":[0.15544193115390945,-0.4294960291130024,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"238beba0cd40ddd61121db2e2b72fdb5f344131a48273a54abbdcd3cfcd402f4","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1784/tex_ceiling_textures_1427/tex_floor_textures_8757/tex_table_textures_700/tex_wall_textures_9189","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1258843941658077750,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1258843941658077750,"visual_seed":1258843941658077750,"scene_id":"lab_003","finished_at":"2026-09-03T18:08:59"} +{"episode_id":"ep_000041","started_at":"2026-09-03T18:09:01","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.4575628305827866,-0.5000677439421497,0.71338606911949],"aabb_xy":[[0.4400161356666676,-0.537567745506401],[0.47510952549890545,-0.46256774237789844]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.46345376903082847,-0.9353116324857229,0.71338606911949],"aabb_xy":[[0.4330556579316848,-0.9657185344873923],[0.493851880129972,-0.9049047304840533]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.6068125786494581,-1.3112723996065663,0.71338606911949],"aabb_xy":[[-0.6140563446957035,-1.3912723978101684],[-0.5995688126032128,-1.2312724014029637]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.33944115540532654,-1.3939977531107322,0.71338606911949],"aabb_xy":[[-0.38941444940858694,-1.4439977536652793],[-0.28946786140206604,-1.3439977525561846]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.5592519548775922,1.3944671435258789,0.71338606911949],"aabb_xy":[[-0.596751955169767,1.3904256681252753],[-0.5217519545854173,1.3985086189264824]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.33862418727412846,-0.9600322848056444,0.71338606911949],"aabb_xy":[[0.3036241890040085,-0.9671064125006326],[0.3736241855442483,-0.9529581571106562]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[0.5266353676067148,0.07304360912123187,0.71338606911949],"aabb_xy":[[0.48808967478151377,0.03449783806504321],[0.5651810604319158,0.11158938017742052]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[-0.6342250301683123,-0.5173137243182375,0.71338606911949],"aabb_xy":[[-0.6642166929021825,-0.547313723655038],[-0.6042333674344419,-0.487313724981437]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.23030457024615847,0.5793492544933061,0.71338606911949],"aabb_xy":[[-0.24780457049120783,0.561849466653739],[-0.21280457000110906,0.5968490423328727]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.29734240408462853,-1.0951373912756488,0.71338606911949],"aabb_xy":[[-0.30650228302850513,-1.1016686093191859],[-0.28818252514075193,-1.0886061732321117]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.5560599164803941,0.09013243588564057,0.71338606911949],"aabb_xy":[[-0.5928545496053003,0.0532265607890583],[-0.5192652833554877,0.12703831098222285]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.07208714668420135,1.779891197630978,0.71338606911949],"aabb_xy":[[-0.10708714658022023,1.7715169621190379],[-0.037087146788182486,1.788265433142918]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.3426891034328943,0.2199433684890919,0.71338606911949],"aabb_xy":[[-0.3519827216700449,0.182443370000958],[-0.33339548519574375,0.2574433669772258]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.6851997480898301,-2.5187450088231156,0.71338606911949],"aabb_xy":[[-0.6946172226596928,-2.5281611859608346],[-0.6757822735199673,-2.5093288316853966]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.06990184533828558,-2.096233546064101,0.71338606911949],"aabb_xy":[[0.00990184474226942,-2.1510460186093243],[0.12990184593430176,-2.0414210735188774]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.09541699085407407,1.5139992081421965,0.71338606911949],"aabb_xy":[[-0.11328609860852958,1.5001663001649852],[-0.07754788309961859,1.5278321161194073]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.2907679358465832,-1.6135223562079222,0.71338606911949],"aabb_xy":[[0.24800122896716303,-1.6775223596297246],[0.3335346427260034,-1.5495223527861197]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.7095491954221458,1.5348724383438515,0.71338606911949],"aabb_xy":[[0.7022879478517384,1.5220854280803422],[0.7168104429925534,1.5476594486073612]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.45840824931069385,-0.14014900019296483,0.71338606911949],"aabb_xy":[[-0.5234082502678209,-0.1920972121266704],[-0.3934082483535666,-0.08820078825925927]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.5875590385897501,0.7232858114618024,0.71338606911949],"aabb_xy":[[-0.5924583308963135,0.6956088921592336],[-0.5826597462831865,0.7509627307643711]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.20708518250956576,1.1767749585098177,0.71338606911949],"aabb_xy":[[0.18998310455119763,1.159668152978548],[0.22418726046793394,1.1938817640410875]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.5650258921041751,0.30390022256831495,0.71338606911949],"aabb_xy":[[0.515025890820335,0.2539213681776928],[0.6150258933880149,0.353879076958937]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[-0.43556951040192327,1.3005086288584922,0.71338606911949],"aabb_xy":[[-0.5005695115078665,1.275543255790364],[-0.37056950929598004,1.3254740019266207]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.17351737714668514,0.10819059743829973,0.71338606911949],"aabb_xy":[[-0.22351737880817985,0.058192155182596995],[-0.12351737548519033,0.1581890396940024]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.10404063283678111,-1.242723324133235,0.71338606911949],"aabb_xy":[[-0.1453451759005171,-1.306723323701352],[-0.06273608977304514,-1.1787233245651179]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.5393342128687542,0.20886504303284603,0.71338606911949],"aabb_xy":[[-0.5544970858456912,0.19369958573772733],[-0.5241713398918171,0.22403050032796484]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.1303931862655494,0.6856186278336791,0.71338606911949],"aabb_xy":[[-0.13670528580188784,0.6798516885804603],[-0.12408108672921098,0.6913855670868979]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[-0.17160312377001985,1.147669917991803,0.71338606911949],"aabb_xy":[[-0.18715889318028514,1.132119484747396],[-0.15604735435975461,1.1632203512362105]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.1639264586186292,1.5916890735851026,0.71338606911949],"aabb_xy":[[0.08392645645586669,1.5117338899589585],[0.24392646078139166,1.6716442572112458]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_29","position":[-0.420437638824261,-1.7773798456495649,0.71338606911949],"aabb_xy":[[-0.484437641044668,-1.8217529297748531],[-0.35643763660385397,-1.7330067615242766]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.4876625820454725,1.6992651236865934,0.71338606911949],"aabb_xy":[[-0.5492533412694653,1.635265125577547],[-0.42607182282147976,1.7632651217956408]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[0.3807773052627048,0.6747691721218012,0.71338606911949],"aabb_xy":[[0.3742756687547002,0.6650013500954914],[0.3872789417707095,0.684536994148111]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_32","position":[-0.38755195307035406,-1.6709133655264,0.71338606911949],"aabb_xy":[[-0.40505195234844094,-1.6882514655927456],[-0.3700519537922672,-1.6535752654600537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436897407467226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2269.png","name":"2269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3678.png","name":"3678"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5257.png","name":"5257"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":726.6408049353562,"rotation_z_degrees":80.90828630977128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007366029428998576,-0.0015984767530574824,-0.012518850560056981]},{"name":"camera_2","offset_m":[-0.01593198772708987,0.014702504721819307,0.016121378721479927]},{"name":"camera_3","offset_m":[-0.010690763769176744,-0.013273939365097314,0.016495383160539268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003004574729966896,-0.000860551486532803,0.0016448145333981447],"end_effector_yaw_offset_degrees":-0.4085687948472774},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005649775101072333,0.001038560132151145,0.0009078935255823679],"end_effector_yaw_offset_degrees":-0.3934860922489658},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005460454380382283,-0.0017562835565250322,-0.00034397102838685145],"end_effector_yaw_offset_degrees":-0.4857715748185949}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00366283386980501,-0.0025155073810551065],"position_m":[0.30693716613019495,0.2184844926189449,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001787258255504084,-0.0025814201859603583],"position_m":[0.3195872582555041,-0.19568142018596035,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004393855656273377,0.0014839699912506214],"position_m":[0.3152938556562734,0.03808396999125062,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036403286241305077,-0.0015860677633673047],"position_m":[0.05275967137586949,0.38841393223663273,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008387872979032799,-0.0029284879745358518],"position_m":[0.1555387872979033,-0.43042848797453587,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"59112ccc885d7cbf2b489d38d3f8bd248bd2ff5862effd894747111651f7ace7","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9487/tex_ceiling_textures_5810/tex_floor_textures_5257/tex_table_textures_2269/tex_wall_textures_3678","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2131244021871354104,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2131244021871354104,"visual_seed":2131244021871354104,"scene_id":"lab_003","finished_at":"2026-09-03T18:11:48"} +{"episode_id":"ep_000042","started_at":"2026-09-03T18:11:51","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.5670655872831596,-1.3996193834880182,0.71338606911949],"aabb_xy":[[0.48706558401914635,-1.4131794157969315],[0.6470655905471726,-1.3860593511791048]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.2128573247350526,-2.076555533051899,0.71338606911949],"aabb_xy":[[0.19035818900882562,-2.099055533830162],[0.23535646046127956,-2.054055532273636]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.21052213855262503,0.795960624809493,0.71338606911949],"aabb_xy":[[0.15552213893087918,0.7409769320220203],[0.26552213817437087,0.8509443175969658]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.24062768482819297,1.2522579550742052,0.71338606911949],"aabb_xy":[[0.21066012791836727,1.2222579547763195],[0.27059524173801863,1.282257955372091]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.1358527615325542,-1.8890556048820826,0.71338606911949],"aabb_xy":[[0.11333906970909699,-1.9590556054830899],[0.15836645335601138,-1.8190556042810748]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.17984565387436935,1.0810588086558206,0.71338606911949],"aabb_xy":[[-0.21734565416654414,1.0770173332552169],[-0.1423456535821945,1.085100284056424]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.5354871654275954,1.0136087690857813,0.71338606911949],"aabb_xy":[[0.528074709886207,1.0077575586641534],[0.5428996209689839,1.0194599795074093]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.4547653184017598,-2.465372712654052,0.71338606911949],"aabb_xy":[[-0.4797653183342777,-2.4722553808749756],[-0.42976531846924193,-2.4584900444331286]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.3899366260873871,1.2556407939917467,0.71338606911949],"aabb_xy":[[0.37405213282206196,1.2412878536929224],[0.40582111935271226,1.2699937342905705]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.5538245620329693,0.45462991871768077,0.71338606911949],"aabb_xy":[[-0.5618608967342541,0.446591799413264],[-0.5457882273316844,0.46266803802209755]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.39375061783509946,-0.1751426832465537,0.71338606911949],"aabb_xy":[[-0.4018783060284127,-0.1840562916572613],[-0.38562292964178624,-0.166229074835846]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.15921421824720383,-0.8947910189721142,0.71338606911949],"aabb_xy":[[0.10921421658570905,-0.9447894612278168],[0.20921421990869857,-0.8447925767164114]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.14691845209676568,1.151543351814285,0.71338606911949],"aabb_xy":[[0.1388750921708105,1.0665433507189186],[0.15496181202272086,1.2365433529096514]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.6129819023870327,-1.2889135506791418,0.71338606911949],"aabb_xy":[[0.5479818997492392,-1.3403931493785888],[0.6779819050248261,-1.2374339519796949]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.4180827923227487,0.6393001912063716,0.71338606911949],"aabb_xy":[[-0.48208279454315567,0.5949271070810833],[-0.3540827901023416,0.6836732753316599]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.4677513793472583,-0.7408077115640579,0.71338606911949],"aabb_xy":[[0.4177671436390811,-0.7908077103775535],[0.5177356150554355,-0.6908077127505623]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.15315756936156155,0.24111936654210764,0.71338606911949],"aabb_xy":[[-0.2031575689378963,0.1911387875900017],[-0.10315756978522686,0.2910999454942136]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.28101638261057726,-1.7915808423779596,0.71338606911949],"aabb_xy":[[-0.3610163828841842,-1.864530390203676],[-0.20101638233697025,-1.7186312945522426]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.6663046113945259,-0.7439357288822144,0.71338606911949],"aabb_xy":[[0.628804610209733,-0.7483539515782748],[0.7038046125793186,-0.7395175061861538]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.5009353472445606,-1.170680247423339,0.71338606911949],"aabb_xy":[[-0.5118411233321233,-1.2506802438221682],[-0.49002957115699786,-1.09068025102451]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.22809918317701655,-0.5810269505582295,0.71338606911949],"aabb_xy":[[-0.2630991845284983,-0.6013866865150503],[-0.19309918182553484,-0.5606672146014087]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.24136166291477767,0.8565203636445808,0.71338606911949],"aabb_xy":[[-0.25213463683614545,0.8215203654255419],[-0.23058868899340992,0.8915203618636198]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.03638852808144555,1.4119480893141323,0.71338606911949],"aabb_xy":[[-0.028611471952857175,1.3652474126338048],[0.10138852811574828,1.4586487659944594]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.07524916706411122,-0.9775800005516226,0.71338606911949],"aabb_xy":[[-0.13924917028274908,-1.024303112450631],[-0.011249163845473364,-0.9308568886526143]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.30063924310496726,1.5137207672848745,0.71338606911949],"aabb_xy":[[0.22063924512418223,1.5061192263230225],[0.3806392410857523,1.5213223082467264]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.18656307703573893,1.1957577550638434,0.71338606911949],"aabb_xy":[[-0.2505630789480813,1.1398466058058332],[-0.12256307512339662,1.251668904321854]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6438469221442283,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8112.png","name":"8112"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8112.png","name":"8112"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7879.png","name":"7879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2560.png","name":"2560"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":529.9614323342504,"rotation_z_degrees":192.32980557303878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005461832103070673,0.0022366588901629667,0.017414937588679406]},{"name":"camera_2","offset_m":[0.015642922197900967,-0.0184667494258984,-0.009044972566085736]},{"name":"camera_3","offset_m":[0.014360886449197554,0.0024590911314926953,-0.009185736167093613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016224940504684757,-0.0003279716455838182,-0.0007205152852295703],"end_effector_yaw_offset_degrees":-0.4152460460883476},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008009375921322036,-0.0012858004647939994,-0.001810126224366956],"end_effector_yaw_offset_degrees":0.09730542615652915},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014255218877921756,-0.0016274136270055131,0.0007017908133920888],"end_effector_yaw_offset_degrees":-0.47725690435785806}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003998220391950411,0.002960792089547681],"position_m":[0.3145982203919504,0.2239607920895477,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032934215470479655,-0.004750039971589864],"position_m":[0.31450657845295205,-0.19785003997158987,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-1.3684544213051278e-06,6.268535154858347e-05],"position_m":[0.31089863154557873,0.03666268535154858,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000322157238393698,0.0002170228797406023],"position_m":[0.056722157238393696,0.39021702287974064,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007382867003281422,-0.004909675460819103],"position_m":[0.15396171329967187,-0.4324096754608191,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4b3a913bb3c9238f1f1fd348e31a5588b13fe404aa75f45bf658301f6aef7f90","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8112/tex_ceiling_textures_2560/tex_floor_textures_6826/tex_table_textures_9934/tex_wall_textures_7879","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3306836437865898712,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3306836437865898712,"visual_seed":3306836437865898712,"scene_id":"lab_003","finished_at":"2026-09-03T18:14:38"} +{"episode_id":"ep_000043","started_at":"2026-09-03T18:14:41","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.575556165229405,-1.335033823153158,0.71338606911949],"aabb_xy":[[-0.6130561654012769,-1.3677345585360652],[-0.5380561650575331,-1.3023330877702508]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.6846447929058008,1.4633153645506023,0.71338606911949],"aabb_xy":[[-0.689600813090682,1.440815364348481],[-0.6796887727209197,1.4858153647527241]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.631584731118261,-0.3765689405916768,0.71338606911949],"aabb_xy":[[0.6211731724377771,-0.3819146739275752],[0.6419962897987446,-0.37122320725577823]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.3273274694083999,0.9025356438704253,0.71338606911949],"aabb_xy":[[-0.3448274028423832,0.8850356439501906],[-0.3098275359744165,0.9200356437906597]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.19185126793714324,0.489106967884402,0.71338606911949],"aabb_xy":[[-0.22685126928862498,0.4687472319275811],[-0.1568512665856615,0.5094667038412227]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.32512826711546844,-0.8099405994220543,0.71338606911949],"aabb_xy":[[-0.38912826945827,-0.8548814506661868],[-0.2611282647726669,-0.7649997481779218]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.4448157066388143,-1.038819664725591,0.71338606911949],"aabb_xy":[[0.4257033992808355,-1.057954443602833],[0.46392801399679323,-1.019684885848349]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.45882997878598664,1.4568207531062698,0.71338606911949],"aabb_xy":[[0.4532483071518579,1.4443207532884943],[0.4644116504201154,1.4693207529240453]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.28877333896244334,0.6836571418530242,0.71338606911949],"aabb_xy":[[-0.30765772273095354,0.6647712170726714],[-0.26988895519393313,0.702543066633377]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.5638971566284872,-1.3274862365022386,0.71338606911949],"aabb_xy":[[0.5225926135647512,-1.391486236070356],[0.6052016996922231,-1.2634862369341218]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.15327879045859238,0.7412456586577916,0.71338606911949],"aabb_xy":[[0.12494908051005216,0.7367849164640746],[0.1816085004071326,0.7457064008515087]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.35055557546651755,-0.33463582983272744,0.71338606911949],"aabb_xy":[[-0.43055557405383693,-0.4139514317708883],[-0.27055557687919807,-0.2553202278945665]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6795572649171135,-1.8709008008506913,0.71338606911949],"aabb_xy":[[0.6420572664937132,-1.8840650148185216],[0.7170572633405139,-1.8577365868828601]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.45762046840828363,0.24749851306689674,0.71338606911949],"aabb_xy":[[0.4081400471943249,0.18349851515404494],[0.5071008896222424,0.31149851097974857]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.3533721901101013,0.252618803095924,0.71338606911949],"aabb_xy":[[-0.40337218968643607,0.2026382241438181],[-0.30337219053376663,0.30259938204803]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.1085532515358133,-1.6150681147307897,0.71338606911949],"aabb_xy":[[0.05355325191406747,-1.6700518075182622],[0.16355325115755914,-1.5600844219433168]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.6087871046511643,-0.36168585174214796,0.71338606911949],"aabb_xy":[[-0.6727871068715713,-0.40605893586743624],[-0.5447871024307572,-0.31731276761685967]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.08913626681017628,-1.3927198594955121,0.71338606911949],"aabb_xy":[[0.0391629728069158,-1.4427198600500595],[0.1391095608134367,-1.3427198589409648]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.09315711093280654,-1.9898737458174591,0.71338606911949],"aabb_xy":[[-0.14717270721470654,-2.0538737487097163],[-0.039141514650906525,-1.925873742925202]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.43646182462629424,-1.1046187403816972,0.71338606911949],"aabb_xy":[[-0.46645348736016456,-1.1346187397184975],[-0.4064701618924239,-1.0746187410448964]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.26458661359492813,-2.4175063238310037,0.71338606911949],"aabb_xy":[[-0.2753595875162959,-2.4525063220500427],[-0.25381363967356035,-2.3825063256119647]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.27058840008821183,-1.129831120411864,0.71338606911949],"aabb_xy":[[0.18058839641129362,-1.1912635269889682],[0.36058840376512996,-1.0683987138347595]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.51474077870501,-1.8525641068497376,0.71338606911949],"aabb_xy":[[0.4647407773441227,-1.9025420114251534],[0.5647407800658971,-1.8025862022743222]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[-0.013133310547160604,-1.8050958922424811,0.71338606911949],"aabb_xy":[[-0.049046814972150285,-1.8410094004592357],[0.022780193877829077,-1.7691823840257266]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.44002983388851424,1.3456079518649071,0.71338606911949],"aabb_xy":[[0.4201387940081741,1.3329521405802103],[0.4599208737688546,1.358263763149604]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.048423491261399554,-0.7162394506300009,0.71338606911949],"aabb_xy":[[-0.05722554657037226,-0.7240507767849299],[-0.039621435952426835,-0.7084281244750718]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.1803976342466439,-1.8038551087683476,0.71338606911949],"aabb_xy":[[0.10039763723239592,-1.8239896604417587],[0.2603976312608919,-1.7837205570949362]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_27","position":[-0.3317647926587073,-1.2968798100908359,0.71338606911949],"aabb_xy":[[-0.4167647910761305,-1.3817541055531208],[-0.24676479424128406,-1.2120055146285509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6374301458547295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9555.png","name":"9555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9555.png","name":"9555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5836.png","name":"5836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3379.png","name":"3379"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":772.7272196189051,"rotation_z_degrees":120.9234697961769,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012287726977179534,-0.009825169509419297,-0.012534956582786597]},{"name":"camera_2","offset_m":[0.01763199112357784,-0.011181578084672728,0.013821735998877118]},{"name":"camera_3","offset_m":[-0.00042306777187241934,0.010077757162948012,-0.0010106003618551712]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008724941195859264,-0.0003497994759612303,6.932681511764155e-05],"end_effector_yaw_offset_degrees":0.914259127560556},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010476838905488094,-0.001287679805647588,-0.0013629866710071937],"end_effector_yaw_offset_degrees":-0.15313075466698356},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012632986128660482,-0.0017934614296304563,0.0006182484931253514],"end_effector_yaw_offset_degrees":-0.6252540383103826}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023596958602475826,-0.0018343249603886324],"position_m":[0.3082403041397524,0.21916567503961137,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00010712530112934934,-0.001437898028632333],"position_m":[0.3176928746988707,-0.19453789802863233,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003279239340725329,0.000429727362585783],"position_m":[0.31417923934072534,0.037029727362585786,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018321708876811336,-0.0024478777524295416],"position_m":[0.05456782911231887,0.38755212224757046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016161587599457074,0.003715433071856401],"position_m":[0.1530838412400543,-0.4237845669281436,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac705da4d4753013c5a76cfd5cb0f6324c2e7e069a8a1f40e4e9966ed1c3c693","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9555/tex_ceiling_textures_3379/tex_floor_textures_7604/tex_table_textures_162/tex_wall_textures_5836","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2997804338468245617,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2997804338468245617,"visual_seed":2997804338468245617,"scene_id":"lab_003","finished_at":"2026-09-03T18:17:29"} +{"episode_id":"ep_000044","started_at":"2026-09-03T18:17:32","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.5539007930921751,-0.0414758329610212,0.71338606911949],"aabb_xy":[[-0.5883631404903168,-0.07596971535884386],[-0.5194384456940332,-0.006981950563198495]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.34542065878954253,-2.062434790075761,0.71338606911949],"aabb_xy":[[-0.43042065720696576,-2.147309085538046],[-0.2604206603721193,-1.977560494613476]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.13558048506232312,1.6725013864403837,0.71338606911949],"aabb_xy":[[-0.15308048532165974,1.6584098442516113],[-0.1180804848029865,1.6865929286291566]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.0825673169855844,-2.1286635113338566,0.71338606911949],"aabb_xy":[[0.07376526167661168,-2.136474837488785],[0.0913693722945571,-2.120852185178927]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.5659936292384364,1.6624112015499128,0.71338606911949],"aabb_xy":[[0.5572956669477211,1.650286227242438],[0.5746915915291517,1.6745361758573873]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.5511949488720964,-1.5866658176624016,0.71338606911949],"aabb_xy":[[-0.6311949521299394,-1.6666623254543858],[-0.47119494561425346,-1.5066693098704178]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.3657106314435805,-1.8401693626967979,0.71338606911949],"aabb_xy":[[-0.3808735044205177,-1.8553348199919169],[-0.3505477584666435,-1.8250039054016793]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.13513749060546343,1.6195205601281386,0.71338606911949],"aabb_xy":[[0.11322880846611236,1.5976198933080477],[0.15704617274481444,1.6414212269482291]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.13872545963116267,-2.2589341859178287,0.71338606911949],"aabb_xy":[[0.10528528443514305,-2.2923778117487585],[0.17216563482718225,-2.225490560086898]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.47838635458262124,0.46746439808899654,0.71338606911949],"aabb_xy":[[0.3886992782745058,0.377464397834546],[0.5680734308907367,0.5574643983434471]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.17357222308198939,0.15663171486373528,0.71338606911949],"aabb_xy":[[-0.2110722245976211,0.14540494184759026],[-0.13607222156635768,0.16785848787988036]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.16174063855050058,-1.638210843561492,0.71338606911949],"aabb_xy":[[0.12674063942054492,-1.643956064637156],[0.19674063768045624,-1.6324656224858278]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.0207942702378896,1.6938243981082333,0.71338606911949],"aabb_xy":[[-0.02522489959272978,1.688376026373551],[-0.016363640883049427,1.699272769842916]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.02704568455510281,1.0208549067440433,0.71338606911949],"aabb_xy":[[-0.06295431777891625,0.9433725521589307],[0.11704568688912187,1.098337261329156]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.2771626758272743,-1.4278559492948342,0.71338606911949],"aabb_xy":[[0.18716267640890333,-1.461231446139024],[0.3671626752456451,-1.3944804524506444]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.5517664369159343,-1.4361420895192785,0.71338606911949],"aabb_xy":[[-0.5643691360530108,-1.448737485744144],[-0.5391637377788578,-1.423546693294413]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.6009808122552767,0.4524285250005331,0.71338606911949],"aabb_xy":[[-0.6176579482483723,0.4357286010266028],[-0.5843036762621813,0.4691284489744634]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.6694984948694731,-1.6252562435620923,0.71338606911949],"aabb_xy":[[0.6145052835323365,-1.6802562439008861],[0.72449170620661,-1.570256243223299]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.67823992645005,1.0000084740280992,0.71338606911949],"aabb_xy":[[0.6742794426803157,0.9923406094425786],[0.6822004102197844,1.0076763386136198]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.5847654744359904,-2.067667560023876,0.71338606911949],"aabb_xy":[[-0.6547654762447358,-2.0890213287880632],[-0.5147654726272449,-2.0463137912596885]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.042193754996763366,-1.4958143054219508,0.71338606911949],"aabb_xy":[[0.0349114386200997,-1.5858143090314594],[0.04947607137342701,-1.4058143018124414]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[-0.18505847553401666,-2.532685229659071,0.71338606911949],"aabb_xy":[[-0.21502603244384236,-2.5626852299569567],[-0.15509091862419103,-2.5026852293611856]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.030588440666444505,-2.4453912022467716,0.71338606911949],"aabb_xy":[[-0.029411559841408412,-2.5022379359326923],[0.09058844117429742,-2.3885444685608492]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.6583471452038525,-0.9912804234369399,0.71338606911949],"aabb_xy":[[0.5943471428610508,-1.0362212746810724],[0.722347147546654,-0.9463395721928074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.646149782279015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4373.png","name":"4373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4373.png","name":"4373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7437.png","name":"7437"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/816.png","name":"816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2601.png","name":"2601"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":533.2315818454757,"rotation_z_degrees":300.4347667897843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047820403092489125,0.005357138030209336,0.01981247893257387]},{"name":"camera_2","offset_m":[0.010988022091537233,0.004171643455312193,0.010128354029610858]},{"name":"camera_3","offset_m":[-0.00038938406725931574,0.00855872706875203,0.015585477258740963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005235732856045323,-1.7496939044580034e-05,0.00037892805215621744],"end_effector_yaw_offset_degrees":0.8882705081298361},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008201130985047668,0.0010587559918420687,-0.0006556511771470595],"end_effector_yaw_offset_degrees":0.822097805713045},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017556544315401102,-0.00030597751426063844,-0.001630938228733494],"end_effector_yaw_offset_degrees":0.008443301584630802}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012411628695571343,-0.004755247076971683],"position_m":[0.3093588371304429,0.2162447529230283,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003895934814545912,-0.0027404189724612826],"position_m":[0.3181895934814546,-0.19584041897246127,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00034280943145660776,-0.00028486463060672495],"position_m":[0.3105571905685434,0.03631513536939328,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002065817185573372,0.0019365409508150522],"position_m":[0.05846581718557337,0.3919365409508151,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033151397696182345,-0.0038527727995833617],"position_m":[0.15801513976961823,-0.43135277279958334,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0d48fe95cc6ef5235d333e9ae6d3a605af9982d113a79e65feed4bb04bb1a06","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4373/tex_ceiling_textures_9304/tex_floor_textures_2601/tex_table_textures_7437/tex_wall_textures_816","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5619011405057596089,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5619011405057596089,"visual_seed":5619011405057596089,"scene_id":"lab_003","finished_at":"2026-09-03T18:20:17"} +{"episode_id":"ep_000045","started_at":"2026-09-03T18:20:20","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.5185694861626899,1.5698680914939067,0.71338606911949],"aabb_xy":[[-0.5289810448431735,1.5645223581580083],[-0.5081579274822061,1.575213824829805]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.6014460261447759,1.5285925436483265,0.71338606911949],"aabb_xy":[[-0.6122976323936515,1.5177332529206753],[-0.5905944198959003,1.5394518343759773]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.5166977171023721,-2.221735482766545,0.71338606911949],"aabb_xy":[[-0.5293245043895685,-2.231281556468118],[-0.5040709298151758,-2.2121894090649725]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.09922348124051261,-2.558345619983247,0.71338606911949],"aabb_xy":[[0.09388590557450804,-2.583345620912387],[0.10456105690651718,-2.5333456190541073]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.2672203902193804,-0.7634400029133439,0.71338606911949],"aabb_xy":[[0.2337412229583395,-0.7969191162844509],[0.3006995574804214,-0.7299608895422369]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.4389223435050835,-0.7280230050881502,0.71338606911949],"aabb_xy":[[0.4295753359227883,-0.7423266273057942],[0.44826935108737875,-0.7137193828705062]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.4795222814853284,1.166880361030005,0.71338606911949],"aabb_xy":[[0.4420222829097075,1.1541440653664468],[0.5170222800609491,1.1796166566935626]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.06408541658176903,-1.7498188094814209,0.71338606911949],"aabb_xy":[[-0.07423843213591838,-1.7858883510541608],[-0.05393240102761962,-1.71374926790868]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.7035178954418142,-1.4474453614001654,0.71338606911949],"aabb_xy":[[0.6868407594487187,-1.4641452853740957],[0.7201950314349097,-1.4307454374262352]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.30661034721918534,-0.29616729656917506,0.71338606911949],"aabb_xy":[[-0.3518889621003346,-0.3601672959173587],[-0.2613317323380361,-0.23216729722099133]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.009782513079197086,0.7372538967005746,0.71338606911949],"aabb_xy":[[-0.08021749059772108,0.6758214901234701],[0.09978251675611524,0.7986863032776788]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.15734175183235877,1.063357694280739,0.71338606911949],"aabb_xy":[[0.07361952633227628,0.9733576907460431],[0.2410639773324412,1.153357697815435]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.35195454194649445,1.7576282621235708,0.71338606911949],"aabb_xy":[[0.3019545409273592,1.721162046385743],[0.40195454296562977,1.794094477861399]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.5842156360988917,-1.9545648606248145,0.71338606911949],"aabb_xy":[[-0.6342087482080836,-2.00456486129901],[-0.5342225239896998,-1.904564859950619]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.05608641777721857,0.4152577518866263,0.71338606911949],"aabb_xy":[[-0.06239851731355699,0.4094908126334075],[-0.049774318240880126,0.4210246911398451]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.614294252780574,0.9318941037023536,0.71338606911949],"aabb_xy":[[-0.6642942523569089,0.8819135247502476],[-0.5642942532042394,0.9818746826544595]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.13330040231106088,0.17218042992273608,0.71338606911949],"aabb_xy":[[-0.1657621031929883,0.1420475978078334],[-0.10083870142913341,0.20231326203763864]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.11867777553172498,-0.002503132585462531,0.71338606911949],"aabb_xy":[[-0.13332118108575797,-0.01716185224224681],[-0.10403436997769198,0.01215558707132175]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.589339146359476,1.3353059393994031,0.71338606911949],"aabb_xy":[[-0.6052236396248011,1.3209529991005788],[-0.5734546530941508,1.349658879698227]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.1173632481357223,1.7552729027984664,0.71338606911949],"aabb_xy":[[0.11178157650159352,1.7427729029806907],[0.12294491976985104,1.7677729026162416]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.5737562271905849,0.35984865832524005,0.71338606911949],"aabb_xy":[[0.5501711037266902,0.29484865607980826],[0.5973413506544799,0.42484866057067183]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.4474189335202232,-2.0254085660532977,0.71338606911949],"aabb_xy":[[-0.4884368769065941,-2.075408566684255],[-0.40640099013385234,-1.9754085654223403]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.22526670756618505,1.6001657186743548,0.71338606911949],"aabb_xy":[[0.20198486536805368,1.5151657173771265],[0.24854854976431637,1.6851657199715826]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.285146335547656,-0.9426811508078843,0.71338606911949],"aabb_xy":[[0.20514633858461678,-1.0197567924516577],[0.3651463325106951,-0.8656055091641107]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.3736307008705019,0.9510324841424929,0.71338606911949],"aabb_xy":[[-0.3770713771105591,0.9471710511681286],[-0.3701900246304447,0.9548939171168576]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.4849301750789335,-0.2637403359528836,0.71338606911949],"aabb_xy":[[-0.5400553807085242,-0.32374033739417074],[-0.4298049694493427,-0.20374033451159648]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.5727041775954147,-0.7639733499612511,0.71338606911949],"aabb_xy":[[0.5575413046184775,-0.77913880725637],[0.5878670505723517,-0.7488078926661323]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.4625608967066597,-1.7572836063727746,0.71338606911949],"aabb_xy":[[0.45485770603258263,-1.764992977071512],[0.4702640873807367,-1.7495742356740362]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.3982719427756671,1.1965534431901674,0.71338606911949],"aabb_xy":[[-0.478271943049274,1.1236038953644505],[-0.31827194250206003,1.269502991015884]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.6719222436823924,-1.642294488744573,0.71338606911949],"aabb_xy":[[-0.6826952176037602,-1.6772944869636122],[-0.6611492697610246,-1.6072944905255342]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[-0.5378776660282345,1.2361051288122007,0.71338606911949],"aabb_xy":[[-0.5487181442547494,1.218918847521552],[-0.5270371878017196,1.2532914101028494]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_31","position":[0.259636295857131,-1.9990055810946483,0.71338606911949],"aabb_xy":[[0.20965887899187738,-2.049005582583897],[0.3096137127223845,-1.9490055796053998]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[0.1526980400771799,1.560126397082827,0.71338606911949],"aabb_xy":[[0.14389598476820717,1.5523150709278977],[0.1615000953861526,1.5679377232377558]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_33","position":[-0.1829572031174066,0.6087337861945787,0.71338606911949],"aabb_xy":[[-0.2030156147306469,0.5886686992854212],[-0.1628987915041663,0.6287988731037363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6447424183340783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9948.png","name":"9948"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6048.png","name":"6048"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":687.4960190500058,"rotation_z_degrees":2.814677097845082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019437312500803841,0.0029339089105524553,-0.015266830176031487]},{"name":"camera_2","offset_m":[0.01769988719785671,-0.004884746457129436,0.01471467297306792]},{"name":"camera_3","offset_m":[0.016212901250615235,-0.005278543846083323,0.016292134113792846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001589766254127265,0.0005157215910652109,-0.0012102297959513853],"end_effector_yaw_offset_degrees":-0.46275479030220357},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017475567263551474,-0.0013455607150168248,0.00065403157837518],"end_effector_yaw_offset_degrees":0.785888383585877},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007457728015232497,0.000463479568842001,-0.001286551396188656],"end_effector_yaw_offset_degrees":-0.5335924949706707}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001049773947268108,-0.0016261462655534176],"position_m":[0.3116497739472681,0.2193738537344466,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006749394882990221,0.004424399388793135],"position_m":[0.31712506051170103,-0.18867560061120686,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004937510888713075,-0.0017836235140492951],"position_m":[0.3158375108887131,0.034816376485950706,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038433332858297765,-0.0030157009702261495],"position_m":[0.06024333328582977,0.3869842990297739,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003087803628270695,-0.0019964148326492804],"position_m":[0.1577878036282707,-0.4294964148326493,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8eeab8a127b8943a33b33d19dea287a09c99f05325b15208b254a19338910b28","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2241/tex_ceiling_textures_6048/tex_floor_textures_6000/tex_table_textures_5299/tex_wall_textures_9948","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3105142449901722215,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3105142449901722215,"visual_seed":3105142449901722215,"scene_id":"lab_003","finished_at":"2026-09-03T18:23:10"} +{"episode_id":"ep_000046","started_at":"2026-09-03T18:23:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.09606376648369253,1.4301197058232948,0.71338606911949],"aabb_xy":[[-0.10581975599286642,1.4203571717640602],[-0.08630777697451864,1.439882239882529]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.4540165927996814,-1.3446298136911439,0.71338606911949],"aabb_xy":[[-0.465585573546618,-1.3696298138080756],[-0.44244761205274485,-1.3196298135742122]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.08168579908567497,1.0063045396820418,0.71338606911949],"aabb_xy":[[0.0166857964478815,0.9548249409825948],[0.14668580172346846,1.0577841383814888]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.08844290017172685,1.6787358584154934,0.71338606911949],"aabb_xy":[[-0.14344289837347166,1.638213891789056],[-0.033442901969982,1.7192578250419313]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.29811093482695694,-1.197834950828323,0.71338606911949],"aabb_xy":[[-0.3531109344487028,-1.252818643615796],[-0.2431109352052111,-1.1428512580408505]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.5915095679011748,0.5724863783331688,0.71338606911949],"aabb_xy":[[0.5860516222641547,0.49248637502550974],[0.5969675135381949,0.652486381640828]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.3045644833201145,1.1653408280575652,0.71338606911949],"aabb_xy":[[-0.38956448173753777,1.0804665325952802],[-0.21956448490269131,1.2502151235198502]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.13669969832550222,0.8097060834370846,0.71338606911949],"aabb_xy":[[-0.1916996975020917,0.7547164086621269],[-0.08169969914891273,0.8646957582120421]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.5778096671583904,0.7308047432229485,0.71338606911949],"aabb_xy":[[-0.6578096674319974,0.6578551953972318],[-0.4978096668847835,0.8037542910486652]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.5157920060828125,-2.5051743810585343,0.71338606911949],"aabb_xy":[[0.4907920069171794,-2.512126626763891],[0.5407920052484456,-2.4982221353531777]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.5241135006403742,-2.089907406214984,0.71338606911949],"aabb_xy":[[-0.5584297778149921,-2.1399074061881618],[-0.48979722346575627,-2.0399074062418063]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[-0.42433350197936076,-0.07391476073064762,0.71338606911949],"aabb_xy":[[-0.4589245848334059,-0.13891476101567865],[-0.3897424191253155,-0.008914760445616563]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.5375482270067229,-1.3678998478104543,0.71338606911949],"aabb_xy":[[0.5315816880659872,-1.3738609924698182],[0.5435147659474586,-1.36193870315109]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.11016679369052729,-2.322587769044193,0.71338606911949],"aabb_xy":[[-0.16514051572686017,-2.3775877686084264],[-0.0551930716541944,-2.26758776947996]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.5661337999215108,1.6023809386436505,0.71338606911949],"aabb_xy":[[0.504543040697518,1.5383809405346038],[0.6277245591455036,1.6663809367526976]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.41548733676605526,-2.368908323909901,0.71338606911949],"aabb_xy":[[-0.42152434976672004,-2.3749350249788495],[-0.4094503237653906,-2.3628816228409533]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.44885421087479194,-1.9462834522605754,0.71338606911949],"aabb_xy":[[-0.4613215689845276,-1.9587487768938991],[-0.4363868527650563,-1.9338181276272521]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.29917509596616965,-1.0061047685067137,0.71338606911949],"aabb_xy":[[0.21917509270215652,-1.019664800815627],[0.3791750992301828,-0.9925447361978004]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.40097078613876236,-2.4446254992559324,0.71338606911949],"aabb_xy":[[0.36417615301385603,-2.4815313743525147],[0.4377654192636686,-2.40771962415935]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.19488153167162214,1.4412613732026185,0.71338606911949],"aabb_xy":[[0.17576922431364328,1.4221265943253765],[0.213993839029601,1.4603961520798605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6422194971548565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/416.png","name":"416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/416.png","name":"416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6034.png","name":"6034"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1854.png","name":"1854"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9613.png","name":"9613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/775.png","name":"775"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.8068809337016,"rotation_z_degrees":129.49865223263723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01923650915550614,0.010350381839356021,0.017421343752994752]},{"name":"camera_2","offset_m":[-0.005116207721499469,0.012038456572494593,0.018455046371429463]},{"name":"camera_3","offset_m":[-0.011253391447066231,0.011074293038950626,-0.00639532740227685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019247364470455271,-0.0018380065698504482,2.6346000598523843e-05],"end_effector_yaw_offset_degrees":0.4891407074523546},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001245355342097429,0.00018990556834150643,0.0015829976349721235],"end_effector_yaw_offset_degrees":-0.47405051992423974},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013882634733888345,0.0016497793859003057,0.0011567700096146898],"end_effector_yaw_offset_degrees":-0.3109009840140584}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010304497545271527,-0.0013627038084462117],"position_m":[0.30956955024547284,0.21963729619155378,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004516189895520175,0.0028101240589762915],"position_m":[0.3223161898955202,-0.1902898759410237,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.000958193239402009,0.0009312196908898354],"position_m":[0.311858193239402,0.037531219690889836,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002536096270586973,-0.0023479010643433097],"position_m":[0.05386390372941303,0.3876520989356567,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001600411352458041,-0.0034372838476540647],"position_m":[0.15309958864754197,-0.43093728384765406,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"89fab67a20dac131a6539483e4e85b5699bd8777e9dabb13779caa4bf8cda040","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_416/tex_ceiling_textures_775/tex_floor_textures_9613/tex_table_textures_6034/tex_wall_textures_1854","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7426243777123960721,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7426243777123960721,"visual_seed":7426243777123960721,"scene_id":"lab_003","finished_at":"2026-09-03T18:26:16"} +{"episode_id":"ep_000047","started_at":"2026-09-03T18:26:19","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[-0.63848438054459,-1.5744224703718648,0.71338606911949],"aabb_xy":[[-0.6429150098994302,-1.5798708421065477],[-0.6340537511897498,-1.5689740986371827]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.4620254173013343,1.2579768606591926,0.71338606911949],"aabb_xy":[[-0.4669247096078978,1.2302999413566236],[-0.4571261249947708,1.2856537799617611]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.033010060723271506,-2.0321340236728562,0.71338606911949],"aabb_xy":[[0.028894110611198835,-2.036249578705702],[0.03712601083534416,-2.0280184686400107]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.6204018474418107,1.6757818841726153,0.71338606911949],"aabb_xy":[[0.5504018453103809,1.6530199185469194],[0.69040184957324,1.6985438497983107]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.4757863222457988,-1.977381423482139,0.71338606911949],"aabb_xy":[[-0.5657863259227168,-2.038813830059243],[-0.3857863185688805,-1.915949016905034]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[-0.22402986248711232,-1.5319427938842405,0.71338606911949],"aabb_xy":[[-0.3040298611439983,-1.5464476528085034],[-0.1440298638302263,-1.5174379349599776]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.4804111015861463,-2.0620982575894615,0.71338606911949],"aabb_xy":[[0.450419438852276,-2.092098256926262],[0.5104027643200166,-2.032098258252661]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.47059341171475855,-0.5061200377557475,0.71338606911949],"aabb_xy":[[0.46417959807157355,-0.5125298580034158],[0.47700722535794343,-0.49971021750807915]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.24091465108681837,-0.282007198229405,0.71338606911949],"aabb_xy":[[-0.24554976623905173,-0.2858745333065536],[-0.23627953593458495,-0.2781398631522563]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[0.7024283530828908,-2.0150570156582948,0.71338606911949],"aabb_xy":[[0.693010878513028,-2.024473192796014],[0.7118458276527535,-2.0056408385205757]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.5523194863994505,0.4471699071852244,0.71338606911949],"aabb_xy":[[0.4923194858915975,0.3903231734993031],[0.6123194869073033,0.5040166408711457]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.3277899387553036,-2.135064699289875,0.71338606911949],"aabb_xy":[[-0.3390349943259214,-2.1463064970139705],[-0.3165448831846857,-2.12382290156578]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.4123480995888971,-0.7044054743228305,0.71338606911949],"aabb_xy":[[-0.4458272668499381,-0.7378845876939375],[-0.37886893232785623,-0.6709263609517235]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.4429759350851037,-2.4301787877521637,0.71338606911949],"aabb_xy":[[0.3529759383494934,-2.483362251069458],[0.5329759318207139,-2.376995324434869]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.5308222628905985,0.18259861407176858,0.71338606911949],"aabb_xy":[[-0.5342629391306557,0.1787371810974041],[-0.5273815866505414,0.18646004704613306]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.11911552529438074,-0.8117485689843031,0.71338606911949],"aabb_xy":[[0.10023114152587054,-0.8306344937646558],[0.13799990906289095,-0.7928626442039503]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.5936854561540961,-1.9946858891635046,0.71338606911949],"aabb_xy":[[0.5819172693594387,-2.0796858890687266],[0.6054536429487537,-1.9096858892582833]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.12617366571803568,-0.5941505374218587,0.71338606911949],"aabb_xy":[[-0.19017366302038208,-0.6385169643897155],[-0.062173668415689276,-0.549784110454002]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.42561198838138803,-0.6154244413747563,0.71338606911949],"aabb_xy":[[0.3656119867384662,-0.6674245906667006],[0.4856119900243099,-0.5634242920828122]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.01834880462730737,-0.8750665006393568,0.71338606911949],"aabb_xy":[[-0.004151195884733231,-0.897558359004755],[0.040848805139347966,-0.8525746422739583]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.6767820574586834,-1.1067430170499697,0.71338606911949],"aabb_xy":[[0.6730787961295445,-1.1104450353586872],[0.6804853187878223,-1.1030409987412517]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.6064229453273018,-2.2259633244938084,0.71338606911949],"aabb_xy":[[0.5956499714059341,-2.260963322712848],[0.6171959192486697,-2.19096332627477]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.7035391587070194,-1.268194370863042,0.71338606911949],"aabb_xy":[[0.6926333826194566,-1.348194367261871],[0.714444934794582,-1.1881943744642127]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.2503104905760849,0.3797267865704512,0.71338606911949],"aabb_xy":[[-0.27220023816502564,0.2897267892812021],[-0.22842074298714407,0.46972678385970035]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.13723089658549903,0.8272031520674124,0.71338606911949],"aabb_xy":[[0.07223089842957994,0.8009069075175002],[0.20223089474141806,0.8534993966173245]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.006680805591702588,1.4628413156925686,0.71338606911949],"aabb_xy":[[-0.05616122680566138,1.398841317779717],[0.042799615622256204,1.5268413136054206]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[0.35246165231116144,1.3169463371040333,0.71338606911949],"aabb_xy":[[0.28846165314139144,1.2701796499850706],[0.41646165148093134,1.3637130242229956]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.2982145537067362,-2.1905786546880446,0.71338606911949],"aabb_xy":[[0.2596688608815351,-2.2291244257442333],[0.3367602465319372,-2.152032883631856]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.18455401946780192,0.6986427415814509,0.71338606911949],"aabb_xy":[[0.12942881383821112,0.6386427401401636],[0.23967922509739267,0.7586427430227379]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.566163376046797,-1.264108086500072,0.71338606911949],"aabb_xy":[[-0.6074679191105329,-1.3281080860681893],[-0.5248588329830609,-1.2001080869319551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6453039206610024,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1132.png","name":"1132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1132.png","name":"1132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2677.png","name":"2677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6243.png","name":"6243"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1956.png","name":"1956"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4912.png","name":"4912"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":728.9673601480496,"rotation_z_degrees":73.96955859989427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007246291424645009,-0.01905311295322571,-0.001581786352615775]},{"name":"camera_2","offset_m":[-0.006962405180541361,-0.006057611174871634,-0.019217139440504717]},{"name":"camera_3","offset_m":[0.016513363729676763,0.007992480212477556,0.01199752161466124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006856223121466916,-0.00016585283876029426,0.00172058675151756],"end_effector_yaw_offset_degrees":0.031657156564627975},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001259862604871685,-0.0014214276264371954,0.001091250088109889],"end_effector_yaw_offset_degrees":-0.45181087308837187},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009718395854185291,0.0017826932320286395,0.0016155748427058958],"end_effector_yaw_offset_degrees":0.45873237976491477}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007836703529105283,-0.0020497195042128535],"position_m":[0.31138367035291054,0.21895028049578716,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010883846214960868,0.001284686499157561],"position_m":[0.31671161537850395,-0.19181531350084244,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004380041338959743,0.001033295768687808],"position_m":[0.30651995866104026,0.037633295768687805,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029881853477035625,-0.0011980322757075114],"position_m":[0.053411814652296434,0.3888019677242925,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034323415797620155,-0.002453561229460287],"position_m":[0.15813234157976203,-0.42995356122946027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca9bbc8716b980e731eab1ac4b74d62c45674f82c0827ae323e596b7203d035a","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1132/tex_ceiling_textures_4912/tex_floor_textures_1956/tex_table_textures_2677/tex_wall_textures_6243","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":903061062584317252,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":903061062584317252,"visual_seed":903061062584317252,"scene_id":"lab_003","finished_at":"2026-09-03T18:29:07"} +{"episode_id":"ep_000048","started_at":"2026-09-03T18:29:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.5373869361036726,-1.9457752520010247,0.71338606911949],"aabb_xy":[[-0.6073869387402588,-1.96588011699689],[-0.46738693346708615,-1.925670387005159]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.32131925637546443,0.662524798042559,0.71338606911949],"aabb_xy":[[-0.35171736747460797,0.6321178960408894],[-0.2909211452763208,0.6929317000442284]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[0.14844187721721425,0.9501519324837813,0.71338606911949],"aabb_xy":[[0.09442628093531424,0.8861519295915239],[0.20245747349911425,1.0141519353760382]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.09937624700669034,-1.0740987772205566,0.71338606911949],"aabb_xy":[[-0.17937624416626563,-1.0856463781783736],[-0.019376249847115043,-1.0625511762627395]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.45770317904719393,0.7084641036306567,0.71338606911949],"aabb_xy":[[0.40770390387875777,0.6584641023547096],[0.5077024542156301,0.758464104906604]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.6546969018940381,-2.5252844696420556,0.71338606911949],"aabb_xy":[[0.6395946004330197,-2.540385991273116],[0.6697992033550559,-2.5101829480109923]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.3291345503023211,-2.0334802983336706,0.71338606911949],"aabb_xy":[[0.31307262284380344,-2.1184803001462624],[0.3451964777608387,-1.948480296521079]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.3252876551894076,-0.4556704516869945,0.71338606911949],"aabb_xy":[[-0.41528765378387755,-0.4719210380004155],[-0.23528765659493767,-0.43941986537357347]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.36633992684367067,-0.8966313445598968,0.71338606911949],"aabb_xy":[[-0.4303399275471401,-0.9426497270328179],[-0.3023399261402014,-0.8506129620869759]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.6577487135779907,-0.3406175212472409,0.71338606911949],"aabb_xy":[[0.6497547250002873,-0.3486176013423312],[0.6657427021556941,-0.33261744115215053]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.5394423653825231,-0.8373021530033826,0.71338606911949],"aabb_xy":[[-0.5894423667434102,-0.8872800575787982],[-0.4894423640216358,-0.787324248427967]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.4703253035837256,0.5265635877061423,0.71338606911949],"aabb_xy":[[0.4597578239256266,0.5160185575931338],[0.4808927832418246,0.5371086178191509]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.5427686911254039,-2.233598114875591,0.71338606911949],"aabb_xy":[[0.45276868744848564,-2.295030521452695],[0.632768694802322,-2.172165708298486]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.6654233805457632,-1.505355618950097,0.71338606911949],"aabb_xy":[[-0.6734667404717183,-1.5903556200454634],[-0.6573800206198079,-1.4203556178547305]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.573204970887736,-1.1733130324368335,0.71338606911949],"aabb_xy":[[0.569501709558597,-1.177015050745551],[0.5769082322168748,-1.1696110141281155]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.5096423682164228,-1.4942665162051214,0.71338606911949],"aabb_xy":[[0.5040606965822939,-1.506766516022897],[0.5152240398505515,-1.481766516387346]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.024728259021149612,-1.7189743970924969,0.71338606911949],"aabb_xy":[[-0.049728258186782726,-1.725926642797853],[0.00027174014448350103,-1.7120221513871399]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.6209237342210445,1.2807536583915837,0.71338606911949],"aabb_xy":[[0.5569237339470663,1.2306875581942955],[0.6849237344950228,1.3308197585888715]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.2273860849102204,1.649132240131562,0.71338606911949],"aabb_xy":[[-0.27738608527078645,1.5991522529219588],[-0.17738608454965432,1.6991122273411647]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.2937759310921989,-1.1377299025018517,0.71338606911949],"aabb_xy":[[-0.32374348800202457,-1.1677299027997374],[-0.26380837418237324,-1.107729902203966]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.12215150074340464,-2.0034219721097015,0.71338606911949],"aabb_xy":[[-0.18715149862505243,-2.054545635816243],[-0.05715150286175684,-1.952298308403161]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.20472630447662693,-0.6679411976801195,0.71338606911949],"aabb_xy":[[-0.24691071863745767,-0.7319411979573307],[-0.1625418903157962,-0.6039411974029083]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.0382567778672257,1.2883784253866013,0.71338606911949],"aabb_xy":[[-0.09825677846324188,1.2335659528413778],[0.021743222728790486,1.3431908979318248]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.6535410044441128,-0.6927917974574407,0.71338606911949],"aabb_xy":[[0.6489058892918793,-0.6966591325345891],[0.658176119596346,-0.6889244623802918]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[0.5109526319808102,-2.501109817297949,0.71338606911949],"aabb_xy":[[0.43095263501777104,-2.578185458941722],[0.5909526289438494,-2.424034175654175]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.4371900029725025,-0.27095755350415773,0.71338606911949],"aabb_xy":[[-0.5071900063640644,-0.3062733272075886],[-0.3671899995809405,-0.2356417798007269]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.2772374318708847,0.4804752243412995,0.71338606911949],"aabb_xy":[[0.19723742860687155,0.4669151920323862],[0.3572374351348978,0.49403525665021286]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.08626239178076323,-1.1774091405604095,0.71338606911949],"aabb_xy":[[0.06805656811951556,-1.188434541142401],[0.10446821544201092,-1.1663837399784178]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[0.4586479288857257,1.6101582834452972,0.71338606911949],"aabb_xy":[[0.40364792970913616,1.5551686086703393],[0.5136479280623152,1.6651479582202546]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_29","position":[0.09049160477142304,1.17567890964097,0.71338606911949],"aabb_xy":[[0.010491606790637998,1.1680773686791182],[0.1704916027522081,1.183280450602822]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[-0.33728423933742774,0.3402116570492457,0.71338606911949],"aabb_xy":[[-0.40128424168022925,0.29527080580511317],[-0.2732842369946261,0.38515250829337816]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[-0.41205539965413795,-2.0753313886497295,0.71338606911949],"aabb_xy":[[-0.44651774705227965,-2.1098252710475514],[-0.37759305225599604,-2.040837506251906]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[-0.5919622208331754,-1.2751165759477454,0.71338606911949],"aabb_xy":[[-0.6090642987915436,-1.292223381479015],[-0.5748601428748072,-1.2580097704164754]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_33","position":[-0.06334959737543944,-1.5281716777700847,0.71338606911949],"aabb_xy":[[-0.080982432968967,-1.5457946237857074],[-0.045716761781911856,-1.5105487317544615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6439667100383822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4346.png","name":"4346"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4346.png","name":"4346"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9756.png","name":"9756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6249.png","name":"6249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7922.png","name":"7922"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.1877439193654,"rotation_z_degrees":301.0067822489906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005712465486171287,-0.011496167423883109,-0.018406231768470095]},{"name":"camera_2","offset_m":[0.01831496025791859,-0.012722469172312598,-0.016360254266971515]},{"name":"camera_3","offset_m":[-0.009186257231390153,-0.017630499589665956,0.017554300065178444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.951492347081676e-05,-0.0005570176168357146,0.0006228146148789418],"end_effector_yaw_offset_degrees":0.5186307017594616},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00041183532991400534,-0.0011377285227929012,0.0014314103283618392],"end_effector_yaw_offset_degrees":-0.04833806576335853},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001949051580156986,0.0010422733156026692,0.0002869394160987817],"end_effector_yaw_offset_degrees":-0.6824861381668548}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004625515481833641,0.0035235816282338977],"position_m":[0.30597448451816633,0.2245235816282339,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029505214312897455,0.0038189395681593125],"position_m":[0.31484947856871026,-0.18928106043184068,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001396069455126425,-0.0031891158419850895],"position_m":[0.31229606945512645,0.03341088415801491,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031769438571959555,0.004819118908551819],"position_m":[0.053223056142804044,0.3948191189085518,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017861968435608187,-0.00447006137506259],"position_m":[0.1545213803156439,-0.4319700613750626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"668eaeea2a968199892a0edcdcbdc692f353c5541d648b874b451328650e65e1","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4346/tex_ceiling_textures_7922/tex_floor_textures_6249/tex_table_textures_9215/tex_wall_textures_9756","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1359602122644899355,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1359602122644899355,"visual_seed":1359602122644899355,"scene_id":"lab_003","finished_at":"2026-09-03T18:31:54"} +{"episode_id":"ep_000049","started_at":"2026-09-03T18:31:57","dimensions":{"distractor":{"count":20,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.5525876452445244,-2.0371226835122545,0.71338606911949],"aabb_xy":[[0.5287514276039195,-2.127122684320741],[0.5764238628851296,-1.947122682703768]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.45165301649254785,-0.46550720324857986,0.71338606911949],"aabb_xy":[[0.4452392028493629,-0.4719170234962481],[0.4580668301357328,-0.4590973830009114]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.2782196994288922,-0.6497354230592587,0.71338606911949],"aabb_xy":[[-0.2845317989652306,-0.6555023623124775],[-0.27190759989255375,-0.6439684838060399]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.6400891540635795,0.053478667218012976,0.71338606911949],"aabb_xy":[[-0.6941047503454794,-0.010521335674244195],[-0.5860735577816794,0.11747867011027012]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[0.26425068177576316,-0.9537553512196542,0.71338606911949],"aabb_xy":[[0.25625669319805977,-0.9617554313147444],[0.27224467035346656,-0.9457552711245637]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.3138674225617425,1.062119960834837,0.71338606911949],"aabb_xy":[[-0.3450143414053256,0.9921199621480299],[-0.2827205037181594,1.1321199595216442]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.3082616360694743,-1.6725387244325338,0.71338606911949],"aabb_xy":[[0.2282616328054612,-1.6860987567414472],[0.38826163933348745,-1.6589786921236205]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.46934097614758774,-2.221002337562531,0.71338606911949],"aabb_xy":[[-0.47942268322616116,-2.301002335454645],[-0.4592592690690142,-2.1410023396704156]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.36071183565036247,0.8010760355071374,0.71338606911949],"aabb_xy":[[-0.39821183559412887,0.7927829454723008],[-0.32321183570659606,0.8093691255419739]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[0.3814471953773526,-1.9808401118269794,0.71338606911949],"aabb_xy":[[0.3014471979737592,-2.0608326830251618],[0.46144719278094604,-1.9008475406287964]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.16164659109500934,-1.5676403945221833,0.71338606911949],"aabb_xy":[[0.15794332976587044,-1.5713424128309008],[0.16534985242414818,-1.5639383762134653]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.48081276677802876,1.2961249135736002,0.71338606911949],"aabb_xy":[[-0.5302931879919875,1.2321249156607483],[-0.43133234556406996,1.360124911486452]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.5618024160327482,-0.6862529034091216,0.71338606911949],"aabb_xy":[[0.49780241368994654,-0.731193754653254],[0.6258024183755496,-0.641312052164989]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.18345987192142088,1.6374702853407945,0.71338606911949],"aabb_xy":[[0.14595987334580005,1.6247339896772366],[0.22095987049704166,1.6502065810043525]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.06385507090965781,-0.14148992619742184,0.71338606911949],"aabb_xy":[[-0.07572715392115892,-0.22648992589107217],[-0.051982987898156696,-0.056489926503771465]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.5206367429148627,-0.14311071285367039,0.71338606911949],"aabb_xy":[[-0.5431367424385699,-0.16560666030429114],[-0.49813674339115516,-0.12061476540304959]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.30951358230499126,-0.23922622951610828,0.71338606911949],"aabb_xy":[[-0.3246764552819284,-0.2543916868112271],[-0.29435070932805424,-0.22406077222098958]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.4779503096764107,-1.1707166245615817,0.71338606911949],"aabb_xy":[[-0.5429503078323297,-1.1970128691114938],[-0.4129503115204916,-1.1444203800116695]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.01669767676839551,-0.7890889645485639,0.71338606911949],"aabb_xy":[[0.004230318658659863,-0.8015542891818874],[0.02916503487813116,-0.7766236399152404]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.1832797469065648,-1.5940511514239268,0.71338606911949],"aabb_xy":[[-0.21376399703359494,-1.644051151205423],[-0.15279549677953463,-1.5440511516424311]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6356491283336042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3646.png","name":"3646"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4157.png","name":"4157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.5844362155109,"rotation_z_degrees":218.9741887360847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016665210647828697,-0.010931122406623462,-0.01610048219138831]},{"name":"camera_2","offset_m":[0.006027011969989497,0.006114439208725848,0.017887730808981882]},{"name":"camera_3","offset_m":[0.006033940912979322,-0.007669772470851651,-0.01891228483122455]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001810011120464963,0.0011142173604728237,-0.0016926969965012383],"end_effector_yaw_offset_degrees":-0.13141915824660644},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001314950723723532,-0.0008082751462655878,-0.0004334680081448301],"end_effector_yaw_offset_degrees":-0.8466393279261197},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009045815423095579,-0.0019769505755436517,-0.0017733831839661818],"end_effector_yaw_offset_degrees":0.4979665284102397}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013415399145132846,-0.0027778164909248292],"position_m":[0.3119415399145133,0.21822218350907518,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003813763721759918,0.004038242069161073],"position_m":[0.3216137637217599,-0.18906175793083893,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002962370282542007,0.0027756074849151213],"position_m":[0.313862370282542,0.03937560748491512,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017269527243830352,0.002938355202079538],"position_m":[0.05467304727561696,0.39293835520207954,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047794248283149635,0.0028491664477630014],"position_m":[0.14992057517168503,-0.424650833552237,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f97f92839de1cf396beb9dd8a2d1dbc678c3c3c8ff6198ac77b056524b0d246","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8202/tex_ceiling_textures_1066/tex_floor_textures_9933/tex_table_textures_3646/tex_wall_textures_4157","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1352720694092347261,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1352720694092347261,"visual_seed":1352720694092347261,"scene_id":"lab_003","finished_at":"2026-09-03T18:34:19"} +{"episode_id":"ep_000050","started_at":"2026-09-03T18:34:22","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.08174059253039401,-1.0223046089871428,0.71338606911949],"aabb_xy":[[0.059275822558988875,-1.044804609866003],[0.10420536250179911,-0.9998046081082821]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.3449445249340168,-1.5251496546753767,0.71338606911949],"aabb_xy":[[-0.4089445220461224,-1.5741820244697873],[-0.28094452782191104,-1.476117284880966]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.42709267835960407,-2.431886635100645,0.71338606911949],"aabb_xy":[[-0.47709267937873934,-2.4683528508384733],[-0.3770926773404688,-2.3954204193628175]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.007231813406517684,-1.6679525767568322,0.71338606911949],"aabb_xy":[[-0.03026818516910312,-1.6806888724203901],[0.044731811982138485,-1.6552162810932742]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.19913357448476054,-1.1204428086210267,0.71338606911949],"aabb_xy":[[-0.20675784257493882,-1.1280760321575705],[-0.19150930639458233,-1.112809585084483]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.4832781841576804,-2.0646637417763163,0.71338606911949],"aabb_xy":[[-0.548278184191983,-2.1113644184566436],[-0.41827818412337764,-2.017963065095989]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.030533623814828714,-2.3384936047887366,0.71338606911949],"aabb_xy":[[-0.12053362614884777,-2.4159759593738492],[0.059466378519190344,-2.261011250203624]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.6521136564747062,0.9146169373926538,0.71338606911949],"aabb_xy":[[-0.6608116187654215,0.9024919630851791],[-0.6434156941839909,0.9267419117001285]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.4769367954621804,-0.3476076421073109,0.71338606911949],"aabb_xy":[[0.4594367961840935,-0.36494574217365683],[0.49443679474026725,-0.3302695420409649]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.5292847568605501,-0.7835649694722084,0.71338606911949],"aabb_xy":[[0.4924901237356437,-0.8204708445687907],[0.5660793899854563,-0.7466590943756262]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.20528775923199893,-1.9814937625441185,0.71338606911949],"aabb_xy":[[0.11528775981362802,-2.014869259388308],[0.2952877586503698,-1.9481182656999285]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.5121569371452701,1.0667341484604593,0.71338606911949],"aabb_xy":[[-0.5240896715070982,1.0543519956526],[-0.500224202783442,1.0791163012683187]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.06587085250693736,-0.5691485055109493,0.71338606911949],"aabb_xy":[[0.06175490239486468,-0.5732640605437948],[0.06998680261901001,-0.5650329504781036]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.5843486508004572,1.4869914112768865,0.71338606911949],"aabb_xy":[[0.5470173742752145,1.4523383564820345],[0.6216799273256997,1.521644466071739]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.3436460297976936,-0.19613958304050838,0.71338606911949],"aabb_xy":[[-0.3655357773866344,-0.2861395803297575],[-0.3217562822087528,-0.10613958575125927]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.016338586838808844,-0.8302336951886742,0.71338606911949],"aabb_xy":[[-0.0012397153501380077,-0.8478081847627791],[0.03391688902775569,-0.8126592056145693]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.5663134266614084,0.39185930028547666,0.71338606911949],"aabb_xy":[[-0.6163065387706003,0.34185929961128103],[-0.5163203145522165,0.44185930095967235]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.39366674544951663,-2.112761311662469,0.71338606911949],"aabb_xy":[[0.3296667468629441,-2.1597682750619778],[0.45766674403608903,-2.0657543482629603]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.32147616055923667,1.05625249294935,0.71338606911949],"aabb_xy":[[-0.3589761612238153,1.0405654349491276],[-0.2839761598946579,1.071939550949572]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.34676213396297284,-1.0384807358359363,0.71338606911949],"aabb_xy":[[-0.3527991469636376,-1.0445074369048848],[-0.34072512096230817,-1.0324540347669882]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6416075209784601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6674.png","name":"6674"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2712.png","name":"2712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1242.png","name":"1242"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7965.png","name":"7965"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.2390903647984,"rotation_z_degrees":88.47626234728698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009596907731127305,-0.019171750583405523,-0.0034227835314998914]},{"name":"camera_2","offset_m":[-0.01824579637752004,-0.01919475627956726,-0.005462562326507365]},{"name":"camera_3","offset_m":[0.008611646650681634,0.004524567707084221,0.01384164187019737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006668825522561745,0.00040559768130201063,0.0006792707313065731],"end_effector_yaw_offset_degrees":-0.47197974476498583},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015219570074608505,0.0006072517483138237,0.0005791024903859091],"end_effector_yaw_offset_degrees":-0.4185999003481},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017339222932313816,-0.0011830423389238391,-0.0010260730324111473],"end_effector_yaw_offset_degrees":-0.5856390613233478}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0039922879745852855,-0.0022201831851385023],"position_m":[0.31459228797458527,0.2187798168148615,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001293566632372736,-0.00033740589491669266],"position_m":[0.31909356663237276,-0.19343740589491668,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0023105081790749838,-0.0005831717836299443],"position_m":[0.30858949182092504,0.036016828216370055,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002827570840614876,0.003837723304046599],"position_m":[0.05357242915938512,0.3938377233040466,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010867642278385263,-0.0019553175770340046],"position_m":[0.1536132357721615,-0.429455317577034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0ea42e7c2172f0833e991ac3bc35cde57c177a010799bcdd93e1aecac06e34b7","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6233/tex_ceiling_textures_7965/tex_floor_textures_1242/tex_table_textures_6674/tex_wall_textures_2712","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2926992532814277969,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2926992532814277969,"visual_seed":2926992532814277969,"scene_id":"lab_003","finished_at":"2026-09-03T18:37:08"} +{"episode_id":"ep_000051","started_at":"2026-09-03T18:37:11","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.2527748640910965,-0.9345391269393886,0.71338606911949],"aabb_xy":[[0.20277985313164454,-0.9845391259749804],[0.3027698750505486,-0.884539127903797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.179078621398441,1.4183776110750235,0.71338606911949],"aabb_xy":[[-0.26876569770655645,1.328377610820573],[-0.08939154509032554,1.508377611329474]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.2242874278688627,1.0297096902570586,0.71338606911949],"aabb_xy":[[0.1592874267629194,1.0047443171889305],[0.28928742897480597,1.0546750633251871]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.3620324363301257,-0.7352013498899819,0.71338606911949],"aabb_xy":[[-0.40811752758485714,-0.799201347142537],[-0.3159473450753942,-0.6712013526374268]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.618539438122276,-0.8603436811070657,0.71338606911949],"aabb_xy":[[0.5885477753884056,-0.8903436804438662],[0.6485311008561463,-0.8303436817702652]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.5412320894392153,0.3863963510368764,0.71338606911949],"aabb_xy":[[0.4772320890616817,0.33665108418606415],[0.6052320898167489,0.4361416178876887]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.04654758115491453,-0.22460789123057356,0.71338606911949],"aabb_xy":[[-0.08404757973053532,-0.23734418689413145],[-0.00904758257929372,-0.21187159556701557]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.606070948068174,1.276756888379372,0.71338606911949],"aabb_xy":[[-0.6125725845761786,1.2669890663530623],[-0.5995693115601693,1.2865247104056818]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.06340634086346753,1.7426842807817535,0.71338606911949],"aabb_xy":[[0.018413754145017114,1.6976842815073048],[0.10839892758191794,1.7876842800562023]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.6402178444214283,-0.9087328668738373,0.71338606911949],"aabb_xy":[[-0.6902178460829229,-0.9587313091295399],[-0.5902178427599334,-0.8587344246181344]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.4414746703934429,-0.4502955120079353,0.71338606911949],"aabb_xy":[[0.3936685027796742,-0.5152955147149942],[0.4892808380072115,-0.3852955093008763]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.25330683833136314,0.617847015006161,0.71338606911949],"aabb_xy":[[-0.31489759755535596,0.5538470168971141],[-0.19171607910737032,0.6818470131152079]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.5540455912648501,0.3819848194047122,0.71338606911949],"aabb_xy":[[-0.5627595603147844,0.35948481874552396],[-0.5453316222149154,0.4044848200639004]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.18407082676756747,-1.3990717403781607,0.71338606911949],"aabb_xy":[[0.09407082443354839,-1.4765540949632732],[0.27407082910158653,-1.3215893857930479]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.3009848373728148,-0.9955279096936667,0.71338606911949],"aabb_xy":[[-0.35080161683764954,-1.04552790817797],[-0.25116805790798,-0.9455279112093633]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.07319940779363832,-2.324186262826491,0.71338606911949],"aabb_xy":[[0.048685783696632456,-2.348450856128527],[0.09771303189064418,-2.299921669524454]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.2042009468558894,-1.6924470946881414,0.71338606911949],"aabb_xy":[[0.1542009459053566,-1.723996241691663],[0.2542009478064222,-1.6608979476846202]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.2607902778271113,-2.317783169476049,0.71338606911949],"aabb_xy":[[-0.2832902773508186,-2.3402791169266695],[-0.2382902783034038,-2.295287222025428]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.5280672132924508,0.20854458691561994,0.71338606911949],"aabb_xy":[[-0.5415137399264941,0.19507473526252872],[-0.5146206866584074,0.22201443856871117]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.3662314173854919,0.4439662564070823,0.71338606911949],"aabb_xy":[[-0.4213566230150826,0.3839662549657952],[-0.31110621175590103,0.5039662578483695]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.082032348911938,-1.0090933875137897,0.71338606911949],"aabb_xy":[[0.01803234699959566,-1.0650045367718004],[0.14603235082428034,-0.9531822382557795]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.25087370022320005,1.6437710671569419,0.71338606911949],"aabb_xy":[[-0.33086752380175827,1.5637710645641005],[-0.17087987664464183,1.7237710697497837]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.0022434689340971037,-1.65816696202067,0.71338606911949],"aabb_xy":[[-0.03974346903969005,-1.6649891238736512],[0.035256531171495846,-1.651344800167689]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.2930125116686596,0.5176944944514403,0.71338606911949],"aabb_xy":[[0.2502458047892394,0.4536944910296379],[0.3357792185480798,0.5816944978732428]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.43630637207146544,-2.0354186705995208,0.71338606911949],"aabb_xy":[[-0.44559999030861597,-2.072918669087654],[-0.4270127538343148,-1.9979186721113864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6455744696988341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1923.png","name":"1923"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1923.png","name":"1923"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7631.png","name":"7631"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5416.png","name":"5416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/824.png","name":"824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/490.png","name":"490"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":618.7910030312041,"rotation_z_degrees":195.99525166520402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010701927463052626,0.005092240416775789,-0.0031922685292871816]},{"name":"camera_2","offset_m":[-0.01032188177410692,-0.005676492388776971,-0.0060162568620627035]},{"name":"camera_3","offset_m":[-0.013471276740089052,0.018765643729821663,-0.0061528972136910606]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006773171079932231,0.0001713157878198172,-0.0017038957057956329],"end_effector_yaw_offset_degrees":0.057250925322160695},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001131121984488644,0.0006479135772634046,-0.001152924155356833],"end_effector_yaw_offset_degrees":0.6415063074365743},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016088821768828043,-0.00036051280088112976,0.0004969583764260523],"end_effector_yaw_offset_degrees":0.34902701426839156}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025314709361069,-0.003750776970425782],"position_m":[0.3080685290638931,0.21724922302957422,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00293014904445607,0.0013456791949348589],"position_m":[0.314869850955544,-0.19175432080506513,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004608706736245804,0.00344615219048888],"position_m":[0.3155087067362458,0.04004615219048888,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004638680229120326,-0.0003591088714724241],"position_m":[0.05686386802291203,0.38964089112852757,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021167978413118623,-0.004325915956179266],"position_m":[0.15681679784131186,-0.43182591595617925,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bee8882b1a16a0d52da4ab2345480402839e07d34328ed3080f47bbf4a79ac0b","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1923/tex_ceiling_textures_490/tex_floor_textures_824/tex_table_textures_7631/tex_wall_textures_5416","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4770027530527810080,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4770027530527810080,"visual_seed":4770027530527810080,"scene_id":"lab_003","finished_at":"2026-09-03T18:39:45"} +{"episode_id":"ep_000052","started_at":"2026-09-03T18:39:48","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.5658447597809629,-1.314145060900383,0.71338606911949],"aabb_xy":[[-0.5836382667158794,-1.3319448064961807],[-0.5480512528460465,-1.2963453153045854]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.3112397510416034,-0.5870053954961567,0.71338606911949],"aabb_xy":[[0.2702218076552325,-0.637005396127114],[0.3522576944279743,-0.5370053948651994]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.09372811327457997,0.9435356449900327,0.71338606911949],"aabb_xy":[[0.08551356815889596,0.9348590546923913],[0.10194265839026392,0.952212235287674]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.24021148397005115,-2.3341860158315906,0.71338606911949],"aabb_xy":[[-0.2758406398700109,-2.3698186825884435],[-0.2045823280700914,-2.2985533490747376]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.26002815357745196,-1.5654554708520114,0.71338606911949],"aabb_xy":[[-0.3240281500047739,-1.6126250946741079],[-0.1960281571501301,-1.518285847029915]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.5176129624203524,-0.6372605317466411,0.71338606911949],"aabb_xy":[[-0.5346230597104029,-0.653395020244915],[-0.5006028651303016,-0.6211260432483672]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.2533775805547729,0.731912755585018,0.71338606911949],"aabb_xy":[[0.24874246540253947,0.7280454205078694],[0.2580126957070062,0.7357800906621667]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.11447226756326412,-1.600795072149852,0.71338606911949],"aabb_xy":[[-0.131972266841351,-1.618133172216198],[-0.09697226828517726,-1.583456972083506]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.2425742733694426,-1.8827191211984542,0.71338606911949],"aabb_xy":[[0.2250742742350754,-1.8925987482360416],[0.2600742725038097,-1.872839494160866]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.33507243495117894,-0.31079526168151395,0.71338606911949],"aabb_xy":[[-0.3966631941751718,-0.3747952597905609],[-0.2734816757271862,-0.24679526357246712]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.09438030542154308,0.31382969537644634,0.71338606911949],"aabb_xy":[[-0.11188023885552643,0.29632969545621174],[-0.07688037198755969,0.3313296952966808]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.29053151620129786,1.3122570945010326,0.71338606911949],"aabb_xy":[[-0.36053151780357734,1.2988243012993752],[-0.22053151459901837,1.3256898877026904]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.39785843614204686,-2.237538413242535,0.71338606911949],"aabb_xy":[[-0.4223720602390527,-2.2618030065445716],[-0.373344812045041,-2.2132738199404987]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.20887368311499266,-1.39260374724948,0.71338606911949],"aabb_xy":[[-0.2588579188231699,-1.4426037460629755],[-0.15888944740681543,-1.3426037484359843]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.12022648497550548,-0.7264548767182404,0.71338606911949],"aabb_xy":[[0.06525276293917259,-0.7814548762824735],[0.17520020701183836,-0.6714548771540071]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.17243487199908014,0.8699596196539536,0.71338606911949],"aabb_xy":[[-0.17847188499974487,0.8639329185850056],[-0.16639785899841542,0.8759863207229021]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.06470273956093098,-1.2815864318965675,0.71338606911949],"aabb_xy":[[-0.08233557515445855,-1.2992093779121905],[-0.04706990396740341,-1.2639634858809445]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.6416368000483333,1.2730079179761349,0.71338606911949],"aabb_xy":[[-0.6504388553573061,1.2651965918212056],[-0.6328347447393606,1.2808192441310637]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.31796814713220645,0.7460896514071571,0.71338606911949],"aabb_xy":[[0.30639916638526987,0.7210896512902255],[0.329537127879143,0.7710896515240889]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.4722712925995784,0.7115478209201571,0.71338606911949],"aabb_xy":[[-0.49416104018851925,0.621547823630908],[-0.45038154501063765,0.8015478182094062]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.4770414635685496,0.9716552400669753,0.71338606911949],"aabb_xy":[[0.4614856941582844,0.9561048068225684],[0.4925972329788149,0.9872056733113828]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.5133481748564328,1.0487203913202339,0.71338606911949],"aabb_xy":[[-0.563230871734129,0.9987203920739591],[-0.4634654779787366,1.0987203905665086]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.5316057875869395,1.3894542034148047,0.71338606911949],"aabb_xy":[[0.4516057865138191,1.3796761570774203],[0.6116057886600598,1.3992322497521892]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.35196751322798614,-0.6267124710432286,0.71338606911949],"aabb_xy":[[-0.3862837904026041,-0.6767124710164063],[-0.3176512360533682,-0.5767124710700509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6370790826445941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9253.png","name":"9253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4259.png","name":"4259"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6657.png","name":"6657"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":724.8122189166721,"rotation_z_degrees":326.64434063914274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012666622147863724,-0.01097601678263172,0.0027637340311497116]},{"name":"camera_2","offset_m":[-0.0036065309768925635,-0.006951107803458329,-0.01081972293102699]},{"name":"camera_3","offset_m":[-0.016118394301606238,-0.007658263320278254,0.015999459791905247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013902693693943107,-0.0015813081512951533,0.00015807702803773225],"end_effector_yaw_offset_degrees":0.2697736664243209},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001492948913699586,-0.0002831228220211673,0.0015643240497830815],"end_effector_yaw_offset_degrees":-0.37414035000582735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001629992240787378,0.0013659858574885434,0.0008378041194642655],"end_effector_yaw_offset_degrees":0.35401688214113003}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005328007199205519,-0.00023092694403723663],"position_m":[0.31113280071992055,0.22076907305596277,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018664118729760718,0.0018029387940572614],"position_m":[0.3196664118729761,-0.19129706120594273,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009563593194350899,0.003658043419011139],"position_m":[0.3099436406805649,0.04025804341901114,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038929037469328616,-0.0004990660850493125],"position_m":[0.06029290374693286,0.3895009339149507,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028237594415155454,0.002889061979754667],"position_m":[0.15187624055848445,-0.4246109380202453,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"92fa30172ecd961f384dd8d659f1769142af75a6d80bcdbb38d41481cf868357","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8786/tex_ceiling_textures_6657/tex_floor_textures_4259/tex_table_textures_9651/tex_wall_textures_9253","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5707133216659926358,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5707133216659926358,"visual_seed":5707133216659926358,"scene_id":"lab_003","finished_at":"2026-09-03T18:42:53"} +{"episode_id":"ep_000053","started_at":"2026-09-03T18:42:55","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.5081135302539345,-0.7302483493681757,0.71338606911949],"aabb_xy":[[-0.5631057808894455,-0.7852483511114886],[-0.45312127961842363,-0.675248347624863]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.05453367296694389,-2.0109851724700403,0.71338606911949],"aabb_xy":[[-0.015466323443017902,-2.031423108121721],[0.12453366937690567,-1.9905472368183579]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.5450237623811004,0.9669284350660754,0.71338606911949],"aabb_xy":[[-0.5558753686299759,0.9560691443384244],[-0.5341721561322247,0.9777877257937264]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.01073369608257524,-0.1919472609217503,0.71338606911949],"aabb_xy":[[-0.017774006016112235,-0.2719472603214217],[-0.0036933861490382478,-0.1119472615220789]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.4483079782990136,-2.080311517624889,0.71338606911949],"aabb_xy":[[0.38830797665609174,-2.1323116669168334],[0.5083079799419354,-2.028311368332945]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.5466337854020886,-1.9485726773180905,0.71338606911949],"aabb_xy":[[-0.601633784578678,-2.0035623520930477],[-0.491633786225499,-1.8935830025431326]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.4385559977015374,-0.11895050374657234,0.71338606911949],"aabb_xy":[[0.41604230587808017,-0.18895050434757987],[0.46106968952499455,-0.04895050314556483]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.3560086014042039,1.4348933492421785,0.71338606911949],"aabb_xy":[[0.32100860313408397,1.42781922154719],[0.3910085996743238,1.4419674769371664]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.509619276519412,1.448741659535132,0.71338606911949],"aabb_xy":[[-0.5557043677741434,1.384741662282577],[-0.46353418526468054,1.5127416567876872]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.4110030414429886,-2.5588150177972535,0.71338606911949],"aabb_xy":[[0.3860030421710263,-2.575160381393416],[0.4360030407149509,-2.542469654201091]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.6226331967441359,0.14066112394583596,0.71338606911949],"aabb_xy":[[0.5851331959521403,0.13429328298764587],[0.6601331975361312,0.14702896490402606]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.4500441453202624,0.07493445719265379,0.71338606911949],"aabb_xy":[[0.4281354631809113,0.05303379037256305],[0.47195282745961337,0.09683512401274451]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.19980950192444635,-1.4420803278368202,0.71338606911949],"aabb_xy":[[-0.23714077844968898,-1.4767333826316724],[-0.16247822539920373,-1.407427273041968]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.11647261150807109,-0.43351512438053463,0.71338606911949],"aabb_xy":[[-0.19647261178167807,-0.5064646722062514],[-0.03647261123446411,-0.36056557655481797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.039852139208237936,1.7019557139488302,0.71338606911949],"aabb_xy":[[-0.1295392155163534,1.6119557136943796],[0.04983493709987752,1.7919557142032807]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.6154147737937091,-1.0808847508058168,0.71338606911949],"aabb_xy":[[-0.6704102516143685,-1.1358847522397237],[-0.5604192959730497,-1.0258847493719099]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.5552770619005001,0.3377246495297417,0.71338606911949],"aabb_xy":[[-0.5965816049642361,0.2737246499616246],[-0.5139725188367641,0.40172464909785877]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.4883211226450155,0.9760904190145663,0.71338606911949],"aabb_xy":[[0.4756943353578191,0.9665443453129933],[0.5009479099322118,0.9856364927161391]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.4869416341534867,0.4806086988071874,0.71338606911949],"aabb_xy":[[0.39694163473511584,0.4472332019629976],[0.5769416335718576,0.5139841956513771]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.34684194009525343,-1.4587129128630567,0.71338606911949],"aabb_xy":[[-0.3517412324018169,-1.4863898321656255],[-0.3419426477886899,-1.431035993560488]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.16539892778665632,1.4457287055415962,0.71338606911949],"aabb_xy":[[-0.2293946251817529,1.3817287072408873],[-0.10140323039155974,1.5097287038423046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6420417272961243,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2477.png","name":"2477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1785.png","name":"1785"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.1699304993683,"rotation_z_degrees":332.6195047116988,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005859399582968407,-0.002743586647323975,-0.016546212037344736]},{"name":"camera_2","offset_m":[0.007607001262324081,0.0071615800069251105,-0.016570893959395497]},{"name":"camera_3","offset_m":[-0.009516853235788254,0.018693641153028216,0.004311666793624901]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009398854598083829,0.0005786471068677168,-0.0019666273471479773],"end_effector_yaw_offset_degrees":-0.08493281137058917},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-3.5580978584573084e-05,0.0009297499060187402,0.0011023792575711859],"end_effector_yaw_offset_degrees":0.23412991445847986},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00039550873674962716,-0.0006797898676651228,0.0009782384530733238],"end_effector_yaw_offset_degrees":0.9392413013125049}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00023043632043297842,5.901576117355988e-05],"position_m":[0.31083043632043295,0.22105901576117357,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002752852890016807,-0.0020072900058913266],"position_m":[0.3150471471099832,-0.19510729000589133,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0030458893332499645,-0.004714023402231088],"position_m":[0.31394588933324996,0.031885976597768914,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011514225434801515,0.0041471856018169976],"position_m":[0.05755142254348015,0.394147185601817,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004496539309094422,0.0036659753976807435],"position_m":[0.15919653930909441,-0.4238340246023192,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5245094682252536f09f3efe26707b35013c2601b59c69d431abf35dcf7db089","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2576/tex_ceiling_textures_1785/tex_floor_textures_9668/tex_table_textures_3964/tex_wall_textures_2477","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6470544182940111464,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6470544182940111464,"visual_seed":6470544182940111464,"scene_id":"lab_003","finished_at":"2026-09-03T18:45:36"} +{"episode_id":"ep_000054","started_at":"2026-09-03T18:45:40","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.6924389259492261,-1.7813413814235612,0.71338606911949],"aabb_xy":[[0.6844126553186002,-1.7900928764009139],[0.7004651965798522,-1.7725898864462086]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.2195819825445512,-0.9321345716784655,0.71338606911949],"aabb_xy":[[0.20801300179761467,-0.9571345717953973],[0.23115096329148782,-0.9071345715615339]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.6929461324072266,0.6436369861395628,0.71338606911949],"aabb_xy":[[0.6866340328708882,0.6378700468863441],[0.699258231943565,0.6494039253927817]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.5550983639997215,-1.143750949566688,0.71338606911949],"aabb_xy":[[-0.5862452828433046,-1.2137509482534952],[-0.5239514451561383,-1.0737509508798808]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.12298303684428624,1.1595173262637224,0.71338606911949],"aabb_xy":[[-0.1845737960682791,1.0955173281546757],[-0.06139227762029345,1.2235173243727695]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.6751478238878448,0.2929194510866697,0.71338606911949],"aabb_xy":[[-0.6907035932981102,0.2773690178422626],[-0.6595920544775796,0.30846988433107697]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.5323044935940908,-2.055853414453486,0.71338606911949],"aabb_xy":[[0.49105568256417603,-2.1108534139657036],[0.5735533046240054,-2.0008534149412687]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[-0.31611078815936305,0.14152238087594649,0.71338606911949],"aabb_xy":[[-0.32144330281397604,0.1361980526307109],[-0.31077827350475007,0.14684670912118208]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.03640351256618535,-2.4178724057231076,0.71338606911949],"aabb_xy":[[-0.00039112055872092544,-2.45477828081969],[0.07319814569109162,-2.3809665306265253]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.5410801066123936,-1.0705802533547526,0.71338606911949],"aabb_xy":[[0.47708010731822537,-1.1345663937236068],[0.6050801059065618,-1.0065941129858984]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.33817763118553745,-1.551619099762771,0.71338606911949],"aabb_xy":[[-0.40817763457709944,-1.5869348734662017],[-0.26817762779397547,-1.51630332605934]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.3195108069078011,1.0410767011152733,0.71338606911949],"aabb_xy":[[-0.4045108055998757,1.0090908377203944],[-0.2345108082157264,1.0730625645101521]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.5512865312028145,1.4468689881694003,0.71338606911949],"aabb_xy":[[-0.5799358635632307,1.4182234288923243],[-0.5226371988423982,1.475514547446476]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.037263553643731684,-1.820360528737076,0.71338606911949],"aabb_xy":[[-0.012709511888783779,-1.8703605285496094],[0.08723661917624716,-1.7703605289245437]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.2653020337133426,0.6537141496751477,0.71338606911949],"aabb_xy":[[0.24283726374193748,0.6312141487962871],[0.2877668036847477,0.6762141505540081]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.24540199721431588,-0.8814183008253262,0.71338606911949],"aabb_xy":[[-0.28290199731990884,-0.8882404626783073],[-0.20790199710872292,-0.874596138972345]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.5382360289853299,-0.8071244415786356,0.71338606911949],"aabb_xy":[[-0.6022360262709785,-0.8486311605314795],[-0.4742360316996812,-0.7656177226257915]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.20590475349990678,0.9614391063930809,0.71338606911949],"aabb_xy":[[0.18340475397619935,0.9389431589424599],[0.22840475302361415,0.9839350538437015]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.624650993797975,-0.4166463691050546,0.71338606911949],"aabb_xy":[[0.5912108186019552,-0.45008999493598456],[0.6580911689939944,-0.3832027432741244]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.3714302843930224,1.0380274677189032,0.71338606911949],"aabb_xy":[[0.3074302840154887,0.9882822008680909],[0.43543028477055595,1.0877727345697155]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.2534339682611666,-2.456358319182306,0.71338606911949],"aabb_xy":[[0.2159339683174002,-2.4646514092171428],[0.290933968204933,-2.4480652291474696]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.5470713405447507,0.039879665045930324,0.71338606911949],"aabb_xy":[[-0.6370713370456224,-0.006031977372527911],[-0.4570713440438789,0.08579130746438857]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.47640790673722044,-1.7201897612910697,0.71338606911949],"aabb_xy":[[0.4575235229687103,-1.7390756860714225],[0.4952922905057307,-1.701303836510717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.644252215719195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5979.png","name":"5979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5979.png","name":"5979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1252.png","name":"1252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7341.png","name":"7341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":755.0015212324927,"rotation_z_degrees":90.54279716628966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002410676619406131,0.008334463539685144,-0.008481991439403673]},{"name":"camera_2","offset_m":[-0.006343282760427758,0.012593830859940602,-0.018931115585849048]},{"name":"camera_3","offset_m":[0.0050516719875210205,0.005093393408656777,0.01041574221180933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012076012924641492,0.001977068292945669,0.0007577465332353293],"end_effector_yaw_offset_degrees":0.0941931932418929},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005897822813290257,0.0010898473657663197,0.0012996219823675323],"end_effector_yaw_offset_degrees":-0.8897598972856258},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010490826882681458,-0.0005127065952847093,0.0005053550659811896],"end_effector_yaw_offset_degrees":-0.2001962587075483}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011328411296301169,0.001639728331064503],"position_m":[0.30946715887036985,0.22263972833106452,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[3.6096417172342896e-05,-0.004961504274258269],"position_m":[0.31783609641717236,-0.19806150427425825,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004399174776224457,0.0008785561095117685],"position_m":[0.30650082522377553,0.03747855610951177,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002656884288658119,0.002576715586136041],"position_m":[0.05374311571134188,0.39257671558613605,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001644343811038563,-0.002873542845781988],"position_m":[0.15634434381103857,-0.430373542845782,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62bfa8166cd87c03f5d94c941487d1de7c2999880b880322e5b746bbc87a465c","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5979/tex_ceiling_textures_1080/tex_floor_textures_7341/tex_table_textures_1252/tex_wall_textures_4657","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7235702032628954072,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7235702032628954072,"visual_seed":7235702032628954072,"scene_id":"lab_003","finished_at":"2026-09-03T18:48:32"} +{"episode_id":"ep_000055","started_at":"2026-09-03T18:48:36","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.5462230689508053,0.39964215957916194,0.71338606911949],"aabb_xy":[[-0.5786847698327325,0.3695093274642592],[-0.5137613680688776,0.42977499169406447]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.6554272040930518,-0.8431802349134618,0.71338606911949],"aabb_xy":[[0.6448597244349528,-0.8537252650264703],[0.6659946837511508,-0.8326352048004532]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.4638819084753941,-1.5342403201442054,0.71338606911949],"aabb_xy":[[-0.5338819106068236,-1.557002285769901],[-0.39388190634396447,-1.5114783545185098]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.49533279880437475,-1.3119510442502789,0.71338606911949],"aabb_xy":[[0.4797770293941096,-1.327501477494686],[0.5108885682146401,-1.2964006110058717]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.5859870301893227,0.05238375773190995,0.71338606911949],"aabb_xy":[[-0.6234870287649433,0.03964746206835201],[-0.5484870316137017,0.06512005339546789]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.5924496340949562,-1.0066473909408375,0.71338606911949],"aabb_xy":[[-0.6574496352008995,-1.0316127640089658],[-0.5274496329890129,-0.9816820178727093]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.4039455159840464,-0.7191688633261555,0.71338606911949],"aabb_xy":[[0.3945985084017512,-0.7334724855437995],[0.41329252356634166,-0.7048652411085115]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.18843137906956853,1.400131331971925,0.71338606911949],"aabb_xy":[[-0.23370999395071776,1.3361313326237412],[-0.14315276418841924,1.4641313313201085]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.29271856807942165,1.2467510216319986,0.71338606911949],"aabb_xy":[[0.23771856987767678,1.2062290550055608],[0.34771856628116643,1.287272988258436]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.5099565325308291,-2.1574709188260246,0.71338606911949],"aabb_xy":[[-0.520797010757344,-2.1746572001166733],[-0.49911605430431416,-2.140284637535376]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.21023740338124663,-1.5951713798308726,0.71338606911949],"aabb_xy":[[-0.2742374065998845,-1.6418944917298812],[-0.1462374001626088,-1.5484482679318645]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.32784978135827614,0.9461812469761708,0.71338606911949],"aabb_xy":[[0.2428497826662015,0.9141953835812919],[0.4128497800503508,0.9781671103710496]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.6087726470302444,-1.92700086568478,0.71338606911949],"aabb_xy":[[0.5437726460731171,-1.9789490776184855],[0.6737726479873716,-1.8750526537510743]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.13850689812704087,-0.38653225270717906,0.71338606911949],"aabb_xy":[[-0.19252249440894084,-0.45053225559943616],[-0.08449130184514084,-0.32253224981492185]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.21096827032744586,-2.4027667837756796,0.71338606911949],"aabb_xy":[[-0.24136638142658945,-2.4331736857773487],[-0.18057015922830227,-2.3723598817740097]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.45330299387589523,-2.19928526124212,0.71338606911949],"aabb_xy":[[0.42331133114202485,-2.22928526057892],[0.4832946566097655,-2.169285261905319]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.2215383965082498,-1.4080139649763648,0.71338606911949],"aabb_xy":[[0.20452829921819912,-1.4241484534746385],[0.23854849379830043,-1.3918794764780906]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.5517178498810329,-0.8153988114311923,0.71338606911949],"aabb_xy":[[-0.5892178498247993,-0.8236919014660289],[-0.5142178499372665,-0.8071057213963557]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.5322097302565522,1.5908130162731093,0.71338606911949],"aabb_xy":[[-0.597209728813625,1.5610604828592267],[-0.4672097316994793,1.620565549686992]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.2968916137652716,-0.8714958962310448,0.71338606911949],"aabb_xy":[[0.2657446949216885,-0.941495894917852],[0.32803853260885474,-0.8014958975442377]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.3527779820965122,-1.444720814528059,0.71338606911949],"aabb_xy":[[-0.3752744035303762,-1.4672208143348064],[-0.330281560662648,-1.4222208147213116]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[0.08317814172728966,-1.6018331858790722,0.71338606911949],"aabb_xy":[[0.060679006001062685,-1.6243331866573352],[0.10567727745351663,-1.5793331851008092]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.5474690445982568,-0.9820210121851158,0.71338606911949],"aabb_xy":[[0.46746904743868156,-0.9935686131429329],[0.6274690417578321,-0.9704734112272988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6351740176483106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3724.png","name":"3724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3724.png","name":"3724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2219.png","name":"2219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3927.png","name":"3927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7686.png","name":"7686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7374.png","name":"7374"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":762.3976412946276,"rotation_z_degrees":216.22135634701277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017947111710892607,0.013926380523724958,-0.012250587164076038]},{"name":"camera_2","offset_m":[0.01901998553673279,-0.0036903499169491545,-0.009402029863529511]},{"name":"camera_3","offset_m":[-0.010469377733537271,-0.014524403926376266,0.00205489693264041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013417394442019558,-0.000969385667722956,-0.0012596895821764807],"end_effector_yaw_offset_degrees":0.793327097910959},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010642848933510693,6.8021569683753e-05,-0.0014553302741218436],"end_effector_yaw_offset_degrees":0.12086921382917759},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018941196500518159,0.0002972235939237406,0.0007630698203969434],"end_effector_yaw_offset_degrees":0.6249416537690282}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020712435917840614,0.004008706087296028],"position_m":[0.31267124359178405,0.22500870608729603,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019582980903112123,-0.0015954534420194832],"position_m":[0.3158417019096888,-0.19469545344201947,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0001867797270648664,0.003037352995826523],"position_m":[0.31071322027293513,0.039637352995826526,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037071010398261107,-0.00016702808429986272],"position_m":[0.05269289896017389,0.38983297191570015,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004036074637725875,0.004391463951009385],"position_m":[0.15066392536227413,-0.4231085360489906,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a8eb5dc89f0dc679fe4ffe8ca0b9a0f3a8b0b066dd26fbe72fb05946a524e91d","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3724/tex_ceiling_textures_7374/tex_floor_textures_7686/tex_table_textures_2219/tex_wall_textures_3927","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2975675795862486650,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2975675795862486650,"visual_seed":2975675795862486650,"scene_id":"lab_003","finished_at":"2026-09-03T18:51:25"} +{"episode_id":"ep_000056","started_at":"2026-09-03T18:51:28","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.6102737026896999,-2.424950584970345,0.71338606911949],"aabb_xy":[[-0.6702737025362667,-2.4817692071633837],[-0.5502737028431332,-2.3681319627773063]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.21324353651806405,-1.9919325190534862,0.71338606911949],"aabb_xy":[[-0.21955563605440248,-1.9976994583067054],[-0.2069314369817256,-1.9861655798002675]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.014510177493565313,-0.9354073747261844,0.71338606911949],"aabb_xy":[[-0.06950242812907627,-0.9904073764694973],[0.04048207314194564,-0.8804073729828717]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.3153138005781557,1.6974256864816302,0.71338606911949],"aabb_xy":[[0.29076758495540495,1.6671767899325933],[0.3398600162009064,1.7276745830306675]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.3916983038842625,-1.644612060777905,0.71338606911949],"aabb_xy":[[-0.4416983049033979,-1.681078276515733],[-0.3416983028651273,-1.6081458450400772]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.6560679538948553,-1.0568284589931705,0.71338606911949],"aabb_xy":[[-0.6668409278162232,-1.0918284572122094],[-0.6452949799734876,-1.0218284607741315]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.30154125456055403,1.2206624134697819,0.71338606911949],"aabb_xy":[[0.2415412543091528,1.166381088433317],[0.36154125481195515,1.2749437385062463]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.07519788642543468,-0.34427301396675425,0.71338606911949],"aabb_xy":[[-0.11019788632145354,-0.35264724947869425],[-0.0401978865294158,-0.33589877845481436]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.3803869658455804,-1.0599143866180014,0.71338606911949],"aabb_xy":[[-0.46038696324917383,-1.139906957816184],[-0.300386968441987,-0.9799218154198185]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.5393937174090513,-0.7209511226631853,0.71338606911949],"aabb_xy":[[0.526521813908111,-0.8009511230770213],[0.5522656209099913,-0.640951122249349]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.4039389598072318,-0.6335374740052335,0.71338606911949],"aabb_xy":[[0.36643895999019827,-0.6381756853163754],[0.4414389596242654,-0.6288992626940917]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.5330088132717441,0.9450811274284687,0.71338606911949],"aabb_xy":[[0.4992332540810511,0.9310426322153036],[0.5667843724624371,0.9591196226416336]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.0632037974908416,-0.4619163121364602,0.71338606911949],"aabb_xy":[[-0.07119778606854497,-0.4699163922315505],[-0.05520980891313819,-0.4539162320413698]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.21536757101436005,-1.5459492734386153,0.71338606911949],"aabb_xy":[[-0.2793675713918936,-1.5956945402894274],[-0.1513675706368264,-1.4962040065878028]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.1028611757449781,-1.4995714117847685,0.71338606911949],"aabb_xy":[[0.02286117873073011,-1.5197059634581798],[0.1828611727592261,-1.4794368601113572]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.110798090488747,1.2149810169080815,0.71338606911949],"aabb_xy":[[-0.20079808908321695,1.1987304305946604],[-0.02079809189427706,1.2312316032215025]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.3281153462080424,-0.7277280543857552,0.71338606911949],"aabb_xy":[[0.3227777705420378,-0.752728055314895],[0.33345292187404696,-0.7027280534566154]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.6556994497878061,0.9472681678902726,0.71338606911949],"aabb_xy":[[-0.6781958712216701,0.9247681680835251],[-0.6332030283539419,0.96976816769702]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.19970506225438123,-2.043983883401774,0.71338606911949],"aabb_xy":[[-0.237205063439174,-2.048402106097834],[-0.1622050610695884,-2.039565660705713]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.55090415246283,-1.8972087440733225,0.71338606911949],"aabb_xy":[[-0.5922086955265659,-1.9612087436414396],[-0.5095996093990939,-1.8332087445052054]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.12329333498947936,-1.7418223988744097,0.71338606911949],"aabb_xy":[[0.08829333585952369,-1.7475676199500738],[0.15829333411943503,-1.7360771777987456]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.34980250479443487,0.733435063269182,0.71338606911949],"aabb_xy":[[0.3438359658536991,0.7274739186098178],[0.35576904373517065,0.7393962079285459]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.42212814231518436,-2.2728265529593106,0.71338606911949],"aabb_xy":[[0.4140004541218712,-2.2817401613700183],[0.43025583050849764,-2.263912944548603]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.22754810470622278,-1.0263958209839124,0.71338606911949],"aabb_xy":[[0.2100481044468862,-1.0404873631726852],[0.24504810496555945,-1.01230427879514]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.5185168491331258,-2.393036922028405,0.71338606911949],"aabb_xy":[[0.49329601227328596,-2.418260672881291],[0.5437376859929652,-2.3678131711755173]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.6259806126060699,-0.8777827209658764,0.71338606911949],"aabb_xy":[[-0.6296838739352087,-0.8814847392745943],[-0.622277351276931,-0.8740807026571585]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6410351318671583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5743.png","name":"5743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5743.png","name":"5743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4824.png","name":"4824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1573.png","name":"1573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5595.png","name":"5595"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/300.png","name":"300"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":728.4574705800336,"rotation_z_degrees":174.84313876786723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013295777430338458,-0.015910760508360516,0.0046343992383155765]},{"name":"camera_2","offset_m":[0.007621150407622266,0.006205277888643751,-0.00640796736135874]},{"name":"camera_3","offset_m":[-0.014264951880941491,0.010198085319411555,0.008608507207285676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011036149127027946,0.000501133055540511,-0.00020500636338949946],"end_effector_yaw_offset_degrees":-0.8695851817250948},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001970514580009056,0.001400152028816866,0.0005706678534124739],"end_effector_yaw_offset_degrees":0.24243955659768113},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009403455796031298,-0.001462190703160675,0.0003095895957558035],"end_effector_yaw_offset_degrees":-0.042594389977005154}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0047471342979305406,0.004047348962428399],"position_m":[0.31534713429793054,0.2250473489624284,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021804865222304374,-0.0010534454646953292],"position_m":[0.3199804865222305,-0.19415344546469532,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00481286885345627,-0.00351577830556981],"position_m":[0.3157128688534563,0.03308422169443019,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029886385710837056,0.004963278131018192],"position_m":[0.0593886385710837,0.3949632781310182,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001587155809032308,0.0018928885738278209],"position_m":[0.15628715580903232,-0.4256071114261722,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f030b478a6d0c6c76f2cf38c933d5635b9ce4a368865e2a4911e338f629831a8","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5743/tex_ceiling_textures_300/tex_floor_textures_5595/tex_table_textures_4824/tex_wall_textures_1573","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":184332173881424907,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":184332173881424907,"visual_seed":184332173881424907,"scene_id":"lab_003","finished_at":"2026-09-03T18:54:08"} +{"episode_id":"ep_000057","started_at":"2026-09-03T18:54:13","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.4253831556304182,0.16218317305089425,0.71338606911949],"aabb_xy":[[0.4216798943012792,0.15848115474217633],[0.429086416959557,0.16588519135961205]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.4996273512064149,0.7704846946659956,0.71338606911949],"aabb_xy":[[0.44962735025588213,0.7389355476624742],[0.5496273521569477,0.802033841669517]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.6608364648059403,0.8029478975177962,0.71338606911949],"aabb_xy":[[-0.6760086340875737,0.7877790405895928],[-0.645664295524307,0.8181167544459995]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.20756328617521674,1.149749250500808,0.71338606911949],"aabb_xy":[[-0.2875632835788101,1.069756679302625],[-0.12756328877162332,1.2297418216989906]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.14184103538057735,1.030188808145673,0.71338606911949],"aabb_xy":[[0.06184103739979232,1.022587267183821],[0.2218410333613624,1.0377903491075249]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.6449925723397255,1.5649151899750975,0.71338606911949],"aabb_xy":[[-0.6860105157260964,1.5149151893441402],[-0.6039746289533546,1.6149151906060548]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.4116616516630438,-2.1316120531603864,0.71338606911949],"aabb_xy":[[0.4029636893723287,-2.143737027467861],[0.42035961395375926,-2.1194870788529117]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.5899848928409149,-1.3811936097906914,0.71338606911949],"aabb_xy":[[-0.6270190022689746,-1.4155708171244008],[-0.5529507834128551,-1.346816402456982]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.3841676684379452,1.2903615609035355,0.71338606911949],"aabb_xy":[[-0.4179432276286382,1.2763230656903708],[-0.3503921092472523,1.3044000561167006]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.23835006674392467,-1.8323725471941148,0.71338606911949],"aabb_xy":[[0.23023641207054754,-1.840478363648144],[0.24646372141730175,-1.824266730740086]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.494653214458727,-0.5839655376273609,0.71338606911949],"aabb_xy":[[0.4571532145149606,-0.5922586276621975],[0.5321532144024934,-0.5756724475925243]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.44253838097186726,1.2210549297684117,0.71338606911949],"aabb_xy":[[0.3875383813501214,1.166071236980939],[0.4975383805936131,1.2760386225558844]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.2784651521168654,-2.5069950540401122,0.71338606911949],"aabb_xy":[[0.22847204000767357,-2.5569950547143088],[0.32845826422605734,-2.4569950533659175]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.6110106002844589,-0.6819601450712311,0.71338606911949],"aabb_xy":[[0.6070501165147245,-0.6896280096567519],[0.6149710840541932,-0.6742922804857107]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.6210161220305559,-1.6708651533000425,0.71338606911949],"aabb_xy":[[-0.6336188211676322,-1.683460549524908],[-0.6084134228934793,-1.658269757075177]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.03931992024490227,-1.9179445435604725,0.71338606911949],"aabb_xy":[[-0.045414548133020594,-1.9265139381121417],[-0.03322529235678395,-1.9093751490088042]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.15529740049883667,0.4597071244813211,0.71338606911949],"aabb_xy":[[-0.22029740149933716,0.4089207593266462],[-0.09029739949833612,0.5104934896359961]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.4799826883662943,0.6075373736027463,0.71338606911949],"aabb_xy":[[-0.4860197013669591,0.6015106725337981],[-0.47394567536562965,0.6135640746716945]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.05042648210302014,0.7244801942630756,0.71338606911949],"aabb_xy":[[-0.01357351518262851,0.6829734753102317],[0.11442647938866879,0.7659869132159196]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.043368202836729264,-2.3649515993784203,0.71338606911949],"aabb_xy":[[-0.03663179412630991,-2.4420272410221937],[0.12336819979976843,-2.287875957734647]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.6193989135173581,-1.3569215922382365,0.71338606911949],"aabb_xy":[[0.5694159633298786,-1.4069215918807967],[0.6693818637048373,-1.3069215925956759]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.15612958768657115,0.9474863777410061,0.71338606911949],"aabb_xy":[[-0.22012958909456182,0.8956974262170815],[-0.09212958627858049,0.9992753292649309]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.5016614761297085,0.5414642671800105,0.71338606911949],"aabb_xy":[[0.4416614752688956,0.49003783717352395],[0.5616614769905212,0.5928906971864967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.644740326255275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3764.png","name":"3764"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3764.png","name":"3764"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4794.png","name":"4794"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6970.png","name":"6970"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":792.0131231042458,"rotation_z_degrees":257.1117546402147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013497727053035497,0.01157639967827859,0.0032514859324356757]},{"name":"camera_2","offset_m":[0.011835928982360387,0.0018228229231387442,-0.016124746191760554]},{"name":"camera_3","offset_m":[-0.004472735567583874,-0.0017033755077221595,-0.00434565868659827]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008448817003049967,-0.001966931779187851,-0.0007935989461353042],"end_effector_yaw_offset_degrees":0.404467320582234},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000412786824675134,-0.0013277976424793181,0.0005265200721218497],"end_effector_yaw_offset_degrees":0.19503289472966356},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009073066266179844,0.0005071499125182842,-0.0008630422434802605],"end_effector_yaw_offset_degrees":0.04778057290030535}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009431724636948212,-0.0002298390411298182],"position_m":[0.3115431724636948,0.22077016095887017,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004880880957903967,0.004016288625482979],"position_m":[0.3182880880957904,-0.18908371137451702,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004817016734094169,0.0008934438847384863],"position_m":[0.30608298326590583,0.037493443884738485,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003367659667871852,0.00030262658538206776],"position_m":[0.05303234033212815,0.39030262658538206,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037193233054550493,-0.001285202187871095],"position_m":[0.15841932330545505,-0.4287852021878711,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62e5ea02021f58571dd41c012c188d92d25e56ebb820b9675c68d545d12fbb9e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3764/tex_ceiling_textures_2952/tex_floor_textures_912/tex_table_textures_4794/tex_wall_textures_6970","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2320808922846414746,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2320808922846414746,"visual_seed":2320808922846414746,"scene_id":"lab_003","finished_at":"2026-09-03T18:56:55"} +{"episode_id":"ep_000058","started_at":"2026-09-03T18:56:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.32879942573127185,0.38432515277062285,0.71338606911949],"aabb_xy":[[0.324721267824222,0.3802441725223595],[0.3328775836383215,0.3884061330188861]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.6665818267959851,1.0140536768155948,0.71338606911949],"aabb_xy":[[-0.6949115367445253,1.0095929346218777],[-0.6382521168474449,1.0185144190093118]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.39921643023516795,0.8374185287805487,0.71338606911949],"aabb_xy":[[0.38606518426387865,0.8124185290238624],[0.41236767620645737,0.8624185285372354]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.19829398321410463,-2.1477196082856578,0.71338606911949],"aabb_xy":[[-0.22046651019075542,-2.169895275441781],[-0.17612145623745376,-2.1255439411295347]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.05031367351956617,0.9339652221433692,0.71338606911949],"aabb_xy":[[-0.03468632489785706,0.8490909266810843],[0.1353136719369894,1.0188395176056542]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.4993181935106375,-2.305196643588752,0.71338606911949],"aabb_xy":[[-0.5368181943026329,-2.3115644845469423],[-0.46181819271864205,-2.298828802630562]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.19243679600095542,1.307427325667334,0.71338606911949],"aabb_xy":[[-0.2574367941568745,1.281131081117422],[-0.12743679784503636,1.3337235702172463]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.24603939204619707,1.6708242414423915,0.71338606911949],"aabb_xy":[[-0.27981495123689004,1.6567857462292268],[-0.21226383285550407,1.6848627366555566]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.5220673360590291,0.8224651620838808,0.71338606911949],"aabb_xy":[[0.480762792995293,0.7584651625157636],[0.563371879122765,0.8864651616519977]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.09860136289573185,-1.8747435255254246,0.71338606911949],"aabb_xy":[[0.034601366468409944,-1.921913149347521],[0.16260135932305375,-1.8275739017033281]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.5777668708478474,1.03635834726933,0.71338606911949],"aabb_xy":[[-0.5953451730367944,1.018783857695225],[-0.5601885686589007,1.053932836843435]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.06974194182737758,-0.633753827466315,0.71338606911949],"aabb_xy":[[-0.09224194233941817,-0.6562456858317134],[-0.047241941315336974,-0.6112619691009167]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.4685847437762272,-1.3569823312326474,0.71338606911949],"aabb_xy":[[-0.5385847464128135,-1.3770871962285127],[-0.3985847411396408,-1.3368774662367817]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.6056640294088298,-1.1316920891616407,0.71338606911949],"aabb_xy":[[0.5416640301146616,-1.1956782295304949],[0.669664028702998,-1.0677059487927865]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.31516112863055423,-2.110843190433876,0.71338606911949],"aabb_xy":[[0.2999889593489209,-2.126012047362079],[0.3303332979121876,-2.0956743335056727]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.3182905248182597,-2.4907506583966152,0.71338606911949],"aabb_xy":[[0.3106662567280815,-2.4983838819331594],[0.325914792908438,-2.483117434860072]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.14235107191513774,1.2610617799491584,0.71338606911949],"aabb_xy":[[0.105316962487078,1.2266845726154487],[0.17938518134319742,1.2954389872828675]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.13681426049684153,-1.4541869140005486,0.71338606911949],"aabb_xy":[[-0.14623173506670425,-1.4636030911382674],[-0.12739678592697876,-1.4447707368628293]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.45663004247453753,1.6286424265043773,0.71338606911949],"aabb_xy":[[0.42416834159260997,1.5985095943894743],[0.4890917433564649,1.6587752586192794]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.3812408481842012,-0.5282658706524614,0.71338606911949],"aabb_xy":[[-0.38657336283881416,-0.5335901988976971],[-0.3759083335295882,-0.522941542407226]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.06723423932435102,0.2392628437675497,0.71338606911949],"aabb_xy":[[-0.11705101878918578,0.18926284528324636],[-0.01741745985951626,0.28926284225185306]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.5687497052454077,0.8660213464947377,0.71338606911949],"aabb_xy":[[-0.5838520067064256,0.8509198248636757],[-0.5536474037843894,0.8811228681257993]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.5820124885362814,1.2039984250412985,0.71338606911949],"aabb_xy":[[0.5020124852784384,1.1240019172493145],[0.6620124917941244,1.2839949328332825]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.6343793375921603,0.014890921609069352,0.71338606911949],"aabb_xy":[[-0.6444610446707336,-0.0651090762830453],[-0.6242976305135867,0.094890919501184]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.5121218668863918,-2.146952717454634,0.71338606911949],"aabb_xy":[[0.47868169169037206,-2.1803963432855635],[0.5455620420824112,-2.113509091623703]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.32402022206258063,-1.531343917981581,0.71338606911949],"aabb_xy":[[-0.3590202203732761,-1.5390589329051267],[-0.2890202237518852,-1.5236289030580354]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.6012183263647057,-1.217434141496854,0.71338606911949],"aabb_xy":[[-0.621276737977946,-1.2374992284060113],[-0.5811599147514654,-1.197369054587696]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.20551178284393756,-1.592359494639703,0.71338606911949],"aabb_xy":[[0.1819266593800427,-1.6573594968851348],[0.22909690630783242,-1.5273594923942713]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_28","position":[-0.40367956957831963,1.6850732509095079,0.71338606911949],"aabb_xy":[[-0.4085788618848831,1.6573963316069389],[-0.39878027727175613,1.7127501702120764]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_29","position":[-0.1046866455679083,-1.617809386543244,0.71338606911949],"aabb_xy":[[-0.16468664581930947,-1.6720907115797083],[-0.04468664531650711,-1.563528061506779]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.1954300414312845,-1.933430321680524,0.71338606911949],"aabb_xy":[[-0.21149196888980212,-2.0184303234931154],[-0.17936811397276683,-1.848430319867932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6404344416429703,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6418.png","name":"6418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6418.png","name":"6418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8626.png","name":"8626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":585.2625531426959,"rotation_z_degrees":40.50773135107784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018298962954651204,0.01870751760159103,0.011286744604728092]},{"name":"camera_2","offset_m":[0.006795688377909288,0.011635633927216348,-0.015808232600324778]},{"name":"camera_3","offset_m":[-0.01874366420033252,-0.01579990421521411,0.010297240605253149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014839424116014875,-0.0016605736959913226,-0.0019945181650155913],"end_effector_yaw_offset_degrees":0.26905185076690286},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007440585721259691,0.0018440680242250125,0.0009423664879674091],"end_effector_yaw_offset_degrees":-0.3463150399814763},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017378976967102329,-0.0011489968393944877,-0.0013960035962740864],"end_effector_yaw_offset_degrees":0.5039863490363519}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004215867165759912,-0.0019519053153132125],"position_m":[0.3148158671657599,0.21904809468468678,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026728130361494363,0.0017278522605367278],"position_m":[0.32047281303614944,-0.19137214773946326,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003419187141123291,0.0014762580563485077],"position_m":[0.30748081285887674,0.03807625805634851,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002322742886470628,-0.0020994537095893983],"position_m":[0.05407725711352937,0.3879005462904106,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010417318634292402,0.0021833487778794916],"position_m":[0.15574173186342924,-0.4253166512221205,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"81a4000c83b0479db0141068daed998ac5f0aef3112bf5cd77346bf33883b4f4","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6418/tex_ceiling_textures_2178/tex_floor_textures_9944/tex_table_textures_8626/tex_wall_textures_1296","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2985887313866973315,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2985887313866973315,"visual_seed":2985887313866973315,"scene_id":"lab_003","finished_at":"2026-09-03T18:59:51"} +{"episode_id":"ep_000059","started_at":"2026-09-03T18:59:54","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.37995552285924905,1.5612962286743088,0.71338606911949],"aabb_xy":[[0.354955523693616,1.5543439829689523],[0.4049555220248822,1.5682484743796654]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[0.5400215435515339,-2.5313357278778517,0.71338606911949],"aabb_xy":[[0.5175215437376315,-2.535810344248332],[0.5625215433654362,-2.526861111507371]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.13650299229435503,0.6865190775440668,0.71338606911949],"aabb_xy":[[0.11900299204930563,0.6690192897044999],[0.1540029925394044,0.7040188653836336]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.3972073175247641,-0.9959395289836845,0.71338606911949],"aabb_xy":[[0.3272073148881777,-1.01604439397955],[0.4672073201613504,-0.975834663987819]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.30881984844646687,0.829321197344183,0.71338606911949],"aabb_xy":[[-0.3888198458500603,0.749328626146],[-0.22881985104287347,0.9093137685423657]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.19310339920615227,-0.7644924830722339,0.71338606911949],"aabb_xy":[[-0.19856134484317234,-0.844492486379893],[-0.1876454535691322,-0.6844924797645748]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[0.6322730781855288,-1.7768827437448336,0.71338606911949],"aabb_xy":[[0.542273079591059,-1.7931333300582548],[0.7222730767799989,-1.7606321574314128]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.05773683852874356,0.4882479372464976,0.71338606911949],"aabb_xy":[[-0.09523683919332224,0.47256087924627543],[-0.020236837864164848,0.5039349952467198]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.03805990220164823,1.4291010283378882,0.71338606911949],"aabb_xy":[[-0.06305990175338672,1.4189585444727533],[-0.01305990264990975,1.4392435122030227]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.04764760330072959,0.7022638067312061,0.71338606911949],"aabb_xy":[[0.03628586864744343,0.6908953403249181],[0.05900933795401575,0.7136322731374942]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.27293204820901007,-1.8273827974030927,0.71338606911949],"aabb_xy":[[-0.2948407303483611,-1.8492834642231832],[-0.251023366069659,-1.8054821305830018]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.5107139446935585,1.6695000741040498,0.71338606911949],"aabb_xy":[[0.4868777270529535,1.5795000732955635],[0.5345501623341636,1.7595000749125365]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.6067941626766689,0.5256595252657053,0.71338606911949],"aabb_xy":[[0.6004820631403305,0.5198925860124864],[0.6131062622130072,0.5314264645189241]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.21482212984876348,-2.4600091201697323,0.71338606911949],"aabb_xy":[[0.18697709306815635,-2.490793618908044],[0.2426671666293706,-2.4292246214314206]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.0328673208233351,-2.107876290568078,0.71338606911949],"aabb_xy":[[-0.05175170459184531,-2.126762215348431],[-0.013982937054824902,-2.0889903657877253]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.05372458074761011,-1.7145024497434915,0.71338606911949],"aabb_xy":[[0.00384188386991391,-1.7645024489897667],[0.10360727762530633,-1.6645024504972172]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.44339268792616876,0.41492134013497983,0.71338606911949],"aabb_xy":[[-0.49339268736636427,0.36495341565066347],[-0.39339268848597303,0.4648892646192961]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.5191455917274808,-1.5562565748929214,0.71338606911949],"aabb_xy":[[-0.5691387038366726,-1.6062565755671174],[-0.4691524796182889,-1.5062565742187262]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.49777632253642334,-1.0930151126486953,0.71338606911949],"aabb_xy":[[-0.5048177734871709,-1.10004186438649],[-0.49073487158567575,-1.0859883609109007]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.605926962767519,1.5090327868934978,0.71338606911949],"aabb_xy":[[0.5978133080941419,1.5009269704394688],[0.6140406174408961,1.517138603347527]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.5206044467116921,1.3132838768853894,0.71338606911949],"aabb_xy":[[0.4871252794506513,1.2798047635142824],[0.5540836139727332,1.3467629902564964]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.6680267119109764,-2.299901420749078,0.71338606911949],"aabb_xy":[[-0.6787996858323442,-2.334901418968117],[-0.6572537379896086,-2.264901422530039]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[-0.019165935825888325,1.6669867463241421,0.71338606911949],"aabb_xy":[[-0.056016483762875935,1.6294867455011086],[0.01768461211109929,1.704486747147176]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.21383444747638658,-1.0388500290440763,0.71338606911949],"aabb_xy":[[-0.27783014487148316,-1.102850027344785],[-0.14983875008128997,-0.9748500307433676]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.3574177632299873,0.6736721889077315,0.71338606911949],"aabb_xy":[[0.2974177627221344,0.6168254552218102],[0.41741776373784023,0.7305189225936528]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.10309724565110046,1.7687786044878178,0.71338606911949],"aabb_xy":[[-0.11556460376083612,1.7563132798544945],[-0.09062988754136482,1.7812439291211415]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.5038741490996568,-2.4783934481543723,0.71338606911949],"aabb_xy":[[-0.5274592725635516,-2.5433934503998037],[-0.4802890256357619,-2.41339344590894]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.4852733309588779,-0.26560393026680496,0.71338606911949],"aabb_xy":[[0.4677733318245107,-0.2754835573043927],[0.502773330093245,-0.2557243032292171]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6455167043285772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9429.png","name":"9429"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5027.png","name":"5027"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4066.png","name":"4066"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":525.4905006855773,"rotation_z_degrees":95.2832353510269,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007892594425189943,-0.010984265520253129,-0.00348477567568925]},{"name":"camera_2","offset_m":[-0.007167580818020599,-0.003651351900904709,-0.004336784976452214]},{"name":"camera_3","offset_m":[-0.015320880091219432,-0.010142795697694567,0.016335209184109214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009682530333791424,-0.001066251770786012,0.0010925454154900194],"end_effector_yaw_offset_degrees":0.2183076104379742},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013992511423417389,-0.0007481977220354433,0.0002752251374447327],"end_effector_yaw_offset_degrees":0.20298737046392756},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002590910514520071,0.0007239006187565616,0.001586287164188078],"end_effector_yaw_offset_degrees":-0.954798320436014}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004087666765245668,-0.0030973090964079753],"position_m":[0.3146876667652457,0.21790269090359202,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008650945035639304,0.0033067790412907557],"position_m":[0.3169349054964361,-0.18979322095870924,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004779477218095152,0.003695677570918145],"position_m":[0.3061205227819049,0.04029567757091815,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003293193131697153,-0.0022219015050397883],"position_m":[0.053106806868302846,0.3877780984949602,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004837115734632423,-0.0011966654202487602],"position_m":[0.15953711573463242,-0.42869666542024876,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d3a36373734faaa53f02feaf7fcc2aac4dcb25214448ebcfd3d50e5da7597b02","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2110/tex_ceiling_textures_3437/tex_floor_textures_4066/tex_table_textures_9429/tex_wall_textures_5027","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7211909632531657750,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7211909632531657750,"visual_seed":7211909632531657750,"scene_id":"lab_003","finished_at":"2026-09-03T19:02:36"} +{"episode_id":"ep_000060","started_at":"2026-09-03T19:02:40","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.4577106614621841,1.0242831625926332,0.71338606911949],"aabb_xy":[[-0.4616245346576066,1.0155341471860762],[-0.45379678826676156,1.0330321779991898]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.19271313380371013,-0.7653914277375913,0.71338606911949],"aabb_xy":[[0.10271313012679192,-0.8268238343146953],[0.28271313748062826,-0.7039590211604867]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.4875620143396831,1.7584258407820754,0.71338606911949],"aabb_xy":[[-0.5050620145990198,1.7443342985933032],[-0.4700620140803466,1.7725173829708485]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.2957919211244072,-1.968829590235702,0.71338606911949],"aabb_xy":[[-0.301758460065143,-1.974790734895066],[-0.28982538218367143,-1.9628684455763377]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.3698259582750547,-0.2524289026885227,0.71338606911949],"aabb_xy":[[0.3589743520261791,-0.2632881934161737],[0.3806775645239303,-0.24156961196087168]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.13173610399596514,-1.841268556512133,0.71338606911949],"aabb_xy":[[-0.15202040671936387,-1.8615511816548416],[-0.11145180127256636,-1.8209859313694239]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.08047286616193394,-2.2262469242704443,0.71338606911949],"aabb_xy":[[0.04343875673387421,-2.2606241316041533],[0.11750697558999364,-2.1918697169367345]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.43411346500097037,1.645714124163828,0.71338606911949],"aabb_xy":[[0.39965098698788254,1.6390504469809053],[0.4685759430140581,1.6523778013467507]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.0021091795418943793,1.6276015217765,0.71338606911949],"aabb_xy":[[-0.05723438517148515,1.5676015203352127],[0.05301602608769639,1.687601523217787]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.24077925901766073,0.7393981070585269,0.71338606911949],"aabb_xy":[[0.1767792571053184,0.6834869578005166],[0.30477926093000307,0.7953092563165375]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.2732751989993303,0.9843076763776812,0.71338606911949],"aabb_xy":[[0.26080784088959463,0.9718423517443577],[0.28574255710906593,0.9967730010110047]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.13608219997033089,-0.03637114618439208,0.71338606911949],"aabb_xy":[[-0.15858219949403826,-0.05886709363501285],[-0.11358220044662347,-0.013875198733771297]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.16033057122234395,-2.3059760677251253,0.71338606911949],"aabb_xy":[[-0.17293327035942044,-2.3185714639499913],[-0.14772787208526753,-2.2933806715002603]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.0924543532896055,-2.085363224014501,0.71338606911949],"aabb_xy":[[0.02845435302913468,-2.130372023367429],[0.15645435355007628,-2.040354424661573]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.4533085687175371,-0.9147154339771932,0.71338606911949],"aabb_xy":[[0.4283085691657987,-0.9248579178423278],[0.47830856826927565,-0.9045729501120584]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.391390894641256,0.4176171665124744,0.71338606911949],"aabb_xy":[[-0.45539089785989384,0.3708940546134661],[-0.3273908914226181,0.4643402784114828]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.5890457776634492,0.5635350815813984,0.71338606911949],"aabb_xy":[[0.5390628274759698,0.5135350819388379],[0.6390287278509285,0.6135350812239587]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.575090170278269,1.052891911549663,0.71338606911949],"aabb_xy":[[-0.6390901673903748,1.0038595417552527],[-0.5110901731661635,1.101924281344074]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.5671706434865936,-2.3845138605361877,0.71338606911949],"aabb_xy":[[-0.6371706450888731,-2.3979466537378458],[-0.49717064188431415,-2.3710810673345306]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.21849586187988534,-0.8036322841688748,0.71338606911949],"aabb_xy":[[-0.22383343754588994,-0.8286322850980145],[-0.2131582862138808,-0.7786322832397349]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.6490048188979618,-0.6766534551808561,0.71338606911949],"aabb_xy":[[0.6121542709609743,-0.7141534560038899],[0.6858553668349495,-0.6391534543578224]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.629639861847058,-1.8844879879067031,0.71338606911949],"aabb_xy":[[0.579639860563218,-1.934466842297325],[0.679639863130898,-1.8345091335160808]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.684911024453976,-2.572872670267237,0.71338606911949],"aabb_xy":[[-0.6909480374546408,-2.578899371336185],[-0.6788740114533114,-2.566845969198289]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.27127348736866963,-1.209919152417803,0.71338606911949],"aabb_xy":[[-0.36127348678704047,-1.2432946492619925],[-0.18127348795029868,-1.176543655573613]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.45901541510879684,-0.1087830479706966,0.71338606911949],"aabb_xy":[[0.45531215377965795,-0.11248506627941444],[0.46271867643793574,-0.10508102966197873]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.13376494975971298,-1.2413780363888651,0.71338606911949],"aabb_xy":[[0.128921354998483,-1.2462296888678495],[0.13860854452094296,-1.2365263839098812]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.08718944609010293,1.4534714016529828,0.71338606911949],"aabb_xy":[[0.0693959391551865,1.4356716560571852],[0.10498295302501938,1.4712711472487805]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[0.007293700002300452,0.974443137095669,0.71338606911949],"aabb_xy":[[0.0008798863591155114,0.9680333168480005],[0.01370751364548539,0.9808529573433372]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.47972187962081225,-2.0392253616869143,0.71338606911949],"aabb_xy":[[-0.517053156146055,-2.073878416481767],[-0.4423906030955697,-2.0045723068920624]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.5473397666902046,-1.8430637433814159,0.71338606911949],"aabb_xy":[[-0.6113397673936739,-1.889082125854337],[-0.4833397659867352,-1.797045360908495]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.4435481124022269,-0.40486227775731054,0.71338606911949],"aabb_xy":[[0.4060481138266061,-0.4175985734208684],[0.4810481109778477,-0.39212598209375255]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.6100789932173704,-0.009837291760428801,0.71338606911949],"aabb_xy":[[-0.6149782855239339,-0.03751421106299757],[-0.6051797009108069,0.01783962754213997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6387411160452467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4048.png","name":"4048"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4048.png","name":"4048"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7739.png","name":"7739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2398.png","name":"2398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8126.png","name":"8126"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":665.0145946678208,"rotation_z_degrees":63.13292805315033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009301255891340236,0.014002779111754075,0.0046745478862508655]},{"name":"camera_2","offset_m":[-0.003092809581564479,0.013296772606465026,-0.01141953600285044]},{"name":"camera_3","offset_m":[-0.009468283186406055,0.018032511632510132,0.018764165018846753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018918370287718052,-0.0013096891487246278,0.0019696045803651394],"end_effector_yaw_offset_degrees":0.2566122501110386},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013221978657645896,-0.0006042730525168713,0.00011257686547712755],"end_effector_yaw_offset_degrees":0.20613131019677544},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007205654432593266,0.00012170045900761423,0.0013879438098792613],"end_effector_yaw_offset_degrees":-0.3181033454458577}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033788249240162592,0.004201224540070597],"position_m":[0.31397882492401624,0.2252012245400706,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004622935093437536,-0.0025722885534675043],"position_m":[0.32242293509343756,-0.1956722885534675,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004527430668030535,0.0010205944666630438],"position_m":[0.3063725693319695,0.03762059446666304,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011213025507269426,0.002267372748653315],"position_m":[0.05527869744927306,0.3922673727486533,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018111565074254497,0.0015281639185620362],"position_m":[0.15288884349257456,-0.42597183608143796,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8008e7912019fd94e929a907a1e38ef6cd0090b330d4213927d3fac3c03f8174","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4048/tex_ceiling_textures_8126/tex_floor_textures_2808/tex_table_textures_7739/tex_wall_textures_2398","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2676570625968771317,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2676570625968771317,"visual_seed":2676570625968771317,"scene_id":"lab_003","finished_at":"2026-09-03T19:05:30"} +{"episode_id":"ep_000061","started_at":"2026-09-03T19:05:33","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.06487586469159212,0.8416919107334673,0.71338606911949],"aabb_xy":[[-0.07250013278177037,0.8340586871969237],[-0.05725159660141388,0.8493251342700111]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[0.2308423576520764,0.8600065232996039,0.71338606911949],"aabb_xy":[[0.16684235906550393,0.8129995599000952],[0.29484235623864885,0.9070134866991126]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.4850203981239637,-1.4894684601760786,0.71338606911949],"aabb_xy":[[-0.4959261742115264,-1.5694684565749077],[-0.474114622036401,-1.4094684637772494]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.02933574044177567,-0.07133936889916281,0.71338606911949],"aabb_xy":[[-0.047011371030374005,-0.08901958517856555],[-0.011660109853177338,-0.05365915261976006]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.3352101103794358,-1.9290947496086217,0.71338606911949],"aabb_xy":[[0.28808073137760004,-1.9930947506530237],[0.3823394893812714,-1.8650947485642198]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.013943550282837336,-2.3806039126144736,0.71338606911949],"aabb_xy":[[-0.09393737386139556,-2.460603915207315],[0.06605027329572088,-2.300603910021632]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.4782054779370778,-1.0040929984776257,0.71338606911949],"aabb_xy":[[-0.5282047531055141,-1.054092999753573],[-0.4282062027686417,-0.9540929972016787]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.567126542657671,0.8058633682415168,0.71338606911949],"aabb_xy":[[0.5120013370280802,0.7458633668002296],[0.6222517482872617,0.8658633696828039]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.1440915579168034,0.6740756933199177,0.71338606911949],"aabb_xy":[[0.12420051803646315,0.661419882035221],[0.16398259779714364,0.6867315046046146]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.31163721981017156,1.7299678953964421,0.71338606911949],"aabb_xy":[[-0.36663269763083095,1.674967893962535],[-0.2566417419895122,1.7849678968303488]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.5600616633329721,0.7513014884478424,0.71338606911949],"aabb_xy":[[-0.5950616616030922,0.7442273607528542],[-0.5250616650628523,0.7583756161428306]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.7031593872651636,0.04326109374506659,0.71338606911949],"aabb_xy":[[0.6860573093067954,0.02615428821379684],[0.7202614652235317,0.060367899276336345]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.4926571511300022,-0.899016309981824,0.71338606911949],"aabb_xy":[[0.4880220359777688,-0.9028836450589726],[0.4972922662822355,-0.8951489749046753]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.22821430448974134,-0.3740870416439406,0.71338606911949],"aabb_xy":[[-0.23354681914435435,-0.3794113698891762],[-0.22288178983512838,-0.368762713398705]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.2996176967507509,-1.0875512521771444,0.71338606911949],"aabb_xy":[[0.23461769671644817,-1.1342519288574717],[0.3646176967850536,-1.0408505754968171]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.22740409897220903,1.448996020911546,0.71338606911949],"aabb_xy":[[-0.30740410040233623,1.3694788658989363],[-0.1474040975420818,1.5285131759241553]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.647027907368616,-0.5047291759691586,0.71338606911949],"aabb_xy":[[-0.6558299626775886,-0.5125405021240876],[-0.6382258520596432,-0.49691784981422954]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.23311395421148062,-1.5285842129635672,0.71338606911949],"aabb_xy":[[0.1481139557940574,-1.6134585084258521],[0.31811395262890385,-1.4437099175012822]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.28119297987400826,-1.6196581427677552,0.71338606911949],"aabb_xy":[[-0.28989094216472355,-1.6317831170752304],[-0.272495017583293,-1.607533168460281]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.6256437221793024,0.16071007093229284,0.71338606911949],"aabb_xy":[[-0.655611279089128,0.13071007063440712],[-0.5956761652694766,0.1907100712301786]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.1983481878707249,-0.7983875239728915,0.71338606911949],"aabb_xy":[[-0.2358481886627203,-0.8047553649310816],[-0.16084818707872942,-0.7920196830147014]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.5727114023925577,0.32880663428041323,0.71338606911949],"aabb_xy":[[0.5685954522804849,0.3246910792475677],[0.5768273525046302,0.3329221893132587]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[-0.3756658497717459,-0.11567001950706546,0.71338606911949],"aabb_xy":[[-0.3908380190533793,-0.1308388764352688],[-0.3604936804901126,-0.1005011625788621]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.6583921826565613,1.7153572975180986,0.71338606911949],"aabb_xy":[[0.5943921853709127,1.6738505785652547],[0.7223921799422099,1.7568640164709426]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.5995687743883642,-0.6649447699281019,0.71338606911949],"aabb_xy":[[-0.6170687735227313,-0.6748243969656896],[-0.5820687752539969,-0.655065142890514]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.4265754648509408,-0.09334975632365072,0.71338606911949],"aabb_xy":[[0.4204808369628225,-0.10191915087531944],[0.43267009273905915,-0.084780361771982]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.43404157889728673,-0.33666376184154734,0.71338606911949],"aabb_xy":[[-0.48404157847362145,-0.38664434079365334],[-0.384041579320952,-0.28668318288944145]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[-0.5163372683242416,-2.194710779729909,0.71338606911949],"aabb_xy":[[-0.5388372683343899,-2.208806999369512],[-0.49383726831409336,-2.1806145600903055]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[0.5589162399193892,-0.7424110754537794,0.71338606911949],"aabb_xy":[[0.5214162413437683,-0.7551473711173372],[0.5964162384950099,-0.7296747797902213]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[0.4792673313771125,1.1811582299203596,0.71338606911949],"aabb_xy":[[0.38926733487624077,1.1352465875019013],[0.5692673278779843,1.2270698723388178]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.33421418793551894,0.5069106322125712,0.71338606911949],"aabb_xy":[[0.32228145357369087,0.4945284794047119],[0.346146922297347,0.5192927850204306]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[0.13315830264855522,-0.8382756950594437,0.71338606911949],"aabb_xy":[[0.09461260982335418,-0.8768214661156323],[0.17170399547375625,-0.799729924003255]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_32","position":[-0.32561436282050493,0.4747733727240244,0.71338606911949],"aabb_xy":[[-0.3491994862843998,0.4097733704785927],[-0.3020292393566101,0.5397733749694562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.641485250649134,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2315.png","name":"2315"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2315.png","name":"2315"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8145.png","name":"8145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9598.png","name":"9598"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3301.png","name":"3301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5163.png","name":"5163"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":694.8958405226001,"rotation_z_degrees":156.8157103950083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013236440286847801,0.0055916185400713,0.019358595820042537]},{"name":"camera_2","offset_m":[0.00043554203601173236,0.000282307283342869,0.011131399830957199]},{"name":"camera_3","offset_m":[-0.018297661841806336,-0.009956581038330073,0.008901658660397285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014919333473587463,-0.0006679620018304631,0.0016882219332011628],"end_effector_yaw_offset_degrees":0.4343272657586694},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010441033541339468,0.0014589321131021535,0.0015987117628936697],"end_effector_yaw_offset_degrees":-0.2136978867915098},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011290209736496664,0.0015180079100662594,-2.0006683234627225e-05],"end_effector_yaw_offset_degrees":0.8941121823186271}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020102426196424183,0.0003731920176870138],"position_m":[0.30858975738035754,0.22137319201768701,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00390860596008334,-0.0031666048423149074],"position_m":[0.31389139403991667,-0.1962666048423149,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003776286308606838,0.00026469340458509273],"position_m":[0.3071237136913932,0.03686469340458509,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012727758644154397,0.0013250739716254368],"position_m":[0.05767277586441544,0.39132507397162547,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008606468207520198,-0.0015214109118840556],"position_m":[0.153839353179248,-0.42902141091188406,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"262931bb7b737e97a8aad8670a67120cf39191f7de2f7057f5958c19cf436d68","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2315/tex_ceiling_textures_5163/tex_floor_textures_3301/tex_table_textures_8145/tex_wall_textures_9598","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5195180946647824004,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5195180946647824004,"visual_seed":5195180946647824004,"scene_id":"lab_003","finished_at":"2026-09-03T19:08:20"} +{"episode_id":"ep_000062","started_at":"2026-09-03T19:08:24","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.4857592571842504,1.271793489816944,0.71338606911949],"aabb_xy":[[-0.4982266152939861,1.2593281651836208],[-0.4732918990745148,1.2842588144502678]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.5712952867745262,0.7192231172038004,0.71338606911949],"aabb_xy":[[0.5578487601404829,0.705753265550709],[0.5847418134085696,0.7326929688568915]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.034217221234162154,-1.0262292963029735,0.71338606911949],"aabb_xy":[[-0.015777611693779447,-1.076229295198217],[0.08421205416210376,-0.97622929740773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.15945736993311,1.0656281639566862,0.71338606911949],"aabb_xy":[[0.15554349673768744,1.0568791485501294],[0.1633712431285325,1.074377179363243]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.6341985318246294,1.126902948740673,0.71338606911949],"aabb_xy":[[-0.6542569434378698,1.1068378618315156],[-0.6141401202113892,1.1469680356498304]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.489020151431806,-0.6203812171860439,0.71338606911949],"aabb_xy":[[-0.49309830933885573,-0.6244621974343072],[-0.48494199352475625,-0.6163002369377806]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.38247884822686395,-1.5519609485416006,0.71338606911949],"aabb_xy":[[0.37606503458367896,-1.5583707687892687],[0.38889266187004884,-1.545551128293932]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.2734494046476383,0.6516345146200444,0.71338606911949],"aabb_xy":[[-0.2970345281115331,0.5866345123746125],[-0.24986428118374338,0.7166345168654761]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.23879096096484043,-2.0262488824790186,0.71338606911949],"aabb_xy":[[0.22685822660301236,-2.038631035286878],[0.2507236953266685,-2.013866729671159]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.018346664340993635,1.352559116173751,0.71338606911949],"aabb_xy":[[-0.053346663470949296,1.3468138950980866],[0.016653334788962026,1.3583043372494148]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.2428118088665051,-0.8838693870612373,0.71338606911949],"aabb_xy":[[0.23093972585500402,-0.9688693867548875],[0.2546838918780062,-0.7988693873675868]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.379343593712721,-2.0625741167943166,0.71338606911949],"aabb_xy":[[-0.41525709813771067,-2.0984876250110713],[-0.3434300892877313,-2.026660608577562]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.29967483222756475,-1.2234469894981184,0.71338606911949],"aabb_xy":[[0.23567483185003113,-1.2731922563489304],[0.36367483260509836,-1.1737017226473059]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.6103325188401894,-0.9594288891348182,0.71338606911949],"aabb_xy":[[-0.6903325210029518,-1.0393840727609618],[-0.5303325166774269,-0.8794737055086745]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.4305951848261871,-0.6773153049023104,0.71338606911949],"aabb_xy":[[0.3845100935714556,-0.7413153021548654],[0.47668027608091856,-0.6133153076497552]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.3806838966047554,1.724660152288973,0.71338606911949],"aabb_xy":[[-0.44468389303207734,1.6774905284668766],[-0.31668390017743353,1.7718297761110695]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.11189602936834486,0.380656114955229,0.71338606911949],"aabb_xy":[[-0.14689602926436374,0.37228187944328905],[-0.07689602947232602,0.38903035046716894]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.3598903099911681,-2.0052848858330368,0.71338606911949],"aabb_xy":[[0.3557544536584679,-2.0427848852773938],[0.3640261663238683,-1.9677848863886798]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.44150707284923946,-1.2828823050107068,0.71338606911949],"aabb_xy":[[-0.4503091281582121,-1.2906936311656356],[-0.4327050175402667,-1.2750709788557775]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.6684389633260728,-0.5235450204071994,0.71338606911949],"aabb_xy":[[0.6631064486714596,-0.5288693486524351],[0.6737714779806857,-0.518220692161964]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.06831068822484043,1.1318008183611452,0.71338606911949],"aabb_xy":[[0.048026385501441664,1.1115181932184361],[0.08859499094823918,1.1520834435038538]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.08754593028952451,-1.4247562548541977,0.71338606911949],"aabb_xy":[[0.007545932885931097,-1.5047488260523803],[0.16754592769311794,-1.3447636836560146]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.10685289382775043,-0.3805281943898966,0.71338606911949],"aabb_xy":[[-0.1166088833369243,-0.390290728449131],[-0.09709690431857652,-0.3707656603306621]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.23547877401995237,-1.6852955466294328,0.71338606911949],"aabb_xy":[[-0.29947877331412065,-1.7492816869982872],[-0.17147877472578418,-1.6213094062605788]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[-0.5264855815913141,0.17636537316827594,0.71338606911949],"aabb_xy":[[-0.5904855822947835,0.13034699069535496],[-0.46248558088784486,0.222383755641197]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.5879390408928515,-1.890335231649197,0.71338606911949],"aabb_xy":[[0.5504390393772198,-1.901562004665342],[0.6254390424084832,-1.879108458633052]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.6342854055939986,1.01982576735764,0.71338606911949],"aabb_xy":[[-0.646912192881195,1.0102796936560672],[-0.6216586183068022,1.029371841059213]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[-0.1292286655082221,-0.05058663108447803,0.71338606911949],"aabb_xy":[[-0.14686150110174964,-0.068209577100101],[-0.11159582991469451,-0.03296368506885505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6401365136150218,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2906.png","name":"2906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/232.png","name":"232"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6909.png","name":"6909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":676.8062511103183,"rotation_z_degrees":130.95518575110705,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012748177337896235,0.012065770012223937,0.005193502715128497]},{"name":"camera_2","offset_m":[0.009464178754629841,-0.002116082175735428,0.0005918409247526214]},{"name":"camera_3","offset_m":[0.015867449107221283,0.006605475984899623,0.0058893807044142175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015134349412609987,0.00010535631582116395,0.00025460008633037233],"end_effector_yaw_offset_degrees":0.5591231273945882},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003131347867372143,-0.0012753244952401182,0.0005541890785923658],"end_effector_yaw_offset_degrees":0.06153672694487522},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005226942466152807,0.0015658168204164265,-0.001829053707256199],"end_effector_yaw_offset_degrees":0.793974136167152}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039472768803324055,-0.0005673655507266503],"position_m":[0.30665272311966757,0.22043263444927336,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004836195367266685,0.0011191980202737229],"position_m":[0.3129638046327333,-0.19198080197972628,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002962098469307696,-0.002068288105526165],"position_m":[0.3138620984693077,0.034531711894473835,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004056754424478915,0.0012517305229289158],"position_m":[0.052343245575521086,0.39125173052292894,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001982652153919837,-0.0007519476494709009],"position_m":[0.15271734784608015,-0.4282519476494709,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d23d2b5c73fc9527b3ffb1a7b0e10accbf182a82c120eaa7efc34462b0ca7a9e","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_949/tex_ceiling_textures_9602/tex_floor_textures_6909/tex_table_textures_2906/tex_wall_textures_232","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5173873637748679590,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5173873637748679590,"visual_seed":5173873637748679590,"scene_id":"lab_003","finished_at":"2026-09-03T19:11:10"} +{"episode_id":"ep_000063","started_at":"2026-09-03T19:11:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.25583798365693866,1.338472962704361,0.71338606911949],"aabb_xy":[[0.19183798448716868,1.2917062755853985],[0.31983798282670856,1.3852396498233235]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.34948583513212694,-1.8167924597052367,0.71338606911949],"aabb_xy":[[-0.3907346461620417,-1.871792459217454],[-0.3082370241022122,-1.761792460193019]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.25228050445955413,-0.16327975692939356,0.71338606911949],"aabb_xy":[[-0.31628050088687604,-0.21044938075149],[-0.18828050803223223,-0.11611013310729712]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.18799075280667799,-0.9574873527463572,0.71338606911949],"aabb_xy":[[0.13799075114518322,-1.0074857950020597],[0.23799075446817275,-0.9074889104906544]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.13047509394964885,-1.9319454146679784,0.71338606911949],"aabb_xy":[[-0.18044815948216433,-1.9819454144805115],[-0.0805020284171334,-1.8819454148554458]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.29384961127627374,-0.9804461507754243,0.71338606911949],"aabb_xy":[[-0.34384961085260846,-1.0304267297275302],[-0.24384961169993902,-0.9304655718233185]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.5653800369827764,0.3777298248734535,0.71338606911949],"aabb_xy":[[-0.5769490177297131,0.35272982475652187],[-0.5538110562358399,0.4027298249903853]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.420836797629513,1.5165813293465162,0.71338606911949],"aabb_xy":[[-0.4441186398276443,1.4315813280492882],[-0.39755495543138164,1.6015813306437443]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.06699023186094555,1.049837953185298,0.71338606911949],"aabb_xy":[[-0.14699022926453895,0.9698453819871152],[0.013009765542647876,1.1298305243834807]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.29518987121005413,-1.5981049317371139,0.71338606911949],"aabb_xy":[[0.2726761793865969,-1.6681049323381212],[0.31770356303351127,-1.5281049311361061]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.4811289209970151,-0.8091765415238525,0.71338606911949],"aabb_xy":[[0.44866722011508753,-0.8393093736387549],[0.5135906218789423,-0.7790437094089497]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.22109257726773957,0.40664686898301916,0.71338606911949],"aabb_xy":[[-0.2554088544423575,0.3566468690098415],[-0.18677630009312166,0.45664686895619694]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.31108087575554033,1.6510399312539517,0.71338606911949],"aabb_xy":[[0.29501894829702263,1.5660399294413594],[0.3271428032140579,1.736039933066543]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.4376994218849295,1.1925099530861827,0.71338606911949],"aabb_xy":[[-0.49769942173149617,1.135691330893144],[-0.3776994220383626,1.2493285752792214]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.09664077669067095,0.7255359614181791,0.71338606911949],"aabb_xy":[[0.016640773426657804,0.7119759291092658],[0.17664077995468408,0.7390959937270924]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.6012186727491897,-0.8603832518913801,0.71338606911949],"aabb_xy":[[0.5590342585883591,-0.9243832521685913],[0.6434030869100206,-0.7963832516141689]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.46435548007389094,1.7897190005196468,0.71338606911949],"aabb_xy":[[-0.49475359117303447,1.7593120985179769],[-0.4339573689747473,1.820125902521316]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.2177246627144107,-1.2228769669161665,0.71338606911949],"aabb_xy":[[0.1952246627042624,-1.2369731865557698],[0.24022466272455897,-1.2087807472765633]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.15530761722584174,-2.1636569833481922,0.71338606911949],"aabb_xy":[[0.06530761863137177,-2.179907569661613],[0.24530761582031166,-2.1474063970347714]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.5433062429517553,0.2545501986985088,0.71338606911949],"aabb_xy":[[-0.5933010758796968,0.20455019980326522],[-0.4933114100238136,0.3045501975937523]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.0627547047683844,-2.241164437130837,0.71338606911949],"aabb_xy":[[-0.08163908853689461,-2.260050361911189],[-0.0438703209998742,-2.2222785123504836]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.5280291039477394,-0.009386286746108752,0.71338606911949],"aabb_xy":[[0.5176175452672557,-0.014732020082007217],[0.5384406626282231,-0.004040553410210283]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.38349277759433087,-0.5417425034087535,0.71338606911949],"aabb_xy":[[0.3334927763104909,-0.5917213577993754],[0.43349277887817084,-0.49176364901813124]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.1874228594793952,-1.784692168118985,0.71338606911949],"aabb_xy":[[-0.20992285929329754,-1.7891667844894656],[-0.16492285966549278,-1.7802175517485042]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.006217301404590092,-1.2986533741316308,0.71338606911949],"aabb_xy":[[-0.04121729971528554,-1.3063683890551765],[0.028782696906105354,-1.2909383592080852]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.14219517494367573,1.4358177546261408,0.71338606911949],"aabb_xy":[[0.13478271940228725,1.429966544204513],[0.1496076304850642,1.441668965047769]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[-0.042862305412354695,-0.627171214047175,0.71338606911949],"aabb_xy":[[-0.06536144113858167,-0.6496712148254379],[-0.020363169686127718,-0.6046712132689119]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[-0.27449168474155256,-2.472931872787395,0.71338606911949],"aabb_xy":[[-0.2915937626999207,-2.4900386783186645],[-0.2573896067831844,-2.455825067256125]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[0.1133095173461276,1.7431801810225376,0.71338606911949],"aabb_xy":[[0.06332656715864826,1.6931801813799765],[0.16329246753360693,1.7931801806650973]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.20058383196527768,0.6061263767175125,0.71338606911949],"aabb_xy":[[-0.2855838303827009,0.5212520812552275],[-0.11558383354785445,0.6910006721797974]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.1200374291171531,-1.4193090958094516,0.71338606911949],"aabb_xy":[[-0.1425021990885582,-1.441809096688312],[-0.09757265914574798,-1.396809094930591]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6421844823784542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7702.png","name":"7702"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7702.png","name":"7702"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1237.png","name":"1237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5020.png","name":"5020"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.6547538956466,"rotation_z_degrees":305.0115384499353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01013874624228555,0.018144397809848643,0.007437816430220269]},{"name":"camera_2","offset_m":[-0.0073976369799342925,-0.013976879996296567,0.00304003811460192]},{"name":"camera_3","offset_m":[0.01210325898639596,-0.014492429237243032,-0.012933184251435415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005070020828150212,-0.001599301511387865,-0.0002967924019603614],"end_effector_yaw_offset_degrees":-0.880652340465446},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007044483746569984,-0.0013523978811100217,-0.0018963820886165146],"end_effector_yaw_offset_degrees":0.5121340374990946},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00043273798402032994,-0.001494904691159824,0.00057170174755725],"end_effector_yaw_offset_degrees":0.9444668140653565}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013091987383232898,0.004664124916488815],"position_m":[0.3119091987383233,0.22566412491648882,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004448165838046953,-0.0023806504721076973],"position_m":[0.322248165838047,-0.1954806504721077,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008731589164275976,0.002371553120199538],"position_m":[0.3100268410835724,0.03897155312019954,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011569482298095179,-0.00485359547033506],"position_m":[0.05524305177019048,0.385146404529665,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038827407644853864,0.0027527323087017134],"position_m":[0.1585827407644854,-0.4247472676912983,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa77fea1f7b2da857dd5795c86527dfc1804af586b231d85fc889c30ebb0a60a","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7702/tex_ceiling_textures_1890/tex_floor_textures_8825/tex_table_textures_1237/tex_wall_textures_5020","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4756299208832709938,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4756299208832709938,"visual_seed":4756299208832709938,"scene_id":"lab_003","finished_at":"2026-09-03T19:14:10"} +{"episode_id":"ep_000064","started_at":"2026-09-03T19:14:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.49301952006768257,1.578965266885454,0.71338606911949],"aabb_xy":[[0.46801952090204946,1.5720130211800973],[0.5180195192333157,1.5859175125908105]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.32892555683716235,0.8014128066057018,0.71338606911949],"aabb_xy":[[-0.3488165967175026,0.7887569953210051],[-0.3090345169568221,0.8140686178903987]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.19314700519851813,-0.0212669049828893,0.71338606911949],"aabb_xy":[[-0.21094051213343454,-0.03906665057868697],[-0.17535349826360166,-0.003467159387091634]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.10820674048520651,-1.0158566589194804,0.71338606911949],"aabb_xy":[[-0.17220674239754885,-1.071767808177491],[-0.044206738572864154,-0.9599455096614702]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.4446691329281736,1.805681733840062,0.71338606911949],"aabb_xy":[[-0.45790007846285485,1.7924543148180623],[-0.43143818739349227,1.8189091528620611]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.44829584429512337,-0.30254096650795814,0.71338606911949],"aabb_xy":[[-0.46584253921124225,-0.3400409680722094],[-0.4307491493790044,-0.2650409649437069]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.5445616383728812,0.8042902288180671,0.71338606911949],"aabb_xy":[[-0.555806693943499,0.7930484310939718],[-0.5333165828022634,0.8155320265421624]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.16345077232109095,-1.7275459527547725,0.71338606911949],"aabb_xy":[[-0.18233515608960116,-1.7464318775351257],[-0.14456638855258075,-1.7086600279744202]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.5201497778623355,-0.7292222470746106,0.71338606911949],"aabb_xy":[[-0.6001497811201784,-0.8092187548665946],[-0.44014977460449245,-0.6492257392826266]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.211678760585709,-0.9808181483297682,0.71338606911949],"aabb_xy":[[0.19991057379105154,-1.06581814823499],[0.22344694738036658,-0.8958181484245469]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.3161981531984126,0.5651884603494843,0.71338606911949],"aabb_xy":[[0.29876743811940604,0.5479163456856334],[0.33362886827741906,0.582460575013335]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.35314408589467394,0.9169993736318536,0.71338606911949],"aabb_xy":[[0.2731440837319114,0.8370441900057098],[0.43314408805743637,0.9969545572579971]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.5828791028694627,1.4216492408341348,0.71338606911949],"aabb_xy":[[-0.6029375144827029,1.4015841539249774],[-0.5628206912562224,1.4417143277432922]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.07699173974607632,-2.083136600821451,0.71338606911949],"aabb_xy":[[-0.11449173816947665,-2.096300814789281],[-0.03949174132267595,-2.0699723868536197]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.6048146131933558,-1.1275646058180682,0.71338606911949],"aabb_xy":[[0.5932456324464193,-1.1525646059349999],[0.6163835939402924,-1.1025646057011365]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.3084929079221706,-0.8238551496030166,0.71338606911949],"aabb_xy":[[-0.3259929081815072,-0.8379466917917894],[-0.290992907662834,-0.8097636074142441]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.008028168171405614,0.6704285970723447,0.71338606911949],"aabb_xy":[[-0.05801111835888494,0.6204285974297842],[0.041954782016073715,0.720428596714905]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.16844127401342235,-1.2059551404208848,0.71338606911949],"aabb_xy":[[0.1134490233779114,-1.2609551421641976],[0.22343352464893332,-1.150955138677572]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.3985200647686138,-1.2657383542997875,0.71338606911949],"aabb_xy":[[0.3760200649547114,-1.2702129706702683],[0.4210200645825162,-1.2612637379293068]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.16248859967049445,-0.4722614331552868,0.71338606911949],"aabb_xy":[[-0.21748181100763123,-0.5272614334940805],[-0.1074953883333577,-0.4172614328164933]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.6103121255614059,0.39657912626353475,0.71338606911949],"aabb_xy":[[-0.6602851910939215,0.34657912645100186],[-0.5603390600288906,0.4465791260760677]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.36576290815173773,-2.4219769504088804,0.71338606911949],"aabb_xy":[[-0.3882629086637783,-2.4444688087742783],[-0.3432629076396971,-2.3994850920434816]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[-0.21341178894827106,-1.9459158542449138,0.71338606911949],"aabb_xy":[[-0.2633892058135246,-1.9959158557341619],[-0.16343437208301745,-1.8959158527556648]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.5855075450181626,-1.6555889113047584,0.71338606911949],"aabb_xy":[[-0.6141568773785788,-1.684234470581834],[-0.5568582126577464,-1.6269433520276824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6437806797179774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5812.png","name":"5812"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5812.png","name":"5812"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7318.png","name":"7318"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9008.png","name":"9008"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":781.2939076186516,"rotation_z_degrees":191.90526179324613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009069954896497551,-0.005319204530572375,-0.01385221770561202]},{"name":"camera_2","offset_m":[0.016205282272223055,-0.00872534225097426,0.0006269567945295373]},{"name":"camera_3","offset_m":[-0.00149024120228948,-0.018460410209096813,0.010816719943473486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018915768137976012,-0.00017364234462395513,0.0001278982987982188],"end_effector_yaw_offset_degrees":0.5436332884813819},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014226010628369925,-0.001385772680513346,-0.001718272755655427],"end_effector_yaw_offset_degrees":0.1844051704629488},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001821298346144138,0.00037226321148045105,-0.0014220197878058011],"end_effector_yaw_offset_degrees":-0.8415437472641021}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002263295431628695,0.001396264557295055],"position_m":[0.31286329543162866,0.22239626455729505,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004471922800001368,0.0017059069370770567],"position_m":[0.3222719228000014,-0.19139409306292293,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00107615636515326,0.0005021736012646265],"position_m":[0.3098238436348468,0.037102173601264624,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018037209037989567,0.001598975052024474],"position_m":[0.054596279096201045,0.3915989750520245,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019634530293918175,-0.0018110524264279026],"position_m":[0.15666345302939183,-0.4293110524264279,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"806ad2149166aa235bcafc0e6ad23e2ecfdf56e00c4fe8c5e389575086d0906a","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5812/tex_ceiling_textures_980/tex_floor_textures_3211/tex_table_textures_7318/tex_wall_textures_9008","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7476363410533182436,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7476363410533182436,"visual_seed":7476363410533182436,"scene_id":"lab_003","finished_at":"2026-09-03T19:17:07"} +{"episode_id":"ep_000065","started_at":"2026-09-03T19:17:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.09721061400496245,-0.873025074942201,0.71338606911949],"aabb_xy":[[0.0750380870283116,-0.8952007420983241],[0.11938314098161328,-0.8508494077860778]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.26138827037246826,-0.751401693424901,0.71338606911949],"aabb_xy":[[0.19638826773467477,-0.802881292124348],[0.32638827301026174,-0.6999220947254541]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.05259147858646429,-1.891931822550124,0.71338606911949],"aabb_xy":[[0.002618184583203835,-1.9419318231046712],[0.10256477258972474,-1.8419318219955765]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.4549147139235563,-0.2096575584820526,0.71338606911949],"aabb_xy":[[0.4499586937386752,-0.23215755868417426],[0.45987073410843754,-0.187157558279931]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.3214237743545809,0.9438363522139119,0.71338606911949],"aabb_xy":[[0.2574237739770473,0.8940910853630996],[0.38542377473211453,0.9935816190647241]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.43114733741599803,-0.38371335612343005,0.71338606911949],"aabb_xy":[[-0.43557796677083827,-0.3891617278581127],[-0.4267167080611579,-0.3782649843887475]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.2286637754607827,-2.0385335076758593,0.71338606911949],"aabb_xy":[[-0.25906188655992624,-2.0689404096775283],[-0.19826566436163912,-2.0081266056741893]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.2558840439675186,1.2869303898085955,0.71338606911949],"aabb_xy":[[0.1908840454104458,1.257177856394713],[0.32088404252459146,1.3166829232224782]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.38001007590029445,-2.3163740445736556,0.71338606911949],"aabb_xy":[[0.3000100789372553,-2.393449686217429],[0.4600100728633336,-2.239298402929882]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.05774623596803641,-2.0954896909942153,0.71338606911949],"aabb_xy":[[0.04689462971916081,-2.106348981721866],[0.06859784221691201,-2.0846304002665645]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.05424803886389984,1.1329427840649524,0.71338606911949],"aabb_xy":[[-0.10924351668455923,1.0779427826310455],[0.0007474389567595566,1.1879427854988593]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.021221966662262948,-2.2223783831731923,0.71338606911949],"aabb_xy":[[-0.08522196583203288,-2.2691450702921547],[0.04277803250750699,-2.1756116960542298]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.5282490812809487,-1.8144442938460463,0.71338606911949],"aabb_xy":[[-0.5391548573685114,-1.8944442902448755],[-0.517343305193386,-1.7344442974472172]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.3093215439898077,1.0715842688785373,0.71338606911949],"aabb_xy":[[-0.31465911965581234,1.0465842679493975],[-0.3039839683238032,1.096584269807677]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.09271605491498203,0.7361027173960362,0.71338606911949],"aabb_xy":[[-0.18271605463815616,0.7130293648608562],[-0.002716055191807828,0.7591760699312159]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.17221430428378004,-1.4032159834574132,0.71338606911949],"aabb_xy":[[0.1122143037759271,-1.4600627171433342],[0.23221430479163294,-1.3463692497714916]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.4471654915976293,-0.5274705559114787,0.71338606911949],"aabb_xy":[[0.418516159237213,-0.5561161151885545],[0.4758148239580455,-0.49882499663440294]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.015644284180196255,-0.7111387336314816,0.71338606911949],"aabb_xy":[[-0.0021492227547201814,-0.7289384792272793],[0.03343779111511269,-0.693338988035684]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.0395703344887226,-0.4472879338294504,0.71338606911949],"aabb_xy":[[-0.05946137436906286,-0.4599437451141473],[-0.019679294608382362,-0.43463212254475364]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.09881562946714106,-0.0712809893358668,0.71338606911949],"aabb_xy":[[-0.14158233634656125,-0.13528099275766925],[-0.05604892258772087,-0.007280985914064356]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.5576609834578927,-1.0680193794379633,0.71338606911949],"aabb_xy":[[0.5298159466772856,-1.0988038781762752],[0.5855060202384998,-1.0372348806996519]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.5207885131721356,0.06563830516455615,0.71338606911949],"aabb_xy":[[-0.5679178921739712,0.0016383041201541854],[-0.4736591341702998,0.1296383062089581]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.32513283895716016,1.061349329350867,0.71338606911949],"aabb_xy":[[0.3026328394334527,1.038853381900246],[0.3476328384808675,1.0838452768014875]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.5990198867147625,-1.6610392573265798,0.71338606911949],"aabb_xy":[[-0.6340198849848823,-1.6681133850215677],[-0.5640198884446425,-1.6539651296315914]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.501914455789368,1.596852303389706,0.71338606911949],"aabb_xy":[[0.45193022008119077,1.5468523045762104],[0.5518986914975452,1.6468523022032016]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.1808432305464216,-1.5621777285183516,0.71338606911949],"aabb_xy":[[-0.27084323288044065,-1.6396600831034642],[-0.09084322821240254,-1.484695373933239]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.6128344387793774,-1.5727225718906384,0.71338606911949],"aabb_xy":[[0.5878344395074151,-1.5890679354868007],[0.6378344380513397,-1.556377208294476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6390672925776457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1823.png","name":"1823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9228.png","name":"9228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4286.png","name":"4286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.7641154008827,"rotation_z_degrees":2.253240105821037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007430416536537487,0.0077112638144333535,-0.0009108771661687602]},{"name":"camera_2","offset_m":[0.01585173506870716,0.01930009695213405,0.010641499608140034]},{"name":"camera_3","offset_m":[-0.0002053611372028856,0.00045911321286215556,-0.011872389874245468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011651136207509877,0.0018252112570782365,-0.0016191711906976174],"end_effector_yaw_offset_degrees":-0.12609871496200675},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001689143148539316,-0.0016385541906421932,0.0013867871431293916],"end_effector_yaw_offset_degrees":-0.7841172473872928},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001227544466865654,0.0009426895988450651,-0.0010551050752389615],"end_effector_yaw_offset_degrees":0.8558235390158606}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004775597034040334,-0.0008220644199242351],"position_m":[0.30582440296595964,0.22017793558007576,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025683303833054973,0.002452226247679291],"position_m":[0.3152316696166945,-0.1906477737523207,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0021501368103757747,0.0043670209766795915],"position_m":[0.3130501368103758,0.04096702097667959,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027894337297758665,-0.0026667122610326975],"position_m":[0.059189433729775864,0.3873332877389673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001540912428398657,0.0032427331028357124],"position_m":[0.15485409124283986,-0.42425726689716425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c615fb8e4c1a82fbd915bad85fcd2362691581b7bc25732ffc2b4f3138414ec6","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5772/tex_ceiling_textures_7788/tex_floor_textures_4286/tex_table_textures_1823/tex_wall_textures_9228","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3525034235818963496,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3525034235818963496,"visual_seed":3525034235818963496,"scene_id":"lab_003","finished_at":"2026-09-03T19:19:59"} +{"episode_id":"ep_000066","started_at":"2026-09-03T19:20:02","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.49396041383882405,0.43058961916123284,0.71338606911949],"aabb_xy":[[-0.5114604131169108,0.41325151909488683],[-0.47646041456073707,0.44792771922757874]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.12318440301474343,-1.8088249265698093,0.71338606911949],"aabb_xy":[[0.058184404858824354,-1.8351211711197215],[0.18818440117066249,-1.7825286820198971]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.5090260941645603,1.1346514005056014,0.71338606911949],"aabb_xy":[[-0.5465260946619185,1.130682716957483],[-0.471526093667202,1.13862008405372]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[-0.5600974000956793,0.5435746542254645,0.71338606911949],"aabb_xy":[[-0.5975974000394457,0.5352815641906279],[-0.5225974001519129,0.551867744260301]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.028306829611654316,-0.1975491444729256,0.71338606911949],"aabb_xy":[[-0.04593966520518188,-0.21517209048854855],[-0.01067399401812674,-0.1799261984573026]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.6642469214165871,0.4376398415592142,0.71338606911949],"aabb_xy":[[0.6042469205557742,0.38621341155272776],[0.7242469222773998,0.48906627156570054]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.5208505295285144,-1.3396896594598848,0.71338606911949],"aabb_xy":[[0.4956296926686747,-1.3649134103127714],[0.546071366388354,-1.3144659086069979]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.5882710030565896,1.0946030806337559,0.71338606911949],"aabb_xy":[[0.5382977090533292,1.0446030800792085],[0.6382442970598501,1.1446030811883032]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.6475845530759335,0.6686784821547054,0.71338606911949],"aabb_xy":[[-0.6552877437500106,0.6609691114559674],[-0.6398813624018564,0.6763878528534434]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.5533629288795008,0.717991941084442,0.71338606911949],"aabb_xy":[[0.4633629294611298,0.6846164442402523],[0.6433629282978716,0.7513674379286317]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.24646235605082656,-1.9954356583634376,0.71338606911949],"aabb_xy":[[0.1664623590365786,-2.0155702100368487],[0.32646235306507454,-1.9753011066900263]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.0351471807239957,-0.4773522915483204,0.71338606911949],"aabb_xy":[[-0.07014717985395136,-0.4830975126239844],[-0.00014718159404002867,-0.4716070704726562]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.1460568163024908,-1.1679914317360762,0.71338606911949],"aabb_xy":[[-0.15682979022385857,-1.2029914299551152],[-0.135283842381123,-1.1329914335170372]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.5960888359475818,-0.622180305293202,0.71338606911949],"aabb_xy":[[0.5460888365073862,-0.6721482297775182],[0.6460888353877774,-0.5722123808088856]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.17629655589499482,-1.562398566685069,0.71338606911949],"aabb_xy":[[0.1524603382543898,-1.652398567493556],[0.20013277353559994,-1.4723985658765828]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.1093804628861943,0.17452873301907257,0.71338606911949],"aabb_xy":[[-0.11381109224103449,0.16908036128439],[-0.10494983353135413,0.1799771047537552]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.378499139660444,0.4375133848170365,0.71338606911949],"aabb_xy":[[0.29349914096836943,0.40552752142215764],[0.4634991383525187,0.46949924821191535]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.20545050533901021,-0.09011006812078959,0.71338606911949],"aabb_xy":[[-0.23976678251362812,-0.1401100680939673],[-0.17113422816439225,-0.04011006814761188]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.17481374773262748,0.45489164715728414,0.71338606911949],"aabb_xy":[[-0.2247979834408047,0.40489164834378855],[-0.12482951202445025,0.5048916459707797]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.09364989506698784,0.8993028078440846,0.71338606911949],"aabb_xy":[[-0.14362870357730373,0.8493028078383656],[-0.04367108655667194,0.9493028078498033]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[0.34829482522977306,0.597921511619607,0.71338606911949],"aabb_xy":[[0.2983174083645195,0.5479215101303585],[0.39827224209502665,0.6479215131088556]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.480413026127922,-0.5408772975828455,0.71338606911949],"aabb_xy":[[-0.48504814128015533,-0.5447446326599941],[-0.4757779109756886,-0.5370099625056968]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[-0.6039403296104423,-0.9068304524290702,0.71338606911949],"aabb_xy":[[-0.6452448726741783,-0.9708304519971872],[-0.5626357865467063,-0.842830452860953]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.12026573862998657,-0.9446268597532304,0.71338606911949],"aabb_xy":[[0.04026573755686624,-0.9544049060906149],[0.2002657397031069,-0.934848813415846]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[0.09441358340664097,-2.351363743290692,0.71338606911949],"aabb_xy":[[0.044413582456108144,-2.382912890294213],[0.14441358435717377,-2.3198145962871703]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.2862602791418969,1.1155569887748107,0.71338606911949],"aabb_xy":[[0.2362602774804021,1.0655585465191078],[0.3362602808033916,1.1655554310305132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6391127115183616,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7965.png","name":"7965"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2574.png","name":"2574"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8863.png","name":"8863"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2394.png","name":"2394"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.4236436874818,"rotation_z_degrees":186.77064148299604,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010092042820080596,0.01443897602862439,-0.008254423938155783]},{"name":"camera_2","offset_m":[-0.015539566461061298,0.0011571343369988323,0.005780569075124649]},{"name":"camera_3","offset_m":[0.016226007090661156,0.012134800246145248,0.010940878407104702]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013578475171445855,-0.0004791898461677588,-0.0008344920615640076],"end_effector_yaw_offset_degrees":0.4513196458984585},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0003952246007521338,-0.00021305322602514212,0.0006087398596588971],"end_effector_yaw_offset_degrees":-0.04873244668299148},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009636300002095694,-0.0006962470997380317,-0.00048321923707715674],"end_effector_yaw_offset_degrees":-0.9069905838423817}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0045152553529830535,0.0016804442825577868],"position_m":[0.30608474464701696,0.2226804442825578,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003593542774296801,0.0017686172892369826],"position_m":[0.3213935427742968,-0.191331382710763,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0011214216319939312,0.004825771625227851],"position_m":[0.3120214216319939,0.04142577162522785,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004728462978554034,-0.0029451219443306586],"position_m":[0.056872846297855405,0.38705487805566935,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005134797608192417,0.003579439851545814],"position_m":[0.15521347976081926,-0.4239205601484542,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8c62c1085e28bbba3dd0c6c12a3a4d81e5db1919023baab6b03aa994326a5f67","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2897/tex_ceiling_textures_2394/tex_floor_textures_8863/tex_table_textures_7965/tex_wall_textures_2574","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2010657466834265440,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2010657466834265440,"visual_seed":2010657466834265440,"scene_id":"lab_003","finished_at":"2026-09-03T19:22:46"} +{"episode_id":"ep_000067","started_at":"2026-09-03T19:22:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[-0.23859026266352795,-2.453940621943784,0.71338606911949],"aabb_xy":[[-0.25770257002150676,-2.473075400821026],[-0.21947795530554906,-2.434805843066542]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.24839518065204613,1.0769242246741833,0.71338606911949],"aabb_xy":[[-0.254808994295231,1.0705144044265147],[-0.24198136700886116,1.0833340449218514]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.08948834028416885,0.09912830305996323,0.71338606911949],"aabb_xy":[[-0.12652244971222854,0.06475109572625377],[-0.052454230856109126,0.13350551039367264]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.5450200191386055,-0.10946262492472192,0.71338606911949],"aabb_xy":[[-0.5675191548648324,-0.1319626257029849],[-0.5225208834123785,-0.08696262414645894]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.29122292994326765,0.5209950278543571,0.71338606911949],"aabb_xy":[[-0.3271364343682573,0.48508151963760265],[-0.2553094255182779,0.5569085360711119]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.6161488374804203,0.0959362628043241,0.71338606911949],"aabb_xy":[[0.552148836776951,0.04991788033140311],[0.6801488381838897,0.14195464527724513]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.2720678235555545,1.4047345574931227,0.71338606911949],"aabb_xy":[[-0.33206782380695565,1.3504532324566578],[-0.2120678233041533,1.4590158825295871]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.10916833493774791,1.341881725770095,0.71338606911949],"aabb_xy":[[0.05153786605047704,1.2818817268433844],[0.16679880382501874,1.4018817246968056]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.5558520724325495,-0.5264189947203688,0.71338606911949],"aabb_xy":[[0.49585207183653335,-0.5812314672655922],[0.6158520730285657,-0.4716065221751452]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.041714216082859634,-1.8417593770345753,0.71338606911949],"aabb_xy":[[-0.05938984667145796,-1.8594395933139776],[-0.024038585494261296,-1.824079160755172]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.5779947985522353,1.661831430179816,0.71338606911949],"aabb_xy":[[0.49799479996491586,1.5825158282416552],[0.6579947971395547,1.741147032117977]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.45182301179019657,0.2998060391945683,0.71338606911949],"aabb_xy":[[-0.5118230126510093,0.24837960918808186],[-0.3918230109293837,0.3512324692010546]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.5885581159862959,-0.8084982228363919,0.71338606911949],"aabb_xy":[[-0.6011849032734923,-0.8180442965379648],[-0.5759313286990996,-0.798952149134819]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.12488870905621718,0.9337061581066921,0.71338606911949],"aabb_xy":[[-0.1354561887143162,0.9231611279936836],[-0.11432122939811817,0.9442511882197007]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.6038185591224009,-2.4364229167620466,0.71338606911949],"aabb_xy":[[-0.653802794830578,-2.486422915575542],[-0.5538343234142236,-2.386422917948551]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.05157391900923747,1.6061305778604944,0.71338606911949],"aabb_xy":[[-0.10157392002837276,1.5696643621226667],[-0.0015739179901021962,1.6425967935983226]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.3816281609445946,-0.34265263135056534,0.71338606911949],"aabb_xy":[[0.3266281617680051,-0.397642306125523],[0.43662816012118405,-0.2876629565756077]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.6231769354866912,-0.8059587893626146,0.71338606911949],"aabb_xy":[[0.5581769369296183,-0.8357113227764972],[0.688176934043764,-0.7762062559487319]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[-0.47199882011104,-0.7558464981269997,0.71338606911949],"aabb_xy":[[-0.5219988187569611,-0.8057660417864619],[-0.42199882146511875,-0.7059269544675372]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.6807659560460707,-1.146726754906293,0.71338606911949],"aabb_xy":[[-0.6916717321336334,-1.2267267513051219],[-0.669860179958508,-1.0667267585074636]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.14028052513216394,-0.9852119695268038,0.71338606911949],"aabb_xy":[[-0.1479047932223422,-0.9928451930633476],[-0.13265625704198572,-0.9775787459902602]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.007110025305207546,-0.9844773523937618,0.71338606911949],"aabb_xy":[[-0.062105503125866934,-1.0394773538276687],[0.04788545251545184,-0.9294773509598548]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.4918049788510698,-0.8980016484827553,0.71338606911949],"aabb_xy":[[-0.5718049799241901,-0.9077796948201396],[-0.41180497777794944,-0.8882236021453708]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[0.19284210773421484,1.732293072584667,0.71338606911949],"aabb_xy":[[0.155342109158594,1.7195567769211089],[0.23034210630983562,1.7450293682482247]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.6015912953950695,-2.17957690868545,0.71338606911949],"aabb_xy":[[0.5515964624671279,-2.229576907580694],[0.6515861283230111,-2.129576909790207]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.6369786123667497,0.45312462482217875,0.71338606911949],"aabb_xy":[[-0.6744786138823814,0.4418978518060337],[-0.599478610851118,0.4643513978383238]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[0.13348933608408553,1.469640231731455,0.71338606911949],"aabb_xy":[[0.1271772365477471,1.463873292478236],[0.13980143562042396,1.4754071709846739]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[0.33510864935480145,1.0424215838722408,0.71338606911949],"aabb_xy":[[0.2852918698899667,0.9924215853879375],[0.3849254288196362,1.0924215823565442]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_28","position":[-0.43956816803224796,-2.113881103503972,0.71338606911949],"aabb_xy":[[-0.5045681706700416,-2.165360702203419],[-0.37456816539445453,-2.062401504804525]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.2240893389216253,-2.2875465916605604,0.71338606911949],"aabb_xy":[[0.2123211521269678,-2.372546591565782],[0.23585752571628285,-2.202546591755339]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_30","position":[0.29829486968069574,-1.1831566106204932,0.71338606911949],"aabb_xy":[[0.2132948709886211,-1.2151424740153718],[0.3832948683727704,-1.151170747225614]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6441649014264763,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9596.png","name":"9596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9596.png","name":"9596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3546.png","name":"3546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3180.png","name":"3180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9695.png","name":"9695"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":679.4493879544261,"rotation_z_degrees":185.4436247727874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002910052684019681,-0.013343639315513616,-0.004383921043087593]},{"name":"camera_2","offset_m":[0.00868977346334732,0.016532142117106016,-0.0031340702290026737]},{"name":"camera_3","offset_m":[0.012413167225981469,0.010360279619570215,-0.009981505204151482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011991587930643612,-0.00011220379139993534,0.0010045365260566213],"end_effector_yaw_offset_degrees":0.8120288481347477},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008556333255306998,-0.00032321988480681616,0.0010929794494703399],"end_effector_yaw_offset_degrees":-0.34912806475389013},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00036163953980770155,-0.0017012028384703478,-0.0009605455647735109],"end_effector_yaw_offset_degrees":-0.5692804588061746}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003679681551226073,0.0043077780296945116],"position_m":[0.30692031844877393,0.2253077780296945,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046638625334164945,-0.0047518574530232465],"position_m":[0.31313613746658353,-0.19785185745302325,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00292921163049801,-0.0024557181768293437],"position_m":[0.31382921163049804,0.034144281823170655,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015281056377910007,0.0035294040486120665],"position_m":[0.054871894362208996,0.3935294040486121,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044798908766049824,0.00043779363977859004],"position_m":[0.15917989087660497,-0.4270622063602214,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fdf5c0eefaf06ef219aeb6e0a4ed1ed48e5b4b261e63c8933fa0bad174faa077","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9596/tex_ceiling_textures_9695/tex_floor_textures_579/tex_table_textures_3546/tex_wall_textures_3180","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5224162104728782356,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5224162104728782356,"visual_seed":5224162104728782356,"scene_id":"lab_003","finished_at":"2026-09-03T19:25:51"} +{"episode_id":"ep_000068","started_at":"2026-09-03T19:25:55","dimensions":{"distractor":{"count":35,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.5224559512431539,-0.19042786362754605,0.71338606911949],"aabb_xy":[[-0.5296997172893992,-0.2704278618311484],[-0.5152121851969086,-0.11042786542394367]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.19605348617869095,1.2186033850856224,0.71338606911949],"aabb_xy":[[-0.2335534846020913,1.2054391711177914],[-0.1585534877552906,1.231767599053453]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.30276416370906317,0.7584432422695682,0.71338606911949],"aabb_xy":[[-0.31239579992949273,0.7488059294898592],[-0.2931325274886335,0.7680805550492771]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.6635857199408784,0.09308745403176832,0.71338606911949],"aabb_xy":[[-0.6762125072280748,0.08354138033019542],[-0.6509589326536821,0.10263352773334122]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.4837245851581212,-1.2704720696984437,0.71338606911949],"aabb_xy":[[-0.5250291282218572,-1.3344720692665608],[-0.44242004209438524,-1.2064720701303266]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[0.49879677290659585,-0.5847050742382431,0.71338606911949],"aabb_xy":[[0.4917564629730589,-0.6647050736379146],[0.5058370828401328,-0.5047050748385719]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.535190267054017,-1.0128167884575738,0.71338606911949],"aabb_xy":[[-0.5764390780839316,-1.067816787969791],[-0.49394145602410217,-0.9578167889453563]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.14495211796287533,0.7284262713387775,0.71338606911949],"aabb_xy":[[0.11995211841113684,0.7182837874736427],[0.1699521175146138,0.7385687552039122]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.14003438265865642,-0.33566191432173076,0.71338606911949],"aabb_xy":[[-0.16458059828140714,-0.36591081087076777],[-0.11548816703590571,-0.30541301777269364]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.03555795154871233,-1.9038068726137611,0.71338606911949],"aabb_xy":[[-0.028442049154757024,-1.9498252550866821],[0.0995579522521817,-1.8577884901408401]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.5736740901636181,0.9333233786820201,0.71338606911949],"aabb_xy":[[0.5656806003683362,0.9253252467415448],[0.5816675799589003,0.941321510622496]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.42821603793676233,-2.4623903476255076,0.71338606911949],"aabb_xy":[[0.3642160376762915,-2.507399146978435],[0.49221603819723314,-2.417381548272579]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.24772742609251575,0.8524895368935499,0.71338606911949],"aabb_xy":[[0.17772742345592935,0.8323846718976844],[0.31772742872910203,0.8725944018894154]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.5239127467203986,-1.8564235363905413,0.71338606911949],"aabb_xy":[[-0.5464127472324392,-1.8789153947559394],[-0.501412746208358,-1.8339316780251427]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.2412299229711019,-0.807473322768141,0.71338606911949],"aabb_xy":[[-0.30522992531390347,-0.8524141740122734],[-0.17722992062830034,-0.7625324715240084]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.40751212244377194,-2.1762309717454134,0.71338606911949],"aabb_xy":[[-0.4399738233256993,-2.2063638038603153],[-0.37505042156184437,-2.1460981396305097]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.24683872552104624,1.1189832937608921,0.71338606911949],"aabb_xy":[[-0.2643854204371652,1.0814832921966409],[-0.22929203060492728,1.1564832953251434]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.25464020341663673,-1.1839503135446476,0.71338606911949],"aabb_xy":[[-0.27964020258226985,-1.1909025592500042],[-0.22964020425100362,-1.176998067839291]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.2595912521183735,-1.7487850185910865,0.71338606911949],"aabb_xy":[[-0.28410487621537933,-1.773049611893123],[-0.2350776280213676,-1.72452042528905]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.04779246211455623,-1.6851811317381868,0.71338606911949],"aabb_xy":[[0.010292460598924517,-1.6964079047543321],[0.08529246363018794,-1.673954358722042]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.5668008115120817,-2.0132525179440917,0.71338606911949],"aabb_xy":[[0.5630975501829427,-2.0169545362528094],[0.5705040728412205,-2.009550499635374]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.4587161810327127,-0.1534617956360167,0.71338606911949],"aabb_xy":[[0.3737161826152895,-0.23833609109830167],[0.543716179450136,-0.06858750017373172]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.6217986429683617,1.2417023489522019,0.71338606911949],"aabb_xy":[[-0.6567986443198434,1.2213426129953808],[-0.5867986416168799,1.2620620849090225]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.21845822796963932,-0.5266705688321736,0.71338606911949],"aabb_xy":[[-0.2612249348490595,-0.5906705722539761],[-0.1756915210902191,-0.4626705654103712]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.33105502624101035,0.9936487020540818,0.71338606911949],"aabb_xy":[[0.32301869153972546,0.9856105827496651],[0.33909136094229514,1.0016868213584986]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.4565834877538473,-0.47761000682711163,0.71338606911949],"aabb_xy":[[-0.4915834869466655,-0.48857705282477415],[-0.42158348856102895,-0.4666429608294489]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.498318221342438,0.809108172368735,0.71338606911949],"aabb_xy":[[0.4383182196995162,0.7571080230767908],[0.5583182229853598,0.8611083216606792]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[0.42668743969256306,0.2924602272274268,0.71338606911949],"aabb_xy":[[0.3766924287331112,0.2424602281918351],[0.47668245065201525,0.34246022626301853]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[-0.31890120808413386,-0.6548391975829546,0.71338606911949],"aabb_xy":[[-0.3235363232363672,-0.6587065326601033],[-0.3142660929319004,-0.650971862505806]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[0.12024062119149592,-1.3460875801279812,0.71338606911949],"aabb_xy":[[0.07024061953000114,-1.3960860223836835],[0.17024062285299066,-1.296089137872278]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[-0.030172381661861758,0.723742833333243,0.71338606911949],"aabb_xy":[[-0.08015533184934108,0.6737428336906824],[0.019810568525617574,0.7737428329758033]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[0.49687725505737745,-0.799894250327394,0.71338606911949],"aabb_xy":[[0.4318772565003046,-0.8296467837412766],[0.5618772536144503,-0.7701417169135114]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[-0.5037453362291515,-2.150886875493593,0.71338606911949],"aabb_xy":[[-0.5208474141875196,-2.167993681024863],[-0.48664325827078325,-2.1337800699623233]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_33","position":[0.4680211846805178,-1.9537864854831142,0.71338606911949],"aabb_xy":[[0.4505211844354684,-1.9712862733226808],[0.4855211849255672,-1.936286697643547]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_34","position":[-0.645828612645289,-2.534530472015904,0.71338606911949],"aabb_xy":[[-0.6617131059106142,-2.548883412314728],[-0.6299441193799639,-2.5201775317170796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6431904883416527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1207.png","name":"1207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8550.png","name":"8550"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9469.png","name":"9469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":780.4801663556168,"rotation_z_degrees":96.8431393654313,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01277138586019401,0.012112708197342,0.012607581170804887]},{"name":"camera_2","offset_m":[0.018106696131757912,-0.007263534016116733,-0.004772024100409968]},{"name":"camera_3","offset_m":[0.0027077937590963864,0.013853835596530372,0.0033995530074111165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001481056799207813,0.0012762232838833478,0.000643412315618984],"end_effector_yaw_offset_degrees":-0.5442969330103311},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018888233233005937,0.0010845830954850618,0.0008315349698372059],"end_effector_yaw_offset_degrees":-0.9776221559219815},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00036598804263185836,0.0015426516723133607,0.0010846186937189927],"end_effector_yaw_offset_degrees":0.7876436537282812}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004169302486777743,-0.002886726443829315],"position_m":[0.30643069751322227,0.2181132735561707,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005722214286012269,-0.0037086824529839546],"position_m":[0.3172277785713988,-0.19680868245298394,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004211538137157233,-0.0001892571668113364],"position_m":[0.31511153813715725,0.03641074283318867,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004236757554837013,0.002430679793094078],"position_m":[0.05216324244516299,0.3924306797930941,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004515167292494556,0.0019489327560923376],"position_m":[0.15921516729249455,-0.4255510672439077,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5e2e400cf3f59c2c01ca521045346e6661d90bc5cd19e63825f4af90b6f117c4","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1419/tex_ceiling_textures_811/tex_floor_textures_9469/tex_table_textures_1207/tex_wall_textures_8550","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8107368309258436382,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8107368309258436382,"visual_seed":8107368309258436382,"scene_id":"lab_003","finished_at":"2026-09-03T19:28:48"} +{"episode_id":"ep_000069","started_at":"2026-09-03T19:28:51","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.24134434741885213,0.12201548901911563,0.71338606911949],"aabb_xy":[[-0.24860559498925955,0.10922847875560615],[-0.23408309984844472,0.1348024992826251]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.35318496148866874,-2.3352804295903318,0.71338606911949],"aabb_xy":[[-0.38696052067936165,-2.3493189248034967],[-0.3194094022979757,-2.321241934377167]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.4248146870739311,1.332742208340827,0.71338606911949],"aabb_xy":[[0.4049236471935909,1.32008639705613],[0.4447057269542714,1.3453980196255237]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.07044275409418588,-0.4619740137765951,0.71338606911949],"aabb_xy":[[-0.12032545097188209,-0.5119740130228698],[-0.02056005721648967,-0.41197401453032034]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.19892091251853783,1.8010927728442288,0.71338606911949],"aabb_xy":[[0.19092742272325583,1.7930946409037536],[0.20691440231381988,1.8090909047847048]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.2050202755777436,-1.2967716798758522,0.71338606911949],"aabb_xy":[[-0.2350119383116139,-1.3267716792126527],[-0.17502861284387325,-1.2667716805390516]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.20685426663152,-2.1627095259270233,0.71338606911949],"aabb_xy":[[-0.27085426854386235,-2.2186206751850337],[-0.14285426471917767,-2.106798376669013]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.10058373579164837,-1.8976353752492239,0.71338606911949],"aabb_xy":[[-0.14666882704637985,-1.9616353725017792],[-0.05449864453691689,-1.833635377996669]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.20937599719491873,-2.0169566530982825,0.71338606911949],"aabb_xy":[[0.11937599351800054,-2.0783890596753865],[0.2993760008718369,-1.9555242465211777]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.026469087200323926,-2.009169389330129,0.71338606911949],"aabb_xy":[[-0.009160068699635811,-2.044802056086982],[0.06209824310028367,-1.973536722573276]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.2279067885916351,1.664630982604479,0.71338606911949],"aabb_xy":[[-0.23387332753237083,1.6586698379451146],[-0.22194024965089926,1.6705921272638429]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.6512363386810216,1.6740343192258291,0.71338606911949],"aabb_xy":[[0.6293276565416704,1.6521336524057382],[0.6731450208203725,1.6959349860459196]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.6147225015776101,-1.3232967842055723,0.71338606911949],"aabb_xy":[[0.6015712556063207,-1.3482967839622588],[0.6278737475488995,-1.2982967844488857]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.37878807580659574,0.16094757040482222,0.71338606911949],"aabb_xy":[[-0.3963663779955426,0.14337308083071731],[-0.3612097736176489,0.17852205997892712]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.19999992656729715,0.47396649829927995,0.71338606911949],"aabb_xy":[[0.19187223837398393,0.4650528898885723],[0.20812761476061037,0.4828801067099876]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.5824094692977388,-0.8261217670969048,0.71338606911949],"aabb_xy":[[0.5474094701049205,-0.8370888130945673],[0.617409468490557,-0.815154721099242]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.04575774011427658,-0.7653030059755221,0.71338606911949],"aabb_xy":[[0.011295392716134769,-0.7997968883733447],[0.08022008751241835,-0.7308091235776993]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.10087080402200177,-1.1557682077110865,0.71338606911949],"aabb_xy":[[0.010870805427531827,-1.1720187940245073],[0.1908708026164717,-1.1395176213976652]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.441785752646499,1.1370096619920016,0.71338606911949],"aabb_xy":[[0.391785751362659,1.0870308076013793],[0.4917857539303389,1.1869885163826235]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[0.5529737484889135,-1.7845407558004078,0.71338606911949],"aabb_xy":[[0.48897375206159166,-1.8317103796225043],[0.6169737449162355,-1.7373711319783114]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.06547283075572252,-2.207778961148718,0.71338606911949],"aabb_xy":[[0.015472829394835309,-2.2577568657241334],[0.11547283211660975,-2.157801056573302]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.10099014820108254,0.5406794065194909,0.71338606911949],"aabb_xy":[[-0.15611535383067332,0.48067940507820367],[-0.04586494257149177,0.6006794079607779]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[-0.053079838354623265,-0.9235458712713378,0.71338606911949],"aabb_xy":[[-0.10307467128256487,-0.9735458701665815],[-0.003085005426681671,-0.8735458723760944]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.5876833079006953,-0.23415548747834736,0.71338606911949],"aabb_xy":[[-0.651683305186344,-0.2756622064311913],[-0.5236833106150467,-0.1926487685255034]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.3492773831178093,-1.7134150317742478,0.71338606911949],"aabb_xy":[[0.25959030680969386,-1.8034150320286984],[0.43896445942592477,-1.6234150315197973]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[0.33311863413592246,-0.6449458456049668,0.71338606911949],"aabb_xy":[[0.3277810584699179,-0.6699458465341066],[0.33845620980192703,-0.619945844675827]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.45045723385112857,-2.206401324267516,0.71338606911949],"aabb_xy":[[0.4333551558927604,-2.2235081297987858],[0.4675593118094967,-2.1892945187362463]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[0.5506075118245544,-1.5772107658427685,0.71338606911949],"aabb_xy":[[0.533107511579505,-1.5947105536823354],[0.5681075120696037,-1.5597109780032017]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[0.10040251473468254,-0.6454468171694099,0.71338606911949],"aabb_xy":[[0.030402512603252982,-0.6682087827951054],[0.17040251686611207,-0.6226848515437141]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[-0.2446414618384034,0.873735166065913,0.71338606911949],"aabb_xy":[[-0.25505302051888706,0.8683894327300145],[-0.23422990315791964,0.8790808994018114]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[-0.34035604373865586,-1.6004344166484978,0.71338606911949],"aabb_xy":[[-0.3444342016457056,-1.6045153968967611],[-0.3362778858316061,-1.5963534364002345]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[-0.2603270288846817,0.7825377044344157,0.71338606911949],"aabb_xy":[[-0.2978270274603025,0.7698014087708578],[-0.2228270303090609,0.7952740000979737]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_32","position":[0.4626021071477273,-0.06781817382787692,0.71338606911949],"aabb_xy":[[0.4577028148411637,-0.09549509313044567],[0.4675013994542907,-0.04014125452530813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6438223247904353,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1818.png","name":"1818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1818.png","name":"1818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9319.png","name":"9319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8809.png","name":"8809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2212.png","name":"2212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3015.png","name":"3015"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":717.2846275179293,"rotation_z_degrees":241.0752003604015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004035443716405386,0.00887933659602171,0.0014923462670645184]},{"name":"camera_2","offset_m":[-0.011036537665693938,0.003140091520775941,0.013561787044688713]},{"name":"camera_3","offset_m":[-0.0005546345370364969,0.003321812590168203,0.0009788258992117736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019794641658263737,0.00022680768108734352,0.001207027925090399],"end_effector_yaw_offset_degrees":0.33876754450935076},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002761060520130986,0.0007586504924908871,0.0015889098205555995],"end_effector_yaw_offset_degrees":-0.5961587206706676},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016103500864640666,0.0017748678472974165,0.0014309825789204284],"end_effector_yaw_offset_degrees":0.8146048942207589}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002636033285375301,0.0014186028302682011],"position_m":[0.3132360332853753,0.2224186028302682,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00190605936755042,0.0003481925777229413],"position_m":[0.31589394063244963,-0.19275180742227704,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00491699400163543,0.0008001483242302343],"position_m":[0.3059830059983646,0.037400148324230234,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016974433168574286,0.003479860282919834],"position_m":[0.05470255668314257,0.39347986028291987,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00014546489760049446,-0.0038960404411616687],"position_m":[0.1548454648976005,-0.43139604044116164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"afe76b6401567e3381be0b5575c08454f9b7894f42af6fb3f11a2ae0460bb187","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1818/tex_ceiling_textures_3015/tex_floor_textures_2212/tex_table_textures_9319/tex_wall_textures_8809","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8788588785865544326,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8788588785865544326,"visual_seed":8788588785865544326,"scene_id":"lab_003","finished_at":"2026-09-03T19:31:42"} +{"episode_id":"ep_000070","started_at":"2026-09-03T19:31:47","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.2661968216059205,0.8038676079729465,0.71338606911949],"aabb_xy":[[0.25462784085898393,0.7788676078560148],[0.2777658023528571,0.8288676080898782]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.08888475371076121,0.8359348796588555,0.71338606911949],"aabb_xy":[[-0.13888475499460115,0.7859560252682333],[-0.038884752426921236,0.8859137340494775]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.5454654678647128,-2.370308418075567,0.71338606911949],"aabb_xy":[[-0.5519671043727176,-2.380076240101877],[-0.5389638313567083,-2.3605405960492574]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.2304178734748371,1.6428483173544346,0.71338606911949],"aabb_xy":[[-0.2529178739868777,1.6203564589890362],[-0.2079178729627965,1.665340175719833]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.11660101497691466,-0.6817934835154245,0.71338606911949],"aabb_xy":[[-0.15393229150215731,-0.7164465383102767],[-0.07926973845167205,-0.6471404287205722]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.051758490774967636,1.0535854031283556,0.71338606911949],"aabb_xy":[[-0.08675848908566308,1.04587038820481],[-0.016758492464272197,1.0613004180519012]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.65414175890726,0.46658352665848435,0.71338606911949],"aabb_xy":[[-0.6672930048785495,0.44158352690179786],[-0.6409905129359708,0.49158352641517095]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.007218590941875158,-1.3966622403913098,0.71338606911949],"aabb_xy":[[-0.010650516812580335,-1.4104951483685206],[0.02508769869633065,-1.382829332414099]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.3440448211187592,-0.9615252539460306,0.71338606911949],"aabb_xy":[[0.3090448228486393,-0.9685993816410188],[0.37904481938887913,-0.9544511262510424]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.33754474433700377,0.7830339661816694,0.71338606911949],"aabb_xy":[[-0.35497545941601016,0.7657618515178185],[-0.32011402925799715,0.8003060808455201]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.1902319563583461,1.3784658791703195,0.71338606911949],"aabb_xy":[[-0.19431011426539582,1.374384898922056],[-0.18615379845129634,1.3825468594185826]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.14271166570082738,-2.403061439353071,0.71338606911949],"aabb_xy":[[0.09558228669899171,-2.4670614403974724],[0.18984104470266305,-2.3390614383086685]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.5081206438153912,-1.539023987112454,0.71338606911949],"aabb_xy":[[-0.563113855152528,-1.5940239874512478],[-0.4531274324782545,-1.4840239867736604]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.031064483514341434,-2.2472762006919726,0.71338606911949],"aabb_xy":[[-0.018919752193835796,-2.2972761995054682],[0.08104871922251866,-2.197276201878477]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.20463554862594957,-1.978260663770878,0.71338606911949],"aabb_xy":[[-0.21520302828404858,-1.9888056938838863],[-0.19406806896785056,-1.9677156336578692]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.5661314506133304,1.683153325722755,0.71338606911949],"aabb_xy":[[-0.6005937980114718,1.648659443324932],[-0.5316691032151882,1.7176472081205774]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.6650194550550801,-0.5988014008571054,0.71338606911949],"aabb_xy":[[0.6562173997461073,-0.6066127270120345],[0.6738215103640527,-0.5909900747021763]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.42198365105848645,-2.4279871626425833,0.71338606911949],"aabb_xy":[[0.3669836518818969,-2.482976837417541],[0.4769836502350759,-2.3729974878676257]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.37573923893629413,0.41567484988368264,0.71338606911949],"aabb_xy":[[0.3639710521416366,0.3306748499784611],[0.3875074257309517,0.5006748497889042]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.44302884687124133,1.780781963389154,0.71338606911949],"aabb_xy":[[0.37302884423465493,1.7606770983932885],[0.5130288495078277,1.8008868283850195]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.5042357112406106,-1.0729855849499847,0.71338606911949],"aabb_xy":[[-0.5537161324545694,-1.1369855828628366],[-0.4547552900266518,-1.008985587037133]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.3122666647533135,-0.7947668093381979,0.71338606911949],"aabb_xy":[[-0.3230396386746813,-0.8297668075572368],[-0.3014936908319457,-0.7597668111191588]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.016326522121309472,0.6547846347495088,0.71338606911949],"aabb_xy":[[-0.06413268973507812,0.5897846320424497],[0.03147964549245917,0.7197846374565676]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.22214747744804875,1.6396151091410283,0.71338606911949],"aabb_xy":[[0.14214747879116277,1.6251102502167654],[0.30214747610493475,1.6541199680652912]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.3163123952321868,1.113857103314798,0.71338606911949],"aabb_xy":[[-0.38031239253453314,1.0694906763469412],[-0.25231239792984034,1.1582235302826547]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.6718957484049152,-2.5362874208915946,0.71338606911949],"aabb_xy":[[-0.6760116985169877,-2.5404029759244398],[-0.6677797982928424,-2.5321718658587486]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[0.19797824506400752,1.0690232989424557,0.71338606911949],"aabb_xy":[[0.15521153818458733,1.0050232955206535],[0.2407449519434277,1.1330233023642584]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.5475831721029862,0.42761713756449193,0.71338606911949],"aabb_xy":[[-0.597399951567821,0.37761713908018857],[-0.4977663926381515,0.4776171360487953]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[0.674748144268124,-2.4514753365328548,0.71338606911949],"aabb_xy":[[0.6372481430833311,-2.455893559228915],[0.7122481454529167,-2.447057113836794]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[0.21230046569725125,-2.086601658737723,0.71338606911949],"aabb_xy":[[0.20437718545850292,-2.1091016589757263],[0.22022374593599958,-2.0641016584997196]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.536091031405189,-1.3324760462520793,0.71338606911949],"aabb_xy":[[-0.5516468008154544,-1.3480264794964867],[-0.5205352619949238,-1.3169256130076723]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_31","position":[-0.3036041425567826,-2.428921884423171,0.71338606911949],"aabb_xy":[[-0.312318111606717,-2.4514218850823584],[-0.29489017350684804,-2.406421883763982]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_32","position":[-0.5494917331939895,-0.8508520179609922,0.71338606911949],"aabb_xy":[[-0.584491732323945,-0.8565972390366562],[-0.5144917340640337,-0.845106796885328]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_33","position":[0.5288231055278894,0.2910575064746186,0.71338606911949],"aabb_xy":[[0.46882310568132257,0.2342388842815799],[0.5888231053744561,0.34787612866765727]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_34","position":[-0.6273604824024883,-0.30557133117230073,0.71338606911949],"aabb_xy":[[-0.6346217299728957,-0.31835834143581027],[-0.6200992348320807,-0.2927843209087913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6433077904110805,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7735.png","name":"7735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2777.png","name":"2777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/863.png","name":"863"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":840.3721874300296,"rotation_z_degrees":209.18588303725298,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014427347443056762,0.004212162797212073,-0.0047687138434835095]},{"name":"camera_2","offset_m":[-0.015652413751939175,-0.005653641303624744,0.007440160107292072]},{"name":"camera_3","offset_m":[-0.012626925801979862,0.019348351959762682,-0.013029053072614736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005731817438938808,-0.0002295241542059098,0.0004664801229791425],"end_effector_yaw_offset_degrees":0.29803107893384806},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015855258354633812,0.0019939692396012485,0.00048673284143338795],"end_effector_yaw_offset_degrees":0.08259853440127252},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017081594072279136,0.000525036664409141,-0.0005543815224168212],"end_effector_yaw_offset_degrees":0.5058895679048863}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004733722845044519,0.0036724240994426066],"position_m":[0.3153337228450445,0.2246724240994426,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019204024627034856,0.004965535656587556],"position_m":[0.31587959753729655,-0.18813446434341244,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002864785433635538,-0.0005980383096449663],"position_m":[0.31376478543363556,0.036001961690355036,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028652324496956727,0.0006353370837410156],"position_m":[0.05353476755030433,0.39063533708374104,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011539017689062882,-0.004565426365083328],"position_m":[0.15354609823109372,-0.4320654263650833,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fcc7f08f5ab99c16adaa8cf914f064b947ec56c8d9b259990bed86eedb4be577","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1565/tex_ceiling_textures_863/tex_floor_textures_2777/tex_table_textures_7735/tex_wall_textures_3406","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4889595544944386214,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4889595544944386214,"visual_seed":4889595544944386214,"scene_id":"lab_003","finished_at":"2026-09-03T19:34:29"} +{"episode_id":"ep_000071","started_at":"2026-09-03T19:34:32","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.6547308308930664,0.024957690503181418,0.71338606911949],"aabb_xy":[[0.6460168618431317,0.0024576898439931934],[0.6634447999430007,0.047457691162369635]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.011768483694511556,-1.420487146609867,0.71338606911949],"aabb_xy":[[-0.06823151326852761,-1.49756278825364],[0.09176848065755072,-1.343411504966093]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.15982251740721964,1.3934627049187682,0.71338606911949],"aabb_xy":[[0.11763810324638893,1.3294627046415572],[0.2020069315680504,1.4574627051959796]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.09863341829017358,0.31781173740816815,0.71338606911949],"aabb_xy":[[-0.16263342033990558,0.2777172543188602],[-0.034633416240441584,0.3579062204974761]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.4024174072649558,-1.8461204678094985,0.71338606911949],"aabb_xy":[[0.37991827153872887,-1.8686204685877614],[0.4249165429911828,-1.8236204670312355]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.29778320016550514,0.4903157758904415,0.71338606911949],"aabb_xy":[[-0.3102505582752408,0.477850451257118],[-0.2853158420557695,0.502781100523765]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.35084771594426556,-2.37916033825666,0.71338606911949],"aabb_xy":[[0.2868477142662682,-2.4276777297359744],[0.4148477176222629,-2.330642946777346]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[0.2088746899010625,-1.695310344937512,0.71338606911949],"aabb_xy":[[0.15887468854017528,-1.7452882495129276],[0.25887469126194973,-1.6453324403620964]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.07658910578344946,-0.9358286160215215,0.71338606911949],"aabb_xy":[[0.07055209278278475,-0.9418553170904698],[0.0826261187841142,-0.9298019149525734]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.09789723705308917,0.9885445248580491,0.71338606911949],"aabb_xy":[[-0.16189723435543557,0.9441780978901921],[-0.033897239750742755,1.0329109518259056]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.3015156895005655,-2.1484862608779167,0.71338606911949],"aabb_xy":[[-0.3087769370709729,-2.1612732711414266],[-0.2942544419301581,-2.1356992506144077]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.0023354142401137423,-1.805733354175798,0.71338606911949],"aabb_xy":[[-0.03733541559159547,-1.8260930901326187],[0.032664587111367986,-1.785373618218977]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.3901398170231224,0.23703640863507403,0.71338606911949],"aabb_xy":[[-0.44013981797365515,0.2054872616315526],[-0.34013981607258953,0.26858555563859543]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.2111461545873788,1.083811949394876,0.71338606911949],"aabb_xy":[[-0.2911461550575948,1.0755012417805276],[-0.13114615411716288,1.0921226570092242]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.3323468569510315,1.4529903409307656,0.71338606911949],"aabb_xy":[[-0.39634685406313724,1.4039579711363552],[-0.26834685983892587,1.5020227107251765]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.08954264575391002,1.1450062170718334,0.71338606911949],"aabb_xy":[[0.019542643622480455,1.1222442514461375],[0.15954264788533953,1.1677681826975288]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.16103874102715054,-1.5680100552170717,0.71338606911949],"aabb_xy":[[0.14788749505586116,-1.5930100549737585],[0.17418998699843988,-1.5430100554603854]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.33849072850590134,-1.0542150111101367,0.71338606911949],"aabb_xy":[[0.2744907270979107,-1.1060039626340614],[0.40249072991389206,-1.002426059586212]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.37656975633526785,0.9183788113754678,0.71338606911949],"aabb_xy":[[-0.4140697562790342,0.9100857213406313],[-0.3390697563915014,0.9266719014103044]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.12531154480399986,-0.984183524512894,0.71338606911949],"aabb_xy":[[-0.18531154644692172,-1.0361836738048382],[-0.06531154316107801,-0.9321833752209499]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.25061893403557045,-0.4912614978371761,0.71338606911949],"aabb_xy":[[0.2429946659453922,-0.4988947213737199],[0.2582432021257487,-0.48362827430063243]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.14494245158578078,-0.6316519833975378,0.71338606911949],"aabb_xy":[[0.09494761865783921,-0.6816519822927815],[0.19493728451372241,-0.5816519845022944]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.26894307370348725,1.0802876639057106,0.71338606911949],"aabb_xy":[[0.20494307344301646,1.0352788645527824],[0.33294307396395806,1.1252964632586384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6414704711589452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/569.png","name":"569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/569.png","name":"569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9339.png","name":"9339"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/79.png","name":"79"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3356.png","name":"3356"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":547.4817741825932,"rotation_z_degrees":38.91304588734174,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014506810697136451,0.0019448097953606233,-0.012446834183456063]},{"name":"camera_2","offset_m":[0.015086690031303907,-0.004552084823774387,-0.01633593832320059]},{"name":"camera_3","offset_m":[0.003822638835137126,-0.001810845414518706,-0.0017215684876658657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010510707160771402,0.00023755064948780035,0.0014584552977963752],"end_effector_yaw_offset_degrees":-0.5627126707878229},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011621571208031312,0.000661468380987532,0.0012217200706280853],"end_effector_yaw_offset_degrees":0.30686437194219485},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012261890262024644,0.0011956512444417761,0.0004982643760511958],"end_effector_yaw_offset_degrees":0.8514397918703582}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004249837897890398,0.00337487809241407],"position_m":[0.3063501621021096,0.22437487809241408,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003276343448477188,-0.0022951059272798735],"position_m":[0.32107634344847724,-0.19539510592727988,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0033250367283941596,-0.000462514517920151],"position_m":[0.30757496327160583,0.03613748548207985,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032535430691998345,0.002812842662213132],"position_m":[0.05314645693080017,0.39281284266221317,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004533200486645187,-0.0010460765405176757],"position_m":[0.15424667995133548,-0.4285460765405177,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"94919ef11a8de05f2bc3221ad85d8278b4979eb707de6dc900609616176ff7e5","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_569/tex_ceiling_textures_3356/tex_floor_textures_79/tex_table_textures_4110/tex_wall_textures_9339","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4836198190768626855,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4836198190768626855,"visual_seed":4836198190768626855,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:28"} +{"episode_id":"ep_000072","started_at":"2026-09-03T19:37:30","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.36348808211217776,-1.662143752038394,0.71338606911949],"aabb_xy":[[0.34131555513552686,-1.684319419194517],[0.3856606090888285,-1.6399680848822704]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.07656702561009854,1.4906170523762907,0.71338606911949],"aabb_xy":[[0.06714955104023577,1.4812008752385715],[0.08598450017996127,1.5000332295140095]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.2551803012783496,-0.3148182610923054,0.71338606911949],"aabb_xy":[[-0.29203084921533723,-0.3523182619153391],[-0.218329753341362,-0.27731826026927164]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.009900077935982687,1.1479742506900648,0.71338606911949],"aabb_xy":[[-0.054099918491339216,1.1008046268679683],[0.07390007436330459,1.1951438745121612]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.15290934587741767,-1.3362472831687902,0.71338606911949],"aabb_xy":[[0.10291007070898153,-1.3862472844447373],[0.20290862104585386,-1.286247281892843]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.32789410512321887,-1.8038360247436467,0.71338606911949],"aabb_xy":[[-0.39189410223532456,-1.852868394538057],[-0.2638941080111132,-1.7548036549492358]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.0017428658903596572,-0.7498377266373255,0.71338606911949],"aabb_xy":[[-0.01814817398998059,-0.7624935379220226],[0.021633905770699905,-0.7371819153526288]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.4066707426253793,-1.0814748945718806,0.71338606911949],"aabb_xy":[[0.3566707409638845,-1.1314733368275833],[0.45667074428687404,-1.031476452316178]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.6460729037945487,-0.01891012726837582,0.71338606911949],"aabb_xy":[[0.6343047169998913,-0.1039101271735974],[0.6578410905892064,0.06608987263684575]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.10350947254738885,-0.215786871830574,0.71338606911949],"aabb_xy":[[-0.13728503173808182,-0.22982536704373902],[-0.06973391335669586,-0.20174837661740896]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.6371411085377614,-1.8132119481326807,0.71338606911949],"aabb_xy":[[0.5996411099621406,-1.8259482437962389],[0.6746411071133822,-1.800475652469123]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.41609658330773414,1.3074770303671799,0.71338606911949],"aabb_xy":[[0.39109658375599565,1.297334546502045],[0.4410965828594726,1.3176195142323144]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.46148094186759425,-1.1653551072777588,0.71338606911949],"aabb_xy":[[-0.5027854849313302,-1.229355106845876],[-0.42017639880385826,-1.1013551077096417]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.46345904396156623,0.7987995237962844,0.71338606911949],"aabb_xy":[[0.3834590417988037,0.7188443401701408],[0.5434590461243287,0.878754707422428]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.17612122796165508,-1.149421011110758,0.71338606911949],"aabb_xy":[[-0.1824333274979935,-1.1551879503639768],[-0.16980912842531665,-1.143654071857539]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.3966265264486336,-1.9877783015421695,0.71338606911949],"aabb_xy":[[-0.4144956342030891,-2.001611209519381],[-0.3787574186941781,-1.9739453935649587]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.5564100499836426,-1.9929952153510673,0.71338606911949],"aabb_xy":[[0.5455584437347669,-2.003854506078718],[0.5672616562325181,-1.9821359246234165]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.4107792197300626,-0.880299742709906,0.71338606911949],"aabb_xy":[[-0.5007792234069807,-0.9417321492870101],[-0.32077921605314436,-0.8188673361328014]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.1923463667160823,1.666575810360349,0.71338606911949],"aabb_xy":[[-0.28234636321695405,1.6206641679418907],[-0.10234637021521055,1.7124874527788072]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.04107567464270667,0.9853805302453735,0.71338606911949],"aabb_xy":[[-0.09107068560215871,0.9353805312097819],[0.008919336316745354,1.0353805292809652]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.04345767027231251,1.4336739836655217,0.71338606911949],"aabb_xy":[[-0.047888299627152686,1.4282256119308392],[-0.03902704091747233,1.4391223554002042]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.6045585918120429,-0.6298895002042504,0.71338606911949],"aabb_xy":[[0.5245585944084493,-0.7098820714024331],[0.6845585892156362,-0.5498969290060675]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.24583515675593304,-1.5261204244002926,0.71338606911949],"aabb_xy":[[0.1808351557554325,-1.5769067895549675],[0.31083515775643356,-1.4753340592456177]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.5826928503638356,-2.0998242436357555,0.71338606911949],"aabb_xy":[[-0.616989761381576,-2.1341211298456964],[-0.5483959393460949,-2.0655273574258137]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.6536914035671941,-1.073240925348501,0.71338606911949],"aabb_xy":[[0.6311949821333301,-1.0957409251552483],[0.6761878250010583,-1.0507409255417535]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.48770605292617675,-0.4245178248233592,0.71338606911949],"aabb_xy":[[0.42370605124817934,-0.4730352163026734],[0.5517060546041741,-0.376000433344045]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.4296050568663191,-2.367512298373677,0.71338606911949],"aabb_xy":[[-0.4795781223988346,-2.4175122981862103],[-0.3796319913338037,-2.3175122985611445]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.01393694190492012,-0.8275519255056536,0.71338606911949],"aabb_xy":[[0.009976458135185745,-0.8352197900911741],[0.017897425674654494,-0.8198840609201329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.640619956473758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9504.png","name":"9504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9504.png","name":"9504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4038.png","name":"4038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5199.png","name":"5199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9634.png","name":"9634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5030.png","name":"5030"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.5049220199483,"rotation_z_degrees":75.44815699238777,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004319800204460912,-0.0013903202533129232,0.009926005077250197]},{"name":"camera_2","offset_m":[-0.011057994379628658,0.009214278884132746,-0.009063451594144775]},{"name":"camera_3","offset_m":[-0.017145265757858276,0.007315095477464492,-0.0001570480956328696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001681888413606559,0.0013830456066413494,-0.000980418115308415],"end_effector_yaw_offset_degrees":0.4643883122889183},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001435511146513834,0.00016404054423577478,-0.0007061803539780702],"end_effector_yaw_offset_degrees":-0.5758435616413984},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015966886109486387,-0.0015292353140592806,-0.00023239818497430517],"end_effector_yaw_offset_degrees":-0.5936077577766872}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027154360179702363,0.0028443051961590657],"position_m":[0.31331543601797024,0.22384430519615905,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018523446362998285,0.002911446643957284],"position_m":[0.3159476553637002,-0.1901885533560427,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002404294434989508,0.0010621242843037856],"position_m":[0.3084957055650105,0.03766212428430379,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008955770351434921,-0.0033074662938215897],"position_m":[0.055504422964856505,0.3866925337061784,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002653547659219272,-0.002217151150438238],"position_m":[0.15204645234078074,-0.42971715115043824,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cdf698367bd96ecb114f0b3a4d8b9727d4243f28bfe5ca84af820de5fdcb7eb8","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9504/tex_ceiling_textures_5030/tex_floor_textures_9634/tex_table_textures_4038/tex_wall_textures_5199","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4670481337689420425,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4670481337689420425,"visual_seed":4670481337689420425,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:15"} +{"episode_id":"ep_000073","started_at":"2026-09-03T19:40:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.4933383432373487,1.3014347040467729,0.71338606911949],"aabb_xy":[[-0.4982943634222299,1.2789347038446515],[-0.48838232305246754,1.3239347042488947]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.35589885480682715,-1.6815578066062213,0.71338606911949],"aabb_xy":[[-0.4458988571408462,-1.7590401611913342],[-0.2658988524728081,-1.604075452021109]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.2495851969353018,-1.9874195748672399,0.71338606911949],"aabb_xy":[[0.23765246257347372,-1.9998017276750992],[0.26151793129712986,-1.9750374220593805]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.3922689290199175,-1.217227318290437,0.71338606911949],"aabb_xy":[[0.37762552346588446,-1.2318860379472212],[0.40691233457395043,-1.2025685986336527]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.2908018739060408,1.1642193288662663,0.71338606911949],"aabb_xy":[[-0.3083485688221597,1.126719327302015],[-0.27325517898992185,1.2017193304305176]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.588609006086425,-2.1912365748744955,0.71338606911949],"aabb_xy":[[-0.6526090033720737,-2.2327432938273395],[-0.5246090088007764,-2.1497298559216516]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.08000176540139792,0.6389462827916024,0.71338606911949],"aabb_xy":[[0.07557113604655775,0.6334979110569199],[0.08443239475623811,0.6443946545262851]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.44185967851577806,1.3989740011455738,0.71338606911949],"aabb_xy":[[-0.4544623776528545,1.3863786049207083],[-0.4292569793787016,1.4115693973704393]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.22599132325484061,-1.349541051049437,0.71338606911949],"aabb_xy":[[0.18849132290661286,-1.3613324466305203],[0.2634913236030684,-1.3377496554683532]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.08805322172555152,1.2921178976853942,0.71338606911949],"aabb_xy":[[0.024053219675819526,1.252023414596086],[0.15205322377528352,1.332212380774702]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.6126137132981888,1.0081698632778844,0.71338606911949],"aabb_xy":[[0.5229266369900734,0.9181698630234338],[0.7023007896063043,1.098169863532335]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.13622563461784365,-0.9841674224210784,0.71338606911949],"aabb_xy":[[-0.1784100487786744,-1.0481674226982896],[-0.09404122045701291,-0.9201674221438673]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.57515860520276,-1.2769708815766299,0.71338606911949],"aabb_xy":[[-0.6301508558382709,-1.3319708833199428],[-0.520166354567249,-1.2219708798333173]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.2855638717086747,0.8382286085775137,0.71338606911949],"aabb_xy":[[0.2215638684189666,0.794893689573596],[0.3495638749983828,0.8815635275814312]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.5229215675412703,0.22473162766001487,0.71338606911949],"aabb_xy":[[-0.5301828151116776,0.21194461739650539],[-0.5156603199708629,0.23751863792352435]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.05600160055054981,0.21450001528948848,0.71338606911949],"aabb_xy":[[-0.08596915746037548,0.18450001499160273],[-0.026034043640724147,0.24450001558737422]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.12869835316271827,0.5587752052806327,0.71338606911949],"aabb_xy":[[-0.19369835580051176,0.5072956065811857],[-0.06369835052492478,0.6102548039800796]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.10007893050248307,1.6390161554638758,0.71338606911949],"aabb_xy":[[-0.16007893034904985,1.5821975332708371],[-0.04007893065591628,1.6958347776569145]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.27446133170984016,1.0434242668804572,0.71338606911949],"aabb_xy":[[-0.309461331605859,1.0350500313685171],[-0.23946133181382126,1.0517985023923972]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.2548217454227014,-1.3646455489401648,0.71338606911949],"aabb_xy":[[-0.29045090132266116,-1.4002782156970177],[-0.21919258952274168,-1.3290128821833118]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.5715343492311383,1.8070585337537923,0.71338606911949],"aabb_xy":[[-0.5795706839324232,1.7990204144493758],[-0.5634980145298535,1.8150966530582093]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.6448394212249778,-0.1667733038648609,0.71338606911949],"aabb_xy":[[-0.6535373835156932,-0.1788982781723356],[-0.6361414589342627,-0.15464832955738617]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.484219001727505,-0.08591956859394578,0.71338606911949],"aabb_xy":[[0.4754377745802688,-0.09469931588247595],[0.49300022887474126,-0.07713982130541563]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.0064910292163199435,0.8220994239300108,0.71338606911949],"aabb_xy":[[-0.043991030401112734,0.8176812012339502],[0.03100897196847285,0.8265176466260712]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.35528173196062307,-1.9764259808390454,0.71338606911949],"aabb_xy":[[-0.4202817329611236,-2.0272123459937204],[-0.29028173096012255,-1.9256396156843703]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.39722499375884945,1.7762468767232176,0.71338606911949],"aabb_xy":[[0.35972499533544905,1.7630826627553866],[0.43472499218224975,1.789411090691048]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[0.5666433176268546,-1.6936980926122573,0.71338606911949],"aabb_xy":[[0.4866433161967274,-1.7732152476248666],[0.6466433190569818,-1.6141809375996476]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.6138826540137436,1.636026095943388,0.71338606911949],"aabb_xy":[[0.60898336170718,1.6083491766408193],[0.618781946320307,1.6637030152459569]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[-0.146459023712882,-1.7227857503624597,0.71338606911949],"aabb_xy":[[-0.16834877130182277,-1.8127857476517089],[-0.12456927612394118,-1.6327857530732106]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.2023494809377382,-0.4672537725147201,0.71338606911949],"aabb_xy":[[-0.21984948119707487,-0.4813453147034928],[-0.1848494806784016,-0.45316223032594755]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_30","position":[0.01417827331439725,-2.528192632144289,0.71338606911949],"aabb_xy":[[0.0036107936562982373,-2.5387376622572972],[0.02474575297249626,-2.51764760203128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6362928997658694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2165.png","name":"2165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4133.png","name":"4133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":609.4083151596113,"rotation_z_degrees":206.2716390961764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009196090701652957,-0.011651644566617563,0.008477198504600825]},{"name":"camera_2","offset_m":[0.018349724230887567,0.008053148564301393,-0.009951857061450426]},{"name":"camera_3","offset_m":[0.008582166895478357,0.011029707152033105,0.0016633770740164845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.328157852582161e-05,0.0010013003342790165,0.00126791068599963],"end_effector_yaw_offset_degrees":0.3981874661341176},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000745088978530688,0.00015802677747133983,0.0008940641598730839],"end_effector_yaw_offset_degrees":-0.6115413226644624},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010396499200979008,-0.00032012069357322654,0.00039414671305134296],"end_effector_yaw_offset_degrees":0.9383462398817382}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002470578520582966,0.0008137962729761637],"position_m":[0.31307057852058295,0.22181379627297618,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00044440609591022556,0.0011881309927337614],"position_m":[0.3173555939040898,-0.19191186900726623,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038407977661231415,0.0006604126243654447],"position_m":[0.3147407977661231,0.03726041262436545,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00027555353932780767,0.002849643077483861],"position_m":[0.05612444646067219,0.3928496430774839,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003904579499520385,0.0028603554843757628],"position_m":[0.15079542050047962,-0.42463964451562425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2760bb35c8c32c692c405a7e3a760c5c74c21a61b4c94fef70faddcacc2168d5","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8871/tex_ceiling_textures_6386/tex_floor_textures_4133/tex_table_textures_1079/tex_wall_textures_2165","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5214944463772892956,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5214944463772892956,"visual_seed":5214944463772892956,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:02"} +{"episode_id":"ep_000074","started_at":"2026-09-03T19:43:05","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[0.38640364569496555,-2.2931891565719087,0.71338606911949],"aabb_xy":[[0.3364036461186309,-2.3431697355240146],[0.4364036452713003,-2.2432085776198027]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.5839381225099132,1.1293494093590621,0.71338606911949],"aabb_xy":[[0.568053629244588,1.114996469060238],[0.5998226157752383,1.1437023496578862]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.3856179994829749,1.3879368229664966,0.71338606911949],"aabb_xy":[[0.37437294391235704,1.376695025242401],[0.3968630550535927,1.3991786206905916]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.09769210012425877,-0.7484468134461939,0.71338606911949],"aabb_xy":[[0.09425142388420162,-0.7523082464205585],[0.10113277636431596,-0.7445853804718294]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.42164614377226295,-1.9345539481755245,0.71338606911949],"aabb_xy":[[0.40496900777916744,-1.9512538721494548],[0.43832327976535845,-1.9178540242015942]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.17739064754929645,-2.1946040325838863,0.71338606911949],"aabb_xy":[[0.15239064761677856,-2.2014867008048102],[0.20239064748181435,-2.187721364362963]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.5409112564913153,0.15460347059869983,0.71338606911949],"aabb_xy":[[-0.6209112535055632,0.13446891892528856],[-0.46091125947706724,0.1747380222721111]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.3831832316828695,-0.6484966001724422,0.71338606911949],"aabb_xy":[[-0.4084040685427091,-0.6737203510253288],[-0.3579623948230298,-0.6232728493195553]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.25734742248396425,1.7661799763053998,0.71338606911949],"aabb_xy":[[0.23914159882271657,1.7551545757234084],[0.2755532461452119,1.7772053768873917]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[0.06584914903699357,-2.2396046054928958,0.71338606911949],"aabb_xy":[[0.05715118674627828,-2.251729579800371],[0.07454711132770886,-2.2274796311854215]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.6496617658625645,-0.8387156110987921,0.71338606911949],"aabb_xy":[[0.6321617665844778,-0.8560537111651381],[0.6671617651406515,-0.8213775110324462]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.43488159115978253,-0.14176617229175825,0.71338606911949],"aabb_xy":[[0.4302464760075491,-0.14563350736890687],[0.43951670631201584,-0.13789883721460958]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.4468474050811442,-1.486655860395631,0.71338606911949],"aabb_xy":[[0.43627992542304517,-1.4972008905086396],[0.4574148847392432,-1.4761108302826225]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.20098201825011186,-0.7238043968663157,0.71338606911949],"aabb_xy":[[0.15570340336896263,-0.7878043962144994],[0.24626063313126115,-0.659804397518132]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.5717956211598019,1.033768121410243,0.71338606911949],"aabb_xy":[[0.5657586081591373,1.027741420341295],[0.5778326341604667,1.039794822479191]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.18044401626284345,0.8547001288833544,0.71338606911949],"aabb_xy":[[0.13044401460134866,0.8047016866276516],[0.2304440179243382,0.904698571139057]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.4160948452470563,-1.8340557706916085,0.71338606911949],"aabb_xy":[[0.3989927672886882,-1.8511625762228783],[0.4331969232054245,-1.8169489651603388]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.5451391478232006,-1.9440413235551561,0.71338606911949],"aabb_xy":[[0.4951603393128847,-1.994041323560875],[0.5951179563335165,-1.8940413235494373]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.2669685071836154,-2.489638269815175,0.71338606911949],"aabb_xy":[[0.26326524585447647,-2.4933402881238926],[0.27067176851275426,-2.485936251506457]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.5950022769919066,0.43174400484571285,0.71338606911949],"aabb_xy":[[0.5310022767179284,0.3816779046484249],[0.6590022772658849,0.4818101050430008]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.6641245517125212,0.24344183696582444,0.71338606911949],"aabb_xy":[[0.6391245524405589,0.22709647336966207],[0.6891245509844834,0.25978720056198673]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.4780555435028987,-1.5573985445657967,0.71338606911949],"aabb_xy":[[-0.48781153301207253,-1.567161078625031],[-0.46829955399372475,-1.547636010506562]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.6307429620915279,-1.067898508409349,0.71338606911949],"aabb_xy":[[0.6213959545092327,-1.082202130626993],[0.6400899696738231,-1.053594886191705]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.6315057282341952,-1.6504984131060947,0.71338606911949],"aabb_xy":[[0.6235117396564916,-1.6584984932011848],[0.6394997168118984,-1.6424983330110041]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.07481128147851301,-1.067483139796972,0.71338606911949],"aabb_xy":[[0.06193937797757288,-1.147483140210808],[0.08768318497945315,-0.9874831393831359]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.04678721948897824,-1.9997134409700554,0.71338606911949],"aabb_xy":[[-0.08178721868179649,-2.010680486967718],[-0.011787220296159959,-1.988746394972393]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[-0.4159555802029209,0.4992998226258534,0.71338606911949],"aabb_xy":[[-0.4809555812034214,0.4485134574711783],[-0.3509555792024204,0.5500861877805282]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[0.6376529167291225,-1.5188178664731329,0.71338606911949],"aabb_xy":[[0.5876598046199306,-1.5688178671473287],[0.6876460288383144,-1.4688178657989372]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[0.20417541418073382,-1.5849199019982656,0.71338606911949],"aabb_xy":[[0.20003955784803362,-1.6224199014426228],[0.208311270513434,-1.5474199025539088]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.5429008357822884,-1.0775100060945073,0.71338606911949],"aabb_xy":[[-0.560533671375816,-1.09513295211013],[-0.5252680001887609,-1.0598870600788841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6431709940177176,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5239.png","name":"5239"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5239.png","name":"5239"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2879.png","name":"2879"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2284.png","name":"2284"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7097.png","name":"7097"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6166.png","name":"6166"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.0567743655802,"rotation_z_degrees":253.0486591312201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016478795873425253,0.004055762443072791,-0.002564800486234548]},{"name":"camera_2","offset_m":[-0.017593883155407247,0.012739951191156739,-0.011251480739764848]},{"name":"camera_3","offset_m":[-0.019211214193846728,0.018680753210059454,-0.006161886831328048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007241345609017356,-0.0012886603585544293,-3.303418151230208e-05],"end_effector_yaw_offset_degrees":-0.4946649743695546},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016607647421675253,0.0015877134349233748,-0.0010196217163565109],"end_effector_yaw_offset_degrees":0.13671433662120314},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00021562639276138246,1.9904572239254955e-05,0.0007638265253899984],"end_effector_yaw_offset_degrees":-0.5404418248339089}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017148157154693012,0.0005165195381026657],"position_m":[0.3088851842845307,0.22151651953810267,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00180461285773479,-0.0025463484364831],"position_m":[0.31960461285773484,-0.1956463484364831,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002873686781982459,-0.004099051813356342],"position_m":[0.3137736867819825,0.03250094818664366,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045195005470902,0.0004197603668610458],"position_m":[0.0518804994529098,0.39041976036686105,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014401141978871747,-0.004677379172341807],"position_m":[0.15325988580211283,-0.4321773791723418,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d8ea3392181b11f1356cea3ce880a9bd8b643a8bc7aeb4995a883b37e6f3a94a","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5239/tex_ceiling_textures_6166/tex_floor_textures_7097/tex_table_textures_2879/tex_wall_textures_2284","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3532698713066522290,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3532698713066522290,"visual_seed":3532698713066522290,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:54"} +{"episode_id":"ep_000075","started_at":"2026-09-03T19:45:56","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.6827572627487279,-1.1891466795008916,0.71338606911949],"aabb_xy":[[0.6719056564998523,-1.2000059702285424],[0.6936088689976035,-1.1782873887732404]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.5549275531113211,-0.05900704216268782,0.71338606911949],"aabb_xy":[[-0.5924275536086794,-0.06297572571080623],[-0.5174275526139629,-0.0550383586145694]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.031331559576329604,1.2309062426128663,0.71338606911949],"aabb_xy":[[-0.041087549085503494,1.2211437085536319],[-0.021575570067155714,1.2406687766721007]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.0972095741909963,-0.6389584932846037,0.71338606911949],"aabb_xy":[[0.042209575989251465,-0.6794804599110413],[0.15220957239274113,-0.5984365266581662]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.569855988943134,1.586865528189953,0.71338606911949],"aabb_xy":[[-0.6248492002802709,1.5318655278511597],[-0.5148627776059974,1.641865528528747]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.07259616589897588,-2.0465347798518208,0.71338606911949],"aabb_xy":[[-0.12259616756047063,-2.096533222107523],[-0.022596164237481117,-1.9965363375961178]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.42719648157395795,0.7002917981453995,0.71338606911949],"aabb_xy":[[0.3621964834180389,0.6739955535954872],[0.492196479729877,0.7265880426953116]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.4351246708303971,-0.2783602699100074,0.71338606911949],"aabb_xy":[[0.4001246725602771,-0.28543439760499556],[0.4701246691005169,-0.27128614221501923]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.3347914104373735,-2.3877542572392834,0.71338606911949],"aabb_xy":[[0.2979967773124672,-2.4246601323358656],[0.37158604356227976,-2.350848382142701]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.2667614232411198,0.2209368418007589,0.71338606911949],"aabb_xy":[[-0.351761421658543,0.13606254633847395],[-0.18176142482369656,0.3058111372630439]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[-0.21889542552561797,-1.7244986347367108,0.71338606911949],"aabb_xy":[[-0.2562267020508606,-1.759151689531563],[-0.18156414900037537,-1.6898455799418586]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.4719311340960868,0.013079019012079751,0.71338606911949],"aabb_xy":[[0.4680172609006642,0.004330003605522992],[0.47584500729150925,0.02182803441863651]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.37960513632021153,1.1654632604956636,0.71338606911949],"aabb_xy":[[-0.3924770398211516,1.0854632600818275],[-0.36673323281927134,1.2454632609094998]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.6660820554618476,-1.330425972916582,0.71338606911949],"aabb_xy":[[0.6316197080637057,-1.3649198553144042],[0.7005444028599893,-1.2959320905187588]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.010836936043190581,-1.0073378765370193,0.71338606911949],"aabb_xy":[[-0.04679353284408027,-1.0673378754637297],[0.06846740493046143,-0.9473378776103085]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.14773757978700586,-0.25786249095835156,0.71338606911949],"aabb_xy":[[-0.15830505944510487,-0.2684075210713601],[-0.13717010012890685,-0.247317460845343]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.5809898266330289,0.5015306369794161,0.71338606911949],"aabb_xy":[[0.5633569910395012,0.4839076909637931],[0.5986226622265564,0.519153582995039]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.010120953087834339,1.5635319128411171,0.71338606911949],"aabb_xy":[[-0.09512095177990898,1.531546049446238],[0.0748790456042403,1.5955177762359958]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.3404937801230421,1.0268786238764767,0.71338606911949],"aabb_xy":[[0.29918923705930606,0.9628786243083594],[0.38179832318677803,1.0908786234445935]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.09300450629079104,-0.8540770945636691,0.71338606911949],"aabb_xy":[[0.07109582415143999,-0.8759777613837598],[0.11491318843014207,-0.8321764277435784]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.1764032152856969,1.0790751401340652,0.71338606911949],"aabb_xy":[[-0.21390321510273047,1.0744369288229234],[-0.13890321546866335,1.083713351445207]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.10456280694637987,1.663107738744062,0.71338606911949],"aabb_xy":[[-0.1328925168949201,1.658646996550345],[-0.07623309699783964,1.667568480937779]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.4809498948500376,0.6691036106008244,0.71338606911949],"aabb_xy":[[-0.5459498934071104,0.6393510771869417],[-0.41594989629296475,0.698856144014707]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.4104824312609843,1.6707813541932928,0.71338606911949],"aabb_xy":[[-0.4604653814484636,1.6207813545507324],[-0.36049948107350493,1.7207813538358532]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.2019709934333822,-0.3640341018469835,0.71338606911949],"aabb_xy":[[-0.21390372779521025,-0.37641625465484285],[-0.1900382590715541,-0.3516519490391241]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.15445148897164518,1.22440106635131,0.71338606911949],"aabb_xy":[[0.10664532135787652,1.159401063644251],[0.2022576565854138,1.289401069058369]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[0.6704382574413499,-1.7729961024530843,0.71338606911949],"aabb_xy":[[0.6617402951506346,-1.7851210767605592],[0.6791362197320652,-1.7608711281456098]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[-0.16335197966582438,-0.9395800629127324,0.71338606911949],"aabb_xy":[[-0.1683079998507056,-0.9620800631148543],[-0.1583959594809432,-0.917080062710611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6461701934836147,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6308.png","name":"6308"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5494.png","name":"5494"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":691.7296182963277,"rotation_z_degrees":245.51333882969243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013866903020386161,0.0171139517048841,0.012617039502560708]},{"name":"camera_2","offset_m":[0.008828114977450844,-0.0052750525359733565,-0.007282461135049809]},{"name":"camera_3","offset_m":[0.016785978512171482,-0.004752840673939445,0.00742947841115699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005027673089838826,-0.0015046609600687533,-0.0019495589040152783],"end_effector_yaw_offset_degrees":-0.9815654117730934},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019587410285739912,0.0006198499506205627,-0.001081443691477865],"end_effector_yaw_offset_degrees":0.03658274893078417},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002877556569578644,-0.0017284303016523786,7.826616035104018e-05],"end_effector_yaw_offset_degrees":-0.8526892152244314}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004878989382858811,-0.0004205587170882201],"position_m":[0.3057210106171412,0.2205794412829118,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010107175406494128,-0.001460335044324921],"position_m":[0.31881071754064944,-0.1945603350443249,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0021914101276449046,0.0032028243832182097],"position_m":[0.3130914101276449,0.03980282438321821,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048379030475663755,0.0010785317924629813],"position_m":[0.05156209695243362,0.391078531792463,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003017327544768424,-0.004215231172867364],"position_m":[0.15771732754476842,-0.43171523117286736,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"16014c2ba07c2c7c33de71abe44e61256a3a96514890bc2e6f2248014bb95fa7","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7004/tex_ceiling_textures_5975/tex_floor_textures_5494/tex_table_textures_6308/tex_wall_textures_4919","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7157922370862492364,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7157922370862492364,"visual_seed":7157922370862492364,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:50"} +{"episode_id":"ep_000076","started_at":"2026-09-03T19:48:53","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.04854713389070764,1.7024031787525726,0.71338606911949],"aabb_xy":[[0.02354713433896915,1.692260694887438],[0.07354713344244612,1.7125456626177074]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.15182244760770736,0.2754798255522126,0.71338606911949],"aabb_xy":[[-0.1693223810416907,0.2579798256319781],[-0.13432251417372396,0.29297982547244716]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.4171519052822052,1.277523407426035,0.71338606911949],"aabb_xy":[[-0.45174298813625036,1.2125234071410038],[-0.3825608224281599,1.342523407711066]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.6848491625505498,-2.2867071376201893,0.71338606911949],"aabb_xy":[[-0.6946051520597236,-2.296469671679423],[-0.6750931730413758,-2.276944603560954]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.6517638556106911,-2.279918169163783,0.71338606911949],"aabb_xy":[[0.6342171606945722,-2.3174181707280344],[0.6693105505268101,-2.2424181675995314]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[-0.5549005779160144,-1.39294348614184,0.71338606911949],"aabb_xy":[[-0.5668333122778425,-1.4053256389496995],[-0.5429678435541864,-1.3805613333339808]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.3764258819525632,-0.4789953023054534,0.71338606911949],"aabb_xy":[[0.3414258819760674,-0.48845991835307],[0.41142588192905905,-0.4695306862578368]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.23902736576941014,-0.2488790635378746,0.71338606911949],"aabb_xy":[[-0.25059634651634666,-0.2738790636548063],[-0.22745838502247354,-0.2238790634209429]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.6814934785884521,-0.5489959021597768,0.71338606911949],"aabb_xy":[[-0.6916464941426014,-0.5850654437325169],[-0.6713404630343026,-0.5129263605870362]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.4608453567886992,0.5929531149054941,0.71338606911949],"aabb_xy":[[0.3908453603787373,0.572515179253812],[0.5308453531986608,0.6133910505571755]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.4226134132325883,0.9873624483637977,0.71338606911949],"aabb_xy":[[0.4131959386627255,0.9779462712260786],[0.432030887802451,0.9967786255015166]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.45607044884273074,1.6214295382515664,0.71338606911949],"aabb_xy":[[0.4452974749213629,1.5864295400325275],[0.46684342276409846,1.6564295364706054]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.6597710486281536,-1.5001293714587352,0.71338606911949],"aabb_xy":[[0.6533572349849686,-1.5065391917064033],[0.6661848622713384,-1.4937195512110666]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.6818465438382879,-2.5600452153966624,0.71338606911949],"aabb_xy":[[0.6535168338897477,-2.5645059575903795],[0.7101762537868281,-2.5555844732029454]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.48210657706491056,0.7755225617036801,0.71338606911949],"aabb_xy":[[-0.5461065773253814,0.7305137623507519],[-0.4181065768044398,0.820531361056608]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.6132434075016622,0.7089174609298077,0.71338606911949],"aabb_xy":[[0.6044413521926894,0.7011061347748785],[0.6220454628106348,0.7167287870847366]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.25224918617479486,-1.4113987137981836,0.71338606911949],"aabb_xy":[[0.2467912405377748,-1.4913987171058427],[0.2577071318118149,-1.3313987104905245]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.3263111254831379,-0.7111959200212488,0.71338606911949],"aabb_xy":[[0.271311125861392,-0.7661796128087216],[0.3813111251048837,-0.6562122272337761]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.2511637824964198,0.5368578885544699,0.71338606911949],"aabb_xy":[[-0.2870772869214095,0.5009443803377153],[-0.2152502780714301,0.5727713967712246]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.19315382441061357,1.7741037728461344,0.71338606911949],"aabb_xy":[[0.14315382483427888,1.7241231938940285],[0.24315382398694832,1.8240843517982404]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[-0.6423464799496241,-1.7623952114893342,0.71338606911949],"aabb_xy":[[-0.6793805893776838,-1.7967724188230436],[-0.6053123705215643,-1.7280180041556248]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.09233103050460523,1.1541914236467754,0.71338606911949],"aabb_xy":[[-0.10493372964168167,1.14159602742191],[-0.07972833136752876,1.166786819871641]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.2197525399432143,0.9015643763468839,0.71338606911949],"aabb_xy":[[-0.28975254257980065,0.8814595113510184],[-0.14975253730662794,0.9216692413427494]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.04997183413956563,-1.240370519816015,0.71338606911949],"aabb_xy":[[0.03956027545908192,-1.2457162531519133],[0.06038339282004934,-1.2350247864801165]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.38381902498643994,-1.0482436009294582,0.71338606911949],"aabb_xy":[[0.3691756194324069,-1.0629023205862427],[0.39846243054047287,-1.0335848812726742]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.05251854611500362,-1.373221730405645,0.71338606911949],"aabb_xy":[[0.035018545869954225,-1.3907215182452115],[0.07001854636005299,-1.3557219425660778]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.1675329043385413,-2.5081481400168433,0.71338606911949],"aabb_xy":[[-0.18454300162859194,-2.524282628515117],[-0.15052280704849064,-2.4920136515185694]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[0.13442633077481392,-2.244769923313131,0.71338606911949],"aabb_xy":[[0.11192633076466563,-2.2588661429527344],[0.1569263307849622,-2.230673703673528]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6434313956341546,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/641.png","name":"641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9540.png","name":"9540"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6081.png","name":"6081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9924.png","name":"9924"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":841.2778625633583,"rotation_z_degrees":319.23007037505886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0074871940131655285,0.008282654282319033,-0.009950312649789383]},{"name":"camera_2","offset_m":[-0.0158583307976373,0.018255627842448694,0.007630608563636305]},{"name":"camera_3","offset_m":[-0.011972434695153793,-0.00454217381479142,-0.009459318095851873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011755221989312127,-0.0005497772527853462,-0.000481113594919722],"end_effector_yaw_offset_degrees":-0.6736268069313771},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001041404607101752,-0.0005783452108823286,0.0014500780464516863],"end_effector_yaw_offset_degrees":0.8395433871593405},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015584622190038533,-0.0012088053044719865,-0.0013051799600515687],"end_effector_yaw_offset_degrees":-0.8547982041660604}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045956510679378655,0.0029642895996276125],"position_m":[0.31519565106793784,0.2239642895996276,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00019156396112917935,-0.004396361105483152],"position_m":[0.31760843603887084,-0.19749636110548316,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00023463865462303082,0.0014339287290454543],"position_m":[0.310665361345377,0.03803392872904546,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003438334673918776,0.004897358129009106],"position_m":[0.05296166532608122,0.3948973581290091,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020487654363751176,-0.001191644379481043],"position_m":[0.15674876543637511,-0.42869164437948104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"31f1628852123e5cf789f3a3c33b069649f6c836dbda4a55f2870496489cbebc","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1609/tex_ceiling_textures_9924/tex_floor_textures_6081/tex_table_textures_641/tex_wall_textures_9540","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1131092284408030059,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1131092284408030059,"visual_seed":1131092284408030059,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:36"} +{"episode_id":"ep_000077","started_at":"2026-09-03T19:51:40","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.5262873003636697,-1.3982999262674711,0.71338606911949],"aabb_xy":[[-0.5395182458983508,-1.41152734528947],[-0.5130563548289883,-1.3850725072454713]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.39094390842943727,-0.8212288042607241,0.71338606911949],"aabb_xy":[[0.3109439051715943,-0.9012253120527081],[0.4709439116872802,-0.7412322964687401]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.36040596160323074,-0.6692429166689415,0.71338606911949],"aabb_xy":[[-0.38046437321647103,-0.689308003578099],[-0.34034754998999045,-0.6491778297597839]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.17408978926791918,-0.3976902419810795,0.71338606911949],"aabb_xy":[[-0.2115897876913195,-0.4108544559489101],[-0.1365897908445188,-0.38452602801324887]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.5562386056833768,-1.8296982222060554,0.71338606911949],"aabb_xy":[[0.509109226681541,-1.8936982232504571],[0.6033679846852124,-1.7656982211616532]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.5490028100555433,-1.4848208468954962,0.71338606911949],"aabb_xy":[[0.5145403320424554,-1.491484524078419],[0.583465288068631,-1.478157169712573]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.4085493326100809,-1.5815879592486177,0.71338606911949],"aabb_xy":[[-0.4885493311974004,-1.6609035611867784],[-0.32854933402276154,-1.5022723573104566]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.6386625421274483,0.8428893244731421,0.71338606911949],"aabb_xy":[[-0.6836625435936772,0.7978894676116617],[-0.5936625406612195,0.887889181334623]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.4115980392652674,1.0202651256216182,0.71338606911949],"aabb_xy":[[-0.4180118529084523,1.0138553053739496],[-0.4051842256220824,1.0266749458692863]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.6383812800649573,-1.7608329055969372,0.71338606911949],"aabb_xy":[[-0.6836598949461065,-1.8248329049451208],[-0.5931026651838079,-1.6968329062487535]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.6464855666792109,-1.630736385003864,0.71338606911949],"aabb_xy":[[-0.654599221352588,-1.6388422014578932],[-0.6383719120058338,-1.622630568549835]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.3767219571739043,-2.0720294364266696,0.71338606911949],"aabb_xy":[[-0.3858818361177809,-2.0785606544702064],[-0.3675620782300277,-2.0654982183831327]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.6035957819012501,-1.2063103756727547,0.71338606911949],"aabb_xy":[[-0.6089282965558631,-1.2116347039179904],[-0.598263267246637,-1.2009860474275194]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.45975930543898746,1.6279798591798875,0.71338606911949],"aabb_xy":[[0.40994252597415276,1.5779798606955842],[0.5095760849038222,1.6779798576641909]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.6651173335050768,-1.3269571874784067,0.71338606911949],"aabb_xy":[[0.6590803205044122,-1.332983888547355],[0.6711543465057417,-1.3209304864094589]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.49562252736469364,-1.8758759517415518,0.71338606911949],"aabb_xy":[[-0.5506157387018307,-1.9308759520803458],[-0.44062931602755706,-1.8208759514027586]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.23775341607499473,0.1876933636067566,0.71338606911949],"aabb_xy":[[-0.3277534146694647,0.17144277729333557],[-0.1477534174805248,0.20394394992017761]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.017386718736231654,-1.4227113621018148,0.71338606911949],"aabb_xy":[[-0.00149766503227855,-1.4415972868821676],[0.03627110250474186,-1.403825437321462]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.004098847585643273,0.7048595503272912,0.71338606911949],"aabb_xy":[[-0.04590115185455235,0.6548916258429748],[0.05409884702583889,0.7548274748116074]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.02162000683800469,0.9616699340583046,0.71338606911949],"aabb_xy":[[-0.025323268167143555,0.9579679157495867],[-0.01791674550886582,0.9653719523670224]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.1478887939899478,1.3647765212754583,0.71338606911949],"aabb_xy":[[-0.18288879226006768,1.3577023935804702],[-0.11288879571982788,1.3718506489704465]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.4609038669314153,-0.47713251981342886,0.71338606911949],"aabb_xy":[[-0.5505909432395306,-0.5671325200678794],[-0.37121679062329976,-0.38713251955897837]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.44159075652292307,1.466400137155405,0.71338606911949],"aabb_xy":[[-0.49156382205543864,1.4164001373428723],[-0.3916176909904077,1.5164001369679383]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.035717544210356666,-0.9158740020247689,0.71338606911949],"aabb_xy":[[-0.0028281486148443655,-0.9544197730809575],[0.0742632370355577,-0.8773282309685803]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.3799199432811432,-1.3733703471828465,0.71338606911949],"aabb_xy":[[-0.44491994423827036,-1.425318559116552],[-0.31491994232401593,-1.3214221352491409]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.22410726481165788,-1.011614191523765,0.71338606911949],"aabb_xy":[[0.20119155192660804,-1.0345184886601886],[0.24702297769670784,-0.9887098943873416]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[-0.2200780730580596,1.747069587070921,0.71338606911949],"aabb_xy":[[-0.29007806946802134,1.726631651419239],[-0.15007807664809777,1.7675075227226025]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[-0.5762151975663801,1.339204578450048,0.71338606911949],"aabb_xy":[[-0.5836276531077684,1.33335336802842],[-0.5688027420249915,1.3450557888716759]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[0.413458555079109,-0.1917323310439465,0.71338606911949],"aabb_xy":[[0.37886747222506373,-0.25673233132897744],[0.44804963793315417,-0.12673233075891538]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[-0.22660539302309668,-1.0149249826178275,0.71338606911949],"aabb_xy":[[-0.27658420153341257,-1.0649249826235463],[-0.17662658451278077,-0.9649249826121087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429907911933144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2644.png","name":"2644"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2644.png","name":"2644"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4500.png","name":"4500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5322.png","name":"5322"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9908.png","name":"9908"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":506.03276632446216,"rotation_z_degrees":280.82646320407497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014326572691285427,0.0011636902055386332,0.00960753966121012]},{"name":"camera_2","offset_m":[-0.01901056662839292,0.006000378279843243,-0.01485672807934502]},{"name":"camera_3","offset_m":[0.01657718825184667,0.01805028585719255,-0.004359376342237785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009175868476140304,-0.0008336131255255025,-0.0010458835436492012],"end_effector_yaw_offset_degrees":-0.8678140783289603},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[5.2153257886124876e-05,-0.0016313823479758636,0.0013251321165035895],"end_effector_yaw_offset_degrees":0.005849339811449861},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004282860040963252,0.00017107005542575746,0.0005530647429524862],"end_effector_yaw_offset_degrees":-0.9452779281283348}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017602318250169889,0.00018896282781686626],"position_m":[0.308839768174983,0.22118896282781686,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004983900090051709,0.0009649701590042749],"position_m":[0.3128160999099483,-0.19213502984099573,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003972440686305475,0.00462653681707268],"position_m":[0.30692755931369453,0.04122653681707268,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005522378892241844,0.0014758302282988356],"position_m":[0.055847762110775814,0.39147583022829885,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012665606749354473,-0.004217683918115302],"position_m":[0.15343343932506456,-0.43171768391811527,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"138195c29ffb7be79ea703ee0d0b7a26b995a9789fee79d5698238aa82ff6fc3","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2644/tex_ceiling_textures_9908/tex_floor_textures_5322/tex_table_textures_4500/tex_wall_textures_1560","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4758584416074676631,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4758584416074676631,"visual_seed":4758584416074676631,"scene_id":"lab_003","finished_at":"2026-09-03T19:54:24"} +{"episode_id":"ep_000078","started_at":"2026-09-03T19:54:28","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.48312479352312465,-0.5722318088232399,0.71338606911949],"aabb_xy":[[-0.5329415729879594,-0.6222318073075432],[-0.43330801405828995,-0.5222318103389365]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.4508676861420695,-0.039845878398768964,0.71338606911949],"aabb_xy":[[0.39086768528125665,-0.09127230840525533],[0.5108676870028822,0.011580551607717432]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.04804999894106754,-2.4037809976096915,0.71338606911949],"aabb_xy":[[0.0009206199392318634,-2.467780998654093],[0.09517937794290321,-2.339780996565289]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.34166045931894495,-0.4157792207575275,0.71338606911949],"aabb_xy":[[0.27766045697614333,-0.46072007200166],[0.40566046166174646,-0.370838369513395]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.506916174165452,1.4323080407826532,0.71338606911949],"aabb_xy":[[-0.5569161755263391,1.3823301362072375],[-0.4569161728045647,1.4822859453580688]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.1757953931655597,-2.0828896838827644,0.71338606911949],"aabb_xy":[[-0.18176193210629546,-2.088850828542128],[-0.16982885422482388,-2.0769285392234]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.5788788536273402,-1.761226054862819,0.71338606911949],"aabb_xy":[[0.5310726860135715,-1.8262260575698774],[0.6266850212411088,-1.6962260521557595]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.21180094830598695,0.7751848146753955,0.71338606911949],"aabb_xy":[[0.16903424142656676,0.7111848112535929],[0.25456765518540714,0.8391848180971978]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.1565576554328758,-0.0757023236173624,0.71338606911949],"aabb_xy":[[-0.19114873828692103,-0.1407023239023934],[-0.1219665725788306,-0.010702323332331327]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.37125581316683687,-0.7915882222747164,0.71338606911949],"aabb_xy":[[-0.4412558147691164,-0.805021015476374],[-0.30125581156455744,-0.7781554290730588]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.6448850784232771,-1.3470927552903424,0.71338606911949],"aabb_xy":[[0.594885077404142,-1.3835589710281704],[0.6948850794424125,-1.3106265395525145]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.19674278039069,-0.8307533225117594,0.71338606911949],"aabb_xy":[[-0.21680119200393028,-0.8508184094209169],[-0.1766843687774497,-0.8106882356026018]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.48016600367475126,-2.470902769996395,0.71338606911949],"aabb_xy":[[0.41616600341428045,-2.515911569349323],[0.5441660039352221,-2.425893970643467]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.6200199234579151,-0.1717544465366232,0.71338606911949],"aabb_xy":[[0.6158840671252149,-0.2092544459809802],[0.6241557797906153,-0.1342544470922662]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.5338782125723882,-0.8717820581457971,0.71338606911949],"aabb_xy":[[0.5114134426009831,-0.8942820590246577],[0.5563429825437933,-0.8492820572669367]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[-0.3800070626278137,-2.078622630078518,0.71338606911949],"aabb_xy":[[-0.39517923190944704,-2.0937914870067216],[-0.36483489334618036,-2.0634537731503144]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.5230373495674248,0.9947054981352057,0.71338606911949],"aabb_xy":[[0.5011286674280736,0.9728048313151147],[0.5449460317067757,1.0166061649552962]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.4814210001954221,1.0299290630626916,0.71338606911949],"aabb_xy":[[-0.48963554531110604,1.0212524727650498],[-0.4732064550797381,1.0386056533603325]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.3781843140600413,-0.13936909926862517,0.71338606911949],"aabb_xy":[[-0.42818358922847755,-0.18936910054457234],[-0.3281850388916052,-0.089369097992678]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.6823980024369836,-1.2289312832507207,0.71338606911949],"aabb_xy":[[0.6648980021776469,-1.2430228254394933],[0.6998980026963202,-1.214839741061948]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.3950352754737889,-1.8974029845183797,0.71338606911949],"aabb_xy":[[-0.459035278763497,-1.9407379035222974],[-0.33103527218408074,-1.8540680655144621]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.14317833214179987,0.9649651473136855,0.71338606911949],"aabb_xy":[[-0.159062825407125,0.9506122070148615],[-0.1272938388764747,0.9793180876125096]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.3069778899407324,1.1742884243253684,0.71338606911949],"aabb_xy":[[-0.3569778903012984,1.1243084371157652],[-0.25697788958016626,1.2242684115349711]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.4421301437806444,0.7744497655931606,0.71338606911949],"aabb_xy":[[0.43603551589252615,0.765880371041492],[0.4482247716687628,0.7830191601448294]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.0340099711120917,-1.531684213023673,0.71338606911949],"aabb_xy":[[0.016140863357636204,-1.5455171210008838],[0.05187907886654719,-1.5178513050464622]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.25936137593087083,-1.2340938887751,0.71338606911949],"aabb_xy":[[0.20436137772912602,-1.2746158554015374],[0.31436137413261567,-1.1935719221486623]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.4137014732244664,-1.400973100741794,0.71338606911949],"aabb_xy":[[0.3777879687994767,-1.4368866089585484],[0.44961497764945607,-1.3650595925250393]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[0.7081793194053723,-0.5090884812403771,0.71338606911949],"aabb_xy":[[0.6984233298961983,-0.5188510152996115],[0.717935308914546,-0.49932594718114265]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[-0.39611753924770743,-1.5424065047941358,0.71338606911949],"aabb_xy":[[-0.4511175384242969,-1.5973961795690934],[-0.34111754007111794,-1.4874168300191781]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[0.6989749189989927,-1.7745922152041547,0.71338606911949],"aabb_xy":[[0.674428703376242,-1.8048411117531915],[0.7235211346217434,-1.7443433186551174]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[0.17762332930517655,-2.1438730015187786,0.71338606911949],"aabb_xy":[[0.13637451827526179,-2.198873001030996],[0.21887214033509125,-2.088873002006561]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_31","position":[-0.08281523844095462,-1.9048170739324592,0.71338606911949],"aabb_xy":[[-0.1478152410787481,-1.9562966726319062],[-0.017815235803161134,-1.8533374752330123]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_32","position":[0.5296183793639053,0.7596756812860459,0.71338606911949],"aabb_xy":[[0.4971566784819777,0.7295428491711432],[0.5620800802458326,0.7898085134009484]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_33","position":[-0.3098875391863131,0.48206753777901046,0.71338606911949],"aabb_xy":[[-0.35988754084780783,0.43206909552330774],[-0.2598875375248183,0.5320659800347132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6417676532182108,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6404.png","name":"6404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6788.png","name":"6788"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":558.7991917123737,"rotation_z_degrees":248.2619837252105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011497399518884472,0.014382968336842706,0.019828760251313898]},{"name":"camera_2","offset_m":[-0.002271139521337725,-0.003158386818448034,-0.0031947908281311013]},{"name":"camera_3","offset_m":[-0.007028198627265328,0.009418686530294172,-0.015504105077461375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006884023502752514,0.0017708397103602044,0.0012327758290484338],"end_effector_yaw_offset_degrees":0.13013748338464182},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005028706122200952,-4.2811925102055094e-05,0.0007433898375053252],"end_effector_yaw_offset_degrees":0.2174388079798879},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011772153794183888,-0.0010200394245466788,0.0010795716986560866],"end_effector_yaw_offset_degrees":0.6120509083664523}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019352046458374584,-0.0028379409185961347],"position_m":[0.3086647953541625,0.21816205908140388,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002172351279042124,0.0019032371898126755],"position_m":[0.31997235127904217,-0.19119676281018733,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0019882009478956273,0.002545409059063257],"position_m":[0.31288820094789566,0.03914540905906326,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003285627033430217,0.003260812417256758],"position_m":[0.059685627033430215,0.39326081241725674,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003043142410694169,0.002431625291763553],"position_m":[0.15774314241069418,-0.42506837470823644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9d175dff7611de046ec4f7f8d8a0b3d3411ba4d3a3d3b2da3c0a557f3f693b6d","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4350/tex_ceiling_textures_6788/tex_floor_textures_7534/tex_table_textures_6404/tex_wall_textures_7419","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3365018429867714333,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3365018429867714333,"visual_seed":3365018429867714333,"scene_id":"lab_003","finished_at":"2026-09-03T19:57:12"} +{"episode_id":"ep_000079","started_at":"2026-09-03T19:57:16","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.013018036799538946,-1.3961289301891635,0.71338606911949],"aabb_xy":[[-0.042107168830051826,-1.4561289316304504],[0.06814324242912971,-1.3361289287478761]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.6734683277795743,0.46241803652629354,0.71338606911949],"aabb_xy":[[0.6509683282558668,0.4399220890756727],[0.6959683273032816,0.48491398397691426]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.7015661868737757,1.445668938623975,0.71338606911949],"aabb_xy":[[0.6863940175921425,1.4305000816957716],[0.7167383561554092,1.4608377955521783]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.5116693118937683,1.6721279937131768,0.71338606911949],"aabb_xy":[[0.48977956430482755,1.5821279964239279],[0.5335590594827091,1.7621279910024261]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.6383145361414573,0.9316928071792061,0.71338606911949],"aabb_xy":[[-0.6877949573554162,0.8676928092663543],[-0.5888341149274986,0.9956928050920579]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.24170136712325513,-1.4823023626054632,0.71338606911949],"aabb_xy":[[-0.2917013680737879,-1.5138515096089844],[-0.1917013661727223,-1.4507532156019416]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.09404493773071265,-1.6859324985878166,0.71338606911949],"aabb_xy":[[-0.11654493824275323,-1.708424356953215],[-0.07154493721867204,-1.6634406402224182]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.40796607236108295,-0.9821742509021223,0.71338606911949],"aabb_xy":[[0.3279660753980437,-1.0592498925458957],[0.487966069324122,-0.9050986092583487]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.26905710126095395,1.1686723693461936,0.71338606911949],"aabb_xy":[[-0.2849415945262791,1.1543194290473697],[-0.2531726079956288,1.1830253096450178]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.28000978029750706,-0.7005200936423592,0.71338606911949],"aabb_xy":[[-0.3083394902460473,-0.7049808358360763],[-0.25168007034896683,-0.6960593514486422]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.39059698349303396,-2.5446614330368695,0.71338606911949],"aabb_xy":[[-0.40184203906365173,-2.555903230760965],[-0.37935192792241607,-2.5334196353127743]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.19548253851725916,0.9476303112570141,0.71338606911949],"aabb_xy":[[0.13148253934748919,0.9008636241380518],[0.25948253768702906,0.9943969983759767]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.25780055815380637,0.5736307685934858,0.71338606911949],"aabb_xy":[[-0.34780055787698055,0.5505574160583059],[-0.1678005584306322,0.5967041211286656]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.25422224766400525,1.676833551951606,0.71338606911949],"aabb_xy":[[0.24772061115600064,1.6670657299252964],[0.26072388417200987,1.686601373977916]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.35248553893699264,1.6307445503935427,0.71338606911949],"aabb_xy":[[-0.41648553536431454,1.5835749265714467],[-0.28848554250967073,1.6779141742156396]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.32729004886605817,-0.6193892916215011,0.71338606911949],"aabb_xy":[[0.2773167548627977,-0.6693892921760484],[0.3772633428693186,-0.5693892910669537]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.17199952409187313,-2.5721139399180046,0.71338606911949],"aabb_xy":[[0.15855299745782978,-2.5855837915710964],[0.18544605072591644,-2.5586440882649137]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.22988851956349382,0.2975575618587043,0.71338606911949],"aabb_xy":[[-0.24746682175244064,0.27998307228459934],[-0.21231021737454694,0.31513205143280915]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.2978908076313743,-2.119030417993268,0.71338606911949],"aabb_xy":[[0.2803441127152554,-2.1565304195575195],[0.31543750254749325,-2.0815304164290165]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5876647247585237,0.37493336156834234,0.71338606911949],"aabb_xy":[[-0.6476647252663766,0.318086627882421],[-0.5276647242506708,0.4317800952542636]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.33545864493403066,-1.3923186950302646,0.71338606911949],"aabb_xy":[[0.302018469738011,-1.4257623208611945],[0.3688988201300502,-1.3588750691993343]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.39136872097662145,-2.4015323516510265,0.71338606911949],"aabb_xy":[[0.35386872080474946,-2.4342330870339333],[0.42886872114849334,-2.368831616268119]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.6439328325046125,0.05989227641517125,0.71338606911949],"aabb_xy":[[0.611471131622685,0.029759444300268625],[0.6763945333865399,0.09002510853007384]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.137516910385179,0.960840290910717,0.71338606911949],"aabb_xy":[[-0.20151690678075204,0.8968770024919835],[-0.07351691398960589,1.0248035793294505]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[-0.18192919344008285,-0.9683027591893247,0.71338606911949],"aabb_xy":[[-0.21842501406736162,-1.004786701616082],[-0.14543337281280413,-0.931818816762567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6424598050714718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4349.png","name":"4349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4349.png","name":"4349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9628.png","name":"9628"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2583.png","name":"2583"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3952.png","name":"3952"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.1660842385531,"rotation_z_degrees":117.18612299425035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013893554201358908,0.013003305811930297,0.007338094500720125]},{"name":"camera_2","offset_m":[0.006252985337547572,-0.010186672502381948,0.011000394855379847]},{"name":"camera_3","offset_m":[-0.007599732740040662,0.0011346357355785756,-0.009097968266863257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.664790872453085e-05,-0.0002948667120852911,0.0005322163834671975],"end_effector_yaw_offset_degrees":-0.5951813470009626},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009102355144105351,0.0006271583919110462,-0.0004602442277616512],"end_effector_yaw_offset_degrees":-0.2297882866344303},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013461846826769,0.0001477731517043417,0.0007833347164704274],"end_effector_yaw_offset_degrees":-0.18759741500949922}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038122146584525997,0.004033526424539553],"position_m":[0.3067877853415474,0.22503352642453955,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001262424671377417,-0.0034193131783250078],"position_m":[0.31906242467137746,-0.196519313178325,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002582720186858977,-0.0025281987244822448],"position_m":[0.30831727981314105,0.03407180127551775,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036547796686307752,-0.002801746238117847],"position_m":[0.06005477966863077,0.38719825376188216,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00034656856703743286,-0.002407007936476161],"position_m":[0.15435343143296257,-0.4299070079364761,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6df513b98045b46788f4a727c3bf3ed57de4aa94bda2767dcb3a0af8a966132a","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4349/tex_ceiling_textures_3952/tex_floor_textures_2583/tex_table_textures_2857/tex_wall_textures_9628","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3162420868721482217,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3162420868721482217,"visual_seed":3162420868721482217,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:03"} +{"episode_id":"ep_000080","started_at":"2026-09-03T20:00:06","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.20074297498073146,-2.242266624098573,0.71338606911949],"aabb_xy":[[0.13674297276032443,-2.2866397082238614],[0.2647429772011385,-2.197893539973285]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.5930771946765143,0.729830619553101,0.71338606911949],"aabb_xy":[[0.580450407389318,0.7202845458515281],[0.6057039819637107,0.7393766932546739]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.3265262213123386,1.6039114086196737,0.71338606911949],"aabb_xy":[[-0.37652105424028026,1.55391140972443],[-0.27653138838439706,1.653911407514917]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.2175529671495386,1.1586074783875056,0.71338606911949],"aabb_xy":[[-0.22942505016103967,1.0736074786938552],[-0.20568088413803745,1.243607478081156]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.48766336946362154,-0.4656381116295103,0.71338606911949],"aabb_xy":[[-0.5376633711251162,-0.5156365538852128],[-0.4376633678021267,-0.4156396693738075]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.6182285017465163,1.3984042113571151,0.71338606911949],"aabb_xy":[[0.5605980328592454,1.3384042124304043],[0.6758589706337871,1.4584042102838255]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.011547151059107308,0.6279281867535387,0.71338606911949],"aabb_xy":[[0.0033326059434233258,0.6192515964558972],[0.01976169617479128,0.6366047770511799]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.6229855206833449,0.12685096741531732,0.71338606911949],"aabb_xy":[[-0.677977771318856,0.07185096567200457],[-0.5679932700478341,0.1818509691586301]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.5289779208441624,-1.051356540686802,0.71338606911949],"aabb_xy":[[-0.5345595924782911,-1.0638565405045775],[-0.5233962492100337,-1.0388565408690265]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.13398846724675484,-0.0010013509146009625,0.71338606911949],"aabb_xy":[[-0.16898846859823655,-0.021361086871421794],[-0.09898846589527309,0.01935838504221987]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.09765126661860335,-2.1062640653604996,0.71338606911949],"aabb_xy":[[-0.10740725612777724,-2.1160265994197336],[-0.08789527710942946,-2.0965015313012647]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.5952025420948182,-2.2422447141794204,0.71338606911949],"aabb_xy":[[0.5152025435074987,-2.321560316117581],[0.6752025406821376,-2.162929112241259]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.34695141756177944,0.8285856548727653,0.71338606911949],"aabb_xy":[[-0.3882002285916941,0.7735856553605478],[-0.30570260653186465,0.8835856543849827]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.3951664893536079,-1.8046839140563509,0.71338606911949],"aabb_xy":[[-0.4142787967115868,-1.8238186929335929],[-0.37605418199562907,-1.7855491351791088]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.48459058579430336,-1.5098392233075393,0.71338606911949],"aabb_xy":[[-0.5323967534080719,-1.5748392260145978],[-0.4367844181805346,-1.44483922060048]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.2026143061965766,-0.561302657064811,0.71338606911949],"aabb_xy":[[-0.26261430783949846,-0.6133028063567553],[-0.14261430455365476,-0.5093025077728669]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.3544300662903353,-0.3221601390827886,0.71338606911949],"aabb_xy":[[-0.40440887480065113,-0.3721601390885074],[-0.30445125778001936,-0.2721601390770698]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.3496547139134943,-2.1686816740727575,0.71338606911949],"aabb_xy":[[-0.3967840929153299,-2.232681675117159],[-0.30252533491165856,-2.104681673028355]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.16066525960212508,-1.7525539244946735,0.71338606911949],"aabb_xy":[[0.09666525819413442,-1.8043428760185982],[0.22466526101011575,-1.7007649729707488]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.06217776381669715,1.6659864217286278,0.71338606911949],"aabb_xy":[[0.027861486642079214,1.6159864217554503],[0.09649404099131509,1.7159864217018057]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.1404409567548781,-0.8535073219310301,0.71338606911949],"aabb_xy":[[-0.21044095888630762,-0.8762692875567257],[-0.07044095462344854,-0.8307453563053344]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.1839388431934027,-2.018507259476703,0.71338606911949],"aabb_xy":[[-0.19193283177110607,-2.0265073395717934],[-0.17594485461569928,-2.0105071793816123]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.5502300018285435,-1.6530952084381416,0.71338606911949],"aabb_xy":[[-0.5621627361903716,-1.6654773612460012],[-0.5382972674667155,-1.6407130556302825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6428727669845673,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5880.png","name":"5880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5880.png","name":"5880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3094.png","name":"3094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8313.png","name":"8313"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9161.png","name":"9161"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":698.6191579605554,"rotation_z_degrees":93.3289225353827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00046189927170969466,-0.015786711773223643,-0.01000517510326986]},{"name":"camera_2","offset_m":[-0.0012436286672906534,-0.006874952298252466,-0.010944108921325855]},{"name":"camera_3","offset_m":[-0.006007648441755333,0.012162422072307496,-0.018522731101263158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00040157230427961474,0.0014241470918394889,-0.0012994005028215128],"end_effector_yaw_offset_degrees":-0.8348423030743952},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007498995507853857,-0.0014344953384523417,0.0018939860537119666],"end_effector_yaw_offset_degrees":0.49534803835045493},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017587055770353689,0.0016660931009471521,-0.001065271958888717],"end_effector_yaw_offset_degrees":-0.319108739695406}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020559975105440696,0.0016811656065398549],"position_m":[0.3085440024894559,0.22268116560653986,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048763455512883065,0.0007819421259418237],"position_m":[0.3226763455512883,-0.19231805787405817,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00361881563982023,0.004970210976170872],"position_m":[0.30728118436017976,0.04157021097617087,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048348478079832885,0.003013778885020247],"position_m":[0.061234847807983286,0.39301377888502026,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004675893134614933,0.002611713511065785],"position_m":[0.15937589313461495,-0.42488828648893423,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c3d20830b4957aa506d5ee615c61e48c0d3fcf7e77718c49a34269ac33e741d","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5880/tex_ceiling_textures_9161/tex_floor_textures_8407/tex_table_textures_3094/tex_wall_textures_8313","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8497852541026011175,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8497852541026011175,"visual_seed":8497852541026011175,"scene_id":"lab_003","finished_at":"2026-09-03T20:03:10"} +{"episode_id":"ep_000081","started_at":"2026-09-03T20:03:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.6171324385867976,-1.6380444873922198,0.71338606911949],"aabb_xy":[[0.6098711910163901,-1.6508314976557292],[0.624393686157205,-1.6252574771287103]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.454240305553792,-1.7624984810337074,0.71338606911949],"aabb_xy":[[0.4375631695606966,-1.7791984050076377],[0.4709174415468876,-1.7457985570597772]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.2977521539592076,-0.7680795582697246,0.71338606911949],"aabb_xy":[[0.28962446576589446,-0.7769931666804323],[0.3058798421525209,-0.759165949859017]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.046137067043813484,-1.6998454917995836,0.71338606911949],"aabb_xy":[[-0.05027292337651368,-1.7373454912439408],[-0.04200121071111329,-1.6623454923552268]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.25304329572130557,-1.5893141570395275,0.71338606911949],"aabb_xy":[[0.1730432987070576,-1.6094487087129388],[0.33304329273555355,-1.5691796053661162]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.15514976057379393,1.4652828645469653,0.71338606911949],"aabb_xy":[[0.1376497603287445,1.4477830767073985],[0.17264976081884328,1.4827826523865322]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.7101429919267566,-2.02421275319607,0.71338606911949],"aabb_xy":[[0.7028606755500928,-2.114212756805578],[0.7174253083034201,-1.9342127495865602]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.47335708638244967,1.7154306486295812,0.71338606911949],"aabb_xy":[[0.4659446308410612,1.7095794382079532],[0.48076954192383814,1.7212818590512091]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.3380157585258689,-1.1883770099985178,0.71338606911949],"aabb_xy":[[-0.3506184576629454,-1.200972406223383],[-0.3254130593887925,-1.175781613773652]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.44656930676410633,-0.5617665537273866,0.71338606911949],"aabb_xy":[[0.44025720722776795,-0.5675334929806055],[0.4528814063004448,-0.5559996144741679]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.36691346871810127,1.2334739075148193,0.71338606911949],"aabb_xy":[[0.3419134691663628,1.2233314236496844],[0.39191346826983975,1.2436163913799538]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.4912906212679067,1.1820682955184334,0.71338606911949],"aabb_xy":[[0.4832542865666218,1.1740301762140164],[0.49932695596919147,1.19010641482285]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.375182898774588,0.40379557372244346,0.71338606911949],"aabb_xy":[[-0.3926136138535944,0.3865234590585926],[-0.35775218369558137,0.4210676883862942]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.6077235438127977,0.5510804717221847,0.71338606911949],"aabb_xy":[[-0.6577009606780512,0.5010804702329359],[-0.557746126947544,0.601080473211433]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.04180343424679822,-0.877133145560065,0.71338606911949],"aabb_xy":[[-0.05237091390489723,-0.8876781756730734],[-0.03123595458869921,-0.8665881154470563]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.07676695214691709,1.1985582853863974,0.71338606911949],"aabb_xy":[[0.026773840037725198,1.148558284712202],[0.12676006425610897,1.2485582860605933]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.6073924165453879,1.6185139013469336,0.71338606911949],"aabb_xy":[[-0.6161736436926243,1.6097341540584036],[-0.5986111893981517,1.627293648635464]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.4487352321134159,0.26921651966357274,0.71338606911949],"aabb_xy":[[0.38473523070542526,0.21742756813964806],[0.5127352335214066,0.32100547118749745]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.14247246903635657,-0.4452752590678837,0.71338606911949],"aabb_xy":[[-0.2124724711677861,-0.4680372246935793],[-0.07247246690492701,-0.42251329344218796]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.5312367600122554,-2.4486825294694445,0.71338606911949],"aabb_xy":[[0.46723675809991305,-2.5045936787274554],[0.5952367619245977,-2.3927713802114345]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.6324583015034422,1.1515541905075137,0.71338606911949],"aabb_xy":[[0.5986827423127492,1.1375156952943488],[0.6662338606941351,1.1655926857206786]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.6133602859121906,-1.9387188999009788,0.71338606911949],"aabb_xy":[[-0.6210634765862676,-1.946428270599717],[-0.6056570952381134,-1.9310095292022407]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.4952144341149337,-2.2065760826993572,0.71338606911949],"aabb_xy":[[-0.5320090672398399,-2.2434819577959395],[-0.4584198009900274,-2.169670207602775]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.30843192749642534,1.250153978119703,0.71338606911949],"aabb_xy":[[-0.34343192576654524,1.2430798504247147],[-0.27343192922630544,1.257228105814691]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.49715990252801884,0.9855843017730841,0.71338606911949],"aabb_xy":[[-0.5381778459143898,0.9355843011421269],[-0.456141959141648,1.0355843024040414]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[-0.032732284177205084,1.0602310898907343,0.71338606911949],"aabb_xy":[[-0.09673228146285373,1.0187243709378906],[0.03126771310844357,1.1017378088435785]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[0.24716252086489487,-2.1630636361577587,0.71338606911949],"aabb_xy":[[0.19716252221897368,-2.2129831798172206],[0.29716251951081607,-2.113144092498296]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[-0.2876821062782037,0.9621079312715697,0.71338606911949],"aabb_xy":[[-0.3516821048647761,0.9151009678720609],[-0.22368210769163116,1.0091148946710784]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.6786015939786101,0.3589985424049926,0.71338606911949],"aabb_xy":[[-0.6841832656127388,0.3464985425872171],[-0.6730199223444812,0.37149854222276807]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[0.08666744501789148,-2.4329917433058577,0.71338606911949],"aabb_xy":[[0.060378620697450806,-2.4592631769605084],[0.11295626933833212,-2.406720309651206]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[0.3730029552805394,-1.9682724452815148,0.71338606911949],"aabb_xy":[[0.309002953602542,-2.016789836760829],[0.4370029569585367,-1.9197550538022006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6454551452444837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3069.png","name":"3069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3069.png","name":"3069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1712.png","name":"1712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7075.png","name":"7075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2711.png","name":"2711"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4935.png","name":"4935"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":590.6378578350009,"rotation_z_degrees":331.56629267424654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017030604960985244,0.00022192578714283484,0.013681220334485548]},{"name":"camera_2","offset_m":[0.01600811908632437,0.004832819653613908,0.0004622001692686645]},{"name":"camera_3","offset_m":[-0.013358576636042284,-0.00744223041152667,0.018544600265192755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004297241285424209,0.0019480962881389223,0.0017801026920021812],"end_effector_yaw_offset_degrees":-0.6999792783669272},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001393301143684215,0.0013303246198797126,-0.0014769900394196113],"end_effector_yaw_offset_degrees":0.693878105267042},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00036027922118961634,-0.0012949482247350548,-0.0006801101087418994],"end_effector_yaw_offset_degrees":0.4115465004753207}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004861243216208325,-0.003062857281163187],"position_m":[0.3110861243216208,0.21793714271883682,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002360064316566837,-0.003023424568338964],"position_m":[0.3154399356834332,-0.19612342456833895,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002731713829095551,0.004997187479130318],"position_m":[0.31363171382909555,0.04159718747913032,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031666616383328548,-0.003867383576360316],"position_m":[0.053233338361667146,0.3861326164236397,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001434303519107151,-0.004905050745632959],"position_m":[0.15613430351910715,-0.43240505074563296,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f2ce9054e471053ababc98c7db48ef34f683c92bea3d74116688f98da92d322","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3069/tex_ceiling_textures_4935/tex_floor_textures_2711/tex_table_textures_1712/tex_wall_textures_7075","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7641125747315668700,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7641125747315668700,"visual_seed":7641125747315668700,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:04"} +{"episode_id":"ep_000082","started_at":"2026-09-03T20:06:06","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.3936965395559313,-0.9247028552024048,0.71338606911949],"aabb_xy":[[0.38491531240869514,-0.9334826024909351],[0.4024777667031676,-0.9159231079138748]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.3605797212579881,-1.8740837213458426,0.71338606911949],"aabb_xy":[[-0.37575189053962144,-1.8892525782740461],[-0.34540755197635475,-1.8589148644176394]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.12344745708086047,1.3189890073726729,0.71338606911949],"aabb_xy":[[-0.21344746075777862,1.257556600795568],[-0.033447453403942305,1.3804214139497768]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.5540933266130534,-2.1654563343183475,0.71338606911949],"aabb_xy":[[-0.5580538103827878,-2.1731241989038685],[-0.5501328428433191,-2.1577884697328273]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.0654603200247803,-0.7721918633274989,0.71338606911949],"aabb_xy":[[0.04788201783583346,-0.7897663529016037],[0.08303862221372715,-0.7546173737533939]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.29137217026589035,1.358570044007061,0.71338606911949],"aabb_xy":[[0.28374790217571216,1.3509368204705172],[0.29899643835606865,1.3662032675436047]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.5341743743639683,-1.3601257821931523,0.71338606911949],"aabb_xy":[[-0.6141743748341844,-1.368436489807501],[-0.4541743738937525,-1.351815074578804]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.6273915649295574,-0.40384799914291225,0.71338606911949],"aabb_xy":[[0.5888458721043565,-0.4423937701991009],[0.6659372577547585,-0.3653022280867236]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.0274881519179081,-1.9880560746172673,0.71338606911949],"aabb_xy":[[-0.07461753091974377,-2.0520560756616693],[0.019641227083927577,-1.9240560735728653]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.2327302035193386,-1.3176618343320101,0.71338606911949],"aabb_xy":[[-0.28273020446987135,-1.3492109813355313],[-0.18273020256880573,-1.2861126873284885]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.38291205873851064,-2.5035500648626425,0.71338606911949],"aabb_xy":[[-0.4429120589899118,-2.5578313898991065],[-0.32291205848710947,-2.4492687398261777]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.43185023185759763,0.23828148317012454,0.71338606911949],"aabb_xy":[[0.4224327572877349,0.22886530603240549],[0.4412677064274604,0.24769766030784354]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.49541262343184694,-0.26750783293526714,0.71338606911949],"aabb_xy":[[-0.5329126239292052,-0.27147651648338555],[-0.4579126229344887,-0.26353914938714873]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.4186469634172087,-0.1370149441880475,0.71338606911949],"aabb_xy":[[-0.4292144430753077,-0.14755997430105605],[-0.4080794837591097,-0.12646991407503894]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.4602296084254309,-2.0986615436144747,0.71338606911949],"aabb_xy":[[0.4420237847641833,-2.1096869441964663],[0.47843543208667866,-2.087636143032483]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.6213270424599614,1.3366198594420409,0.71338606911949],"aabb_xy":[[-0.6325720980305792,1.3253780617179456],[-0.6100819868893436,1.3478616571661362]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.0537363135481157,1.620014061760108,0.71338606911949],"aabb_xy":[[-0.07873631271374881,1.6130618160547514],[-0.02873631438248258,1.6269663074654646]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.30548529903110344,1.6247157996380373,0.71338606911949],"aabb_xy":[[0.27683596667068716,1.5960702403609615],[0.3341346313915196,1.653361358915113]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.06422406785542067,1.4512581366777781,0.71338606911949],"aabb_xy":[[0.04667737293930174,1.4137581351135267],[0.0817707627715396,1.4887581382420292]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.002890687960454552,-1.5150207393650272,0.71338606911949],"aabb_xy":[[-0.05210931166129129,-1.5700044321525],[0.057890687582200395,-1.4600370465775545]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.43211412152863793,1.3917418811126625,0.71338606911949],"aabb_xy":[[-0.4921141221246541,1.336929408567439],[-0.37211412093262175,1.446554353657886]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.47472668212941493,-0.763990974176282,0.71338606911949],"aabb_xy":[[0.4586647546708972,-0.8489909759888739],[0.49078860958793247,-0.6789909723636902]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.4091443635031573,0.610587351441322,0.71338606911949],"aabb_xy":[[0.39985074526600667,0.5730873529531881],[0.41843798174030783,0.6480873499294559]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[-0.31322057781915336,0.2122826931973707,0.71338606911949],"aabb_xy":[[-0.3278639833731863,0.19762397354058642],[-0.2985771722651203,0.22694141285415498]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.6386269870305037,0.611721877258331,0.71338606911949],"aabb_xy":[[0.6036269878376852,0.6007548312606683],[0.6736269862233217,0.6226889232559936]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.388789746632759,-0.4109319807059362,0.71338606911949],"aabb_xy":[[0.37616295934556265,-0.420478054407509],[0.40141653391995535,-0.4013859070043632]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.34444962501481396,-1.978268106181038,0.71338606911949],"aabb_xy":[[-0.35961249799175105,-1.9934335634761573],[-0.3292867520378769,-1.9631026488859198]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[0.23977773045022177,0.851225063677508,0.71338606911949],"aabb_xy":[[0.21731296047881668,0.8287250627986475],[0.2622425004216269,0.8737250645563686]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.6357460843959348,-1.9242359491585952,0.71338606911949],"aabb_xy":[[0.600746083044453,-1.9445956851154158],[0.6707460857474165,-1.9038762132017741]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639778057364672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9562.png","name":"9562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9562.png","name":"9562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5476.png","name":"5476"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6511.png","name":"6511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.9657826501957,"rotation_z_degrees":0.4175246667493804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01871224513082566,0.0026680600480937025,-0.007854640030143977]},{"name":"camera_2","offset_m":[-0.007307825510851384,0.01803645740112605,0.017874652422801594]},{"name":"camera_3","offset_m":[0.014584067791230112,-0.019436783419289595,0.012209705541605501]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001510807172318049,0.0005842738236551217,0.0008263510284471122],"end_effector_yaw_offset_degrees":-0.328582983712441},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006253263431523666,-0.0018894239258346976,0.0006786555362046772],"end_effector_yaw_offset_degrees":-0.6110748797413361},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004818217676484946,0.0019239086732074648,-0.0011655271550704118],"end_effector_yaw_offset_degrees":0.5877776861949202}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011871839204657141,0.0026477186899943397],"position_m":[0.30941281607953425,0.22364771868999433,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00071629041871082,0.0018075450236412528],"position_m":[0.31708370958128923,-0.19129245497635874,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0010256580883769425,-0.003906654546493831],"position_m":[0.31192565808837697,0.03269334545350617,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017841329643727413,-0.0001532218466489179],"position_m":[0.05818413296437274,0.3898467781533511,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025659432532646785,-0.0008639035930175457],"position_m":[0.15213405674673533,-0.4283639035930175,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6acaeee333dd46ec576a58c18aa4c3a464385cc79510d167303a30a9b648f445","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9562/tex_ceiling_textures_3083/tex_floor_textures_6551/tex_table_textures_5476/tex_wall_textures_6511","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8474629448287979004,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8474629448287979004,"visual_seed":8474629448287979004,"scene_id":"lab_003","finished_at":"2026-09-03T20:08:49"} +{"episode_id":"ep_000083","started_at":"2026-09-03T20:08:54","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.26172833121307915,-0.8552860299140668,0.71338606911949],"aabb_xy":[[0.2544845651668338,-0.9352860281176693],[0.26897209725932447,-0.7752860317104645]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.36251531464107156,-0.49959913468318007,0.71338606911949],"aabb_xy":[[-0.3780710840513369,-0.5151495679275873],[-0.3469595452308063,-0.48404870143877293]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.24806845416518364,-1.5678823177090744,0.71338606911949],"aabb_xy":[[0.2417563546288452,-1.5736492569622935],[0.25438055370152207,-1.5621153784558557]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.17918622569984777,1.2961919359543916,0.71338606911949],"aabb_xy":[[0.08918622628147685,1.2628164391102017],[0.26918622511821866,1.3295674327985811]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.4084399102205105,1.093450324582112,0.71338606911949],"aabb_xy":[[0.35844063505207446,1.043450323306165],[0.4584391853889468,1.1434503258580593]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.45685359030720396,-0.5251781252649312,0.71338606911949],"aabb_xy":[[0.4218535889557222,-0.545537861221752],[0.4918535916586857,-0.5048183893081103]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.17391845245980464,-0.7500142865170405,0.71338606911949],"aabb_xy":[[0.14043928519876372,-0.7834933998881475],[0.2073976197208456,-0.7165351731459335]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.600381846904001,-0.06759464567778872,0.71338606911949],"aabb_xy":[[-0.6067956605471857,-0.07400446592545705],[-0.5939680332608158,-0.061184825430120375]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.24146812066752454,0.2188505349912364,0.71338606911949],"aabb_xy":[[-0.2914510708550038,0.16885053534867595],[-0.19148517048004518,0.2688505346337967]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.6059246198565713,-0.8204330626410576,0.71338606911949],"aabb_xy":[[-0.6859246201301783,-0.8933826104667743],[-0.5259246195829643,-0.7474835148153408]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.4064142936008754,-1.2438870768680566,0.71338606911949],"aabb_xy":[[-0.42074871872703884,-1.2559472924225954],[-0.39207986847471193,-1.2318268613135177]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.22231899276447065,-1.895486784269571,0.71338606911949],"aabb_xy":[[-0.28631898987657634,-1.944519154063982],[-0.15831899565236496,-1.8464544144751607]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.0024174729089712077,-1.4074421751277102,0.71338606911949],"aabb_xy":[[-0.0615825273514996,-1.452450974480638],[0.066417473169442,-1.362433375774782]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.5212722997409744,-1.0233844187350727,0.71338606911949],"aabb_xy":[[-0.5752878960228743,-1.0873844216273296],[-0.46725670345907433,-0.9593844158428153]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.6482379279075945,-1.1489628306304072,0.71338606911949],"aabb_xy":[[-0.6732379271795568,-1.1653081942265693],[-0.6232379286356322,-1.1326174670342446]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.38866874903257154,0.5963539369832209,0.71338606911949],"aabb_xy":[[0.3501230562073705,0.5578081659270323],[0.4272144418577726,0.6348997080394095]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.6565561907745161,0.9810190801720262,0.71338606911949],"aabb_xy":[[0.6190561909574825,0.9763808688608844],[0.6940561905915497,0.985657291483168]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.443703464757365,1.3108876471864335,0.71338606911949],"aabb_xy":[[0.40620346396536955,1.3045198062282433],[0.48120346554936044,1.3172554881446237]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.6788930902360057,-0.6883766229514625,0.71338606911949],"aabb_xy":[[0.6669603558741777,-0.700758775759322],[0.6908258245978338,-0.6759944701436033]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.39943045767315494,1.503442449166832,0.71338606911949],"aabb_xy":[[-0.4074667923744398,1.4954043298624151],[-0.3913941229718701,1.5114805684712487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6400236257561753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2148.png","name":"2148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2148.png","name":"2148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5048.png","name":"5048"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/604.png","name":"604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":525.0178464275826,"rotation_z_degrees":106.76218831043654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005246397075364735,0.019696980972247934,0.00909569934068577]},{"name":"camera_2","offset_m":[0.011064184235925551,-0.00613827198542991,0.0022506845739102034]},{"name":"camera_3","offset_m":[-0.004055113813337424,0.019125550215304158,0.004985821620325317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002904421929688936,-0.0011745259158845744,3.591166534308099e-05],"end_effector_yaw_offset_degrees":0.09741883954229724},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013020739062037001,-0.0015734919164713114,-0.0013104057941679837],"end_effector_yaw_offset_degrees":-0.8899903797790076},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005284327616746783,0.0006396944888926608,0.00011692971953675396],"end_effector_yaw_offset_degrees":0.8007467048394472}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027621025487110117,-0.0010123684206706412],"position_m":[0.307837897451289,0.21998763157932935,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0043621944388710044,0.003332360738184363],"position_m":[0.31343780556112905,-0.18976763926181564,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00135574020842126,0.004034145857732947],"position_m":[0.30954425979157874,0.04063414585773295,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006460433392956114,-0.0015552792478398204],"position_m":[0.05575395666070439,0.3884447207521602,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00451667008435113,-0.0033828530444966],"position_m":[0.15018332991564887,-0.4308828530444966,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f4db4caf1b7de5d981f5aa5e0a9a13d7c3604d506e3e3877345a70819eca64e8","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2148/tex_ceiling_textures_8857/tex_floor_textures_604/tex_table_textures_691/tex_wall_textures_5048","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":2856129837615401915,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":2856129837615401915,"visual_seed":2856129837615401915,"scene_id":"lab_003","finished_at":"2026-09-03T20:11:39"} +{"episode_id":"ep_000084","started_at":"2026-09-03T20:11:42","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.3620488876186464,0.5458677316767448,0.71338606911949],"aabb_xy":[[-0.4220488878700475,0.4915864066402802],[-0.30204888736724517,0.6001490567132095]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.5274590802868573,-0.28814683769247695,0.71338606911949],"aabb_xy":[[0.5193313920935441,-0.29706044610318455],[0.5355867684801705,-0.27923322928176925]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.5074595550704113,-1.450753788403449,0.71338606911949],"aabb_xy":[[-0.5724595577082048,-1.502233387102896],[-0.4424595524326178,-1.399274189704002]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.375496794513801,-1.2240747058054395,0.71338606911949],"aabb_xy":[[-0.4354967950216539,-1.2809214394913608],[-0.31549679400594804,-1.1672279721195182]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.2601783235609699,-0.6059025722658491,0.71338606911949],"aabb_xy":[[-0.3151715348981067,-0.6609025726046428],[-0.20518511222383318,-0.5509025719270556]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.34214108561150247,-2.3991205721616335,0.71338606911949],"aabb_xy":[[-0.35881822160459803,-2.415820496135564],[-0.325463949618407,-2.3824206481877033]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.040514008876812224,1.3806060363903518,0.71338606911949],"aabb_xy":[[-0.039485989710507194,1.3012904344521907],[0.12051400746413166,1.4599216383285125]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.1440467396820012,0.8336103639890968,0.71338606911949],"aabb_xy":[[-0.19402003368526166,0.7836103634345493],[-0.09407344567874076,0.883610364543644]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.3503149876868734,-1.0412082768023112,0.71338606911949],"aabb_xy":[[-0.3558966593210021,-1.0537082766200865],[-0.3447333160527446,-1.0287082769845355]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.43180573540894707,-1.554931407476797,0.71338606911949],"aabb_xy":[[0.39326004258374603,-1.5934771785329855],[0.4703514282341481,-1.516385636420608]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.3999206241476834,1.1152382752842205,0.71338606911949],"aabb_xy":[[-0.42243431597114056,1.0452382746832127],[-0.3774069323242262,1.1852382758852278]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.28028847114896155,-1.3769239386439651,0.71338606911949],"aabb_xy":[[-0.3442884725569522,-1.4287128901678898],[-0.2162884697409709,-1.3251349871200404]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.219514837427923,-2.12679874331883,0.71338606911949],"aabb_xy":[[-0.2545148356980429,-2.1338728710138177],[-0.18451483915780306,-2.1197246156238414]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.41865516056501106,-2.51547169214028,0.71338606911949],"aabb_xy":[[0.3957394476799612,-2.5383759892767035],[0.441570873450061,-2.4925673950038565]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.07286632081356026,-1.950553695485245,0.71338606911949],"aabb_xy":[[-0.09645144427745513,-2.0155536977306765],[-0.04928119734966542,-1.885553693239813]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.36065957178054586,1.3377482976479338,0.71338606911949],"aabb_xy":[[0.34878748876904475,1.2527482979542834],[0.372531654792047,1.4227482973415841]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.3237821930984954,-0.8858738417736458,0.71338606911949],"aabb_xy":[[-0.37387965707956894,-0.9498738422834576],[-0.2736847291174217,-0.821873841263834]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.63870270237588,-0.26952456722794116,0.71338606911949],"aabb_xy":[[-0.6421433786159372,-0.2733860002023057],[-0.6352620261358228,-0.26566313425357674]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.06037673192813342,1.7450978068953416,0.71338606911949],"aabb_xy":[[-0.14037673300125375,1.735319760557957],[0.01962326914498691,1.7548758532327258]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.5158614722905523,1.6403916195259334,0.71338606911949],"aabb_xy":[[0.4358614690265392,1.6268315872170198],[0.5958614755545655,1.6539516518348465]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.46604813224391783,1.4538731609788207,0.71338606911949],"aabb_xy":[[0.45260160560987445,1.4404033093257294],[0.4794946588779611,1.467343012631912]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.29555733754847396,1.3649816378229898,0.71338606911949],"aabb_xy":[[-0.3450377587624328,1.3009816399101382],[-0.24607691633451523,1.4289816357358418]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.20560094068646706,1.2023998904447333,0.71338606911949],"aabb_xy":[[0.16810094002188833,1.186712832444511],[0.24310094135104574,1.2180869484449555]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.1700638545735761,-1.6365629415215586,0.71338606911949],"aabb_xy":[[0.15219474681912057,-1.6503958494987696],[0.18793296232803156,-1.6227300335443475]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[-0.5971132093059919,-0.5037374714396159,0.71338606911949],"aabb_xy":[[-0.6051565692319469,-0.5887374725349823],[-0.5890698493800366,-0.41873747034424946]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[0.40343585374709545,0.001817293867378389,0.71338606911949],"aabb_xy":[[0.398800738594862,-0.0020500412097702587],[0.4080709688993287,0.005684628944527036]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.6772347582946345,-1.9942855605432293,0.71338606911949],"aabb_xy":[[-0.6923370597556523,-2.0093870821742907],[-0.6621324568336161,-1.9791840389121669]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[0.19132027389555117,0.8474004335356589,0.71338606911949],"aabb_xy":[[0.1336898050082803,0.7874004346089482],[0.24895074278282198,0.9074004324623693]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[0.460849128155407,-0.7752256236300246,0.71338606911949],"aabb_xy":[[0.4108760626228917,-0.8252256234425577],[0.5108221936879227,-0.7252256238174918]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[0.6957712966254317,-2.2323109011529043,0.71338606911949],"aabb_xy":[[0.6783405815464251,-2.2495830158167553],[0.7132020117044381,-2.2150387864890533]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_30","position":[0.4983212959397134,-1.341601577539487,0.71338606911949],"aabb_xy":[[0.4758212961258111,-1.3460761939099677],[0.5208212957536158,-1.3371269611690062]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_31","position":[-0.5746733847878139,-1.6562294237782842,0.71338606911949],"aabb_xy":[[-0.6596733834798886,-1.6882152871731628],[-0.4896733860957393,-1.6242435603834051]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[0.513016642447301,-2.318344923127806,0.71338606911949],"aabb_xy":[[0.4939043350893221,-2.337479702005048],[0.5321289498052798,-2.299210144250564]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_33","position":[0.02376395176354318,-2.3941157862368674,0.71338606911949],"aabb_xy":[[-0.011865204136416563,-2.4297484529937203],[0.05939310766350292,-2.3584831194800144]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_34","position":[0.16722020497315937,-1.3893492849181759,0.71338606911949],"aabb_xy":[[0.12972020468098452,-1.3933907603187792],[0.20472020526533416,-1.3853078095175722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6382287336055464,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9921.png","name":"9921"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9921.png","name":"9921"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9385.png","name":"9385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/839.png","name":"839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9249.png","name":"9249"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":513.311007366826,"rotation_z_degrees":238.42797183100416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011605777283482045,0.017363034358077744,-0.017335831162209683]},{"name":"camera_2","offset_m":[0.01035007432642077,0.01530070049642612,-0.009714120043096228]},{"name":"camera_3","offset_m":[-0.0001461176890161786,0.0018920035025775939,-0.017672744827687565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00033541022604219664,-0.0007884507011066582,-0.001438422470489145],"end_effector_yaw_offset_degrees":0.6301527009421264},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018470651049710238,-0.0007565289825540366,-0.00041434629717219994],"end_effector_yaw_offset_degrees":0.9807094169101951},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016945175428336552,0.0010525519517993282,0.001107714763553251],"end_effector_yaw_offset_degrees":0.0722788481040273}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003526281934568631,-0.0015991440254292779],"position_m":[0.3141262819345686,0.21940085597457074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006556681735243944,-0.002001733314321329],"position_m":[0.31845566817352444,-0.19510173331432132,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003071539655871273,0.002230278753119804],"position_m":[0.31397153965587127,0.038830278753119805,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030235861255212227,-0.0020325728333297232],"position_m":[0.05337641387447878,0.38796742716667026,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004324024485840734,-0.0004992729743384175],"position_m":[0.15037597551415927,-0.42799927297433843,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b07d2f2ba6040f4f7c4a5ebdef2f5053600295787504065b083e765c48d0ed13","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9921/tex_ceiling_textures_9249/tex_floor_textures_839/tex_table_textures_917/tex_wall_textures_9385","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1753624329657410233,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1753624329657410233,"visual_seed":1753624329657410233,"scene_id":"lab_003","finished_at":"2026-09-03T20:14:25"} +{"episode_id":"ep_000085","started_at":"2026-09-03T20:14:28","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.7064269391257341,-1.7961637688530643,0.71338606911949],"aabb_xy":[[0.6917835335717011,-1.8108224885098485],[0.721070344679767,-1.78150504919628]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.10177074812034814,-2.367001300528409,0.71338606911949],"aabb_xy":[[-0.10661434288157812,-2.371852953007393],[-0.09692715335911817,-2.362149648049425]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.12879699260845656,0.5949044235837242,0.71338606911949],"aabb_xy":[[-0.16379699087857647,0.587830295888736],[-0.09379699433833666,0.6019785512787124]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.4852782745108388,1.7464008941751508,0.71338606911949],"aabb_xy":[[-0.48898153583997767,1.742698875866433],[-0.4815750131816999,1.7501029124838685]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.09701638694213599,-2.2728858345504284,0.71338606911949],"aabb_xy":[[-0.13201638613495426,-2.2838528805480904],[-0.06201638774931771,-2.2619187885527654]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.5323721788105718,-0.22001025742741565,0.71338606911949],"aabb_xy":[[-0.5396159448568171,-0.300010255631018],[-0.5251284127643264,-0.14001025922381327]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.4161240105082946,0.05108484740417252,0.71338606911949],"aabb_xy":[[-0.433624010753344,0.03358505956460566],[-0.39862401026324523,0.06858463524373935]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.5790693816056989,0.3206509146597938,0.71338606911949],"aabb_xy":[[0.5756287053656417,0.31678948168542925],[0.582510057845756,0.3245123476341582]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.2511337228703861,1.7712545067792065,0.71338606911949],"aabb_xy":[[-0.3061337210721309,1.730732540152769],[-0.19613372466864124,1.811776473405644]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.46302605495849014,1.0205518603606123,0.71338606911949],"aabb_xy":[[-0.5430260582163331,0.9405553525686283],[-0.3830260517006472,1.1005483681525963]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.565012059555398,-0.39792539608664734,0.71338606911949],"aabb_xy":[[0.5304209767013527,-0.46292539637167834],[0.5996031424094431,-0.33292539580161623]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.3471155377886994,-2.4425857937678574,0.71338606911949],"aabb_xy":[[-0.394244916790535,-2.506585794812259],[-0.2999861587868637,-2.378585792723455]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.6738698592454189,-1.717305604573285,0.71338606911949],"aabb_xy":[[0.6697539091333461,-1.7214211596061304],[0.6779858093574914,-1.7131900495404393]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.45645858618474566,0.8266136706579443,0.71338606911949],"aabb_xy":[[0.4152097751548309,0.7716136711457269],[0.49770739721466034,0.8816136701701618]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.43429822918429695,1.2359543415266354,0.71338606911949],"aabb_xy":[[0.40381397905726685,1.1859543417451395],[0.46478247931132716,1.2859543413081314]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.31292659759114994,1.4273165472323348,0.71338606911949],"aabb_xy":[[0.2489265968876806,1.3812981647594138],[0.37692659829461933,1.4733349297052558]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.3207731603188693,-1.4170486367866397,0.71338606911949],"aabb_xy":[[-0.3398854676768482,-1.4361834156638817],[-0.30166085296089046,-1.3979138579093977]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[0.6075660436644179,-1.3996159442635703,0.71338606911949],"aabb_xy":[[0.557572931555226,-1.4496159449377661],[0.6575591557736098,-1.3496159435893749]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.18929467846029313,0.9938305919029622,0.71338606911949],"aabb_xy":[[0.1392946767987983,0.9438321496472595],[0.23929468012178784,1.043829034158665]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.010483312085937002,-2.1524721769721546,0.71338606911949],"aabb_xy":[[-0.018519646787221844,-2.160510296276571],[-0.0024469773846521586,-2.144434057667737]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.03743404904863157,-1.5963205678414076,0.71338606911949],"aabb_xy":[[0.023987522414588236,-1.6097904194944992],[0.0508805756826749,-1.5828507161883165]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.6723157544508318,-1.613688642215695,0.71338606911949],"aabb_xy":[[0.6548157541914953,-1.6277801844044681],[0.6898157547101685,-1.599597100026923]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.291667974253651,-1.6642664359136878,0.71338606911949],"aabb_xy":[[0.2742372591746444,-1.6815385505775386],[0.30909868933265744,-1.646994321249837]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.24563168281616787,0.8708693051549856,0.71338606911949],"aabb_xy":[[-0.2956265157441095,0.8208693062597421],[-0.1956368498882263,0.9208693040502292]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[0.362558523583673,0.29327315826415745,0.71338606911949],"aabb_xy":[[0.352802534074499,0.28351062420492296],[0.3723145130928468,0.30303569232339184]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.5345045297388991,-1.5907724776525534,0.71338606911949],"aabb_xy":[[-0.624504528333369,-1.6070230639659746],[-0.4445045311444291,-1.5745218913391326]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.6102442547501513,0.6808886911204315,0.71338606911949],"aabb_xy":[[-0.6652365053856623,0.6258886893771187],[-0.5552520041146404,0.7358886928637443]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[0.491021762998316,-1.5010620451326995,0.71338606911949],"aabb_xy":[[0.4796600283450298,-1.5124305115389876],[0.5023834976516022,-1.4896935787264114]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[0.5166397259154367,-2.207717366998109,0.71338606911949],"aabb_xy":[[0.47913972609840316,-2.212355578309251],[0.5541397257324703,-2.203079155686967]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_29","position":[-0.5794851651015581,1.7481686286893212,0.71338606911949],"aabb_xy":[[-0.6294584591048186,1.6981686281347734],[-0.5295118710982977,1.798168629243868]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_30","position":[0.610106419416631,0.9945999416499505,0.71338606911949],"aabb_xy":[[0.5601290025513774,0.9445999401607018],[0.6600838362818846,1.0445999431391988]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[-0.0508914203441978,0.4710590902754479,0.71338606911949],"aabb_xy":[[-0.10098888432527142,0.4070590897656361],[-0.000793956363124175,0.5350590907852597]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[0.4041559985229952,0.5885691137076119,0.71338606911949],"aabb_xy":[[0.3676601778957165,0.5520851712808542],[0.44065181915027396,0.6250530561343693]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_33","position":[0.5265082591404322,-2.000727571600486,0.71338606911949],"aabb_xy":[[0.49273269994973923,-2.014766066813651],[0.5602838183311252,-1.986689076387321]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6430115565539958,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/722.png","name":"722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/722.png","name":"722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8266.png","name":"8266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":704.3266115497596,"rotation_z_degrees":105.03616223087216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012152324879675085,0.01323924107201124,-0.01568906633363703]},{"name":"camera_2","offset_m":[0.0195429307318337,0.004650950971920392,-0.017238370719927475]},{"name":"camera_3","offset_m":[-0.012841357484722283,0.004416192583683483,-0.009131107001617145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011040708197118244,0.0018421862511382092,-0.000534814226389595],"end_effector_yaw_offset_degrees":0.45869428865028916},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018251591337519924,-0.0011907012507167618,-0.0006889228690070391],"end_effector_yaw_offset_degrees":-0.8183252584835445},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.2352580299515234e-05,0.000576601457093848,-0.000849025565800364],"end_effector_yaw_offset_degrees":-0.6641041751513352}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006131075191997811,0.003141348350358431],"position_m":[0.3099868924808002,0.22414134835035843,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002171490360543448,-0.0002926133505590919],"position_m":[0.3156285096394566,-0.19339261335055907,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00425238049213886,-0.003730191045443223],"position_m":[0.3151523804921389,0.03286980895455678,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033662437911522805,-0.0011408397876779665],"position_m":[0.05303375620884772,0.38885916021232203,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005109194033300945,-0.002278783465020946],"position_m":[0.1552109194033301,-0.42977878346502096,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0882be200a026946f31810f571aae55ce002922100b035d6e8a3e1573428aa77","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_722/tex_ceiling_textures_3187/tex_floor_textures_8266/tex_table_textures_6963/tex_wall_textures_4721","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1663371504083121852,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1663371504083121852,"visual_seed":1663371504083121852,"scene_id":"lab_003","finished_at":"2026-09-03T20:17:14"} +{"episode_id":"ep_000086","started_at":"2026-09-03T20:17:18","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.18279228756413457,-1.8231090110026775,0.71338606911949],"aabb_xy":[[0.10279228613400737,-1.902626166015287],[0.26279228899426177,-1.743591855990068]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.053549439878497807,-1.5734518205739025,0.71338606911949],"aabb_xy":[[-0.0588819545331108,-1.5787761488191379],[-0.04821692522388483,-1.5681274923286668]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.3546300293953442,-0.08988588997660774,0.71338606911949],"aabb_xy":[[-0.3771264508292083,-0.11238588978335516],[-0.3321336079614801,-0.06738589016986028]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.6274689612648787,-0.8052321547331069,0.71338606911949],"aabb_xy":[[0.6099689621305114,-0.8151117817706947],[0.6449689603992458,-0.795352527695519]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.5099005360553106,0.13715684909637638,0.71338606911949],"aabb_xy":[[-0.5551791509364598,0.07315684974819267],[-0.46462192117416123,0.20115684844456003]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.26581560314343267,-0.9758224861192364,0.71338606911949],"aabb_xy":[[0.25566258758928323,-1.0118920276919765],[0.275968618697582,-0.9397529445464958]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.001482785925178809,-0.7820602266776104,0.71338606911949],"aabb_xy":[[-0.04833399353965595,-0.8320602251619137],[0.05129956539001357,-0.732060228193307]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.4617917095200301,-0.42990690459651715,0.71338606911949],"aabb_xy":[[0.42749479850228944,-0.46420379080645846],[0.4960886205377707,-0.3956100183865757]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.31202088724463695,-1.382542624936121,0.71338606911949],"aabb_xy":[[-0.40202088696781113,-1.4056159774713008],[-0.2220208875214628,-1.3594692724009412]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.36803727802680974,-1.9018215890213115,0.71338606911949],"aabb_xy":[[0.34420106038620474,-1.9918215898297982],[0.3918734956674149,-1.8118215882128252]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.21645629639417946,1.1052724960195173,0.71338606911949],"aabb_xy":[[-0.22561617533805606,1.0987412779759802],[-0.20729641745030286,1.1118037140630543]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.6468250954325259,-0.1531104015007596,0.71338606911949],"aabb_xy":[[0.6163408453054957,-0.20311040128225552],[0.677309345559556,-0.10311040171926364]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.4944550738308693,-0.15564813902422836,0.71338606911949],"aabb_xy":[[-0.5014953837644064,-0.2356481384238998],[-0.4874147638973324,-0.07564813962455698]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.015632599462243935,-2.329100287478841,0.71338606911949],"aabb_xy":[[-0.0347449068202228,-2.3482350663560827],[0.0034797078957349292,-2.3099655086015987]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.5723016624365636,-2.3959655726545077,0.71338606911949],"aabb_xy":[[0.5673456422516824,-2.418465572856629],[0.5772576826214447,-2.3734655724523863]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.2668262108978865,-1.5554911330107857,0.71338606911949],"aabb_xy":[[0.2255216678341505,-1.6194911325789025],[0.3081307539616225,-1.4914911334426684]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.42301594523812686,-2.330095789771276,0.71338606911949],"aabb_xy":[[-0.47014532423996247,-2.3940957908156775],[-0.37588656623629113,-2.2660957887268736]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.3003955573630519,-1.466997743532759,0.71338606911949],"aabb_xy":[[-0.3138420839970953,-1.4804675951858504],[-0.2869490307290086,-1.4535278918796677]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.554435574420566,-0.5917448055699186,0.71338606911949],"aabb_xy":[[0.5463078862272528,-0.6006584139806262],[0.5625632626138792,-0.582831197159211]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.2677757571777618,0.7149105242711356,0.71338606911949],"aabb_xy":[[0.2580197676685879,0.7051479902119011],[0.2775317466869357,0.72467305833037]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.5143005026050353,-1.5936800970892717,0.71338606911949],"aabb_xy":[[0.49180050209299475,-1.61617195545467],[0.5368005031170759,-1.5711882387238734]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.5499945779924675,-1.2753169411104937,0.71338606911949],"aabb_xy":[[0.5438999501043492,-1.2838863356621624],[0.5560892058805859,-1.266747546558825]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.4704863473297769,-1.3642469723770438,0.71338606911949],"aabb_xy":[[0.4604046402512034,-1.4442469702691585],[0.4805680544083504,-1.2842469744849292]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.11887207791003573,-2.4368724102086845,0.71338606911949],"aabb_xy":[[0.10803159968352083,-2.454058691499333],[0.12971255613655064,-2.419686128918036]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[0.36350642018817436,-2.320367913265235,0.71338606911949],"aabb_xy":[[0.3389927960911685,-2.344632506567272],[0.3880200442851802,-2.296103319963199]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[-0.35042129113116,-2.1517927264271473,0.71338606911949],"aabb_xy":[[-0.3591192534218753,-2.163917700734622],[-0.3417233288404447,-2.1396677521196725]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.47687603527520817,-2.074237402388211,0.71338606911949],"aabb_xy":[[0.45932934035908923,-2.1117374039524623],[0.4944227301913271,-2.0367374008239594]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.09078035816094299,-0.4958562112326903,0.71338606911949],"aabb_xy":[[-0.12425952542198394,-0.5293353246037973],[-0.057301190899902064,-0.4623770978615833]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[-0.5740538271443704,1.8161121362109358,0.71338606911949],"aabb_xy":[[-0.5899383204096955,1.801759195912112],[-0.5581693338790452,1.83046507650976]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[0.37447611674535075,1.0752630251713353,0.71338606911949],"aabb_xy":[[0.33229170258452,1.0112630248941243],[0.4166605309061815,1.1392630254485467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469241461206904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3328.png","name":"3328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3328.png","name":"3328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2484.png","name":"2484"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4354.png","name":"4354"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":783.6674773805721,"rotation_z_degrees":171.77227744627177,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00432502966387403,0.012351280074798385,-0.016455441093458194]},{"name":"camera_2","offset_m":[-0.01755719765765403,0.001301196332414021,-0.0158814054497559]},{"name":"camera_3","offset_m":[-0.012232063876834932,0.007991084759455546,0.006705099191413013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019226858539872103,-0.0007621857961628664,-0.0018076029442849956],"end_effector_yaw_offset_degrees":0.49570091936365457},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008988074503530103,-0.0005572702558637817,-0.0014197898001526608],"end_effector_yaw_offset_degrees":-0.8377631261521432},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001058565449699116,0.0009112670682484233,-0.0017340996258556035],"end_effector_yaw_offset_degrees":-0.2449281068692284}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035143964935304235,-0.003380253747524954],"position_m":[0.3141143964935304,0.21761974625247504,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004478549235736567,0.003458172793172427],"position_m":[0.3133214507642635,-0.18964182720682757,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0037365061038053477,-0.0034623314332978706],"position_m":[0.31463650610380534,0.03313766856670213,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048371040590958194,0.000475054647748073],"position_m":[0.06123710405909582,0.39047505464774807,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003857388971574351,-0.004407966496631732],"position_m":[0.15855738897157434,-0.4319079664966317,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5e12728ba0c2feac4cb0db1d3b3dfa051307586dc4483c791bab63b5dcafbe36","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3328/tex_ceiling_textures_4354/tex_floor_textures_5493/tex_table_textures_3620/tex_wall_textures_2484","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":5297621658463744892,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":5297621658463744892,"visual_seed":5297621658463744892,"scene_id":"lab_003","finished_at":"2026-09-03T20:20:08"} +{"episode_id":"ep_000087","started_at":"2026-09-03T20:20:11","dimensions":{"distractor":{"count":31,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.6359018944878916,0.8218914845474528,0.71338606911949],"aabb_xy":[[0.6249961184003289,0.7418914881486235],[0.6468076705754543,0.9018914809462818]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.555976865273083,-1.2959428174866914,0.71338606911949],"aabb_xy":[[-0.6199768625587316,-1.3374495364395353],[-0.49197686798743434,-1.2544360985338474]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.533199313879579,-1.581928235111203,0.71338606911949],"aabb_xy":[[0.475568844992308,-1.641928234037913],[0.5908297827668497,-1.521928236184492]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.6525745672397043,-1.3107521148399512,0.71338606911949],"aabb_xy":[[0.6182776562219636,-1.3450490010498923],[0.6868714782574448,-1.2764552286300097]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.24111993773507612,1.253887442609341,0.71338606911949],"aabb_xy":[[-0.25075157395550574,1.244250129829632],[-0.2314883015146465,1.2635247553890498]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.23706180173802582,0.6632574204225925,0.71338606911949],"aabb_xy":[[0.22980055416761846,0.6504704101590831],[0.2443230493084333,0.6760444306861021]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.45468042726423863,-1.8933017929649787,0.71338606911949],"aabb_xy":[[0.4241961771372085,-1.9433017927464746],[0.4851646773912688,-1.8433017931834828]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.3052006677987533,-1.6661336105900895,0.71338606911949],"aabb_xy":[[0.2552075556895615,-1.7161336112642855],[0.35519377990794526,-1.6161336099158943]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.15044439694270528,-1.7603304886786642,0.71338606911949],"aabb_xy":[[-0.2144444002324134,-1.8036654076825818],[-0.08644439365299718,-1.7169955696747465]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.01780886885201083,0.6738847318253374,0.71338606911949],"aabb_xy":[[-0.02756485836118472,0.6641221977661029],[-0.008052879342836938,0.6836472658845718]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.30624148005893626,1.3021684493173828,0.71338606911949],"aabb_xy":[[-0.3142354686366396,1.2941683692222923],[-0.2982474914812328,1.310168529412473]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.574927775316715,0.36773191682087614,0.71338606911949],"aabb_xy":[[-0.6399277763172154,0.3169455516662012],[-0.5099277743162144,0.4185182819755511]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.5141079377262625,-0.3976442717808579,0.71338606911949],"aabb_xy":[[0.44910793676913524,-0.44959248371456345],[0.5791079386833896,-0.3456960598471523]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.4227625932529462,-2.5058422814477668,0.71338606911949],"aabb_xy":[[-0.4539095120965293,-2.5758422801345735],[-0.39161567440936307,-2.435842282760959]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.6618188919316443,1.106820496953509,0.71338606911949],"aabb_xy":[[-0.6792496070106507,1.089548382289658],[-0.6443881768526377,1.1240926116173595]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.3962956433856156,-0.09199274299540905,0.71338606911949],"aabb_xy":[[-0.4141647511400711,-0.10582565097261999],[-0.37842653563116013,-0.07815983501819813]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.11327955509811671,0.9065751320476991,0.71338606911949],"aabb_xy":[[0.07868847224407148,0.841575131762668],[0.1478706379521619,0.9715751323327301]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.2509802147940212,0.7808639960102912,0.71338606911949],"aabb_xy":[[0.24228225250330598,0.7687390217028166],[0.25967817708473656,0.792988970317766]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.3327881217268579,-1.1077142866532546,0.71338606911949],"aabb_xy":[[-0.41278812315698504,-1.187231441665864],[-0.25278812029673065,-1.028197131640645]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.520385148945816,-2.2608945089668895,0.71338606911949],"aabb_xy":[[0.48288514815382055,-2.2672623499250792],[0.5578851497378114,-2.254526668008699]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.5352194190089283,-0.34002237597723806,0.71338606911949],"aabb_xy":[[-0.5429226096830053,-0.34773174667597606],[-0.5275162283348513,-0.33231300527850005]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.6429468120608903,1.0168105973674417,0.71338606911949],"aabb_xy":[[-0.6511613571765741,1.0081340070698002],[-0.6347322669452061,1.0254871876650828]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.5336376291515397,0.8075525633666465,0.71338606911949],"aabb_xy":[[-0.5424396844605123,0.7997412372117174],[-0.5248355738425668,0.8153638895215756]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.5997543400079023,-1.6875277507075164,0.71338606911949],"aabb_xy":[[-0.61796016366915,-1.6985531512895082],[-0.5815485163466546,-1.676502350125525]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.0417129273844401,1.3156304611629452,0.71338606911949],"aabb_xy":[[0.03561829949632179,1.3070610666112765],[0.04780755527255843,1.324199855714614]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.28945476703741024,-2.36079969500926,0.71338606911949],"aabb_xy":[[-0.30205746617448664,-2.3733950912341255],[-0.27685206790033373,-2.3482042987843945]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.11178261748239005,-0.2804345119708205,0.71338606911949],"aabb_xy":[[-0.14928261866718284,-0.28485273466688094],[-0.07428261629759725,-0.2760162892747599]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.5642505816448276,-1.0284697260900644,0.71338606911949],"aabb_xy":[[0.5143678847671314,-1.0784697253363391],[0.6141332785225238,-0.9784697268437896]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[0.2945194277029136,-1.0348217567057052,0.71338606911949],"aabb_xy":[[0.27896365829264835,-1.0503721899501124],[0.3100751971131789,-1.019271323461298]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[-0.09623242401960597,-2.478538742890772,0.71338606911949],"aabb_xy":[[-0.16023242132195237,-2.5229051698586287],[-0.032232426717259566,-2.434172315922915]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[-0.25213291098623614,-0.4768411747743082,0.71338606911949],"aabb_xy":[[-0.33213290814581137,-0.4883887757321252],[-0.1721329138266608,-0.4652935738164911]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6370860798205262,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6245.png","name":"6245"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6245.png","name":"6245"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/784.png","name":"784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.8924041620703,"rotation_z_degrees":13.595600743648442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007276386177256008,0.011673409085757643,-0.012654785756528387]},{"name":"camera_2","offset_m":[0.00016850230012531442,0.018018336783851962,0.0031522164835458173]},{"name":"camera_3","offset_m":[-0.017575609529654704,0.00505209177943108,0.004575580979798804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006145338032591619,-0.0009617845434612047,0.0003365658799364623],"end_effector_yaw_offset_degrees":-0.26811413474739676},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007774313749152099,0.0008675635366263939,0.0007511762554085143],"end_effector_yaw_offset_degrees":0.9264015792984048},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001692303886706672,0.001316594130226223,8.419344215055856e-05],"end_effector_yaw_offset_degrees":0.34200911989967064}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002572035264572209,-0.0022702337129921002],"position_m":[0.3131720352645722,0.2187297662870079,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028948676986878903,-0.00043508224034157026],"position_m":[0.32069486769868794,-0.19353508224034158,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004877552575720182,-0.0012834741360440395],"position_m":[0.3060224474242798,0.035316525863955964,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013701620132755598,0.000580845653542039],"position_m":[0.05777016201327556,0.39058084565354206,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004489595105916948,0.0010226777488423775],"position_m":[0.15021040489408305,-0.4264773222511576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26fcadc75295d1c005db5a3d640075dfa13f530e647ae22f5c5bde765169d296","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6245/tex_ceiling_textures_2299/tex_floor_textures_1363/tex_table_textures_784/tex_wall_textures_4165","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7688996133197587222,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7688996133197587222,"visual_seed":7688996133197587222,"scene_id":"lab_003","finished_at":"2026-09-03T20:22:58"} +{"episode_id":"ep_000088","started_at":"2026-09-03T20:23:01","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.3005421552026317,1.593559016909818,0.71338606911949],"aabb_xy":[[0.21054215660816183,1.5773084305963971],[0.3905421537971017,1.6098096032232392]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.3765942193293772,-1.96541651137832,0.71338606911949],"aabb_xy":[[0.35367850644432736,-1.9883208085147435],[0.3995099322144272,-1.9425122142418965]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.19114034791685397,-1.3925157291592398,0.71338606911949],"aabb_xy":[[-0.19855280345824242,-1.3983669395808676],[-0.18372789237546547,-1.3866645187376117]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.19367177525626078,-1.753313450092699,0.71338606911949],"aabb_xy":[[-0.19976640314437907,-1.7618828446443675],[-0.18757714736814243,-1.74474405554103]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[0.651487499565923,1.0795005947049834,0.71338606911949],"aabb_xy":[[0.6326031157974128,1.0606146699246306],[0.6703718833344332,1.0983865194853362]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[-0.5948761069711265,-2.472009881766084,0.71338606911949],"aabb_xy":[[-0.6748761072447335,-2.5449594295918003],[-0.5148761066975195,-2.399060333940367]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.5871485061803567,-1.5760076661528981,0.71338606911949],"aabb_xy":[[-0.5983935617509746,-1.5872494638769932],[-0.5759034506097389,-1.5647658684288026]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.09111770910983219,-2.0848910369818645,0.71338606911949],"aabb_xy":[[0.08300405443645507,-2.092996853435894],[0.09923136378320928,-2.076785220527835]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.21411584626420543,-1.9874037893363303,0.71338606911949],"aabb_xy":[[0.1896022221671996,-2.011668382638367],[0.23862947036121132,-1.9631391960342943]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.2958610278706496,-1.8001145574861175,0.71338606911949],"aabb_xy":[[-0.3183257978420547,-1.8226145583649782],[-0.2733962578992445,-1.7776145566072572]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.3879655702454812,1.2643806822342554,0.71338606911949],"aabb_xy":[[-0.46796557071569717,1.256069974619907],[-0.30796556977526524,1.2726913898486036]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[-0.45058190842408685,-0.4865370254999162,0.71338606911949],"aabb_xy":[[-0.5145819070106593,-0.5335439888994249],[-0.3865819098375144,-0.43953006210040746]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.2173943378585419,1.38545448415611,0.71338606911949],"aabb_xy":[[0.19489433761502653,1.373249849496338],[0.23989433810205732,1.397659118815882]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.12008176967885231,0.13962297896015796,0.71338606911949],"aabb_xy":[[-0.15056601980588247,0.08962297917866202],[-0.08959751955182217,0.1896229787416539]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.18074370671979578,-0.218654550043337,0.71338606911949],"aabb_xy":[[-0.18952493386703204,-0.2274342973318672],[-0.17196247957255956,-0.2098748027548069]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.20112234194404766,1.3975406964907346,0.71338606911949],"aabb_xy":[[-0.2076239784520523,1.3877728744644249],[-0.19462070543604307,1.4073085185170444]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.538121871657395,-0.08830403299026113,0.71338606911949],"aabb_xy":[[-0.5451633226081426,-0.09533078472805567],[-0.5310804207066474,-0.08127728125246658]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.3758039320947868,1.1199347034867544,0.71338606911949],"aabb_xy":[[0.3258308665622714,1.0699347036742215],[0.42577699762730237,1.1699347032992873]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.37373889077534894,0.4883703698408004,0.71338606911949],"aabb_xy":[[0.29373889218802945,0.40905476790263945],[0.4537388893626683,0.5676859717789612]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.08095934448115272,1.713893394184638,0.71338606911949],"aabb_xy":[[-0.13095861964958888,1.6638933929086908],[-0.030960069312716568,1.763893395460585]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.12810609245577054,-0.6529150530634811,0.71338606911949],"aabb_xy":[[0.12440283112663165,-0.6566170713721988],[0.13180935378490938,-0.6492130347547631]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.00918652116994656,-2.478727137882172,0.71338606911949],"aabb_xy":[[-0.05631590017178223,-2.5427271389265735],[0.03794285783188911,-2.4147271368377696]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.2887453762777541,0.8377162119742838,0.71338606911949],"aabb_xy":[[0.22715461705376133,0.7737162138652368],[0.35033613550174697,0.9017162100833306]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.13339360309799286,0.5814137152043011,0.71338606911949],"aabb_xy":[[0.12925774676529267,0.5439137157599442],[0.13752945943069306,0.6189137146486582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639822871693601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6559.png","name":"6559"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5200.png","name":"5200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2754.png","name":"2754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5422.png","name":"5422"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":606.6351325952037,"rotation_z_degrees":241.40972496744857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00401747902605043,-0.013978154229538338,-0.006539202892545712]},{"name":"camera_2","offset_m":[0.004824134906191126,-0.009821220017475594,-0.014658798386913623]},{"name":"camera_3","offset_m":[-0.016163349695149376,-0.009055260389200943,0.002255133782171074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015199885012039083,-0.0014867443809336272,-0.00025900135277814504],"end_effector_yaw_offset_degrees":0.42116539419646504},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0001882751575480253,-0.001047433458608405,-0.000576307692164301],"end_effector_yaw_offset_degrees":-0.8241479225884774},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010632150753432095,0.0016511644403652981,-5.972629624580064e-05],"end_effector_yaw_offset_degrees":-0.826644597232794}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004344680876707034,-0.002592674336763666],"position_m":[0.30625531912329296,0.21840732566323634,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032035665525761295,0.0020954925971540537],"position_m":[0.3145964334474239,-0.19100450740284594,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0032236756061353898,0.0018177168443787271],"position_m":[0.3141236756061354,0.038417716844378724,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0044619550838340405,0.0032458992099077674],"position_m":[0.05193804491616596,0.39324589920990777,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012022269559870146,0.0005865786001512333],"position_m":[0.153497773044013,-0.4269134213998488,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42fa6294167290f3fd25d06f5d40e2ffdef356fceabb2ef9a7343f3eb260abec","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3449/tex_ceiling_textures_5422/tex_floor_textures_2754/tex_table_textures_6559/tex_wall_textures_5200","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":992530222121169329,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":992530222121169329,"visual_seed":992530222121169329,"scene_id":"lab_003","finished_at":"2026-09-03T20:25:48"} +{"episode_id":"ep_000089","started_at":"2026-09-03T20:25:52","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.4553974882358869,-0.4911893811758432,0.71338606911949],"aabb_xy":[[0.4436293014412294,-0.5761893810810648],[0.46716567503054446,-0.4061893812706217]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.32886945883281055,-0.16562681588722405,0.71338606911949],"aabb_xy":[[-0.3538694579984437,-0.17257906159258063],[-0.3038694596671775,-0.15867457018186748]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.08815208101760608,-0.1909686863936284,0.71338606911949],"aabb_xy":[[-0.11065208152964666,-0.2134605447590267],[-0.06565208050556547,-0.16847682802823]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.358460719194469,-2.1658435243668532,0.71338606911949],"aabb_xy":[[-0.4224607163065747,-2.214875894161264],[-0.29446072208236335,-2.1168111545724426]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.08433662828710964,-0.63579105760176,0.71338606911949],"aabb_xy":[[-0.09989239769737493,-0.6513414908461673],[-0.06878085887684439,-0.6202406243573529]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.010010179538939568,-1.3341602212876902,0.71338606911949],"aabb_xy":[[-0.024580903315105648,-1.3991602215727212],[0.04460126239298478,-1.2691602210026591]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.1881521801758851,1.7343367799422027,0.71338606911949],"aabb_xy":[[-0.2781521838528032,1.6729043733650977],[-0.09815217649896688,1.7957691865193064]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.5954912297615735,-1.600854544472507,0.71338606911949],"aabb_xy":[[0.530491228761073,-1.6516409096271818],[0.660491230762074,-1.550068179317832]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.309403844443718,-2.3116416009584078,0.71338606911949],"aabb_xy":[[-0.331312526583069,-2.333542267778498],[-0.2874951623043669,-2.2897409341383166]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.5995830324546643,-2.3670148442171115,0.71338606911949],"aabb_xy":[[0.5915567618240383,-2.375766339194464],[0.6076093030852903,-2.358263349239759]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.340131905960221,-0.9995844281164128,0.71338606911949],"aabb_xy":[[0.29024920908252483,-1.0495844273626873],[0.3900146028379173,-0.9495844288701379]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.1750149760585863,-2.104535782126974,0.71338606911949],"aabb_xy":[[0.16955703042156622,-2.184535785434633],[0.18047292169560636,-2.0245357788193146]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.34469648250484447,-0.631818458303069,0.71338606911949],"aabb_xy":[[-0.37254151928545165,-0.6626029570413807],[-0.3168514457242374,-0.6010339595647574]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.5839328035606925,-2.202965429939961,0.71338606911949],"aabb_xy":[[-0.6212640800859351,-2.237618484734813],[-0.54660152703545,-2.1683123751451086]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.552612025114765,0.9320154747586242,0.71338606911949],"aabb_xy":[[0.5280984010177592,0.9077508814565879],[0.5771256492117709,0.9562800680606608]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.3673375828193703,-2.41567890455007,0.71338606911949],"aabb_xy":[[-0.3745988303897777,-2.4284659148135797],[-0.3600763352489629,-2.4028918942865607]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.3873234810952062,0.7739980620362297,0.71338606911949],"aabb_xy":[[0.30732347893244377,0.6940428784100859],[0.46732348325796874,0.8539532456623732]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.0329002922084336,1.4153743402925776,0.71338606911949],"aabb_xy":[[-0.037099704201528194,1.3949364046408954],[0.10290028861839537,1.4358122759442589]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.1649668060729259,-0.15189014335887796,0.71338606911949],"aabb_xy":[[-0.17146844258093052,-0.16165796538518776],[-0.1584651695649213,-0.14212232133256822]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.22984971787690067,-2.4909799488289464,0.71338606911949],"aabb_xy":[[0.20734971835319324,-2.5134758962795667],[0.252349717400608,-2.468484001378325]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.6580500428491707,1.1017183650244369,0.71338606911949],"aabb_xy":[[0.6484184066287411,1.092081052244728],[0.6676816790696003,1.1113556778041458]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.4906089035653907,-1.0175953504842443,0.71338606911949],"aabb_xy":[[-0.5706089068232336,-1.0975918582762283],[-0.4106089003075477,-0.9375988426922603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429795141146301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/867.png","name":"867"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6517.png","name":"6517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7071.png","name":"7071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8444.png","name":"8444"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":724.581885334734,"rotation_z_degrees":145.22834395601473,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013266554035037507,0.0013208595330959742,0.010375286354893022]},{"name":"camera_2","offset_m":[-0.0018450796547576469,0.01551896135537045,-0.0072533959574123535]},{"name":"camera_3","offset_m":[0.013280373621373232,0.011666639375371626,-0.009399117547343993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004201518232031965,0.0002277811690251123,0.0017188991334280237],"end_effector_yaw_offset_degrees":-0.012681202392973878},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001792861450313224,0.0003528163825125708,-0.0008902867533488723],"end_effector_yaw_offset_degrees":0.7805098312276071},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001432705316713008,0.001090873525507342,0.0001465873621506403],"end_effector_yaw_offset_degrees":-0.2096495587182432}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003852034255776928,-0.000926987163708236],"position_m":[0.3067479657442231,0.22007301283629177,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001788879816994448,0.0032035080093332285],"position_m":[0.31762111201830057,-0.18989649199066677,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0005363372270084567,-0.002699085247515101],"position_m":[0.3114363372270085,0.0339009147524849,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004883121294766252,0.0015900048323273129],"position_m":[0.05151687870523375,0.3915900048323273,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038234314934529534,0.001484628766151911],"position_m":[0.15852343149345297,-0.4260153712338481,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0a84288029fe37054c46cf081373bfb92b18148b0a8793f822ad635fafe3dc2b","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9084/tex_ceiling_textures_8444/tex_floor_textures_7071/tex_table_textures_867/tex_wall_textures_6517","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":6722779601738490333,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":6722779601738490333,"visual_seed":6722779601738490333,"scene_id":"lab_003","finished_at":"2026-09-03T20:28:43"} +{"episode_id":"ep_000090","started_at":"2026-09-03T20:28:48","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.36358478332557675,-2.1676060896670557,0.71338606911949],"aabb_xy":[[-0.37228274561629204,-2.1797310639745304],[-0.35488682103486147,-2.155481115359581]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.39415256609138916,-0.4233147104509376,0.71338606911949],"aabb_xy":[[0.31415256912835,-0.500390352094711],[0.4741525630544283,-0.3462390688071641]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.4895560715566222,1.578271774707003,0.71338606911949],"aabb_xy":[[-0.5535560722600915,1.5322533922340824],[-0.42555607085315283,1.6242901571799244]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.027573341973061716,-0.9331979483789741,0.71338606911949],"aabb_xy":[[-0.022425933195374444,-0.9831979496549214],[0.07757261714149788,-0.883197947103027]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.56729674819666,-1.6069469444838136,0.71338606911949],"aabb_xy":[[0.5592533882707048,-1.6919469455791802],[0.5753401081226152,-1.5219469433884474]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.6651666332631911,0.3811448834939015,0.71338606911949],"aabb_xy":[[0.6180372542613554,0.3171448824494995],[0.7122960122650267,0.4451448845383034]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.2652167798049473,1.4702149615627822,0.71338606911949],"aabb_xy":[[-0.32021677800669207,1.4296929949363442],[-0.21021678160320242,1.5107369281892193]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.5327371947164565,-0.2566544716752772,0.71338606911949],"aabb_xy":[[-0.5967371961244471,-0.3084434231992019],[-0.4687371933084658,-0.20486552015135254]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.07166355497639199,-2.477138504265628,0.71338606911949],"aabb_xy":[[-0.16166355439476288,-2.5105140011098173],[0.018336444441978905,-2.443763007421438]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.5649540909216029,-1.7309422361649163,0.71338606911949],"aabb_xy":[[-0.6199278129579358,-1.7859422357291492],[-0.50998036888527,-1.6759422366006829]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.08775127428887397,-0.007873362956049679,0.71338606911949],"aabb_xy":[[-0.13756805375370873,-0.057873361440353044],[-0.03793449482403921,0.042126635528253686]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.26926115182703736,-2.4311757847816557,0.71338606911949],"aabb_xy":[[0.24676115201313498,-2.4356504011521363],[0.29176115164093974,-2.4267011684111752]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.28198056560065976,0.8376474558551328,0.71338606911949],"aabb_xy":[[0.23198056393916497,0.7876490135994301],[0.33198056726215447,0.8876458981108355]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.11419837840790925,0.8682366965846331,0.71338606911949],"aabb_xy":[[0.08554904604749301,0.8395911373075572],[0.14284771076832548,0.8968822558617088]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.32768647398785,-1.1004105954701995,0.71338606911949],"aabb_xy":[[-0.3555315107684571,-1.1311950942085112],[-0.2998414372072429,-1.0696260967318878]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.4381980154988718,0.6492695293382589,0.71338606911949],"aabb_xy":[[-0.5081980171011513,0.6358367361366013],[-0.36819801389659224,0.6627023225399165]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.2787301996422022,-0.46831203411766165,0.71338606911949],"aabb_xy":[[-0.28997525521282,-0.479553831841757],[-0.26748514407158436,-0.4570702363935664]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.4975702249892864,-2.0955712953447017,0.71338606911949],"aabb_xy":[[0.4335702277036377,-2.1370780142975456],[0.561570222274935,-2.0540645763918577]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.08593655799856326,1.5789057272070441,0.71338606911949],"aabb_xy":[[-0.11971211718925623,1.564867231993879],[-0.052160998807870285,1.5929442224202088]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.1889141423559576,-2.305308389458095,0.71338606911949],"aabb_xy":[[0.13392093101882085,-2.3603083897968884],[0.24390735369309438,-2.250308389119301]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.3327509204259771,-2.076074553818352,0.71338606911949],"aabb_xy":[[0.3257094694752295,-2.083101305556146],[0.3397923713767247,-2.069047802080557]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.4700945735889705,-1.263708254260805,0.71338606911949],"aabb_xy":[[-0.487727409182498,-1.2813312002764277],[-0.45246173799544287,-1.2460853082451817]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[0.6897295737929348,1.3880510135582695,0.71338606911949],"aabb_xy":[[0.6852989444380947,1.3826026418235873],[0.694160203147775,1.3934993852929523]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[0.30097549091674847,1.4513483784141097,0.71338606911949],"aabb_xy":[[0.25100219691348796,1.4013483778595621],[0.35094878492000886,1.5013483789686568]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.3775935996359918,-1.196937478226183,0.71338606911949],"aabb_xy":[[0.37034983358974644,-1.2769374764297852],[0.3848373656822371,-1.1169374800225804]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[-0.4970156065897796,-2.554617630556195,0.71338606911949],"aabb_xy":[[-0.529477307471707,-2.584750462671097],[-0.4645539057078521,-2.5244847984412915]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.3337983677382452,-0.8833797476945526,0.71338606911949],"aabb_xy":[[-0.34457134165961295,-0.9183797459135917],[-0.3230253938168774,-0.8483797494755138]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6418880540504482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4832.png","name":"4832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4832.png","name":"4832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7468.png","name":"7468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9123.png","name":"9123"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6514.png","name":"6514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6293.png","name":"6293"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":660.9454063609908,"rotation_z_degrees":34.573327533914906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004397688097245998,0.008734955131981813,0.010265202211934703]},{"name":"camera_2","offset_m":[0.003900705971593251,0.008479211444252871,-0.017620246088949458]},{"name":"camera_3","offset_m":[-0.005687986883946965,-0.004628392867143134,-0.005555991142178848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004473273784573657,0.0004080966380218651,-0.0014548666826887957],"end_effector_yaw_offset_degrees":0.30610491947379015},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000988474803944045,0.0017367100339843477,0.0014472641007637365],"end_effector_yaw_offset_degrees":0.6258489586475988},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005220291449596795,-0.0009571815141395045,-0.0010457737422028945],"end_effector_yaw_offset_degrees":-0.9579791293555664}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001954728749385335,0.0002920098452204589],"position_m":[0.30864527125061464,0.22129200984522046,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002952902423658741,-0.0014234923464608107],"position_m":[0.3207529024236588,-0.1945234923464608,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0005296726384654811,-0.004734478228772519],"position_m":[0.3103703273615345,0.03186552177122748,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007096625256568867,-0.003443264695680127],"position_m":[0.057109662525656885,0.3865567353043199,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008175292767327036,-0.00025327529340636763],"position_m":[0.1555175292767327,-0.42775327529340634,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f286ee0f3bb0626e21c153f6ab4c962b59d5ae3aed917d531e38514d8be4421f","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4832/tex_ceiling_textures_6293/tex_floor_textures_6514/tex_table_textures_7468/tex_wall_textures_9123","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":1518528832688715514,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":1518528832688715514,"visual_seed":1518528832688715514,"scene_id":"lab_003","finished_at":"2026-09-03T20:31:31"} +{"episode_id":"ep_000091","started_at":"2026-09-03T20:31:34","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[-0.40918438038377214,-1.457325429698755,0.71338606911949],"aabb_xy":[[-0.4126250566238294,-1.4611868626731195],[-0.4057437041437151,-1.4534639967243905]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.028130885130224215,1.1931262793490895,0.71338606911949],"aabb_xy":[[-0.10812470870878244,1.113126276756248],[0.051862938448334006,1.2731262819419311]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.3359236052971809,-1.654695775692813,0.71338606911949],"aabb_xy":[[-0.3452172235343315,-1.6921957741809466],[-0.3266299870600303,-1.6171957772046788]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.4480355021662963,1.5207702214678913,0.71338606911949],"aabb_xy":[[0.43102540487624563,1.5046357329696174],[0.46504559945634694,1.5369047099661652]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.3691647616455114,0.8660796702801239,0.71338606911949],"aabb_xy":[[0.3316647608535159,0.8597118293219338],[0.4066647624375068,0.872447511238314]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.683197418438354,-0.9435463271449247,0.71338606911949],"aabb_xy":[[0.676783604795169,-0.9499561473925928],[0.6896112320815388,-0.9371365068972561]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.1308090426712729,-1.4685500735887365,0.71338606911949],"aabb_xy":[[-0.22080904126574286,-1.4848006599021575],[-0.04080904407680297,-1.4522994872753154]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.6976496500634284,-1.2994367989295361,0.71338606911949],"aabb_xy":[[0.674367807865297,-1.3844368002267642],[0.7209314922615597,-1.214436797632308]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.17361457004960446,1.6060189691097526,0.71338606911949],"aabb_xy":[[0.14528486010106423,1.6015582269160358],[0.20194427999814468,1.61047971130347]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.44619018148818035,1.1079511708269982,0.71338606911949],"aabb_xy":[[-0.4961901810645151,1.0579705918748923],[-0.3961901819118457,1.1579317497791042]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.15009087955274936,-1.8469844827033186,0.71338606911949],"aabb_xy":[[-0.23009087656699734,-1.86711903437673],[-0.07009088253850138,-1.8268499310299076]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.08291108580625062,0.0665040465477329,0.71338606911949],"aabb_xy":[[-0.11791108493620628,0.06075882547206879],[-0.047911086676294956,0.072249267623397]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.41521173356011754,-2.2612263453808286,0.71338606911949],"aabb_xy":[[0.3255246572520021,-2.351226345635279],[0.504898809868233,-2.171226345126378]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.40481202280819994,0.5813532102020305,0.71338606911949],"aabb_xy":[[0.36981202283170417,0.5718885941544138],[0.43981202278469583,0.5908178262496471]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.3944215432481824,-0.18095905335502227,0.71338606911949],"aabb_xy":[[-0.424389100158008,-0.210959053652908],[-0.3644539863383567,-0.15095905305713653]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.615810774514517,0.8443022086378065,0.71338606911949],"aabb_xy":[[-0.6304541800685499,0.8296434889810221],[-0.601167368960484,0.8589609282945906]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.2235216987827962,-0.8488211219601116,0.71338606911949],"aabb_xy":[[-0.273002119996755,-0.9128211198729635],[-0.17404127756883742,-0.7848211240472599]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.48647211318061245,-1.2417030970246126,0.71338606911949],"aabb_xy":[[0.47606055450012863,-1.2470488303605107],[0.49688367186109605,-1.236357363688714]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.6252080947600831,0.7789269162319004,0.71338606911949],"aabb_xy":[[0.6127407366503476,0.7664615915985769],[0.6376754528698189,0.7913922408652239]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.4557364629807672,-1.921703925755298,0.71338606911949],"aabb_xy":[[0.451305833625927,-1.9271522974899808],[0.4601670923356074,-1.9162555540206154]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.3351190175684071,0.4977593669764464,0.71338606911949],"aabb_xy":[[-0.36626593641199023,0.42775936828963923],[-0.303972098724824,0.5677593656632536]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.2978852569308426,0.8308365768729993,0.71338606911949],"aabb_xy":[[-0.37788526019485574,0.8172765445640857],[-0.21788525366682948,0.8443966091819124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6400701408171104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7101.png","name":"7101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7101.png","name":"7101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6180.png","name":"6180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9827.png","name":"9827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":540.4330444978258,"rotation_z_degrees":19.31671839033878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01726136020485209,-0.019489966263449374,0.00958314973039117]},{"name":"camera_2","offset_m":[-0.006749969347401432,-0.011890081721878519,-0.018791919815541173]},{"name":"camera_3","offset_m":[0.012724215744109615,-0.002622210626382359,-0.019825547129569562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016670811017702215,0.00044040962587840217,0.0005169152136409558],"end_effector_yaw_offset_degrees":-0.8498943880133831},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015527912466516982,-0.0009440627935831389,-0.0009229440411993198],"end_effector_yaw_offset_degrees":0.23008194107276303},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013505959321131037,0.0004945900352094131,-0.0004908312647814231],"end_effector_yaw_offset_degrees":0.6641013855603493}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000984108128431819,-0.004258058876505412],"position_m":[0.3096158918715682,0.2167419411234946,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006079081573016985,-0.00221637132044914],"position_m":[0.3171920918426983,-0.19531637132044913,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0018005083055750663,-0.003341473996760388],"position_m":[0.31270050830557505,0.033258526003239613,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037879597995617792,-0.002892733640115269],"position_m":[0.06018795979956178,0.38710726635988474,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016296009249796503,0.0033956642654901182],"position_m":[0.15632960092497966,-0.4241043357345099,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"80206f1fc40613d54eb0b5148e7142c96f7c2ac72ccbc46547a0f0ec570b5e3e","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7101/tex_ceiling_textures_6443/tex_floor_textures_9827/tex_table_textures_6180/tex_wall_textures_2788","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8780638985331481112,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8780638985331481112,"visual_seed":8780638985331481112,"scene_id":"lab_003","finished_at":"2026-09-03T20:34:20"} +{"episode_id":"ep_000092","started_at":"2026-09-03T20:34:23","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.15093757131550123,0.5684605071231612,0.71338606911949],"aabb_xy":[[-0.17385328420055113,0.5455562099867377],[-0.12802185843045133,0.5913648042595847]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.4078738087602939,-0.7823579430521745,0.71338606911949],"aabb_xy":[[-0.4878676323388521,-0.8623579456450161],[-0.32787998518173567,-0.702357940459333]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.1508733788678872,0.9706957972306518,0.71338606911949],"aabb_xy":[[0.08587338071196815,0.9443995526807395],[0.21587337702380627,0.9969920417805639]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.6369979275796223,1.1291066620389607,0.71338606911949],"aabb_xy":[[0.621442158169357,1.1135562287945537],[0.6525536969898875,1.1446570952833681]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.05512476729692506,0.9246426868222537,0.71338606911949],"aabb_xy":[[-0.11012024511758445,0.8696426853883465],[-0.00012928947626567738,0.9796426882561604]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.47628757988157866,-1.6739022111551094,0.71338606911949],"aabb_xy":[[0.43878758145817826,-1.6870664251229401],[0.513787578304979,-1.6607379971872787]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[-0.6658067648940572,1.0246950901451597,0.71338606911949],"aabb_xy":[[-0.6883067651375726,1.0124904554853877],[-0.6433067646505418,1.0368997248049316]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.668737802803884,0.15795663098683477,0.71338606911949],"aabb_xy":[[0.6187645088006235,0.1079566304322874],[0.7187110968071444,0.20795663154138208]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.1549735124096857,-0.09832249993668629,0.71338606911949],"aabb_xy":[[-0.16201382234322273,-0.17832249933635771],[-0.14793320247614875,-0.0183225005370149]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.5180189917138454,-1.977765549200174,0.71338606911949],"aabb_xy":[[-0.5820189881411673,-2.0249351730222704],[-0.45401899528652345,-1.9305959253780776]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.5046322161145942,0.8940188906999542,0.71338606911949],"aabb_xy":[[0.4696322178444742,0.886944763004966],[0.539632214384714,0.9010930183949424]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.6246999153895982,-0.7873294356151723,0.71338606911949],"aabb_xy":[[0.5606999189940252,-0.8512927240339058],[0.6886999117851713,-0.7233661471964387]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.12717599366858745,-0.5507026897905938,0.71338606911949],"aabb_xy":[[-0.13263393930560752,-0.6307026930982529],[-0.12171804803156738,-0.4707026864829347]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.001193834690336737,1.7055436507772233,0.71338606911949],"aabb_xy":[[-0.051193834130532356,1.6555757262929065],[0.04880616474985888,1.7555115752615391]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.25817038890140276,-1.9240770199047366,0.71338606911949],"aabb_xy":[[-0.32217039095113476,-1.9641715029940445],[-0.19417038685167076,-1.8839825368154286]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[0.39890211711479684,-0.14916145037708883,0.71338606911949],"aabb_xy":[[0.38103300936034135,-0.16299435835429973],[0.41677122486925233,-0.13532854239987788]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.359718855948774,1.6692481470340224,0.71338606911949],"aabb_xy":[[-0.37294980148345525,1.6560207280120227],[-0.34648791041409266,1.6824755660560216]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.4013571665488967,0.20780970182901637,0.71338606911949],"aabb_xy":[[-0.43635716574171496,0.1968426558313537],[-0.36635716735607843,0.21877674782667897]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.31885234694751574,1.6155651117003766,0.71338606911949],"aabb_xy":[[0.2288523432705975,1.5541327051232718],[0.4088523506244338,1.6769975182774806]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.48468411319238647,-0.2782823608464895,0.71338606911949],"aabb_xy":[[-0.5446841148353083,-0.3302825101384337],[-0.4246841115494646,-0.2262822115545453]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.26386464207813426,0.2577559595508525,0.71338606911949],"aabb_xy":[[-0.2816581490130507,0.23995621395505484],[-0.24607113514321782,0.2755557051466502]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.5163658556868496,0.16285759653083298,0.71338606911949],"aabb_xy":[[-0.5413658556193675,0.1559749283099097],[-0.49136585575433167,0.16974026475175633]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.6406195383780081,-0.13281156628278978,0.71338606911949],"aabb_xy":[[-0.6455188306845716,-0.16048848558535853],[-0.6357202460714446,-0.10513464698022099]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.17565075852814793,-1.9739871484304738,0.71338606911949],"aabb_xy":[[0.15315075801610734,-1.996479006795872],[0.19815075904018853,-1.9514952900650753]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.4936192930635773,-0.5016417204262797,0.71338606911949],"aabb_xy":[[-0.523586849973403,-0.5316417207241655],[-0.46365173615375166,-0.471641720128394]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.33906569764715394,1.0329933334455332,0.71338606911949],"aabb_xy":[[-0.4040656976814567,0.9862926567652059],[-0.27406569761285127,1.0796940101258605]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.4284695216132224,1.1338459025974283,0.71338606911949],"aabb_xy":[[0.3784695212526563,1.0838659153878254],[0.47846952197378845,1.1838258898070313]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.057080867546345226,-2.246035805315564,0.71338606911949],"aabb_xy":[[-0.09208086585704067,-2.253750820239109],[-0.022080869235649773,-2.238320790392018]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.4845464290550934,0.442641263299421,0.71338606911949],"aabb_xy":[[0.4720790709453577,0.43017593866609743],[0.497013787164829,0.45510658793274444]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[-0.3596307362677411,-1.739334187619023,0.71338606911949],"aabb_xy":[[-0.4023974431471613,-1.8033341910408254],[-0.3168640293883209,-1.6753341841972205]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[0.665026917995295,1.0270239563062185,0.71338606911949],"aabb_xy":[[0.6475269177502456,1.0095241684666514],[0.6825269182403444,1.044523744145785]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_31","position":[-0.2055458267538376,-2.4717672462098768,0.71338606911949],"aabb_xy":[[-0.21425979580377202,-2.494267246869064],[-0.19683185770390305,-2.4492672455506876]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_32","position":[0.16808803970327324,-1.8302763454387705,0.71338606911949],"aabb_xy":[[0.11308804008152742,-1.8852600382262434],[0.2230880393250191,-1.775292652651298]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_33","position":[0.35157168307203635,-0.5265448662895382,0.71338606911949],"aabb_xy":[[0.32773546543143134,-0.6165448670980248],[0.3754079007126415,-0.43654486548105187]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_34","position":[-0.01918983285509257,-0.8116986365484502,0.71338606911949],"aabb_xy":[[-0.06418241957354298,-0.856698635822899],[0.02580275386335784,-0.7666986372740014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6474936953256196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5924.png","name":"5924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4263.png","name":"4263"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5704.png","name":"5704"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":765.4180640172016,"rotation_z_degrees":271.85065328621636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016990193538805935,0.001527090085211888,0.0008626359170520667]},{"name":"camera_2","offset_m":[0.007766051584292714,-0.0030427512183111294,-0.01703778696104959]},{"name":"camera_3","offset_m":[-0.003360285925026525,-0.01985797454354067,-0.01345375753293634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015148267607751,-8.691906243015845e-05,-0.0007711969628274211],"end_effector_yaw_offset_degrees":-0.5491757063872422},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018719828298392944,-0.001468187622623669,0.0014785936721721047],"end_effector_yaw_offset_degrees":-0.23856250715861949},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004420665572961813,0.001771002984477819,0.00033331981063556247],"end_effector_yaw_offset_degrees":-0.6357919679704935}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026756316969701144,-0.0036811855003453364],"position_m":[0.3079243683030299,0.21731881449965468,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004444108256005997,-0.0028795480527887395],"position_m":[0.322244108256006,-0.19597954805278872,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0005918275300690742,0.0007159683797891767],"position_m":[0.3103081724699309,0.03731596837978918,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038165059756214035,0.0015862328915852075],"position_m":[0.0602165059756214,0.39158623289158523,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004763978622093484,-0.004249510680533926],"position_m":[0.1594639786220935,-0.4317495106805339,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ebad26a4cb4c5e8855267285e5df2e72b5b6addb47cbb4bcdeaf066356e7fdc3","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8109/tex_ceiling_textures_5704/tex_floor_textures_8825/tex_table_textures_5924/tex_wall_textures_4263","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":7042395924672023122,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":7042395924672023122,"visual_seed":7042395924672023122,"scene_id":"lab_003","finished_at":"2026-09-03T20:37:18"} +{"episode_id":"ep_000093","started_at":"2026-09-03T20:37:21","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.5620553644256772,-0.6175641038803263,0.71338606911949],"aabb_xy":[[0.5070598866050178,-0.6725641053142333],[0.6170508422463366,-0.5625641024464194]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.22556334389622723,1.6568846771886716,0.71338606911949],"aabb_xy":[[-0.29056334485335444,1.604936465254966],[-0.16056334293910005,1.7088328891223772]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.6283814858210487,-2.2370662876225826,0.71338606911949],"aabb_xy":[[-0.6628439638341364,-2.243729964805505],[-0.5939190078079608,-2.2304026104396595]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.5125784929116287,1.6936892716569854,0.71338606911949],"aabb_xy":[[-0.5358603351097599,1.608689270359757],[-0.4892966507134973,1.7786892729542132]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.07487555943565738,0.07198824235551271,0.71338606911949],"aabb_xy":[[-0.08286904923093942,0.06399011041503706],[-0.06688206964037537,0.07998637429598839]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[-0.11944743890531895,-0.38929720949714186,0.71338606911949],"aabb_xy":[[-0.15376371607993689,-0.4392972094703196],[-0.085131161730701,-0.33929720952396414]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.3237920074583279,-0.12510934220292214,0.71338606911949],"aabb_xy":[[-0.4037920044725759,-0.1452438938763334],[-0.24379201044407994,-0.10497479052951086]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.5735419490207687,-1.1885629815078693,0.71338606911949],"aabb_xy":[[0.4835419453438504,-1.2499953880849735],[0.6635419526976868,-1.1271305749307647]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.400444123811347,-0.6585035916519979,0.71338606911949],"aabb_xy":[[0.3503466598302734,-0.7225035921618097],[0.45054158779242065,-0.5945035911421861]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.18724794037961667,-0.8194656432913734,0.71338606911949],"aabb_xy":[[-0.24224793858136148,-0.859987609917811],[-0.1322479421778718,-0.7789436766649358]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.49756251425123854,1.1257609297078148,0.71338606911949],"aabb_xy":[[0.4800625140061892,1.1082611418682478],[0.5150625144962879,1.1432607175473815]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.37334419983701145,1.0850362450525082,0.71338606911949],"aabb_xy":[[-0.43834419771865923,1.0339125813459675],[-0.3083442019553636,1.1361599087590493]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.23972216829564874,1.5752367386634885,0.71338606911949],"aabb_xy":[[0.21472216913001566,1.5682844929581317],[0.26472216746128185,1.5821889843688448]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.3270026731550105,-2.2227340109116414,0.71338606911949],"aabb_xy":[[-0.37217399100317955,-2.2867340080561798],[-0.2818313553068416,-2.158734013767103]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.17142349167789062,0.4916860250987529,0.71338606911949],"aabb_xy":[[0.16179185545746097,0.482048712319044],[0.1810551278983202,0.5013233378784618]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.6106737850318962,1.0259677793012831,0.71338606911949],"aabb_xy":[[-0.6567588762866278,0.9619677820487281],[-0.5645886937771648,1.0899677765538383]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.45015080883028613,1.302775194746125,0.71338606911949],"aabb_xy":[[0.39252033994301516,1.2427751958194142],[0.5077812777175569,1.3627751936728354]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.11364536279974846,0.7073873733428018,0.71338606911949],"aabb_xy":[[0.04964536209627911,0.6613689908698809],[0.1776453635032178,0.753405755815723]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.23000160962020988,-0.7417890947458756,0.71338606911949],"aabb_xy":[[0.22390698173209156,-0.7503584892975445],[0.2360962375083282,-0.733219700194207]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.5018939788114354,-1.719278636505256,0.71338606911949],"aabb_xy":[[0.4547645998095995,-1.7832786375496574],[0.5490233578132708,-1.6552786354608535]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[-0.603996792331617,0.6186189817383503,0.71338606911949],"aabb_xy":[[-0.6302856166520575,0.592347548083699],[-0.5777079680111762,0.6448904153930015]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.4636599707067599,1.4783409766753466,0.71338606911949],"aabb_xy":[[0.45209098995982333,1.4533409765584149],[0.4752289514536965,1.5033409767922783]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.16248563571302543,0.6728131571622469,0.71338606911949],"aabb_xy":[[-0.17854756317154308,0.587813155349655],[-0.1464237082545078,0.7578131589748386]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.1740297960167433,1.0080840972147151,0.71338606911949],"aabb_xy":[[0.11002979367394171,0.9631432459705828],[0.23802979835954483,1.0530249484588476]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.1533751882069183,0.28007065378777973,0.71338606911949],"aabb_xy":[[-0.1641481621282861,0.2450706555687408],[-0.14260221428555053,0.3150706520068188]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.15674538067295618,0.4404483687324845,0.71338606911949],"aabb_xy":[[-0.2067453802492909,0.3904677897803785],[-0.10674538109662146,0.4904289476845904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.640775356995899,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3060.png","name":"3060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2634.png","name":"2634"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4873.png","name":"4873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4028.png","name":"4028"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":687.155527472802,"rotation_z_degrees":97.59394174123689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00517306702898776,0.008595712656093494,-0.019345185365775976]},{"name":"camera_2","offset_m":[-0.010909336928158795,-0.015356769418664751,-0.005445874077114251]},{"name":"camera_3","offset_m":[-0.01240417360631653,-0.00035633648340343063,0.019066024302427393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015130342941806056,-0.00022258315443883037,-0.0010539276557917838],"end_effector_yaw_offset_degrees":0.03660758626906957},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[8.847611771695043e-05,0.0016735124224337128,0.0009082022661478554],"end_effector_yaw_offset_degrees":-0.138345033825785},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015268548527452423,-0.001969754479155396,0.0016445477386989676],"end_effector_yaw_offset_degrees":-0.12674955332410143}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004350685010111493,0.001466403083051536],"position_m":[0.3062493149898885,0.22246640308305154,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00422477837305355,0.0010375908597787696],"position_m":[0.31357522162694645,-0.1920624091402212,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004360719370083151,-0.002644890282416559],"position_m":[0.30653928062991687,0.03395510971758344,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012400080695529146,0.00045972929897893],"position_m":[0.05764000806955291,0.39045972929897893,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00048801099883553564,0.0010484042539162276],"position_m":[0.15518801099883553,-0.42645159574608377,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bddc36f23932474d3eb6dae67adf26b36fc478fc3cefcdce6f7f9f2d82a01397","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4874/tex_ceiling_textures_4028/tex_floor_textures_4873/tex_table_textures_3060/tex_wall_textures_2634","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":3695026914898491694,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":3695026914898491694,"visual_seed":3695026914898491694,"scene_id":"lab_003","finished_at":"2026-09-03T20:40:04"} +{"episode_id":"ep_000094","started_at":"2026-09-03T20:40:08","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.031293278765910815,-1.0245251338486634,0.71338606911949],"aabb_xy":[[-0.018689671421568518,-1.0745251334912236],[0.08127622895339014,-0.9745251342061029]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.3166133835432132,-1.3901435579640657,0.71338606911949],"aabb_xy":[[-0.33178555282484656,-1.4053124148922693],[-0.3014412142615799,-1.3749747010358626]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.4001741657810458,0.34519220309250054,0.71338606911949],"aabb_xy":[[0.3931338558475089,0.26519220369282914],[0.40721447571458286,0.425192202492172]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.6536222275632169,0.1178662953041556,0.71338606911949],"aabb_xy":[[-0.663775243117366,0.08179675373141523],[-0.6434692120090673,0.15393583687689588]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.5028052631255273,0.06863894022238526,0.71338606911949],"aabb_xy":[[0.442805262874126,0.014357615185920602],[0.5628052633769284,0.12292026525884991]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.3947621418773799,0.8378886364037839,0.71338606911949],"aabb_xy":[[-0.39966143418394334,0.810211717101215],[-0.38986284957081635,0.8655655557063525]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.3667533857179639,-2.246533451147226,0.71338606911949],"aabb_xy":[[0.35912911762778565,-2.25416667468377],[0.37437765380814214,-2.2389002276106824]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.11549670116927402,0.6042541933200645,0.71338606911949],"aabb_xy":[[0.0779966996536423,0.5930274203039194],[0.15299670268490573,0.6154809663362095]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.2950129423419959,0.21044536529308377,0.71338606911949],"aabb_xy":[[-0.3059187184295586,0.13044536889425462],[-0.28410716625443316,0.29044536169191293]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.1757260008327648,-0.5551337507241438,0.71338606911949],"aabb_xy":[[0.09572600217587876,-0.5696386096484066],[0.2557259994896508,-0.540628891799881]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.46489570729429985,0.6058853070346353,0.71338606911949],"aabb_xy":[[0.3998957072599971,0.559184630354308],[0.5298957073286026,0.6525859837149626]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.12289228902479632,-2.040209590497383,0.71338606911949],"aabb_xy":[[0.08789228983197805,-2.051176636495045],[0.15789228821761458,-2.02924254449972]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.15224191894716144,1.110197515538455,0.71338606911949],"aabb_xy":[[0.10214445496608782,1.046197515028643],[0.20233938292823506,1.1741975160482667]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.5595796392535709,1.145646506242345,0.71338606911949],"aabb_xy":[[-0.5771579414425178,1.12807201666824],[-0.5420013370646241,1.16322099581645]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.2606146998698099,-0.7596647012845981,0.71338606911949],"aabb_xy":[[0.19661470258416125,-0.801171420237442],[0.32461469715545854,-0.7181579823317541]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.5161306982918823,1.0319121589443383,0.71338606911949],"aabb_xy":[[0.44613069565529595,1.0118072939484728],[0.5861307009284686,1.0520170239402038]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.5567436233534271,-1.3380824335399286,0.71338606911949],"aabb_xy":[[0.5342436235395247,-1.3425570499104096],[0.5792436231673295,-1.333607817169448]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.28228847227145576,0.4215202007272034,0.71338606911949],"aabb_xy":[[-0.3244728864322865,0.3575202004499922],[-0.24010405811062502,0.4855202010044146]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.46382774006566,-1.2122770221747472,0.71338606911949],"aabb_xy":[[-0.48203356372690775,-1.2233024227567388],[-0.4456219164044124,-1.2012516215927556]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.21689423924383422,0.5255706506674738,0.71338606911949],"aabb_xy":[[0.1818942392673384,0.5161060346198573],[0.25189423922033005,0.5350352667150905]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[0.33808418992642064,1.586808710638588,0.71338606911949],"aabb_xy":[[0.3325025182922919,1.574308710820812],[0.3436658615605494,1.599308710456363]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.7196922158971406,-1.709364462731977,0.71338606911949],"aabb_xy":[[0.7157317321274063,-1.7170323273174977],[0.723652699666875,-1.7016965981464565]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.5141626049122954,-2.121302186567208,0.71338606911949],"aabb_xy":[[0.46917001819384496,-2.1663021858416562],[0.5591551916307458,-2.0763021872927587]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.579891897889165,-0.4842622652952788,0.71338606911949],"aabb_xy":[[0.5600008580088247,-0.4969180765799757],[0.5997829377695052,-0.47160645401058204]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.019923146278822634,1.5954189538839008,0.71338606911949],"aabb_xy":[[-0.09992314954283577,1.5818589215749876],[0.0600768569851905,1.6089789861928143]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.1665089885226907,-1.533463034048338,0.71338606911949],"aabb_xy":[[-0.18341972095903247,-1.5469352396409524],[-0.1495982560863489,-1.5199908284557235]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[-0.47479995839124184,0.1886388510831578,0.71338606911949],"aabb_xy":[[-0.4829136130646189,0.18053303462912873],[-0.4666863037178647,0.1967446675371869]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[0.2753988781788229,1.3823629967545843,0.71338606911949],"aabb_xy":[[0.25796816309981635,1.3650908820907333],[0.29282959325782937,1.3996351114184349]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.5252658673906971,-0.48776074813882975,0.71338606911949],"aabb_xy":[[-0.5892615647857937,-0.5517607464395384],[-0.46127016999560055,-0.42376074983812106]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.22179060828348696,-1.7254779033977905,0.71338606911949],"aabb_xy":[[-0.27178372039267884,-1.7754779040719861],[-0.17179749617429507,-1.6754779027235949]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[0.2514236026493759,1.7508240368683379,0.71338606911949],"aabb_xy":[[0.2014236032091803,1.7008561123840218],[0.30142360208957153,1.8007919613526544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6351289907545249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3246.png","name":"3246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6152.png","name":"6152"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3722.png","name":"3722"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":575.0534029812546,"rotation_z_degrees":67.6474821260104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016729283456346847,0.0027521246274766938,-0.01177324103470824]},{"name":"camera_2","offset_m":[0.01692882012109866,-0.0023260967982214192,-0.00041922086347733964]},{"name":"camera_3","offset_m":[0.0037767783206300136,-0.004237209741989569,-0.01403598519265652]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000778821914114058,-5.985729903260355e-05,-0.0019309807263756928],"end_effector_yaw_offset_degrees":0.3708020129148639},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011495498553188554,-0.0002934011787393178,-0.001601484227852826],"end_effector_yaw_offset_degrees":0.22047262758576114},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006272704017797233,0.0005282861854231991,-0.0012889239301312133],"end_effector_yaw_offset_degrees":0.7196232593368985}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004030161586817967,-0.00041761417781745885],"position_m":[0.306569838413182,0.22058238582218254,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004508405898467735,0.001675667179015794],"position_m":[0.32230840589846776,-0.1914243328209842,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004852087089501612,0.004594084105549747],"position_m":[0.3060479129104984,0.04119408410554975,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001714893459098663,-0.0035499551897417003],"position_m":[0.05811489345909866,0.3864500448102583,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004528140121560841,0.003908691562888602],"position_m":[0.15017185987843917,-0.4235913084371114,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5314975d8ba699f63341ff3ffa8e27f31ff97d34ddc114019f47ca95748f40b","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_515/tex_ceiling_textures_3722/tex_floor_textures_5503/tex_table_textures_3246/tex_wall_textures_6152","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":513778407484701289,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":513778407484701289,"visual_seed":513778407484701289,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:51"} +{"episode_id":"ep_000095","started_at":"2026-09-03T20:42:54","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.46759156045438377,-0.1978785265415195,0.71338606911949],"aabb_xy":[[-0.5050915607465586,-0.2019200019421231],[-0.43009156016220895,-0.1938370511409159]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.44288172229760536,-1.926390260512047,0.71338606911949],"aabb_xy":[[0.3878817226758595,-1.9813739532995198],[0.4978817219193512,-1.8714065677245744]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.5546213080118529,-2.255404898994618,0.71338606911949],"aabb_xy":[[0.5133167649481168,-2.3194048985627345],[0.5959258510755888,-2.1914048994265003]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.41849414798315565,-1.1257741152488392,0.71338606911949],"aabb_xy":[[-0.45349414625327555,-1.1328482429438274],[-0.38349414971303575,-1.118699987553851]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.5060384387627623,0.6965143602578596,0.71338606911949],"aabb_xy":[[0.477389106402346,0.6678688009807837],[0.5346877711231784,0.7251599195349353]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.2600372749856513,0.971090646229261,0.71338606911949],"aabb_xy":[[0.2481651919741502,0.8860906465356105],[0.27190935799715243,1.0560906459229114]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.25115520685988424,-2.07287870019219,0.71338606911949],"aabb_xy":[[0.23365520772551704,-2.0827583272297767],[0.26865520599425136,-2.062999073154601]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[0.0882893204340025,1.1701433983110352,0.71338606911949],"aabb_xy":[[0.07738354434643979,1.090143401912206],[0.09919509652156522,1.2501433947098644]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.08856258526631366,-0.4029686793129508,0.71338606911949],"aabb_xy":[[-0.1685625885303268,-0.4165287116218641],[-0.00856258200230052,-0.38940864700403743]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.4950205226097163,-1.373001422830719,0.71338606911949],"aabb_xy":[[-0.5116976586028118,-1.3897013468046493],[-0.4783433866166208,-1.3563014988567887]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.5801398680496503,-0.1527058618988053,0.71338606911949],"aabb_xy":[[0.5582501204607095,-0.24270585918805443],[0.6020296156385911,-0.0627058646095562]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.18890552724129295,1.4315610614809624,0.71338606911949],"aabb_xy":[[-0.25890553063285493,1.3962452877775315],[-0.11890552384973098,1.4668768351843933]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.3372677218130731,1.708258123348679,0.71338606911949],"aabb_xy":[[0.33117309392495475,1.6996887287970104],[0.3433623497011914,1.7168275179003478]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.1853054796176148,-1.8024457779266307,0.71338606911949],"aabb_xy":[[-0.2753054790359857,-1.8358212747708205],[-0.09530548019924387,-1.769070281082441]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.09299162756250534,-2.5557342112732786,0.71338606911949],"aabb_xy":[[0.07049162731898997,-2.567938845933051],[0.11549162780602076,-2.543529576613507]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.6274584904872593,-1.8662742335896085,0.71338606911949],"aabb_xy":[[-0.6376115060414085,-1.9023437751623486],[-0.6173054749331097,-1.830204692016868]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.11984261198600454,0.613362474502948,0.71338606911949],"aabb_xy":[[-0.19984261341613174,0.5338453194903384],[-0.039842610555877345,0.6928796295155574]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.005709545769700064,1.4137313083822467,0.71338606911949],"aabb_xy":[[-0.028174315741105183,1.3912313075033862],[0.016755224201705055,1.4362313092611072]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.18368003605514538,1.637331184313925,0.71338606911949],"aabb_xy":[[0.11868003789922632,1.611034939764013],[0.24868003421106444,1.6636274288638373]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.5935872859727269,1.7303924028004665,0.71338606911949],"aabb_xy":[[0.5285872833349334,1.6789128041010193],[0.6585872886105204,1.7818720014999132]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.5005766466294841,0.2827557461351655,0.71338606911949],"aabb_xy":[[0.44057664498656224,0.23075559684322133],[0.5605766482724059,0.3347558954271097]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.024225208175786883,-0.29818087404217897,0.71338606911949],"aabb_xy":[[-0.046397735152437725,-0.3203565411983021],[-0.0020526811991360447,-0.27600520688605573]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.573737513176723,0.013496218181433317,0.71338606911949],"aabb_xy":[[-0.6237375127530577,-0.03648436077067263],[-0.5237375136003882,0.06347679713353926]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.20564710741006786,-2.1497360902187856,0.71338606911949],"aabb_xy":[[0.20030953174406332,-2.174736091147926],[0.21098468307607246,-2.1247360892896463]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[-0.14334955390824167,-0.9327298609077959,0.71338606911949],"aabb_xy":[[-0.16089624882436063,-0.9702298624720472],[-0.12580285899212276,-0.8952298593435447]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.3802832294460432,-0.6859888131381311,0.71338606911949],"aabb_xy":[[0.3503156725362176,-0.715988813436017],[0.4102507863558689,-0.6559888128402455]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.48596853597812595,-2.324191866664613,0.71338606911949],"aabb_xy":[[-0.5035468381670728,-2.341766356238718],[-0.4683902337891791,-2.306617377090508]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[0.58702900717213,-2.425880152001057,0.71338606911949],"aabb_xy":[[0.5230290085855577,-2.472887115400565],[0.6510290057587026,-2.3788731886015477]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[0.08233735187830327,0.7713156129953704,0.71338606911949],"aabb_xy":[[0.018337354592654634,0.7298088940425265],[0.1463373491639519,0.8128223319482144]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.45429986119341953,-0.8369961438112183,0.71338606911949],"aabb_xy":[[-0.5442998648703374,-0.8984285503883226],[-0.36429985751650124,-0.7755637372341139]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[-0.33013099752417024,-2.3707151177406165,0.71338606911949],"aabb_xy":[[-0.34763099680225706,-2.3880532178069624],[-0.3126309982460833,-2.3533770176742705]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_31","position":[-0.4021698305925122,-2.50035359323799,0.71338606911949],"aabb_xy":[[-0.44744844547366147,-2.564353592586173],[-0.35689121571136295,-2.4363535938898058]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_32","position":[-0.5682363110352298,0.27297777742913354,0.71338606911949],"aabb_xy":[[-0.6182363123961169,0.22299987285371795],[-0.5182363096743424,0.32295568200454916]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_33","position":[-0.08712505017552807,-2.2683985863681038,0.71338606911949],"aabb_xy":[[-0.12158752818861583,-2.275062263551026],[-0.05266257216244029,-2.2617349091851806]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6396333810111794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8116.png","name":"8116"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5425.png","name":"5425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6312.png","name":"6312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4258.png","name":"4258"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":784.3590838386841,"rotation_z_degrees":49.14105742073176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018698730178749217,-0.010413261051401168,-0.009732990682779512]},{"name":"camera_2","offset_m":[0.007895492095902457,-0.015006993131031213,0.016139169158516205]},{"name":"camera_3","offset_m":[0.012709747036349948,0.014237507621349416,0.019071546199468794]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013411945302218712,-0.00031201369492039085,-0.0005260039131289021],"end_effector_yaw_offset_degrees":-0.9141960187145437},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-1.9332057591341795e-05,0.00046627326482421997,-0.000643495628151268],"end_effector_yaw_offset_degrees":-0.08742000100804215},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006203874930200883,0.0015836854125015425,0.0017274947048603324],"end_effector_yaw_offset_degrees":-0.40412618456174076}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009620450021688562,0.00213585425752011],"position_m":[0.31156204500216883,0.2231358542575201,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030576709932609867,-0.0018023536526019014],"position_m":[0.320857670993261,-0.1949023536526019,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001968345790035151,-0.0014728447968835657],"position_m":[0.31286834579003514,0.035127155203116434,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002263149759001033,0.0028748273946391295],"position_m":[0.054136850240998964,0.39287482739463914,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027324410157908287,-0.0008325169419477153],"position_m":[0.1519675589842092,-0.4283325169419477,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2872c075d346a5d7d134538334f8034f93c140bedc2b7612529a3c9e2f3491bd","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4938/tex_ceiling_textures_4258/tex_floor_textures_6312/tex_table_textures_8116/tex_wall_textures_5425","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":8003891899242867890,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":8003891899242867890,"visual_seed":8003891899242867890,"scene_id":"lab_003","finished_at":"2026-09-03T20:45:40"} +{"episode_id":"ep_000096","started_at":"2026-09-03T20:45:43","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.10777500484370606,-1.836711821514204,0.71338606911949],"aabb_xy":[[0.09964731665039285,-1.845625429924912],[0.11590269303701929,-1.8277982131034964]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.5537386571388967,1.1354143875932388,0.71338606911949],"aabb_xy":[[0.5037436461794447,1.0854143885576473],[0.6037336680983487,1.1854143866288307]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[0.37118257687153067,-0.45094520388558834,0.71338606911949],"aabb_xy":[[0.3301646334851598,-0.5009452045165457],[0.41220052025790155,-0.40094520325463107]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.13459646520939306,-1.2213399506393106,0.71338606911949],"aabb_xy":[[-0.21459646548300004,-1.2942894984650273],[-0.05459646493578609,-1.1483904028135938]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.16766677548225295,-0.5443728598596449,0.71338606911949],"aabb_xy":[[-0.18677908284023184,-0.5635076387368869],[-0.1485544681242741,-0.5252380809824029]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.2774077978644047,-1.9633787360492467,0.71338606911949],"aabb_xy":[[0.2648050987273282,-1.9759741322741127],[0.2900104970014811,-1.9507833398243817]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.43154072567481166,-2.4678020348355663,0.71338606911949],"aabb_xy":[[-0.4955407229604603,-2.50930875378841],[-0.367540728389163,-2.426295315882722]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.46665836166852837,-1.068475036628973,0.71338606911949],"aabb_xy":[[-0.5166583611087239,-1.1184429611132893],[-0.41665836222833263,-1.0185071121446567]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.1088890006701776,1.5852330544028361,0.71338606911949],"aabb_xy":[[-0.15416761555132685,1.5212330550546524],[-0.06361038578902833,1.6492330537510198]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.22363331773758172,1.7817164050231589,0.71338606911949],"aabb_xy":[[-0.23338930724675558,1.7719538709639242],[-0.2138773282284078,1.791478939082393]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.41158938457696287,-1.3105883843824822,0.71338606911949],"aabb_xy":[[-0.4171710562110917,-1.3230883842002579],[-0.40600771294283416,-1.2980883845647069]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.6793868914977819,0.049296693718470674,0.71338606911949],"aabb_xy":[[0.6443868923678262,0.043551472642806566],[0.7143868906277375,0.05504191479413478]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.6206609330286521,-1.3836694578453237,0.71338606911949],"aabb_xy":[[0.5306609333054778,-1.4067428103805033],[0.7106609327518262,-1.3605961053101436]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.4162539957501816,-2.294276434889172,0.71338606911949],"aabb_xy":[[0.40821766104889673,-2.3023145541935888],[0.4242903304514664,-2.2862383155847557]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.42228400790729625,1.0157313398533634,0.71338606911949],"aabb_xy":[[0.41624699490663153,1.0097046387844153],[0.428321020907961,1.0217580409223115]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.1835693433111112,0.58059290723719,0.71338606911949],"aabb_xy":[[-0.18902728894813126,0.5005929039295309],[-0.17811139767409112,0.6605929105448491]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.4832703973615804,0.5658655048601617,0.71338606911949],"aabb_xy":[[-0.5182703956317003,0.5587913771651736],[-0.4482703990914605,0.5729396325551499]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.5525590707721364,-1.1992406736011785,0.71338606911949],"aabb_xy":[[0.5064739795174048,-1.2632406708537336],[0.5986441620268678,-1.1352406763486234]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.08864104606514323,-1.0752199195360985,0.71338606911949],"aabb_xy":[[0.008641042801130108,-1.0887799518450119],[0.16864104932915636,-1.0616598872271852]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.445277262458738,-1.7746781182268139,0.71338606911949],"aabb_xy":[[0.3652772650551445,-1.8546706894249965],[0.5252772598623313,-1.6946855470286308]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.2823285527901307,-0.37798038283528257,0.71338606911949],"aabb_xy":[[-0.31229610969995636,-0.4079803831331683],[-0.25236099588030503,-0.3479803825373968]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[-0.5658467577431274,-2.319830755413825,0.71338606911949],"aabb_xy":[[-0.6033467579149991,-2.3525314907967316],[-0.5283467575712553,-2.2871300200309173]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.08536917035042102,1.3093929395061554,0.71338606911949],"aabb_xy":[[-0.09265148672708466,1.219392935896646],[-0.07808685397375735,1.399392943115664]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[-0.2961127444481258,-0.7737372700989373,0.71338606911949],"aabb_xy":[[-0.3320262488731155,-0.809650778315692],[-0.2601992400231361,-0.7378237618821827]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[-0.5239794882511741,-0.9408697854617074,0.71338606911949],"aabb_xy":[[-0.5395352576614394,-0.9564202187061148],[-0.5084237188409089,-0.9253193522173004]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.5353329959628387,1.6463874567861425,0.71338606911949],"aabb_xy":[[-0.5993329923584118,1.582424168367409],[-0.4713329995672656,1.710350745204876]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[0.11474825270455125,0.6393409231513476,0.71338606911949],"aabb_xy":[[0.05074824948591339,0.5926178112523393],[0.1787482559231891,0.686064035050356]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.05584034399612825,1.4656748324667972,0.71338606911949],"aabb_xy":[[-0.09084034318894652,1.4547077864691347],[-0.020840344803309978,1.4766418784644597]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.115153966690282,-1.9342249070180884,0.71338606911949],"aabb_xy":[[0.05115396434748045,-1.9791657582622206],[0.17915396903308356,-1.8892840557739556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6397737940829811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2659.png","name":"2659"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2659.png","name":"2659"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9249.png","name":"9249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/796.png","name":"796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7640.png","name":"7640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8084.png","name":"8084"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.4705673222751,"rotation_z_degrees":106.1469171377046,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009864907592340474,0.0011205457101376957,0.007778108170150361]},{"name":"camera_2","offset_m":[-0.012066540912403396,-0.006725358320577142,-0.01188220727796359]},{"name":"camera_3","offset_m":[0.006905097661952152,-0.005121737768805309,0.01239113915670641]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003078895395565908,0.00152810173124943,0.0011384438840789791],"end_effector_yaw_offset_degrees":0.2740736731520734},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001852058693094539,-0.0014975153778459668,0.00015146766103200059],"end_effector_yaw_offset_degrees":0.4459290430307554},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014084773943758475,-0.0016209046734597745,0.0015442843551572265],"end_effector_yaw_offset_degrees":0.6026105340446815}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00019853180056157108,-0.00370845271840745],"position_m":[0.3104014681994384,0.21729154728159256,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035823592093931792,0.0011911690946129873],"position_m":[0.3142176407906068,-0.19190883090538702,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003474896251495924,0.004863893476910303],"position_m":[0.31437489625149595,0.041463893476910305,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032073262396917395,-0.0030990588905075423],"position_m":[0.05960732623969174,0.38690094110949247,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007298703258177474,0.0011880937155164997],"position_m":[0.15397012967418225,-0.4263119062844835,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5f5131f4c7c32d95734b6f7214aafcd7e7d4c8bb94ba4bbcabc02678ffb396ae","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2659/tex_ceiling_textures_8084/tex_floor_textures_7640/tex_table_textures_9249/tex_wall_textures_796","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":9088306556667660790,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":9088306556667660790,"visual_seed":9088306556667660790,"scene_id":"lab_003","finished_at":"2026-09-03T20:48:34"} +{"episode_id":"ep_000097","started_at":"2026-09-03T20:48:36","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.04836277810498024,-1.0851928418200882,0.71338606911949],"aabb_xy":[[-0.05628605834372857,-1.1076928420580916],[-0.04043949786623191,-1.0626928415820849]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.036989855179291764,-1.0775164739514456,0.71338606911949],"aabb_xy":[[0.001989856868596318,-1.0852314888749912],[0.07198985348998721,-1.0698014590279]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.2575346684966364,1.0561101946897544,0.71338606911949],"aabb_xy":[[0.18753466586005008,1.036005329693889],[0.32753467113322277,1.07621505968562]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.1380637517188983,-1.0304556106387284,0.71338606911949],"aabb_xy":[[-0.14456538822690293,-1.0402234326650381],[-0.1315621152108937,-1.0206877886124186]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.024378525664350725,0.635939949303189,0.71338606911949],"aabb_xy":[[-0.044436937277591015,0.6158748623940313],[-0.004320114051110435,0.6560050362123464]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.19480385839675418,0.5169606075448678,0.71338606911949],"aabb_xy":[[-0.28480386207367225,0.45552820096776325],[-0.10480385471983591,0.578393014121972]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.02177607964031114,1.2355970842716952,0.71338606911949],"aabb_xy":[[-0.05927607981218308,1.2028963488887878],[0.0157239205315608,1.2682978196546022]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.3469020272617168,-2.118935430644961,0.71338606911949],"aabb_xy":[[-0.4109020304803547,-2.16565854254397],[-0.28290202404307896,-2.072212318745953]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.3796967696016777,-1.480810101669518,0.71338606911949],"aabb_xy":[[-0.44369677194447926,-1.5257509529136506],[-0.31569676725887613,-1.4358692504253856]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.16456142267423834,-0.7679084686171407,0.71338606911949],"aabb_xy":[[-0.24456141968848633,-0.788043020290552],[-0.08456142565999036,-0.7477739169437294]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.603998829107012,-0.10238334027462459,0.71338606911949],"aabb_xy":[[-0.6839988323648549,-0.18237984806660856],[-0.523998825849169,-0.022386832482640617]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.672371931793891,-1.3874980766899923,0.71338606911949],"aabb_xy":[[-0.6777095074598957,-1.412498077619132],[-0.6670343561278865,-1.3624980757608525]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.6204174721907266,-1.2373034308455386,0.71338606911949],"aabb_xy":[[-0.6682236398044953,-1.3023034335525974],[-0.572611304576958,-1.1723034281384794]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.40154176496866856,-0.00558729611951625,0.71338606911949],"aabb_xy":[[0.39810108872861144,-0.009448729093880726],[0.4049824412087258,-0.0017258631451517732]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.10673069527950685,-1.809447390753267,0.71338606911949],"aabb_xy":[[-0.17673069168946862,-1.8298853264049484],[-0.036730698869545046,-1.789009455101585]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.49947454188897467,0.2619114900855313,0.71338606911949],"aabb_xy":[[-0.5494695528484268,0.21191149104993962],[-0.44947953092952275,0.31191148912112304]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.13205239588985995,-0.4297984415859881,0.71338606911949],"aabb_xy":[[-0.1742368100506907,-0.4937984418631994],[-0.08986798172902921,-0.365798441308777]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.031809310830669624,1.7572720160513513,0.71338606911949],"aabb_xy":[[-0.0817823763631851,1.7072720162388184],[0.01816375470184584,1.8072720158638842]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.0015155525104532108,-0.9305774981540189,0.71338606911949],"aabb_xy":[[-0.08848444721272096,-0.9536508506891985],[0.09151555223362738,-0.9075041456188389]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.5752337517033876,-0.6042571942808419,0.71338606911949],"aabb_xy":[[0.511238054308291,-0.6682571925815505],[0.6392294490984841,-0.5402571959801331]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.587962562844032,1.1000431086302163,0.71338606911949],"aabb_xy":[[-0.632962564310261,1.0550432517687358],[-0.5429625613778033,1.1450429654916972]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[-0.1835267013028724,-1.5226038767088659,0.71338606911949],"aabb_xy":[[-0.23352597647130857,-1.572603877984813],[-0.13352742613443624,-1.4726038754329187]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.3013051671406622,-0.8149520716372822,0.71338606911949],"aabb_xy":[[-0.3053833250477119,-0.8190330518855455],[-0.2972270092336124,-0.8108710913890189]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.43942798223476426,0.652406518887493,0.71338606911949],"aabb_xy":[[-0.48942798088068545,0.6024869752280305],[-0.38942798358884306,0.7023260625469553]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[-0.47669223877375005,-1.0423627289573802,0.71338606911949],"aabb_xy":[[-0.48373368972449765,-1.049389480695175],[-0.46965078782300246,-1.0353359772195856]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.5957764997426553,0.053854144017933425,0.71338606911949],"aabb_xy":[[0.5057765030070451,0.0006706807006389079],[0.6857764964782656,0.10703760733522794]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.05775841146164651,0.299741754671631,0.71338606911949],"aabb_xy":[[-0.06580177138760168,0.21474175357626457],[-0.04971505153569133,0.38474175576699743]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.49548981364124267,1.6166534321313715,0.71338606911949],"aabb_xy":[[0.42548981024968063,1.5813376584279404],[0.5654898170328045,1.6519692058348021]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[0.18658540089857867,-1.2805779000241968,0.71338606911949],"aabb_xy":[[0.15158540092208284,-1.2900425160718136],[0.2215854008750745,-1.2711132839765804]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.5573833799835215,-2.529906557431974,0.71338606911949],"aabb_xy":[[-0.6123833796052673,-2.5848902502194466],[-0.5023833803617757,-2.474922864644501]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[-0.6494684197161915,-0.9187099745515537,0.71338606911949],"aabb_xy":[[-0.6536042760488917,-0.9562099739959107],[-0.6453325633834913,-0.8812099751071967]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.19196508909214793,-0.6454140402115167,0.71338606911949],"aabb_xy":[[-0.21488080197719783,-0.6683183373479403],[-0.169049376207098,-0.6225097430750933]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_32","position":[-0.1045737485826489,-2.562736729836554,0.71338606911949],"aabb_xy":[[-0.11780469411733017,-2.5759641488585534],[-0.09134280304796759,-2.5495093108145546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6392579896355534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5155.png","name":"5155"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5155.png","name":"5155"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4298.png","name":"4298"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1818.png","name":"1818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5542.png","name":"5542"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":661.7708637965884,"rotation_z_degrees":226.008586021048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017358416954816908,-0.004088441350208152,0.01860335425276467]},{"name":"camera_2","offset_m":[-0.01829073677079358,-0.004719073396504547,0.019062877939579507]},{"name":"camera_3","offset_m":[-0.00781406372861215,0.01446705195686979,0.0068883398656887605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045125913778302877,-0.0011946731796553564,0.0002434291027964895],"end_effector_yaw_offset_degrees":-0.29973380025668406},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008586357795584601,0.000629671834939091,0.0011968340451911082],"end_effector_yaw_offset_degrees":0.09929261240334974},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016184983876341805,0.0016877119500035725,-0.0010769853589761747],"end_effector_yaw_offset_degrees":-0.43339592227123025}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004720917026263466,-0.0029266677429208676],"position_m":[0.31532091702626347,0.21807333225707914,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041666411383124565,-0.0007961254105961803],"position_m":[0.32196664113831247,-0.19389612541059617,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004540729094449908,0.0036996045564418817],"position_m":[0.3063592709055501,0.04029960455644188,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00031690040236139784,7.326872120710145e-05],"position_m":[0.056716900402361395,0.3900732687212071,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002737723912242107,-0.0002776151382204951],"position_m":[0.1519622760877579,-0.4277776151382205,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b1cb9a38f7fa1c08ec5ef056b587d4a05b97f0942c406db980c7566786fbaaf7","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5155/tex_ceiling_textures_5542/tex_floor_textures_1818/tex_table_textures_4298/tex_wall_textures_4428","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":9115128996978718743,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":9115128996978718743,"visual_seed":9115128996978718743,"scene_id":"lab_003","finished_at":"2026-09-03T20:51:22"} +{"episode_id":"ep_000098","started_at":"2026-09-03T20:51:25","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.0705328069820258,-1.098594013351469,0.71338606911949],"aabb_xy":[[0.01553280736027994,-1.1535777061389418],[0.12553280660377164,-1.0436103205639964]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.4323243441178952,-2.0677523687152353,0.71338606911949],"aabb_xy":[[0.36832434243989776,-2.1162697601945495],[0.49632434579589246,-2.019234977235921]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.03752529889788092,-0.9294186750397762,0.71338606911949],"aabb_xy":[[-0.03247470291086452,-0.9507724438039635],[0.10752530070662636,-0.9080649062755888]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.1984565846273686,-2.237712325221407,0.71338606911949],"aabb_xy":[[-0.22474540894780923,-2.2639837588760576],[-0.1721677603069279,-2.211440891566755]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.33298046211440113,-0.2359514169925392,0.71338606911949],"aabb_xy":[[-0.3579804616661396,-0.24609390085767385],[-0.30798046256266265,-0.2258089331274044]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.6806209553573597,0.6523183420228071,0.71338606911949],"aabb_xy":[[0.6647364620920345,0.6379654017239831],[0.6965054486226848,0.6666712823216312]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.5545861283414073,-1.3839172984512993,0.71338606911949],"aabb_xy":[[0.5492485526754027,-1.4089172993804393],[0.5599237040074119,-1.3589172975221597]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.136810507574341,0.6479739244319975,0.71338606911949],"aabb_xy":[[0.10234802956125322,0.6413102472490746],[0.17127298558742876,0.6546376016149202]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.6403903253163301,1.1754571248152086,0.71338606911949],"aabb_xy":[[0.5603903266594441,1.1609522658909457],[0.7203903239732161,1.1899619837394715]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.15745989210028621,0.8896622590077645,0.71338606911949],"aabb_xy":[[-0.20745490305973827,0.8396622599721731],[-0.10746488114083419,0.9396622580433566]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.578967336895001,-1.5952742467371672,0.71338606911949],"aabb_xy":[[-0.5978517206635112,-1.61416017151752],[-0.5600829531264908,-1.5763883219568144]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.18266396848544997,0.5116214692122676,0.71338606911949],"aabb_xy":[[0.16016396797340934,0.48912961084686923],[0.20516396899749054,0.5341133275776659]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.4890287893052161,-2.368758092549422,0.71338606911949],"aabb_xy":[[0.46451516520821023,-2.3930226858514585],[0.513542413402222,-2.3444934992473856]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.2074798485356935,0.7339480048244083,0.71338606911949],"aabb_xy":[[-0.2874798496088139,0.7241699584870238],[-0.1274798474625732,0.7437260511617927]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.4547896503351856,-0.8522009568348115,0.71338606911949],"aabb_xy":[[0.424391539236042,-0.8826078588364807],[0.4851877614343292,-0.8217940548331417]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.6658915012413451,1.2729335841679,0.71338606911949],"aabb_xy":[[0.6456071985179462,1.2526509590251906],[0.6861758039647438,1.2932162093106083]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.19068247966195995,-1.987222683959025,0.71338606911949],"aabb_xy":[[-0.21318247967210824,-2.0013189035986283],[-0.16818247965181166,-1.9731264643194217]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.3008670515979408,1.0366165580240545,0.71338606911949],"aabb_xy":[[0.28395631916159897,1.0231443524314394],[0.31777778403428253,1.0500887636166687]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.49596004167167584,1.3091219126158427,0.71338606911949],"aabb_xy":[[0.4059600430772059,1.2928713263024219],[0.5859600402661458,1.325372498929264]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.648037797704635,-2.029605942177852,0.71338606911949],"aabb_xy":[[0.6130377985746792,-2.0353511632535155],[0.6830377968345905,-2.0238607211021873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.643479735264778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9131.png","name":"9131"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3502.png","name":"3502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2239.png","name":"2239"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":662.3010841103674,"rotation_z_degrees":186.92447198681052,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004614779714125033,-0.007181779164977274,-0.007279743480515766]},{"name":"camera_2","offset_m":[-0.011960358548432479,0.0003481718983838443,0.011073641192133988]},{"name":"camera_3","offset_m":[0.002967409337439251,-0.01116521377036818,0.008545935167807005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000192131072707203,-0.0012646570452007214,-0.00017957264560858875],"end_effector_yaw_offset_degrees":-0.724000567387632},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00040831543016327785,-0.0014448377647372599,0.0014126785823490272],"end_effector_yaw_offset_degrees":0.9894812567263458},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010699490596642923,2.1066447512575314e-05,0.001851798452840493],"end_effector_yaw_offset_degrees":-0.43955780350946183}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004267183565513977,-0.00274457654591358],"position_m":[0.306332816434486,0.2182554234540864,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00483904411478819,-9.725140333875261e-05],"position_m":[0.31296095588521183,-0.19319725140333874,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016427139403607815,-0.0030769585122981625],"position_m":[0.3092572860596392,0.03352304148770184,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-8.677072197733806e-05,0.002048099777912429],"position_m":[0.05631322927802266,0.39204809977791244,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011790454741015992,-0.002235463198669828],"position_m":[0.1558790454741016,-0.42973546319866984,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e9ff63a2d9a9ffaf051fd6bb345c509324260b9031f6f59df10f11f05fce5e6","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3228/tex_ceiling_textures_2239/tex_floor_textures_5697/tex_table_textures_9131/tex_wall_textures_3502","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":4489739401928555816,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":4489739401928555816,"visual_seed":4489739401928555816,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:09"} +{"episode_id":"ep_000099","started_at":"2026-09-03T20:54:12","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.4949954954054847,-1.3471503716363926,0.71338606911949],"aabb_xy":[[-0.5749954928090779,-1.4271429428345754],[-0.41499549800189117,-1.2671578004382098]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.10776167175593943,-1.4690949847465753,0.71338606911949],"aabb_xy":[[0.017761668079021253,-1.5305273913236792],[0.19776167543285755,-1.4076625781694707]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.0462504241277516,1.5890060109509672,0.71338606911949],"aabb_xy":[[-0.01874957375389619,1.5378823472444265],[0.11125042200939941,1.6401296746575083]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.11846543672439136,1.2808444130957066,0.71338606911949],"aabb_xy":[[0.08096543520875966,1.2696176400795613],[0.15596543824002307,1.2920711861118515]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.6047994548344524,-1.7613020551425667,0.71338606911949],"aabb_xy":[[-0.6118409057852,-1.7683288068803609],[-0.5977580038837048,-1.754275303404772]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.23470671410925853,-0.32147323750266477,0.71338606911949],"aabb_xy":[[-0.2715572620462462,-0.3589732383256985],[-0.19785616617227095,-0.28397323667963104]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.21020302506407362,-1.506009937881704,0.71338606911949],"aabb_xy":[[-0.2742030282827115,-1.5527330497807124],[-0.14620302184543577,-1.4592868259826957]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.5122584343631578,-0.4155489095103624,0.71338606911949],"aabb_xy":[[0.4747584345461242,-0.4201871208215042],[0.5497584341801913,-0.41091069819922055]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.45760490179474056,1.1113832005247932,0.71338606911949],"aabb_xy":[[0.42169139736975086,1.0754696923080387],[0.49351840621973025,1.1472967087415478]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.613852633198026,1.7467493597756785,0.71338606911949],"aabb_xy":[[-0.6938464567765842,1.666749357182837],[-0.5338588096194677,1.82674936236852]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.3682792475604883,-2.323737812508801,0.71338606911949],"aabb_xy":[[-0.38570996263949475,-2.3410099271726517],[-0.35084853248148173,-2.3064656978449496]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.15200957569792273,0.7482636413851842,0.71338606911949],"aabb_xy":[[-0.19718089354609175,0.6842636442406459],[-0.10683825784975379,0.8122636385297228]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.04368374669015951,0.6788636580139813,0.71338606911949],"aabb_xy":[[0.02589023975524308,0.6610639124181835],[0.06147725362507595,0.6966634036097789]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.7077724165424484,-1.0471220047262035,0.71338606911949],"aabb_xy":[[0.6906703385840803,-1.0642288102574735],[0.7248744945008166,-1.030015199194934]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.4946594106094805,0.3965166567811287,0.71338606911949],"aabb_xy":[[-0.5016997205430176,0.31651665738145734],[-0.4876191006759436,0.4765166561808002]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.15210245610948558,-0.9872327071758238,0.71338606911949],"aabb_xy":[[0.10710245464325674,-1.0322325640373045],[0.19710245757571446,-0.9422328503143432]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.6209626630329454,-0.7412295028123772,0.71338606911949],"aabb_xy":[[-0.67096266469444,-0.7912279450680799],[-0.5709626613714505,-0.6912310605566745]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.30810066343013487,-1.685071934635075,0.71338606911949],"aabb_xy":[[0.2281006664158869,-1.7052064863084864],[0.38810066044438285,-1.6649373829616638]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.3099600646347068,-1.6960815466536032,0.71338606911949],"aabb_xy":[[-0.34496006382752503,-1.7070485926512655],[-0.2749600654418885,-1.6851145006559405]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.023970459680398792,-2.4851260935590154,0.71338606911949],"aabb_xy":[[-0.02602954168048843,-2.5351039981344305],[0.073970461041286,-2.4351481889835993]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.5510062196655017,-0.7258115783828392,0.71338606911949],"aabb_xy":[[0.5271700020248966,-0.8158115791913259],[0.5748424373061067,-0.6358115775743528]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.3085106563056159,0.41782603349309255,0.71338606911949],"aabb_xy":[[0.3003970016322388,0.40972021703906336],[0.316624310978993,0.4259318499471215]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.1904945061872071,-1.8725953992901778,0.71338606911949],"aabb_xy":[[-0.25449450809954943,-1.9285065485481885],[-0.12649450427486478,-1.8166842500321676]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.6281434386431193,0.6199165946792107,0.71338606911949],"aabb_xy":[[0.5911093292150594,0.5855393873455011],[0.6651775480711789,0.65429380201292]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.6110432136925654,-2.0010491229125567,0.71338606911949],"aabb_xy":[[0.5688587995317347,-2.0650491231897683],[0.6532276278533962,-1.937049122635346]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[0.34473996271574814,-0.3262904915106293,0.71338606911949],"aabb_xy":[[0.3345869471615987,-0.3623600330833695],[0.35489297826989746,-0.29022094993788883]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.6140394897284354,0.07780580106553892,0.71338606911949],"aabb_xy":[[0.610079005958701,0.07013793648001831],[0.6179999734981697,0.08547366565105952]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.4671277511132277,-2.333143429928484,0.71338606911949],"aabb_xy":[[0.4346660502313001,-2.3632762620433856],[0.49958945199515503,-2.30301059781358]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.023061026864182654,-0.7651543592171046,0.71338606911949],"aabb_xy":[[-0.0730343208674431,-0.8151543597716518],[0.026912267139077795,-0.7151543586625572]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[0.43968835019387575,-1.2697901698452352,0.71338606911949],"aabb_xy":[[0.4245161809122424,-1.2849590267734385],[0.4548605194755091,-1.2546213129170318]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[-0.6665823849323836,-1.2574295027168412,0.71338606911949],"aabb_xy":[[-0.6890823844560909,-1.2799254501674617],[-0.6440823854086761,-1.2349335552662202]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[0.27600478136369333,0.7948677569837175,0.71338606911949],"aabb_xy":[[0.2415423033506055,0.7882040798007945],[0.31046725937678105,0.8015314341666402]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[0.43655783713994656,-2.4756745637208333,0.71338606911949],"aabb_xy":[[0.418925001546419,-2.493297509736456],[0.45419067273347413,-2.45805161770521]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_33","position":[-0.5187341407162508,1.560947545987005,0.71338606911949],"aabb_xy":[[-0.5687341420000906,1.5109686915963827],[-0.46873413943241077,1.610926400377627]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_34","position":[0.17104304644895263,-2.0047049821113814,0.71338606911949],"aabb_xy":[[0.1345472258216739,-2.041188924538139],[0.20753886707623137,-1.9682210396846238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6462426033161071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1605.png","name":"1605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":601.9083418597812,"rotation_z_degrees":127.55214699194015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005223169225524127,0.009379504585655802,0.0062813906867556744]},{"name":"camera_2","offset_m":[0.005372921033374833,-0.012992052327610883,-0.017783041212068383]},{"name":"camera_3","offset_m":[-0.01676128158461635,-0.01981217670201808,0.013258534221840614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001333416091316221,-0.0017997354711438453,0.0014542797674402105],"end_effector_yaw_offset_degrees":-0.8886210316301555},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001412053188225979,-0.0007194090459048069,0.001507332962150612],"end_effector_yaw_offset_degrees":-0.4203978929442078},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015494220178374186,0.0013341049172447832,0.0018061974022855602],"end_effector_yaw_offset_degrees":0.4758175937110509}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00011","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003804738377226829,0.0017913765383856277],"position_m":[0.3144047383772268,0.22279137653838563,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002433978416301298,0.0027079120697425345],"position_m":[0.31536602158369875,-0.19039208793025747,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003831634132775252,-0.003181958216439751],"position_m":[0.3147316341327753,0.03341804178356025,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002170343611937776,-0.0014988437564251167],"position_m":[0.05422965638806222,0.3885011562435749,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004485629881526561,-0.002683247228747693],"position_m":[0.15918562988152657,-0.4301832472287477,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8a4c8cd96f41e4c018e7827abc7ec53f1c1bb99a25e1e1a1f9f1a24b81c4b4b6","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7862/tex_ceiling_textures_7489/tex_floor_textures_5560/tex_table_textures_1908/tex_wall_textures_1605","seeds":{"action_seed":5125611169601523735,"physical_seed":7839386756231552205,"visual_seed":9189005051731323683,"layout_id":"layout_00011","physical_randomization_enabled":true},"episode_seed":9189005051731323683,"visual_seed":9189005051731323683,"scene_id":"lab_003","finished_at":"2026-09-03T20:56:59"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca9c47efd2d1f1909cbe11adfabe144aba8d20a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00011 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00011 + reproducibility: + enabled: true + layout_id: layout_00011 + action_seed: 5125611169601523735 + step_seeds: + - 833302438968261441 + - 2635298924869554144 + - 5370397393835884011 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3106 + - 0.3106 + 'y': + - 0.221 + - 0.221 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3178 + - 0.3178 + 'y': + - -0.1931 + - -0.1931 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3109 + - 0.3109 + 'y': + - 0.0366 + - 0.0366 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.0564 + - 0.0564 + 'y': + - 0.39 + - 0.39 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1547 + - 0.1547 + 'y': + - -0.4275 + - -0.4275 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..85f3c601b0247a97c58169d96d20831468384245 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3306343464760949, + 0.22582931631608535, + 1.0043866648983337 + ], + "current_z": 1.0043866648983337, + "required_z": 0.8611066651127387, + "initial_z": 0.7611066651127387, + "lift_margin": 0.14327999978559502, + "gripper_z": 1.0041091690633177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32556644576713967, + 0.2210294985733847, + 1.0041091690633177 + ], + "object_minus_gripper": [ + 0.005067900708955242, + 0.004799817742700663, + 0.00027749583501601727 + ], + "object_to_gripper_xy": 0.006980105153862163, + "object_to_gripper_z": 0.00027749583501601727, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3306343464760949, + 0.2012777805388788, + 1.0043866648983337 + ], + "finger_b": [ + 0.3190016915474016, + 0.22582931631608535, + 1.0043866648983337 + ], + "finger_midpoint": [ + 0.3248180190117482, + 0.2135535484274821, + 1.0043866648983337 + ], + "object_minus_finger_midpoint": [ + 0.005816327464346682, + 0.012275767888603267, + 0.0 + ], + "finger_gap": 0.0271679327463373, + "fingertip_max_gap": 0.09186100473268935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358396637316865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043866648983337, + "object_top_z": 1.0543779726726772, + "finger_top_clearance": 0.04999130777434346, + "fingertip_min_top_clearance": 0.014997392332303055, + "object_projection_between_fingers": 0.816665371113552, + "object_to_finger_line_xy": 0.010512376717518779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843050236634468, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.272067253514772, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3291797410722297, + 0.04105604451486543, + 0.7701463759081473 + ], + "gripper_position": [ + 0.3366383616420152, + 0.022842165290643576, + 1.0451238444250752 + ], + "target_minus_gripper": [ + -0.0074586205697855235, + 0.01821387922422185, + -0.27497746851692795 + ], + "held_position": [ + 0.3419020737406649, + 0.027427861551790222, + 1.0452503222390574 + ], + "held_minus_target": [ + 0.012722332668435199, + -0.013628182963075205, + 0.2751039463309102 + ], + "held_minus_gripper": [ + 0.0052637120986496755, + 0.004585696261146646, + 0.00012647781398222868 + ], + "xy_dist": 0.019681880428418626, + "held_xy_dist": 0.018643634822678404, + "held_gripper_dist": 0.006982211103539839, + "max_held_gripper_dist": 0.006986880636463649, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463759081473, + "held_z": 1.0452503222390574, + "required_height": 0.8001463759081473, + "gripper_z": 1.0451238444250752, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.97508114521524, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1292131356224822, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.710145617247241, + "max_source_tilt_deg": 89.94529427964027, + "source_upright_tilt_deg": 1.8428809241056276, + "max_source_upright_tilt_deg": 89.91719839543482, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.710145617247241, + "source_upright_return_tilt_deg": 1.8428809241056276, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2013710442096875e-07, + "max_target_xy_drift": 2.0964112449729645e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.03956468124824807, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 7.638292498999323e-05, + "max_target_tilt_deg": 0.00017806861205162827, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3292, + 0.0411, + 0.7701 + ], + "controller_target_position": [ + 0.3292, + 0.0411, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0017, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3306, + 0.0175, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001434673506731729, + 0.0016869373379078652, + -0.0017257992133915207 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8428808906205285, + "source_return_step_error_deg": 2.710149301673748, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6977693513374286, + "source_return_best_wrist_position": -1.6199431419372559, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6199431419372559 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3292, + 0.0411, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3292, + 0.0411, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0017, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3306, + 0.0175, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001434673506731729, + 0.0016869373379078652, + -0.0017257992133915207 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8428808906205285, + "pour_controller_source_return_step_error_deg": 2.710149301673748, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6977693513374286, + "pour_controller_source_return_best_wrist_position": -1.6199431419372559, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6199431419372559, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.019681880428418626, + "valid_pour_held_xy_dist": 0.018643634822678404, + "valid_pour_held_gripper_dist": 0.006982211103539839, + "valid_pour_required_height": 0.8001463759081473, + "valid_pour_held_z": 1.0452503222390574, + "valid_pour_source_tilt_deg": 2.710145617247241, + "valid_pour_source_upright_tilt_deg": 1.8428809241056276, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2013710442096875e-07, + "valid_pour_target_tilt_deg": 7.638292498999323e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3419020737406649, + 0.002589587093438409, + 1.0452503222390574 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3313041467132366, + 0.027427861551790222, + 1.0452503222390574 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3366031102269508, + 0.015008724322614315, + 1.0452503222390574 + ], + "valid_pour_held_grasp_object_position": [ + 0.3419020737406649, + 0.027427861551790222, + 1.0452503222390574 + ], + "valid_pour_held_grasp_finger_gap": 0.02700473912755143, + "valid_pour_held_grasp_max_gap": 0.12496573984622955, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024618446715483376, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.019530316225505672, + -0.9994827790187489, + 0.025548800228008872 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005065433413030816, + "valid_pour_held_grasp_line_xy_max_dist": 0.047482869923114776, + "valid_pour_held_grasp_object_top_z": 0.04972060024738312, + "valid_pour_held_grasp_top_clearance": 0.03720439602346092, + "valid_pour_held_grasp_min_top_clearance": 0.014916180074214934, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3419020737406649, + 0.002589587093438409, + 1.0452503222390574 + ], + "held_grasp_finger_b": [ + 0.3313041467132366, + 0.027427861551790222, + 1.0452503222390574 + ], + "held_grasp_midpoint": [ + 0.3366031102269508, + 0.015008724322614315, + 1.0452503222390574 + ], + "held_grasp_object_position": [ + 0.3419020737406649, + 0.027427861551790222, + 1.0452503222390574 + ], + "held_grasp_finger_gap": 0.02700473912755143, + "held_grasp_max_gap": 0.12496573984622955, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024618446715483376, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019530316225505672, + -0.9994827790187489, + 0.025548800228008872 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005065433413030816, + "held_grasp_line_xy_max_dist": 0.047482869923114776, + "held_grasp_object_top_z": 0.04972060024738312, + "held_grasp_top_clearance": 0.03720439602346092, + "held_grasp_min_top_clearance": 0.014916180074214934, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30134265193105375, + 0.2278546115847835, + 0.7611063832481647 + ], + "target_position": [ + 0.30635459684288047, + 0.22279079386296277, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007124734501650676, + "xy_threshold": 0.08, + "gripper_dist": 0.21234284708481174, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063832481647, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525325323571329, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08728512464955539, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1844840676103778, + "release_required_pad_clearance": 0.053642562324777696, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2951309596837355, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6640606e12fd1fd0be9d6c59c37c81145a2357d5bc51c5112833b1d60097ee6", + "visual_seed": 7853428508448390993, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0fd75cb9d21f1f4ba54008a9c77a21eff08234 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33864451582294103, + 0.22410652379241774, + 1.0060680996525027 + ], + "current_z": 1.0060680996525027, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1449615916377366, + "gripper_z": 1.0052691212113976, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33338938002480256, + 0.21930686877487282, + 1.0052691212113976 + ], + "object_minus_gripper": [ + 0.005255135798138466, + 0.004799655017544924, + 0.0007989784411051026 + ], + "object_to_gripper_xy": 0.007117101976529532, + "object_to_gripper_z": 0.0007989784411051026, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33864451582294103, + 0.1992995552026815, + 1.0060680996525027 + ], + "finger_b": [ + 0.3271962068422662, + 0.22410652379241774, + 1.0060680996525027 + ], + "finger_midpoint": [ + 0.3329203613326036, + 0.21170303949754962, + 1.0060680996525027 + ], + "object_minus_finger_midpoint": [ + 0.005724154490337419, + 0.012403484294868122, + 0.0 + ], + "finger_gap": 0.027321227445507655, + "fingertip_max_gap": 0.09113667068849904, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013660613722753828, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0060680996525027, + "object_top_z": 1.0558675775986799, + "finger_top_clearance": 0.04979947794617723, + "fingertip_min_top_clearance": 0.014939843383853168, + "object_projection_between_fingers": 0.8244170785332534, + "object_to_finger_line_xy": 0.010394768750987894, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806833534424952, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1177169843244255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33659498012129696, + 0.03342325132959344, + 0.7701465090059014 + ], + "gripper_position": [ + 0.3396544016899593, + 0.020633524135711748, + 1.0304440646005049 + ], + "target_minus_gripper": [ + -0.003059421568662346, + 0.01278972719388169, + -0.26029755559460344 + ], + "held_position": [ + 0.3448914512335077, + 0.0254629803689473, + 1.031199738303615 + ], + "held_minus_target": [ + 0.008296471112210713, + -0.007960270960646137, + 0.2610532292977137 + ], + "held_minus_gripper": [ + 0.005237049543548367, + 0.004829456233235552, + 0.000755673703110249 + ], + "xy_dist": 0.013150558240193197, + "held_xy_dist": 0.011497710497427436, + "held_gripper_dist": 0.007163894065094084, + "max_held_gripper_dist": 0.007173201940984001, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.031199738303615, + "required_height": 0.8001465090059015, + "gripper_z": 1.0304440646005049, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22781063869166, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7856185753033842, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8865053666121818, + "max_source_tilt_deg": 89.80833975160876, + "source_upright_tilt_deg": 2.0897225854092203, + "max_source_upright_tilt_deg": 89.84450516859712, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8865053666121818, + "source_upright_return_tilt_deg": 2.0897225854092203, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3366, + 0.0334, + 0.7701 + ], + "controller_target_position": [ + 0.3366, + 0.0334, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0007, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.338, + 0.0075, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001412053188225979, + -0.0007194090459048069, + 0.001507332962150612 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0897164470856255, + "source_return_step_error_deg": 1.8864734953109439, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0840573167286287, + "source_return_best_wrist_position": -1.6095725297927856, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095725297927856 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3366, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3366, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0007, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.338, + 0.0075, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001412053188225979, + -0.0007194090459048069, + 0.001507332962150612 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0897164470856255, + "pour_controller_source_return_step_error_deg": 1.8864734953109439, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0840573167286287, + "pour_controller_source_return_best_wrist_position": -1.6095725297927856, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095725297927856, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013150558240193197, + "valid_pour_held_xy_dist": 0.011497710497427436, + "valid_pour_held_gripper_dist": 0.007163894065094084, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.031199738303615, + "valid_pour_source_tilt_deg": 1.8865053666121818, + "valid_pour_source_upright_tilt_deg": 2.0897225854092203, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3448914512335077, + 0.001083377105695848, + 1.031199738303615 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33357636043571426, + 0.0254629803689473, + 1.031199738303615 + ], + "valid_pour_held_grasp_midpoint": [ + 0.339233905834611, + 0.013273178737321574, + 1.031199738303615 + ], + "valid_pour_held_grasp_object_position": [ + 0.3448914512335077, + 0.0254629803689473, + 1.031199738303615 + ], + "valid_pour_held_grasp_finger_gap": 0.026877431704607678, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024603574332457245, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021226918999744306, + -0.9993349585529081, + 0.029648921124315934 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00592594509450509, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037658647419705954, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3448914512335077, + 0.001083377105695848, + 1.031199738303615 + ], + "held_grasp_finger_b": [ + 0.33357636043571426, + 0.0254629803689473, + 1.031199738303615 + ], + "held_grasp_midpoint": [ + 0.339233905834611, + 0.013273178737321574, + 1.031199738303615 + ], + "held_grasp_object_position": [ + 0.3448914512335077, + 0.0254629803689473, + 1.031199738303615 + ], + "held_grasp_finger_gap": 0.026877431704607678, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024603574332457245, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021226918999744306, + -0.9993349585529081, + 0.029648921124315934 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00592594509450509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037658647419705954, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3169028594751168, + 0.23457608317765974, + 0.7611066493016903 + ], + "target_position": [ + 0.3144047383772268, + 0.22279137653838563, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012046572939781439, + "xy_threshold": 0.08, + "gripper_dist": 0.21950684939072712, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066493016903, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07735743124178579, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09169544987912658, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19143562421347785, + "release_required_pad_clearance": 0.05584772493956329, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.900969009239543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a4c8cd96f41e4c018e7827abc7ec53f1c1bb99a25e1e1a1f9f1a24b81c4b4b6", + "visual_seed": 9189005051731323683, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a5358a3330c1a972838ba8c1997cba1b8a5229 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_10_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33083946124168295, + 0.22029389439663538, + 1.0023505927807768 + ], + "current_z": 1.0023505927807768, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.14124396555672125, + "gripper_z": 1.0024156691252695, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32561666379805165, + 0.21546934059847928, + 1.0024156691252695 + ], + "object_minus_gripper": [ + 0.0052227974436313, + 0.004824553798156106, + -6.507634449270938e-05 + ], + "object_to_gripper_xy": 0.007110128865815594, + "object_to_gripper_z": -6.507634449270938e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33083946124168295, + 0.19556865345515764, + 1.0023505927807768 + ], + "finger_b": [ + 0.31927262348775404, + 0.22029389439663538, + 1.0023505927807768 + ], + "finger_midpoint": [ + 0.3250560423647185, + 0.2079312739258965, + 1.0023505927807768 + ], + "object_minus_finger_midpoint": [ + 0.00578341887696443, + 0.012362620470738883, + 0.0 + ], + "finger_gap": 0.027297056164353004, + "fingertip_max_gap": 0.09146407651844721, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013648528082176502, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023505927807768, + "object_top_z": 1.0523659392343925, + "finger_top_clearance": 0.05001534645361572, + "fingertip_min_top_clearance": 0.01500460393608473, + "object_projection_between_fingers": 0.8204449347629639, + "object_to_finger_line_xy": 0.010477058356583862, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048232038259223606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0880334834207224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32936854279105127, + 0.04143519964688279, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3319115013719732, + 0.028126054198666497, + 1.030447773400714 + ], + "target_minus_gripper": [ + -0.0025429585809219613, + 0.013309145448216292, + -0.26030144320874693 + ], + "held_position": [ + 0.3370845968056863, + 0.032999864940188646, + 1.0303416841946846 + ], + "held_minus_target": [ + 0.007716054014635043, + -0.008435334706694143, + 0.26019535400271754 + ], + "held_minus_gripper": [ + 0.005173095433713082, + 0.0048738107415221485, + -0.00010608920602939165 + ], + "xy_dist": 0.013549907413191467, + "held_xy_dist": 0.011432075978173183, + "held_gripper_dist": 0.007108178559245382, + "max_held_gripper_dist": 0.007111520912616256, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0303416841946846, + "required_height": 0.8001463301919671, + "gripper_z": 1.030447773400714, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23269422394822, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4166471418218216, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.804492837136364, + "max_source_tilt_deg": 89.95390354388597, + "source_upright_tilt_deg": 2.3087899791228725, + "max_source_upright_tilt_deg": 89.84883403258891, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.804492837136364, + "source_upright_return_tilt_deg": 2.3087899791228725, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1057274105900595e-07, + "max_target_xy_drift": 2.8204162763856313e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3294, + 0.0414, + 0.7701 + ], + "controller_target_position": [ + 0.3294, + 0.0414, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0014, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3299, + 0.0149, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005653094833770293, + -0.0013806070467529765, + 0.0013788771714138568 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3087849981726984, + "source_return_step_error_deg": 1.8044981957795814, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.301647879685113, + "source_return_best_wrist_position": -1.6093806028366089, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093806028366089 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3294, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3294, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0014, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3299, + 0.0149, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005653094833770293, + -0.0013806070467529765, + 0.0013788771714138568 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3087849981726984, + "pour_controller_source_return_step_error_deg": 1.8044981957795814, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.301647879685113, + "pour_controller_source_return_best_wrist_position": -1.6093806028366089, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093806028366089, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013549907413191467, + "valid_pour_held_xy_dist": 0.011432075978173183, + "valid_pour_held_gripper_dist": 0.007108178559245382, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0303416841946846, + "valid_pour_source_tilt_deg": 1.804492837136364, + "valid_pour_source_upright_tilt_deg": 2.3087899791228725, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1057274105900595e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3370845968056863, + 0.008863424592133375, + 1.0303416841946846 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32543732256750335, + 0.032999864940188646, + 1.0303416841946846 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33126095968659486, + 0.02093164476616101, + 1.0303416841946846 + ], + "valid_pour_held_grasp_object_position": [ + 0.3370845968056863, + 0.032999864940188646, + 1.0303416841946846 + ], + "valid_pour_held_grasp_finger_gap": 0.026799752794655976, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024460881491672953, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029537751182758157, + -0.9991882338694283, + 0.02739333042837188 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006186277474571779, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03783384361266338, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3370845968056863, + 0.008863424592133375, + 1.0303416841946846 + ], + "held_grasp_finger_b": [ + 0.32543732256750335, + 0.032999864940188646, + 1.0303416841946846 + ], + "held_grasp_midpoint": [ + 0.33126095968659486, + 0.02093164476616101, + 1.0303416841946846 + ], + "held_grasp_object_position": [ + 0.3370845968056863, + 0.032999864940188646, + 1.0303416841946846 + ], + "held_grasp_finger_gap": 0.026799752794655976, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024460881491672953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029537751182758157, + -0.9991882338694283, + 0.02739333042837188 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006186277474571779, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03783384361266338, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3095751645034262, + 0.21690033476286097, + 0.761106235659827 + ], + "target_position": [ + 0.306581319523809, + 0.21866422111495012, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0034748241430416923, + "xy_threshold": 0.08, + "gripper_dist": 0.2170721143154861, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106235659827, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751688421166351, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516949005735701, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18745984149975195, + "release_required_pad_clearance": 0.052584745028678506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23406784458358895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "735d2a37f82bf5cfa752136e443670f83c125f19d8b9a21933f7560088f1ec4a", + "visual_seed": 5097206105016207663, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18f83fd5e24d6e1e4f003d6c80fe449ebe9ccd3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_11_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33897931054755426, + 0.2214089583756692, + 1.0041637125854619 + ], + "current_z": 1.0041637125854619, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.14305708536140604, + "gripper_z": 1.003454657199104, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336121492056321, + 0.21661865938304684, + 1.003454657199104 + ], + "object_minus_gripper": [ + 0.005367161341922166, + 0.004790298992622372, + 0.0007090553863577931 + ], + "object_to_gripper_xy": 0.007193982576358012, + "object_to_gripper_z": 0.0007090553863577931, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33897931054755426, + 0.19661443539249895, + 1.0041637125854619 + ], + "finger_b": [ + 0.32741299812301766, + 0.2214089583756692, + 1.0041637125854619 + ], + "finger_midpoint": [ + 0.33319615433528593, + 0.20901169688408408, + 1.0041637125854619 + ], + "object_minus_finger_midpoint": [ + 0.0057831562122683255, + 0.012397261491585126, + 0.0 + ], + "finger_gap": 0.027359604402566705, + "fingertip_max_gap": 0.09179805898234969, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013679802201283365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041637125854619, + "object_top_z": 1.0542331395366609, + "finger_top_clearance": 0.05006942695119898, + "fingertip_min_top_clearance": 0.015020828085359726, + "object_projection_between_fingers": 0.8212812117724376, + "object_to_finger_line_xy": 0.01048192053587574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839902949117485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1605898669872037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3308898917442981, + 0.03169815134876229, + 0.7701464494012563 + ], + "gripper_position": [ + 0.33408077097781724, + 0.01787330051215706, + 1.0293195391558907 + ], + "target_minus_gripper": [ + -0.0031908792335191283, + 0.01382485083660523, + -0.2591730897546344 + ], + "held_position": [ + 0.33933703395265713, + 0.022792296500802462, + 1.0299886907594726 + ], + "held_minus_target": [ + 0.008447142208359015, + -0.008905854847959829, + 0.2598422413582163 + ], + "held_minus_gripper": [ + 0.005256262974839887, + 0.004918995988645401, + 0.0006691516035819411 + ], + "xy_dist": 0.014188312476728441, + "held_xy_dist": 0.012274708227129881, + "held_gripper_dist": 0.007229978275593813, + "max_held_gripper_dist": 0.0072379298339400565, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0299886907594726, + "required_height": 0.8001464494012563, + "gripper_z": 1.0293195391558907, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24810313071576, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7731162691943365, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9117974511701001, + "max_source_tilt_deg": 89.9456126222561, + "source_upright_tilt_deg": 3.0572459219329686, + "max_source_upright_tilt_deg": 89.8386876740991, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9117974511701001, + "source_upright_return_tilt_deg": 3.0572459219329686, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.4604848462278142e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3309, + 0.0317, + 0.7701 + ], + "controller_target_position": [ + 0.3309, + 0.0317, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0018, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3318, + 0.0047, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009224720598911247, + -0.0018179543236820713, + -0.00016133175431682517 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.057201568429078, + "source_return_step_error_deg": 1.9117428156724487, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.055177593166499, + "source_return_best_wrist_position": -1.6101691722869873, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6101691722869873 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3309, + 0.0317, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3309, + 0.0317, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0018, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3318, + 0.0047, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009224720598911247, + -0.0018179543236820713, + -0.00016133175431682517 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.057201568429078, + "pour_controller_source_return_step_error_deg": 1.9117428156724487, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.055177593166499, + "pour_controller_source_return_best_wrist_position": -1.6101691722869873, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6101691722869873, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.014188312476728441, + "valid_pour_held_xy_dist": 0.012274708227129881, + "valid_pour_held_gripper_dist": 0.007229978275593813, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0299886907594726, + "valid_pour_source_tilt_deg": 1.9117974511701001, + "valid_pour_source_upright_tilt_deg": 3.0572459219329686, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33933703395265713, + -0.0012758233689277067, + 1.0299886907594726 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3274725796607509, + 0.022792296500802462, + 1.0299886907594726 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33340480680670403, + 0.010758236565937378, + 1.0299886907594726 + ], + "valid_pour_held_grasp_object_position": [ + 0.33933703395265713, + 0.022792296500802462, + 1.0299886907594726 + ], + "valid_pour_held_grasp_finger_gap": 0.02683355492118837, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024520602729471912, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04102486971134387, + -0.9985767549785646, + 0.03407967842640169 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006433748196803832, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03794668639688075, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33933703395265713, + -0.0012758233689277067, + 1.0299886907594726 + ], + "held_grasp_finger_b": [ + 0.3274725796607509, + 0.022792296500802462, + 1.0299886907594726 + ], + "held_grasp_midpoint": [ + 0.33340480680670403, + 0.010758236565937378, + 1.0299886907594726 + ], + "held_grasp_object_position": [ + 0.33933703395265713, + 0.022792296500802462, + 1.0299886907594726 + ], + "held_grasp_finger_gap": 0.02683355492118837, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024520602729471912, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04102486971134387, + -0.9985767549785646, + 0.03407967842640169 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006433748196803832, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03794668639688075, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31931479598961365, + 0.21740809602901479, + 0.7611063522633189 + ], + "target_position": [ + 0.31463122469392485, + 0.2173221024232506, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004684360680181708, + "xy_threshold": 0.08, + "gripper_dist": 0.218725538863671, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063522633189, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535335212827465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574786438491049, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18891638487983853, + "release_required_pad_clearance": 0.052873932192455245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7893144820348362, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f98ad92a35f0e9020c9ad69b9b3353b3164437591e4dd40c6629e1e6cc828a9", + "visual_seed": 7007123772451667247, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25e9c283b9f52310317f7b82078b8820622ee321 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_12_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33900730880163177, + 0.22511056949878644, + 1.0048204462721142 + ], + "current_z": 1.0048204462721142, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1437137594434139, + "gripper_z": 1.0046240579649397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337765812803297, + 0.22023886283211663, + 1.0046240579649397 + ], + "object_minus_gripper": [ + 0.005230727521302048, + 0.004871706666669806, + 0.00019638830717449984 + ], + "object_to_gripper_xy": 0.00714800925070622, + "object_to_gripper_z": 0.00019638830717449984, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33900730880163177, + 0.20043726196126666, + 1.0048204462721142 + ], + "finger_b": [ + 0.3273005694235255, + 0.22511056949878644, + 1.0048204462721142 + ], + "finger_midpoint": [ + 0.3331539391125786, + 0.21277391573002655, + 1.0048204462721142 + ], + "object_minus_finger_midpoint": [ + 0.005853369689053145, + 0.012336653768759892, + 0.0 + ], + "finger_gap": 0.02730970251957965, + "fingertip_max_gap": 0.09122930142702043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654851259789824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0048204462721142, + "object_top_z": 1.0546731479451463, + "finger_top_clearance": 0.04985270167303213, + "fingertip_min_top_clearance": 0.014955810501909621, + "object_projection_between_fingers": 0.816245509484544, + "object_to_finger_line_xy": 0.01057660663753199, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811465071351022, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0216831397650366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.331074457526845, + 0.04105967920892693, + 0.7701463301919671 + ], + "gripper_position": [ + 0.33472308552084235, + 0.030886313652076405, + 1.0288269837233477 + ], + "target_minus_gripper": [ + -0.0036486279939973443, + 0.010173365556850528, + -0.2586806535313806 + ], + "held_position": [ + 0.339972804330436, + 0.03573788281236711, + 1.0289813476031853 + ], + "held_minus_target": [ + 0.008898346803590973, + -0.005321796396559823, + 0.25883501741121817 + ], + "held_minus_gripper": [ + 0.005249718809593629, + 0.004851569160290704, + 0.00015436387983758237 + ], + "xy_dist": 0.010807860703760655, + "held_xy_dist": 0.010368321596257266, + "held_gripper_dist": 0.007149902034593447, + "max_held_gripper_dist": 0.007153030116607371, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0289813476031853, + "required_height": 0.8001463301919671, + "gripper_z": 1.0288269837233477, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2235417704604, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0658274705909596, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7839704219573875, + "max_source_tilt_deg": 89.99292002017484, + "source_upright_tilt_deg": 1.8689928364611574, + "max_source_upright_tilt_deg": 89.96629173746723, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7839704219573875, + "source_upright_return_tilt_deg": 1.8689928364611574, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 2.2991410082890797e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3311, + 0.0411, + 0.7701 + ], + "controller_target_position": [ + 0.3311, + 0.0411, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0016, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3326, + 0.0174, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015633538432666132, + 0.0015832373471572044, + -0.0004756096687405678 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8689981423412303, + "source_return_step_error_deg": 1.7839779615660183, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8631588010534985, + "source_return_best_wrist_position": -1.6092015504837036, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092015504837036 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3311, + 0.0411, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3311, + 0.0411, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0016, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3326, + 0.0174, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015633538432666132, + 0.0015832373471572044, + -0.0004756096687405678 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8689981423412303, + "pour_controller_source_return_step_error_deg": 1.7839779615660183, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8631588010534985, + "pour_controller_source_return_best_wrist_position": -1.6092015504837036, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092015504837036, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010807860703760655, + "valid_pour_held_xy_dist": 0.010368321596257266, + "valid_pour_held_gripper_dist": 0.007149902034593447, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0289813476031853, + "valid_pour_source_tilt_deg": 1.7839704219573875, + "valid_pour_source_upright_tilt_deg": 1.8689928364611574, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.339972804330436, + 0.011414344338373706, + 1.0289813476031853 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3285229086666397, + 0.03573788281236711, + 1.0289813476031853 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33424785649853783, + 0.023576113575370407, + 1.0289813476031853 + ], + "valid_pour_held_grasp_object_position": [ + 0.339972804330436, + 0.03573788281236711, + 1.0289813476031853 + ], + "valid_pour_held_grasp_finger_gap": 0.026883724344064726, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02446793872019536, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013741599039871554, + -0.9994680202852833, + 0.029577776840800873 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005902429918082036, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03764362058525764, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.339972804330436, + 0.011414344338373706, + 1.0289813476031853 + ], + "held_grasp_finger_b": [ + 0.3285229086666397, + 0.03573788281236711, + 1.0289813476031853 + ], + "held_grasp_midpoint": [ + 0.33424785649853783, + 0.023576113575370407, + 1.0289813476031853 + ], + "held_grasp_object_position": [ + 0.339972804330436, + 0.03573788281236711, + 1.0289813476031853 + ], + "held_grasp_finger_gap": 0.026883724344064726, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02446793872019536, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013741599039871554, + -0.9994680202852833, + 0.029577776840800873 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005902429918082036, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03764362058525764, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30954367137498395, + 0.21901484917506625, + 0.7611064804324588 + ], + "target_position": [ + 0.31475995803651635, + 0.22055593291372322, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005439171409767646, + "xy_threshold": 0.08, + "gripper_dist": 0.2111108382564885, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064804324588, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531604748565365, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504142189238965, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.181690137952897, + "release_required_pad_clearance": 0.05252071094619483, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190579830677602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ccbc7ebcdd993dff527b7ab9c0b0fe3ef44a415d807df718451657a7561ce03", + "visual_seed": 1521371572952013319, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d8fe40b14637a64e9179adc4c672c1d5a780d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_13_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33490787367747826, + 0.2213542626961881, + 1.0023747461670829 + ], + "current_z": 1.0023747461670829, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1412682381523167, + "gripper_z": 1.0021460050188327, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3298161609400717, + 0.21660446954685567, + 1.0021460050188327 + ], + "object_minus_gripper": [ + 0.005091712737406551, + 0.0047497931493324375, + 0.00022874114825022218 + ], + "object_to_gripper_xy": 0.006963194206807208, + "object_to_gripper_z": 0.00022874114825022218, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33490787367747826, + 0.19667053424311176, + 1.0023747461670829 + ], + "finger_b": [ + 0.3235219834390806, + 0.2213542626961881, + 1.0023747461670829 + ], + "finger_midpoint": [ + 0.32921492855827944, + 0.20901239846964992, + 1.0023747461670829 + ], + "object_minus_finger_midpoint": [ + 0.005692945119198822, + 0.012341864226538185, + 0.0 + ], + "finger_gap": 0.027183173966004216, + "fingertip_max_gap": 0.09129103766252425, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359158698300212, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023747461670829, + "object_top_z": 1.0523164703345083, + "finger_top_clearance": 0.04994172416742537, + "fingertip_min_top_clearance": 0.01498251725022761, + "object_projection_between_fingers": 0.8245579648235379, + "object_to_finger_line_xy": 0.010338977456886446, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814551883126213, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1735493594866053, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33376679933134956, + 0.03370218244069077, + 0.7701465090059013 + ], + "gripper_position": [ + 0.3359346017007735, + 0.023643548188135355, + 1.0277992678783152 + ], + "target_minus_gripper": [ + -0.0021678023694239323, + 0.010058634252555418, + -0.2576527588724139 + ], + "held_position": [ + 0.3410515020465053, + 0.028366592122870685, + 1.0279852765201372 + ], + "held_minus_target": [ + 0.007284702715155744, + -0.005335590317820087, + 0.25783876751423584 + ], + "held_minus_gripper": [ + 0.005116900345731812, + 0.0047230439347353305, + 0.0001860086418219442 + ], + "xy_dist": 0.010289581630929467, + "held_xy_dist": 0.009029696433868247, + "held_gripper_dist": 0.00696594662428754, + "max_held_gripper_dist": 0.006968739454930411, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0279852765201372, + "required_height": 0.8001465090059013, + "gripper_z": 1.0277992678783152, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23419686556562, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6026963015455975, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9356114600877508, + "max_source_tilt_deg": 89.7189892173704, + "source_upright_tilt_deg": 1.7315413732449432, + "max_source_upright_tilt_deg": 89.72196209111223, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9356114600877508, + "source_upright_return_tilt_deg": 1.7315413732449432, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.850685827191803e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3338, + 0.0337, + 0.7701 + ], + "controller_target_position": [ + 0.3338, + 0.0337, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0018, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3339, + 0.0103, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001381034070553522, + 0.0017950228132693831, + -0.0015334341017086714 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.731514357014871, + "source_return_step_error_deg": 1.9356085159638787, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9313828187779882, + "source_return_best_wrist_position": -1.6094969511032104, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094969511032104 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3338, + 0.0337, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3338, + 0.0337, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0018, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3339, + 0.0103, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001381034070553522, + 0.0017950228132693831, + -0.0015334341017086714 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.731514357014871, + "pour_controller_source_return_step_error_deg": 1.9356085159638787, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9313828187779882, + "pour_controller_source_return_best_wrist_position": -1.6094969511032104, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094969511032104, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010289581630929467, + "valid_pour_held_xy_dist": 0.009029696433868247, + "valid_pour_held_gripper_dist": 0.00696594662428754, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0279852765201372, + "valid_pour_source_tilt_deg": 1.9356114600877508, + "valid_pour_source_upright_tilt_deg": 1.7315413732449432, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3410515020465053, + 0.0040129162817694655, + 1.0279852765201372 + ], + "valid_pour_held_grasp_finger_b": [ + 0.329957034708704, + 0.028366592122870685, + 1.0279852765201372 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33550426837760466, + 0.016189754202320075, + 1.0279852765201372 + ], + "valid_pour_held_grasp_object_position": [ + 0.3410515020465053, + 0.028366592122870685, + 1.0279852765201372 + ], + "valid_pour_held_grasp_finger_gap": 0.026761702720174155, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02450302689841192, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014464085555137916, + -0.999543384435085, + 0.026529471557300004 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005731830725490887, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03762920794565174, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3410515020465053, + 0.0040129162817694655, + 1.0279852765201372 + ], + "held_grasp_finger_b": [ + 0.329957034708704, + 0.028366592122870685, + 1.0279852765201372 + ], + "held_grasp_midpoint": [ + 0.33550426837760466, + 0.016189754202320075, + 1.0279852765201372 + ], + "held_grasp_object_position": [ + 0.3410515020465053, + 0.028366592122870685, + 1.0279852765201372 + ], + "held_grasp_finger_gap": 0.026761702720174155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02450302689841192, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014464085555137916, + -0.999543384435085, + 0.026529471557300004 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005731830725490887, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03762920794565174, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30799275973336765, + 0.2222018642984507, + 0.7611063166426136 + ], + "target_position": [ + 0.31081853563781026, + 0.21963659151870904, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038164949753159605, + "xy_threshold": 0.08, + "gripper_dist": 0.21283385916104902, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063166426136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563459261880418, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08884153345052263, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18334603795710938, + "release_required_pad_clearance": 0.05442076672526132, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.868225747535997, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98c40eb1970651f3cd8a7bf4c1f49eb3941beb61e41756c08d8e529706c824ad", + "visual_seed": 1078345098175734018, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a06400b632e526aced9e734c505747f0657bee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_14_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3345239581745903, + 0.22652931493559803, + 1.0049460750840118 + ], + "current_z": 1.0049460750840118, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.1438394478599564, + "gripper_z": 1.0047896755604089, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.329224726816936, + 0.22165294151174375, + 1.0047896755604089 + ], + "object_minus_gripper": [ + 0.00529923135765431, + 0.004876373423854274, + 0.00015639952360291254 + ], + "object_to_gripper_xy": 0.007201449211847502, + "object_to_gripper_z": 0.00015639952360291254, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3345239581745903, + 0.20174616021666306, + 1.0049460750840118 + ], + "finger_b": [ + 0.32289302758954685, + 0.22652931493559803, + 1.0049460750840118 + ], + "finger_midpoint": [ + 0.3287084928820686, + 0.21413773757613053, + 1.0049460750840118 + ], + "object_minus_finger_midpoint": [ + 0.005815465292521693, + 0.012391577359467498, + 0.0 + ], + "finger_gap": 0.02737669271655668, + "fingertip_max_gap": 0.09116530335112508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01368834635827834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049460750840118, + "object_top_z": 1.0548404435799252, + "finger_top_clearance": 0.049894368495913444, + "fingertip_min_top_clearance": 0.014968310548773999, + "object_projection_between_fingers": 0.8195042564195227, + "object_to_finger_line_xy": 0.010529071396560553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808265167556254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1294762106823555, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3333644679791158, + 0.03289422657959915, + 0.7701464494012568 + ], + "gripper_position": [ + 0.33432297868951, + 0.020456034312063373, + 1.0280169564221837 + ], + "target_minus_gripper": [ + -0.0009585107103942114, + 0.012438192267535779, + -0.25787050702092695 + ], + "held_position": [ + 0.33958757822356983, + 0.025369356087868923, + 1.0281319608182358 + ], + "held_minus_target": [ + 0.006223110244454044, + -0.007524870491730229, + 0.257985511416979 + ], + "held_minus_gripper": [ + 0.005264599534059833, + 0.00491332177580555, + 0.00011500439605205415 + ], + "xy_dist": 0.012475069926302106, + "held_xy_dist": 0.009764772246803364, + "held_gripper_dist": 0.007202080611721818, + "max_held_gripper_dist": 0.007205217208445327, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0281319608182358, + "required_height": 0.8001464494012568, + "gripper_z": 1.0280169564221837, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24500905502175, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4793445840862904, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.79654476467999, + "max_source_tilt_deg": 89.86540503415415, + "source_upright_tilt_deg": 2.1716484470265494, + "max_source_upright_tilt_deg": 89.93274832092256, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.79654476467999, + "source_upright_return_tilt_deg": 2.1716484470265494, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.842877388000488e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3334, + 0.0329, + 0.7701 + ], + "controller_target_position": [ + 0.3334, + 0.0329, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.0005, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3318, + 0.0072, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015388862321430703, + -0.00045426919992830024, + -0.001631230626819582 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.171649934410002, + "source_return_step_error_deg": 1.7965515529407476, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.16711863097062, + "source_return_best_wrist_position": -1.609906554222107, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609906554222107 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3334, + 0.0329, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3334, + 0.0329, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.0005, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3318, + 0.0072, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015388862321430703, + -0.00045426919992830024, + -0.001631230626819582 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.171649934410002, + "pour_controller_source_return_step_error_deg": 1.7965515529407476, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.16711863097062, + "pour_controller_source_return_best_wrist_position": -1.609906554222107, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609906554222107, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012475069926302106, + "valid_pour_held_xy_dist": 0.009764772246803364, + "valid_pour_held_gripper_dist": 0.007202080611721818, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0281319608182358, + "valid_pour_source_tilt_deg": 1.79654476467999, + "valid_pour_source_upright_tilt_deg": 2.1716484470265494, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.842877388000488e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33958757822356983, + 0.00111346163956943, + 1.0281319608182358 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32796476942419406, + 0.025369356087868923, + 1.0281319608182358 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3337761738238819, + 0.013241408863719176, + 1.0281319608182358 + ], + "valid_pour_held_grasp_object_position": [ + 0.33958757822356983, + 0.025369356087868923, + 1.0281319608182358 + ], + "valid_pour_held_grasp_finger_gap": 0.026896804640586826, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02454566834666105, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02643032058335647, + -0.9992817966650483, + 0.027153802822699635 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00613864754450882, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03775461045941109, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33958757822356983, + 0.00111346163956943, + 1.0281319608182358 + ], + "held_grasp_finger_b": [ + 0.32796476942419406, + 0.025369356087868923, + 1.0281319608182358 + ], + "held_grasp_midpoint": [ + 0.3337761738238819, + 0.013241408863719176, + 1.0281319608182358 + ], + "held_grasp_object_position": [ + 0.33958757822356983, + 0.025369356087868923, + 1.0281319608182358 + ], + "held_grasp_finger_gap": 0.026896804640586826, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02454566834666105, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02643032058335647, + -0.9992817966650483, + 0.027153802822699635 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00613864754450882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03775461045941109, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31229267042755354, + 0.2236750072026339, + 0.761106459332282 + ], + "target_position": [ + 0.31022735458672746, + 0.2220495649205564, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0026282298481549145, + "xy_threshold": 0.08, + "gripper_dist": 0.21794647233753284, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106459332282, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517864402269867, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857839894339714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.188819393757972, + "release_required_pad_clearance": 0.052891994716985705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8242396047095211, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "03bfd28d2807ef230d48477521d0d25a88808373dc68c7f9cc1e53f83c02c3f7", + "visual_seed": 974852991677469166, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4414f78f2eb7ab247d7948f3af23a2581cd87eb8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_15_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3300796005475951, + 0.2224168505816217, + 1.0053457554063936 + ], + "current_z": 1.0053457554063936, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14423906857769342, + "gripper_z": 1.0052768040874445, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3250328599393526, + 0.2176145327462074, + 1.0052768040874445 + ], + "object_minus_gripper": [ + 0.005046740608242506, + 0.004802317835414294, + 6.895131894912865e-05 + ], + "object_to_gripper_xy": 0.006966480270496871, + "object_to_gripper_z": 6.895131894912865e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3300796005475951, + 0.19795185714729988, + 1.0053457554063936 + ], + "finger_b": [ + 0.3183744300458735, + 0.2224168505816217, + 1.0053457554063936 + ], + "finger_midpoint": [ + 0.3242270152967343, + 0.21018435386446077, + 1.0053457554063936 + ], + "object_minus_finger_midpoint": [ + 0.005852585250860798, + 0.012232496717160923, + 0.0 + ], + "finger_gap": 0.02712096827577849, + "fingertip_max_gap": 0.09168797540782389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560484137889255, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0053457554063936, + "object_top_z": 1.0553818991493036, + "finger_top_clearance": 0.05003614374290999, + "fingertip_min_top_clearance": 0.015010843122872963, + "object_projection_between_fingers": 0.813729059685031, + "object_to_finger_line_xy": 0.01055887520535129, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834398770391195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3332834651369592, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3334820977455799, + 0.03237274926774956, + 0.7701464494012566 + ], + "gripper_position": [ + 0.33482261986541484, + 0.02099968141701354, + 1.0296595381586138 + ], + "target_minus_gripper": [ + -0.0013405221198349304, + 0.011373067850736017, + -0.2595130887573571 + ], + "held_position": [ + 0.33990011072271903, + 0.02576686878209816, + 1.0296862299406355 + ], + "held_minus_target": [ + 0.00641801297713912, + -0.006605880485651399, + 0.2595397805393789 + ], + "held_minus_gripper": [ + 0.00507749085730419, + 0.004767187365084618, + 2.6691782021748267e-05 + ], + "xy_dist": 0.01145179775804707, + "held_xy_dist": 0.009210241449898918, + "held_gripper_dist": 0.006964747032811569, + "max_held_gripper_dist": 0.006967864206832741, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0296862299406355, + "required_height": 0.8001464494012567, + "gripper_z": 1.0296595381586138, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23974297917167, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0493124546672778, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8058264304049614, + "max_source_tilt_deg": 89.79348763988892, + "source_upright_tilt_deg": 1.8163255673763685, + "max_source_upright_tilt_deg": 89.93900891543396, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8058264304049614, + "source_upright_return_tilt_deg": 1.8163255673763685, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3335, + 0.0324, + 0.7701 + ], + "controller_target_position": [ + 0.3335, + 0.0324, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0006, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3329, + 0.0077, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005632484746739342, + 0.00055578154232105, + 0.0005656638588814934 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.816342982534105, + "source_return_step_error_deg": 1.805840935499677, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8050535444755236, + "source_return_best_wrist_position": -1.610011339187622, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610011339187622 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3335, + 0.0324, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3335, + 0.0324, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0006, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3329, + 0.0077, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005632484746739342, + 0.00055578154232105, + 0.0005656638588814934 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.816342982534105, + "pour_controller_source_return_step_error_deg": 1.805840935499677, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8050535444755236, + "pour_controller_source_return_best_wrist_position": -1.610011339187622, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610011339187622, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01145179775804707, + "valid_pour_held_xy_dist": 0.009210241449898918, + "valid_pour_held_gripper_dist": 0.006964747032811569, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0296862299406355, + "valid_pour_source_tilt_deg": 1.8058264304049614, + "valid_pour_source_upright_tilt_deg": 1.8163255673763685, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33990011072271903, + 0.0016295084679719078, + 1.0296862299406355 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32851321260294747, + 0.02576686878209816, + 1.0296862299406355 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33420666166283325, + 0.013698188625035034, + 1.0296862299406355 + ], + "valid_pour_held_grasp_object_position": [ + 0.33990011072271903, + 0.02576686878209816, + 1.0296862299406355 + ], + "valid_pour_held_grasp_finger_gap": 0.026688454652227692, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024314236509323822, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016598318446641624, + -0.9994975769613563, + 0.027001656858825718 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005901917385543342, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037752135176544584, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33990011072271903, + 0.0016295084679719078, + 1.0296862299406355 + ], + "held_grasp_finger_b": [ + 0.32851321260294747, + 0.02576686878209816, + 1.0296862299406355 + ], + "held_grasp_midpoint": [ + 0.33420666166283325, + 0.013698188625035034, + 1.0296862299406355 + ], + "held_grasp_object_position": [ + 0.33990011072271903, + 0.02576686878209816, + 1.0296862299406355 + ], + "held_grasp_finger_gap": 0.026688454652227692, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024314236509323822, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016598318446641624, + -0.9994975769613563, + 0.027001656858825718 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005901917385543342, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037752135176544584, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30485198508915734, + 0.21871239256213915, + 0.7611076843752211 + ], + "target_position": [ + 0.3060197470219126, + 0.22038155325028075, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00203709728153312, + "xy_threshold": 0.08, + "gripper_dist": 0.21510806762232892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611076843752211, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556079534619402, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509650867005829, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18494266184827463, + "release_required_pad_clearance": 0.052548254335029146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1582028940335991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6eff7dddcf7e7985338d67d6e462d19caa617ec12e15934dcec0911012f11acb", + "visual_seed": 6055164927433973226, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..49132bc5d231ab56d038622c94b221ee3dea8ebb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_16_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3298379363897068, + 0.22746923573526023, + 1.0025635635638066 + ], + "current_z": 1.0025635635638066, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14145705554904053, + "gripper_z": 1.0019895367315261, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32472155462166763, + 0.22272586911431858, + 1.0019895367315261 + ], + "object_minus_gripper": [ + 0.005116381768039191, + 0.004743366620941658, + 0.000574026832280472 + ], + "object_to_gripper_xy": 0.006976882491269817, + "object_to_gripper_z": 0.000574026832280472, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3298379363897068, + 0.20275743134054455, + 1.0025635635638066 + ], + "finger_b": [ + 0.31846447311456244, + 0.22746923573526023, + 1.0025635635638066 + ], + "finger_midpoint": [ + 0.32415120475213466, + 0.2151133335379024, + 1.0025635635638066 + ], + "object_minus_finger_midpoint": [ + 0.005686731637572162, + 0.012355902197357826, + 0.0 + ], + "finger_gap": 0.02720347300095609, + "fingertip_max_gap": 0.09151115989005451, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601736500478023, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025635635638066, + "object_top_z": 1.0524580278911837, + "finger_top_clearance": 0.0498944643273771, + "fingertip_min_top_clearance": 0.014968339298213161, + "object_projection_between_fingers": 0.8252018815753055, + "object_to_finger_line_xy": 0.010331724913799524, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825557994502726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2144253244584837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3361134639984791, + 0.03850323971980072, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3373672636480567, + 0.02530721359432446, + 1.0311572041766373 + ], + "target_minus_gripper": [ + -0.0012537996495776138, + 0.013196026125476261, + -0.2610107547753808 + ], + "held_position": [ + 0.34242469463751457, + 0.03011842742224559, + 1.0317063916637141 + ], + "held_minus_target": [ + 0.006311230639035492, + -0.008384812297555132, + 0.2615599422624577 + ], + "held_minus_gripper": [ + 0.005057430989457878, + 0.004811213827921129, + 0.0005491874870768854 + ], + "xy_dist": 0.013255456199827036, + "held_xy_dist": 0.010494603825029895, + "held_gripper_dist": 0.007001927849319086, + "max_held_gripper_dist": 0.007006285151710046, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0317063916637141, + "required_height": 0.8001464494012565, + "gripper_z": 1.0311572041766373, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22481218564602, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7195521406237961, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9021144528384033, + "max_source_tilt_deg": 89.75912849608139, + "source_upright_tilt_deg": 2.560758321960998, + "max_source_upright_tilt_deg": 89.70670855097862, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9021144528384033, + "source_upright_return_tilt_deg": 2.560758321960998, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.8143349382111313e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3361, + 0.0385, + 0.7701 + ], + "controller_target_position": [ + 0.3361, + 0.0385, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0002, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.3361, + 0.0135, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.4292196597361605e-05, + 0.000221635702121796, + -3.0043790654608188e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5607817271508844, + "source_return_step_error_deg": 1.902139021126564, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5447788161469638, + "source_return_best_wrist_position": -1.608404517173767, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608404517173767 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3361, + 0.0385, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3361, + 0.0385, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0002, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3361, + 0.0135, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.4292196597361605e-05, + 0.000221635702121796, + -3.0043790654608188e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5607817271508844, + "pour_controller_source_return_step_error_deg": 1.902139021126564, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5447788161469638, + "pour_controller_source_return_best_wrist_position": -1.608404517173767, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608404517173767, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013255456199827036, + "valid_pour_held_xy_dist": 0.010494603825029895, + "valid_pour_held_gripper_dist": 0.007001927849319086, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0317063916637141, + "valid_pour_source_tilt_deg": 1.9021144528384033, + "valid_pour_source_upright_tilt_deg": 2.560758321960998, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34242469463751457, + 0.006000377180095276, + 1.0317063916637141 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33102904102134123, + 0.03011842742224559, + 1.0317063916637141 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3367268678294279, + 0.01805940230117043, + 1.0317063916637141 + ], + "valid_pour_held_grasp_object_position": [ + 0.34242469463751457, + 0.03011842742224559, + 1.0317063916637141 + ], + "valid_pour_held_grasp_finger_gap": 0.0266747309044101, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02445520270665572, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03169949283699641, + -0.9990014128243551, + 0.03148522397601794 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006088899814716716, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03785388515694598, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34242469463751457, + 0.006000377180095276, + 1.0317063916637141 + ], + "held_grasp_finger_b": [ + 0.33102904102134123, + 0.03011842742224559, + 1.0317063916637141 + ], + "held_grasp_midpoint": [ + 0.3367268678294279, + 0.01805940230117043, + 1.0317063916637141 + ], + "held_grasp_object_position": [ + 0.34242469463751457, + 0.03011842742224559, + 1.0317063916637141 + ], + "held_grasp_finger_gap": 0.0266747309044101, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02445520270665572, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03169949283699641, + -0.9990014128243551, + 0.03148522397601794 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006088899814716716, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03785388515694598, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3058541123031068, + 0.22182009324696428, + 0.761107495835595 + ], + "target_position": [ + 0.3056713116320032, + 0.22452098820022234, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027070739985990064, + "xy_threshold": 0.08, + "gripper_dist": 0.21525519032123594, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107495835595, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542157721284942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599237385033019, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1851349990205932, + "release_required_pad_clearance": 0.0529961869251651, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0241090304828657, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b82beae119712692942d8d376ed085b50d5e83dea5a18faa311ec039ef8cc59", + "visual_seed": 578329311425459083, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37188a11f421f6e283565e417165e1f4f4dc28fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_17_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3303449463098653, + 0.2281243885952583, + 1.0044927756595121 + ], + "current_z": 1.0044927756595121, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.14338614843545672, + "gripper_z": 1.004487050041358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3252837527139953, + 0.22344748550431157, + 1.004487050041358 + ], + "object_minus_gripper": [ + 0.005061193595869984, + 0.004676903090946732, + 5.725618154039935e-06 + ], + "object_to_gripper_xy": 0.0068912337891688475, + "object_to_gripper_z": 5.725618154039935e-06, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3303449463098653, + 0.20343360205209846, + 1.0044927756595121 + ], + "finger_b": [ + 0.3190985449105024, + 0.2281243885952583, + 1.0044927756595121 + ], + "finger_midpoint": [ + 0.32472174561018385, + 0.2157789953236784, + 1.0044927756595121 + ], + "object_minus_finger_midpoint": [ + 0.005623200699681419, + 0.012345393271579908, + 0.0 + ], + "finger_gap": 0.027131466686404457, + "fingertip_max_gap": 0.09052179729759738, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013565733343202204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044927756595121, + "object_top_z": 1.0543349106279345, + "finger_top_clearance": 0.04984213496842238, + "fingertip_min_top_clearance": 0.014952640490526713, + "object_projection_between_fingers": 0.8281772693733775, + "object_to_finger_line_xy": 0.010234702736122628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776089864879869, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.44057473183125023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32866234695975227, + 0.041550743250779884, + 0.7701463897966115 + ], + "gripper_position": [ + 0.329897251935079, + 0.031536337528532576, + 1.029144355547656 + ], + "target_minus_gripper": [ + -0.001234904975326745, + 0.010014405722247308, + -0.2589979657510445 + ], + "held_position": [ + 0.3349695947492249, + 0.03619775938513597, + 1.0291059350439866 + ], + "held_minus_target": [ + 0.006307247789472614, + -0.005352983865643916, + 0.2589595452473751 + ], + "held_minus_gripper": [ + 0.005072342814145869, + 0.004661421856603391, + -3.8420503669422956e-05 + ], + "xy_dist": 0.010090258285488353, + "held_xy_dist": 0.008272593967048743, + "held_gripper_dist": 0.00688904866324366, + "max_held_gripper_dist": 0.0068916970025294354, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0291059350439866, + "required_height": 0.8001463897966116, + "gripper_z": 1.029144355547656, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23031048792788, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0926157414599036, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9399276014330633, + "max_source_tilt_deg": 89.89947139209188, + "source_upright_tilt_deg": 1.7018291948837112, + "max_source_upright_tilt_deg": 89.72277673931481, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9399276014330633, + "source_upright_return_tilt_deg": 1.7018291948837112, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.996002811937585e-08, + "max_target_xy_drift": 1.8793341898365973e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3287, + 0.0416, + 0.7701 + ], + "controller_target_position": [ + 0.3287, + 0.0416, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0019, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3275, + 0.0182, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011847664465892563, + 0.0018679886518987998, + -0.00019301065877555252 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7018052132511425, + "source_return_step_error_deg": 1.9398963542541494, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9250648986817045, + "source_return_best_wrist_position": -1.6094218492507935, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094218492507935 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3287, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3287, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0019, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3275, + 0.0182, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011847664465892563, + 0.0018679886518987998, + -0.00019301065877555252 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7018052132511425, + "pour_controller_source_return_step_error_deg": 1.9398963542541494, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9250648986817045, + "pour_controller_source_return_best_wrist_position": -1.6094218492507935, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094218492507935, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010090258285488353, + "valid_pour_held_xy_dist": 0.008272593967048743, + "valid_pour_held_gripper_dist": 0.00688904866324366, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0291059350439866, + "valid_pour_source_tilt_deg": 1.9399276014330633, + "valid_pour_source_upright_tilt_deg": 1.7018291948837112, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.996002811937585e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3349695947492249, + 0.011899809384598363, + 1.0291059350439866 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32392890144546543, + 0.03619775938513597, + 1.0291059350439866 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32944924809734516, + 0.024048784384867166, + 1.0291059350439866 + ], + "valid_pour_held_grasp_object_position": [ + 0.3349695947492249, + 0.03619775938513597, + 1.0291059350439866 + ], + "valid_pour_held_grasp_finger_gap": 0.0266887107754628, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024347113707305256, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005423666627820485, + -0.9995589202771546, + 0.02919843719583648 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005597381440587446, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037606574256262036, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3349695947492249, + 0.011899809384598363, + 1.0291059350439866 + ], + "held_grasp_finger_b": [ + 0.32392890144546543, + 0.03619775938513597, + 1.0291059350439866 + ], + "held_grasp_midpoint": [ + 0.32944924809734516, + 0.024048784384867166, + 1.0291059350439866 + ], + "held_grasp_object_position": [ + 0.3349695947492249, + 0.03619775938513597, + 1.0291059350439866 + ], + "held_grasp_finger_gap": 0.0266887107754628, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024347113707305256, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005423666627820485, + -0.9995589202771546, + 0.02919843719583648 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005597381440587446, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037606574256262036, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.297470181027784, + 0.22193291744806298, + 0.7611081278495117 + ], + "target_position": [ + 0.30629431419766, + 0.223539791825371, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008969245869311152, + "xy_threshold": 0.08, + "gripper_dist": 0.20938700563944163, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081278495117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569970585418304, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866805218940183, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17980973797493385, + "release_required_pad_clearance": 0.05334026094700915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6929929447910639, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8376ed8e194ae6cf40b762c8839a7c2aa05cc03a9a7e3ee16b52bebb13644535", + "visual_seed": 1153162316971594720, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c29dd053d78f46977394436a16410193796d7394 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_18_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33480612651043357, + 0.2262013479507374, + 1.0055256314725391 + ], + "current_z": 1.0055256314725391, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.1444190042484833, + "gripper_z": 1.0053813857382723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32940540512602734, + 0.2212807597203755, + 1.0053813857382723 + ], + "object_minus_gripper": [ + 0.005400721384406226, + 0.0049205882303619, + 0.00014424573426685683 + ], + "object_to_gripper_xy": 0.0073061604146609565, + "object_to_gripper_z": 0.00014424573426685683, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33480612651043357, + 0.20134263483548126, + 1.0055256314725391 + ], + "finger_b": [ + 0.32311704766183647, + 0.2262013479507374, + 1.0055256314725391 + ], + "finger_midpoint": [ + 0.328961587086135, + 0.21377199139310932, + 1.0055256314725391 + ], + "object_minus_finger_midpoint": [ + 0.005844539424298578, + 0.012429356557628085, + 0.0 + ], + "finger_gap": 0.027469804915130503, + "fingertip_max_gap": 0.0912361805632124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013734902457565276, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0055256314725391, + "object_top_z": 1.0554981524174887, + "finger_top_clearance": 0.04997252094494953, + "fingertip_min_top_clearance": 0.014991756283484875, + "object_projection_between_fingers": 0.8189287807151984, + "object_to_finger_line_xy": 0.010577994950333038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481180902816062, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0652869258301185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33234445369307436, + 0.03580719870202995, + 0.770146330191967 + ], + "gripper_position": [ + 0.33375693699082604, + 0.025986375387878527, + 1.0284594403082743 + ], + "target_minus_gripper": [ + -0.0014124832977516766, + 0.009820823314151426, + -0.2583131101163073 + ], + "held_position": [ + 0.33909863894447856, + 0.03096964903706681, + 1.0285605196449787 + ], + "held_minus_target": [ + 0.006754185251404199, + -0.004837549664963144, + 0.25841418945301176 + ], + "held_minus_gripper": [ + 0.005341701953652522, + 0.004983273649188283, + 0.00010107933670444602 + ], + "xy_dist": 0.009921878835896337, + "held_xy_dist": 0.008307882111060016, + "held_gripper_dist": 0.007305957367563685, + "max_held_gripper_dist": 0.007309703245698863, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0285605196449787, + "required_height": 0.800146330191967, + "gripper_z": 1.0284594403082743, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24067871508797, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5138544346176488, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8149081553619146, + "max_source_tilt_deg": 89.84112067092092, + "source_upright_tilt_deg": 2.3048133136749116, + "max_source_upright_tilt_deg": 89.82802425148715, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8149081553619146, + "source_upright_return_tilt_deg": 2.3048133136749116, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.514431838712321e-08, + "max_target_xy_drift": 1.2867090135194766e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3323, + 0.0358, + 0.7701 + ], + "controller_target_position": [ + 0.3323, + 0.0358, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0019, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3313, + 0.0125, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010514022033939253, + 0.0018761365232863817, + -0.0011157830492635554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.304836217858112, + "source_return_step_error_deg": 1.8149321757053978, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2979248142502144, + "source_return_best_wrist_position": -1.6099368333816528, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099368333816528 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3323, + 0.0358, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3323, + 0.0358, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0019, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3313, + 0.0125, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010514022033939253, + 0.0018761365232863817, + -0.0011157830492635554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.304836217858112, + "pour_controller_source_return_step_error_deg": 1.8149321757053978, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2979248142502144, + "pour_controller_source_return_best_wrist_position": -1.6099368333816528, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099368333816528, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009921878835896337, + "valid_pour_held_xy_dist": 0.008307882111060016, + "valid_pour_held_gripper_dist": 0.007305957367563685, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0285605196449787, + "valid_pour_source_tilt_deg": 1.8149081553619146, + "valid_pour_source_upright_tilt_deg": 2.3048133136749116, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.514431838712321e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33909863894447856, + 0.006713238259668611, + 1.0285605196449787 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32730786350483754, + 0.03096964903706681, + 1.0285605196449787 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33320325122465805, + 0.01884144364836771, + 1.0285605196449787 + ], + "valid_pour_held_grasp_object_position": [ + 0.33909863894447856, + 0.03096964903706681, + 1.0285605196449787 + ], + "valid_pour_held_grasp_finger_gap": 0.026970277144848204, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024590969899148947, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03003889756143371, + -0.9991910273110652, + 0.026738653188815624 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00626532071730171, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03777894701612183, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33909863894447856, + 0.006713238259668611, + 1.0285605196449787 + ], + "held_grasp_finger_b": [ + 0.32730786350483754, + 0.03096964903706681, + 1.0285605196449787 + ], + "held_grasp_midpoint": [ + 0.33320325122465805, + 0.01884144364836771, + 1.0285605196449787 + ], + "held_grasp_object_position": [ + 0.33909863894447856, + 0.03096964903706681, + 1.0285605196449787 + ], + "held_grasp_finger_gap": 0.026970277144848204, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024590969899148947, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03003889756143371, + -0.9991910273110652, + 0.026738653188815624 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00626532071730171, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03777894701612183, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31018214508478176, + 0.22758539437407735, + 0.7611064069020897 + ], + "target_position": [ + 0.3104066234081198, + 0.22341025884117627, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0041811657747262134, + "xy_threshold": 0.08, + "gripper_dist": 0.21544502099364696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064069020897, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759264883912822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08682417211154007, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18580512747978015, + "release_required_pad_clearance": 0.05341208605577004, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8388199754710826, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05e96ee872fb34631f967afd592055fce36c206a53944d961c16a366a4ba4415", + "visual_seed": 4661569721752459409, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ff3f36180ca6dbeb6603d6644e1276fe26a277 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_19_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33837982749643075, + 0.22672758205424184, + 1.0047621007125813 + ], + "current_z": 1.0047621007125813, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1436556523024599, + "gripper_z": 1.003987855017803, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33345851001400306, + 0.22187190151071, + 1.003987855017803 + ], + "object_minus_gripper": [ + 0.0049213174824276895, + 0.004855680543531832, + 0.0007742456947783527 + ], + "object_to_gripper_xy": 0.006913537394393842, + "object_to_gripper_z": 0.0007742456947783527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33837982749643075, + 0.20254528052655135, + 1.0047621007125813 + ], + "finger_b": [ + 0.3263476050163307, + 0.22672758205424184, + 1.0047621007125813 + ], + "finger_midpoint": [ + 0.3323637162563807, + 0.2146364312903966, + 1.0047621007125813 + ], + "object_minus_finger_midpoint": [ + 0.006016111240050026, + 0.012091150763845232, + 0.0 + ], + "finger_gap": 0.027010332929950472, + "fingertip_max_gap": 0.09172442961001706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013505166464975224, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0047621007125813, + "object_top_z": 1.0546944807173593, + "finger_top_clearance": 0.049932380004777954, + "fingertip_min_top_clearance": 0.014979714001433386, + "object_projection_between_fingers": 0.8015588055428774, + "object_to_finger_line_xy": 0.01077242671597711, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836221480500853, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4703978242236706, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3290925434834186, + 0.03947412115209557, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3324219360491689, + 0.028659777316640836, + 1.0296444573389474 + ], + "target_minus_gripper": [ + -0.003329392565750322, + 0.010814343835454737, + -0.25949800793769096 + ], + "held_position": [ + 0.33743560605928025, + 0.03342931775903124, + 1.0303780186760672 + ], + "held_minus_target": [ + 0.008343062575861648, + -0.0060448033930643325, + 0.2602315692748107 + ], + "held_minus_gripper": [ + 0.005013670010111326, + 0.004769540442390405, + 0.0007335613371197702 + ], + "xy_dist": 0.01131525021589498, + "held_xy_dist": 0.010302734646953948, + "held_gripper_dist": 0.006958700685990475, + "max_held_gripper_dist": 0.006968961909634965, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0303780186760672, + "required_height": 0.8001464494012565, + "gripper_z": 1.0296444573389474, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22848682741949, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.26175790112490693, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7595656855170059, + "max_source_tilt_deg": 89.89140993590748, + "source_upright_tilt_deg": 1.6122092925174976, + "max_source_upright_tilt_deg": 89.6878267877527, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7595656855170059, + "source_upright_return_tilt_deg": 1.6122092925174976, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696714920815e-08, + "max_target_xy_drift": 1.7393555535392764e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3291, + 0.0395, + 0.7701 + ], + "controller_target_position": [ + 0.3291, + 0.0395, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.001, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3301, + 0.0153, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009709209248272592, + 0.0010403445524913317, + 0.0004297813686884402 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.612244005542104, + "source_return_step_error_deg": 1.7596023041840914, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.755150860195541, + "source_return_best_wrist_position": -1.609390139579773, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609390139579773 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3291, + 0.0395, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3291, + 0.0395, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.001, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3301, + 0.0153, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009709209248272592, + 0.0010403445524913317, + 0.0004297813686884402 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.612244005542104, + "pour_controller_source_return_step_error_deg": 1.7596023041840914, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.755150860195541, + "pour_controller_source_return_best_wrist_position": -1.609390139579773, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609390139579773, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01131525021589498, + "valid_pour_held_xy_dist": 0.010302734646953948, + "valid_pour_held_gripper_dist": 0.006958700685990475, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0303780186760672, + "valid_pour_source_tilt_deg": 1.7595656855170059, + "valid_pour_source_upright_tilt_deg": 1.6122092925174976, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696714920815e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33743560605928025, + 0.009307536697119565, + 1.0303780186760672 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32606659246783815, + 0.03342931775903124, + 1.0303780186760672 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33175109926355917, + 0.0213684272280754, + 1.0303780186760672 + ], + "valid_pour_held_grasp_object_position": [ + 0.33743560605928025, + 0.03342931775903124, + 1.0303780186760672 + ], + "valid_pour_held_grasp_finger_gap": 0.026666735676516465, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024162742673036874, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.004442797189505597, + -0.9996041498560242, + 0.02778138124262519 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00574778903097536, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03768938895520813, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33743560605928025, + 0.009307536697119565, + 1.0303780186760672 + ], + "held_grasp_finger_b": [ + 0.32606659246783815, + 0.03342931775903124, + 1.0303780186760672 + ], + "held_grasp_midpoint": [ + 0.33175109926355917, + 0.0213684272280754, + 1.0303780186760672 + ], + "held_grasp_object_position": [ + 0.33743560605928025, + 0.03342931775903124, + 1.0303780186760672 + ], + "held_grasp_finger_gap": 0.026666735676516465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024162742673036874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004442797189505597, + -0.9996041498560242, + 0.02778138124262519 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00574778903097536, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03768938895520813, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3143570332206111, + 0.2319392313210007, + 0.7611063902405037 + ], + "target_position": [ + 0.3143967788880246, + 0.22435228260545012, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007587052822438541, + "xy_threshold": 0.08, + "gripper_dist": 0.21557578386332504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063902405037, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755005964359995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865968359155199, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18759477772017805, + "release_required_pad_clearance": 0.053298417957759955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6153962631586838, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "035060a7578cbfbe8b3fa4fdbf7de3439b4f32da0844b1adee441e1fb4b8606b", + "visual_seed": 3598971446322085663, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..265b7015f404bc1264ce1bc7d9cc06d9c27414aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_1_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3361217880184463, + 0.21980382191566472, + 1.0023297832867955 + ], + "current_z": 1.0023297832867955, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14122327527202938, + "gripper_z": 1.001853090376323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3310342800340576, + 0.21485307880142762, + 1.001853090376323 + ], + "object_minus_gripper": [ + 0.005087507984388673, + 0.0049507431142370995, + 0.00047669291047247597 + ], + "object_to_gripper_xy": 0.007098774181109338, + "object_to_gripper_z": 0.00047669291047247597, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3361217880184463, + 0.1955149182522443, + 1.0023297832867955 + ], + "finger_b": [ + 0.3239370520699016, + 0.21980382191566472, + 1.0023297832867955 + ], + "finger_midpoint": [ + 0.3300294200441739, + 0.20765937008395452, + 1.0023297832867955 + ], + "object_minus_finger_midpoint": [ + 0.006092367974272372, + 0.012144451831710201, + 0.0 + ], + "finger_gap": 0.02717385933772889, + "fingertip_max_gap": 0.09165527840125179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013586929668864446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023297832867955, + "object_top_z": 1.0521018132405768, + "finger_top_clearance": 0.04977202995378138, + "fingertip_min_top_clearance": 0.014931608986134397, + "object_projection_between_fingers": 0.7989381851416253, + "object_to_finger_line_xy": 0.010891124221266143, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048327639200625896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5965776647451169, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3358804098374073, + 0.036623901544742356, + 0.7701464494012563 + ], + "gripper_position": [ + 0.33838469546139166, + 0.024923777699530206, + 1.0290035511274898 + ], + "target_minus_gripper": [ + -0.002504285623984359, + 0.01170012384521215, + -0.25885710172623344 + ], + "held_position": [ + 0.3435285156238981, + 0.02982167879914782, + 1.0294238886068547 + ], + "held_minus_target": [ + 0.0076481057864907775, + -0.006802222745594534, + 0.2592774392055984 + ], + "held_minus_gripper": [ + 0.005143820162506418, + 0.004897901099617616, + 0.000420337479364985 + ], + "xy_dist": 0.011965130357827142, + "held_xy_dist": 0.0102354167673836, + "held_gripper_dist": 0.007115125061613599, + "max_held_gripper_dist": 0.007119268228078623, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0294238886068547, + "required_height": 0.8001464494012563, + "gripper_z": 1.0290035511274898, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23334309191937, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3965271838263555, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.016683160926511, + "max_source_tilt_deg": 89.85969117579835, + "source_upright_tilt_deg": 3.0598288799961106, + "max_source_upright_tilt_deg": 89.74520691706451, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.016683160926511, + "source_upright_return_tilt_deg": 3.0598288799961106, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3359, + 0.0366, + 0.7701 + ], + "controller_target_position": [ + 0.3359, + 0.0366, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0003, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3364, + 0.0117, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005435459689625533, + 0.0002897218798589836, + -0.00026558735743679746 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0598622472813197, + "source_return_step_error_deg": 3.0167164808274407, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.053189327885567, + "source_return_best_wrist_position": -1.6339421272277832, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6339421272277832 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3359, + 0.0366, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3359, + 0.0366, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0003, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3364, + 0.0117, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005435459689625533, + 0.0002897218798589836, + -0.00026558735743679746 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0598622472813197, + "pour_controller_source_return_step_error_deg": 3.0167164808274407, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.053189327885567, + "pour_controller_source_return_best_wrist_position": -1.6339421272277832, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6339421272277832, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011965130357827142, + "valid_pour_held_xy_dist": 0.0102354167673836, + "valid_pour_held_gripper_dist": 0.007115125061613599, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0294238886068547, + "valid_pour_source_tilt_deg": 3.016683160926511, + "valid_pour_source_upright_tilt_deg": 3.0598288799961106, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3435285156238981, + 0.006031986274028638, + 1.0294238886068547 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3320056476012771, + 0.02982167879914782, + 1.0294238886068547 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3377670816125876, + 0.01792683253658823, + 1.0294238886068547 + ], + "valid_pour_held_grasp_object_position": [ + 0.3435285156238981, + 0.02982167879914782, + 1.0294238886068547 + ], + "valid_pour_held_grasp_finger_gap": 0.026433425012783583, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02391811159621472, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014088050358534871, + -0.9985743542567399, + 0.0514857830651394 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005959770286785765, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037923529016965135, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3435285156238981, + 0.006031986274028638, + 1.0294238886068547 + ], + "held_grasp_finger_b": [ + 0.3320056476012771, + 0.02982167879914782, + 1.0294238886068547 + ], + "held_grasp_midpoint": [ + 0.3377670816125876, + 0.01792683253658823, + 1.0294238886068547 + ], + "held_grasp_object_position": [ + 0.3435285156238981, + 0.02982167879914782, + 1.0294238886068547 + ], + "held_grasp_finger_gap": 0.026433425012783583, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02391811159621472, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014088050358534871, + -0.9985743542567399, + 0.0514857830651394 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005959770286785765, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037923529016965135, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31392159079125537, + 0.21522355476745292, + 0.7611126987963378 + ], + "target_position": [ + 0.31195553310717716, + 0.21626300886775635, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022239261776777933, + "xy_threshold": 0.08, + "gripper_dist": 0.21819791057857388, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611126987963378, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757281132417761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08801586416835226, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18757807800606235, + "release_required_pad_clearance": 0.05400793208417613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0230960056454115, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa48e9f4344ecaf1ae87e7cb744fcebed5bc13ce86df7deacd1f258f9c8ebf2c", + "visual_seed": 3327496023340521588, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b188a7872fe778af94e23fecd83f79408be7548 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_20_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3382585057031354, + 0.22130415612776577, + 1.0044610795359068 + ], + "current_z": 1.0044610795359068, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1433546311257854, + "gripper_z": 1.0037469072475933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333121830876951, + 0.21645897324491586, + 1.0037469072475933 + ], + "object_minus_gripper": [ + 0.005136674826184406, + 0.004845182882849908, + 0.0007141722883134971 + ], + "object_to_gripper_xy": 0.007061248150165688, + "object_to_gripper_z": 0.0007141722883134971, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3382585057031354, + 0.19669807231840336, + 1.0044610795359068 + ], + "finger_b": [ + 0.3265888116037471, + 0.22130415612776577, + 1.0044610795359068 + ], + "finger_midpoint": [ + 0.33242365865344126, + 0.20900111422308457, + 1.0044610795359068 + ], + "object_minus_finger_midpoint": [ + 0.0058348470496941696, + 0.012303041904681206, + 0.0 + ], + "finger_gap": 0.027233088712202036, + "fingertip_max_gap": 0.09142555601342342, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013616544356101018, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044610795359068, + "object_top_z": 1.0543878583006243, + "finger_top_clearance": 0.049926778764717517, + "fingertip_min_top_clearance": 0.014978033629415254, + "object_projection_between_fingers": 0.8163778186608945, + "object_to_finger_line_xy": 0.010543992055903414, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821277800671171, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.323481824879731, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3286164215809528, + 0.03989538442962623, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3310109655936463, + 0.026918804730065263, + 1.0307586341147361 + ], + "target_minus_gripper": [ + -0.0023945440126935114, + 0.012976579699560967, + -0.26061218471347947 + ], + "held_position": [ + 0.33615389539243423, + 0.03176549621006006, + 1.031431611271199 + ], + "held_minus_target": [ + 0.007537473811481454, + -0.008129888219566173, + 0.26128516186994233 + ], + "held_minus_gripper": [ + 0.005142929798787943, + 0.004846691479994794, + 0.0006729771564628617 + ], + "xy_dist": 0.013195660715848379, + "held_xy_dist": 0.011086414836249345, + "held_gripper_dist": 0.0070988057777795245, + "max_held_gripper_dist": 0.007105855110024991, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.031431611271199, + "required_height": 0.8001464494012567, + "gripper_z": 1.0307586341147361, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22701150655877, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2506513719695578, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7599086944593774, + "max_source_tilt_deg": 89.92906473168793, + "source_upright_tilt_deg": 1.8910282840044847, + "max_source_upright_tilt_deg": 89.8738093160476, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7599086944593774, + "source_upright_return_tilt_deg": 1.8910282840044847, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.862645149230957e-08, + "max_target_xy_drift": 1.301187962038292e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3286, + 0.0399, + 0.7701 + ], + "controller_target_position": [ + 0.3286, + 0.0399, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0007, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3283, + 0.014, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002899222696054675, + -0.0007150406946163938, + 0.0017778380151150732 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8910422315565232, + "source_return_step_error_deg": 1.7599242320011508, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8905548587020613, + "source_return_best_wrist_position": -1.609097957611084, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609097957611084 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3286, + 0.0399, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3286, + 0.0399, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0007, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3283, + 0.014, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002899222696054675, + -0.0007150406946163938, + 0.0017778380151150732 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8910422315565232, + "pour_controller_source_return_step_error_deg": 1.7599242320011508, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8905548587020613, + "pour_controller_source_return_best_wrist_position": -1.609097957611084, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609097957611084, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013195660715848379, + "valid_pour_held_xy_dist": 0.011086414836249345, + "valid_pour_held_gripper_dist": 0.0070988057777795245, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.031431611271199, + "valid_pour_source_tilt_deg": 1.7599086944593774, + "valid_pour_source_upright_tilt_deg": 1.8910282840044847, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.862645149230957e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33615389539243423, + 0.007509622492553936, + 1.031431611271199 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3247237788283974, + 0.03176549621006006, + 1.031431611271199 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33043883711041583, + 0.019637559351306996, + 1.031431611271199 + ], + "valid_pour_held_grasp_object_position": [ + 0.33615389539243423, + 0.03176549621006006, + 1.031431611271199 + ], + "valid_pour_held_grasp_finger_gap": 0.02681408164504376, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02447009519146736, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019897536902281562, + -0.9994554023358255, + 0.02632464182008265 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005963714555232106, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03771263364049168, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33615389539243423, + 0.007509622492553936, + 1.031431611271199 + ], + "held_grasp_finger_b": [ + 0.3247237788283974, + 0.03176549621006006, + 1.031431611271199 + ], + "held_grasp_midpoint": [ + 0.33043883711041583, + 0.019637559351306996, + 1.031431611271199 + ], + "held_grasp_object_position": [ + 0.33615389539243423, + 0.03176549621006006, + 1.031431611271199 + ], + "held_grasp_finger_gap": 0.02681408164504376, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02447009519146736, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019897536902281562, + -0.9994554023358255, + 0.02632464182008265 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005963714555232106, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03771263364049168, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3149772071327967, + 0.22368283592053828, + 0.7611064656565935 + ], + "target_position": [ + 0.31407891650087305, + 0.22007387907248255, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0037190718721920608, + "xy_threshold": 0.08, + "gripper_dist": 0.2142520928950239, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064656565935, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516323594144218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09173641275507237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18579764713417746, + "release_required_pad_clearance": 0.055868206377536186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.947004001294503, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "898955173d21e41f69dbcc108796fd3edafb7062f59332e3168394c72750eb67", + "visual_seed": 3884796959083221823, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b03def9b61c3cc0109d0c2d5498d4b39566f7b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_21_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3326913086568985, + 0.23032049957149286, + 1.0062690923799695 + ], + "current_z": 1.0062690923799695, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14516258436520335, + "gripper_z": 1.0057699290477928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3274891452589199, + 0.2253149292066059, + 1.0057699290477928 + ], + "object_minus_gripper": [ + 0.005202163397978576, + 0.005005570364886969, + 0.0004991633321766997 + ], + "object_to_gripper_xy": 0.0072192962743679295, + "object_to_gripper_z": 0.0004991633321766997, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3326913086568985, + 0.20594923577774424, + 1.0062690923799695 + ], + "finger_b": [ + 0.3204356600506054, + 0.23032049957149286, + 1.0062690923799695 + ], + "finger_midpoint": [ + 0.32656348435375193, + 0.21813486767461854, + 1.0062690923799695 + ], + "object_minus_finger_midpoint": [ + 0.006127824303146567, + 0.012185631896874327, + 0.0 + ], + "finger_gap": 0.027279285578354434, + "fingertip_max_gap": 0.09149435869259112, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013639642789177241, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0062690923799695, + "object_top_z": 1.056244793384648, + "finger_top_clearance": 0.04997570100467841, + "fingertip_min_top_clearance": 0.014992710301403539, + "object_projection_between_fingers": 0.7981602887929762, + "object_to_finger_line_xy": 0.010949174027653313, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824717934629556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2418982984049463, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3372695258862203, + 0.039729620187215584, + 0.7701465090059015 + ], + "gripper_position": [ + 0.3386316848369437, + 0.026008485091746608, + 1.029612654021175 + ], + "target_minus_gripper": [ + -0.0013621589507234466, + 0.013721135095468975, + -0.25946614501527343 + ], + "held_position": [ + 0.3439459286980163, + 0.030899245872628663, + 1.0300700242397247 + ], + "held_minus_target": [ + 0.006676402811796045, + -0.008830374314586921, + 0.2599235152338232 + ], + "held_minus_gripper": [ + 0.005314243861072598, + 0.004890760780882054, + 0.00045737021854974635 + ], + "xy_dist": 0.013788583151112605, + "held_xy_dist": 0.011070224254326312, + "held_gripper_dist": 0.007236706180824124, + "max_held_gripper_dist": 0.007240690060218413, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059015, + "held_z": 1.0300700242397247, + "required_height": 0.8001465090059016, + "gripper_z": 1.029612654021175, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22845267647364, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.25881767925453963, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.796296943695186, + "max_source_tilt_deg": 89.92042355400099, + "source_upright_tilt_deg": 1.5523832486988, + "max_source_upright_tilt_deg": 89.66405003954699, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.796296943695186, + "source_upright_return_tilt_deg": 1.5523832486988, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.739355553676002e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3373, + 0.0397, + 0.7701 + ], + "controller_target_position": [ + 0.3373, + 0.0397, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.002, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.337, + 0.0126, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003187193010623793, + -0.0019519132710138125, + 0.00047797779833406 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5523534857473709, + "source_return_step_error_deg": 1.796267365149929, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7884400811398438, + "source_return_best_wrist_position": -1.6096140146255493, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096140146255493 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3373, + 0.0397, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3373, + 0.0397, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.002, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.337, + 0.0126, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003187193010623793, + -0.0019519132710138125, + 0.00047797779833406 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5523534857473709, + "pour_controller_source_return_step_error_deg": 1.796267365149929, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7884400811398438, + "pour_controller_source_return_best_wrist_position": -1.6096140146255493, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096140146255493, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013788583151112605, + "valid_pour_held_xy_dist": 0.011070224254326312, + "valid_pour_held_gripper_dist": 0.007236706180824124, + "valid_pour_required_height": 0.8001465090059016, + "valid_pour_held_z": 1.0300700242397247, + "valid_pour_source_tilt_deg": 1.796296943695186, + "valid_pour_source_upright_tilt_deg": 1.5523832486988, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3439459286980163, + 0.006568687793309832, + 1.0300700242397247 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33240940524013907, + 0.030899245872628663, + 1.0300700242397247 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3381776669690777, + 0.018733966832969247, + 1.0300700242397247 + ], + "valid_pour_held_grasp_object_position": [ + 0.3439459286980163, + 0.030899245872628663, + 1.0300700242397247 + ], + "valid_pour_held_grasp_finger_gap": 0.026927076149208237, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024293538788501427, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0024348352463443787, + -0.9996329818308001, + 0.02698097873292693 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005748014227981588, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03754539114190883, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3439459286980163, + 0.006568687793309832, + 1.0300700242397247 + ], + "held_grasp_finger_b": [ + 0.33240940524013907, + 0.030899245872628663, + 1.0300700242397247 + ], + "held_grasp_midpoint": [ + 0.3381776669690777, + 0.018733966832969247, + 1.0300700242397247 + ], + "held_grasp_object_position": [ + 0.3439459286980163, + 0.030899245872628663, + 1.0300700242397247 + ], + "held_grasp_finger_gap": 0.026927076149208237, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024293538788501427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0024348352463443787, + -0.9996329818308001, + 0.02698097873292693 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005748014227981588, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03754539114190883, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3085261329586622, + 0.22608893343206926, + 0.7611064489414442 + ], + "target_position": [ + 0.30845975952575605, + 0.22549696514686485, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.000595677667269475, + "xy_threshold": 0.08, + "gripper_dist": 0.2130914459357069, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064489414442, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545796420766467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661158102085396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18351519433633035, + "release_required_pad_clearance": 0.053305790510426984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.629867349793367, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94206f34717b0f4c540105e5ae089578539cf01d771ed689ed481948c4903080", + "visual_seed": 385922304649128224, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..289a2fc816a924e08fefdc60395bd717d668583a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_22_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33063106872921505, + 0.2260881554449977, + 1.0050433775196992 + ], + "current_z": 1.0050433775196992, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1439366906909989, + "gripper_z": 1.0043833904520552, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32555445735953614, + 0.22126909288746752, + 1.0043833904520552 + ], + "object_minus_gripper": [ + 0.005076611369678907, + 0.004819062557530174, + 0.00065998706764403 + ], + "object_to_gripper_xy": 0.006999667630119477, + "object_to_gripper_z": 0.00065998706764403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33063106872921505, + 0.20159778136756526, + 1.0050433775196992 + ], + "finger_b": [ + 0.31889744899348305, + 0.2260881554449977, + 1.0050433775196992 + ], + "finger_midpoint": [ + 0.3247642588613491, + 0.21384296840628148, + 1.0050433775196992 + ], + "object_minus_finger_midpoint": [ + 0.005866809867865974, + 0.012245187038716215, + 0.0 + ], + "finger_gap": 0.027156145797136492, + "fingertip_max_gap": 0.09125769380438284, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013578072898568234, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050433775196992, + "object_top_z": 1.0548045352576145, + "finger_top_clearance": 0.04976115773791534, + "fingertip_min_top_clearance": 0.014928347321374567, + "object_projection_between_fingers": 0.8133071199107592, + "object_to_finger_line_xy": 0.010581793850905052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812884690219142, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2001190830914679, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3312826565510456, + 0.04072664943211533, + 0.7701465090059015 + ], + "gripper_position": [ + 0.33361267519484084, + 0.03059375022056933, + 1.0301311150816757 + ], + "target_minus_gripper": [ + -0.0023300186437952286, + 0.010132899211546004, + -0.2599846060757741 + ], + "held_position": [ + 0.3387620715468857, + 0.03534244851074132, + 1.030749122898418 + ], + "held_minus_target": [ + 0.007479414995840095, + -0.0053842009213740105, + 0.2606026138925165 + ], + "held_minus_gripper": [ + 0.005149396352044866, + 0.004748698290171993, + 0.0006180078167423719 + ], + "xy_dist": 0.010397337799253373, + "held_xy_dist": 0.009215816200517589, + "held_gripper_dist": 0.007031952211377012, + "max_held_gripper_dist": 0.007038528771472776, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059015, + "held_z": 1.030749122898418, + "required_height": 0.8001465090059016, + "gripper_z": 1.0301311150816757, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2128593545985, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8696742031608866, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8279537175671607, + "max_source_tilt_deg": 89.97852635669004, + "source_upright_tilt_deg": 1.7165124826509546, + "max_source_upright_tilt_deg": 89.86741597239222, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8279537175671607, + "source_upright_return_tilt_deg": 1.7165124826509546, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 8.568167686462402e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3313, + 0.0407, + 0.7701 + ], + "controller_target_position": [ + 0.3313, + 0.0407, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + 0.0019, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3317, + 0.0174, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003958245860082744, + 0.001921880040538144, + 0.0013526676158012525 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.716534485871326, + "source_return_step_error_deg": 1.8279756314539137, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.812842988303777, + "source_return_best_wrist_position": -1.6081753969192505, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6081753969192505 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3313, + 0.0407, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3313, + 0.0407, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + 0.0019, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3317, + 0.0174, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003958245860082744, + 0.001921880040538144, + 0.0013526676158012525 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.716534485871326, + "pour_controller_source_return_step_error_deg": 1.8279756314539137, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.812842988303777, + "pour_controller_source_return_best_wrist_position": -1.6081753969192505, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6081753969192505, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010397337799253373, + "valid_pour_held_xy_dist": 0.009215816200517589, + "valid_pour_held_gripper_dist": 0.007031952211377012, + "valid_pour_required_height": 0.8001465090059016, + "valid_pour_held_z": 1.030749122898418, + "valid_pour_source_tilt_deg": 1.8279537175671607, + "valid_pour_source_upright_tilt_deg": 1.7165124826509546, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3387620715468857, + 0.010983038882557354, + 1.030749122898418 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3275773415425662, + 0.03534244851074132, + 1.030749122898418 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33316970654472594, + 0.02316274369664934, + 1.030749122898418 + ], + "valid_pour_held_grasp_object_position": [ + 0.3387620715468857, + 0.03534244851074132, + 1.030749122898418 + ], + "valid_pour_held_grasp_finger_gap": 0.026804459007843957, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02439571234459922, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0042230209546211366, + -0.9995512767783944, + 0.02965486780780957 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005655273705673509, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037569627246975476, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3387620715468857, + 0.010983038882557354, + 1.030749122898418 + ], + "held_grasp_finger_b": [ + 0.3275773415425662, + 0.03534244851074132, + 1.030749122898418 + ], + "held_grasp_midpoint": [ + 0.33316970654472594, + 0.02316274369664934, + 1.030749122898418 + ], + "held_grasp_object_position": [ + 0.3387620715468857, + 0.03534244851074132, + 1.030749122898418 + ], + "held_grasp_finger_gap": 0.026804459007843957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02439571234459922, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0042230209546211366, + -0.9995512767783944, + 0.02965486780780957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005655273705673509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037569627246975476, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3081156234020224, + 0.22070588749805087, + 0.7611064059138972 + ], + "target_position": [ + 0.30647690376274633, + 0.22197581505144764, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0020731903065144487, + "xy_threshold": 0.08, + "gripper_dist": 0.21704979618398368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064059138972, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528506331366787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588421567447178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18711123974627988, + "release_required_pad_clearance": 0.052942107837235894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.921103621516888, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "594809c6b3d45a4671bb38b233724a2aeb42b763baa60e653d6c31a300e189be", + "visual_seed": 2644202953931983386, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08820e40317fd81c142f722af88bc2a4d5e5a963 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_23_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33338297346776125, + 0.22097565665178465, + 1.0046311945851163 + ], + "current_z": 1.0046311945851163, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.1435245077564158, + "gripper_z": 1.0043859992030015, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32831149362864326, + 0.2162420631148705, + 1.0043859992030015 + ], + "object_minus_gripper": [ + 0.005071479839117987, + 0.00473359353691416, + 0.0002451953821147601 + ], + "object_to_gripper_xy": 0.006937349315934416, + "object_to_gripper_z": 0.0002451953821147601, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33338297346776125, + 0.19630160418709564, + 1.0046311945851163 + ], + "finger_b": [ + 0.32202648628498876, + 0.22097565665178465, + 1.0046311945851163 + ], + "finger_midpoint": [ + 0.327704729876375, + 0.20863863041944014, + 1.0046311945851163 + ], + "object_minus_finger_midpoint": [ + 0.005678243591386245, + 0.012337026232344506, + 0.0 + ], + "finger_gap": 0.027162081403359017, + "fingertip_max_gap": 0.09113772508866838, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013581040701679509, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046311945851163, + "object_top_z": 1.0544635369087076, + "finger_top_clearance": 0.04983234232359135, + "fingertip_min_top_clearance": 0.01494970269707742, + "object_projection_between_fingers": 0.8251917451025425, + "object_to_finger_line_xy": 0.010316240364688834, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806886254433419, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1740254822913827, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3310908786064808, + 0.03569903489821412, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3318898949664604, + 0.0222874325433106, + 1.03047101433092 + ], + "target_minus_gripper": [ + -0.0007990163599795874, + 0.013411602354903518, + -0.2603245649296635 + ], + "held_position": [ + 0.3369077221341563, + 0.027078661631376424, + 1.030677061395676 + ], + "held_minus_target": [ + 0.00581684352767553, + -0.008620373266837695, + 0.2605306119944195 + ], + "held_minus_gripper": [ + 0.005017827167695943, + 0.004791229088065823, + 0.00020604706475602086 + ], + "xy_dist": 0.013435382572504909, + "held_xy_dist": 0.010399351128078651, + "held_gripper_dist": 0.006940959663626502, + "max_held_gripper_dist": 0.006943722412398098, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.030677061395676, + "required_height": 0.8001464494012565, + "gripper_z": 1.03047101433092, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23229124278718, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6141519023039888, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8096987165422918, + "max_source_tilt_deg": 89.96137617005824, + "source_upright_tilt_deg": 2.4059868800922852, + "max_source_upright_tilt_deg": 89.99650241938387, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8096987165422918, + "source_upright_return_tilt_deg": 2.4059868800922852, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.60770320892334e-08, + "max_target_xy_drift": 1.0133885226201597e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3311, + 0.0357, + 0.7701 + ], + "controller_target_position": [ + 0.3311, + 0.0357, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0014, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3293, + 0.0091, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001759364012674452, + -0.0013690799358600319, + 0.001355433363159752 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4059865110042744, + "source_return_step_error_deg": 1.8097023097933298, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4034920222661125, + "source_return_best_wrist_position": -1.6096851825714111, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096851825714111 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3311, + 0.0357, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3311, + 0.0357, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0014, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3293, + 0.0091, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001759364012674452, + -0.0013690799358600319, + 0.001355433363159752 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4059865110042744, + "pour_controller_source_return_step_error_deg": 1.8097023097933298, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4034920222661125, + "pour_controller_source_return_best_wrist_position": -1.6096851825714111, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096851825714111, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013435382572504909, + "valid_pour_held_xy_dist": 0.010399351128078651, + "valid_pour_held_gripper_dist": 0.006940959663626502, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.030677061395676, + "valid_pour_source_tilt_deg": 1.8096987165422918, + "valid_pour_source_upright_tilt_deg": 2.4059868800922852, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.60770320892334e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3369077221341563, + 0.0029908567500128284, + 1.030677061395676 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3254754469681473, + 0.027078661631376424, + 1.030677061395676 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33119158455115183, + 0.015034759190694627, + 1.030677061395676 + ], + "valid_pour_held_grasp_object_position": [ + 0.3369077221341563, + 0.027078661631376424, + 1.030677061395676 + ], + "valid_pour_held_grasp_finger_gap": 0.026663069205813322, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024423128070030366, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03118868563826463, + -0.9991184565085691, + 0.028099390600012313 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006098248777682968, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037865243671362674, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3369077221341563, + 0.0029908567500128284, + 1.030677061395676 + ], + "held_grasp_finger_b": [ + 0.3254754469681473, + 0.027078661631376424, + 1.030677061395676 + ], + "held_grasp_midpoint": [ + 0.33119158455115183, + 0.015034759190694627, + 1.030677061395676 + ], + "held_grasp_object_position": [ + 0.3369077221341563, + 0.027078661631376424, + 1.030677061395676 + ], + "held_grasp_finger_gap": 0.026663069205813322, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024423128070030366, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03118868563826463, + -0.9991184565085691, + 0.028099390600012313 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006098248777682968, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037865243671362674, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29862837635226547, + 0.2156121007163162, + 0.7611064460219915 + ], + "target_position": [ + 0.3093072273809664, + 0.21812984020766307, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010971639414393561, + "xy_threshold": 0.08, + "gripper_dist": 0.2079629956738241, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064460219915, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580257583868054, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873319412655477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780956856534003, + "release_required_pad_clearance": 0.053665970632773854, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3417218240113544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f01d8868c2113734f74edc7fd205575b4f42a67f41f1c59764072824f6099ea7", + "visual_seed": 3677677402099465485, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e828b1df4947231aa4afe24abdc4fd0b1bd850 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_24_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33097026820880093, + 0.2300742542790325, + 1.0043558549715135 + ], + "current_z": 1.0043558549715135, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14324940656139207, + "gripper_z": 1.004246993260152, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32592208521332433, + 0.22532378771568434, + 1.004246993260152 + ], + "object_minus_gripper": [ + 0.005048182995476602, + 0.004750466563348155, + 0.00010886171136137435 + ], + "object_to_gripper_xy": 0.006931888929094864, + "object_to_gripper_z": 0.00010886171136137435, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33097026820880093, + 0.20551653175874743, + 1.0043558549715135 + ], + "finger_b": [ + 0.3194585324676778, + 0.2300742542790325, + 1.0043558549715135 + ], + "finger_midpoint": [ + 0.32521440033823934, + 0.21779539301888995, + 1.0043558549715135 + ], + "object_minus_finger_midpoint": [ + 0.005755867870561593, + 0.012278861260142548, + 0.0 + ], + "finger_gap": 0.027121979926929527, + "fingertip_max_gap": 0.09134886710741871, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560989963464788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043558549715135, + "object_top_z": 1.0543581698062785, + "finger_top_clearance": 0.05000231483476503, + "fingertip_min_top_clearance": 0.015000694450429524, + "object_projection_between_fingers": 0.8198481017230121, + "object_to_finger_line_xy": 0.010423354519802377, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817443355370936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0643345547631187, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3374027124649708, + 0.034372194527320626, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3389791307257099, + 0.022218088094193192, + 1.0305824140776765 + ], + "target_minus_gripper": [ + -0.0015764182607391208, + 0.012154106433127435, + -0.2604360242810647 + ], + "held_position": [ + 0.3439713573395269, + 0.02702548285245098, + 1.030651206365695 + ], + "held_minus_target": [ + 0.006568644874556107, + -0.007346711674869645, + 0.2605048165690832 + ], + "held_minus_gripper": [ + 0.004992226613816986, + 0.0048073947582577894, + 6.879228801848214e-05 + ], + "xy_dist": 0.012255912765705436, + "held_xy_dist": 0.00985501232478672, + "held_gripper_dist": 0.006930952553893144, + "max_held_gripper_dist": 0.006934000617897817, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.030651206365695, + "required_height": 0.8001463897966118, + "gripper_z": 1.0305824140776765, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23337041267605, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.186055481037137, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.889787426201509, + "max_source_tilt_deg": 89.70925958479891, + "source_upright_tilt_deg": 2.3186352245211777, + "max_source_upright_tilt_deg": 89.79710062036561, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.889787426201509, + "source_upright_return_tilt_deg": 2.3186352245211777, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.028863677424642e-08, + "max_target_xy_drift": 1.5454343343296305e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3374, + 0.0344, + 0.7701 + ], + "controller_target_position": [ + 0.3374, + 0.0344, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0001, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3374, + 0.0091, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.2202118522612543e-07, + -7.022808037108986e-05, + 0.0017287985453225603 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3186199373836476, + "source_return_step_error_deg": 1.88977277154503, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.311520576775672, + "source_return_best_wrist_position": -1.6098971366882324, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098971366882324 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3374, + 0.0344, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3374, + 0.0344, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0001, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3374, + 0.0091, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.2202118522612543e-07, + -7.022808037108986e-05, + 0.0017287985453225603 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3186199373836476, + "pour_controller_source_return_step_error_deg": 1.88977277154503, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.311520576775672, + "pour_controller_source_return_best_wrist_position": -1.6098971366882324, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098971366882324, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012255912765705436, + "valid_pour_held_xy_dist": 0.00985501232478672, + "valid_pour_held_gripper_dist": 0.006930952553893144, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.030651206365695, + "valid_pour_source_tilt_deg": 1.889787426201509, + "valid_pour_source_upright_tilt_deg": 2.3186352245211777, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.028863677424642e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3439713573395269, + 0.0030759886941632703, + 1.030651206365695 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33236823688423717, + 0.02702548285245098, + 1.030651206365695 + ], + "valid_pour_held_grasp_midpoint": [ + 0.338169797111882, + 0.015050735773307126, + 1.030651206365695 + ], + "valid_pour_held_grasp_object_position": [ + 0.3439713573395269, + 0.02702548285245098, + 1.030651206365695 + ], + "valid_pour_held_grasp_finger_gap": 0.02661222791759119, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024276569328554633, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02987840198299353, + -0.9991812968230674, + 0.02727667820530732 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006165289266121312, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03792864810303798, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3439713573395269, + 0.0030759886941632703, + 1.030651206365695 + ], + "held_grasp_finger_b": [ + 0.33236823688423717, + 0.02702548285245098, + 1.030651206365695 + ], + "held_grasp_midpoint": [ + 0.338169797111882, + 0.015050735773307126, + 1.030651206365695 + ], + "held_grasp_object_position": [ + 0.3439713573395269, + 0.02702548285245098, + 1.030651206365695 + ], + "held_grasp_finger_gap": 0.02661222791759119, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024276569328554633, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02987840198299353, + -0.9991812968230674, + 0.02727667820530732 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006165289266121312, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03792864810303798, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30927302075673735, + 0.22760891629026214, + 0.7611063340255518 + ], + "target_position": [ + 0.30693249292054564, + 0.2258198858619593, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002945963412091478, + "xy_threshold": 0.08, + "gripper_dist": 0.2175135937368883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063340255518, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583844692627786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615276321151176, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18731646051022371, + "release_required_pad_clearance": 0.05307638160575588, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1816586250805228, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "08ce8340a9c3aeb25be6402b26f0f4b73c98e35a406999b35b751f35379f4f12", + "visual_seed": 9164897605981062052, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19534413a9f8b7dd9c90507e8051799482714a56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_25_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33689821879849446, + 0.22086611614669122, + 1.005905557933111 + ], + "current_z": 1.005905557933111, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14479893070905547, + "gripper_z": 1.0056282284319618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3317460062044695, + 0.21591991046928954, + 1.0056282284319618 + ], + "object_minus_gripper": [ + 0.005152212594024985, + 0.004946205677401672, + 0.0002773295011493371 + ], + "object_to_gripper_xy": 0.007142145701201439, + "object_to_gripper_z": 0.0002773295011493371, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33689821879849446, + 0.19653352340150787, + 1.005905557933111 + ], + "finger_b": [ + 0.32469625490672827, + 0.22086611614669122, + 1.005905557933111 + ], + "finger_midpoint": [ + 0.33079723685261136, + 0.20869981977409954, + 1.005905557933111 + ], + "object_minus_finger_midpoint": [ + 0.006100981945883099, + 0.012166296372591673, + 0.0 + ], + "finger_gap": 0.02722063541725129, + "fingertip_max_gap": 0.09229358178084954, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610317708625645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005905557933111, + "object_top_z": 1.0560014569415437, + "finger_top_clearance": 0.05009589900843259, + "fingertip_min_top_clearance": 0.015028769702529792, + "object_projection_between_fingers": 0.7990615937378744, + "object_to_finger_line_xy": 0.010907365442381023, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864679089042477, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6230911541859883, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3375973216301624, + 0.04154704403751351, + 0.7701463897966114 + ], + "gripper_position": [ + 0.34026170658462285, + 0.028555009226576278, + 1.0285059756671502 + ], + "target_minus_gripper": [ + -0.0026643849544604747, + 0.012992034810937234, + -0.25835958587053875 + ], + "held_position": [ + 0.3455230046077185, + 0.03338643757453449, + 1.0287404566920362 + ], + "held_minus_target": [ + 0.007925682977556137, + -0.008160606462979024, + 0.25859406689542475 + ], + "held_minus_gripper": [ + 0.005261298023095662, + 0.00483142834795821, + 0.00023448102488599076 + ], + "xy_dist": 0.0132624249560237, + "held_xy_dist": 0.011375937258280662, + "held_gripper_dist": 0.007146953065489943, + "max_held_gripper_dist": 0.007150380050535061, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0287404566920362, + "required_height": 0.8001463897966115, + "gripper_z": 1.0285059756671502, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21997641171366, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4988124282163462, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.6611399909632178, + "max_source_tilt_deg": 89.91244284211018, + "source_upright_tilt_deg": 1.853422654363641, + "max_source_upright_tilt_deg": 89.79735750640776, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.6611399909632178, + "source_upright_return_tilt_deg": 1.853422654363641, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3376, + 0.0415, + 0.7701 + ], + "controller_target_position": [ + 0.3376, + 0.0415, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.001, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3381, + 0.0154, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005345689786795563, + -0.000988735849116374, + -0.0007021124164263766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8534649875192377, + "source_return_step_error_deg": 1.6611837236547842, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8453408542022012, + "source_return_best_wrist_position": -1.607375979423523, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607375979423523 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3376, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3376, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.001, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3381, + 0.0154, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005345689786795563, + -0.000988735849116374, + -0.0007021124164263766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8534649875192377, + "pour_controller_source_return_step_error_deg": 1.6611837236547842, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8453408542022012, + "pour_controller_source_return_best_wrist_position": -1.607375979423523, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607375979423523, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0132624249560237, + "valid_pour_held_xy_dist": 0.011375937258280662, + "valid_pour_held_gripper_dist": 0.007146953065489943, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0287404566920362, + "valid_pour_source_tilt_deg": 1.6611399909632178, + "valid_pour_source_upright_tilt_deg": 1.853422654363641, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3455230046077185, + 0.009085339280745794, + 1.0287404566920362 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3339875919581262, + 0.03338643757453449, + 1.0287404566920362 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3397552982829224, + 0.02123588842764014, + 1.0287404566920362 + ], + "valid_pour_held_grasp_object_position": [ + 0.3455230046077185, + 0.03338643757453449, + 1.0287404566920362 + ], + "valid_pour_held_grasp_finger_gap": 0.026899983704098292, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024350928306650754, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005421843865362764, + -0.9994768469600483, + 0.03188472988594882 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058463173837477464, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037607329123078306, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3455230046077185, + 0.009085339280745794, + 1.0287404566920362 + ], + "held_grasp_finger_b": [ + 0.3339875919581262, + 0.03338643757453449, + 1.0287404566920362 + ], + "held_grasp_midpoint": [ + 0.3397552982829224, + 0.02123588842764014, + 1.0287404566920362 + ], + "held_grasp_object_position": [ + 0.3455230046077185, + 0.03338643757453449, + 1.0287404566920362 + ], + "held_grasp_finger_gap": 0.026899983704098292, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024350928306650754, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005421843865362764, + -0.9994768469600483, + 0.03188472988594882 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058463173837477464, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037607329123078306, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29570184783216674, + 0.21640023287936871, + 0.7611073133835315 + ], + "target_position": [ + 0.3125466369216905, + 0.21806386760114702, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016926742154296695, + "xy_threshold": 0.08, + "gripper_dist": 0.20328270321022415, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073133835315, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581435017777634, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805400033768272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17393953067890733, + "release_required_pad_clearance": 0.05402700016884136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0624581458507794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8aa5a4635aa2b19119f40854d8d8961c72fdad50c1e562ddf99e025f80109c39", + "visual_seed": 834990818850545015, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3af85f808cbc265320c740547349a70035d35501 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_26_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33484675757993143, + 0.22500413182338716, + 1.0050543722705205 + ], + "current_z": 1.0050543722705205, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14394792386039923, + "gripper_z": 1.0044601317695268, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3296662501192093, + 0.22010825820883917, + 1.0044601317695268 + ], + "object_minus_gripper": [ + 0.005180507460722128, + 0.004895873614547991, + 0.0005942405009937701 + ], + "object_to_gripper_xy": 0.007127919472063699, + "object_to_gripper_z": 0.0005942405009937701, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33484675757993143, + 0.20042901487519027, + 1.0050543722705205 + ], + "finger_b": [ + 0.32301019066053865, + 0.22500413182338716, + 1.0050543722705205 + ], + "finger_midpoint": [ + 0.32892847412023507, + 0.21271657334928873, + 1.0050543722705205 + ], + "object_minus_finger_midpoint": [ + 0.005918283459696361, + 0.012287558474098431, + 0.0 + ], + "finger_gap": 0.027277109257669102, + "fingertip_max_gap": 0.0913772460075932, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013638554628834527, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050543722705205, + "object_top_z": 1.0548300278680287, + "finger_top_clearance": 0.049775655597508184, + "fingertip_min_top_clearance": 0.014932696679252438, + "object_projection_between_fingers": 0.811698044982026, + "object_to_finger_line_xy": 0.010664070505471648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481886230037966, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3452824368444687, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33279896891180905, + 0.0333872463988588, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3345937025102239, + 0.021775233116385864, + 1.0306111640242681 + ], + "target_minus_gripper": [ + -0.001794733598414866, + 0.011612013282472938, + -0.26046477422765635 + ], + "held_position": [ + 0.33980387363842957, + 0.026644927443686836, + 1.0311640520023406 + ], + "held_minus_target": [ + 0.00700490472662052, + -0.0067423189551719664, + 0.26101766220572886 + ], + "held_minus_gripper": [ + 0.005210171128205654, + 0.004869694327300972, + 0.0005528879780725138 + ], + "xy_dist": 0.0117498902616836, + "held_xy_dist": 0.009722528226870916, + "held_gripper_dist": 0.007153005741842527, + "max_held_gripper_dist": 0.0071584045882536924, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0311640520023406, + "required_height": 0.8001463897966118, + "gripper_z": 1.0306111640242681, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22373301575716, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0053788029872914, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.6867675139513507, + "max_source_tilt_deg": 89.84657976547575, + "source_upright_tilt_deg": 1.9606170144765593, + "max_source_upright_tilt_deg": 89.9505503889995, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.6867675139513507, + "source_upright_return_tilt_deg": 1.9606170144765593, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.999185021242475e-08, + "max_target_xy_drift": 2.2696772533249583e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3328, + 0.0334, + 0.7701 + ], + "controller_target_position": [ + 0.3328, + 0.0334, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0007, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3319, + 0.0089, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009226610337361278, + 0.0006736527993485512, + 0.0019837193811074036 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.960624783811042, + "source_return_step_error_deg": 1.6867793671539852, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9475374553715405, + "source_return_best_wrist_position": -1.607802391052246, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607802391052246 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3328, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3328, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0007, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3319, + 0.0089, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009226610337361278, + 0.0006736527993485512, + 0.0019837193811074036 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.960624783811042, + "pour_controller_source_return_step_error_deg": 1.6867793671539852, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9475374553715405, + "pour_controller_source_return_best_wrist_position": -1.607802391052246, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607802391052246, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0117498902616836, + "valid_pour_held_xy_dist": 0.009722528226870916, + "valid_pour_held_gripper_dist": 0.007153005741842527, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0311640520023406, + "valid_pour_source_tilt_deg": 1.6867675139513507, + "valid_pour_source_upright_tilt_deg": 1.9606170144765593, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.999185021242475e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33980387363842957, + 0.0023350496056995197, + 1.0311640520023406 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3282987874265355, + 0.026644927443686836, + 1.0311640520023406 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33405133053248254, + 0.014489988524693178, + 1.0311640520023406 + ], + "valid_pour_held_grasp_object_position": [ + 0.33980387363842957, + 0.026644927443686836, + 1.0311640520023406 + ], + "valid_pour_held_grasp_finger_gap": 0.026894928318197495, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024479002401214672, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015936939860638915, + -0.9994145876043513, + 0.030273685462839376 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005956815592781031, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03766410473653815, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33980387363842957, + 0.0023350496056995197, + 1.0311640520023406 + ], + "held_grasp_finger_b": [ + 0.3282987874265355, + 0.026644927443686836, + 1.0311640520023406 + ], + "held_grasp_midpoint": [ + 0.33405133053248254, + 0.014489988524693178, + 1.0311640520023406 + ], + "held_grasp_object_position": [ + 0.33980387363842957, + 0.026644927443686836, + 1.0311640520023406 + ], + "held_grasp_finger_gap": 0.026894928318197495, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024479002401214672, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015936939860638915, + -0.9994145876043513, + 0.030273685462839376 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005956815592781031, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03766410473653815, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3110871644552967, + 0.23159702067679813, + 0.7611069429059856 + ], + "target_position": [ + 0.310518240478302, + 0.22278221803107046, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008833143278285886, + "xy_threshold": 0.08, + "gripper_dist": 0.21602886303965232, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069429059856, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516265242227949, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572303824560516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18876805422229742, + "release_required_pad_clearance": 0.05286151912280258, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7651459205097815, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "146385b89bf108778d8b85c10977cbf66566b6389b5e2dee788571b56895a1f7", + "visual_seed": 8722576991454157493, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..14c11999fdc16746bc4603413e7a94c5d4efa29f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_27_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3338928344570767, + 0.224405352538133, + 1.001972920725917 + ], + "current_z": 1.001972920725917, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14086623389721675, + "gripper_z": 1.0017217074193285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3287792523864733, + 0.21945771299638894, + 1.0017217074193285 + ], + "object_minus_gripper": [ + 0.005113582070603362, + 0.00494763954174407, + 0.0002512133065883937 + ], + "object_to_gripper_xy": 0.007115325616430048, + "object_to_gripper_z": 0.0002512133065883937, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3338928344570767, + 0.20006562547551596, + 1.001972920725917 + ], + "finger_b": [ + 0.3217461542482371, + 0.224405352538133, + 1.001972920725917 + ], + "finger_midpoint": [ + 0.3278194943526569, + 0.21223548900682448, + 1.001972920725917 + ], + "object_minus_finger_midpoint": [ + 0.006073340104419789, + 0.012169863531308528, + 0.0 + ], + "finger_gap": 0.027202282139160826, + "fingertip_max_gap": 0.09183683279674268, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601141069580413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001972920725917, + "object_top_z": 1.0520578889908898, + "finger_top_clearance": 0.050084968264972884, + "fingertip_min_top_clearance": 0.015025490479491848, + "object_projection_between_fingers": 0.8006094763073395, + "object_to_finger_line_xy": 0.010868458737674452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841841639837134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2020777987772606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33603117978636665, + 0.038606430261068116, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3377295162809277, + 0.025521665824052242, + 1.030313071627011 + ], + "target_minus_gripper": [ + -0.0016983364945610258, + 0.013084764437015874, + -0.2601666222257545 + ], + "held_position": [ + 0.34288793965533026, + 0.030422555765922184, + 1.030509822954068 + ], + "held_minus_target": [ + 0.006856759868963613, + -0.008183874495145932, + 0.26036337355281136 + ], + "held_minus_gripper": [ + 0.005158423374402588, + 0.004900889941869942, + 0.0001967513270568766 + ], + "xy_dist": 0.013194521864052261, + "held_xy_dist": 0.010676654796935695, + "held_gripper_dist": 0.007118059076504183, + "max_held_gripper_dist": 0.007121788084591442, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.030509822954068, + "required_height": 0.8001464494012566, + "gripper_z": 1.030313071627011, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22886248782385, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.20298392204413448, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9912000149563207, + "max_source_tilt_deg": 89.86821413192115, + "source_upright_tilt_deg": 2.8459408867015146, + "max_source_upright_tilt_deg": 89.9288568178163, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9912000149563207, + "source_upright_return_tilt_deg": 2.8459408867015146, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.999185021242475e-08, + "max_target_xy_drift": 9.06402249678704e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.336, + 0.0386, + 0.7701 + ], + "controller_target_position": [ + 0.336, + 0.0386, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0008, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3355, + 0.0126, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005016009697786576, + -0.0008079531341005982, + 0.0014740339148853225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8459570148413462, + "source_return_step_error_deg": 2.991215276981204, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9861063706445794, + "source_return_best_wrist_position": -1.6332529783248901, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6332529783248901 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.336, + 0.0386, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.336, + 0.0386, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0008, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3355, + 0.0126, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005016009697786576, + -0.0008079531341005982, + 0.0014740339148853225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8459570148413462, + "pour_controller_source_return_step_error_deg": 2.991215276981204, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9861063706445794, + "pour_controller_source_return_best_wrist_position": -1.6332529783248901, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6332529783248901, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013194521864052261, + "valid_pour_held_xy_dist": 0.010676654796935695, + "valid_pour_held_gripper_dist": 0.007118059076504183, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.030509822954068, + "valid_pour_source_tilt_deg": 2.9912000149563207, + "valid_pour_source_upright_tilt_deg": 2.8459408867015146, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.999185021242475e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34288793965533026, + 0.006644218016454194, + 1.030509822954068 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3313087340092519, + 0.030422555765922184, + 1.030509822954068 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33709833683229107, + 0.018533386891188188, + 1.030509822954068 + ], + "valid_pour_held_grasp_object_position": [ + 0.34288793965533026, + 0.030422555765922184, + 1.030509822954068 + ], + "valid_pour_held_grasp_finger_gap": 0.02644782315280309, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023873188341008322, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010724168752599999, + -0.9987666604731473, + 0.04847834704156606 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005944631726693679, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0379078332549605, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34288793965533026, + 0.006644218016454194, + 1.030509822954068 + ], + "held_grasp_finger_b": [ + 0.3313087340092519, + 0.030422555765922184, + 1.030509822954068 + ], + "held_grasp_midpoint": [ + 0.33709833683229107, + 0.018533386891188188, + 1.030509822954068 + ], + "held_grasp_object_position": [ + 0.34288793965533026, + 0.030422555765922184, + 1.030509822954068 + ], + "held_grasp_finger_gap": 0.02644782315280309, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023873188341008322, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010724168752599999, + -0.9987666604731473, + 0.04847834704156606 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005944631726693679, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0379078332549605, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30829574330552867, + 0.22320687846752085, + 0.7611064941441947 + ], + "target_position": [ + 0.3096595154432432, + 0.2205887492310959, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0029520289873627, + "xy_threshold": 0.08, + "gripper_dist": 0.21496887546919838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064941441947, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523042424709384, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08914907124807929, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1865451676614748, + "release_required_pad_clearance": 0.05457453562403965, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.185121238871241, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f3869f607fc7d5cc9c3523be73bb8f98581fcecfa727d716e3d0fde672ace298", + "visual_seed": 8633691781363469157, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0847cb1e03dc5523905fbfbbc30cfa476d0698dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_28_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3331491829502077, + 0.2203034038799561, + 1.0049579631153711 + ], + "current_z": 1.0049579631153711, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14385157430989481, + "gripper_z": 1.0050932652052176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32788178904, + 0.21541081694149727, + 1.0050932652052176 + ], + "object_minus_gripper": [ + 0.005267393910207696, + 0.004892586938458815, + -0.0001353020898464674 + ], + "object_to_gripper_xy": 0.0071890782132114075, + "object_to_gripper_z": -0.0001353020898464674, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3331491829502077, + 0.1956130396856788, + 1.0049579631153711 + ], + "finger_b": [ + 0.3214002017343053, + 0.2203034038799561, + 1.0049579631153711 + ], + "finger_midpoint": [ + 0.3272746923422565, + 0.20795822178281745, + 1.0049579631153711 + ], + "object_minus_finger_midpoint": [ + 0.005874490607951199, + 0.01234518209713864, + 0.0 + ], + "finger_gap": 0.027343237622082666, + "fingertip_max_gap": 0.091391944432508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013671618811041333, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049579631153711, + "object_top_z": 1.0550023884307513, + "finger_top_clearance": 0.050044425315380225, + "fingertip_min_top_clearance": 0.01501332759461405, + "object_projection_between_fingers": 0.8153707329431578, + "object_to_finger_line_xy": 0.010609081087679086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048195972216254004, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0440567978833122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3340877405411427, + 0.041379871635370026, + 0.7701463897966117 + ], + "gripper_position": [ + 0.33557771767589695, + 0.031059902945940854, + 1.0294698353150205 + ], + "target_minus_gripper": [ + -0.001489977134754239, + 0.010319968689429172, + -0.2593234455184088 + ], + "held_position": [ + 0.3408740958694399, + 0.0359155395411159, + 1.0292911769391302 + ], + "held_minus_target": [ + 0.006786355328297189, + -0.005464332094254128, + 0.25914478714251854 + ], + "held_minus_gripper": [ + 0.00529637819354295, + 0.004855636595175045, + -0.00017865837589026157 + ], + "xy_dist": 0.010426973943234389, + "held_xy_dist": 0.008712837877419926, + "held_gripper_dist": 0.007187541132314732, + "max_held_gripper_dist": 0.007191225213143645, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0292911769391302, + "required_height": 0.8001463897966117, + "gripper_z": 1.0294698353150205, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2261850536692, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1046623073587023, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7962233492306243, + "max_source_tilt_deg": 89.98148868927092, + "source_upright_tilt_deg": 1.6582044662268645, + "max_source_upright_tilt_deg": 89.88303805825556, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7962233492306243, + "source_upright_return_tilt_deg": 1.6582044662268645, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.4102081381341592e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3341, + 0.0414, + 0.7701 + ], + "controller_target_position": [ + 0.3341, + 0.0414, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0018, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3335, + 0.018, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005784714756354177, + 0.001791288883320093, + 0.000435055180051398 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6582612037651119, + "source_return_step_error_deg": 1.7962832083649012, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7868535381009727, + "source_return_best_wrist_position": -1.6091288328170776, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091288328170776 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3341, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3341, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0018, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3335, + 0.018, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005784714756354177, + 0.001791288883320093, + 0.000435055180051398 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6582612037651119, + "pour_controller_source_return_step_error_deg": 1.7962832083649012, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7868535381009727, + "pour_controller_source_return_best_wrist_position": -1.6091288328170776, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091288328170776, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010426973943234389, + "valid_pour_held_xy_dist": 0.008712837877419926, + "valid_pour_held_gripper_dist": 0.007187541132314732, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0292911769391302, + "valid_pour_source_tilt_deg": 1.7962233492306243, + "valid_pour_source_upright_tilt_deg": 1.6582044662268645, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3408740958694399, + 0.011568493520338704, + 1.0292911769391302 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3294018071990099, + 0.0359155395411159, + 1.0292911769391302 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3351379515342249, + 0.0237420165307273, + 1.0292911769391302 + ], + "valid_pour_held_grasp_object_position": [ + 0.3408740958694399, + 0.0359155395411159, + 1.0292911769391302 + ], + "valid_pour_held_grasp_finger_gap": 0.026914532455079337, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024480970805074224, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012562472500543534, + -0.9995812417393533, + 0.026067708903657952 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005897115048028521, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03762388497849853, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3408740958694399, + 0.011568493520338704, + 1.0292911769391302 + ], + "held_grasp_finger_b": [ + 0.3294018071990099, + 0.0359155395411159, + 1.0292911769391302 + ], + "held_grasp_midpoint": [ + 0.3351379515342249, + 0.0237420165307273, + 1.0292911769391302 + ], + "held_grasp_object_position": [ + 0.3408740958694399, + 0.0359155395411159, + 1.0292911769391302 + ], + "held_grasp_finger_gap": 0.026914532455079337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024480970805074224, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012562472500543534, + -0.9995812417393533, + 0.026067708903657952 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005897115048028521, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03762388497849853, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3060975717508157, + 0.2197463881987469, + 0.7611136827270151 + ], + "target_position": [ + 0.30884755727604546, + 0.21837792905318695, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030716609223740564, + "xy_threshold": 0.08, + "gripper_dist": 0.21311714610229635, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611136827270151, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576638317673316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671619270371299, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1830259059692382, + "release_required_pad_clearance": 0.053358096351856496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7016395991170616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2daa3d208d35cc68ea123ac69f0499151fb1db8b6d6ca8f04a5e9a78f53b3d1c", + "visual_seed": 3836694981425032420, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0cf0f97053a1e21e1044a54d8385808dff333dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_29_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33252498343589815, + 0.22466411276058165, + 1.0049052142258414 + ], + "current_z": 1.0049052142258414, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14379858700178583, + "gripper_z": 1.0047568045997006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3274701147707595, + 0.21988087368804377, + 1.0047568045997006 + ], + "object_minus_gripper": [ + 0.0050548686651386565, + 0.004783239072537887, + 0.00014840962614082187 + ], + "object_to_gripper_xy": 0.00695924372664543, + "object_to_gripper_z": 0.00014840962614082187, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33252498343589815, + 0.20007016283633544, + 1.0049052142258414 + ], + "finger_b": [ + 0.32100541192753984, + 0.22466411276058165, + 1.0049052142258414 + ], + "finger_midpoint": [ + 0.32676519768171897, + 0.21236713779845856, + 1.0049052142258414 + ], + "object_minus_finger_midpoint": [ + 0.005759785754179181, + 0.012296974962123092, + 0.0 + ], + "finger_gap": 0.02715810929745498, + "fingertip_max_gap": 0.09113796316195741, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013579054648727489, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049052142258414, + "object_top_z": 1.0547913698212097, + "finger_top_clearance": 0.04988615559536824, + "fingertip_min_top_clearance": 0.014965846678610489, + "object_projection_between_fingers": 0.8200824260195585, + "object_to_finger_line_xy": 0.01043193993080683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048068981580978706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9856984333858227, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33120418703619886, + 0.03271523755662896, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3320066459402079, + 0.019831062259200116, + 1.0281770717694025 + ], + "target_minus_gripper": [ + -0.0008024589040090402, + 0.012884175297428843, + -0.2580306819727908 + ], + "held_position": [ + 0.33704420261620055, + 0.02463036385681103, + 1.0282850111231012 + ], + "held_minus_target": [ + 0.0058400155800016895, + -0.008084873699817929, + 0.25813862132648946 + ], + "held_minus_gripper": [ + 0.005037556675992649, + 0.0047993015976109145, + 0.0001079393536986828 + ], + "xy_dist": 0.012909140691289216, + "held_xy_dist": 0.009973513158194064, + "held_gripper_dist": 0.006958586350168091, + "max_held_gripper_dist": 0.006962548777258017, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0282850111231012, + "required_height": 0.8001463897966118, + "gripper_z": 1.0281770717694025, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2469351683677, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0610268881007499, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.793913601116339, + "max_source_tilt_deg": 89.76633046676882, + "source_upright_tilt_deg": 2.0156079275827925, + "max_source_upright_tilt_deg": 89.89837803362344, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.793913601116339, + "source_upright_return_tilt_deg": 2.0156079275827925, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.337970883992392e-08, + "max_target_xy_drift": 1.999200562387517e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3312, + 0.0327, + 0.7701 + ], + "controller_target_position": [ + 0.3312, + 0.0327, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0012, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3294, + 0.0063, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018406099044375713, + -0.0011834293540906305, + -0.0015411296625723993 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.015602507072735, + "source_return_step_error_deg": 1.793917948643642, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0070882091259796, + "source_return_best_wrist_position": -1.6098873615264893, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098873615264893 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3312, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3312, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0012, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3294, + 0.0063, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018406099044375713, + -0.0011834293540906305, + -0.0015411296625723993 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.015602507072735, + "pour_controller_source_return_step_error_deg": 1.793917948643642, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0070882091259796, + "pour_controller_source_return_best_wrist_position": -1.6098873615264893, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098873615264893, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012909140691289216, + "valid_pour_held_xy_dist": 0.009973513158194064, + "valid_pour_held_gripper_dist": 0.006958586350168091, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0282850111231012, + "valid_pour_source_tilt_deg": 1.793913601116339, + "valid_pour_source_upright_tilt_deg": 2.0156079275827925, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.337970883992392e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33704420261620055, + 0.0005098563745992793, + 1.0282850111231012 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32561780762838566, + 0.02463036385681103, + 1.0282850111231012 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3313310051222931, + 0.012570110115705154, + 1.0282850111231012 + ], + "valid_pour_held_grasp_object_position": [ + 0.33704420261620055, + 0.02463036385681103, + 1.0282850111231012 + ], + "valid_pour_held_grasp_finger_gap": 0.026690098981026547, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02434028513129332, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020540269659777413, + -0.9993812905794671, + 0.028550540485647535 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005969554935668509, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03778480873873725, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33704420261620055, + 0.0005098563745992793, + 1.0282850111231012 + ], + "held_grasp_finger_b": [ + 0.32561780762838566, + 0.02463036385681103, + 1.0282850111231012 + ], + "held_grasp_midpoint": [ + 0.3313310051222931, + 0.012570110115705154, + 1.0282850111231012 + ], + "held_grasp_object_position": [ + 0.33704420261620055, + 0.02463036385681103, + 1.0282850111231012 + ], + "held_grasp_finger_gap": 0.026690098981026547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02434028513129332, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020540269659777413, + -0.9993812905794671, + 0.028550540485647535 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005969554935668509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03778480873873725, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3010795200429103, + 0.21961711441266282, + 0.7611087616688141 + ], + "target_position": [ + 0.3084349447187674, + 0.22204639546538477, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007746204141082395, + "xy_threshold": 0.08, + "gripper_dist": 0.2091883758900494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611087616688141, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523397672383977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560050640830467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801300847092884, + "release_required_pad_clearance": 0.05280025320415234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6452792549967832, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5dfdfee41420d171ea27152f653bc3a69181192753495afa57e7dcb6761beb7", + "visual_seed": 8732936666142157019, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..259ef05816f5ba53d4eeef3afc8dcabb5455d573 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_2_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33797528820605316, + 0.22380881432973582, + 1.0037038008355132 + ], + "current_z": 1.0037038008355132, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14259723321610263, + "gripper_z": 1.0032882593186947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3328368258699019, + 0.21895725255481105, + 1.0032882593186947 + ], + "object_minus_gripper": [ + 0.005138462336151284, + 0.0048515617749247675, + 0.00041554151681855167 + ], + "object_to_gripper_xy": 0.007066926265071433, + "object_to_gripper_z": 0.00041554151681855167, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33797528820605316, + 0.1992812080841904, + 1.0037038008355132 + ], + "finger_b": [ + 0.3261847177113781, + 0.22380881432973582, + 1.0037038008355132 + ], + "finger_midpoint": [ + 0.33208000295871565, + 0.21154501120696312, + 1.0037038008355132 + ], + "object_minus_finger_midpoint": [ + 0.005895285247337512, + 0.012263803122772698, + 0.0 + ], + "finger_gap": 0.027214353211612828, + "fingertip_max_gap": 0.09145804505453106, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01360717660580639, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037038008355132, + "object_top_z": 1.0535998762926124, + "finger_top_clearance": 0.049896075457099176, + "fingertip_min_top_clearance": 0.014968822637129751, + "object_projection_between_fingers": 0.8122959668987653, + "object_to_finger_line_xy": 0.01062654211382586, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822902252726553, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1454609435989884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32847351944510395, + 0.040913290201358574, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33173072512705987, + 0.02957801464077539, + 1.0287353641054973 + ], + "target_minus_gripper": [ + -0.0032572056819559214, + 0.011335275560583183, + -0.2585889147042407 + ], + "held_position": [ + 0.33687732292430694, + 0.03442613455901206, + 1.029093428983359 + ], + "held_minus_target": [ + 0.008403803479202998, + -0.006487155642346511, + 0.25894697958210255 + ], + "held_minus_gripper": [ + 0.005146597797247077, + 0.004848119918236672, + 0.00035806487786183006 + ], + "xy_dist": 0.011793975618463874, + "held_xy_dist": 0.010616360075143109, + "held_gripper_dist": 0.007079544200369811, + "max_held_gripper_dist": 0.007082569200114588, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.029093428983359, + "required_height": 0.8001464494012566, + "gripper_z": 1.0287353641054973, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23077494079145, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8211354852293858, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9744895906346294, + "max_source_tilt_deg": 89.85877147866533, + "source_upright_tilt_deg": 3.051804156739099, + "max_source_upright_tilt_deg": 89.97599843320675, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9744895906346294, + "source_upright_return_tilt_deg": 3.051804156739099, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.0133885226201597e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3285, + 0.0409, + 0.7701 + ], + "controller_target_position": [ + 0.3285, + 0.0409, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0005, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3291, + 0.0163, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006023976636527237, + 0.0005453897803154952, + -0.0005585474777430881 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0517989404711883, + "source_return_step_error_deg": 2.9744776004468654, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0453440006022605, + "source_return_best_wrist_position": -1.6335877180099487, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6335877180099487 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3285, + 0.0409, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3285, + 0.0409, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0005, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3291, + 0.0163, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006023976636527237, + 0.0005453897803154952, + -0.0005585474777430881 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0517989404711883, + "pour_controller_source_return_step_error_deg": 2.9744776004468654, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0453440006022605, + "pour_controller_source_return_best_wrist_position": -1.6335877180099487, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6335877180099487, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011793975618463874, + "valid_pour_held_xy_dist": 0.010616360075143109, + "valid_pour_held_gripper_dist": 0.007079544200369811, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.029093428983359, + "valid_pour_source_tilt_deg": 2.9744895906346294, + "valid_pour_source_upright_tilt_deg": 3.051804156739099, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33687732292430694, + 0.010560474646708923, + 1.029093428983359 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32550030691835696, + 0.03442613455901206, + 1.029093428983359 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33118881492133195, + 0.022493304602860493, + 1.029093428983359 + ], + "valid_pour_held_grasp_object_position": [ + 0.33687732292430694, + 0.03442613455901206, + 1.029093428983359 + ], + "valid_pour_held_grasp_finger_gap": 0.026438725692615277, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02401964196033651, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016509411735532345, + -0.9985818203370462, + 0.050614102940761185 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005915406350634926, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03789825693149078, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33687732292430694, + 0.010560474646708923, + 1.029093428983359 + ], + "held_grasp_finger_b": [ + 0.32550030691835696, + 0.03442613455901206, + 1.029093428983359 + ], + "held_grasp_midpoint": [ + 0.33118881492133195, + 0.022493304602860493, + 1.029093428983359 + ], + "held_grasp_object_position": [ + 0.33687732292430694, + 0.03442613455901206, + 1.029093428983359 + ], + "held_grasp_finger_gap": 0.026438725692615277, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02401964196033651, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016509411735532345, + -0.9985818203370462, + 0.050614102940761185 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005915406350634926, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03789825693149078, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3030581514224287, + 0.22585814146726588, + 0.761110271036658 + ], + "target_position": [ + 0.3137542850182261, + 0.22169298058823553, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011478494633328486, + "xy_threshold": 0.08, + "gripper_dist": 0.20993704641466604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110271036658, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567531144021751, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0896530122917396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1817301594997824, + "release_required_pad_clearance": 0.0548265061458698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.706532179531006, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f05616d63e18164ef3a1b90827478e00e412bda3d5b0bd91a24a27853f19f1ec", + "visual_seed": 1901639483616771858, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31c2a60a5e8712033e5300ebeeb5faf6206513c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_30_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3397113310126763, + 0.22269645835094576, + 1.0035204654742342 + ], + "current_z": 1.0035204654742342, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14241401706411294, + "gripper_z": 1.002897467734225, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33445549780251416, + 0.21787840318799145, + 1.002897467734225 + ], + "object_minus_gripper": [ + 0.005255833210162153, + 0.0048180551629543045, + 0.0006229977400091791 + ], + "object_to_gripper_xy": 0.007130037747888438, + "object_to_gripper_z": 0.0006229977400091791, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3397113310126763, + 0.19791328613910317, + 1.0035204654742342 + ], + "finger_b": [ + 0.3282004994688891, + 0.22269645835094576, + 1.0035204654742342 + ], + "finger_midpoint": [ + 0.3339559152407827, + 0.21030487224502448, + 1.0035204654742342 + ], + "object_minus_finger_midpoint": [ + 0.0057554157718935905, + 0.012391586105921282, + 0.0 + ], + "finger_gap": 0.027325901041160457, + "fingertip_max_gap": 0.09126709355929893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013662950520580204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035204654742342, + "object_top_z": 1.0532699179208531, + "finger_top_clearance": 0.04974945244661888, + "fingertip_min_top_clearance": 0.014924835733985647, + "object_projection_between_fingers": 0.8225547353995867, + "object_to_finger_line_xy": 0.010439726032143826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813354677964947, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2628137973469133, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32832984244887287, + 0.03941279914849259, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3313884406570824, + 0.026616409549885853, + 1.0295172262038135 + ], + "target_minus_gripper": [ + -0.0030585982082095287, + 0.012796389598606739, + -0.2593708960118464 + ], + "held_position": [ + 0.33661421328083774, + 0.031473994981794366, + 1.0300972067653935 + ], + "held_minus_target": [ + 0.008284370831964871, + -0.007938804166698225, + 0.2599508765734264 + ], + "held_minus_gripper": [ + 0.005225772623755343, + 0.0048575854319085135, + 0.0005799805615800402 + ], + "xy_dist": 0.013156846497492979, + "held_xy_dist": 0.011474119211455643, + "held_gripper_dist": 0.007158296808270199, + "max_held_gripper_dist": 0.007163558820330674, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0300972067653935, + "required_height": 0.8001463301919671, + "gripper_z": 1.0295172262038135, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23232539373303, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7614070182963015, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7953820273247298, + "max_source_tilt_deg": 89.67121588997371, + "source_upright_tilt_deg": 2.3278368091837685, + "max_source_upright_tilt_deg": 89.7497990071726, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7953820273247298, + "source_upright_return_tilt_deg": 2.3278368091837685, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.215859231988326e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3283, + 0.0394, + 0.7701 + ], + "controller_target_position": [ + 0.3283, + 0.0394, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0007, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3288, + 0.0135, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000497902490347858, + -0.0006730942516041188, + 0.00019812115772712465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3278348800370368, + "source_return_step_error_deg": 1.7953712265980637, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.322041242837742, + "source_return_best_wrist_position": -1.6094087362289429, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094087362289429 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3283, + 0.0394, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3283, + 0.0394, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0007, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3288, + 0.0135, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000497902490347858, + -0.0006730942516041188, + 0.00019812115772712465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3278348800370368, + "pour_controller_source_return_step_error_deg": 1.7953712265980637, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.322041242837742, + "pour_controller_source_return_best_wrist_position": -1.6094087362289429, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094087362289429, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013156846497492979, + "valid_pour_held_xy_dist": 0.011474119211455643, + "valid_pour_held_gripper_dist": 0.007158296808270199, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0300972067653935, + "valid_pour_source_tilt_deg": 1.7953820273247298, + "valid_pour_source_upright_tilt_deg": 2.3278368091837685, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.215859231988326e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33661421328083774, + 0.007164814683399437, + 1.0300972067653935 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32516502169798894, + 0.031473994981794366, + 1.0300972067653935 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33088961748941337, + 0.019319404832596903, + 1.0300972067653935 + ], + "valid_pour_held_grasp_object_position": [ + 0.33661421328083774, + 0.031473994981794366, + 1.0300972067653935 + ], + "valid_pour_held_grasp_finger_gap": 0.026870434210869164, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024595585520462808, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.026767432308462607, + -0.9991747875343221, + 0.030549116572402002 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060591359338776855, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03772892277054418, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33661421328083774, + 0.007164814683399437, + 1.0300972067653935 + ], + "held_grasp_finger_b": [ + 0.32516502169798894, + 0.031473994981794366, + 1.0300972067653935 + ], + "held_grasp_midpoint": [ + 0.33088961748941337, + 0.019319404832596903, + 1.0300972067653935 + ], + "held_grasp_object_position": [ + 0.33661421328083774, + 0.031473994981794366, + 1.0300972067653935 + ], + "held_grasp_finger_gap": 0.026870434210869164, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024595585520462808, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.026767432308462607, + -0.9991747875343221, + 0.030549116572402002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060591359338776855, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03772892277054418, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3055613436900301, + 0.21828458905165185, + 0.7611110315395146 + ], + "target_position": [ + 0.3154522306763179, + 0.2186523394850204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009897721240606873, + "xy_threshold": 0.08, + "gripper_dist": 0.20910650099097453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110315395146, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583268435688337, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851742793980602, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17940314196266896, + "release_required_pad_clearance": 0.0525871396990301, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2235805528206251, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5731972584f21ffb4c135d78c4fcf0678f7c3bfb8ad6fa42ef01d3d09df14cf7", + "visual_seed": 7749882983711258550, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8e67d9d49978bb36f5dc56ba19a24b9aafc2264 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_31_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3351486187353615, + 0.22545305529935067, + 1.0052058270003066 + ], + "current_z": 1.0052058270003066, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14409931898554063, + "gripper_z": 1.0050512873773925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3300142012884194, + 0.2205624765172659, + 1.0050512873773925 + ], + "object_minus_gripper": [ + 0.005134417446942097, + 0.004890578782084765, + 0.00015453962291411827 + ], + "object_to_gripper_xy": 0.007090839396238015, + "object_to_gripper_z": 0.00015453962291411827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3351486187353615, + 0.20099816839462867, + 1.0052058270003066 + ], + "finger_b": [ + 0.32322348433701575, + 0.22545305529935067, + 1.0052058270003066 + ], + "finger_midpoint": [ + 0.32918605153618863, + 0.21322561184698968, + 1.0052058270003066 + ], + "object_minus_finger_midpoint": [ + 0.005962567199172875, + 0.012227443452360987, + 0.0 + ], + "finger_gap": 0.027207541673979894, + "fingertip_max_gap": 0.0913670789570031, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013603770836989935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0052058270003066, + "object_top_z": 1.0551216176078204, + "finger_top_clearance": 0.04991579060751383, + "fingertip_min_top_clearance": 0.014974737182254132, + "object_projection_between_fingers": 0.8078908906632567, + "object_to_finger_line_xy": 0.010718638843951694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048183539478501555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2219052810993107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33133689677779105, + 0.03768226024382569, + 0.7701465090059011 + ], + "gripper_position": [ + 0.33243891163632433, + 0.025298919127266548, + 1.0305075934109902 + ], + "target_minus_gripper": [ + -0.0011020148585332845, + 0.012383341116559143, + -0.2603610844050891 + ], + "held_position": [ + 0.33770826106223406, + 0.030042930804813853, + 1.0306195783671754 + ], + "held_minus_target": [ + 0.006371364284443015, + -0.0076393294390118376, + 0.26047306936127435 + ], + "held_minus_gripper": [ + 0.005269349425909731, + 0.004744011677547306, + 0.0001119849561852515 + ], + "xy_dist": 0.01243227951574016, + "held_xy_dist": 0.00994754427599239, + "held_gripper_dist": 0.0070911374827634125, + "max_held_gripper_dist": 0.007093951508117207, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0306195783671754, + "required_height": 0.8001465090059011, + "gripper_z": 1.0305075934109902, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22567961967061, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6436426580119183, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.043207545256453, + "max_source_tilt_deg": 89.88971193445204, + "source_upright_tilt_deg": 1.6196333802260332, + "max_source_upright_tilt_deg": 89.93028658747807, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.043207545256453, + "source_upright_return_tilt_deg": 1.6196333802260332, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.0669426131007984e-08, + "max_target_xy_drift": 1.1403283375395699e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3313, + 0.0377, + 0.7701 + ], + "controller_target_position": [ + 0.3313, + 0.0377, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0004, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.33, + 0.0121, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013691812135832948, + -0.00040109282512269264, + 0.0016490234866080094 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6196099823852217, + "source_return_step_error_deg": 2.043203121766979, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0354514783730595, + "source_return_best_wrist_position": -1.6094733476638794, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094733476638794 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3313, + 0.0377, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3313, + 0.0377, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0004, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.33, + 0.0121, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013691812135832948, + -0.00040109282512269264, + 0.0016490234866080094 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6196099823852217, + "pour_controller_source_return_step_error_deg": 2.043203121766979, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0354514783730595, + "pour_controller_source_return_best_wrist_position": -1.6094733476638794, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094733476638794, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01243227951574016, + "valid_pour_held_xy_dist": 0.00994754427599239, + "valid_pour_held_gripper_dist": 0.0070911374827634125, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0306195783671754, + "valid_pour_source_tilt_deg": 2.043207545256453, + "valid_pour_source_upright_tilt_deg": 1.6196333802260332, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.0669426131007984e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33770826106223406, + 0.005577088072580824, + 1.0306195783671754 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3265935418140946, + 0.030042930804813853, + 1.0306195783671754 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33215090143816434, + 0.017810009438697337, + 1.0306195783671754 + ], + "valid_pour_held_grasp_object_position": [ + 0.33770826106223406, + 0.030042930804813853, + 1.0306195783671754 + ], + "valid_pour_held_grasp_finger_gap": 0.026872187193515182, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024377860400004593, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.007036446349468702, + -0.9996004958154734, + 0.027374023968554706 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005481416645305564, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037453111744413826, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33770826106223406, + 0.005577088072580824, + 1.0306195783671754 + ], + "held_grasp_finger_b": [ + 0.3265935418140946, + 0.030042930804813853, + 1.0306195783671754 + ], + "held_grasp_midpoint": [ + 0.33215090143816434, + 0.017810009438697337, + 1.0306195783671754 + ], + "held_grasp_object_position": [ + 0.33770826106223406, + 0.030042930804813853, + 1.0306195783671754 + ], + "held_grasp_finger_gap": 0.026872187193515182, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024377860400004593, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007036446349468702, + -0.9996004958154734, + 0.027374023968554706 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005481416645305564, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037453111744413826, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3087756565161326, + 0.22186625559851697, + 0.7611073664639527 + ], + "target_position": [ + 0.3109955204668946, + 0.22332955045896433, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002658764338655155, + "xy_threshold": 0.08, + "gripper_dist": 0.2146266629142024, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073664639527, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587487828389136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08705246167444729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1841561620187381, + "release_required_pad_clearance": 0.053526230837223646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.062710179964234, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb1b6e0b3d6e3a4c18abb5734396fb56efb34dedfdaf7cf04f676015d7788ea1", + "visual_seed": 422586767115496100, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1673f323e2a6a38139111b827a97447be8a797d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_32_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3327174772759584, + 0.22597981883830742, + 1.0038979578431309 + ], + "current_z": 1.0038979578431309, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.14279127101443045, + "gripper_z": 1.0033760935796021, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32745306349719616, + 0.22106664409835836, + 1.0033760935796021 + ], + "object_minus_gripper": [ + 0.005264413778762245, + 0.004913174739949067, + 0.0005218642635287374 + ], + "object_to_gripper_xy": 0.00720092622231997, + "object_to_gripper_z": 0.0005218642635287374, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3327174772759584, + 0.20131238689614311, + 1.0038979578431309 + ], + "finger_b": [ + 0.32089932793094467, + 0.22597981883830742, + 1.0038979578431309 + ], + "finger_midpoint": [ + 0.32680840260345156, + 0.21364610286722527, + 1.0038979578431309 + ], + "object_minus_finger_midpoint": [ + 0.005909074672506842, + 0.012333715971082154, + 0.0 + ], + "finger_gap": 0.027352346381295276, + "fingertip_max_gap": 0.09148085584253271, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013676173190647626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038979578431309, + "object_top_z": 1.0537661925607589, + "finger_top_clearance": 0.049868234717628024, + "fingertip_min_top_clearance": 0.01496047041528839, + "object_projection_between_fingers": 0.813314850256877, + "object_to_finger_line_xy": 0.010658076297608496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824042792126636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1780100487035652, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3345027378803914, + 0.04071758580081917, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3378598252979674, + 0.02778395038869326, + 1.0295333588150877 + ], + "target_minus_gripper": [ + -0.0033570874175759546, + 0.012933635412125909, + -0.25938690941383136 + ], + "held_position": [ + 0.3431023863623864, + 0.03272522613140445, + 1.0300130966804537 + ], + "held_minus_target": [ + 0.00859964848199496, + -0.007992359669414716, + 0.2598666472791974 + ], + "held_minus_gripper": [ + 0.005242561064419005, + 0.004941275742711193, + 0.0004797378653660367 + ], + "xy_dist": 0.013362221406002975, + "held_xy_dist": 0.011740177473069354, + "held_gripper_dist": 0.007220166265338642, + "max_held_gripper_dist": 0.00722400796668619, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0300130966804537, + "required_height": 0.8001464494012563, + "gripper_z": 1.0295333588150877, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22480535545685, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.053210088945445, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.715994864000699, + "max_source_tilt_deg": 89.70818615231882, + "source_upright_tilt_deg": 2.148993868224611, + "max_source_upright_tilt_deg": 89.90065393417295, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.715994864000699, + "source_upright_return_tilt_deg": 2.148993868224611, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3345, + 0.0407, + 0.7701 + ], + "controller_target_position": [ + 0.3345, + 0.0407, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0008, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3361, + 0.0147, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015734467404720743, + -0.0008315327794570938, + 0.0006100302727540191 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1489978488699406, + "source_return_step_error_deg": 1.7160065742589703, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.145735233466379, + "source_return_best_wrist_position": -1.6079014539718628, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6079014539718628 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3345, + 0.0407, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3345, + 0.0407, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0008, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3361, + 0.0147, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015734467404720743, + -0.0008315327794570938, + 0.0006100302727540191 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1489978488699406, + "pour_controller_source_return_step_error_deg": 1.7160065742589703, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.145735233466379, + "pour_controller_source_return_best_wrist_position": -1.6079014539718628, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6079014539718628, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013362221406002975, + "valid_pour_held_xy_dist": 0.011740177473069354, + "valid_pour_held_gripper_dist": 0.007220166265338642, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0300130966804537, + "valid_pour_source_tilt_deg": 1.715994864000699, + "valid_pour_source_upright_tilt_deg": 2.148993868224611, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3431023863623864, + 0.008492573449152593, + 1.0300130966804537 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3313667003598043, + 0.03272522613140445, + 1.0300130966804537 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3372345433610954, + 0.020608899790278523, + 1.0300130966804537 + ], + "valid_pour_held_grasp_object_position": [ + 0.3431023863623864, + 0.03272522613140445, + 1.0300130966804537 + ], + "valid_pour_held_grasp_finger_gap": 0.02692485435373512, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024496193589473914, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0239085883105263, + -0.9992967019261672, + 0.028887383482810173 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006165677210573141, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03775273696053545, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3431023863623864, + 0.008492573449152593, + 1.0300130966804537 + ], + "held_grasp_finger_b": [ + 0.3313667003598043, + 0.03272522613140445, + 1.0300130966804537 + ], + "held_grasp_midpoint": [ + 0.3372345433610954, + 0.020608899790278523, + 1.0300130966804537 + ], + "held_grasp_object_position": [ + 0.3431023863623864, + 0.03272522613140445, + 1.0300130966804537 + ], + "held_grasp_finger_gap": 0.02692485435373512, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024496193589473914, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0239085883105263, + -0.9992967019261672, + 0.028887383482810173 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006165677210573141, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03775273696053545, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3045404475747162, + 0.22837714496684702, + 0.7611064907109358 + ], + "target_position": [ + 0.3083315047519515, + 0.2238015744245425, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0059420501772260445, + "xy_threshold": 0.08, + "gripper_dist": 0.21434663162667852, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064907109358, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568804735352223, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09006052541456476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18531826485541789, + "release_required_pad_clearance": 0.05503026270728238, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.138510377624008, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df8a2b45845f348f82c8e6a190d597644c06f3830d2628187444172f614e3146", + "visual_seed": 4568287387832098792, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07887127d202a3074e340e9b214ba282caad3623 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_33_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3327092849392646, + 0.22307601669073432, + 1.0050640200831067 + ], + "current_z": 1.0050640200831067, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14395745246369607, + "gripper_z": 1.004372463282832, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277052693352484, + 0.21836226752173987, + 1.004372463282832 + ], + "object_minus_gripper": [ + 0.005004015604016199, + 0.004713749168994447, + 0.000691556800274773 + ], + "object_to_gripper_xy": 0.006874562051027937, + "object_to_gripper_z": 0.000691556800274773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3327092849392646, + 0.1984857801635881, + 1.0050640200831067 + ], + "finger_b": [ + 0.3213212724406454, + 0.22307601669073432, + 1.0050640200831067 + ], + "finger_midpoint": [ + 0.327015278689955, + 0.2107808984271612, + 1.0050640200831067 + ], + "object_minus_finger_midpoint": [ + 0.005694006249309602, + 0.01229511826357313, + 0.0 + ], + "finger_gap": 0.02709919853297702, + "fingertip_max_gap": 0.09131275876590625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013549599266488523, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050640200831067, + "object_top_z": 1.0548313693709077, + "finger_top_clearance": 0.04976734928780102, + "fingertip_min_top_clearance": 0.014930204786340339, + "object_projection_between_fingers": 0.8234031401576821, + "object_to_finger_line_xy": 0.01033366062743041, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815637938295313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2329041045343125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3312092832333271, + 0.03164010387533166, + 0.770146389796612 + ], + "gripper_position": [ + 0.33232471169339595, + 0.019858686633372633, + 1.0301965955476782 + ], + "target_minus_gripper": [ + -0.0011154284600688458, + 0.011781417241959025, + -0.2600502057510662 + ], + "held_position": [ + 0.33726602703891045, + 0.02464471525850554, + 1.0308480295963984 + ], + "held_minus_target": [ + 0.006056743805583353, + -0.006995388616826116, + 0.26070163979978644 + ], + "held_minus_gripper": [ + 0.004941315345514508, + 0.0047860286251329084, + 0.0006514340487202563 + ], + "xy_dist": 0.011834102115439978, + "held_xy_dist": 0.009253086373037523, + "held_gripper_dist": 0.006909922840686488, + "max_held_gripper_dist": 0.00691709351374977, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0308480295963984, + "required_height": 0.800146389796612, + "gripper_z": 1.0301965955476782, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23778271487987, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.459393842972339, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7804051148471438, + "max_source_tilt_deg": 89.94699899437595, + "source_upright_tilt_deg": 2.5572882426006696, + "max_source_upright_tilt_deg": 89.90260674694152, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7804051148471438, + "source_upright_return_tilt_deg": 2.5572882426006696, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.862645149230957e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3312, + 0.0316, + 0.7701 + ], + "controller_target_position": [ + 0.3312, + 0.0316, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0005, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3295, + 0.0069, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017445808585590994, + 0.0005068872291846245, + 0.0012888952249547627 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5569142659279946, + "source_return_step_error_deg": 1.7801950839828442, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.550960144783744, + "source_return_best_wrist_position": -1.6087442636489868, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087442636489868 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3312, + 0.0316, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3312, + 0.0316, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0005, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3295, + 0.0069, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017445808585590994, + 0.0005068872291846245, + 0.0012888952249547627 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5569142659279946, + "pour_controller_source_return_step_error_deg": 1.7801950839828442, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.550960144783744, + "pour_controller_source_return_best_wrist_position": -1.6087442636489868, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087442636489868, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011834102115439978, + "valid_pour_held_xy_dist": 0.009253086373037523, + "valid_pour_held_gripper_dist": 0.006909922840686488, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0308480295963984, + "valid_pour_source_tilt_deg": 1.7804051148471438, + "valid_pour_source_upright_tilt_deg": 2.5572882426006696, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.862645149230957e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33726602703891045, + 0.0006194100933225292, + 1.0308480295963984 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3257876179587995, + 0.02464471525850554, + 1.0308480295963984 + ], + "valid_pour_held_grasp_midpoint": [ + 0.331526822498855, + 0.012632062675914034, + 1.0308480295963984 + ], + "valid_pour_held_grasp_object_position": [ + 0.33726602703891045, + 0.02464471525850554, + 1.0308480295963984 + ], + "valid_pour_held_grasp_finger_gap": 0.026626474856626118, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024378249662320144, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032833025663225726, + -0.9990041165929568, + 0.030212041574909865 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006141086865211522, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037907996138835276, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33726602703891045, + 0.0006194100933225292, + 1.0308480295963984 + ], + "held_grasp_finger_b": [ + 0.3257876179587995, + 0.02464471525850554, + 1.0308480295963984 + ], + "held_grasp_midpoint": [ + 0.331526822498855, + 0.012632062675914034, + 1.0308480295963984 + ], + "held_grasp_object_position": [ + 0.33726602703891045, + 0.02464471525850554, + 1.0308480295963984 + ], + "held_grasp_finger_gap": 0.026626474856626118, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024378249662320144, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032833025663225726, + -0.9990041165929568, + 0.030212041574909865 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006141086865211522, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037907996138835276, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31287463413329497, + 0.22371996136064298, + 0.7611062661735903 + ], + "target_position": [ + 0.3086106067039886, + 0.222032290666081, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004585865489867803, + "xy_threshold": 0.08, + "gripper_dist": 0.21810628288451822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062661735903, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589305726733822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859889298072302, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18747972495237353, + "release_required_pad_clearance": 0.052994464903615104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0225801312326426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "297aad9cd3d651621c32f70dabfde27f3668eed6df811296d45270037e181fac", + "visual_seed": 6182183226748707276, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..14eae0b0a08d974cb779959390163bb647501afc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_34_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32972844939062673, + 0.2305989917531189, + 1.0035178528604123 + ], + "current_z": 1.0035178528604123, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14241146405493588, + "gripper_z": 1.0033784747284997, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3248315682430263, + 0.22592379009737162, + 1.0033784747284997 + ], + "object_minus_gripper": [ + 0.0048968811476004515, + 0.00467520165574728, + 0.00013937813191255977 + ], + "object_to_gripper_xy": 0.006770299512992525, + "object_to_gripper_z": 0.00013937813191255977, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32972844939062673, + 0.20613221696044418, + 1.0035178528604123 + ], + "finger_b": [ + 0.31834613054362226, + 0.2305989917531189, + 1.0035178528604123 + ], + "finger_midpoint": [ + 0.3240372899671245, + 0.21836560435678154, + 1.0035178528604123 + ], + "object_minus_finger_midpoint": [ + 0.0056911594235022345, + 0.012233387396337364, + 0.0 + ], + "finger_gap": 0.026984815194667104, + "fingertip_max_gap": 0.09108999232694512, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013492407597333552, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035178528604123, + "object_top_z": 1.0534314441695358, + "finger_top_clearance": 0.04991359130912354, + "fingertip_min_top_clearance": 0.014974077392737078, + "object_projection_between_fingers": 0.8220808898059493, + "object_to_finger_line_xy": 0.010320197853462101, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804499616347256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9827467374350958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32863880312506594, + 0.03907904666536309, + 0.7701463897966117 + ], + "gripper_position": [ + 0.32951238155015583, + 0.027488975007462058, + 1.0285466757838932 + ], + "target_minus_gripper": [ + -0.0008735784250898937, + 0.011590071657901033, + -0.2584002859872816 + ], + "held_position": [ + 0.3343604688058476, + 0.03221315621210949, + 1.0286443409881394 + ], + "held_minus_target": [ + 0.00572166568078164, + -0.006865890453253601, + 0.25849795119152774 + ], + "held_minus_gripper": [ + 0.0048480872556917465, + 0.004724181204647432, + 9.766520424614455e-05 + ], + "xy_dist": 0.011622947143477136, + "held_xy_dist": 0.008937444258775176, + "held_gripper_dist": 0.0067698874868985254, + "max_held_gripper_dist": 0.006772931521930027, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0286443409881394, + "required_height": 0.8001463897966117, + "gripper_z": 1.0285466757838932, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24750890425797, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0132316922068034, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8907336422341983, + "max_source_tilt_deg": 89.84942038410905, + "source_upright_tilt_deg": 2.2230144575392425, + "max_source_upright_tilt_deg": 89.77551523477088, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8907336422341983, + "source_upright_return_tilt_deg": 2.2230144575392425, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.5503653918716917e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3286, + 0.0391, + 0.7701 + ], + "controller_target_position": [ + 0.3286, + 0.0391, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0004, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.327, + 0.0143, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016597759119248514, + 0.00038333078912855447, + -0.0010172262500381085 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.223004140543875, + "source_return_step_error_deg": 1.890738365300473, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.215317996479556, + "source_return_best_wrist_position": -1.610168218612671, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610168218612671 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3286, + 0.0391, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3286, + 0.0391, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0004, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.327, + 0.0143, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016597759119248514, + 0.00038333078912855447, + -0.0010172262500381085 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.223004140543875, + "pour_controller_source_return_step_error_deg": 1.890738365300473, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.215317996479556, + "pour_controller_source_return_best_wrist_position": -1.610168218612671, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610168218612671, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011622947143477136, + "valid_pour_held_xy_dist": 0.008937444258775176, + "valid_pour_held_gripper_dist": 0.0067698874868985254, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0286443409881394, + "valid_pour_source_tilt_deg": 1.8907336422341983, + "valid_pour_source_upright_tilt_deg": 2.2230144575392425, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3343604688058476, + 0.00833197342718157, + 1.0286443409881394 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3229183840229667, + 0.03221315621210949, + 1.0286443409881394 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32863942641440713, + 0.020272564819645532, + 1.0286443409881394 + ], + "valid_pour_held_grasp_object_position": [ + 0.3343604688058476, + 0.03221315621210949, + 1.0286443409881394 + ], + "valid_pour_held_grasp_finger_gap": 0.02648078917603801, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024172854058239386, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027061824166727314, + -0.9992474236579696, + 0.027789278250421427 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006051067917923506, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037943466727470475, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3343604688058476, + 0.00833197342718157, + 1.0286443409881394 + ], + "held_grasp_finger_b": [ + 0.3229183840229667, + 0.03221315621210949, + 1.0286443409881394 + ], + "held_grasp_midpoint": [ + 0.32863942641440713, + 0.020272564819645532, + 1.0286443409881394 + ], + "held_grasp_object_position": [ + 0.3343604688058476, + 0.03221315621210949, + 1.0286443409881394 + ], + "held_grasp_finger_gap": 0.02648078917603801, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024172854058239386, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027061824166727314, + -0.9992474236579696, + 0.027789278250421427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006051067917923506, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037943466727470475, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.299907923156767, + 0.2234017257589972, + 0.7611104733712273 + ], + "target_position": [ + 0.30584354760068583, + 0.22566596429345623, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006352827219449289, + "xy_threshold": 0.08, + "gripper_dist": 0.21201646071774724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611104733712273, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551811371171502, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576686347472294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18211246482819113, + "release_required_pad_clearance": 0.05288343173736147, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7902215755493796, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "21d85c7b00f318ccbdd95eab4412fcb89001578ca05dc911fd0cb28842d0bcdd", + "visual_seed": 8878689070872229998, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..206714352ab7f0aba5dc4a1dc6f9d04984f38ecf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_35_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33606953156024494, + 0.21953720971292198, + 1.0033511988436146 + ], + "current_z": 1.0033511988436146, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14224463122420372, + "gripper_z": 1.0033143167383003, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33070311532103613, + 0.2146730336109952, + 1.0033143167383003 + ], + "object_minus_gripper": [ + 0.005366416239208804, + 0.00486417610192677, + 3.688210531427316e-05 + ], + "object_to_gripper_xy": 0.007242833175146276, + "object_to_gripper_z": 3.688210531427316e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33606953156024494, + 0.19466168595829694, + 1.0033511988436146 + ], + "finger_b": [ + 0.32449468659027314, + 0.21953720971292198, + 1.0033511988436146 + ], + "finger_midpoint": [ + 0.330282109075259, + 0.20709944783560946, + 1.0033511988436146 + ], + "object_minus_finger_midpoint": [ + 0.005787422484985927, + 0.01243776187731252, + 0.0 + ], + "finger_gap": 0.027436630954725403, + "fingertip_max_gap": 0.09143917726172349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013718315477362712, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033511988436146, + "object_top_z": 1.053289207581289, + "finger_top_clearance": 0.0499380087376744, + "fingertip_min_top_clearance": 0.014981402621302303, + "object_projection_between_fingers": 0.82202098353809, + "object_to_finger_line_xy": 0.010494376349697035, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048219588630861746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9682343724912285, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.329901318908376, + 0.040390155135326164, + 0.7701463897966118 + ], + "gripper_position": [ + 0.332941627563318, + 0.027249998276170015, + 1.02947869161679 + ], + "target_minus_gripper": [ + -0.0030403086549420366, + 0.013140156859156149, + -0.2593323018201782 + ], + "held_position": [ + 0.3383424267372222, + 0.032073286731574065, + 1.029471972103942 + ], + "held_minus_target": [ + 0.008441107828846217, + -0.0083168684037521, + 0.25932558230733027 + ], + "held_minus_gripper": [ + 0.0054007991739041805, + 0.00482328845540405, + -6.719512847919162e-06 + ], + "xy_dist": 0.01348729769081056, + "held_xy_dist": 0.011850004279473442, + "held_gripper_dist": 0.00724104884617767, + "max_held_gripper_dist": 0.007244083098923909, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.029471972103942, + "required_height": 0.8001463897966118, + "gripper_z": 1.02947869161679, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21718286434312, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5414832643249958, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9346312200846643, + "max_source_tilt_deg": 89.83660359092451, + "source_upright_tilt_deg": 1.7937188584476345, + "max_source_upright_tilt_deg": 89.89287004596636, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9346312200846643, + "source_upright_return_tilt_deg": 1.7937188584476345, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1548399925231934e-07, + "max_target_xy_drift": 2.2351741790771484e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3299, + 0.0404, + 0.7701 + ], + "controller_target_position": [ + 0.3299, + 0.0404, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0009, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3304, + 0.0143, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00048425604932674036, + -0.0009043196777695855, + 0.0004324349160276979 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7937395304249046, + "source_return_step_error_deg": 1.9346461123392764, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.919486457716417, + "source_return_best_wrist_position": -1.6073863506317139, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6073863506317139 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3299, + 0.0404, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3299, + 0.0404, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0009, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3304, + 0.0143, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00048425604932674036, + -0.0009043196777695855, + 0.0004324349160276979 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7937395304249046, + "pour_controller_source_return_step_error_deg": 1.9346461123392764, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.919486457716417, + "pour_controller_source_return_best_wrist_position": -1.6073863506317139, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6073863506317139, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01348729769081056, + "valid_pour_held_xy_dist": 0.011850004279473442, + "valid_pour_held_gripper_dist": 0.00724104884617767, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.029471972103942, + "valid_pour_source_tilt_deg": 1.9346312200846643, + "valid_pour_source_upright_tilt_deg": 1.7937188584476345, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1548399925231934e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3383424267372222, + 0.0074895201253640485, + 1.029471972103942 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32706713690325895, + 0.032073286731574065, + 1.029471972103942 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33270478182024055, + 0.019781403428469055, + 1.029471972103942 + ], + "valid_pour_held_grasp_object_position": [ + 0.3383424267372222, + 0.032073286731574065, + 1.029471972103942 + ], + "valid_pour_held_grasp_finger_gap": 0.02704614097035808, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024683498246946704, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.009913496448325917, + -0.9995100057212913, + 0.02968957815789086 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005770721839989791, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03749027849234455, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3383424267372222, + 0.0074895201253640485, + 1.029471972103942 + ], + "held_grasp_finger_b": [ + 0.32706713690325895, + 0.032073286731574065, + 1.029471972103942 + ], + "held_grasp_midpoint": [ + 0.33270478182024055, + 0.019781403428469055, + 1.029471972103942 + ], + "held_grasp_object_position": [ + 0.3383424267372222, + 0.032073286731574065, + 1.029471972103942 + ], + "held_grasp_finger_gap": 0.02704614097035808, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024683498246946704, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.009913496448325917, + -0.9995100057212913, + 0.02968957815789086 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005770721839989791, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03749027849234455, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3082942706068158, + 0.21917615182590813, + 0.761106836628318 + ], + "target_position": [ + 0.3115796865636257, + 0.21812322599402142, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00345001606035618, + "xy_threshold": 0.08, + "gripper_dist": 0.21267243301466884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106836628318, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566809800082741, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544802553225848, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18303102034580496, + "release_required_pad_clearance": 0.052724012766129244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.500458374588003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0217aad422042e95e9da91fe14b9fd38d027baa844eb85d67a4e9895472e38ff", + "visual_seed": 226374356933077344, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d87117fd416885eaac3111f05b76c8105709a6c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_36_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33372011424790726, + 0.22069391055336549, + 1.0041031279593629 + ], + "current_z": 1.0041031279593629, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1429966199445969, + "gripper_z": 1.0037323196946628, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3286670332177306, + 0.2159502193653008, + 1.0037323196946628 + ], + "object_minus_gripper": [ + 0.005053081030176654, + 0.004743691188064697, + 0.0003708082647000399 + ], + "object_to_gripper_xy": 0.006930817699611916, + "object_to_gripper_z": 0.0003708082647000399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33372011424790726, + 0.19604310519156873, + 1.0041031279593629 + ], + "finger_b": [ + 0.3223372744764105, + 0.22069391055336549, + 1.0041031279593629 + ], + "finger_midpoint": [ + 0.32802869436215887, + 0.2083685078724671, + 1.0041031279593629 + ], + "object_minus_finger_midpoint": [ + 0.005691419885748394, + 0.012325402680898379, + 0.0 + ], + "finger_gap": 0.027152002619489357, + "fingertip_max_gap": 0.09132869722945317, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013576001309744679, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041031279593629, + "object_top_z": 1.0539615653784635, + "finger_top_clearance": 0.049858437419100676, + "fingertip_min_top_clearance": 0.014957531225730201, + "object_projection_between_fingers": 0.8242491186817523, + "object_to_finger_line_xy": 0.010334271530685493, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048164348614726585, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2775225565355979, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33750415957037844, + 0.032212457476787346, + 0.7701463897966119 + ], + "gripper_position": [ + 0.34001592660559865, + 0.02181314262092833, + 1.0277417950379304 + ], + "target_minus_gripper": [ + -0.0025117670352202137, + 0.010399314855859015, + -0.2575954052413185 + ], + "held_position": [ + 0.3451042585031547, + 0.026522502705984267, + 1.0280687914772177 + ], + "held_minus_target": [ + 0.007600098932776245, + -0.005689954770803078, + 0.2579224016806059 + ], + "held_minus_gripper": [ + 0.005088331897556031, + 0.004709360085055937, + 0.00032699643928735256 + ], + "xy_dist": 0.01069835142021933, + "held_xy_dist": 0.009494055460222008, + "held_gripper_dist": 0.00694090200058399, + "max_held_gripper_dist": 0.006943847352203536, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0280687914772177, + "required_height": 0.8001463897966119, + "gripper_z": 1.0277417950379304, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23433346934902, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.686606924210459, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9917505133495956, + "max_source_tilt_deg": 89.82703657012934, + "source_upright_tilt_deg": 1.8027636243732992, + "max_source_upright_tilt_deg": 89.85012873225169, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9917505133495956, + "source_upright_return_tilt_deg": 1.8027636243732992, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993507385254e-08, + "max_target_xy_drift": 2.0489096641540527e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3375, + 0.0322, + 0.7701 + ], + "controller_target_position": [ + 0.3375, + 0.0322, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + 0.0012, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3387, + 0.0082, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011558020633640337, + 0.0011763262493028658, + -0.0018091571369665375 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8027807427620122, + "source_return_step_error_deg": 1.9917420084683182, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.98350927526758, + "source_return_best_wrist_position": -1.6095651388168335, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095651388168335 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3375, + 0.0322, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3375, + 0.0322, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + 0.0012, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3387, + 0.0082, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011558020633640337, + 0.0011763262493028658, + -0.0018091571369665375 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8027807427620122, + "pour_controller_source_return_step_error_deg": 1.9917420084683182, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.98350927526758, + "pour_controller_source_return_best_wrist_position": -1.6095651388168335, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095651388168335, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01069835142021933, + "valid_pour_held_xy_dist": 0.009494055460222008, + "valid_pour_held_gripper_dist": 0.00694090200058399, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0280687914772177, + "valid_pour_source_tilt_deg": 1.9917505133495956, + "valid_pour_source_upright_tilt_deg": 1.8027636243732992, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993507385254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3451042585031547, + 0.0021619615947449196, + 1.0280687914772177 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3340715982441783, + 0.026522502705984267, + 1.0280687914772177 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33958792837366647, + 0.014342232150364594, + 1.0280687914772177 + ], + "valid_pour_held_grasp_object_position": [ + 0.3451042585031547, + 0.026522502705984267, + 1.0280687914772177 + ], + "valid_pour_held_grasp_finger_gap": 0.02674239248127173, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024504227568204247, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014116601421928688, + -0.9995050516127879, + 0.028113579722489623 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056979574329542254, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03762387995349246, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3451042585031547, + 0.0021619615947449196, + 1.0280687914772177 + ], + "held_grasp_finger_b": [ + 0.3340715982441783, + 0.026522502705984267, + 1.0280687914772177 + ], + "held_grasp_midpoint": [ + 0.33958792837366647, + 0.014342232150364594, + 1.0280687914772177 + ], + "held_grasp_object_position": [ + 0.3451042585031547, + 0.026522502705984267, + 1.0280687914772177 + ], + "held_grasp_finger_gap": 0.02674239248127173, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024504227568204247, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014116601421928688, + -0.9995050516127879, + 0.028113579722489623 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056979574329542254, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03762387995349246, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29603954767943663, + 0.22115691987107047, + 0.7611067850089055 + ], + "target_position": [ + 0.30968259006224036, + 0.21658527352094542, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014388625918050358, + "xy_threshold": 0.08, + "gripper_dist": 0.20614669918320971, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067850089055, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554038133585701, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0891421987666378, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782926422381728, + "release_required_pad_clearance": 0.0545710993833189, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.178194405013958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "376cd6bc8cf54f1a396d659584d74b78edd34bc967493576d2b904938e7e4590", + "visual_seed": 1617171766926034626, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26864bdb5a3d02cfa229154da68599705453f7f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_38_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3302465652266612, + 0.22833326925145517, + 1.005469998006243 + ], + "current_z": 1.005469998006243, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14436331117754264, + "gripper_z": 1.0052135744197939, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3250795998624364, + 0.22355175047662618, + 1.0052135744197939 + ], + "object_minus_gripper": [ + 0.005166965364224785, + 0.004781518774828991, + 0.0002564235864490616 + ], + "object_to_gripper_xy": 0.007039918527166397, + "object_to_gripper_z": 0.0002564235864490616, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3302465652266612, + 0.2035968011111013, + 1.005469998006243 + ], + "finger_b": [ + 0.3188144022076933, + 0.22833326925145517, + 1.005469998006243 + ], + "finger_midpoint": [ + 0.32453048371717724, + 0.21596503518127824, + 1.005469998006243 + ], + "object_minus_finger_midpoint": [ + 0.005716081509483939, + 0.012368234070176926, + 0.0 + ], + "finger_gap": 0.027250453342118904, + "fingertip_max_gap": 0.09117170425927892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013625226671059438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005469998006243, + "object_top_z": 1.055323529273348, + "finger_top_clearance": 0.04985353126710512, + "fingertip_min_top_clearance": 0.014956059380131536, + "object_projection_between_fingers": 0.824001342874627, + "object_to_finger_line_xy": 0.010377491073036278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048085852129639464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1695622183169403, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33144352948729444, + 0.039038902937106865, + 0.7701465090059013 + ], + "gripper_position": [ + 0.33247070730218364, + 0.0280729436993767, + 1.0307698473174678 + ], + "target_minus_gripper": [ + -0.001027177814889202, + 0.010965959237730166, + -0.2606233383115665 + ], + "held_position": [ + 0.3375949446215569, + 0.032900726749797146, + 1.0309849494361476 + ], + "held_minus_target": [ + 0.006151415134262483, + -0.0061381761873097185, + 0.2608384404302463 + ], + "held_minus_gripper": [ + 0.0051242373193732815, + 0.004827783050420448, + 0.00021510211867981077 + ], + "xy_dist": 0.011013961878768245, + "held_xy_dist": 0.008690058403744453, + "held_gripper_dist": 0.007043547842433199, + "max_held_gripper_dist": 0.007047217977493726, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0309849494361476, + "required_height": 0.8001465090059013, + "gripper_z": 1.0307698473174678, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22846633685198, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6515678651097065, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8032340812174885, + "max_source_tilt_deg": 89.9010166889719, + "source_upright_tilt_deg": 2.304858556987268, + "max_source_upright_tilt_deg": 89.88513608988578, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8032340812174885, + "source_upright_return_tilt_deg": 2.304858556987268, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0719530773294423e-08, + "max_target_xy_drift": 1.1372817696983924e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3314, + 0.039, + 0.7701 + ], + "controller_target_position": [ + 0.3314, + 0.039, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0013, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3302, + 0.0152, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011958236448522755, + 0.001342032528386476, + 0.0018946558559913129 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.304846900534342, + "source_return_step_error_deg": 1.8032180730459741, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2977071074704227, + "source_return_best_wrist_position": -1.6096121072769165, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096121072769165 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3314, + 0.039, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3314, + 0.039, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0013, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3302, + 0.0152, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011958236448522755, + 0.001342032528386476, + 0.0018946558559913129 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.304846900534342, + "pour_controller_source_return_step_error_deg": 1.8032180730459741, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2977071074704227, + "pour_controller_source_return_best_wrist_position": -1.6096121072769165, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096121072769165, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011013961878768245, + "valid_pour_held_xy_dist": 0.008690058403744453, + "valid_pour_held_gripper_dist": 0.007043547842433199, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0309849494361476, + "valid_pour_source_tilt_deg": 1.8032340812174885, + "valid_pour_source_upright_tilt_deg": 2.304858556987268, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0719530773294423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3375949446215569, + 0.008713684903274115, + 1.0309849494361476 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32614005895286435, + 0.032900726749797146, + 1.0309849494361476 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33186750178721064, + 0.02080720582653563, + 1.0309849494361476 + ], + "valid_pour_held_grasp_object_position": [ + 0.3375949446215569, + 0.032900726749797146, + 1.0309849494361476 + ], + "valid_pour_held_grasp_finger_gap": 0.026762425132417927, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0244970351554492, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02877031984973457, + -0.9991909959172179, + 0.028100220171776262 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006082377600393151, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037801293216900886, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3375949446215569, + 0.008713684903274115, + 1.0309849494361476 + ], + "held_grasp_finger_b": [ + 0.32614005895286435, + 0.032900726749797146, + 1.0309849494361476 + ], + "held_grasp_midpoint": [ + 0.33186750178721064, + 0.02080720582653563, + 1.0309849494361476 + ], + "held_grasp_object_position": [ + 0.3375949446215569, + 0.032900726749797146, + 1.0309849494361476 + ], + "held_grasp_finger_gap": 0.026762425132417927, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0244970351554492, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02877031984973457, + -0.9991909959172179, + 0.028100220171776262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006082377600393151, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037801293216900886, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2925363339710153, + 0.22350957927071077, + 0.7611065324515455 + ], + "target_position": [ + 0.3060811376413237, + 0.22363864084546084, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01354541853754535, + "xy_threshold": 0.08, + "gripper_dist": 0.206402640094744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065324515455, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546430424307678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500699405438654, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780798908320484, + "release_required_pad_clearance": 0.05250349702719327, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912933171040853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58b65b042f715528367c1c0bd2496f6c06dc81a827116d4864803bd69fa7c944", + "visual_seed": 2006238963129146765, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4e87d633de1b607c098a18b73c377655dfc3bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_39_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33413764256716905, + 0.2231538331558056, + 1.004274233104919 + ], + "current_z": 1.004274233104919, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.1431676058808633, + "gripper_z": 1.0040206420378723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3290967893824496, + 0.21822546787457667, + 1.0040206420378723 + ], + "object_minus_gripper": [ + 0.005040853184719474, + 0.004928365281228919, + 0.000253591067046699 + ], + "object_to_gripper_xy": 0.007049750717232423, + "object_to_gripper_z": 0.000253591067046699, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33413764256716905, + 0.19887737480253828, + 1.004274233104919 + ], + "finger_b": [ + 0.32200374139333243, + 0.2231538331558056, + 1.004274233104919 + ], + "finger_midpoint": [ + 0.32807069198025074, + 0.21101560397917193, + 1.004274233104919 + ], + "object_minus_finger_midpoint": [ + 0.006066950586918307, + 0.012138229176633653, + 0.0 + ], + "finger_gap": 0.027139970299806068, + "fingertip_max_gap": 0.09170265694494892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013569985149903034, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004274233104919, + "object_top_z": 1.0542980100363954, + "finger_top_clearance": 0.050023776931476416, + "fingertip_min_top_clearance": 0.01500713307944289, + "object_projection_between_fingers": 0.8001140950175284, + "object_to_finger_line_xy": 0.010853665028196824, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835132847247446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1499328068550683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3317902795082753, + 0.039072881309919136, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3338517798907207, + 0.02642609012059631, + 1.0292879909140726 + ], + "target_minus_gripper": [ + -0.0020615003824454026, + 0.012646791189322826, + -0.2591415415128163 + ], + "held_position": [ + 0.33894541874537126, + 0.031300670910322376, + 1.0294867490615736 + ], + "held_minus_target": [ + 0.0071551392370959865, + -0.00777221039959676, + 0.25934029966031724 + ], + "held_minus_gripper": [ + 0.005093638854650584, + 0.004874580789726066, + 0.00019875814750092147 + ], + "xy_dist": 0.012813707941620801, + "held_xy_dist": 0.010564244980017765, + "held_gripper_dist": 0.007053098571434438, + "max_held_gripper_dist": 0.00705619769206671, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0294867490615736, + "required_height": 0.8001464494012563, + "gripper_z": 1.0292879909140726, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23459301653747, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.14664836032104478, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0105601798941266, + "max_source_tilt_deg": 89.91553752538664, + "source_upright_tilt_deg": 2.87918707612404, + "max_source_upright_tilt_deg": 89.86860396711072, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0105601798941266, + "source_upright_return_tilt_deg": 2.87918707612404, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.3181422660465637e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3318, + 0.0391, + 0.7701 + ], + "controller_target_position": [ + 0.3318, + 0.0391, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0006, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3313, + 0.0133, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004725206255029261, + -0.0006139915255638938, + 0.00017574052650821612 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.879174530275338, + "source_return_step_error_deg": 3.0105474719218965, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0027304110146567, + "source_return_best_wrist_position": -1.6336660385131836, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6336660385131836 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3318, + 0.0391, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3318, + 0.0391, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0006, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3313, + 0.0133, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004725206255029261, + -0.0006139915255638938, + 0.00017574052650821612 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.879174530275338, + "pour_controller_source_return_step_error_deg": 3.0105474719218965, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0027304110146567, + "pour_controller_source_return_best_wrist_position": -1.6336660385131836, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6336660385131836, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012813707941620801, + "valid_pour_held_xy_dist": 0.010564244980017765, + "valid_pour_held_gripper_dist": 0.007053098571434438, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0294867490615736, + "valid_pour_source_tilt_deg": 3.0105601798941266, + "valid_pour_source_upright_tilt_deg": 2.87918707612404, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33894541874537126, + 0.007562976910114688, + 1.0294867490615736 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3274183593605126, + 0.031300670910322376, + 1.0294867490615736 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33318188905294194, + 0.019431823910218533, + 1.0294867490615736 + ], + "valid_pour_held_grasp_object_position": [ + 0.33894541874537126, + 0.031300670910322376, + 1.0294867490615736 + ], + "valid_pour_held_grasp_finger_gap": 0.026388467452839206, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02380395717876579, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00834798192338529, + -0.9987376825728639, + 0.04953132954799822 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005891693234773223, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037914499164086755, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33894541874537126, + 0.007562976910114688, + 1.0294867490615736 + ], + "held_grasp_finger_b": [ + 0.3274183593605126, + 0.031300670910322376, + 1.0294867490615736 + ], + "held_grasp_midpoint": [ + 0.33318188905294194, + 0.019431823910218533, + 1.0294867490615736 + ], + "held_grasp_object_position": [ + 0.33894541874537126, + 0.031300670910322376, + 1.0294867490615736 + ], + "held_grasp_finger_gap": 0.026388467452839206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02380395717876579, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00834798192338529, + -0.9987376825728639, + 0.04953132954799822 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005891693234773223, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037914499164086755, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30932968285057844, + 0.2233974165649836, + 0.761106288944645 + ], + "target_position": [ + 0.3099526863130333, + 0.2218331459290741, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0016837683737971367, + "xy_threshold": 0.08, + "gripper_dist": 0.21541294034020803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106288944645, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754285965444017, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562193123943683, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1861142870895155, + "release_required_pad_clearance": 0.05281096561971842, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6679296480515671, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0809fbf01173dc67fcaa93071dbb015904a121ad717346fd2946f8223847472", + "visual_seed": 7470528600327430761, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb3c5e6538947d44102120f30f51b6912c677ec3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_3_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33039031918503703, + 0.21981939563946434, + 1.0024714814676705 + ], + "current_z": 1.0024714814676705, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14136503305754933, + "gripper_z": 1.0024984799874652, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3255027859939923, + 0.21501056684689174, + 1.0024984799874652 + ], + "object_minus_gripper": [ + 0.004887533191044735, + 0.004808828792572606, + -2.6998519794707576e-05 + ], + "object_to_gripper_xy": 0.0068565891702682055, + "object_to_gripper_z": -2.6998519794707576e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33039031918503703, + 0.19558917603319778, + 1.0024714814676705 + ], + "finger_b": [ + 0.3185210084153939, + 0.21981939563946434, + 1.0024714814676705 + ], + "finger_midpoint": [ + 0.32445566380021545, + 0.20770428583633105, + 1.0024714814676705 + ], + "object_minus_finger_midpoint": [ + 0.005934655384821574, + 0.012115109803133295, + 0.0 + ], + "finger_gap": 0.026981180113447065, + "fingertip_max_gap": 0.0914339323024149, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013490590056723544, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024714814676705, + "object_top_z": 1.052421667328356, + "finger_top_clearance": 0.04995018586068545, + "fingertip_min_top_clearance": 0.0149850557582056, + "object_projection_between_fingers": 0.8064785454023271, + "object_to_finger_line_xy": 0.010659133711506737, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821696615120745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3119825197774606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3363960198170369, + 0.03573995721214272, + 0.7701465090059014 + ], + "gripper_position": [ + 0.3372906240338966, + 0.022610854978477965, + 1.0282167769894364 + ], + "target_minus_gripper": [ + -0.0008946042168597179, + 0.013129102233664758, + -0.25807026798353494 + ], + "held_position": [ + 0.3422647605179731, + 0.027326553516512447, + 1.0281484431446355 + ], + "held_minus_target": [ + 0.005868740700936237, + -0.008413403695630275, + 0.25800193413873407 + ], + "held_minus_gripper": [ + 0.004974136484076519, + 0.004715698538034482, + -6.83338448008719e-05 + ], + "xy_dist": 0.01315954566718943, + "held_xy_dist": 0.010258044607061851, + "held_gripper_dist": 0.006854525219020421, + "max_held_gripper_dist": 0.006857366683416643, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.0281484431446355, + "required_height": 0.8001465090059015, + "gripper_z": 1.0282167769894364, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2423111302996, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4297364023325141, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7759253225326483, + "max_source_tilt_deg": 89.94416034105865, + "source_upright_tilt_deg": 1.5280750787282311, + "max_source_upright_tilt_deg": 89.67829446007404, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7759253225326483, + "source_upright_return_tilt_deg": 1.5280750787282311, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425057343598e-08, + "max_target_xy_drift": 1.4919776018337002e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3364, + 0.0357, + 0.7701 + ], + "controller_target_position": [ + 0.3364, + 0.0357, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0012, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3354, + 0.0093, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009730680363561088, + -0.0012028683413594279, + -0.0013332383880573723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5280711105240465, + "source_return_step_error_deg": 1.7759186852131572, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7696159221681562, + "source_return_best_wrist_position": -1.6097160577774048, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097160577774048 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3364, + 0.0357, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3364, + 0.0357, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0012, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3354, + 0.0093, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009730680363561088, + -0.0012028683413594279, + -0.0013332383880573723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5280711105240465, + "pour_controller_source_return_step_error_deg": 1.7759186852131572, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7696159221681562, + "pour_controller_source_return_best_wrist_position": -1.6097160577774048, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097160577774048, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01315954566718943, + "valid_pour_held_xy_dist": 0.010258044607061851, + "valid_pour_held_gripper_dist": 0.006854525219020421, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.0281484431446355, + "valid_pour_source_tilt_deg": 1.7759253225326483, + "valid_pour_source_upright_tilt_deg": 1.5280750787282311, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425057343598e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3422647605179731, + 0.0032388767924477683, + 1.0281484431446355 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3309712798682537, + 0.027326553516512447, + 1.0281484431446355 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3366180201931134, + 0.015282715154480108, + 1.0281484431446355 + ], + "valid_pour_held_grasp_object_position": [ + 0.3422647605179731, + 0.027326553516512447, + 1.0281484431446355 + ], + "valid_pour_held_grasp_finger_gap": 0.026603737992031008, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02413320417934194, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.004789789061994949, + -0.999644385180491, + 0.026232824816624478 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005713086165077425, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03770774137051197, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3422647605179731, + 0.0032388767924477683, + 1.0281484431446355 + ], + "held_grasp_finger_b": [ + 0.3309712798682537, + 0.027326553516512447, + 1.0281484431446355 + ], + "held_grasp_midpoint": [ + 0.3366180201931134, + 0.015282715154480108, + 1.0281484431446355 + ], + "held_grasp_object_position": [ + 0.3422647605179731, + 0.027326553516512447, + 1.0281484431446355 + ], + "held_grasp_finger_gap": 0.026603737992031008, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02413320417934194, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004789789061994949, + -0.999644385180491, + 0.026232824816624478 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005713086165077425, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03770774137051197, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3071967499380043, + 0.21929193202987682, + 0.7611063930783806 + ], + "target_position": [ + 0.3064603429439008, + 0.2181338447151615, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0013723926149134791, + "xy_threshold": 0.08, + "gripper_dist": 0.2155488845568378, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063930783806, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570564119820039, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08933463777369176, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18531401236087303, + "release_required_pad_clearance": 0.05466731888684588, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.377665119378434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "56103ae7037a52fb0b1b6aa60aa55493d7dfdf4c7f937260a9c81e192225c7a9", + "visual_seed": 3178564220823586033, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa38993a776e6c7377657dae26f7bd02350ceb1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_40_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3342338028727921, + 0.2225045819829299, + 1.001749095351704 + ], + "current_z": 1.001749095351704, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.1406424085230037, + "gripper_z": 1.0016518478365988, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3290244206117988, + 0.21766037879590283, + 1.0016518478365988 + ], + "object_minus_gripper": [ + 0.005209382260993267, + 0.00484420318702708, + 9.724751510531426e-05 + ], + "object_to_gripper_xy": 0.00711364660763765, + "object_to_gripper_z": 9.724751510531426e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3342338028727921, + 0.19780548365783315, + 1.001749095351704 + ], + "finger_b": [ + 0.32262128792960876, + 0.2225045819829299, + 1.001749095351704 + ], + "finger_midpoint": [ + 0.32842754540120045, + 0.21015503282038153, + 1.001749095351704 + ], + "object_minus_finger_midpoint": [ + 0.005806257471591636, + 0.012349549162548379, + 0.0 + ], + "finger_gap": 0.027292782221284322, + "fingertip_max_gap": 0.09118104702917226, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013646391110642149, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001749095351704, + "object_top_z": 1.051593627284376, + "finger_top_clearance": 0.04984453193267191, + "fingertip_min_top_clearance": 0.014953359579801588, + "object_projection_between_fingers": 0.8189673319531617, + "object_to_finger_line_xy": 0.010508956033059336, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048090523514586134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1256302535800764, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33746374762122083, + 0.032471469460658806, + 0.7701465090059015 + ], + "gripper_position": [ + 0.33956586622394697, + 0.019158533617200574, + 1.0283276514164967 + ], + "target_minus_gripper": [ + -0.002102118602726133, + 0.013312935843458232, + -0.2581811424105952 + ], + "held_position": [ + 0.3447103217420163, + 0.02407102570921313, + 1.0283848680027585 + ], + "held_minus_target": [ + 0.00724657412079549, + -0.008400443751445677, + 0.258238358996857 + ], + "held_minus_gripper": [ + 0.005144455518069357, + 0.004912492092012555, + 5.721658626178794e-05 + ], + "xy_dist": 0.013477876813206233, + "held_xy_dist": 0.011094155745679148, + "held_gripper_dist": 0.007113457307752933, + "max_held_gripper_dist": 0.007116160577058642, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059015, + "held_z": 1.0283848680027585, + "required_height": 0.8001465090059016, + "gripper_z": 1.0283276514164967, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24416894175384, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.360879605543902, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.868505067742234, + "max_source_tilt_deg": 89.81967100005228, + "source_upright_tilt_deg": 2.50117013656099, + "max_source_upright_tilt_deg": 89.98964135198902, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.868505067742234, + "source_upright_return_tilt_deg": 2.50117013656099, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1548399925231934e-07, + "max_target_xy_drift": 1.2293457984924316e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3375, + 0.0325, + 0.7701 + ], + "controller_target_position": [ + 0.3375, + 0.0325, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0016, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3378, + 0.0057, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003191152903523303, + -0.0015710419096758197, + -0.0011240169409890987 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5011703149230313, + "source_return_step_error_deg": 1.8685117929768074, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4964073711665358, + "source_return_best_wrist_position": -1.6097502708435059, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097502708435059 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3375, + 0.0325, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3375, + 0.0325, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0016, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3378, + 0.0057, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003191152903523303, + -0.0015710419096758197, + -0.0011240169409890987 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5011703149230313, + "pour_controller_source_return_step_error_deg": 1.8685117929768074, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4964073711665358, + "pour_controller_source_return_best_wrist_position": -1.6097502708435059, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097502708435059, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013477876813206233, + "valid_pour_held_xy_dist": 0.011094155745679148, + "valid_pour_held_gripper_dist": 0.007113457307752933, + "valid_pour_required_height": 0.8001465090059016, + "valid_pour_held_z": 1.0283848680027585, + "valid_pour_source_tilt_deg": 1.868505067742234, + "valid_pour_source_upright_tilt_deg": 2.50117013656099, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1548399925231934e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3447103217420163, + -4.0907087692419103e-07, + 1.0283848680027585 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3329579572407098, + 0.02407102570921313, + 1.0283848680027585 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3388341394913631, + 0.012035308319168101, + 1.0283848680027585 + ], + "valid_pour_held_grasp_object_position": [ + 0.3447103217420163, + 0.02407102570921313, + 1.0283848680027585 + ], + "valid_pour_held_grasp_finger_gap": 0.02678716192028746, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02443779536950307, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.033124613166979414, + -0.9990473381125967, + 0.028410846743327944 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006280800328699363, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037890644913246646, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3447103217420163, + -4.0907087692419103e-07, + 1.0283848680027585 + ], + "held_grasp_finger_b": [ + 0.3329579572407098, + 0.02407102570921313, + 1.0283848680027585 + ], + "held_grasp_midpoint": [ + 0.3388341394913631, + 0.012035308319168101, + 1.0283848680027585 + ], + "held_grasp_object_position": [ + 0.3447103217420163, + 0.02407102570921313, + 1.0283848680027585 + ], + "held_grasp_finger_gap": 0.02678716192028746, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02443779536950307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.033124613166979414, + -0.9990473381125967, + 0.028410846743327944 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006280800328699363, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037890644913246646, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3087020244085787, + 0.22123421484917574, + 0.7611076433346075 + ], + "target_position": [ + 0.3100216632480939, + 0.21998686467594125, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0018158549285185518, + "xy_threshold": 0.08, + "gripper_dist": 0.21498332742315787, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611076433346075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562872929837867, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636563302388937, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18506092961538612, + "release_required_pad_clearance": 0.05318281651194469, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3853352133331898, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b74e3d03a6d2f307e63ba99b136fa1dfc43d8f8ae4615fdd76aea656b819b4a3", + "visual_seed": 6066390422974830130, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5d5b1937e5f262f29b9347dc451aeb32f74af46e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_41_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3337319051938061, + 0.21943623051917363, + 1.0060466233464613 + ], + "current_z": 1.0060466233464613, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14494017493634015, + "gripper_z": 1.005395842298305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3285545494957741, + 0.21467572381240377, + 1.005395842298305 + ], + "object_minus_gripper": [ + 0.00517735569803196, + 0.0047605067067698625, + 0.0006507810481564125 + ], + "object_to_gripper_xy": 0.007033309045473891, + "object_to_gripper_z": 0.0006507810481564125, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3337319051938061, + 0.194676933703342, + 1.0060466233464613 + ], + "finger_b": [ + 0.3223369535774352, + 0.21943623051917363, + 1.0060466233464613 + ], + "finger_midpoint": [ + 0.32803442938562066, + 0.20705658211125783, + 1.0060466233464613 + ], + "object_minus_finger_midpoint": [ + 0.005697475808185415, + 0.012379648407915805, + 0.0 + ], + "finger_gap": 0.027255599445873212, + "fingertip_max_gap": 0.0916230242310738, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627799722936582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0060466233464613, + "object_top_z": 1.0559252683463527, + "finger_top_clearance": 0.049878644999891364, + "fingertip_min_top_clearance": 0.014963593499967408, + "object_projection_between_fingers": 0.8252112426778719, + "object_to_finger_line_xy": 0.010351303769049391, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483115121155369, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.275229761465149, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3328003696209614, + 0.036041545538835304, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3346552197297181, + 0.02243699694807208, + 1.0295915890455443 + ], + "target_minus_gripper": [ + -0.0018548501087567448, + 0.013604548590763224, + -0.2594451396442877 + ], + "held_position": [ + 0.3397437499473294, + 0.02729861765895832, + 1.030200459646517 + ], + "held_minus_target": [ + 0.006943380326368043, + -0.008742927879876985, + 0.26005401024526054 + ], + "held_minus_gripper": [ + 0.005088530217611298, + 0.004861620710886239, + 0.0006088706009728106 + ], + "xy_dist": 0.013730411912407892, + "held_xy_dist": 0.011164645908819727, + "held_gripper_dist": 0.007063937932965599, + "max_held_gripper_dist": 0.007069516745375958, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.030200459646517, + "required_height": 0.8001464494012566, + "gripper_z": 1.0295915890455443, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23345237494608, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8391728862926624, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7758761044476095, + "max_source_tilt_deg": 89.939546611834, + "source_upright_tilt_deg": 2.818441366658284, + "max_source_upright_tilt_deg": 89.88196231780964, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7758761044476095, + "source_upright_return_tilt_deg": 2.818441366658284, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0719530773294423e-08, + "max_target_xy_drift": 1.48311475197929e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3328, + 0.036, + 0.7701 + ], + "controller_target_position": [ + 0.3328, + 0.036, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0015, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3321, + 0.0093, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006628267078967473, + -0.001519776499635257, + 0.0005221956704502206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.818440737312439, + "source_return_step_error_deg": 1.7758189953625305, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8176311771112514, + "source_return_best_wrist_position": -1.6085668802261353, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085668802261353 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3328, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3328, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0015, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3321, + 0.0093, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006628267078967473, + -0.001519776499635257, + 0.0005221956704502206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.818440737312439, + "pour_controller_source_return_step_error_deg": 1.7758189953625305, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8176311771112514, + "pour_controller_source_return_best_wrist_position": -1.6085668802261353, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085668802261353, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013730411912407892, + "valid_pour_held_xy_dist": 0.011164645908819727, + "valid_pour_held_gripper_dist": 0.007063937932965599, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.030200459646517, + "valid_pour_source_tilt_deg": 1.7758761044476095, + "valid_pour_source_upright_tilt_deg": 2.818441366658284, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0719530773294423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3397437499473294, + 0.003187204715121321, + 1.030200459646517 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32812703781156605, + 0.02729861765895832, + 1.030200459646517 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3339353938794477, + 0.01524291118703982, + 1.030200459646517 + ], + "valid_pour_held_grasp_object_position": [ + 0.3397437499473294, + 0.02729861765895832, + 1.030200459646517 + ], + "valid_pour_held_grasp_finger_gap": 0.0267639353420498, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02453665030999825, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03911633809476055, + -0.99879037062827, + 0.029794422872402086 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006285563437092304, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03790632815454797, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3397437499473294, + 0.003187204715121321, + 1.030200459646517 + ], + "held_grasp_finger_b": [ + 0.32812703781156605, + 0.02729861765895832, + 1.030200459646517 + ], + "held_grasp_midpoint": [ + 0.3339353938794477, + 0.01524291118703982, + 1.030200459646517 + ], + "held_grasp_object_position": [ + 0.3397437499473294, + 0.02729861765895832, + 1.030200459646517 + ], + "held_grasp_finger_gap": 0.0267639353420498, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453665030999825, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03911633809476055, + -0.99879037062827, + 0.029794422872402086 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006285563437092304, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03790632815454797, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30845807333566705, + 0.21993174401868543, + 0.7611062709352334 + ], + "target_position": [ + 0.30946112925614855, + 0.2163617905350056, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0037081921545748897, + "xy_threshold": 0.08, + "gripper_dist": 0.21349250376087398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062709352334, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561853332204277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0886728347855986, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18423293512445618, + "release_required_pad_clearance": 0.054336417392799305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.69495909729154, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "238beba0cd40ddd61121db2e2b72fdb5f344131a48273a54abbdcd3cfcd402f4", + "visual_seed": 1258843941658077750, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..826e202ec5be70c514e0126b1c2beb761a5a0e47 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_42_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3311472017901256, + 0.2207012531765582, + 1.0059875992933587 + ], + "current_z": 1.0059875992933587, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1448811508832376, + "gripper_z": 1.005564925957783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.325993510881998, + 0.21587973788485243, + 1.005564925957783 + ], + "object_minus_gripper": [ + 0.005153690908127562, + 0.004821515291705769, + 0.0004226733355756629 + ], + "object_to_gripper_xy": 0.007057445691230593, + "object_to_gripper_z": 0.0004226733355756629, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3311472017901256, + 0.1960410506244202, + 1.0059875992933587 + ], + "finger_b": [ + 0.31956603382542237, + 0.2207012531765582, + 1.0059875992933587 + ], + "finger_midpoint": [ + 0.325356617807774, + 0.20837115190048922, + 1.0059875992933587 + ], + "object_minus_finger_midpoint": [ + 0.005790583982351605, + 0.012330101276068983, + 0.0 + ], + "finger_gap": 0.027244247857834893, + "fingertip_max_gap": 0.09126816934020057, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013622123928917434, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0059875992933587, + "object_top_z": 1.0558197571604917, + "finger_top_clearance": 0.04983215786713302, + "fingertip_min_top_clearance": 0.014949647360139873, + "object_projection_between_fingers": 0.8193012803564059, + "object_to_finger_line_xy": 0.010482724620998543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813408467010029, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2926826297102822, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33715752875868726, + 0.038090674995116966, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3391996375151425, + 0.027193421091977282, + 1.0297893730766752 + ], + "target_minus_gripper": [ + -0.0020421087564552187, + 0.010897253903139684, + -0.2596430428847081 + ], + "held_position": [ + 0.34438190991399137, + 0.03198818605497635, + 1.030170098903409 + ], + "held_minus_target": [ + 0.007224381155304105, + -0.006102488940140614, + 0.26002376871144195 + ], + "held_minus_gripper": [ + 0.005182272398848886, + 0.004794764962999069, + 0.00038072582673387423 + ], + "xy_dist": 0.011086945061769006, + "held_xy_dist": 0.009456852242773574, + "held_gripper_dist": 0.00707040808026076, + "max_held_gripper_dist": 0.007073546024764787, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.030170098903409, + "required_height": 0.8001463301919671, + "gripper_z": 1.0297893730766752, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21984663811942, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4832997772933603, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8335889576602107, + "max_source_tilt_deg": 89.85718526133968, + "source_upright_tilt_deg": 1.8042431461516117, + "max_source_upright_tilt_deg": 89.74318263510963, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8335889576602107, + "source_upright_return_tilt_deg": 1.8042431461516117, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.72068100476237e-08, + "max_target_xy_drift": 3.0101175491535307e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3372, + 0.0381, + 0.7701 + ], + "controller_target_position": [ + 0.3372, + 0.0381, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.001, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3377, + 0.0139, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005649775101072333, + 0.001038560132151145, + 0.0009078935255823679 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8042075682596739, + "source_return_step_error_deg": 1.833558063606938, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8263526296154615, + "source_return_best_wrist_position": -1.6086441278457642, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6086441278457642 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3372, + 0.0381, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3372, + 0.0381, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.001, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3377, + 0.0139, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005649775101072333, + 0.001038560132151145, + 0.0009078935255823679 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8042075682596739, + "pour_controller_source_return_step_error_deg": 1.833558063606938, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8263526296154615, + "pour_controller_source_return_best_wrist_position": -1.6086441278457642, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6086441278457642, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011086945061769006, + "valid_pour_held_xy_dist": 0.009456852242773574, + "valid_pour_held_gripper_dist": 0.00707040808026076, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.030170098903409, + "valid_pour_source_tilt_deg": 1.8335889576602107, + "valid_pour_source_upright_tilt_deg": 1.8042431461516117, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.72068100476237e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34438190991399137, + 0.007626682426186402, + 1.030170098903409 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3331137811140291, + 0.03198818605497635, + 1.030170098903409 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33874784551401027, + 0.019807434240581377, + 1.030170098903409 + ], + "valid_pour_held_grasp_object_position": [ + 0.34438190991399137, + 0.03198818605497635, + 1.030170098903409 + ], + "valid_pour_held_grasp_finger_gap": 0.026841266469898258, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024527525095261404, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015805548595118263, + -0.9995042386941121, + 0.027229790048968083 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005835249095707277, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037634586479788214, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34438190991399137, + 0.007626682426186402, + 1.030170098903409 + ], + "held_grasp_finger_b": [ + 0.3331137811140291, + 0.03198818605497635, + 1.030170098903409 + ], + "held_grasp_midpoint": [ + 0.33874784551401027, + 0.019807434240581377, + 1.030170098903409 + ], + "held_grasp_object_position": [ + 0.34438190991399137, + 0.03198818605497635, + 1.030170098903409 + ], + "held_grasp_finger_gap": 0.026841266469898258, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024527525095261404, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015805548595118263, + -0.9995042386941121, + 0.027229790048968083 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005835249095707277, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037634586479788214, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3057016518414136, + 0.2175166978148039, + 0.7611094195898432 + ], + "target_position": [ + 0.30693716613019495, + 0.2184844926189449, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001569433764357431, + "xy_threshold": 0.08, + "gripper_dist": 0.21386963927021646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094195898432, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532717654674065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630049495633878, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18425247749672855, + "release_required_pad_clearance": 0.05315024747816939, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.313985953889682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "59112ccc885d7cbf2b489d38d3f8bd248bd2ff5862effd894747111651f7ace7", + "visual_seed": 2131244021871354104, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..02a9fcaf84f7cbcb148df3c553fed40c0d5ff1f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_43_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33879951525663976, + 0.22673509742668363, + 1.0033433751877947 + ], + "current_z": 1.0033433751877947, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14223668835909453, + "gripper_z": 1.0030509751596224, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33360369432107095, + 0.22187935213372909, + 1.0030509751596224 + ], + "object_minus_gripper": [ + 0.005195820935568807, + 0.004855745292954544, + 0.0002924000281723238 + ], + "object_to_gripper_xy": 0.007111597397529286, + "object_to_gripper_z": 0.0002924000281723238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33879951525663976, + 0.20203953241666198, + 1.0033433751877947 + ], + "finger_b": [ + 0.3271809833066479, + 0.22673509742668363, + 1.0033433751877947 + ], + "finger_midpoint": [ + 0.33299024928164384, + 0.2143873149216728, + 1.0033433751877947 + ], + "object_minus_finger_midpoint": [ + 0.005809265974995925, + 0.01234778250501084, + 0.0 + ], + "finger_gap": 0.02729214568034524, + "fingertip_max_gap": 0.09144131223062854, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013646072840172632, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033433751877947, + "object_top_z": 1.0532470301991128, + "finger_top_clearance": 0.049903655011318104, + "fingertip_min_top_clearance": 0.014971096503395464, + "object_projection_between_fingers": 0.8187712263669695, + "object_to_finger_line_xy": 0.010513142295685127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822065611531427, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3729013562136023, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33276237165991707, + 0.036669312833480606, + 0.7701464494012563 + ], + "gripper_position": [ + 0.33452951159921795, + 0.02342426724136401, + 1.0279467273716758 + ], + "target_minus_gripper": [ + -0.001767139939300888, + 0.013245045592116596, + -0.2578002779704195 + ], + "held_position": [ + 0.3397186881883397, + 0.0282887715946643, + 1.0281971575600373 + ], + "held_minus_target": [ + 0.006956316528422657, + -0.008380541238816305, + 0.25805070815878095 + ], + "held_minus_gripper": [ + 0.005189176589121769, + 0.0048645043533002905, + 0.00025043018836146125 + ], + "xy_dist": 0.013362410572285212, + "held_xy_dist": 0.010891455876011572, + "held_gripper_dist": 0.007117139281734598, + "max_held_gripper_dist": 0.0071203365488062805, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0281971575600373, + "required_height": 0.8001464494012563, + "gripper_z": 1.0279467273716758, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24064456414212, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5273662740783784, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7860865728288475, + "max_source_tilt_deg": 89.9988525152961, + "source_upright_tilt_deg": 2.085563351705751, + "max_source_upright_tilt_deg": 89.96329577206065, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7860865728288475, + "source_upright_return_tilt_deg": 2.085563351705751, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0133885226201597e-07, + "max_target_xy_drift": 2.439709652965209e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3328, + 0.0367, + 0.7701 + ], + "controller_target_position": [ + 0.3328, + 0.0367, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0013, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.332, + 0.0102, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008009375921322036, + -0.0012858004647939994, + -0.001810126224366956 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0855656419142297, + "source_return_step_error_deg": 1.7860816150248864, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0814044014182493, + "source_return_best_wrist_position": -1.6096363067626953, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096363067626953 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3328, + 0.0367, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3328, + 0.0367, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0013, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.332, + 0.0102, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008009375921322036, + -0.0012858004647939994, + -0.001810126224366956 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0855656419142297, + "pour_controller_source_return_step_error_deg": 1.7860816150248864, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0814044014182493, + "pour_controller_source_return_best_wrist_position": -1.6096363067626953, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096363067626953, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013362410572285212, + "valid_pour_held_xy_dist": 0.010891455876011572, + "valid_pour_held_gripper_dist": 0.007117139281734598, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0281971575600373, + "valid_pour_source_tilt_deg": 1.7860865728288475, + "valid_pour_source_upright_tilt_deg": 2.085563351705751, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0133885226201597e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3397186881883397, + 0.00402106415005032, + 1.0281971575600373 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32824583826786186, + 0.0282887715946643, + 1.0281971575600373 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33398226322810076, + 0.01615491787235731, + 1.0281971575600373 + ], + "valid_pour_held_grasp_object_position": [ + 0.3397186881883397, + 0.0282887715946643, + 1.0281971575600373 + ], + "valid_pour_held_grasp_finger_gap": 0.02684302348684257, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024534421684533035, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024648550104115867, + -0.9993376021933867, + 0.026773229542533805 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006042401291558592, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037735828343930446, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3397186881883397, + 0.00402106415005032, + 1.0281971575600373 + ], + "held_grasp_finger_b": [ + 0.32824583826786186, + 0.0282887715946643, + 1.0281971575600373 + ], + "held_grasp_midpoint": [ + 0.33398226322810076, + 0.01615491787235731, + 1.0281971575600373 + ], + "held_grasp_object_position": [ + 0.3397186881883397, + 0.0282887715946643, + 1.0281971575600373 + ], + "held_grasp_finger_gap": 0.02684302348684257, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024534421684533035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024648550104115867, + -0.9993376021933867, + 0.026773229542533805 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006042401291558592, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037735828343930446, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3119306026429762, + 0.23089966605538775, + 0.7611063663001048 + ], + "target_position": [ + 0.3145982203919504, + 0.2239607920895477, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007433986573061272, + "xy_threshold": 0.08, + "gripper_dist": 0.21498780242312515, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063663001048, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533229210180703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881833125226462, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1871095201954014, + "release_required_pad_clearance": 0.054091656261323104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1962834807042357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b3a913bb3c9238f1f1fd348e31a5588b13fe404aa75f45bf658301f6aef7f90", + "visual_seed": 3306836437865898712, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..66890a36ab71f44efd9c98d149174eeb554f8b69 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_44_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3322915591284178, + 0.22167635347081918, + 1.0041484710553634 + ], + "current_z": 1.0041484710553634, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14304208224988713, + "gripper_z": 1.0037650727409497, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32743153779586787, + 0.21686657859149064, + 1.0037650727409497 + ], + "object_minus_gripper": [ + 0.004860021332549924, + 0.004809774879328543, + 0.00038339831441369654 + ], + "object_to_gripper_xy": 0.006837670783436436, + "object_to_gripper_z": 0.00038339831441369654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3322915591284178, + 0.19749994862726936, + 1.0041484710553634 + ], + "finger_b": [ + 0.3203587446380651, + 0.22167635347081918, + 1.0041484710553634 + ], + "finger_midpoint": [ + 0.3263251518832414, + 0.20958815104904427, + 1.0041484710553634 + ], + "object_minus_finger_midpoint": [ + 0.005966407245176386, + 0.012088202421774913, + 0.0 + ], + "finger_gap": 0.0269609089761527, + "fingertip_max_gap": 0.09188928510384167, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013480454488076363, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041484710553634, + "object_top_z": 1.0541736850820307, + "finger_top_clearance": 0.050025214026667264, + "fingertip_min_top_clearance": 0.015007564208000179, + "object_projection_between_fingers": 0.8041079921108355, + "object_to_finger_line_xy": 0.01070040161839205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844464255192084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2878962375461918, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3360424450642292, + 0.037034696756534355, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3389241616957014, + 0.023783852692023294, + 1.0278427092949864 + ], + "target_minus_gripper": [ + -0.0028817166314721865, + 0.013250844064511061, + -0.2576962598937298 + ], + "held_position": [ + 0.343907361773255, + 0.028469612369383678, + 1.0281705072375193 + ], + "held_minus_target": [ + 0.007864916709025782, + -0.008565084387150677, + 0.2580240578362627 + ], + "held_minus_gripper": [ + 0.004983200077553596, + 0.004685759677360384, + 0.0003277979425329036 + ], + "xy_dist": 0.013560573703427574, + "held_xy_dist": 0.011628309653553487, + "held_gripper_dist": 0.006848071134124956, + "max_held_gripper_dist": 0.0068515907034358125, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0281705072375193, + "required_height": 0.8001464494012567, + "gripper_z": 1.0278427092949864, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22499660075361, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.13696422269315775, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.925449208170536, + "max_source_tilt_deg": 89.9763824418747, + "source_upright_tilt_deg": 2.8174270339102496, + "max_source_upright_tilt_deg": 89.889024676178, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.925449208170536, + "source_upright_return_tilt_deg": 2.8174270339102496, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-09, + "max_target_xy_drift": 1.4466410755327046e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.336, + 0.037, + 0.7701 + ], + "controller_target_position": [ + 0.336, + 0.037, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0013, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3371, + 0.0105, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010476838905488094, + -0.001287679805647588, + -0.0013629866710071937 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.817431135397907, + "source_return_step_error_deg": 2.9254531523389864, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.915826799821029, + "source_return_best_wrist_position": -1.6323951482772827, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6323951482772827 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.336, + 0.037, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.336, + 0.037, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0013, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3371, + 0.0105, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010476838905488094, + -0.001287679805647588, + -0.0013629866710071937 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.817431135397907, + "pour_controller_source_return_step_error_deg": 2.9254531523389864, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.915826799821029, + "pour_controller_source_return_best_wrist_position": -1.6323951482772827, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6323951482772827, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013560573703427574, + "valid_pour_held_xy_dist": 0.011628309653553487, + "valid_pour_held_gripper_dist": 0.006848071134124956, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0281705072375193, + "valid_pour_source_tilt_deg": 2.925449208170536, + "valid_pour_source_upright_tilt_deg": 2.8174270339102496, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.343907361773255, + 0.00456136351960123, + 1.0281705072375193 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3329297444898933, + 0.028469612369383678, + 1.0281705072375193 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33841855313157415, + 0.016515487944492455, + 1.0281705072375193 + ], + "valid_pour_held_grasp_object_position": [ + 0.343907361773255, + 0.028469612369383678, + 1.0281705072375193 + ], + "valid_pour_held_grasp_finger_gap": 0.026308030034251605, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023822772724073005, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.005153844787072642, + -0.9987912460556736, + 0.04888235557402697 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005458568088514553, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037752286772448226, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.343907361773255, + 0.00456136351960123, + 1.0281705072375193 + ], + "held_grasp_finger_b": [ + 0.3329297444898933, + 0.028469612369383678, + 1.0281705072375193 + ], + "held_grasp_midpoint": [ + 0.33841855313157415, + 0.016515487944492455, + 1.0281705072375193 + ], + "held_grasp_object_position": [ + 0.343907361773255, + 0.028469612369383678, + 1.0281705072375193 + ], + "held_grasp_finger_gap": 0.026308030034251605, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023822772724073005, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005153844787072642, + -0.9987912460556736, + 0.04888235557402697 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005458568088514553, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037752286772448226, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3057880917259771, + 0.2182298852688132, + 0.7611101379073845 + ], + "target_position": [ + 0.3082403041397524, + 0.21916567503961137, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002624699643274288, + "xy_threshold": 0.08, + "gripper_dist": 0.21499084317027814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611101379073845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752767377621568, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863672406205697, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18548678018392542, + "release_required_pad_clearance": 0.053183620310284854, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3892856517826946, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 206, + "max_placed_release_frames": 206 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac705da4d4753013c5a76cfd5cb0f6324c2e7e069a8a1f40e4e9966ed1c3c693", + "visual_seed": 2997804338468245617, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ab6c04549cc8ba61e459785864375429d82cf871 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_45_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33366719432398106, + 0.2193302470807043, + 1.0041816760583921 + ], + "current_z": 1.0041816760583921, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.14307528725291563, + "gripper_z": 1.0041284099496488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32850904006859016, + 0.2143489558395753, + 1.0041284099496488 + ], + "object_minus_gripper": [ + 0.005158154255390901, + 0.0049812912411290045, + 5.326610874334392e-05 + ], + "object_to_gripper_xy": 0.0071707613090491165, + "object_to_gripper_z": 5.326610874334392e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33366719432398106, + 0.19497609661947063, + 1.0041816760583921 + ], + "finger_b": [ + 0.3214492039019765, + 0.2193302470807043, + 1.0041816760583921 + ], + "finger_midpoint": [ + 0.3275581991129788, + 0.20715317185008747, + 1.0041816760583921 + ], + "object_minus_finger_midpoint": [ + 0.006108995211002277, + 0.01217707523061684, + 0.0 + ], + "finger_gap": 0.027247090388527795, + "fingertip_max_gap": 0.09207885049759221, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013623545194263897, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041816760583921, + "object_top_z": 1.0541505528993913, + "finger_top_clearance": 0.049968876840999155, + "fingertip_min_top_clearance": 0.014990663052299763, + "object_projection_between_fingers": 0.7989244358942403, + "object_to_finger_line_xy": 0.0109207542100237, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048539425248796106, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5975204340567792, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33242050921980787, + 0.03632045429819084, + 0.7701463897966117 + ], + "gripper_position": [ + 0.33540335825722334, + 0.025434950167285225, + 1.0285063076340473 + ], + "target_minus_gripper": [ + -0.0029828490374154693, + 0.010885504130905617, + -0.2583599178374356 + ], + "held_position": [ + 0.3406230629609357, + 0.03034789181445064, + 1.0285039662529782 + ], + "held_minus_target": [ + 0.008202553741127827, + -0.005972562483740201, + 0.2583575764563666 + ], + "held_minus_gripper": [ + 0.005219704703712358, + 0.0049129416471654155, + -2.3413810690264825e-06 + ], + "xy_dist": 0.01128678823066924, + "held_xy_dist": 0.01014659501992028, + "held_gripper_dist": 0.00716814608559805, + "max_held_gripper_dist": 0.007171955313162327, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0285039662529782, + "required_height": 0.8001463897966117, + "gripper_z": 1.0285063076340473, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23273520508323, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4392823798158551, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.991639927255098, + "max_source_tilt_deg": 89.92388166012296, + "source_upright_tilt_deg": 3.005157309252353, + "max_source_upright_tilt_deg": 89.7607269785491, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.991639927255098, + "source_upright_return_tilt_deg": 3.005157309252353, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.399837004248495e-07, + "max_target_xy_drift": 1.649676994886591e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3324, + 0.0363, + 0.7701 + ], + "controller_target_position": [ + 0.3324, + 0.0363, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0011, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3332, + 0.0122, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008201130985047668, + 0.0010587559918420687, + -0.0006556511771470595 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.005152067616991, + "source_return_step_error_deg": 2.991632129110537, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.000626834342364, + "source_return_best_wrist_position": -1.6333898305892944, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6333898305892944 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3324, + 0.0363, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3324, + 0.0363, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0011, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3332, + 0.0122, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008201130985047668, + 0.0010587559918420687, + -0.0006556511771470595 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.005152067616991, + "pour_controller_source_return_step_error_deg": 2.991632129110537, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.000626834342364, + "pour_controller_source_return_best_wrist_position": -1.6333898305892944, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6333898305892944, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01128678823066924, + "valid_pour_held_xy_dist": 0.01014659501992028, + "valid_pour_held_gripper_dist": 0.00716814608559805, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0285039662529782, + "valid_pour_source_tilt_deg": 2.991639927255098, + "valid_pour_source_upright_tilt_deg": 3.005157309252353, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.399837004248495e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3406230629609357, + 0.006530587306196087, + 1.0285039662529782 + ], + "valid_pour_held_grasp_finger_b": [ + 0.329015597952375, + 0.03034789181445064, + 1.0285039662529782 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33481933045665535, + 0.018439239560323364, + 1.0285039662529782 + ], + "valid_pour_held_grasp_object_position": [ + 0.3406230629609357, + 0.03034789181445064, + 1.0285039662529782 + ], + "valid_pour_held_grasp_finger_gap": 0.026495230475764568, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02396515626554785, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015559342556724887, + -0.9986248331762838, + 0.05006345396436128 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060177012584095475, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037918276461604526, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3406230629609357, + 0.006530587306196087, + 1.0285039662529782 + ], + "held_grasp_finger_b": [ + 0.329015597952375, + 0.03034789181445064, + 1.0285039662529782 + ], + "held_grasp_midpoint": [ + 0.33481933045665535, + 0.018439239560323364, + 1.0285039662529782 + ], + "held_grasp_object_position": [ + 0.3406230629609357, + 0.03034789181445064, + 1.0285039662529782 + ], + "held_grasp_finger_gap": 0.026495230475764568, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02396515626554785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015559342556724887, + -0.9986248331762838, + 0.05006345396436128 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060177012584095475, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037918276461604526, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3097011113548145, + 0.2139923823145155, + 0.761107416465818 + ], + "target_position": [ + 0.3093588371304429, + 0.2162447529230283, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002278228479051542, + "xy_threshold": 0.08, + "gripper_dist": 0.2155627785218535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107416465818, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551514960076498, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541824318569306, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18492442058212036, + "release_required_pad_clearance": 0.05270912159284653, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.46812794915916145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0d48fe95cc6ef5235d333e9ae6d3a605af9982d113a79e65feed4bb04bb1a06", + "visual_seed": 5619011405057596089, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df8d919e845e331fab623a2736a2ff13325d5dd8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_46_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3358752491109408, + 0.22297804930588486, + 1.002632618290313 + ], + "current_z": 1.002632618290313, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14152616988019173, + "gripper_z": 1.0024956421831344, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3306495019044986, + 0.21812796043667898, + 1.0024956421831344 + ], + "object_minus_gripper": [ + 0.0052257472064421995, + 0.004850088869205876, + 0.00013697610717855468 + ], + "object_to_gripper_xy": 0.007129642060077994, + "object_to_gripper_z": 0.00013697610717855468, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3358752491109408, + 0.1982717813668077, + 1.002632618290313 + ], + "finger_b": [ + 0.3242489474649169, + 0.22297804930588486, + 1.002632618290313 + ], + "finger_midpoint": [ + 0.3300620982879289, + 0.21062491533634628, + 1.002632618290313 + ], + "object_minus_finger_midpoint": [ + 0.0058131508230119255, + 0.012353133969538577, + 0.0 + ], + "finger_gap": 0.027305138077691714, + "fingertip_max_gap": 0.0912976438788907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652569038845845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002632618290313, + "object_top_z": 1.0525146374867242, + "finger_top_clearance": 0.04988201919641133, + "fingertip_min_top_clearance": 0.014964605758923366, + "object_projection_between_fingers": 0.8187014130792051, + "object_to_finger_line_xy": 0.010519724265444265, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814882193944535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2427963787693241, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3377011827236836, + 0.034823278753690505, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3408786786883723, + 0.021659698692125487, + 1.029712422096429 + ], + "target_minus_gripper": [ + -0.0031774959646886924, + 0.013163580061565018, + -0.2595659130905279 + ], + "held_position": [ + 0.3460442948473542, + 0.026573596796046574, + 1.0298094701975158 + ], + "held_minus_target": [ + 0.008343112123670615, + -0.008249681957643931, + 0.2596629611916146 + ], + "held_minus_gripper": [ + 0.005165616158981923, + 0.004913898103921087, + 9.704810108668305e-05 + ], + "xy_dist": 0.013541651326291228, + "held_xy_dist": 0.011733063210876152, + "held_gripper_dist": 0.00713017553862308, + "max_held_gripper_dist": 0.007132916738734999, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0298094701975158, + "required_height": 0.8001465090059012, + "gripper_z": 1.029712422096429, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23168335595105, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4739543386267109, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.851275464009723, + "max_source_tilt_deg": 89.97918749000515, + "source_upright_tilt_deg": 2.499995735951099, + "max_source_upright_tilt_deg": 89.94884630803065, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.851275464009723, + "source_upright_return_tilt_deg": 2.499995735951099, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.365778852490731e-08, + "max_target_xy_drift": 9.996002811937585e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3377, + 0.0348, + 0.7701 + ], + "controller_target_position": [ + 0.3377, + 0.0348, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0013, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3394, + 0.0083, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017475567263551474, + -0.0013455607150168248, + 0.00065403157837518 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.500017225505432, + "source_return_step_error_deg": 1.851289599320178, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.495504249990593, + "source_return_best_wrist_position": -1.6095470190048218, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095470190048218 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3377, + 0.0348, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3377, + 0.0348, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0013, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3394, + 0.0083, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017475567263551474, + -0.0013455607150168248, + 0.00065403157837518 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.500017225505432, + "pour_controller_source_return_step_error_deg": 1.851289599320178, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.495504249990593, + "pour_controller_source_return_best_wrist_position": -1.6095470190048218, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095470190048218, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013541651326291228, + "valid_pour_held_xy_dist": 0.011733063210876152, + "valid_pour_held_gripper_dist": 0.00713017553862308, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0298094701975158, + "valid_pour_source_tilt_deg": 1.851275464009723, + "valid_pour_source_upright_tilt_deg": 2.499995735951099, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.365778852490731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3460442948473542, + 0.0024750812003620257, + 1.0298094701975158 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33430641020222707, + 0.026573596796046574, + 1.0298094701975158 + ], + "valid_pour_held_grasp_midpoint": [ + 0.34017535252479064, + 0.0145243389982043, + 1.0298094701975158 + ], + "valid_pour_held_grasp_object_position": [ + 0.3460442948473542, + 0.026573596796046574, + 1.0298094701975158 + ], + "valid_pour_held_grasp_finger_gap": 0.02680515603121465, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024473091369887165, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03386572441396809, + -0.9990482321493563, + 0.02749077207288142 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006282227159235963, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03788121635174631, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3460442948473542, + 0.0024750812003620257, + 1.0298094701975158 + ], + "held_grasp_finger_b": [ + 0.33430641020222707, + 0.026573596796046574, + 1.0298094701975158 + ], + "held_grasp_midpoint": [ + 0.34017535252479064, + 0.0145243389982043, + 1.0298094701975158 + ], + "held_grasp_object_position": [ + 0.3460442948473542, + 0.026573596796046574, + 1.0298094701975158 + ], + "held_grasp_finger_gap": 0.02680515603121465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024473091369887165, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03386572441396809, + -0.9990482321493563, + 0.02749077207288142 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006282227159235963, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03788121635174631, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3089635474611555, + 0.21982585941590232, + 0.7611064232328814 + ], + "target_position": [ + 0.3116497739472681, + 0.2193738537344466, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027239900643653515, + "xy_threshold": 0.08, + "gripper_dist": 0.21304875890700406, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064232328814, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753098709223578, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501684638513111, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18377022777337113, + "release_required_pad_clearance": 0.05250842319256556, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846926954984867, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8eeab8a127b8943a33b33d19dea287a09c99f05325b15208b254a19338910b28", + "visual_seed": 3105142449901722215, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5672cee7804c2fb8feb725a4c7b33163730cdc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_47_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33362148719784895, + 0.22101712962965256, + 1.0040926812528228 + ], + "current_z": 1.0040926812528228, + "required_z": 0.8611068656426346, + "initial_z": 0.7611068656426346, + "lift_margin": 0.1429858156101882, + "gripper_z": 1.0038922729791433, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3285965966023153, + 0.2161688185072781, + 1.0038922729791433 + ], + "object_minus_gripper": [ + 0.0050248905955336265, + 0.004848311122374466, + 0.00020040827367950875 + ], + "object_to_gripper_xy": 0.006982524345566024, + "object_to_gripper_z": 0.00020040827367950875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33362148719784895, + 0.19665958627546526, + 1.0040926812528228 + ], + "finger_b": [ + 0.32173301176346064, + 0.22101712962965256, + 1.0040926812528228 + ], + "finger_midpoint": [ + 0.3276772494806548, + 0.2088383579525589, + 1.0040926812528228 + ], + "object_minus_finger_midpoint": [ + 0.005944237717194156, + 0.012178771677093664, + 0.0 + ], + "finger_gap": 0.0271039806376327, + "fingertip_max_gap": 0.09116929067167537, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013551990318816362, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040926812528228, + "object_top_z": 1.0539175103167535, + "finger_top_clearance": 0.04982482906393071, + "fingertip_min_top_clearance": 0.014947448719179229, + "object_projection_between_fingers": 0.8076083706597035, + "object_to_finger_line_xy": 0.010683820198950538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048084645335837686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.111756413462667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3337214998013203, + 0.03753650453560806, + 0.7701465090059011 + ], + "gripper_position": [ + 0.33651483311973895, + 0.025814315327804913, + 1.0304391590544475 + ], + "target_minus_gripper": [ + -0.0027933333184186337, + 0.01172218920780315, + -0.2602926500485464 + ], + "held_position": [ + 0.3416489836581736, + 0.030548167675881442, + 1.0305967720296114 + ], + "held_minus_target": [ + 0.007927483856853268, + -0.006988336859726621, + 0.2604502630237103 + ], + "held_minus_gripper": [ + 0.005134150538434634, + 0.00473385234807653, + 0.00015761297516392325 + ], + "xy_dist": 0.01205041206147426, + "held_xy_dist": 0.010567963491878787, + "held_gripper_dist": 0.006985248861324723, + "max_held_gripper_dist": 0.006988140003026422, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0305967720296114, + "required_height": 0.8001465090059011, + "gripper_z": 1.0304391590544475, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22510588378033, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.41046106023668444, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8747858188358, + "max_source_tilt_deg": 89.91891574559357, + "source_upright_tilt_deg": 1.6619149563110394, + "max_source_upright_tilt_deg": 89.89169262635124, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8747858188358, + "source_upright_return_tilt_deg": 1.6619149563110394, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3337, + 0.0375, + 0.7701 + ], + "controller_target_position": [ + 0.3337, + 0.0375, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + 0.0002, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.335, + 0.0125, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001245355342097429, + 0.00018990556834150643, + 0.0015829976349721235 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6619111369448483, + "source_return_step_error_deg": 1.8747837682890764, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8679631539797685, + "source_return_best_wrist_position": -1.6094844341278076, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094844341278076 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3337, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3337, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + 0.0002, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.335, + 0.0125, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001245355342097429, + 0.00018990556834150643, + 0.0015829976349721235 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6619111369448483, + "pour_controller_source_return_step_error_deg": 1.8747837682890764, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8679631539797685, + "pour_controller_source_return_best_wrist_position": -1.6094844341278076, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094844341278076, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01205041206147426, + "valid_pour_held_xy_dist": 0.010567963491878787, + "valid_pour_held_gripper_dist": 0.006985248861324723, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0305967720296114, + "valid_pour_source_tilt_deg": 1.8747858188358, + "valid_pour_source_upright_tilt_deg": 1.6619149563110394, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3416489836581736, + 0.006246603370658218, + 1.0305967720296114 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3304608911352911, + 0.030548167675881442, + 1.0305967720296114 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3360549373967323, + 0.01839738552326983, + 1.0305967720296114 + ], + "valid_pour_held_grasp_object_position": [ + 0.3416489836581736, + 0.030548167675881442, + 1.0305967720296114 + ], + "valid_pour_held_grasp_finger_gap": 0.02675330712232562, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02424935155177768, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0037531597582296525, + -0.9995793663860926, + 0.028757678748589588 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005559414303074741, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03755358359557799, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3416489836581736, + 0.006246603370658218, + 1.0305967720296114 + ], + "held_grasp_finger_b": [ + 0.3304608911352911, + 0.030548167675881442, + 1.0305967720296114 + ], + "held_grasp_midpoint": [ + 0.3360549373967323, + 0.01839738552326983, + 1.0305967720296114 + ], + "held_grasp_object_position": [ + 0.3416489836581736, + 0.030548167675881442, + 1.0305967720296114 + ], + "held_grasp_finger_gap": 0.02675330712232562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02424935155177768, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0037531597582296525, + -0.9995793663860926, + 0.028757678748589588 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005559414303074741, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03755358359557799, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3072917609285199, + 0.21639238514250855, + 0.7611064016789947 + ], + "target_position": [ + 0.30956955024547284, + 0.21963729619155378, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0039645645269866326, + "xy_threshold": 0.08, + "gripper_dist": 0.21567400210470472, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064016789947, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539285136663776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723781214294245, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18545659901254735, + "release_required_pad_clearance": 0.053618906071471226, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2479228597879137, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89fab67a20dac131a6539483e4e85b5699bd8777e9dabb13779caa4bf8cda040", + "visual_seed": 7426243777123960721, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1494652bbcfb91dd97e5561d25730ec59ee162c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_48_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3357192403774188, + 0.2219855847081262, + 1.0056783937978615 + ], + "current_z": 1.0056783937978615, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14457170696916122, + "gripper_z": 1.0056177360853131, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3304440958788888, + 0.2170311687128832, + 1.0056177360853131 + ], + "object_minus_gripper": [ + 0.0052751444985300044, + 0.004954415995243017, + 6.0657712548373155e-05 + ], + "object_to_gripper_xy": 0.00723694599498236, + "object_to_gripper_z": 6.0657712548373155e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3357192403774188, + 0.19735135220795233, + 1.0056783937978615 + ], + "finger_b": [ + 0.32380241758153117, + 0.2219855847081262, + 1.0056783937978615 + ], + "finger_midpoint": [ + 0.329760828979475, + 0.20966846845803927, + 1.0056783937978615 + ], + "object_minus_finger_midpoint": [ + 0.005958411397943786, + 0.01231711625008694, + 0.0 + ], + "finger_gap": 0.02736523481392422, + "fingertip_max_gap": 0.09131836598284285, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013682617406962097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0056783937978615, + "object_top_z": 1.0556180880588284, + "finger_top_clearance": 0.049939694260966894, + "fingertip_min_top_clearance": 0.014981908278290051, + "object_projection_between_fingers": 0.8103632059350346, + "object_to_finger_line_xy": 0.010727544836117962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048159182991421426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2190497758290788, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32838351643149294, + 0.037640130935840406, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3317566113186958, + 0.024216814435958425, + 1.0301495129357179 + ], + "target_minus_gripper": [ + -0.0033730948872028876, + 0.01342331649988198, + -0.26000306353446145 + ], + "held_position": [ + 0.33710763034277386, + 0.02908722783625716, + 1.0301691482625825 + ], + "held_minus_target": [ + 0.008724113911280917, + -0.008552903099583245, + 0.2600226988613261 + ], + "held_minus_gripper": [ + 0.00535101902407803, + 0.004870413400298736, + 1.9635326864664293e-05 + ], + "xy_dist": 0.013840635641981118, + "held_xy_dist": 0.012217295730556165, + "held_gripper_dist": 0.007235655936535095, + "max_held_gripper_dist": 0.00723866905893484, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0301691482625825, + "required_height": 0.8001464494012565, + "gripper_z": 1.0301495129357179, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22576158194066, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9308854583469631, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8484090243436428, + "max_source_tilt_deg": 89.97122740156351, + "source_upright_tilt_deg": 1.52803021249053, + "max_source_upright_tilt_deg": 89.93373895572778, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8484090243436428, + "source_upright_return_tilt_deg": 1.52803021249053, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4466410753969035e-07, + "max_target_xy_drift": 1.8495606759767617e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3284, + 0.0376, + 0.7701 + ], + "controller_target_position": [ + 0.3284, + 0.0376, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0014, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3296, + 0.011, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001259862604871685, + -0.0014214276264371954, + 0.001091250088109889 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.528023810218062, + "source_return_step_error_deg": 1.8484249498543672, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8412792691811544, + "source_return_best_wrist_position": -1.6091594696044922, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091594696044922 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3284, + 0.0376, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3284, + 0.0376, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0014, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3296, + 0.011, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001259862604871685, + -0.0014214276264371954, + 0.001091250088109889 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.528023810218062, + "pour_controller_source_return_step_error_deg": 1.8484249498543672, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8412792691811544, + "pour_controller_source_return_best_wrist_position": -1.6091594696044922, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091594696044922, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013840635641981118, + "valid_pour_held_xy_dist": 0.012217295730556165, + "valid_pour_held_gripper_dist": 0.007235655936535095, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0301691482625825, + "valid_pour_source_tilt_deg": 1.8484090243436428, + "valid_pour_source_upright_tilt_deg": 1.52803021249053, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4466410753969035e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33710763034277386, + 0.004638858537201099, + 1.0301691482625825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3257005152977421, + 0.02908722783625716, + 1.0301691482625825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33140407282025797, + 0.01686304318672913, + 1.0301691482625825 + ], + "valid_pour_held_grasp_object_position": [ + 0.33710763034277386, + 0.02908722783625716, + 1.0301691482625825 + ], + "valid_pour_held_grasp_finger_gap": 0.026978603281741946, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024504627832952874, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005694009987942918, + -0.9996444060134698, + 0.026050715464924434 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00578182270640384, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03753288838061865, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33710763034277386, + 0.004638858537201099, + 1.0301691482625825 + ], + "held_grasp_finger_b": [ + 0.3257005152977421, + 0.02908722783625716, + 1.0301691482625825 + ], + "held_grasp_midpoint": [ + 0.33140407282025797, + 0.01686304318672913, + 1.0301691482625825 + ], + "held_grasp_object_position": [ + 0.33710763034277386, + 0.02908722783625716, + 1.0301691482625825 + ], + "held_grasp_finger_gap": 0.026978603281741946, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024504627832952874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005694009987942918, + -0.9996444060134698, + 0.026050715464924434 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00578182270640384, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03753288838061865, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3082800208199126, + 0.2184685127268525, + 0.7611086790410544 + ], + "target_position": [ + 0.31138367035291054, + 0.21895028049578716, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003140818461303108, + "xy_threshold": 0.08, + "gripper_dist": 0.21499612810802324, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086790410544, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569887167611211, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08705598646824035, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1849142472377923, + "release_required_pad_clearance": 0.05352799323412018, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.064984907306309, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca9bbc8716b980e731eab1ac4b74d62c45674f82c0827ae323e596b7203d035a", + "visual_seed": 903061062584317252, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13d7de05a1f04b39138871d8ff83c911086e325f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_49_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33001644065641655, + 0.2270780761622009, + 1.004290963112521 + ], + "current_z": 1.004290963112521, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1431845147023998, + "gripper_z": 1.0042419758539942, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3250123401771785, + 0.2222422944033506, + 1.0042419758539942 + ], + "object_minus_gripper": [ + 0.0050041004792380495, + 0.004835781758850299, + 4.8987258526755895e-05 + ], + "object_to_gripper_xy": 0.006958865340379836, + "object_to_gripper_z": 4.8987258526755895e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33001644065641655, + 0.20274219095000784, + 1.004290963112521 + ], + "finger_b": [ + 0.3181337681006387, + 0.2270780761622009, + 1.004290963112521 + ], + "finger_midpoint": [ + 0.3240751043785276, + 0.2149101335561044, + 1.004290963112521 + ], + "object_minus_finger_midpoint": [ + 0.005941336277888953, + 0.012167942606096521, + 0.0 + ], + "finger_gap": 0.02708197216099436, + "fingertip_max_gap": 0.09180289961066909, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01354098608049718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004290963112521, + "object_top_z": 1.054177121959139, + "finger_top_clearance": 0.049886158846617956, + "fingertip_min_top_clearance": 0.014965847653985353, + "object_projection_between_fingers": 0.8074836209176735, + "object_to_finger_line_xy": 0.010677780540221529, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840144980533455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6300090854582836, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.334159713149709, + 0.03341789808743455, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3355775229811182, + 0.020234293035906514, + 1.030500124859665 + ], + "target_minus_gripper": [ + -0.0014178098314092114, + 0.013183605051528033, + -0.26035373506305315 + ], + "held_position": [ + 0.34066510328089766, + 0.0249798498539972, + 1.0305086431132122 + ], + "held_minus_target": [ + 0.006505390131188671, + -0.008438048233437346, + 0.26036225331660034 + ], + "held_minus_gripper": [ + 0.0050875802997794595, + 0.004745556818090687, + 8.518253547196153e-06 + ], + "xy_dist": 0.013259623934060728, + "held_xy_dist": 0.01065461208814202, + "held_gripper_dist": 0.006957287932885526, + "max_held_gripper_dist": 0.0069598927939673386, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0305086431132122, + "required_height": 0.8001463897966119, + "gripper_z": 1.030500124859665, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23152626160014, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9031691006274604, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7937887278384586, + "max_source_tilt_deg": 89.7405071076097, + "source_upright_tilt_deg": 1.745137743156491, + "max_source_upright_tilt_deg": 89.83760786289159, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7937887278384586, + "source_upright_return_tilt_deg": 1.745137743156491, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 2.3492969610434118e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3342, + 0.0334, + 0.7701 + ], + "controller_target_position": [ + 0.3342, + 0.0334, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0011, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3337, + 0.0071, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00041183532991400534, + -0.0011377285227929012, + 0.0014314103283618392 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7451416867946228, + "source_return_step_error_deg": 1.793810142029678, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7858995993940892, + "source_return_best_wrist_position": -1.6094622611999512, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094622611999512 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3342, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3342, + 0.0334, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0011, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3337, + 0.0071, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00041183532991400534, + -0.0011377285227929012, + 0.0014314103283618392 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7451416867946228, + "pour_controller_source_return_step_error_deg": 1.793810142029678, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7858995993940892, + "pour_controller_source_return_best_wrist_position": -1.6094622611999512, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094622611999512, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013259623934060728, + "valid_pour_held_xy_dist": 0.01065461208814202, + "valid_pour_held_gripper_dist": 0.006957287932885526, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0305086431132122, + "valid_pour_source_tilt_deg": 1.7937887278384586, + "valid_pour_source_upright_tilt_deg": 1.745137743156491, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34066510328089766, + 0.0007946370899021232, + 1.0305086431132122 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3293473918114674, + 0.0249798498539972, + 1.0305086431132122 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3350062475461825, + 0.012887243471949663, + 1.0305086431132122 + ], + "valid_pour_held_grasp_object_position": [ + 0.34066510328089766, + 0.0249798498539972, + 1.0305086431132122 + ], + "valid_pour_held_grasp_finger_gap": 0.026702342768937355, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024300034470347648, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011136450882578636, + -0.9995361863573684, + 0.028344163842101804 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005803251506984162, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037696271972803744, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34066510328089766, + 0.0007946370899021232, + 1.0305086431132122 + ], + "held_grasp_finger_b": [ + 0.3293473918114674, + 0.0249798498539972, + 1.0305086431132122 + ], + "held_grasp_midpoint": [ + 0.3350062475461825, + 0.012887243471949663, + 1.0305086431132122 + ], + "held_grasp_object_position": [ + 0.34066510328089766, + 0.0249798498539972, + 1.0305086431132122 + ], + "held_grasp_finger_gap": 0.026702342768937355, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024300034470347648, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011136450882578636, + -0.9995361863573684, + 0.028344163842101804 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005803251506984162, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037696271972803744, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30588328937466824, + 0.22232058569778973, + 0.7611080654591462 + ], + "target_position": [ + 0.30597448451816633, + 0.2245235816282339, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002204882678001542, + "xy_threshold": 0.08, + "gripper_dist": 0.21685217876330354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080654591462, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525675048558754, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560595647926465, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1868646619238592, + "release_required_pad_clearance": 0.05280297823963233, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6452628627336453, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "668eaeea2a968199892a0edcdcbdc692f353c5541d648b874b451328650e65e1", + "visual_seed": 1359602122644899355, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f1492d24a9ce5122773a860965385a67f85c4fba --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_4_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3308143264726256, + 0.22190700460018362, + 1.0057068345538327 + ], + "current_z": 1.0057068345538327, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.14460020732977696, + "gripper_z": 1.0057106382278937, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32571112156918525, + 0.21708020984322263, + 1.0057106382278937 + ], + "object_minus_gripper": [ + 0.00510320490344035, + 0.004826794756960989, + -3.8036740610536413e-06 + ], + "object_to_gripper_xy": 0.0070242898511040765, + "object_to_gripper_z": -3.8036740610536413e-06, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3308143264726256, + 0.19732442384955537, + 1.0057068345538327 + ], + "finger_b": [ + 0.31917281626099525, + 0.22190700460018362, + 1.0057068345538327 + ], + "finger_midpoint": [ + 0.3249935713668104, + 0.2096157142248695, + 1.0057068345538327 + ], + "object_minus_finger_midpoint": [ + 0.005820755105815201, + 0.012291290375314123, + 0.0 + ], + "finger_gap": 0.02719978007941704, + "fingertip_max_gap": 0.0914141887839928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013599890039708531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0057068345538327, + "object_top_z": 1.0556463497250648, + "finger_top_clearance": 0.049939515171232074, + "fingertip_min_top_clearance": 0.014981854551369621, + "object_projection_between_fingers": 0.8168158634907932, + "object_to_finger_line_xy": 0.01052134848153522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482070943919964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2955547952708557, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3342461100823108, + 0.0359986450957582, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3366512899174894, + 0.022748142568554647, + 1.02914897752132 + ], + "target_minus_gripper": [ + -0.0024051798351785725, + 0.013250502527203556, + -0.2590025877247084 + ], + "held_position": [ + 0.3417640776302288, + 0.02756111650636387, + 1.0291030186645278 + ], + "held_minus_target": [ + 0.007517967547918003, + -0.008437528589394332, + 0.25895662886791615 + ], + "held_minus_gripper": [ + 0.0051127877127394306, + 0.004812973937809224, + -4.595885679226086e-05 + ], + "xy_dist": 0.013467022954720818, + "held_xy_dist": 0.01130096123116945, + "held_gripper_dist": 0.007021924845659328, + "max_held_gripper_dist": 0.007025381327076802, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0291030186645278, + "required_height": 0.8001463897966117, + "gripper_z": 1.02914897752132, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23437445048404, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2370205097735172, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.77777387749553, + "max_source_tilt_deg": 89.99892884833366, + "source_upright_tilt_deg": 1.9336753724196745, + "max_source_upright_tilt_deg": 89.83143750928815, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.77777387749553, + "source_upright_return_tilt_deg": 1.9336753724196745, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.50593981019146e-08, + "max_target_xy_drift": 1.402313278967046e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3342, + 0.036, + 0.7701 + ], + "controller_target_position": [ + 0.3342, + 0.036, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0012, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.335, + 0.0096, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000790547102541297, + -0.001214101454451804, + -5.52334091244945e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9336653396385493, + "source_return_step_error_deg": 1.7777684783030134, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9254886602259624, + "source_return_best_wrist_position": -1.609486699104309, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609486699104309 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3342, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3342, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0012, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.335, + 0.0096, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000790547102541297, + -0.001214101454451804, + -5.52334091244945e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9336653396385493, + "pour_controller_source_return_step_error_deg": 1.7777684783030134, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9254886602259624, + "pour_controller_source_return_best_wrist_position": -1.609486699104309, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609486699104309, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013467022954720818, + "valid_pour_held_xy_dist": 0.01130096123116945, + "valid_pour_held_gripper_dist": 0.007021924845659328, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0291030186645278, + "valid_pour_source_tilt_deg": 1.77777387749553, + "valid_pour_source_upright_tilt_deg": 1.9336753724196745, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.50593981019146e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3417640776302288, + 0.0033761076224809125, + 1.0291030186645278 + ], + "valid_pour_held_grasp_finger_b": [ + 0.330323743058398, + 0.02756111650636387, + 1.0291030186645278 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3360439103443134, + 0.015468612064422392, + 1.0291030186645278 + ], + "valid_pour_held_grasp_object_position": [ + 0.3417640776302288, + 0.02756111650636387, + 1.0291030186645278 + ], + "valid_pour_held_grasp_finger_gap": 0.026754362444822426, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02440902629231469, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02078516429272266, + -0.9994305635663148, + 0.026580548430064403 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005978837366812881, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03775352615757693, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3417640776302288, + 0.0033761076224809125, + 1.0291030186645278 + ], + "held_grasp_finger_b": [ + 0.330323743058398, + 0.02756111650636387, + 1.0291030186645278 + ], + "held_grasp_midpoint": [ + 0.3360439103443134, + 0.015468612064422392, + 1.0291030186645278 + ], + "held_grasp_object_position": [ + 0.3417640776302288, + 0.02756111650636387, + 1.0291030186645278 + ], + "held_grasp_finger_gap": 0.026754362444822426, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02440902629231469, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02078516429272266, + -0.9994305635663148, + 0.026580548430064403 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005978837366812881, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03775352615757693, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30455261320814536, + 0.21978499936762866, + 0.7611074492641685 + ], + "target_position": [ + 0.30666354624226155, + 0.21913184371543476, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022096720527073305, + "xy_threshold": 0.08, + "gripper_dist": 0.2150289213404012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074492641685, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574695058038029, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864683733942128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1850488849735689, + "release_required_pad_clearance": 0.0532341866971064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.487241809122108, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 206, + "max_placed_release_frames": 206 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80f0169a36b8a5441a5282c59b7be24dee3c05aecb2f87fde0874d97cf39a2b9", + "visual_seed": 6341013181587651842, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb93849f1c32cadeb8aa9fcdb2fdcf5d8824c77d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_50_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33618279846743976, + 0.22243246865847358, + 1.0022023311983654 + ], + "current_z": 1.0022023311983654, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1410957635789546, + "gripper_z": 1.002151426887876, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309751983354887, + 0.21755303935541143, + 1.002151426887876 + ], + "object_minus_gripper": [ + 0.00520760013195104, + 0.004879429303062149, + 5.090431048948574e-05 + ], + "object_to_gripper_xy": 0.007136380697375811, + "object_to_gripper_z": 5.090431048948574e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33618279846743976, + 0.197814354391869, + 1.0022023311983654 + ], + "finger_b": [ + 0.324412385776975, + 0.22243246865847358, + 1.0022023311983654 + ], + "finger_midpoint": [ + 0.3302975921222074, + 0.21012341152517128, + 1.0022023311983654 + ], + "object_minus_finger_midpoint": [ + 0.005885206345232374, + 0.012309057133302298, + 0.0 + ], + "finger_gap": 0.027287252792237128, + "fingertip_max_gap": 0.09158129541347024, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013643626396118576, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022023311983654, + "object_top_z": 1.0520651849166782, + "finger_top_clearance": 0.04986285371831278, + "fingertip_min_top_clearance": 0.014958856115493817, + "object_projection_between_fingers": 0.8139354007513196, + "object_to_finger_line_xy": 0.010619074290299702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829064770673512, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4504876925541583, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33572561657492567, + 0.039380724399022835, + 0.7701464494012564 + ], + "gripper_position": [ + 0.33674961336156073, + 0.026676196410001143, + 1.0288254266769368 + ], + "target_minus_gripper": [ + -0.0010239967866350619, + 0.012704527989021691, + -0.25867897727568034 + ], + "held_position": [ + 0.34204649772834317, + 0.03145597993084584, + 1.028833596606598 + ], + "held_minus_target": [ + 0.006320881153417501, + -0.007924744468176995, + 0.2586871472053416 + ], + "held_minus_gripper": [ + 0.0052968843667824395, + 0.0047797835208446965, + 8.169929661239195e-06 + ], + "xy_dist": 0.012745728729377322, + "held_xy_dist": 0.010136819690688517, + "held_gripper_dist": 0.007134660555972751, + "max_held_gripper_dist": 0.0071377525414949815, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.028833596606598, + "required_height": 0.8001464494012565, + "gripper_z": 1.0288254266769368, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2241564874857, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3277689705502607, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9758922157053105, + "max_source_tilt_deg": 89.78185853116373, + "source_upright_tilt_deg": 1.6590654182568987, + "max_source_upright_tilt_deg": 89.78723871853624, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9758922157053105, + "source_upright_return_tilt_deg": 1.6590654182568987, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 8.024520884654677e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3357, + 0.0394, + 0.7701 + ], + "controller_target_position": [ + 0.3357, + 0.0394, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0008, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3344, + 0.0134, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001314950723723532, + -0.0008082751462655878, + -0.0004334680081448301 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6590916366272828, + "source_return_step_error_deg": 1.9759234232377556, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9675759793763654, + "source_return_best_wrist_position": -1.6087373495101929, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087373495101929 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3357, + 0.0394, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3357, + 0.0394, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0008, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3344, + 0.0134, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001314950723723532, + -0.0008082751462655878, + -0.0004334680081448301 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6590916366272828, + "pour_controller_source_return_step_error_deg": 1.9759234232377556, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9675759793763654, + "pour_controller_source_return_best_wrist_position": -1.6087373495101929, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087373495101929, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012745728729377322, + "valid_pour_held_xy_dist": 0.010136819690688517, + "valid_pour_held_gripper_dist": 0.007134660555972751, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.028833596606598, + "valid_pour_source_tilt_deg": 1.9758922157053105, + "valid_pour_source_upright_tilt_deg": 1.6590654182568987, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34204649772834317, + 0.006972357579888868, + 1.028833596606598 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33085208905624075, + 0.03145597993084584, + 1.028833596606598 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33644929339229196, + 0.019214168755367356, + 1.028833596606598 + ], + "valid_pour_held_grasp_object_position": [ + 0.34204649772834317, + 0.03145597993084584, + 1.028833596606598 + ], + "valid_pour_held_grasp_finger_gap": 0.026921414319131184, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024551308184073882, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006963225125803646, + -0.9995808073466389, + 0.028102012029195825 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005692682346936881, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03752254516579222, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34204649772834317, + 0.006972357579888868, + 1.028833596606598 + ], + "held_grasp_finger_b": [ + 0.33085208905624075, + 0.03145597993084584, + 1.028833596606598 + ], + "held_grasp_midpoint": [ + 0.33644929339229196, + 0.019214168755367356, + 1.028833596606598 + ], + "held_grasp_object_position": [ + 0.34204649772834317, + 0.03145597993084584, + 1.028833596606598 + ], + "held_grasp_finger_gap": 0.026921414319131184, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024551308184073882, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006963225125803646, + -0.9995808073466389, + 0.028102012029195825 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005692682346936881, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03752254516579222, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30748787241348285, + 0.22062599083955414, + 0.7611062821498218 + ], + "target_position": [ + 0.3119415399145133, + 0.21822218350907518, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005060972623103096, + "xy_threshold": 0.08, + "gripper_dist": 0.21019557774771164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062821498218, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571469712941414, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0891812264373059, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18084854168331038, + "release_required_pad_clearance": 0.05459061321865295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.218657192046283, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f97f92839de1cf396beb9dd8a2d1dbc678c3c3c8ff6198ac77b056524b0d246", + "visual_seed": 1352720694092347261, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..62340b3d813f88f1ae91640c30c3e01c5468ba04 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_51_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33901465805084247, + 0.22184740636429132, + 1.0051713133527995 + ], + "current_z": 1.0051713133527995, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14406480533803345, + "gripper_z": 1.004480175962453, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33380641744340084, + 0.2170474846696666, + 1.004480175962453 + ], + "object_minus_gripper": [ + 0.005208240607441628, + 0.004799921694624704, + 0.0006911373903464302 + ], + "object_to_gripper_xy": 0.007082726770074702, + "object_to_gripper_z": 0.0006911373903464302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33901465805084247, + 0.197169773992922, + 1.0051713133527995 + ], + "finger_b": [ + 0.3274074559485418, + 0.22184740636429132, + 1.0051713133527995 + ], + "finger_midpoint": [ + 0.3332110569996921, + 0.20950859017860665, + 1.0051713133527995 + ], + "object_minus_finger_midpoint": [ + 0.005803601051150353, + 0.012338816185684665, + 0.0 + ], + "finger_gap": 0.027271096056083043, + "fingertip_max_gap": 0.0915773039613885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635548028041533, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0051713133527995, + "object_top_z": 1.0550240650851235, + "finger_top_clearance": 0.04985275173232395, + "fingertip_min_top_clearance": 0.014955825519697168, + "object_projection_between_fingers": 0.8188451746909605, + "object_to_finger_line_xy": 0.01050336465214671, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828865198069425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3649748222853961, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3304526916748706, + 0.03602174934618928, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33241624084986243, + 0.024176669541002893, + 1.0295888073317538 + ], + "target_minus_gripper": [ + -0.0019635491749918077, + 0.011845079805186384, + -0.2594423579304973 + ], + "held_position": [ + 0.33764929992628595, + 0.028962562383639263, + 1.0302251906917796 + ], + "held_minus_target": [ + 0.007196608251415326, + -0.007059186962550014, + 0.2600787412905231 + ], + "held_minus_gripper": [ + 0.0052330590764235185, + 0.00478589284263637, + 0.0006363833600258051 + ], + "xy_dist": 0.012006724822108872, + "held_xy_dist": 0.010080837807274515, + "held_gripper_dist": 0.0071200183552751, + "max_held_gripper_dist": 0.00712457757034958, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0302251906917796, + "required_height": 0.8001464494012566, + "gripper_z": 1.0295888073317538, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21441663772926, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5573928695445538, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9297485684881295, + "max_source_tilt_deg": 89.77040155749464, + "source_upright_tilt_deg": 2.9338517277743326, + "max_source_upright_tilt_deg": 89.84574970232681, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9297485684881295, + "source_upright_return_tilt_deg": 2.9338517277743326, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3305, + 0.036, + 0.7701 + ], + "controller_target_position": [ + 0.3305, + 0.036, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0006, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3289, + 0.0114, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015219570074608505, + 0.0006072517483138237, + 0.0005791024903859091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9338587192035375, + "source_return_step_error_deg": 2.9297545347797307, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9349223633724084, + "source_return_best_wrist_position": -1.6312044858932495, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6312044858932495 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3305, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3305, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0006, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3289, + 0.0114, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015219570074608505, + 0.0006072517483138237, + 0.0005791024903859091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9338587192035375, + "pour_controller_source_return_step_error_deg": 2.9297545347797307, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9349223633724084, + "pour_controller_source_return_best_wrist_position": -1.6312044858932495, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6312044858932495, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012006724822108872, + "valid_pour_held_xy_dist": 0.010080837807274515, + "valid_pour_held_gripper_dist": 0.0071200183552751, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0302251906917796, + "valid_pour_source_tilt_deg": 2.9297485684881295, + "valid_pour_source_upright_tilt_deg": 2.9338517277743326, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33764929992628595, + 0.004837912780196454, + 1.0302251906917796 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3265345874921397, + 0.028962562383639263, + 1.0302251906917796 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3320919437092128, + 0.01690023758191786, + 1.0302251906917796 + ], + "valid_pour_held_grasp_object_position": [ + 0.33764929992628595, + 0.028962562383639263, + 1.0302251906917796 + ], + "valid_pour_held_grasp_finger_gap": 0.026561919188617722, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024269453301109356, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015872994748033473, + -0.9986893043030128, + 0.048659238675642466 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005777791966888583, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03776194719163349, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33764929992628595, + 0.004837912780196454, + 1.0302251906917796 + ], + "held_grasp_finger_b": [ + 0.3265345874921397, + 0.028962562383639263, + 1.0302251906917796 + ], + "held_grasp_midpoint": [ + 0.3320919437092128, + 0.01690023758191786, + 1.0302251906917796 + ], + "held_grasp_object_position": [ + 0.33764929992628595, + 0.028962562383639263, + 1.0302251906917796 + ], + "held_grasp_finger_gap": 0.026561919188617722, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024269453301109356, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015872994748033473, + -0.9986893043030128, + 0.048659238675642466 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005777791966888583, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03776194719163349, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32159544403128626, + 0.22892645906110898, + 0.7611064817091928 + ], + "target_position": [ + 0.31459228797458527, + 0.2187798168148615, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012328768942106175, + "xy_threshold": 0.08, + "gripper_dist": 0.2207428458210208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064817091928, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529125593277276, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865974693671822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1926762314703728, + "release_required_pad_clearance": 0.0532987346835911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6158807179000725, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ea42e7c2172f0833e991ac3bc35cde57c177a010799bcdd93e1aecac06e34b7", + "visual_seed": 2926992532814277969, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5becba1a1c89249a4ddb8f8e46fbbba6c6bf3f0b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_52_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3320788048789426, + 0.22050235012894043, + 1.0023575458937717 + ], + "current_z": 1.0023575458937717, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1412510974836504, + "gripper_z": 1.0019524792671202, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3270708473722579, + 0.215715689088734, + 1.0019524792671202 + ], + "object_minus_gripper": [ + 0.0050079575066847015, + 0.004786661040206419, + 0.00040506662665151794 + ], + "object_to_gripper_xy": 0.006927608700164123, + "object_to_gripper_z": 0.00040506662665151794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3320788048789426, + 0.1960492004252909, + 1.0023575458937717 + ], + "finger_b": [ + 0.3204169623334807, + 0.22050235012894043, + 1.0023575458937717 + ], + "finger_midpoint": [ + 0.32624788360621165, + 0.20827577527711566, + 1.0023575458937717 + ], + "object_minus_finger_midpoint": [ + 0.005830921272730938, + 0.012226574851824767, + 0.0 + ], + "finger_gap": 0.027091605747615627, + "fingertip_max_gap": 0.09135350186875149, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013545802873807813, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023575458937717, + "object_top_z": 1.052377419456357, + "finger_top_clearance": 0.050019873562585415, + "fingertip_min_top_clearance": 0.015005962068775624, + "object_projection_between_fingers": 0.814704508235621, + "object_to_finger_line_xy": 0.010526093736974837, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817675093437575, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.114967152505111, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33737237370078016, + 0.040053102044992246, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33812691037750764, + 0.02904885880196481, + 1.028327068769892 + ], + "target_minus_gripper": [ + -0.0007545366767274797, + 0.011004243243027435, + -0.25818061936863546 + ], + "held_position": [ + 0.34312443921744323, + 0.03385078841104089, + 1.028689297507848 + ], + "held_minus_target": [ + 0.005752065516663074, + -0.006202313633951358, + 0.25854284810659156 + ], + "held_minus_gripper": [ + 0.004997528839935594, + 0.004801929609076078, + 0.0003622287379561051 + ], + "xy_dist": 0.0110300813663473, + "held_xy_dist": 0.008459016025631073, + "held_gripper_dist": 0.006940103178996031, + "max_held_gripper_dist": 0.006943163705683497, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.028689297507848, + "required_height": 0.8001464494012566, + "gripper_z": 1.028327068769892, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.234975507131, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8637851682779247, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.813414325990121, + "max_source_tilt_deg": 89.99378091211017, + "source_upright_tilt_deg": 1.8806359436140576, + "max_source_upright_tilt_deg": 89.67345921864754, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.813414325990121, + "source_upright_return_tilt_deg": 1.8806359436140576, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.23385303939209e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3374, + 0.0401, + 0.7701 + ], + "controller_target_position": [ + 0.3374, + 0.0401, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0006, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3362, + 0.0155, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001131121984488644, + 0.0006479135772634046, + -0.001152924155356833 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8806166912550686, + "source_return_step_error_deg": 1.813443008865884, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8755718439243647, + "source_return_best_wrist_position": -1.609602928161621, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609602928161621 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3374, + 0.0401, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3374, + 0.0401, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0006, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3362, + 0.0155, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001131121984488644, + 0.0006479135772634046, + -0.001152924155356833 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8806166912550686, + "pour_controller_source_return_step_error_deg": 1.813443008865884, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8755718439243647, + "pour_controller_source_return_best_wrist_position": -1.609602928161621, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609602928161621, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0110300813663473, + "valid_pour_held_xy_dist": 0.008459016025631073, + "valid_pour_held_gripper_dist": 0.006940103178996031, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.028689297507848, + "valid_pour_source_tilt_deg": 1.813414325990121, + "valid_pour_source_upright_tilt_deg": 1.8806359436140576, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34312443921744323, + 0.009827889966230819, + 1.028689297507848 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3316090120994539, + 0.03385078841104089, + 1.028689297507848 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3373667256584486, + 0.021839339188635853, + 1.028689297507848 + ], + "valid_pour_held_grasp_object_position": [ + 0.34312443921744323, + 0.03385078841104089, + 1.028689297507848 + ], + "valid_pour_held_grasp_finger_gap": 0.026640283620850993, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02424291939844979, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020230285770687553, + -0.9994613710848231, + 0.0258399544674901 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060074754946792975, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037831750752238616, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34312443921744323, + 0.009827889966230819, + 1.028689297507848 + ], + "held_grasp_finger_b": [ + 0.3316090120994539, + 0.03385078841104089, + 1.028689297507848 + ], + "held_grasp_midpoint": [ + 0.3373667256584486, + 0.021839339188635853, + 1.028689297507848 + ], + "held_grasp_object_position": [ + 0.34312443921744323, + 0.03385078841104089, + 1.028689297507848 + ], + "held_grasp_finger_gap": 0.026640283620850993, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02424291939844979, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020230285770687553, + -0.9994613710848231, + 0.0258399544674901 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060074754946792975, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037831750752238616, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3097295105316443, + 0.2214990323292703, + 0.7611063460583903 + ], + "target_position": [ + 0.3080685290638931, + 0.21724922302957422, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004562865165660302, + "xy_threshold": 0.08, + "gripper_dist": 0.2178039782641213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063460583903, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565270418161871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710573910469892, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1882239613810187, + "release_required_pad_clearance": 0.05355286955234946, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.117017889621843, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bee8882b1a16a0d52da4ab2345480402839e07d34328ed3080f47bbf4a79ac0b", + "visual_seed": 4770027530527810080, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1be3e320470a553c7044be8a4b67b3ba88a04bb1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_53_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3354206175195237, + 0.22223690897956866, + 1.0044420492287631 + ], + "current_z": 1.0044420492287631, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14333560081864183, + "gripper_z": 1.003831620890755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33024283428351, + 0.21732974352622522, + 1.003831620890755 + ], + "object_minus_gripper": [ + 0.0051777832360137, + 0.004907165453343437, + 0.0006104283380081732 + ], + "object_to_gripper_xy": 0.007133702546758717, + "object_to_gripper_z": 0.0006104283380081732, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3354206175195237, + 0.19773171631887385, + 1.0044420492287631 + ], + "finger_b": [ + 0.32348417374282934, + 0.22223690897956866, + 1.0044420492287631 + ], + "finger_midpoint": [ + 0.3294523956311765, + 0.20998431264922124, + 1.0044420492287631 + ], + "object_minus_finger_midpoint": [ + 0.005968221888347169, + 0.01225259633034742, + 0.0 + ], + "finger_gap": 0.027257717391079465, + "fingertip_max_gap": 0.09160013596630875, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013628858695539744, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044420492287631, + "object_top_z": 1.0543171282375075, + "finger_top_clearance": 0.04987507900874433, + "fingertip_min_top_clearance": 0.014962523702623298, + "object_projection_between_fingers": 0.8082342935765143, + "object_to_finger_line_xy": 0.010731083980171193, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830006798315438, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2802004225546268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33180735623900337, + 0.040264691083364265, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3330637233667578, + 0.027894712295770896, + 1.0304367691591134 + ], + "target_minus_gripper": [ + -0.0012563671277544541, + 0.01236997878759337, + -0.26029037936250177 + ], + "held_position": [ + 0.3383254154865946, + 0.03271778279478274, + 1.031004224134998 + ], + "held_minus_target": [ + 0.006518059247591246, + -0.007546908288581525, + 0.2608578343383863 + ], + "held_minus_gripper": [ + 0.005261692119836792, + 0.0048230704990118445, + 0.0005674549758845071 + ], + "xy_dist": 0.012433617074898675, + "held_xy_dist": 0.009972006872810019, + "held_gripper_dist": 0.0071602666257652055, + "max_held_gripper_dist": 0.007165994023511308, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.031004224134998, + "required_height": 0.8001463897966117, + "gripper_z": 1.0304367691591134, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2210146004675, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7536978119002951, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7909017704401946, + "max_source_tilt_deg": 89.78986231655328, + "source_upright_tilt_deg": 1.6856911817114566, + "max_source_upright_tilt_deg": 89.98855447276785, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7909017704401946, + "source_upright_return_tilt_deg": 1.6856911817114566, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 2.0336127376491101e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3318, + 0.0403, + 0.7701 + ], + "controller_target_position": [ + 0.3318, + 0.0403, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.0003, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3303, + 0.0148, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001492948913699586, + -0.0002831228220211673, + 0.0015643240497830815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6856890498849053, + "source_return_step_error_deg": 1.7909013990224685, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7837258900700927, + "source_return_best_wrist_position": -1.6082024574279785, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6082024574279785 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3318, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3318, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.0003, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3303, + 0.0148, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001492948913699586, + -0.0002831228220211673, + 0.0015643240497830815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6856890498849053, + "pour_controller_source_return_step_error_deg": 1.7909013990224685, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7837258900700927, + "pour_controller_source_return_best_wrist_position": -1.6082024574279785, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6082024574279785, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012433617074898675, + "valid_pour_held_xy_dist": 0.009972006872810019, + "valid_pour_held_gripper_dist": 0.0071602666257652055, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.031004224134998, + "valid_pour_source_tilt_deg": 1.7909017704401946, + "valid_pour_source_upright_tilt_deg": 1.6856911817114566, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3383254154865946, + 0.008313166039445824, + 1.031004224134998 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3269786511242522, + 0.03271778279478274, + 1.031004224134998 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33265203330542337, + 0.020515474417114283, + 1.031004224134998 + ], + "valid_pour_held_grasp_object_position": [ + 0.3383254154865946, + 0.03271778279478274, + 1.031004224134998 + ], + "valid_pour_held_grasp_finger_gap": 0.026913460953013748, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024435284682341036, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0036335588350586653, + -0.999567245451962, + 0.029191078598941215 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005728748255231408, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03754383686482266, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3383254154865946, + 0.008313166039445824, + 1.031004224134998 + ], + "held_grasp_finger_b": [ + 0.3269786511242522, + 0.03271778279478274, + 1.031004224134998 + ], + "held_grasp_midpoint": [ + 0.33265203330542337, + 0.020515474417114283, + 1.031004224134998 + ], + "held_grasp_object_position": [ + 0.3383254154865946, + 0.03271778279478274, + 1.031004224134998 + ], + "held_grasp_finger_gap": 0.026913460953013748, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024435284682341036, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0036335588350586653, + -0.999567245451962, + 0.029191078598941215 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005728748255231408, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03754383686482266, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3143799994753922, + 0.2202161716347446, + 0.7611071544405762 + ], + "target_position": [ + 0.31113280071992055, + 0.22076907305596277, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0032939337788002983, + "xy_threshold": 0.08, + "gripper_dist": 0.2181550327015338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071544405762, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565586232100867, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559612696823775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18767170935061628, + "release_required_pad_clearance": 0.052798063484118876, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6416313495989341, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92fa30172ecd961f384dd8d659f1769142af75a6d80bcdbb38d41481cf868357", + "visual_seed": 5707133216659926358, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..208d3a55ad9f296f77edf6cce542289cc1d757d4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_54_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3349406801633845, + 0.22468214322831453, + 1.0019086127652326 + ], + "current_z": 1.0019086127652326, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14080198554117695, + "gripper_z": 1.001643541775871, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3298400161557714, + 0.21985781511637909, + 1.001643541775871 + ], + "object_minus_gripper": [ + 0.005100664007613109, + 0.00482432811193545, + 0.00026507098936168205 + ], + "object_to_gripper_xy": 0.007020748895251168, + "object_to_gripper_z": 0.00026507098936168205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3349406801633845, + 0.20013735955574602, + 1.0019086127652326 + ], + "finger_b": [ + 0.3232549683941669, + 0.22468214322831453, + 1.0019086127652326 + ], + "finger_midpoint": [ + 0.3290978242787757, + 0.21240975139203028, + 1.0019086127652326 + ], + "object_minus_finger_midpoint": [ + 0.005842855884608811, + 0.012272391836284258, + 0.0 + ], + "finger_gap": 0.027184596099379833, + "fingertip_max_gap": 0.09185247225722645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013592298049689916, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019086127652326, + "object_top_z": 1.0519095851495142, + "finger_top_clearance": 0.05000097238428158, + "fingertip_min_top_clearance": 0.01500029171528449, + "object_projection_between_fingers": 0.8152159120415379, + "object_to_finger_line_xy": 0.010550948279197636, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842623612861323, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5480115272078192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3358094803101246, + 0.03189286482208229, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3377480893337436, + 0.02088998914062669, + 1.0300574911199638 + ], + "target_minus_gripper": [ + -0.0019386090236190312, + 0.011002875681455603, + -0.25991110132335216 + ], + "held_position": [ + 0.3428597296219003, + 0.02570364903864801, + 1.0302823526171987 + ], + "held_minus_target": [ + 0.007050249311775725, + -0.006189215783434281, + 0.26013596282058704 + ], + "held_minus_gripper": [ + 0.005111640288156694, + 0.004813659898021322, + 0.00022486149723488502 + ], + "xy_dist": 0.011172353297672976, + "held_xy_dist": 0.0093814928114936, + "held_gripper_dist": 0.007025008949621631, + "max_held_gripper_dist": 0.007028204944999411, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0302823526171987, + "required_height": 0.8001463897966117, + "gripper_z": 1.0300574911199638, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22839120477111, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4028471939790637, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7786521720879058, + "max_source_tilt_deg": 89.84405480651664, + "source_upright_tilt_deg": 2.0634950560600216, + "max_source_upright_tilt_deg": 89.88250256491283, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7786521720879058, + "source_upright_return_tilt_deg": 2.0634950560600216, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.0543295516136963e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3358, + 0.0319, + 0.7701 + ], + "controller_target_position": [ + 0.3358, + 0.0319, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0009, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3358, + 0.0076, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.5580978584573084e-05, + 0.0009297499060187402, + 0.0011023792575711859 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.063486830038523, + "source_return_step_error_deg": 1.7786586801670021, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0578959203263016, + "source_return_best_wrist_position": -1.6093523502349854, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093523502349854 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3358, + 0.0319, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3358, + 0.0319, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0009, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3358, + 0.0076, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.5580978584573084e-05, + 0.0009297499060187402, + 0.0011023792575711859 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.063486830038523, + "pour_controller_source_return_step_error_deg": 1.7786586801670021, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0578959203263016, + "pour_controller_source_return_best_wrist_position": -1.6093523502349854, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093523502349854, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011172353297672976, + "valid_pour_held_xy_dist": 0.0093814928114936, + "valid_pour_held_gripper_dist": 0.007025008949621631, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0302823526171987, + "valid_pour_source_tilt_deg": 1.7786521720879058, + "valid_pour_source_upright_tilt_deg": 2.0634950560600216, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3428597296219003, + 0.0015303274444621775, + 1.0302823526171987 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3314052357032699, + 0.02570364903864801, + 1.0302823526171987 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3371324826625851, + 0.013616988241555094, + 1.0302823526171987 + ], + "valid_pour_held_grasp_object_position": [ + 0.3428597296219003, + 0.02570364903864801, + 1.0302823526171987 + ], + "valid_pour_held_grasp_finger_gap": 0.02674985808986418, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024434389286417592, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02416021235904578, + -0.9993515449150554, + 0.02669782415587485 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006026138203314697, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03777979843242578, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3428597296219003, + 0.0015303274444621775, + 1.0302823526171987 + ], + "held_grasp_finger_b": [ + 0.3314052357032699, + 0.02570364903864801, + 1.0302823526171987 + ], + "held_grasp_midpoint": [ + 0.3371324826625851, + 0.013616988241555094, + 1.0302823526171987 + ], + "held_grasp_object_position": [ + 0.3428597296219003, + 0.02570364903864801, + 1.0302823526171987 + ], + "held_grasp_finger_gap": 0.02674985808986418, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024434389286417592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02416021235904578, + -0.9993515449150554, + 0.02669782415587485 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006026138203314697, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03777979843242578, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3145737227185131, + 0.21698455665396502, + 0.7611100657534328 + ], + "target_position": [ + 0.31083043632043295, + 0.22105901576117357, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005532938647262091, + "xy_threshold": 0.08, + "gripper_dist": 0.2185039863431353, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611100657534328, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759062690835438, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498852043685522, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18686749330267538, + "release_required_pad_clearance": 0.05249426021842761, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.055774684715969074, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5245094682252536f09f3efe26707b35013c2601b59c69d431abf35dcf7db089", + "visual_seed": 6470544182940111464, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87696586d142dbe500490f3ff46fd1b023ea0db7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_55_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3338150916571521, + 0.2275246551732101, + 1.004896180163275 + ], + "current_z": 1.004896180163275, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14378967214850902, + "gripper_z": 1.0043906730720382, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3286052101618954, + 0.22260693588227365, + 1.0043906730720382 + ], + "object_minus_gripper": [ + 0.005209881495256696, + 0.004917719290936456, + 0.0005055070912367565 + ], + "object_to_gripper_xy": 0.007164274437726874, + "object_to_gripper_z": 0.0005055070912367565, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3338150916571521, + 0.2029416598493173, + 1.004896180163275 + ], + "finger_b": [ + 0.32193079601410507, + 0.2275246551732101, + 1.004896180163275 + ], + "finger_midpoint": [ + 0.3278729438356286, + 0.2152331575112637, + 1.004896180163275 + ], + "object_minus_finger_midpoint": [ + 0.005942147821523525, + 0.012291497661946399, + 0.0 + ], + "finger_gap": 0.02730494720789407, + "fingertip_max_gap": 0.0913170808499977, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652473603947035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004896180163275, + "object_top_z": 1.0546800284317195, + "finger_top_clearance": 0.04978384826844451, + "fingertip_min_top_clearance": 0.014935154480533385, + "object_projection_between_fingers": 0.8105632597960903, + "object_to_finger_line_xy": 0.010699584291315591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048158540424998855, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2586927819318565, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3283643833405202, + 0.03748518866174675, + 0.7701463897966114 + ], + "gripper_position": [ + 0.33074918147755383, + 0.025003211647072712, + 1.032200728615606 + ], + "target_minus_gripper": [ + -0.002384798137033628, + 0.012481977014674038, + -0.26205433881899465 + ], + "held_position": [ + 0.33603923056225726, + 0.0298385429248056, + 1.0326822517527336 + ], + "held_minus_target": [ + 0.007674847221737058, + -0.007646645736941151, + 0.2625358619561222 + ], + "held_minus_gripper": [ + 0.00529004908470343, + 0.004835331277732887, + 0.0004815231371275708 + ], + "xy_dist": 0.012707754024580822, + "held_xy_dist": 0.01083394992157917, + "held_gripper_dist": 0.007183099081565194, + "max_held_gripper_dist": 0.007186893398633181, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0326822517527336, + "required_height": 0.8001463897966115, + "gripper_z": 1.032200728615606, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21382241127147, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8785995002192856, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9473746593662835, + "max_source_tilt_deg": 89.85534138883658, + "source_upright_tilt_deg": 1.8950381898168238, + "max_source_upright_tilt_deg": 89.70423397617141, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9473746593662835, + "source_upright_return_tilt_deg": 1.8950381898168238, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.83872392426648e-08, + "max_target_xy_drift": 1.4604848462278142e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3284, + 0.0375, + 0.7701 + ], + "controller_target_position": [ + 0.3284, + 0.0375, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0011, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.329, + 0.0134, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005897822813290257, + 0.0010898473657663197, + 0.0012996219823675323 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8950477174969271, + "source_return_step_error_deg": 1.9474002015721756, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.930083444771769, + "source_return_best_wrist_position": -1.6075993776321411, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6075993776321411 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3284, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3284, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0011, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.329, + 0.0134, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005897822813290257, + 0.0010898473657663197, + 0.0012996219823675323 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8950477174969271, + "pour_controller_source_return_step_error_deg": 1.9474002015721756, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.930083444771769, + "pour_controller_source_return_best_wrist_position": -1.6075993776321411, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6075993776321411, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012707754024580822, + "valid_pour_held_xy_dist": 0.01083394992157917, + "valid_pour_held_gripper_dist": 0.007183099081565194, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0326822517527336, + "valid_pour_source_tilt_deg": 1.9473746593662835, + "valid_pour_source_upright_tilt_deg": 1.8950381898168238, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.83872392426648e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33603923056225726, + 0.005404419274138917, + 1.0326822517527336 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3247793862331107, + 0.0298385429248056, + 1.0326822517527336 + ], + "valid_pour_held_grasp_midpoint": [ + 0.330409308397684, + 0.017621481099472258, + 1.0326822517527336 + ], + "valid_pour_held_grasp_object_position": [ + 0.33603923056225726, + 0.0298385429248056, + 1.0326822517527336 + ], + "valid_pour_held_grasp_finger_gap": 0.026903726375591224, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024465134117767427, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.003940878688199578, + -0.9994530921739004, + 0.03283269740965033 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005692149453017982, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037532056691760525, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33603923056225726, + 0.005404419274138917, + 1.0326822517527336 + ], + "held_grasp_finger_b": [ + 0.3247793862331107, + 0.0298385429248056, + 1.0326822517527336 + ], + "held_grasp_midpoint": [ + 0.330409308397684, + 0.017621481099472258, + 1.0326822517527336 + ], + "held_grasp_object_position": [ + 0.33603923056225726, + 0.0298385429248056, + 1.0326822517527336 + ], + "held_grasp_finger_gap": 0.026903726375591224, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024465134117767427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.003940878688199578, + -0.9994530921739004, + 0.03283269740965033 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005692149453017982, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037532056691760525, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3073307396215542, + 0.2198204130085202, + 0.7611083667234422 + ], + "target_position": [ + 0.30946715887036985, + 0.22263972833106452, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003537347324570081, + "xy_threshold": 0.08, + "gripper_dist": 0.2136730866337795, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083667234422, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075435587492757, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855922546763309, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1836569914030532, + "release_required_pad_clearance": 0.05279612733816545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6342613705912661, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62bfa8166cd87c03f5d94c941487d1de7c2999880b880322e5b746bbc87a465c", + "visual_seed": 7235702032628954072, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30a7a7d243e1014a9759156aeecc68a111dfd554 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_56_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33661669061099186, + 0.22720894272228911, + 1.0031921902648273 + ], + "current_z": 1.0031921902648273, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14208574185470635, + "gripper_z": 1.0025292694089432, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33169302903410025, + 0.2223709417851487, + 1.0025292694089432 + ], + "object_minus_gripper": [ + 0.004923661576891614, + 0.004838000937140402, + 0.0006629208558841526 + ], + "object_to_gripper_xy": 0.006902803516798824, + "object_to_gripper_z": 0.0006629208558841526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33661669061099186, + 0.20297225835318242, + 1.0031921902648273 + ], + "finger_b": [ + 0.32468276067609486, + 0.22720894272228911, + 1.0031921902648273 + ], + "finger_midpoint": [ + 0.33064972564354334, + 0.21509060053773577, + 1.0031921902648273 + ], + "object_minus_finger_midpoint": [ + 0.005966964967448529, + 0.012118342184553349, + 0.0 + ], + "finger_gap": 0.027015468770664183, + "fingertip_max_gap": 0.09162872747878656, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013507734385332103, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031921902648273, + "object_top_z": 1.0532759986614602, + "finger_top_clearance": 0.050083808396632845, + "fingertip_min_top_clearance": 0.01502514251898987, + "object_projection_between_fingers": 0.804861954004052, + "object_to_finger_line_xy": 0.010706417703520077, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831436373939328, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.297883222606585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3325767329937641, + 0.039644288687639015, + 0.7701464494012566 + ], + "gripper_position": [ + 0.333998168392036, + 0.027706792176723172, + 1.0281399325597576 + ], + "target_minus_gripper": [ + -0.0014214353982718864, + 0.011937496510915843, + -0.2579934831585009 + ], + "held_position": [ + 0.3390082893955918, + 0.032462727978066985, + 1.0287610138086682 + ], + "held_minus_target": [ + 0.006431556401827687, + -0.00718156070957203, + 0.2586145644074116 + ], + "held_minus_gripper": [ + 0.005010121003555801, + 0.0047559358013438136, + 0.0006210812489106932 + ], + "xy_dist": 0.012021826048466525, + "held_xy_dist": 0.009640525503060474, + "held_gripper_dist": 0.006935847441699052, + "max_held_gripper_dist": 0.006942400090223517, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0287610138086682, + "required_height": 0.8001464494012567, + "gripper_z": 1.0281399325597576, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24056260187207, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.40110645651598464, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7803138550673732, + "max_source_tilt_deg": 89.95900953716307, + "source_upright_tilt_deg": 1.4396669447611694, + "max_source_upright_tilt_deg": 89.7590596405332, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7803138550673732, + "source_upright_return_tilt_deg": 1.4396669447611694, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2351741790771484e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3326, + 0.0396, + 0.7701 + ], + "controller_target_position": [ + 0.3326, + 0.0396, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0001, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3315, + 0.0145, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010642848933510693, + 6.8021569683753e-05, + -0.0014553302741218436 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.4396675730099358, + "source_return_step_error_deg": 1.7803144471063264, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7741933979131055, + "source_return_best_wrist_position": -1.6098836660385132, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098836660385132 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3326, + 0.0396, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3326, + 0.0396, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0001, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3315, + 0.0145, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010642848933510693, + 6.8021569683753e-05, + -0.0014553302741218436 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.4396675730099358, + "pour_controller_source_return_step_error_deg": 1.7803144471063264, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7741933979131055, + "pour_controller_source_return_best_wrist_position": -1.6098836660385132, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098836660385132, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012021826048466525, + "valid_pour_held_xy_dist": 0.009640525503060474, + "valid_pour_held_gripper_dist": 0.006935847441699052, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0287610138086682, + "valid_pour_source_tilt_deg": 1.7803138550673732, + "valid_pour_source_upright_tilt_deg": 1.4396669447611694, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2351741790771484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3390082893955918, + 0.008319942065146604, + 1.0287610138086682 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3277028062254256, + 0.032462727978066985, + 1.0287610138086682 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3333555478105087, + 0.020391335021606796, + 1.0287610138086682 + ], + "valid_pour_held_grasp_object_position": [ + 0.3390082893955918, + 0.032462727978066985, + 1.0287610138086682 + ], + "valid_pour_held_grasp_finger_gap": 0.026658733303516476, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02416128024889558, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0023099587079914753, + -0.9996843420080324, + 0.025017602497741875 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005688624101302741, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03766572514494425, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3390082893955918, + 0.008319942065146604, + 1.0287610138086682 + ], + "held_grasp_finger_b": [ + 0.3277028062254256, + 0.032462727978066985, + 1.0287610138086682 + ], + "held_grasp_midpoint": [ + 0.3333555478105087, + 0.020391335021606796, + 1.0287610138086682 + ], + "held_grasp_object_position": [ + 0.3390082893955918, + 0.032462727978066985, + 1.0287610138086682 + ], + "held_grasp_finger_gap": 0.026658733303516476, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02416128024889558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0023099587079914753, + -0.9996843420080324, + 0.025017602497741875 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005688624101302741, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03766572514494425, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32198597290215836, + 0.2169651981550559, + 0.7611079947389556 + ], + "target_position": [ + 0.31267124359178405, + 0.22500870608729603, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012306998089768111, + "xy_threshold": 0.08, + "gripper_dist": 0.221241714441532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079947389556, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577055295434192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09428851325992087, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1887598591974904, + "release_required_pad_clearance": 0.057144256629960435, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.856629015628446, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8eb5dc89f0dc679fe4ffe8ca0b9a0f3a8b0b066dd26fbe72fb05946a524e91d", + "visual_seed": 2975675795862486650, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ca1a95a166836487b7758ad9e9e39c4c45baee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_57_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3394665737937178, + 0.2285678351212189, + 1.0040269676623637 + ], + "current_z": 1.0040269676623637, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1429204596475977, + "gripper_z": 1.003641464453549, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3343186350478601, + 0.2238250936912644, + 1.003641464453549 + ], + "object_minus_gripper": [ + 0.0051479387458577275, + 0.0047427414299544834, + 0.000385503208814697 + ], + "object_to_gripper_xy": 0.006999633533443728, + "object_to_gripper_z": 0.000385503208814697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3394665737937178, + 0.20382450009630187, + 1.0040269676623637 + ], + "finger_b": [ + 0.32811638756897793, + 0.2285678351212189, + 1.0040269676623637 + ], + "finger_midpoint": [ + 0.3337914806813479, + 0.21619616760876037, + 1.0040269676623637 + ], + "object_minus_finger_midpoint": [ + 0.005675093112369911, + 0.012371667512458523, + 0.0 + ], + "finger_gap": 0.027222405395033705, + "fingertip_max_gap": 0.09178065777607144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013611202697516853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040269676623637, + "object_top_z": 1.0541402479713593, + "finger_top_clearance": 0.050113280308995645, + "fingertip_min_top_clearance": 0.015033984092698726, + "object_projection_between_fingers": 0.8261586924426298, + "object_to_finger_line_xy": 0.010316555656215911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048390328888035725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2591530417768384, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33757640039984627, + 0.0330907766210363, + 0.770146389796612 + ], + "gripper_position": [ + 0.3410857682587245, + 0.02248530529309163, + 1.029596402376538 + ], + "target_minus_gripper": [ + -0.0035093678588782318, + 0.01060547132794467, + -0.25945001257992606 + ], + "held_position": [ + 0.3461757419484508, + 0.027293475878735173, + 1.0299402220264728 + ], + "held_minus_target": [ + 0.008599341548604533, + -0.005797300742301129, + 0.25979383222986085 + ], + "held_minus_gripper": [ + 0.0050899736897263015, + 0.004808170585643541, + 0.00034381964993479563 + ], + "xy_dist": 0.011171019866457318, + "held_xy_dist": 0.01037098698129746, + "held_gripper_dist": 0.007010317289141413, + "max_held_gripper_dist": 0.007013232007690748, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0299402220264728, + "required_height": 0.800146389796612, + "gripper_z": 1.029596402376538, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23004411055025, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9046619782900467, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8001364554684063, + "max_source_tilt_deg": 89.69873863002066, + "source_upright_tilt_deg": 2.4205898266287407, + "max_source_upright_tilt_deg": 89.87919980359379, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8001364554684063, + "source_upright_return_tilt_deg": 2.4205898266287407, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.429369702178807e-08, + "max_target_xy_drift": 1.5200827839302395e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3376, + 0.0331, + 0.7701 + ], + "controller_target_position": [ + 0.3376, + 0.0331, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0014, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3395, + 0.0093, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001970514580009056, + 0.001400152028816866, + 0.0005706678534124739 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.420599165382158, + "source_return_step_error_deg": 1.8001476491059942, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4157431986783378, + "source_return_best_wrist_position": -1.609663963317871, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609663963317871 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3376, + 0.0331, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3376, + 0.0331, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0014, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3395, + 0.0093, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001970514580009056, + 0.001400152028816866, + 0.0005706678534124739 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.420599165382158, + "pour_controller_source_return_step_error_deg": 1.8001476491059942, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4157431986783378, + "pour_controller_source_return_best_wrist_position": -1.609663963317871, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609663963317871, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011171019866457318, + "valid_pour_held_xy_dist": 0.01037098698129746, + "valid_pour_held_gripper_dist": 0.007010317289141413, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0299402220264728, + "valid_pour_source_tilt_deg": 1.8001364554684063, + "valid_pour_source_upright_tilt_deg": 2.4205898266287407, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.429369702178807e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3461757419484508, + 0.003138146778351881, + 1.0299402220264728 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33473459646519593, + 0.027293475878735173, + 1.0299402220264728 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3404551692068234, + 0.015215811328543527, + 1.0299402220264728 + ], + "valid_pour_held_grasp_object_position": [ + 0.3461757419484508, + 0.027293475878735173, + 1.0299402220264728 + ], + "valid_pour_held_grasp_finger_gap": 0.026727883079601108, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024510095352864365, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03289176496708209, + -0.9991077241954035, + 0.026493154784431254 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006122969021145239, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03784152186185229, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3461757419484508, + 0.003138146778351881, + 1.0299402220264728 + ], + "held_grasp_finger_b": [ + 0.33473459646519593, + 0.027293475878735173, + 1.0299402220264728 + ], + "held_grasp_midpoint": [ + 0.3404551692068234, + 0.015215811328543527, + 1.0299402220264728 + ], + "held_grasp_object_position": [ + 0.3461757419484508, + 0.027293475878735173, + 1.0299402220264728 + ], + "held_grasp_finger_gap": 0.026727883079601108, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024510095352864365, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03289176496708209, + -0.9991077241954035, + 0.026493154784431254 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006122969021145239, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03784152186185229, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.314254522223376, + 0.22546656788569128, + 0.7611128699141402 + ], + "target_position": [ + 0.31534713429793054, + 0.2250473489624284, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0011702758867395441, + "xy_threshold": 0.08, + "gripper_dist": 0.215308108481551, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611128699141402, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549781748675262, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613569041323636, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18564959098753445, + "release_required_pad_clearance": 0.05306784520661818, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1561968917019325, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f030b478a6d0c6c76f2cf38c933d5635b9ce4a368865e2a4911e338f629831a8", + "visual_seed": 184332173881424907, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1105a0e5a483fc77afbb2353cd8a3a1e4e3526bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33567365154490275, + 0.22205729051028658, + 1.0030902232264043 + ], + "current_z": 1.0030902232264043, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14198365560699355, + "gripper_z": 1.0029665582832215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3305497343488166, + 0.21716325838658185, + 1.0029665582832215 + ], + "object_minus_gripper": [ + 0.005123917196086125, + 0.0048940321237047335, + 0.00012366494318283294 + ], + "object_to_gripper_xy": 0.00708562473323284, + "object_to_gripper_z": 0.00012366494318283294, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33567365154490275, + 0.19762349977294447, + 1.0030902232264043 + ], + "finger_b": [ + 0.32372701661392433, + 0.22205729051028658, + 1.0030902232264043 + ], + "finger_midpoint": [ + 0.32970033407941357, + 0.2098403951416155, + 1.0030902232264043 + ], + "object_minus_finger_midpoint": [ + 0.005973317465489181, + 0.012216895368671071, + 0.0 + ], + "finger_gap": 0.027198018603756764, + "fingertip_max_gap": 0.09117852714822386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013599009301878382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030902232264043, + "object_top_z": 1.0530305655889567, + "finger_top_clearance": 0.0499403423625524, + "fingertip_min_top_clearance": 0.014982102708765738, + "object_projection_between_fingers": 0.8070624976271087, + "object_to_finger_line_xy": 0.010732457469480127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808926357411193, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9807231408531831, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3279463163620656, + 0.03749859970682121, + 0.7701465090059013 + ], + "gripper_position": [ + 0.330001100544544, + 0.02417861025549664, + 1.0297691313211477 + ], + "target_minus_gripper": [ + -0.0020547841824783974, + 0.013319989451324572, + -0.25962262231524635 + ], + "held_position": [ + 0.3351807881462097, + 0.029012321192998042, + 1.029851581609287 + ], + "held_minus_target": [ + 0.007234471784144103, + -0.008486278513823171, + 0.2597050726033857 + ], + "held_minus_gripper": [ + 0.005179687601665706, + 0.004833710937501401, + 8.24502881393574e-05 + ], + "xy_dist": 0.013477546402070419, + "held_xy_dist": 0.011151435109875051, + "held_gripper_dist": 0.00708524686430786, + "max_held_gripper_dist": 0.007087736521619527, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.029851581609287, + "required_height": 0.8001465090059013, + "gripper_z": 1.0297691313211477, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24068554527713, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3592059267144904, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.796426455938019, + "max_source_tilt_deg": 89.96964339831632, + "source_upright_tilt_deg": 1.6277956614006468, + "max_source_upright_tilt_deg": 89.69903384691793, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.796426455938019, + "source_upright_return_tilt_deg": 1.6277956614006468, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.2338530392705795e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3279, + 0.0375, + 0.7701 + ], + "controller_target_position": [ + 0.3279, + 0.0375, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0013, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3275, + 0.011, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000412786824675134, + -0.0013277976424793181, + 0.0005265200721218497 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6277909564667215, + "source_return_step_error_deg": 1.7964183129920548, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7822172712374944, + "source_return_best_wrist_position": -1.610073208808899, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610073208808899 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3279, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3279, + 0.0375, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0013, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3275, + 0.011, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000412786824675134, + -0.0013277976424793181, + 0.0005265200721218497 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6277909564667215, + "pour_controller_source_return_step_error_deg": 1.7964183129920548, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7822172712374944, + "pour_controller_source_return_best_wrist_position": -1.610073208808899, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610073208808899, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013477546402070419, + "valid_pour_held_xy_dist": 0.011151435109875051, + "valid_pour_held_gripper_dist": 0.00708524686430786, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.029851581609287, + "valid_pour_source_tilt_deg": 1.796426455938019, + "valid_pour_source_upright_tilt_deg": 1.6277956614006468, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3351807881462097, + 0.00482375528481701, + 1.029851581609287 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3236733939945856, + 0.029012321192998042, + 1.029851581609287 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3294270910703977, + 0.016918038238907526, + 1.029851581609287 + ], + "valid_pour_held_grasp_object_position": [ + 0.3351807881462097, + 0.029012321192998042, + 1.029851581609287 + ], + "valid_pour_held_grasp_finger_gap": 0.026786318165347964, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024239827269119555, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005302888737408128, + -0.9995964593377675, + 0.027906949859085484 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005827508314086589, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03766135886637885, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3351807881462097, + 0.00482375528481701, + 1.029851581609287 + ], + "held_grasp_finger_b": [ + 0.3236733939945856, + 0.029012321192998042, + 1.029851581609287 + ], + "held_grasp_midpoint": [ + 0.3294270910703977, + 0.016918038238907526, + 1.029851581609287 + ], + "held_grasp_object_position": [ + 0.3351807881462097, + 0.029012321192998042, + 1.029851581609287 + ], + "held_grasp_finger_gap": 0.026786318165347964, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024239827269119555, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005302888737408128, + -0.9995964593377675, + 0.027906949859085484 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005827508314086589, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03766135886637885, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2961751253591688, + 0.22025431987991909, + 0.7611063698204723 + ], + "target_position": [ + 0.3115431724636948, + 0.22077016095887017, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015376701981428372, + "xy_threshold": 0.08, + "gripper_dist": 0.20411600227888418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063698204723, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553200504026848, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0877840931727386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17558708714567745, + "release_required_pad_clearance": 0.0538920465863693, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.793795227625999, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62e5ea02021f58571dd41c012c188d92d25e56ebb820b9675c68d545d12fbb9e", + "visual_seed": 2320808922846414746, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e097ba958985af4c9819d8b68ced6acd8714aa99 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3390383522274209, + 0.22058569112227014, + 1.0020249462519613 + ], + "current_z": 1.0020249462519613, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14091849784183985, + "gripper_z": 1.0016673868042776, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33385383685081016, + 0.21564337007911538, + 1.0016673868042776 + ], + "object_minus_gripper": [ + 0.005184515376610743, + 0.004942321043154757, + 0.0003575594476836752 + ], + "object_to_gripper_xy": 0.007162802313614663, + "object_to_gripper_z": 0.0003575594476836752, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3390383522274209, + 0.19605029893398618, + 1.0020249462519613 + ], + "finger_b": [ + 0.327095735743824, + 0.22058569112227014, + 1.0020249462519613 + ], + "finger_midpoint": [ + 0.3330670439856225, + 0.20831799502812814, + 1.0020249462519613 + ], + "object_minus_finger_midpoint": [ + 0.005971308241798423, + 0.012267696094141994, + 0.0 + ], + "finger_gap": 0.027287571498892788, + "fingertip_max_gap": 0.09099153464166973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013643785749446394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020249462519613, + "object_top_z": 1.0518854397699315, + "finger_top_clearance": 0.049860493517970284, + "fingertip_min_top_clearance": 0.0149581480553911, + "object_projection_between_fingers": 0.8084557150864953, + "object_to_finger_line_xy": 0.010738103945644395, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04799576732083487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9960319813435652, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32934333002631105, + 0.03808192801349618, + 0.7701463897966115 + ], + "gripper_position": [ + 0.33249042191942835, + 0.027966428483638242, + 1.0299548668538672 + ], + "target_minus_gripper": [ + -0.003147091893117293, + 0.010115499529857935, + -0.2598084770572556 + ], + "held_position": [ + 0.3377570522831048, + 0.0328224380521569, + 1.030270216625782 + ], + "held_minus_target": [ + 0.008413722256793765, + -0.005259489961339278, + 0.26012382682917046 + ], + "held_minus_gripper": [ + 0.005266630363676472, + 0.004856009568518657, + 0.00031534977191483016 + ], + "xy_dist": 0.01059374901167102, + "held_xy_dist": 0.009922346338840194, + "held_gripper_dist": 0.007170611535691392, + "max_held_gripper_dist": 0.0071744826343839805, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.030270216625782, + "required_height": 0.8001463897966116, + "gripper_z": 1.0299548668538672, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2235895817846, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.48824826623612544, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8229767956472755, + "max_source_tilt_deg": 89.90748228358675, + "source_upright_tilt_deg": 1.5555747208054904, + "max_source_upright_tilt_deg": 89.95207161273034, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8229767956472755, + "source_upright_return_tilt_deg": 1.5555747208054904, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.8998980522155762e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3293, + 0.0381, + 0.7701 + ], + "controller_target_position": [ + 0.3293, + 0.0381, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0018, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3301, + 0.0147, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007440585721259691, + 0.0018440680242250125, + 0.0009423664879674091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5555597315746506, + "source_return_step_error_deg": 1.8229625897215813, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.813789362306135, + "source_return_best_wrist_position": -1.6091800928115845, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091800928115845 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3293, + 0.0381, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3293, + 0.0381, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0018, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3301, + 0.0147, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007440585721259691, + 0.0018440680242250125, + 0.0009423664879674091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5555597315746506, + "pour_controller_source_return_step_error_deg": 1.8229625897215813, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.813789362306135, + "pour_controller_source_return_best_wrist_position": -1.6091800928115845, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091800928115845, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01059374901167102, + "valid_pour_held_xy_dist": 0.009922346338840194, + "valid_pour_held_gripper_dist": 0.007170611535691392, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.030270216625782, + "valid_pour_source_tilt_deg": 1.8229767956472755, + "valid_pour_source_upright_tilt_deg": 1.5555747208054904, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3377570522831048, + 0.008426541038298633, + 1.030270216625782 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3263862243458843, + 0.0328224380521569, + 1.030270216625782 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3320716383144946, + 0.020624489545227765, + 1.030270216625782 + ], + "valid_pour_held_grasp_object_position": [ + 0.3377570522831048, + 0.0328224380521569, + 1.030270216625782 + ], + "valid_pour_held_grasp_finger_gap": 0.026915711379947825, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024381898463824794, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0004404219475482264, + -0.9996314713149091, + 0.027142726195026667 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005689684340268689, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03752429287599732, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3377570522831048, + 0.008426541038298633, + 1.030270216625782 + ], + "held_grasp_finger_b": [ + 0.3263862243458843, + 0.0328224380521569, + 1.030270216625782 + ], + "held_grasp_midpoint": [ + 0.3320716383144946, + 0.020624489545227765, + 1.030270216625782 + ], + "held_grasp_object_position": [ + 0.3377570522831048, + 0.0328224380521569, + 1.030270216625782 + ], + "held_grasp_finger_gap": 0.026915711379947825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024381898463824794, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0004404219475482264, + -0.9996314713149091, + 0.027142726195026667 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005689684340268689, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03752429287599732, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30772265369311586, + 0.21694157027010177, + 0.7611068203435267 + ], + "target_position": [ + 0.3148158671657599, + 0.21904809468468678, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007399400143102234, + "xy_threshold": 0.08, + "gripper_dist": 0.20837710458010392, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068203435267, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757183524262704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651619906365308, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1784701395107771, + "release_required_pad_clearance": 0.053258099531826544, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5354065084370998, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81a4000c83b0479db0141068daed998ac5f0aef3112bf5cd77346bf33883b4f4", + "visual_seed": 2985887313866973315, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2aad052e0bfff5f6ef6247bd9e543e6f67965fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_5_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3338719368748837, + 0.22019170218370293, + 1.0026922118282946 + ], + "current_z": 1.0026922118282946, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14158570381352875, + "gripper_z": 1.002776544006006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32860088786867236, + 0.21524937873856315, + 1.002776544006006 + ], + "object_minus_gripper": [ + 0.005271049006211337, + 0.004942323445139785, + -8.433217771131041e-05 + ], + "object_to_gripper_xy": 0.0072256846500701865, + "object_to_gripper_z": -8.433217771131041e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3338719368748837, + 0.19557499116486696, + 1.0026922118282946 + ], + "finger_b": [ + 0.32195250126202407, + 0.22019170218370293, + 1.0026922118282946 + ], + "finger_midpoint": [ + 0.3279122190684539, + 0.20788334667428493, + 1.0026922118282946 + ], + "object_minus_finger_midpoint": [ + 0.005959717806429787, + 0.012308355509418, + 0.0 + ], + "finger_gap": 0.02735060157864881, + "fingertip_max_gap": 0.09131836941184265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675300789324406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026922118282946, + "object_top_z": 1.052542368078031, + "finger_top_clearance": 0.04985015624973643, + "fingertip_min_top_clearance": 0.014955046874920946, + "object_projection_between_fingers": 0.8100769755101483, + "object_to_finger_line_xy": 0.010728001764262566, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815918470592133, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2638420903852141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33738763248984277, + 0.04148662355416278, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3376453622431732, + 0.029049777735890306, + 1.029517696648355 + ], + "target_minus_gripper": [ + -0.0002577297533304379, + 0.012436845818272473, + -0.25937130685174337 + ], + "held_position": [ + 0.3429925398812636, + 0.033905656872472496, + 1.0293913037221687 + ], + "held_minus_target": [ + 0.0056049073914208325, + -0.007580966681690282, + 0.25924491392555704 + ], + "held_minus_gripper": [ + 0.005347177638090395, + 0.0048558791365821904, + -0.00012639292618632503 + ], + "xy_dist": 0.01243951600880168, + "held_xy_dist": 0.009427939472403397, + "held_gripper_dist": 0.007224115589757552, + "max_held_gripper_dist": 0.007227268739713823, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0293913037221687, + "required_height": 0.8001463897966117, + "gripper_z": 1.029517696648355, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22313878929937, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9997703377233907, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8462139285349217, + "max_source_tilt_deg": 89.96848887809746, + "source_upright_tilt_deg": 1.6427562585109916, + "max_source_upright_tilt_deg": 89.96811965426451, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8462139285349217, + "source_upright_return_tilt_deg": 1.6427562585109916, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937933162e-08, + "max_target_xy_drift": 1.2649541233740484e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3374, + 0.0415, + 0.7701 + ], + "controller_target_position": [ + 0.3374, + 0.0415, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0004, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3354, + 0.0159, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019486890002964898, + -0.00036365061575821664, + 0.0004355434287611898 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.642740297770536, + "source_return_step_error_deg": 1.8462061910455398, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8382050839708333, + "source_return_best_wrist_position": -1.608907699584961, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608907699584961 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3374, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3374, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0004, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3354, + 0.0159, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019486890002964898, + -0.00036365061575821664, + 0.0004355434287611898 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.642740297770536, + "pour_controller_source_return_step_error_deg": 1.8462061910455398, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8382050839708333, + "pour_controller_source_return_best_wrist_position": -1.608907699584961, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608907699584961, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01243951600880168, + "valid_pour_held_xy_dist": 0.009427939472403397, + "valid_pour_held_gripper_dist": 0.007224115589757552, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0293913037221687, + "valid_pour_source_tilt_deg": 1.8462139285349217, + "valid_pour_source_upright_tilt_deg": 1.6427562585109916, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937933162e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3429925398812636, + 0.00948066270647866, + 1.0293913037221687 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33157104725261977, + 0.033905656872472496, + 1.0293913037221687 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33728179356694166, + 0.02169315978947558, + 1.0293913037221687 + ], + "valid_pour_held_grasp_object_position": [ + 0.3429925398812636, + 0.033905656872472496, + 1.0293913037221687 + ], + "valid_pour_held_grasp_finger_gap": 0.026963509301925044, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024495863212550116, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.007083796124948969, + -0.9995890079400054, + 0.027778319567175802 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005806998663670531, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037553225989043926, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3429925398812636, + 0.00948066270647866, + 1.0293913037221687 + ], + "held_grasp_finger_b": [ + 0.33157104725261977, + 0.033905656872472496, + 1.0293913037221687 + ], + "held_grasp_midpoint": [ + 0.33728179356694166, + 0.02169315978947558, + 1.0293913037221687 + ], + "held_grasp_object_position": [ + 0.3429925398812636, + 0.033905656872472496, + 1.0293913037221687 + ], + "held_grasp_finger_gap": 0.026963509301925044, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024495863212550116, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.007083796124948969, + -0.9995890079400054, + 0.027778319567175802 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005806998663670531, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037553225989043926, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3109291174517273, + 0.220868748611195, + 0.7611064183637036 + ], + "target_position": [ + 0.30955868395166974, + 0.2187564465324048, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0025179174033596323, + "xy_threshold": 0.08, + "gripper_dist": 0.21430614332580974, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064183637036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754897075450558, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560596864678675, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18489669818606855, + "release_required_pad_clearance": 0.05280298432339338, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6525183258220937, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f171553e3eea60dc74f27c4d4047d8507d8ddaca1e837c0915cad32e351400a9", + "visual_seed": 8967921770198384747, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc73ab1ecf93f45e98dc24ae338631314670d309 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_60_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3388579493946182, + 0.22005441626534206, + 1.005185573173168 + ], + "current_z": 1.005185573173168, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.14407888634446797, + "gripper_z": 1.00489339403505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33370378946515145, + 0.21516937797532912, + 1.00489339403505 + ], + "object_minus_gripper": [ + 0.005154159929466773, + 0.0048850382900129385, + 0.00029217913811807605 + ], + "object_to_gripper_xy": 0.007101335344385129, + "object_to_gripper_z": 0.00029217913811807605, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3388579493946182, + 0.19556109137401773, + 1.005185573173168 + ], + "finger_b": [ + 0.32697232805086024, + 0.22005441626534206, + 1.005185573173168 + ], + "finger_midpoint": [ + 0.33291513872273926, + 0.2078077538196799, + 1.005185573173168 + ], + "object_minus_finger_midpoint": [ + 0.005942810671878962, + 0.012246662445662165, + 0.0 + ], + "finger_gap": 0.027224822478010086, + "fingertip_max_gap": 0.09100979273044477, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361241123900503, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005185573173168, + "object_top_z": 1.0550191839633465, + "finger_top_clearance": 0.04983361079017845, + "fingertip_min_top_clearance": 0.014950083237053567, + "object_projection_between_fingers": 0.8094040503063145, + "object_to_finger_line_xy": 0.010693123356196849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048004896365222385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0055483601118158, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3279833904511158, + 0.0403006773876474, + 0.7701463897966114 + ], + "gripper_position": [ + 0.33161963106689846, + 0.02773687129490303, + 1.0294592566689118 + ], + "target_minus_gripper": [ + -0.00363624061578266, + 0.012563806092744371, + -0.2593128668723004 + ], + "held_position": [ + 0.3368122415950011, + 0.03258237494571738, + 1.0297098392166997 + ], + "held_minus_target": [ + 0.008828851143885319, + -0.007718302441930024, + 0.25956344942008824 + ], + "held_minus_gripper": [ + 0.005192610528102659, + 0.004845503650814348, + 0.0002505825477878698 + ], + "xy_dist": 0.013079429244120252, + "held_xy_dist": 0.011726926498703232, + "held_gripper_dist": 0.007106680050478818, + "max_held_gripper_dist": 0.007109672045028545, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0297098392166997, + "required_height": 0.8001463897966115, + "gripper_z": 1.0294592566689118, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23132818611421, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5418633198263585, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7774271036557543, + "max_source_tilt_deg": 89.92047630511111, + "source_upright_tilt_deg": 1.6978169854134875, + "max_source_upright_tilt_deg": 89.85058429568608, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7774271036557543, + "source_upright_return_tilt_deg": 1.6978169854134875, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.4405627480386493e-07, + "max_target_xy_drift": 2.4405627480386493e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.328, + 0.0403, + 0.7701 + ], + "controller_target_position": [ + 0.328, + 0.0403, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0007, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3294, + 0.0144, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013992511423417389, + -0.0007481977220354433, + 0.0002752251374447327 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6978185706345903, + "source_return_step_error_deg": 1.7774240403945711, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.770442844849552, + "source_return_best_wrist_position": -1.6097443103790283, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097443103790283 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.328, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.328, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0007, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3294, + 0.0144, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013992511423417389, + -0.0007481977220354433, + 0.0002752251374447327 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6978185706345903, + "pour_controller_source_return_step_error_deg": 1.7774240403945711, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.770442844849552, + "pour_controller_source_return_best_wrist_position": -1.6097443103790283, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097443103790283, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013079429244120252, + "valid_pour_held_xy_dist": 0.011726926498703232, + "valid_pour_held_gripper_dist": 0.007106680050478818, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0297098392166997, + "valid_pour_source_tilt_deg": 1.7774271036557543, + "valid_pour_source_upright_tilt_deg": 1.6978169854134875, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.4405627480386493e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3368122415950011, + 0.008372270576526496, + 1.0297098392166997 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3252931622786073, + 0.03258237494571738, + 1.0297098392166997 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3310527019368042, + 0.020477322761121936, + 1.0297098392166997 + ], + "valid_pour_held_grasp_object_position": [ + 0.3368122415950011, + 0.03258237494571738, + 1.0297098392166997 + ], + "valid_pour_held_grasp_finger_gap": 0.026810787788957038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024302099877501107, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008909028964530708, + -0.9995609972265225, + 0.02825671648350247 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005877075234916929, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03767182394261898, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3368122415950011, + 0.008372270576526496, + 1.0297098392166997 + ], + "held_grasp_finger_b": [ + 0.3252931622786073, + 0.03258237494571738, + 1.0297098392166997 + ], + "held_grasp_midpoint": [ + 0.3310527019368042, + 0.020477322761121936, + 1.0297098392166997 + ], + "held_grasp_object_position": [ + 0.3368122415950011, + 0.03258237494571738, + 1.0297098392166997 + ], + "held_grasp_finger_gap": 0.026810787788957038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024302099877501107, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008909028964530708, + -0.9995609972265225, + 0.02825671648350247 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005877075234916929, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03767182394261898, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30389666138030724, + 0.21350793127936504, + 0.761106522481294 + ], + "target_position": [ + 0.3146876667652457, + 0.21790269090359202, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011651596859336746, + "xy_threshold": 0.08, + "gripper_dist": 0.20968278366471624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106522481294, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516076255650557, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498260455096245, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18057739359847988, + "release_required_pad_clearance": 0.052491302275481225, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595289504645676, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 209, + "max_placed_release_frames": 209 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3a36373734faaa53f02feaf7fcc2aac4dcb25214448ebcfd3d50e5da7597b02", + "visual_seed": 7211909632531657750, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91a565719e7aa4777b305baa533c800d6ece868f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33822143251288, + 0.22714355819326862, + 1.0065455834738208 + ], + "current_z": 1.0065455834738208, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14543919466834443, + "gripper_z": 1.005747552998698, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33299588307599914, + 0.22221363215541307, + 1.005747552998698 + ], + "object_minus_gripper": [ + 0.005225549436880861, + 0.004929926037855553, + 0.0007980304751229461 + ], + "object_to_gripper_xy": 0.007184047442494518, + "object_to_gripper_z": 0.0007980304751229461, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33822143251288, + 0.20261878415474677, + 1.0065455834738208 + ], + "finger_b": [ + 0.32624564114913013, + 0.22714355819326862, + 1.0065455834738208 + ], + "finger_midpoint": [ + 0.3322335368310051, + 0.21488117117400768, + 1.0065455834738208 + ], + "object_minus_finger_midpoint": [ + 0.005987895681874911, + 0.01226238701926094, + 0.0 + ], + "finger_gap": 0.027292565295857066, + "fingertip_max_gap": 0.09142041836358814, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013646282647928533, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0065455834738208, + "object_top_z": 1.0564748031461406, + "finger_top_clearance": 0.04992921967231978, + "fingertip_min_top_clearance": 0.014978765901695933, + "object_projection_between_fingers": 0.8074605500979944, + "object_to_finger_line_xy": 0.010761303451860946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821020918179407, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2137679171816396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3282362929588977, + 0.037627587883405464, + 0.770146330191967 + ], + "gripper_position": [ + 0.33173988582945557, + 0.025283298713900407, + 1.0295466597647525 + ], + "target_minus_gripper": [ + -0.003503592870557848, + 0.012344289169505057, + -0.25940032957278547 + ], + "held_position": [ + 0.3369987603694383, + 0.030186794573991805, + 1.0303034198627086 + ], + "held_minus_target": [ + 0.008762467410540598, + -0.007440793309413659, + 0.2601570896707416 + ], + "held_minus_gripper": [ + 0.00525887453998275, + 0.004903495860091398, + 0.0007567600979561107 + ], + "xy_dist": 0.012831860274449049, + "held_xy_dist": 0.011495487818887946, + "held_gripper_dist": 0.007229987477379943, + "max_held_gripper_dist": 0.007239991476662397, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0303034198627086, + "required_height": 0.800146330191967, + "gripper_z": 1.0295466597647525, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23359580891866, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7276967808600736, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7850351006280814, + "max_source_tilt_deg": 89.8912626497542, + "source_upright_tilt_deg": 1.7427195175538426, + "max_source_upright_tilt_deg": 89.90657671597972, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7850351006280814, + "source_upright_return_tilt_deg": 1.7427195175538426, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.83872392426648e-08, + "max_target_xy_drift": 1.6743097494724565e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3282, + 0.0376, + 0.7701 + ], + "controller_target_position": [ + 0.3282, + 0.0376, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0006, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3296, + 0.0118, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013221978657645896, + -0.0006042730525168713, + 0.00011257686547712755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7427273051721555, + "source_return_step_error_deg": 1.7850442482197664, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7775749542706827, + "source_return_best_wrist_position": -1.609818696975708, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609818696975708 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3282, + 0.0376, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3282, + 0.0376, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0006, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3296, + 0.0118, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013221978657645896, + -0.0006042730525168713, + 0.00011257686547712755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7427273051721555, + "pour_controller_source_return_step_error_deg": 1.7850442482197664, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7775749542706827, + "pour_controller_source_return_best_wrist_position": -1.609818696975708, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609818696975708, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012831860274449049, + "valid_pour_held_xy_dist": 0.011495487818887946, + "valid_pour_held_gripper_dist": 0.007229987477379943, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0303034198627086, + "valid_pour_source_tilt_deg": 1.7850351006280814, + "valid_pour_source_upright_tilt_deg": 1.7427195175538426, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.83872392426648e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3369987603694383, + 0.005925209812789968, + 1.0303034198627086 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32540706892739035, + 0.030186794573991805, + 1.0303034198627086 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33120291464841434, + 0.018056002193390888, + 1.0303034198627086 + ], + "valid_pour_held_grasp_object_position": [ + 0.3369987603694383, + 0.030186794573991805, + 1.0303034198627086 + ], + "valid_pour_held_grasp_finger_gap": 0.026888506942793038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024391254142285934, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012154488092395234, + -0.9995374706710446, + 0.027876749160233194 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059524189604725055, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037665514074555186, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3369987603694383, + 0.005925209812789968, + 1.0303034198627086 + ], + "held_grasp_finger_b": [ + 0.32540706892739035, + 0.030186794573991805, + 1.0303034198627086 + ], + "held_grasp_midpoint": [ + 0.33120291464841434, + 0.018056002193390888, + 1.0303034198627086 + ], + "held_grasp_object_position": [ + 0.3369987603694383, + 0.030186794573991805, + 1.0303034198627086 + ], + "held_grasp_finger_gap": 0.026888506942793038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024391254142285934, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012154488092395234, + -0.9995374706710446, + 0.027876749160233194 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059524189604725055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037665514074555186, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3244813977464849, + 0.23001526404880457, + 0.7611155077178424 + ], + "target_position": [ + 0.31397882492401624, + 0.2252012245400706, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011553311745248995, + "xy_threshold": 0.08, + "gripper_dist": 0.22427428832410148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611155077178424, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539233212970345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0925029570515749, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19483500338273024, + "release_required_pad_clearance": 0.05625147852578745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.774201114856438, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 206, + "max_placed_release_frames": 206 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8008e7912019fd94e929a907a1e38ef6cd0090b330d4213927d3fac3c03f8174", + "visual_seed": 2676570625968771317, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10c07df3aa1cd138d3656ce1fe8b9075b97f4498 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33295896201874275, + 0.22379104264422603, + 1.0057875888230758 + ], + "current_z": 1.0057875888230758, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14468114041295466, + "gripper_z": 1.0055722115213146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32773459451068027, + 0.21883586132970523, + 1.0055722115213146 + ], + "object_minus_gripper": [ + 0.0052243675080624885, + 0.004955181314520801, + 0.0002153773017612437 + ], + "object_to_gripper_xy": 0.007200544265475711, + "object_to_gripper_z": 0.0002153773017612437, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33295896201874275, + 0.19929633791846912, + 1.0057875888230758 + ], + "finger_b": [ + 0.320895625979193, + 0.22379104264422603, + 1.0057875888230758 + ], + "finger_midpoint": [ + 0.3269272939989679, + 0.21154369028134756, + 1.0057875888230758 + ], + "object_minus_finger_midpoint": [ + 0.0060316680197748385, + 0.012247352362878466, + 0.0 + ], + "finger_gap": 0.027304113902581, + "fingertip_max_gap": 0.09181127391722796, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0136520569512905, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0057875888230758, + "object_top_z": 1.055745654242996, + "finger_top_clearance": 0.049958065419920095, + "fingertip_min_top_clearance": 0.014987419625976028, + "object_projection_between_fingers": 0.8048005104461817, + "object_to_finger_line_xy": 0.010822100118342242, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840563695861398, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3252480800561823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32898722207610037, + 0.03687115651243188, + 0.7701463897966119 + ], + "gripper_position": [ + 0.33071487545490497, + 0.025984396909812066, + 1.0303777387748072 + ], + "target_minus_gripper": [ + -0.0017276533788045945, + 0.010886759602619811, + -0.26023134897819533 + ], + "held_position": [ + 0.33603227130100644, + 0.030839329649799605, + 1.0305371944732253 + ], + "held_minus_target": [ + 0.007045049224906064, + -0.006031826862632272, + 0.26039080467661346 + ], + "held_minus_gripper": [ + 0.005317395846101469, + 0.004854932739987539, + 0.00015945569841813167 + ], + "xy_dist": 0.011022990558035038, + "held_xy_dist": 0.009274462457852843, + "held_gripper_dist": 0.007202117509017615, + "max_held_gripper_dist": 0.007206516643098103, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0305371944732253, + "required_height": 0.8001463897966119, + "gripper_z": 1.0303777387748072, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22451165732254, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6117833975545464, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9826537548068157, + "max_source_tilt_deg": 89.79003468517232, + "source_upright_tilt_deg": 2.8958138254886716, + "max_source_upright_tilt_deg": 89.82111571295131, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9826537548068157, + "source_upright_return_tilt_deg": 2.8958138254886716, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0719530773294423e-08, + "max_target_xy_drift": 1.197320124506071e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.329, + 0.0369, + 0.7701 + ], + "controller_target_position": [ + 0.329, + 0.0369, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0015, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3279, + 0.0131, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010441033541339468, + 0.0014589321131021535, + 0.0015987117628936697 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8958290150559547, + "source_return_step_error_deg": 2.9826658759816906, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9734909138042642, + "source_return_best_wrist_position": -1.633105993270874, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.633105993270874 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.329, + 0.0369, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.329, + 0.0369, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0015, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3279, + 0.0131, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010441033541339468, + 0.0014589321131021535, + 0.0015987117628936697 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8958290150559547, + "pour_controller_source_return_step_error_deg": 2.9826658759816906, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9734909138042642, + "pour_controller_source_return_best_wrist_position": -1.633105993270874, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.633105993270874, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011022990558035038, + "valid_pour_held_xy_dist": 0.009274462457852843, + "valid_pour_held_gripper_dist": 0.007202117509017615, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0305371944732253, + "valid_pour_source_tilt_deg": 2.9826537548068157, + "valid_pour_source_upright_tilt_deg": 2.8958138254886716, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0719530773294423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33603227130100644, + 0.006765885941147874, + 1.0305371944732253 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3247443075089437, + 0.030839329649799605, + 1.0305371944732253 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33038828940497506, + 0.01880260779547374, + 1.0305371944732253 + ], + "valid_pour_held_grasp_object_position": [ + 0.33603227130100644, + 0.030839329649799605, + 1.0305371944732253 + ], + "valid_pour_held_grasp_finger_gap": 0.026588509145203, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024080332411523596, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0033335454519546164, + -0.9987230643915749, + 0.05040960351978441 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005716319080824445, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037717712804694124, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33603227130100644, + 0.006765885941147874, + 1.0305371944732253 + ], + "held_grasp_finger_b": [ + 0.3247443075089437, + 0.030839329649799605, + 1.0305371944732253 + ], + "held_grasp_midpoint": [ + 0.33038828940497506, + 0.01880260779547374, + 1.0305371944732253 + ], + "held_grasp_object_position": [ + 0.33603227130100644, + 0.030839329649799605, + 1.0305371944732253 + ], + "held_grasp_finger_gap": 0.026588509145203, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024080332411523596, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0033335454519546164, + -0.9987230643915749, + 0.05040960351978441 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005716319080824445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037717712804694124, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3096223137601211, + 0.2213001835576878, + 0.7611080080718851 + ], + "target_position": [ + 0.30858975738035754, + 0.22137319201768701, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0010351342485986593, + "xy_threshold": 0.08, + "gripper_dist": 0.21509880817216, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080080718851, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588592119805444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510690391810886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18453696498345232, + "release_required_pad_clearance": 0.052553451959054434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1724531253248384, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "262931bb7b737e97a8aad8670a67120cf39191f7de2f7057f5958c19cf436d68", + "visual_seed": 5195180946647824004, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..44026f81f90cd358079621ddb565b20c8656314a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_63_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33084929444635836, + 0.22381088903144433, + 1.0043810400136226 + ], + "current_z": 1.0043810400136226, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14327447239421165, + "gripper_z": 1.004085192573124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.325679927813063, + 0.21886388969245207, + 1.004085192573124 + ], + "object_minus_gripper": [ + 0.005169366633295369, + 0.004946999338992258, + 0.0002958474404985978 + ], + "object_to_gripper_xy": 0.007155078884919253, + "object_to_gripper_z": 0.0002958474404985978, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33084929444635836, + 0.1993800054788575, + 1.0043810400136226 + ], + "finger_b": [ + 0.3187822487226184, + 0.22381088903144433, + 1.0043810400136226 + ], + "finger_midpoint": [ + 0.3248157715844884, + 0.21159544725515092, + 1.0043810400136226 + ], + "object_minus_finger_midpoint": [ + 0.006033522861869978, + 0.012215441776293412, + 0.0 + ], + "finger_gap": 0.02724851672401432, + "fingertip_max_gap": 0.09123022289992741, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362425836200716, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043810400136226, + "object_top_z": 1.0542156744294393, + "finger_top_clearance": 0.0498346344158167, + "fingertip_min_top_clearance": 0.014950390324744994, + "object_projection_between_fingers": 0.8038825743099715, + "object_to_finger_line_xy": 0.010819252728006821, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811511144996371, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.247014339167718, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3357257357842152, + 0.034538480310373085, + 0.7701465090059015 + ], + "gripper_position": [ + 0.3371115750908102, + 0.0212097704646637, + 1.0296946922691073 + ], + "target_minus_gripper": [ + -0.0013858393065949715, + 0.013328709845709386, + -0.2595481832632057 + ], + "held_position": [ + 0.34235753827505894, + 0.02607697620172229, + 1.0299497376768918 + ], + "held_minus_target": [ + 0.006631802490843719, + -0.008461504108650795, + 0.25980322867099026 + ], + "held_minus_gripper": [ + 0.0052459631842487475, + 0.004867205737058591, + 0.00025504540778453766 + ], + "xy_dist": 0.01340056180668609, + "held_xy_dist": 0.010750714211543121, + "held_gripper_dist": 0.007160647287597769, + "max_held_gripper_dist": 0.007163590787412159, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059015, + "held_z": 1.0299497376768918, + "required_height": 0.8001465090059016, + "gripper_z": 1.0296946922691073, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23355482778364, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.490268261082274, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7916011912030134, + "max_source_tilt_deg": 89.89160827828904, + "source_upright_tilt_deg": 1.635184998965758, + "max_source_upright_tilt_deg": 89.83386410754225, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7916011912030134, + "source_upright_return_tilt_deg": 1.635184998965758, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.679882693323606e-08, + "max_target_xy_drift": 1.8495606761137262e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3357, + 0.0345, + 0.7701 + ], + "controller_target_position": [ + 0.3357, + 0.0345, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0013, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3354, + 0.0081, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003131347867372143, + -0.0012753244952401182, + 0.0005541890785923658 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6351794232063321, + "source_return_step_error_deg": 1.7915961302090961, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.783793566650494, + "source_return_best_wrist_position": -1.6097230911254883, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097230911254883 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3357, + 0.0345, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3357, + 0.0345, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0013, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3354, + 0.0081, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003131347867372143, + -0.0012753244952401182, + 0.0005541890785923658 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6351794232063321, + "pour_controller_source_return_step_error_deg": 1.7915961302090961, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.783793566650494, + "pour_controller_source_return_best_wrist_position": -1.6097230911254883, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097230911254883, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01340056180668609, + "valid_pour_held_xy_dist": 0.010750714211543121, + "valid_pour_held_gripper_dist": 0.007160647287597769, + "valid_pour_required_height": 0.8001465090059016, + "valid_pour_held_z": 1.0299497376768918, + "valid_pour_source_tilt_deg": 1.7916011912030134, + "valid_pour_source_upright_tilt_deg": 1.635184998965758, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.679882693323606e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34235753827505894, + 0.0018120559022487246, + 1.0299497376768918 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3308347274601735, + 0.02607697620172229, + 1.0299497376768918 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33659613286761625, + 0.013944516051985507, + 1.0299497376768918 + ], + "valid_pour_held_grasp_object_position": [ + 0.34235753827505894, + 0.02607697620172229, + 1.0299497376768918 + ], + "valid_pour_held_grasp_finger_gap": 0.026861897293665705, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02431817377398378, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0054790844248357356, + -0.9995927875041828, + 0.028004264023236074 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005837663597271258, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03762429763636933, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34235753827505894, + 0.0018120559022487246, + 1.0299497376768918 + ], + "held_grasp_finger_b": [ + 0.3308347274601735, + 0.02607697620172229, + 1.0299497376768918 + ], + "held_grasp_midpoint": [ + 0.33659613286761625, + 0.013944516051985507, + 1.0299497376768918 + ], + "held_grasp_object_position": [ + 0.34235753827505894, + 0.02607697620172229, + 1.0299497376768918 + ], + "held_grasp_finger_gap": 0.026861897293665705, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02431817377398378, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0054790844248357356, + -0.9995927875041828, + 0.028004264023236074 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005837663597271258, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03762429763636933, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3071509952212407, + 0.2199599025414201, + 0.761106308546749 + ], + "target_position": [ + 0.30665272311966757, + 0.22043263444927336, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.000686840988809397, + "xy_threshold": 0.08, + "gripper_dist": 0.21382732331828228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106308546749, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584166514854104, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560226019174032, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18315385452196192, + "release_required_pad_clearance": 0.05280113009587016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6489098884384341, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d23d2b5c73fc9527b3ffb1a7b0e10accbf182a82c120eaa7efc34462b0ca7a9e", + "visual_seed": 5173873637748679590, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d0d52b7ed560fbdfe1627ea2d71dc3ba713b1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3362920062645178, + 0.22719117355633622, + 1.004160505606557 + ], + "current_z": 1.004160505606557, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1430540571964357, + "gripper_z": 1.0033340289929464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3308965981896025, + 0.22231381213064877, + 1.0033340289929464 + ], + "object_minus_gripper": [ + 0.005395408074915287, + 0.004877361425687454, + 0.0008264766136105717 + ], + "object_to_gripper_xy": 0.00727317556309794, + "object_to_gripper_z": 0.0008264766136105717, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3362920062645178, + 0.20230778448092926, + 1.004160505606557 + ], + "finger_b": [ + 0.32469947681227546, + 0.22719117355633622, + 1.004160505606557 + ], + "finger_midpoint": [ + 0.3304957415383966, + 0.21474947901863273, + 1.004160505606557 + ], + "object_minus_finger_midpoint": [ + 0.005796264726121159, + 0.012441694537703496, + 0.0 + ], + "finger_gap": 0.027451225673532104, + "fingertip_max_gap": 0.09118357693568693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013725612836766066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004160505606557, + "object_top_z": 1.0541005551571632, + "finger_top_clearance": 0.04994004955060616, + "fingertip_min_top_clearance": 0.01498201486518183, + "object_projection_between_fingers": 0.8216664989629117, + "object_to_finger_line_xy": 0.010508143576495706, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809178846784347, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9438968734643326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3318905345207874, + 0.03897818070524193, + 0.7701463897966117 + ], + "gripper_position": [ + 0.33368563154816566, + 0.0259070090923694, + 1.0277500166592308 + ], + "target_minus_gripper": [ + -0.0017950970273782896, + 0.01307117161287253, + -0.2576036268626192 + ], + "held_position": [ + 0.3389960781558885, + 0.03088625741562301, + 1.0285332311399809 + ], + "held_minus_target": [ + 0.00710554363510113, + -0.00809192328961892, + 0.2583868413433692 + ], + "held_minus_gripper": [ + 0.005310446607722841, + 0.00497924832325361, + 0.0007832144807500274 + ], + "xy_dist": 0.013193858445157998, + "held_xy_dist": 0.01076884268969527, + "held_gripper_dist": 0.007321692561215299, + "max_held_gripper_dist": 0.007331498208184101, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0285332311399809, + "required_height": 0.8001463897966117, + "gripper_z": 1.0277500166592308, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24510467767013, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.559023598296277, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8133389622402347, + "max_source_tilt_deg": 89.86411755299149, + "source_upright_tilt_deg": 2.4221494100082848, + "max_source_upright_tilt_deg": 89.93638513281549, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8133389622402347, + "source_upright_return_tilt_deg": 2.4221494100082848, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.244724472701628e-08, + "max_target_xy_drift": 1.6743097494724565e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3319, + 0.039, + 0.7701 + ], + "controller_target_position": [ + 0.3319, + 0.039, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0014, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3312, + 0.0124, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007044483746569984, + -0.0013523978811100217, + -0.0018963820886165146 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.42211482198652, + "source_return_step_error_deg": 1.8132938867386215, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4140201012499496, + "source_return_best_wrist_position": -1.6098933219909668, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098933219909668 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3319, + 0.039, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3319, + 0.039, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0014, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3312, + 0.0124, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007044483746569984, + -0.0013523978811100217, + -0.0018963820886165146 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.42211482198652, + "pour_controller_source_return_step_error_deg": 1.8132938867386215, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4140201012499496, + "pour_controller_source_return_best_wrist_position": -1.6098933219909668, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098933219909668, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013193858445157998, + "valid_pour_held_xy_dist": 0.01076884268969527, + "valid_pour_held_gripper_dist": 0.007321692561215299, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0285332311399809, + "valid_pour_source_tilt_deg": 1.8133389622402347, + "valid_pour_source_upright_tilt_deg": 2.4221494100082848, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.244724472701628e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3389960781558885, + 0.006631954730398201, + 1.0285332311399809 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32723502402408466, + 0.03088625741562301, + 1.0285332311399809 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3331155510899866, + 0.018759106073010606, + 1.0285332311399809 + ], + "valid_pour_held_grasp_object_position": [ + 0.3389960781558885, + 0.03088625741562301, + 1.0285332311399809 + ], + "valid_pour_held_grasp_finger_gap": 0.02695540007192851, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024602448643472212, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031444066370037826, + -0.9991065746669417, + 0.02823691108119808 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006268163894408309, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037788841115061006, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3389960781558885, + 0.006631954730398201, + 1.0285332311399809 + ], + "held_grasp_finger_b": [ + 0.32723502402408466, + 0.03088625741562301, + 1.0285332311399809 + ], + "held_grasp_midpoint": [ + 0.3331155510899866, + 0.018759106073010606, + 1.0285332311399809 + ], + "held_grasp_object_position": [ + 0.3389960781558885, + 0.03088625741562301, + 1.0285332311399809 + ], + "held_grasp_finger_gap": 0.02695540007192851, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024602448643472212, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031444066370037826, + -0.9991065746669417, + 0.02823691108119808 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006268163894408309, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037788841115061006, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2996368159621045, + 0.23113910160893014, + 0.7611082492432493 + ], + "target_position": [ + 0.3119091987383233, + 0.22566412491648882, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01343825691035884, + "xy_threshold": 0.08, + "gripper_dist": 0.20812285269980457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611082492432493, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590962445969593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09331588413513107, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17991156763083238, + "release_required_pad_clearance": 0.05665794206756554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.717203601256342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa77fea1f7b2da857dd5795c86527dfc1804af586b231d85fc889c30ebb0a60a", + "visual_seed": 4756299208832709938, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..662d21a2cf81ade7483d874f9916701f53ed96fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33713986468071544, + 0.22522800421357522, + 1.0043638766898533 + ], + "current_z": 1.0043638766898533, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.1432571302565082, + "gripper_z": 1.0040150564344636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320140694237688, + 0.22031361940869246, + 1.0040150564344636 + ], + "object_minus_gripper": [ + 0.005125795256946619, + 0.004914384804882765, + 0.0003488202553896258 + ], + "object_to_gripper_xy": 0.0071010530927883555, + "object_to_gripper_z": 0.0003488202553896258, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33713986468071544, + 0.20081238857608327, + 1.0043638766898533 + ], + "finger_b": [ + 0.325122032841265, + 0.22522800421357522, + 1.0043638766898533 + ], + "finger_midpoint": [ + 0.33113094876099025, + 0.21302019639482925, + 1.0043638766898533 + ], + "object_minus_finger_midpoint": [ + 0.0060089159197251885, + 0.012207807818745975, + 0.0 + ], + "finger_gap": 0.02721305879681757, + "fingertip_max_gap": 0.09179648766004847, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01360652939840877, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043638766898533, + "object_top_z": 1.054275662938807, + "finger_top_clearance": 0.04991178624895376, + "fingertip_min_top_clearance": 0.014973535874686094, + "object_projection_between_fingers": 0.8049717491934145, + "object_to_finger_line_xy": 0.01078242490779278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839824383002424, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3736530210492057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33168761050764967, + 0.03710890081398942, + 0.7701464494012564 + ], + "gripper_position": [ + 0.33539092082130917, + 0.023886124478124396, + 1.0278327327095806 + ], + "target_minus_gripper": [ + -0.0037033103136595025, + 0.013222776335865022, + -0.2576862833083242 + ], + "held_position": [ + 0.3405875313145339, + 0.028728838701453874, + 1.028125254423996 + ], + "held_minus_target": [ + 0.008899920806884232, + -0.008380062112535544, + 0.2579788050227396 + ], + "held_minus_gripper": [ + 0.005196610493224729, + 0.004842714223329478, + 0.00029252171441540575 + ], + "xy_dist": 0.01373158116560394, + "held_xy_dist": 0.012224321305445329, + "held_gripper_dist": 0.007109304510325572, + "max_held_gripper_dist": 0.007112808654756888, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.028125254423996, + "required_height": 0.8001464494012565, + "gripper_z": 1.0278327327095806, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23266690319154, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.548567748937315, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9374813270575757, + "max_source_tilt_deg": 89.95143888984894, + "source_upright_tilt_deg": 2.942891129499794, + "max_source_upright_tilt_deg": 89.96274590345662, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9374813270575757, + "source_upright_return_tilt_deg": 2.942891129499794, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.0168063688245551e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3317, + 0.0371, + 0.7701 + ], + "controller_target_position": [ + 0.3317, + 0.0371, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0014, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3331, + 0.0105, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014226010628369925, + -0.001385772680513346, + -0.001718272755655427 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.942897661331342, + "source_return_step_error_deg": 2.9374881017456667, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9345161398079442, + "source_return_best_wrist_position": -1.6330426931381226, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6330426931381226 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3317, + 0.0371, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3317, + 0.0371, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0014, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3331, + 0.0105, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014226010628369925, + -0.001385772680513346, + -0.001718272755655427 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.942897661331342, + "pour_controller_source_return_step_error_deg": 2.9374881017456667, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9345161398079442, + "pour_controller_source_return_best_wrist_position": -1.6330426931381226, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6330426931381226, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01373158116560394, + "valid_pour_held_xy_dist": 0.012224321305445329, + "valid_pour_held_gripper_dist": 0.007109304510325572, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.028125254423996, + "valid_pour_source_tilt_deg": 2.9374813270575757, + "valid_pour_source_upright_tilt_deg": 2.942891129499794, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3405875313145339, + 0.004777436494987366, + 1.028125254423996 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3292604423263147, + 0.028728838701453874, + 1.028125254423996 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3349239868204243, + 0.01675313759822062, + 1.028125254423996 + ], + "valid_pour_held_grasp_object_position": [ + 0.3405875313145339, + 0.028728838701453874, + 1.028125254423996 + ], + "valid_pour_held_grasp_finger_gap": 0.026494765758597785, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024010654557537658, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00801962827937475, + -0.9986812174156035, + 0.050710073393249955 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005791210860829366, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03780576183449915, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3405875313145339, + 0.004777436494987366, + 1.028125254423996 + ], + "held_grasp_finger_b": [ + 0.3292604423263147, + 0.028728838701453874, + 1.028125254423996 + ], + "held_grasp_midpoint": [ + 0.3349239868204243, + 0.01675313759822062, + 1.028125254423996 + ], + "held_grasp_object_position": [ + 0.3405875313145339, + 0.028728838701453874, + 1.028125254423996 + ], + "held_grasp_finger_gap": 0.026494765758597785, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024010654557537658, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00801962827937475, + -0.9986812174156035, + 0.050710073393249955 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005791210860829366, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03780576183449915, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3101498363767172, + 0.22811468970973628, + 0.7611064564964947 + ], + "target_position": [ + 0.31286329543162866, + 0.22239626455729505, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006329553401840712, + "xy_threshold": 0.08, + "gripper_dist": 0.2113641787091991, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064564964947, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520091837280173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09328270201775694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1837153189917031, + "release_required_pad_clearance": 0.056641351008878474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.688398548281246, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "806ad2149166aa235bcafc0e6ad23e2ecfdf56e00c4fe8c5e389575086d0906a", + "visual_seed": 7476363410533182436, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..591d2df09c332ebebd7bf94799d77f50598d1839 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3299626866561298, + 0.2248462627209417, + 1.0027315417324436 + ], + "current_z": 1.0027315417324436, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.141624974113033, + "gripper_z": 1.0021105114587554, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32492304223428253, + 0.2200771433917703, + 1.0021105114587554 + ], + "object_minus_gripper": [ + 0.005039644421847289, + 0.004769119329171373, + 0.0006210302736882056 + ], + "object_to_gripper_xy": 0.006938480746858962, + "object_to_gripper_z": 0.0006210302736882056, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3299626866561298, + 0.2003352134008437, + 1.0027315417324436 + ], + "finger_b": [ + 0.31835679073356266, + 0.2248462627209417, + 1.0027315417324436 + ], + "finger_midpoint": [ + 0.32415973869484627, + 0.21259073806089268, + 1.0027315417324436 + ], + "object_minus_finger_midpoint": [ + 0.0058029479612835555, + 0.012255524660049005, + 0.0 + ], + "finger_gap": 0.02711988862325465, + "fingertip_max_gap": 0.09166847031103412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013559944311627325, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027315417324436, + "object_top_z": 1.0526242774581114, + "finger_top_clearance": 0.04989273572566777, + "fingertip_min_top_clearance": 0.014967820717700314, + "object_projection_between_fingers": 0.8168607041449257, + "object_to_finger_line_xy": 0.010489448954375103, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833423515551706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2953167393101956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3349138311154073, + 0.0409737591134832, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3368415343382193, + 0.02704089055114793, + 1.0302223324398545 + ], + "target_minus_gripper": [ + -0.001927703222811994, + 0.01393286856233527, + -0.26007594264324274 + ], + "held_position": [ + 0.3419586719835923, + 0.031732819681416766, + 1.0308005458924634 + ], + "held_minus_target": [ + 0.0070448408681850205, + -0.009240939432066435, + 0.26065415609585163 + ], + "held_minus_gripper": [ + 0.005117137645373027, + 0.004691929130268835, + 0.0005782134526088889 + ], + "xy_dist": 0.014065591565609683, + "held_xy_dist": 0.011620014821211297, + "held_gripper_dist": 0.006966608029876301, + "max_held_gripper_dist": 0.006973132462918984, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0308005458924634, + "required_height": 0.8001463897966118, + "gripper_z": 1.0302223324398545, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21280471308513, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1730434775966359, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.921686465542148, + "max_source_tilt_deg": 89.99875262982418, + "source_upright_tilt_deg": 1.6829761588166785, + "max_source_upright_tilt_deg": 89.76583973658201, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.921686465542148, + "source_upright_return_tilt_deg": 1.6829761588166785, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.83872392426648e-08, + "max_target_xy_drift": 1.8070538097075974e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3349, + 0.041, + 0.7701 + ], + "controller_target_position": [ + 0.3349, + 0.041, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0016, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3351, + 0.0141, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001689143148539316, + -0.0016385541906421932, + 0.0013867871431293916 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6830038095996687, + "source_return_step_error_deg": 1.921711080086885, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9093989643674547, + "source_return_best_wrist_position": -1.6076993942260742, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6076993942260742 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3349, + 0.041, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3349, + 0.041, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0016, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3351, + 0.0141, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001689143148539316, + -0.0016385541906421932, + 0.0013867871431293916 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6830038095996687, + "pour_controller_source_return_step_error_deg": 1.921711080086885, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9093989643674547, + "pour_controller_source_return_best_wrist_position": -1.6076993942260742, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6076993942260742, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.014065591565609683, + "valid_pour_held_xy_dist": 0.011620014821211297, + "valid_pour_held_gripper_dist": 0.006966608029876301, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0308005458924634, + "valid_pour_source_tilt_deg": 1.921686465542148, + "valid_pour_source_upright_tilt_deg": 1.6829761588166785, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.83872392426648e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3419586719835923, + 0.007330463247004043, + 1.0308005458924634 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33092181500336065, + 0.031732819681416766, + 1.0308005458924634 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33644024349347645, + 0.019531641464210405, + 1.0308005458924634 + ], + "valid_pour_held_grasp_object_position": [ + 0.3419586719835923, + 0.031732819681416766, + 1.0308005458924634 + ], + "valid_pour_held_grasp_finger_gap": 0.026782218197046567, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02444308792506948, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.004644232930307222, + -0.999568638217124, + 0.028999458499313402 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005586227351221866, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037549963842195, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3419586719835923, + 0.007330463247004043, + 1.0308005458924634 + ], + "held_grasp_finger_b": [ + 0.33092181500336065, + 0.031732819681416766, + 1.0308005458924634 + ], + "held_grasp_midpoint": [ + 0.33644024349347645, + 0.019531641464210405, + 1.0308005458924634 + ], + "held_grasp_object_position": [ + 0.3419586719835923, + 0.031732819681416766, + 1.0308005458924634 + ], + "held_grasp_finger_gap": 0.026782218197046567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02444308792506948, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004644232930307222, + -0.999568638217124, + 0.028999458499313402 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005586227351221866, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037549963842195, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3056760092029342, + 0.21987127169549575, + 0.7611083657279964 + ], + "target_position": [ + 0.30582440296595964, + 0.22017793558007576, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0003406808580043068, + "xy_threshold": 0.08, + "gripper_dist": 0.21535321046916386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083657279964, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586900909443142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09086934256617905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18459684463102863, + "release_required_pad_clearance": 0.05543467128308953, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.0007057726554995, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c615fb8e4c1a82fbd915bad85fcd2362691581b7bc25732ffc2b4f3138414ec6", + "visual_seed": 3525034235818963496, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33487d74f6ac98e077495cfc081bc784310ed391 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_67_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33025373818691695, + 0.225176737093095, + 1.0034015847870181 + ], + "current_z": 1.0034015847870181, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.14229477874902818, + "gripper_z": 1.0030819505468438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.325226434655977, + 0.22032977699113965, + 1.0030819505468438 + ], + "object_minus_gripper": [ + 0.005027303530939942, + 0.004846960101955344, + 0.00031963424017433795 + ], + "object_to_gripper_xy": 0.006983323207624588, + "object_to_gripper_z": 0.00031963424017433795, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33025373818691695, + 0.20079623339465533, + 1.0034015847870181 + ], + "finger_b": [ + 0.31837819177174276, + 0.225176737093095, + 1.0034015847870181 + ], + "finger_midpoint": [ + 0.32431596497932985, + 0.21298648524387515, + 1.0034015847870181 + ], + "object_minus_finger_midpoint": [ + 0.005937773207587094, + 0.012190251849219846, + 0.0 + ], + "finger_gap": 0.02711895210454465, + "fingertip_max_gap": 0.09159592469489433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013559476052272338, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034015847870181, + "object_top_z": 1.0533898211332757, + "finger_top_clearance": 0.0499882363462576, + "fingertip_min_top_clearance": 0.014996470903877278, + "object_projection_between_fingers": 0.808238510369252, + "object_to_finger_line_xy": 0.01067636397527418, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829796234744717, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0791421107892245, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33388505494658405, + 0.04143273722999553, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3362051823543804, + 0.029124376385121192, + 1.029530359146961 + ], + "target_minus_gripper": [ + -0.0023201274077963574, + 0.012308360844874335, + -0.25938390974570424 + ], + "held_position": [ + 0.34131102556246085, + 0.03389102255841331, + 1.0297925776177164 + ], + "held_minus_target": [ + 0.007425970615876798, + -0.007541714671582218, + 0.2596461282164597 + ], + "held_minus_gripper": [ + 0.0051058432080804406, + 0.004766646173292116, + 0.0002622184707554709 + ], + "xy_dist": 0.012525124265892276, + "held_xy_dist": 0.010584068205346379, + "held_gripper_dist": 0.006989943428474001, + "max_held_gripper_dist": 0.006992952875860366, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0297925776177164, + "required_height": 0.8001464494012567, + "gripper_z": 1.029530359146961, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22200497789714, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.35967112441380483, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9474808674139505, + "max_source_tilt_deg": 89.83806228502135, + "source_upright_tilt_deg": 2.85024439483695, + "max_source_upright_tilt_deg": 89.97977887965787, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9474808674139505, + "source_upright_return_tilt_deg": 2.85024439483695, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1566411476180159e-07, + "max_target_xy_drift": 1.2293457983536538e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3339, + 0.0414, + 0.7701 + ], + "controller_target_position": [ + 0.3339, + 0.0414, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0002, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3343, + 0.016, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003952246007521338, + -0.00021305322602514212, + 0.0006087398596588971 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.850272057953354, + "source_return_step_error_deg": 2.947507314043991, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9425907409261867, + "source_return_best_wrist_position": -1.6328479051589966, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6328479051589966 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3339, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3339, + 0.0414, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0002, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3343, + 0.016, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003952246007521338, + -0.00021305322602514212, + 0.0006087398596588971 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.850272057953354, + "pour_controller_source_return_step_error_deg": 2.947507314043991, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9425907409261867, + "pour_controller_source_return_best_wrist_position": -1.6328479051589966, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6328479051589966, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012525124265892276, + "valid_pour_held_xy_dist": 0.010584068205346379, + "valid_pour_held_gripper_dist": 0.006989943428474001, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0297925776177164, + "valid_pour_source_tilt_deg": 2.9474808674139505, + "valid_pour_source_upright_tilt_deg": 2.85024439483695, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1566411476180159e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34131102556246085, + 0.009951024507407324, + 1.0297925776177164 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3301646614914243, + 0.03389102255841331, + 1.0297925776177164 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3357378435269426, + 0.021921023532910318, + 1.0297925776177164 + ], + "valid_pour_held_grasp_object_position": [ + 0.34131102556246085, + 0.03389102255841331, + 1.0297925776177164 + ], + "valid_pour_held_grasp_finger_gap": 0.026407668179645554, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023923691981601984, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0011940588743713386, + -0.9987629287071412, + 0.049711029598455844 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005619048706567906, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03777171349423006, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34131102556246085, + 0.009951024507407324, + 1.0297925776177164 + ], + "held_grasp_finger_b": [ + 0.3301646614914243, + 0.03389102255841331, + 1.0297925776177164 + ], + "held_grasp_midpoint": [ + 0.3357378435269426, + 0.021921023532910318, + 1.0297925776177164 + ], + "held_grasp_object_position": [ + 0.34131102556246085, + 0.03389102255841331, + 1.0297925776177164 + ], + "held_grasp_finger_gap": 0.026407668179645554, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023923691981601984, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0011940588743713386, + -0.9987629287071412, + 0.049711029598455844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005619048706567906, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03777171349423006, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3027654943342305, + 0.22726229482492752, + 0.7611068815379615 + ], + "target_position": [ + 0.30608474464701696, + 0.2226804442825578, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005657806733315199, + "xy_threshold": 0.08, + "gripper_dist": 0.21318303108720393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068815379615, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517761056813095, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879074185855259, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18511545062658505, + "release_required_pad_clearance": 0.053953709292762955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9171524299167944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8c62c1085e28bbba3dd0c6c12a3a4d81e5db1919023baab6b03aa994326a5f67", + "visual_seed": 2010657466834265440, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..112cfddc7de4356229dd847c1d02591dcc11fe84 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33081322554067316, + 0.22815680000324814, + 1.00521173622619 + ], + "current_z": 1.00521173622619, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14410516860677924, + "gripper_z": 1.0047773161819957, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3260188663176812, + 0.22340395468344815, + 1.0047773161819957 + ], + "object_minus_gripper": [ + 0.004794359222991984, + 0.004752845319799998, + 0.0004344200441943613 + ], + "object_to_gripper_xy": 0.006750956894621165, + "object_to_gripper_z": 0.0004344200441943613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33081322554067316, + 0.2040071246987365, + 1.00521173622619 + ], + "finger_b": [ + 0.3189975896199455, + 0.22815680000324814, + 1.00521173622619 + ], + "finger_midpoint": [ + 0.32490540758030934, + 0.2160819623509923, + 1.00521173622619 + ], + "object_minus_finger_midpoint": [ + 0.005907817960363826, + 0.012074837652255838, + 0.0 + ], + "finger_gap": 0.02688523887795177, + "fingertip_max_gap": 0.09203751986963651, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013442619438975898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00521173622619, + "object_top_z": 1.0554219906382212, + "finger_top_clearance": 0.050210254412031086, + "fingertip_min_top_clearance": 0.015063076323609342, + "object_projection_between_fingers": 0.8068536961235173, + "object_to_finger_line_xy": 0.010613399133154225, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851875993481826, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3126599372606473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3356928936249441, + 0.034151351867847214, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33684758952822497, + 0.02196174082498635, + 1.030168440755982 + ], + "target_minus_gripper": [ + -0.001154695903280878, + 0.012189611042860864, + -0.26002199135472537 + ], + "held_position": [ + 0.34176450370351863, + 0.026590996910234824, + 1.0305632364390833 + ], + "held_minus_target": [ + 0.006071610078574541, + -0.0075603549576123905, + 0.2604167870378268 + ], + "held_minus_gripper": [ + 0.004916914175293663, + 0.004629256085248473, + 0.0003947956831014121 + ], + "xy_dist": 0.012244179842083713, + "held_xy_dist": 0.009696567229248823, + "held_gripper_dist": 0.006764755763618469, + "max_held_gripper_dist": 0.006768384687996175, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0305632364390833, + "required_height": 0.8001464494012566, + "gripper_z": 1.030168440755982, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22487365734855, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.39202240741854527, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8058259486151016, + "max_source_tilt_deg": 89.83569298488963, + "source_upright_tilt_deg": 1.4484824470670379, + "max_source_upright_tilt_deg": 89.82724101268076, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8058259486151016, + "source_upright_return_tilt_deg": 1.4484824470670379, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 1.3181422660465637e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3357, + 0.0342, + 0.7701 + ], + "controller_target_position": [ + 0.3357, + 0.0342, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0003, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3348, + 0.0086, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008556333255306998, + -0.00032321988480681616, + 0.0010929794494703399 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.4484647336010947, + "source_return_step_error_deg": 1.8058051203856855, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8010328774746276, + "source_return_best_wrist_position": -1.6086658239364624, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6086658239364624 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3357, + 0.0342, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3357, + 0.0342, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0003, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3348, + 0.0086, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008556333255306998, + -0.00032321988480681616, + 0.0010929794494703399 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.4484647336010947, + "pour_controller_source_return_step_error_deg": 1.8058051203856855, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8010328774746276, + "pour_controller_source_return_best_wrist_position": -1.6086658239364624, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6086658239364624, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012244179842083713, + "valid_pour_held_xy_dist": 0.009696567229248823, + "valid_pour_held_gripper_dist": 0.006764755763618469, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0305632364390833, + "valid_pour_source_tilt_deg": 1.8058259486151016, + "valid_pour_source_upright_tilt_deg": 1.4484824470670379, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34176450370351863, + 0.002412272164641334, + 1.0305632364390833 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33074187127470944, + 0.026590996910234824, + 1.0305632364390833 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33625318748911404, + 0.01450163453743808, + 1.0305632364390833 + ], + "valid_pour_held_grasp_object_position": [ + 0.34176450370351863, + 0.026590996910234824, + 1.0305632364390833 + ], + "valid_pour_held_grasp_finger_gap": 0.02657271450160504, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024118337908722896, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.004777522666456622, + -0.999680464512532, + 0.024822251090102165 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005461764106011411, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03760842023946096, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34176450370351863, + 0.002412272164641334, + 1.0305632364390833 + ], + "held_grasp_finger_b": [ + 0.33074187127470944, + 0.026590996910234824, + 1.0305632364390833 + ], + "held_grasp_midpoint": [ + 0.33625318748911404, + 0.01450163453743808, + 1.0305632364390833 + ], + "held_grasp_object_position": [ + 0.34176450370351863, + 0.026590996910234824, + 1.0305632364390833 + ], + "held_grasp_finger_gap": 0.02657271450160504, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024118337908722896, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004777522666456622, + -0.999680464512532, + 0.024822251090102165 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005461764106011411, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03760842023946096, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3154443465177061, + 0.22736225333076338, + 0.7611104296055937 + ], + "target_position": [ + 0.30692031844877393, + 0.2253077780296945, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008768119711924857, + "xy_threshold": 0.08, + "gripper_dist": 0.22036318675224137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611104296055937, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529836391314693, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710037906593003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19066724810032068, + "release_required_pad_clearance": 0.05355018953296502, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1010482009392786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fdf5c0eefaf06ef219aeb6e0a4ed1ed48e5b4b261e63c8933fa0bad174faa077", + "visual_seed": 5224162104728782356, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6732c835ee9b7e6427889cca8399587876f9ed18 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_69_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3306894897760069, + 0.22241202453576897, + 1.0043796399296963 + ], + "current_z": 1.0043796399296963, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.1432728934963512, + "gripper_z": 1.0044557153916913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.325473751454207, + 0.21758628750491132, + 1.0044557153916913 + ], + "object_minus_gripper": [ + 0.00521573832179989, + 0.004825737030857646, + -7.60754619950621e-05 + ], + "object_to_gripper_xy": 0.007105748667978815, + "object_to_gripper_z": -7.60754619950621e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3306894897760069, + 0.19769878152587803, + 1.0043796399296963 + ], + "finger_b": [ + 0.3191106290900837, + 0.22241202453576897, + 1.0043796399296963 + ], + "finger_midpoint": [ + 0.3249000594330453, + 0.21005540303082348, + 1.0043796399296963 + ], + "object_minus_finger_midpoint": [ + 0.005789430342961588, + 0.012356621504945486, + 0.0 + ], + "finger_gap": 0.027291287892841205, + "fingertip_max_gap": 0.09150368997245892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013645643946420616, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043796399296963, + "object_top_z": 1.0542160305203052, + "finger_top_clearance": 0.04983639059060896, + "fingertip_min_top_clearance": 0.014950917177182686, + "object_projection_between_fingers": 0.8199954032695239, + "object_to_finger_line_xy": 0.010485074908610417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825184498622946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.351943303248981, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33697516834799696, + 0.036417766331367264, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3399799365053334, + 0.025346654351688078, + 1.0295353744255054 + ], + "target_minus_gripper": [ + -0.003004768157336468, + 0.011071111979679187, + -0.2593889250242488 + ], + "held_position": [ + 0.3452611437390861, + 0.030096539426114167, + 1.0294153419628174 + ], + "held_minus_target": [ + 0.008285975391089162, + -0.006321226905253097, + 0.2592688925615608 + ], + "held_minus_gripper": [ + 0.005281207233752694, + 0.004749885074426089, + -0.00012003246268799117 + ], + "xy_dist": 0.011471623779829044, + "held_xy_dist": 0.010421866328514813, + "held_gripper_dist": 0.007104010547444061, + "max_held_gripper_dist": 0.007106373017807484, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0294153419628174, + "required_height": 0.8001464494012566, + "gripper_z": 1.0295353744255054, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21837814744786, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6635472856205824, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.045403586669398, + "max_source_tilt_deg": 89.94535302702913, + "source_upright_tilt_deg": 1.7707113313243232, + "max_source_upright_tilt_deg": 89.93622838634468, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.045403586669398, + "source_upright_return_tilt_deg": 1.7707113313243232, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.337970883992392e-08, + "max_target_xy_drift": 1.3783574104309082e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.337, + 0.0364, + 0.7701 + ], + "controller_target_position": [ + 0.337, + 0.0364, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0011, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3389, + 0.0123, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018888233233005937, + 0.0010845830954850618, + 0.0008315349698372059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.77068561027543, + "source_return_step_error_deg": 2.0453761009909814, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.03224611782526, + "source_return_best_wrist_position": -1.6085907220840454, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085907220840454 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.337, + 0.0364, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.337, + 0.0364, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0011, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3389, + 0.0123, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018888233233005937, + 0.0010845830954850618, + 0.0008315349698372059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.77068561027543, + "pour_controller_source_return_step_error_deg": 2.0453761009909814, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.03224611782526, + "pour_controller_source_return_best_wrist_position": -1.6085907220840454, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085907220840454, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011471623779829044, + "valid_pour_held_xy_dist": 0.010421866328514813, + "valid_pour_held_gripper_dist": 0.007104010547444061, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0294153419628174, + "valid_pour_source_tilt_deg": 2.045403586669398, + "valid_pour_source_upright_tilt_deg": 1.7707113313243232, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.337970883992392e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3452611437390861, + 0.0056004346094785445, + 1.0294153419628174 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33413603868482183, + 0.030096539426114167, + 1.0294153419628174 + ], + "valid_pour_held_grasp_midpoint": [ + 0.339698591211954, + 0.017848487017796354, + 1.0294153419628174 + ], + "valid_pour_held_grasp_object_position": [ + 0.3452611437390861, + 0.030096539426114167, + 1.0294153419628174 + ], + "valid_pour_held_grasp_finger_gap": 0.026904035267149344, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024600407569501034, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01042684852687936, + -0.9995224941896445, + 0.029087186847642325 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057010482643521454, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037536046070590974, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3452611437390861, + 0.0056004346094785445, + 1.0294153419628174 + ], + "held_grasp_finger_b": [ + 0.33413603868482183, + 0.030096539426114167, + 1.0294153419628174 + ], + "held_grasp_midpoint": [ + 0.339698591211954, + 0.017848487017796354, + 1.0294153419628174 + ], + "held_grasp_object_position": [ + 0.3452611437390861, + 0.030096539426114167, + 1.0294153419628174 + ], + "held_grasp_finger_gap": 0.026904035267149344, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024600407569501034, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01042684852687936, + -0.9995224941896445, + 0.029087186847642325 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057010482643521454, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037536046070590974, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3025371567783208, + 0.22105830169037388, + 0.7611063339311901 + ], + "target_position": [ + 0.30643069751322227, + 0.2181132735561707, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004881890019816632, + "xy_threshold": 0.08, + "gripper_dist": 0.21388827388898665, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063339311901, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758387799119073, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09307876948187042, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1843453301652705, + "release_required_pad_clearance": 0.056539384740935214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.454511470206844, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e2e400cf3f59c2c01ca521045346e6661d90bc5cd19e63825f4af90b6f117c4", + "visual_seed": 8107368309258436382, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1bbdd23c4a1ede71dd015f7cd259495b8cdb294c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33529223181304857, + 0.22705724026511426, + 1.005528142337861 + ], + "current_z": 1.005528142337861, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14442169392773974, + "gripper_z": 1.0052693583277648, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3301044894391211, + 0.22231106559312014, + 1.0052693583277648 + ], + "object_minus_gripper": [ + 0.005187742373927495, + 0.004746174671994119, + 0.00025878401009626906 + ], + "object_to_gripper_xy": 0.007031276196774051, + "object_to_gripper_z": 0.00025878401009626906, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33529223181304857, + 0.2022664088077122, + 1.005528142337861 + ], + "finger_b": [ + 0.3239615825627372, + 0.22705724026511426, + 1.005528142337861 + ], + "finger_midpoint": [ + 0.3296269071878929, + 0.21466182453641325, + 1.005528142337861 + ], + "object_minus_finger_midpoint": [ + 0.005665324625155677, + 0.01239541572870101, + 0.0 + ], + "finger_gap": 0.02725745653546743, + "fingertip_max_gap": 0.09114882273694305, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013628728267733703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005528142337861, + "object_top_z": 1.0553128511433691, + "finger_top_clearance": 0.049784708805508116, + "fingertip_min_top_clearance": 0.014935412641652435, + "object_projection_between_fingers": 0.827201911038851, + "object_to_finger_line_xy": 0.010305298130143027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04807441136847153, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1415428864942263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3292493633038227, + 0.03838126253955818, + 0.7701464494012566 + ], + "gripper_position": [ + 0.32968822486394056, + 0.024455941212305488, + 1.0320249378797823 + ], + "target_minus_gripper": [ + -0.0004388615601178536, + 0.013925321327252695, + -0.2618784884785257 + ], + "held_position": [ + 0.33475076936930914, + 0.02933636497133319, + 1.032258555525442 + ], + "held_minus_target": [ + 0.005501406065486436, + -0.009044897568224991, + 0.26211210612418534 + ], + "held_minus_gripper": [ + 0.0050625445053685825, + 0.004880423759027704, + 0.00023361764565965615 + ], + "xy_dist": 0.013932235051713268, + "held_xy_dist": 0.010586578329047271, + "held_gripper_dist": 0.007035799182813796, + "max_held_gripper_dist": 0.007038981141477022, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.032258555525442, + "required_height": 0.8001464494012567, + "gripper_z": 1.0320249378797823, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24199694159778, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8704310476073436, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1101162425420164, + "max_source_tilt_deg": 89.92210106963039, + "source_upright_tilt_deg": 3.2163982482749724, + "max_source_upright_tilt_deg": 89.92537745553888, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1101162425420164, + "source_upright_return_tilt_deg": 3.2163982482749724, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.5914447131226828e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3292, + 0.0384, + 0.7701 + ], + "controller_target_position": [ + 0.3292, + 0.0384, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0004, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3275, + 0.0128, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017005027517114479, + -0.0003546427438893289, + 0.0008244763867710091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.216395246913545, + "source_return_step_error_deg": 2.110113717263198, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.210265952116283, + "source_return_best_wrist_position": -1.6101211309432983, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6101211309432983 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3292, + 0.0384, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3292, + 0.0384, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0004, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3275, + 0.0128, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017005027517114479, + -0.0003546427438893289, + 0.0008244763867710091 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.216395246913545, + "pour_controller_source_return_step_error_deg": 2.110113717263198, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.210265952116283, + "pour_controller_source_return_best_wrist_position": -1.6101211309432983, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6101211309432983, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013932235051713268, + "valid_pour_held_xy_dist": 0.010586578329047271, + "valid_pour_held_gripper_dist": 0.007035799182813796, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.032258555525442, + "valid_pour_source_tilt_deg": 2.1101162425420164, + "valid_pour_source_upright_tilt_deg": 3.2163982482749724, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33475076936930914, + 0.005398180312222769, + 1.032258555525442 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3230687463926194, + 0.02933636497133319, + 1.032258555525442 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32890975788096427, + 0.01736727264177798, + 1.032258555525442 + ], + "valid_pour_held_grasp_object_position": [ + 0.33475076936930914, + 0.02933636497133319, + 1.032258555525442 + ], + "valid_pour_held_grasp_finger_gap": 0.026636560318509157, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024429895345573136, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04531913472699735, + -0.9984247557933591, + 0.0330784377891038 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006389445209477433, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038034721570472975, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33475076936930914, + 0.005398180312222769, + 1.032258555525442 + ], + "held_grasp_finger_b": [ + 0.3230687463926194, + 0.02933636497133319, + 1.032258555525442 + ], + "held_grasp_midpoint": [ + 0.32890975788096427, + 0.01736727264177798, + 1.032258555525442 + ], + "held_grasp_object_position": [ + 0.33475076936930914, + 0.02933636497133319, + 1.032258555525442 + ], + "held_grasp_finger_gap": 0.026636560318509157, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024429895345573136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04531913472699735, + -0.9984247557933591, + 0.0330784377891038 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006389445209477433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038034721570472975, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2972849617311385, + 0.20416571084569193, + 0.7611063170825236 + ], + "target_position": [ + 0.3111096340573868, + 0.2259902538290906, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.025834710011191364, + "xy_threshold": 0.08, + "gripper_dist": 0.20938074212700675, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063170825236, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561563172830606, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09237947767124942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1759923333811833, + "release_required_pad_clearance": 0.05618973883562471, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.662175543019426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e879b05e9fc57d49f71b54bb398104097ade6de0a4e0aff7bb8f26bd47341aed", + "visual_seed": 4610803968273308378, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2187e641077b3779e4627c8924287875d250878b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_70_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3374086141748962, + 0.22583358205185736, + 1.0056412441959512 + ], + "current_z": 1.0056412441959512, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.14453461697189574, + "gripper_z": 1.004899207756537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33225310863918145, + 0.22092694925334228, + 1.004899207756537 + ], + "object_minus_gripper": [ + 0.005155505535714755, + 0.0049066327985150815, + 0.0007420364394141732 + ], + "object_to_gripper_xy": 0.00711718221968845, + "object_to_gripper_z": 0.0007420364394141732, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3374086141748962, + 0.20136188734883306, + 1.0056412441959512 + ], + "finger_b": [ + 0.3254629066749616, + 0.22583358205185736, + 1.0056412441959512 + ], + "finger_midpoint": [ + 0.3314357604249289, + 0.2135977347003452, + 1.0056412441959512 + ], + "object_minus_finger_midpoint": [ + 0.005972853749967311, + 0.012235847351512147, + 0.0 + ], + "finger_gap": 0.02723166850033287, + "fingertip_max_gap": 0.09138623650084501, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013615834250166435, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0056412441959512, + "object_top_z": 1.0555875588537074, + "finger_top_clearance": 0.04994631465775612, + "fingertip_min_top_clearance": 0.014983894397326869, + "object_projection_between_fingers": 0.8075689056298117, + "object_to_finger_line_xy": 0.010734990657897226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819311825042251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2095084787527193, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32784665739600116, + 0.03740690541141488, + 0.7701463897966114 + ], + "gripper_position": [ + 0.33010649298373895, + 0.025974426144251855, + 1.0305896594348323 + ], + "target_minus_gripper": [ + -0.0022598355877377907, + 0.011432479267163023, + -0.26044326963822084 + ], + "held_position": [ + 0.3353610937924255, + 0.030783207185824883, + 1.0312909878564203 + ], + "held_minus_target": [ + 0.007514436396424351, + -0.006623698225589995, + 0.26114459805980883 + ], + "held_minus_gripper": [ + 0.00525460080868656, + 0.004808781041573028, + 0.0007013284215879878 + ], + "xy_dist": 0.011653687788752476, + "held_xy_dist": 0.010016992190253073, + "held_gripper_dist": 0.007157308594672213, + "max_held_gripper_dist": 0.0071655742052772085, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0312909878564203, + "required_height": 0.8001463897966115, + "gripper_z": 1.0305896594348323, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22367154405462, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6344358607598306, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9043898184323242, + "max_source_tilt_deg": 89.68570062747912, + "source_upright_tilt_deg": 1.5513180422889952, + "max_source_upright_tilt_deg": 89.8618585845983, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9043898184323242, + "source_upright_return_tilt_deg": 1.5513180422889952, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.6429332699816291e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3278, + 0.0374, + 0.7701 + ], + "controller_target_position": [ + 0.3278, + 0.0374, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0008, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3276, + 0.013, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002761060520130986, + 0.0007586504924908871, + 0.0015889098205555995 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5513288899031659, + "source_return_step_error_deg": 1.904394810909292, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9031505682348027, + "source_return_best_wrist_position": -1.6095277070999146, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095277070999146 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3278, + 0.0374, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3278, + 0.0374, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0008, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3276, + 0.013, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002761060520130986, + 0.0007586504924908871, + 0.0015889098205555995 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5513288899031659, + "pour_controller_source_return_step_error_deg": 1.904394810909292, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9031505682348027, + "pour_controller_source_return_best_wrist_position": -1.6095277070999146, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095277070999146, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011653687788752476, + "valid_pour_held_xy_dist": 0.010016992190253073, + "valid_pour_held_gripper_dist": 0.007157308594672213, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0312909878564203, + "valid_pour_source_tilt_deg": 1.9043898184323242, + "valid_pour_source_upright_tilt_deg": 1.5513180422889952, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3353610937924255, + 0.006372377060405583, + 1.0312909878564203 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3241030112015493, + 0.030783207185824883, + 1.0312909878564203 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3297320524969874, + 0.018577792123115233, + 1.0312909878564203 + ], + "valid_pour_held_grasp_object_position": [ + 0.3353610937924255, + 0.030783207185824883, + 1.0312909878564203 + ], + "valid_pour_held_grasp_finger_gap": 0.026881834964062056, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02438541119459081, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0014631268958586348, + -0.99963348532811, + 0.027032466969587714 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005620875827893924, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03751107246936514, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3353610937924255, + 0.006372377060405583, + 1.0312909878564203 + ], + "held_grasp_finger_b": [ + 0.3241030112015493, + 0.030783207185824883, + 1.0312909878564203 + ], + "held_grasp_midpoint": [ + 0.3297320524969874, + 0.018577792123115233, + 1.0312909878564203 + ], + "held_grasp_object_position": [ + 0.3353610937924255, + 0.030783207185824883, + 1.0312909878564203 + ], + "held_grasp_finger_gap": 0.026881834964062056, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02438541119459081, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0014631268958586348, + -0.99963348532811, + 0.027032466969587714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005620875827893924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03751107246936514, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2971030574056976, + 0.22207530371433873, + 0.7611065281841227 + ], + "target_position": [ + 0.3132360332853753, + 0.2224186028302682, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016136628055986816, + "xy_threshold": 0.08, + "gripper_dist": 0.20493052751369142, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065281841227, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758522996308492, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505610779839244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17622364295747628, + "release_required_pad_clearance": 0.05252805389919622, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.12511307684878456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "afe76b6401567e3381be0b5575c08454f9b7894f42af6fb3f11a2ae0460bb187", + "visual_seed": 8788588785865544326, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5243131a6f0f20b257ff45bfd45b3f732ec56084 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_71_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33948490772858997, + 0.2275234141320898, + 1.005035195216808 + ], + "current_z": 1.005035195216808, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14392874680668666, + "gripper_z": 1.0042222178423028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33440159408353576, + 0.22263292329440965, + 1.0042222178423028 + ], + "object_minus_gripper": [ + 0.0050833136450542105, + 0.004890490837680145, + 0.0008129773745051416 + ], + "object_to_gripper_xy": 0.0070538626473321524, + "object_to_gripper_z": 0.0008129773745051416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33948490772858997, + 0.2030479879696358, + 1.005035195216808 + ], + "finger_b": [ + 0.327630963244768, + 0.2275234141320898, + 1.005035195216808 + ], + "finger_midpoint": [ + 0.333557935486679, + 0.2152857010508628, + 1.005035195216808 + ], + "object_minus_finger_midpoint": [ + 0.005926972241910966, + 0.01223771308122698, + 0.0 + ], + "finger_gap": 0.027194898154971475, + "fingertip_max_gap": 0.09127267874509945, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013597449077485713, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005035195216808, + "object_top_z": 1.05499037640007, + "finger_top_clearance": 0.04995518118326214, + "fingertip_min_top_clearance": 0.014986554354978643, + "object_projection_between_fingers": 0.8100011796835894, + "object_to_finger_line_xy": 0.0106685578042724, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813633937254973, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2368661762317084, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33562822258536257, + 0.03600876670949913, + 0.770146389796612 + ], + "gripper_position": [ + 0.33681511955996624, + 0.025935808157508053, + 1.029508869464298 + ], + "target_minus_gripper": [ + -0.0011868969746036684, + 0.010072958551991078, + -0.259362479667686 + ], + "held_position": [ + 0.34194813250910533, + 0.030784318084181795, + 1.0302805054736095 + ], + "held_minus_target": [ + 0.006319909923742761, + -0.005224448625317336, + 0.2601341156769975 + ], + "held_minus_gripper": [ + 0.005133012949139093, + 0.004848509926673742, + 0.000771636009311516 + ], + "xy_dist": 0.010142643561638826, + "held_xy_dist": 0.008199763708961524, + "held_gripper_dist": 0.0071029073326314505, + "max_held_gripper_dist": 0.0071127286250801044, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0302805054736095, + "required_height": 0.800146389796612, + "gripper_z": 1.029508869464298, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22656071407354, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7323275011417965, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7380980386558154, + "max_source_tilt_deg": 89.8891532801044, + "source_upright_tilt_deg": 1.496510574047729, + "max_source_upright_tilt_deg": 89.84289613159049, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7380980386558154, + "source_upright_return_tilt_deg": 1.496510574047729, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.48311475197929e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3356, + 0.036, + 0.7701 + ], + "controller_target_position": [ + 0.3356, + 0.036, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.002, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.334, + 0.0128, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015855258354633812, + 0.0019939692396012485, + 0.00048673284143338795 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.496519338191869, + "source_return_step_error_deg": 1.7381102071901156, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7387339195859681, + "source_return_best_wrist_position": -1.6088275909423828, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6088275909423828 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3356, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3356, + 0.036, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.002, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.334, + 0.0128, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015855258354633812, + 0.0019939692396012485, + 0.00048673284143338795 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.496519338191869, + "pour_controller_source_return_step_error_deg": 1.7381102071901156, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7387339195859681, + "pour_controller_source_return_best_wrist_position": -1.6088275909423828, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6088275909423828, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010142643561638826, + "valid_pour_held_xy_dist": 0.008199763708961524, + "valid_pour_held_gripper_dist": 0.0071029073326314505, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0302805054736095, + "valid_pour_source_tilt_deg": 1.7380980386558154, + "valid_pour_source_upright_tilt_deg": 1.496510574047729, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34194813250910533, + 0.006509494049072375, + 1.0302805054736095 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33053835269407134, + 0.030784318084181795, + 1.0302805054736095 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33624324260158833, + 0.018646906066627084, + 1.0302805054736095 + ], + "valid_pour_held_grasp_object_position": [ + 0.34194813250910533, + 0.030784318084181795, + 1.0302805054736095 + ], + "valid_pour_held_grasp_finger_gap": 0.026822568060554587, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024369101890124437, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008988553634054274, + -0.9996589238796051, + 0.024520232695422143 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005821337625361744, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03763825654285303, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34194813250910533, + 0.006509494049072375, + 1.0302805054736095 + ], + "held_grasp_finger_b": [ + 0.33053835269407134, + 0.030784318084181795, + 1.0302805054736095 + ], + "held_grasp_midpoint": [ + 0.33624324260158833, + 0.018646906066627084, + 1.0302805054736095 + ], + "held_grasp_object_position": [ + 0.34194813250910533, + 0.030784318084181795, + 1.0302805054736095 + ], + "held_grasp_finger_gap": 0.026822568060554587, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024369101890124437, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008988553634054274, + -0.9996589238796051, + 0.024520232695422143 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005821337625361744, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03763825654285303, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30625934289246426, + 0.218197496860513, + 0.761106423936404 + ], + "target_position": [ + 0.3153337228450445, + 0.2246724240994426, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011147603073002861, + "xy_threshold": 0.08, + "gripper_dist": 0.20996474147141223, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106423936404, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571963019182884, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08840773521400012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17904163164684425, + "release_required_pad_clearance": 0.054203867607000064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4244729261182982, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fcc7f08f5ab99c16adaa8cf914f064b947ec56c8d9b259990bed86eedb4be577", + "visual_seed": 4889595544944386214, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..198546899a952e96318913a3f4cc13e20824de7a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3304952675887234, + 0.22768329086687844, + 1.0053502797089595 + ], + "current_z": 1.0053502797089595, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.14424347367096946, + "gripper_z": 1.0053504483729339, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3253595559750455, + 0.22290124962335922, + 1.0053504483729339 + ], + "object_minus_gripper": [ + 0.0051357116136778735, + 0.0047820412435192194, + -1.6866397434256442e-07 + ], + "object_to_gripper_xy": 0.00701736789926142, + "object_to_gripper_z": -1.6866397434256442e-07, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3304952675887234, + 0.20301009632679345, + 1.0053502797089595 + ], + "finger_b": [ + 0.31900669857774355, + 0.22768329086687844, + 1.0053502797089595 + ], + "finger_midpoint": [ + 0.32475098308323347, + 0.21534669359683595, + 1.0053502797089595 + ], + "object_minus_finger_midpoint": [ + 0.005744284505489916, + 0.012336597270042493, + 0.0 + ], + "finger_gap": 0.027216791631875455, + "fingertip_max_gap": 0.09142771329798607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013608395815937728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0053502797089595, + "object_top_z": 1.055288168201579, + "finger_top_clearance": 0.049937888492619376, + "fingertip_min_top_clearance": 0.014981366547785778, + "object_projection_between_fingers": 0.8218203843015682, + "object_to_finger_line_xy": 0.010414882915997998, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821385664899304, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2377457685228177, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32943887627188617, + 0.036144538639716874, + 0.770146330191967 + ], + "gripper_position": [ + 0.33064347847128256, + 0.02489168507589791, + 1.0303487356665322 + ], + "target_minus_gripper": [ + -0.0012046021993963874, + 0.011252853563818964, + -0.2602024054745652 + ], + "held_position": [ + 0.3357473658067192, + 0.029704861772428984, + 1.0303087234755561 + ], + "held_minus_target": [ + 0.006308489534833039, + -0.006439676867287889, + 0.26016239328358914 + ], + "held_minus_gripper": [ + 0.005103887335436652, + 0.004813176696531075, + -4.001219097604647e-05 + ], + "xy_dist": 0.011317145390404055, + "held_xy_dist": 0.009014792197615026, + "held_gripper_dist": 0.0070155496449164365, + "max_held_gripper_dist": 0.007018300196855098, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0303087234755561, + "required_height": 0.800146330191967, + "gripper_z": 1.0303487356665322, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2301260728203, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.539436563942977, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8008127741066295, + "max_source_tilt_deg": 89.91923252047663, + "source_upright_tilt_deg": 2.26806623158293, + "max_source_upright_tilt_deg": 89.9725674403897, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8008127741066295, + "source_upright_return_tilt_deg": 2.26806623158293, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.316562074949763e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3294, + 0.0361, + 0.7701 + ], + "controller_target_position": [ + 0.3294, + 0.0361, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0007, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3283, + 0.0116, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011621571208031312, + 0.000661468380987532, + 0.0012217200706280853 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.268066415847633, + "source_return_step_error_deg": 1.8007952171406025, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2651810175515115, + "source_return_best_wrist_position": -1.6096233129501343, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096233129501343 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3294, + 0.0361, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3294, + 0.0361, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0007, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3283, + 0.0116, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011621571208031312, + 0.000661468380987532, + 0.0012217200706280853 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.268066415847633, + "pour_controller_source_return_step_error_deg": 1.8007952171406025, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2651810175515115, + "pour_controller_source_return_best_wrist_position": -1.6096233129501343, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096233129501343, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011317145390404055, + "valid_pour_held_xy_dist": 0.009014792197615026, + "valid_pour_held_gripper_dist": 0.0070155496449164365, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0303087234755561, + "valid_pour_source_tilt_deg": 1.8008127741066295, + "valid_pour_source_upright_tilt_deg": 2.26806623158293, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3357473658067192, + 0.005565518764725485, + 1.0303087234755561 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3242679586586879, + 0.029704861772428984, + 1.0303087234755561 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33000766223270356, + 0.017635190268577235, + 1.0303087234755561 + ], + "valid_pour_held_grasp_object_position": [ + 0.3357473658067192, + 0.029704861772428984, + 1.0303087234755561 + ], + "valid_pour_held_grasp_finger_gap": 0.026729846039845347, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024446139443678332, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028373141427024132, + -0.9992166146970688, + 0.027588435238190094 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006088836000912421, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037822887190765375, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3357473658067192, + 0.005565518764725485, + 1.0303087234755561 + ], + "held_grasp_finger_b": [ + 0.3242679586586879, + 0.029704861772428984, + 1.0303087234755561 + ], + "held_grasp_midpoint": [ + 0.33000766223270356, + 0.017635190268577235, + 1.0303087234755561 + ], + "held_grasp_object_position": [ + 0.3357473658067192, + 0.029704861772428984, + 1.0303087234755561 + ], + "held_grasp_finger_gap": 0.026729846039845347, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024446139443678332, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028373141427024132, + -0.9992166146970688, + 0.027588435238190094 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006088836000912421, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037822887190765375, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3023623530380197, + 0.2239991329198387, + 0.7611073784026318 + ], + "target_position": [ + 0.3063501621021096, + 0.22437487809241408, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004005471953010144, + "xy_threshold": 0.08, + "gripper_dist": 0.21201675893924235, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073784026318, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586748996117097, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676155984305954, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18190225401548077, + "release_required_pad_clearance": 0.05338077992152977, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7747035118978929, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94919ef11a8de05f2bc3221ad85d8278b4979eb707de6dc900609616176ff7e5", + "visual_seed": 4836198190768626855, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5d09ce3142c4bb98c9d6c668c42f8f7415ab55e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_73_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33733747084114896, + 0.22832899091403427, + 1.0034095290559704 + ], + "current_z": 1.0034095290559704, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14230308064584907, + "gripper_z": 1.0026414928453697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3323168421189021, + 0.22348966071870874, + 1.0026414928453697 + ], + "object_minus_gripper": [ + 0.005020628722246845, + 0.004839330195325536, + 0.00076803621060062 + ], + "object_to_gripper_xy": 0.006973222318701697, + "object_to_gripper_z": 0.00076803621060062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33733747084114896, + 0.20397078376199357, + 1.0034095290559704 + ], + "finger_b": [ + 0.32546567462815773, + 0.22832899091403427, + 1.0034095290559704 + ], + "finger_midpoint": [ + 0.3314015727346533, + 0.21614988733801394, + 1.0034095290559704 + ], + "object_minus_finger_midpoint": [ + 0.005935898106495641, + 0.01217910357602034, + 0.0 + ], + "finger_gap": 0.02709726556286667, + "fingertip_max_gap": 0.09162182210767103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013548632781433333, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034095290559704, + "object_top_z": 1.0533800284654953, + "finger_top_clearance": 0.049970499409524916, + "fingertip_min_top_clearance": 0.014991149822857474, + "object_projection_between_fingers": 0.8080527338698309, + "object_to_finger_line_xy": 0.010671765782121216, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831091105383552, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.37266630222467, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33035938060347475, + 0.03766921055191018, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33373138111354583, + 0.025868505982163073, + 1.0286758191127596 + ], + "target_minus_gripper": [ + -0.0033720005100710826, + 0.011800704569747106, + -0.2585293697115031 + ], + "held_position": [ + 0.33885834620496424, + 0.030603757873337627, + 1.0294024277178406 + ], + "held_minus_target": [ + 0.008498965601489494, + -0.007065452678572552, + 0.2592559783165841 + ], + "held_minus_gripper": [ + 0.005126965091418412, + 0.004735251891174554, + 0.0007266086050810028 + ], + "xy_dist": 0.012273019831417608, + "held_xy_dist": 0.011052286543898946, + "held_gripper_dist": 0.007016861234659907, + "max_held_gripper_dist": 0.007025956016785521, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0294024277178406, + "required_height": 0.8001464494012566, + "gripper_z": 1.0286758191127596, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22754426131402, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6736941055261416, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.898732161565251, + "max_source_tilt_deg": 89.72630391667043, + "source_upright_tilt_deg": 1.5496865126784338, + "max_source_upright_tilt_deg": 89.87329205475784, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.898732161565251, + "source_upright_return_tilt_deg": 1.5496865126784338, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.835048602852289e-08, + "max_target_xy_drift": 1.1403283376257097e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3304, + 0.0377, + 0.7701 + ], + "controller_target_position": [ + 0.3304, + 0.0377, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0002, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3318, + 0.0126, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001435511146513834, + 0.00016404054423577478, + -0.0007061803539780702 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.549679353572176, + "source_return_step_error_deg": 1.8987129519874013, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.891603694991837, + "source_return_best_wrist_position": -1.609527826309204, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609527826309204 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3304, + 0.0377, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3304, + 0.0377, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0002, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3318, + 0.0126, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001435511146513834, + 0.00016404054423577478, + -0.0007061803539780702 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.549679353572176, + "pour_controller_source_return_step_error_deg": 1.8987129519874013, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.891603694991837, + "pour_controller_source_return_best_wrist_position": -1.609527826309204, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609527826309204, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012273019831417608, + "valid_pour_held_xy_dist": 0.011052286543898946, + "valid_pour_held_gripper_dist": 0.007016861234659907, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0294024277178406, + "valid_pour_source_tilt_deg": 1.898732161565251, + "valid_pour_source_upright_tilt_deg": 1.5496865126784338, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.835048602852289e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33885834620496424, + 0.00627124600274729, + 1.0294024277178406 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32771919797814747, + 0.030603757873337627, + 1.0294024277178406 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33328877209155583, + 0.018437501938042458, + 1.0294024277178406 + ], + "valid_pour_held_grasp_object_position": [ + 0.33885834620496424, + 0.030603757873337627, + 1.0294024277178406 + ], + "valid_pour_held_grasp_finger_gap": 0.026761011885790397, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024318020545217988, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0005019998605804536, + -0.9996342558235322, + 0.027038908636874304 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005573185306951864, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037555647946629224, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33885834620496424, + 0.00627124600274729, + 1.0294024277178406 + ], + "held_grasp_finger_b": [ + 0.32771919797814747, + 0.030603757873337627, + 1.0294024277178406 + ], + "held_grasp_midpoint": [ + 0.33328877209155583, + 0.018437501938042458, + 1.0294024277178406 + ], + "held_grasp_object_position": [ + 0.33885834620496424, + 0.030603757873337627, + 1.0294024277178406 + ], + "held_grasp_finger_gap": 0.026761011885790397, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024318020545217988, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0005019998605804536, + -0.9996342558235322, + 0.027038908636874304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005573185306951864, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037555647946629224, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3095370684618436, + 0.22127801644863143, + 0.7611090553232652 + ], + "target_position": [ + 0.31331543601797024, + 0.22384430519615905, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004567482821519679, + "xy_threshold": 0.08, + "gripper_dist": 0.21175051112450102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611090553232652, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528980860770312, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676592601974385, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18229385117208083, + "release_required_pad_clearance": 0.05338296300987193, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.779988551911602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdf698367bd96ecb114f0b3a4d8b9727d4243f28bfe5ca84af820de5fdcb7eb8", + "visual_seed": 4670481337689420425, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3c42f500d08b848e6aa7880df2da22d96c30c5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_74_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33719977434600507, + 0.22601367912511483, + 1.005429975195375 + ], + "current_z": 1.005429975195375, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.14432328836667496, + "gripper_z": 1.0049716654377716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320743373736159, + 0.22111341179752597, + 1.0049716654377716 + ], + "object_minus_gripper": [ + 0.005125436972389152, + 0.004900267327588859, + 0.0004583097576034145 + ], + "object_to_gripper_xy": 0.007091031239514358, + "object_to_gripper_z": 0.0004583097576034145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33719977434600507, + 0.20157126694599375, + 1.005429975195375 + ], + "finger_b": [ + 0.3252543075267918, + 0.22601367912511483, + 1.005429975195375 + ], + "finger_midpoint": [ + 0.33122704093639843, + 0.2137924730355543, + 1.005429975195375 + ], + "object_minus_finger_midpoint": [ + 0.005972733409606634, + 0.012221206089560538, + 0.0 + ], + "finger_gap": 0.02720525115971127, + "fingertip_max_gap": 0.09160049699001041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013602625579855636, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005429975195375, + "object_top_z": 1.0555483978106759, + "finger_top_clearance": 0.05011842261530086, + "fingertip_min_top_clearance": 0.015035526784590225, + "object_projection_between_fingers": 0.8072027774078397, + "object_to_finger_line_xy": 0.01073234067765629, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830024849500521, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1931487693392726, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33660415923659254, + 0.03726558279865243, + 0.7701465090059011 + ], + "gripper_position": [ + 0.337915951481253, + 0.025516004511968476, + 1.0300055162571846 + ], + "target_minus_gripper": [ + -0.0013117922446604369, + 0.011749578286683951, + -0.2598590072512835 + ], + "held_position": [ + 0.3431483075571942, + 0.030306601430924427, + 1.0304205635226684 + ], + "held_minus_target": [ + 0.006544148320601684, + -0.006958981367728, + 0.26027405451676733 + ], + "held_minus_gripper": [ + 0.005232356075941247, + 0.004790596918955951, + 0.00041504726548380333 + ], + "xy_dist": 0.011822579617328285, + "held_xy_dist": 0.00955265925899272, + "held_gripper_dist": 0.007106309392218658, + "max_held_gripper_dist": 0.007109787958796109, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0304205635226684, + "required_height": 0.8001465090059011, + "gripper_z": 1.0300055162571846, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22596648761575, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6334930034237729, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9266381471730731, + "max_source_tilt_deg": 89.68932707364877, + "source_upright_tilt_deg": 1.4541877470660884, + "max_source_upright_tilt_deg": 89.92520803710934, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9266381471730731, + "source_upright_return_tilt_deg": 1.4541877470660884, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425057343598e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3366, + 0.0373, + 0.7701 + ], + "controller_target_position": [ + 0.3366, + 0.0373, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3359, + 0.0122, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000745088978530688, + 0.00015802677747133983, + 0.0008940641598730839 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.4541918550377675, + "source_return_step_error_deg": 1.9266415283477243, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9066276157743922, + "source_return_best_wrist_position": -1.6096071004867554, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096071004867554 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3366, + 0.0373, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3366, + 0.0373, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3359, + 0.0122, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000745088978530688, + 0.00015802677747133983, + 0.0008940641598730839 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.4541918550377675, + "pour_controller_source_return_step_error_deg": 1.9266415283477243, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9066276157743922, + "pour_controller_source_return_best_wrist_position": -1.6096071004867554, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096071004867554, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011822579617328285, + "valid_pour_held_xy_dist": 0.00955265925899272, + "valid_pour_held_gripper_dist": 0.007106309392218658, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0304205635226684, + "valid_pour_source_tilt_deg": 1.9266381471730731, + "valid_pour_source_upright_tilt_deg": 1.4541877470660884, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425057343598e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3431483075571942, + 0.005914611778982835, + 1.0304205635226684 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33191332723898787, + 0.030306601430924427, + 1.0304205635226684 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33753081739809104, + 0.01811060660495363, + 1.0304205635226684 + ], + "valid_pour_held_grasp_object_position": [ + 0.3431483075571942, + 0.030306601430924427, + 1.0304205635226684 + ], + "valid_pour_held_grasp_finger_gap": 0.026855054308843055, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024347659664685047, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.003246500148914273, + -0.9996779425502988, + 0.02516885804291991 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005586318723841703, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037509945872476434, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3431483075571942, + 0.005914611778982835, + 1.0304205635226684 + ], + "held_grasp_finger_b": [ + 0.33191332723898787, + 0.030306601430924427, + 1.0304205635226684 + ], + "held_grasp_midpoint": [ + 0.33753081739809104, + 0.01811060660495363, + 1.0304205635226684 + ], + "held_grasp_object_position": [ + 0.3431483075571942, + 0.030306601430924427, + 1.0304205635226684 + ], + "held_grasp_finger_gap": 0.026855054308843055, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024347659664685047, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003246500148914273, + -0.9996779425502988, + 0.02516885804291991 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005586318723841703, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037509945872476434, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3079180151905616, + 0.22347797241244882, + 0.7611063520621847 + ], + "target_position": [ + 0.31307057852058295, + 0.22181379627297618, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005414645980400815, + "xy_threshold": 0.08, + "gripper_dist": 0.21163072384165083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063520621847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590628741904276, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858877456598983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18202587993807323, + "release_required_pad_clearance": 0.052943872829949154, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9244962973329417, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2760bb35c8c32c692c405a7e3a760c5c74c21a61b4c94fef70faddcacc2168d5", + "visual_seed": 5214944463772892956, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6aa23eec5ea211c9defbb13f1ffc96717982cb2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33299945540753767, + 0.22310802359771692, + 1.0045529538099534 + ], + "current_z": 1.0045529538099534, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.1434462073766083, + "gripper_z": 1.0038738877678197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32798143495404364, + 0.21838015932295007, + 1.0038738877678197 + ], + "object_minus_gripper": [ + 0.005018020453494032, + 0.0047278642747668465, + 0.0006790660421336359 + ], + "object_to_gripper_xy": 0.0068944347028818175, + "object_to_gripper_z": 0.0006790660421336359, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33299945540753767, + 0.1985055577256106, + 1.0045529538099534 + ], + "finger_b": [ + 0.32159396353694225, + 0.22310802359771692, + 1.0045529538099534 + ], + "finger_midpoint": [ + 0.32729670947224, + 0.21080679066166375, + 1.0045529538099534 + ], + "object_minus_finger_midpoint": [ + 0.005702745935297682, + 0.012301232936053175, + 0.0 + ], + "finger_gap": 0.027117643182960692, + "fingertip_max_gap": 0.09131467122415518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013558821591480348, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045529538099534, + "object_top_z": 1.0543207820829592, + "finger_top_clearance": 0.049767828273005854, + "fingertip_min_top_clearance": 0.014930348481901756, + "object_projection_between_fingers": 0.8231014982200122, + "object_to_finger_line_xy": 0.010347625809798498, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815733561207759, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2367791349002961, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3356373420960132, + 0.03250795495384194, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3389427463865634, + 0.02207469262060084, + 1.0282600057954505 + ], + "target_minus_gripper": [ + -0.003305404290550207, + 0.0104332623332411, + -0.258113556394194 + ], + "held_position": [ + 0.3439427190069312, + 0.02682894118421697, + 1.0288970435366018 + ], + "held_minus_target": [ + 0.008305376910917983, + -0.0056790137696249715, + 0.2587505941353453 + ], + "held_minus_gripper": [ + 0.004999972620367776, + 0.004754248563616129, + 0.000637037741151314 + ], + "xy_dist": 0.010944343764621762, + "held_xy_dist": 0.010061336045873807, + "held_gripper_dist": 0.006928811059101309, + "max_held_gripper_dist": 0.006935489197462953, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0288970435366018, + "required_height": 0.8001464494012566, + "gripper_z": 1.0282600057954505, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.226820261262, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4957698799433183, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.710246731951597, + "max_source_tilt_deg": 89.92230475706127, + "source_upright_tilt_deg": 2.181126901629474, + "max_source_upright_tilt_deg": 89.82535047870684, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.710246731951597, + "source_upright_return_tilt_deg": 2.181126901629474, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3356, + 0.0325, + 0.7701 + ], + "controller_target_position": [ + 0.3356, + 0.0325, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0016, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3373, + 0.0089, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016607647421675253, + 0.0015877134349233748, + -0.0010196217163565109 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1808358812280524, + "source_return_step_error_deg": 1.7100559651856289, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.170004703772873, + "source_return_best_wrist_position": -1.608141303062439, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608141303062439 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3356, + 0.0325, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3356, + 0.0325, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0016, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3373, + 0.0089, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016607647421675253, + 0.0015877134349233748, + -0.0010196217163565109 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1808358812280524, + "pour_controller_source_return_step_error_deg": 1.7100559651856289, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.170004703772873, + "pour_controller_source_return_best_wrist_position": -1.608141303062439, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608141303062439, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010944343764621762, + "valid_pour_held_xy_dist": 0.010061336045873807, + "valid_pour_held_gripper_dist": 0.006928811059101309, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0288970435366018, + "valid_pour_source_tilt_deg": 1.710246731951597, + "valid_pour_source_upright_tilt_deg": 2.181126901629474, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3439427190069312, + 0.002641657968354883, + 1.0288970435366018 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3326474401331342, + 0.02682894118421697, + 1.0288970435366018 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3382950795700327, + 0.014735299576285927, + 1.0288970435366018 + ], + "valid_pour_held_grasp_object_position": [ + 0.3439427190069312, + 0.02682894118421697, + 1.0288970435366018 + ], + "valid_pour_held_grasp_finger_gap": 0.026694718470161256, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024437682872340456, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023719908450198512, + -0.9992755149815228, + 0.02976257887896561 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005943698059585892, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03776933161473076, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3439427190069312, + 0.002641657968354883, + 1.0288970435366018 + ], + "held_grasp_finger_b": [ + 0.3326474401331342, + 0.02682894118421697, + 1.0288970435366018 + ], + "held_grasp_midpoint": [ + 0.3382950795700327, + 0.014735299576285927, + 1.0288970435366018 + ], + "held_grasp_object_position": [ + 0.3439427190069312, + 0.02682894118421697, + 1.0288970435366018 + ], + "held_grasp_finger_gap": 0.026694718470161256, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024437682872340456, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023719908450198512, + -0.9992755149815228, + 0.02976257887896561 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005943698059585892, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03776933161473076, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30251361862365894, + 0.21891875585222748, + 0.7611062991874654 + ], + "target_position": [ + 0.3088851842845307, + 0.22151651953810267, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006880786665669281, + "xy_threshold": 0.08, + "gripper_dist": 0.21182296837067724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062991874654, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075308461395251, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851273520611026, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18238037193158926, + "release_required_pad_clearance": 0.0525636760305513, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19382657043215357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d8ea3392181b11f1356cea3ce880a9bd8b643a8bc7aeb4995a883b37e6f3a94a", + "visual_seed": 3532698713066522290, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8759e07bc5d36c2e9e72008d81c082d16d3157 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33004812555709573, + 0.22234194780397376, + 1.0006941351726009 + ], + "current_z": 1.0006941351726009, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.1395874483439007, + "gripper_z": 1.0017425939764228, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32465866114726305, + 0.21745098992355716, + 1.0017425939764228 + ], + "object_minus_gripper": [ + 0.005389464409832678, + 0.004890957880416602, + -0.0010484588038219833 + ], + "object_to_gripper_xy": 0.007277897746799027, + "object_to_gripper_z": -0.0010484588038219833, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33004812555709573, + 0.19741434072604372, + 1.0006941351726009 + ], + "finger_b": [ + 0.31851152128297755, + 0.22234194780397376, + 1.0006941351726009 + ], + "finger_midpoint": [ + 0.32427982342003664, + 0.20987814426500873, + 1.0006941351726009 + ], + "object_minus_finger_midpoint": [ + 0.005768302137059089, + 0.012463803538965035, + 0.0 + ], + "finger_gap": 0.027467778082860467, + "fingertip_max_gap": 0.09169999813671317, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013733889041430246, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0006941351726009, + "object_top_z": 1.0506541346091856, + "finger_top_clearance": 0.04995999943658469, + "fingertip_min_top_clearance": 0.014987999830975422, + "object_projection_between_fingers": 0.8235957956805298, + "object_to_finger_line_xy": 0.010469719738206013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834999906835659, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6525181218859901, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33495489871565737, + 0.03980975118153549, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3379111572999013, + 0.02853539053514796, + 1.028333487357993 + ], + "target_minus_gripper": [ + -0.0029562585842439204, + 0.011274360646387531, + -0.25818709756138136 + ], + "held_position": [ + 0.3432665317104805, + 0.0334440128846201, + 1.0272382436517273 + ], + "held_minus_target": [ + 0.008311632994823126, + -0.006365738296915391, + 0.2570918538551157 + ], + "held_minus_gripper": [ + 0.005355374410579206, + 0.00490862234947214, + -0.0010952437062656806 + ], + "xy_dist": 0.011655499680482503, + "held_xy_dist": 0.010469282072112094, + "held_gripper_dist": 0.00734671132026695, + "max_held_gripper_dist": 0.0073555773113949275, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0272382436517273, + "required_height": 0.8001463897966117, + "gripper_z": 1.028333487357993, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22938841238994, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4173626078269033, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8240185172827355, + "max_source_tilt_deg": 89.84217241415793, + "source_upright_tilt_deg": 2.669896678842928, + "max_source_upright_tilt_deg": 89.75767129869867, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8240185172827355, + "source_upright_return_tilt_deg": 2.669896678842928, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.341104507446289e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.335, + 0.0398, + 0.7701 + ], + "controller_target_position": [ + 0.335, + 0.0398, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0006, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3369, + 0.0152, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019587410285739912, + 0.0006198499506205627, + -0.001081443691477865 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6699108942027103, + "source_return_step_error_deg": 1.82408038713103, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.66780296907355, + "source_return_best_wrist_position": -1.6098976135253906, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098976135253906 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.335, + 0.0398, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.335, + 0.0398, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0006, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3369, + 0.0152, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019587410285739912, + 0.0006198499506205627, + -0.001081443691477865 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6699108942027103, + "pour_controller_source_return_step_error_deg": 1.82408038713103, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.66780296907355, + "pour_controller_source_return_best_wrist_position": -1.6098976135253906, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098976135253906, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011655499680482503, + "valid_pour_held_xy_dist": 0.010469282072112094, + "valid_pour_held_gripper_dist": 0.00734671132026695, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0272382436517273, + "valid_pour_source_tilt_deg": 1.8240185172827355, + "valid_pour_source_upright_tilt_deg": 2.669896678842928, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3432665317104805, + 0.009136878685140922, + 1.0272382436517273 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3316413213387167, + 0.0334440128846201, + 1.0272382436517273 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3374539265245986, + 0.021290445784880513, + 1.0272382436517273 + ], + "valid_pour_held_grasp_object_position": [ + 0.3432665317104805, + 0.0334440128846201, + 1.0272382436517273 + ], + "valid_pour_held_grasp_finger_gap": 0.02694405851350636, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024732043595034534, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03882036768759324, + -0.9989144937734905, + 0.025745158415737768 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0062876749463729766, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03780552321365529, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3432665317104805, + 0.009136878685140922, + 1.0272382436517273 + ], + "held_grasp_finger_b": [ + 0.3316413213387167, + 0.0334440128846201, + 1.0272382436517273 + ], + "held_grasp_midpoint": [ + 0.3374539265245986, + 0.021290445784880513, + 1.0272382436517273 + ], + "held_grasp_object_position": [ + 0.3432665317104805, + 0.0334440128846201, + 1.0272382436517273 + ], + "held_grasp_finger_gap": 0.02694405851350636, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024732043595034534, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03882036768759324, + -0.9989144937734905, + 0.025745158415737768 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0062876749463729766, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03780552321365529, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30772950400318894, + 0.22024936651868196, + 0.7611067127805142 + ], + "target_position": [ + 0.3057210106171412, + 0.2205794412829118, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0020354348507822433, + "xy_threshold": 0.08, + "gripper_dist": 0.21633620416580535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067127805142, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519645603822642, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587481614661573, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18689138976724817, + "release_required_pad_clearance": 0.052937408073307865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9117086279399211, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16014c2ba07c2c7c33de71abe44e61256a3a96514890bc2e6f2248014bb95fa7", + "visual_seed": 7157922370862492364, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd35f73ad58be5dbf686aa3fbcff1e80fbae3588 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3393772687723605, + 0.2265029309273454, + 1.0039688930190975 + ], + "current_z": 1.0039688930190975, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14286238500433157, + "gripper_z": 1.0032144896136002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3341665296893511, + 0.22169838812600326, + 1.0032144896136002 + ], + "object_minus_gripper": [ + 0.005210739083009397, + 0.0048045428013421265, + 0.0007544034054973725 + ], + "object_to_gripper_xy": 0.007087695910599583, + "object_to_gripper_z": 0.0007544034054973725, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3393772687723605, + 0.20176815485580094, + 1.0039688930190975 + ], + "finger_b": [ + 0.32786841999188315, + 0.2265029309273454, + 1.0039688930190975 + ], + "finger_midpoint": [ + 0.33362284438212186, + 0.21413554289157316, + 1.0039688930190975 + ], + "object_minus_finger_midpoint": [ + 0.005754424390238655, + 0.012367388035772225, + 0.0 + ], + "finger_gap": 0.027281179365294003, + "fingertip_max_gap": 0.09144690107761169, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013640589682646989, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039688930190975, + "object_top_z": 1.0537833428295331, + "finger_top_clearance": 0.04981444981043559, + "fingertip_min_top_clearance": 0.014944334943130693, + "object_projection_between_fingers": 0.8220338171084152, + "object_to_finger_line_xy": 0.010434622111261052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822345053880585, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.400139709438126, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33252901947562147, + 0.03804093491905189, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3340780806432063, + 0.025285178318404614, + 1.030559942801752 + ], + "target_minus_gripper": [ + -0.0015490611675848531, + 0.012755756600647275, + -0.26041355300514046 + ], + "held_position": [ + 0.33919596310016975, + 0.0301975262062221, + 1.031272204019651 + ], + "held_minus_target": [ + 0.006666943624548283, + -0.007843408712829788, + 0.2611258142230394 + ], + "held_minus_gripper": [ + 0.00511788245696343, + 0.004912347887817487, + 0.000712261217898913 + ], + "xy_dist": 0.012849471466012752, + "held_xy_dist": 0.010294036988927096, + "held_gripper_dist": 0.007129600175098306, + "max_held_gripper_dist": 0.0071377641182932584, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.031272204019651, + "required_height": 0.8001463897966116, + "gripper_z": 1.030559942801752, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23768026204233, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8347916178172938, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8992822142181442, + "max_source_tilt_deg": 89.98772459613566, + "source_upright_tilt_deg": 2.9302682958048853, + "max_source_upright_tilt_deg": 89.96973748042512, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8992822142181442, + "source_upright_return_tilt_deg": 2.9302682958048853, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.842877388000488e-08, + "max_target_xy_drift": 1.9231303778618923e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3325, + 0.038, + 0.7701 + ], + "controller_target_position": [ + 0.3325, + 0.038, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0006, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3315, + 0.0123, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001041404607101752, + -0.0005783452108823286, + 0.0014500780464516863 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.930259328426955, + "source_return_step_error_deg": 1.899277475451944, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9262598225754592, + "source_return_best_wrist_position": -1.6100369691848755, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100369691848755 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3325, + 0.038, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3325, + 0.038, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0006, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3315, + 0.0123, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001041404607101752, + -0.0005783452108823286, + 0.0014500780464516863 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.930259328426955, + "pour_controller_source_return_step_error_deg": 1.899277475451944, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9262598225754592, + "pour_controller_source_return_best_wrist_position": -1.6100369691848755, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100369691848755, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012849471466012752, + "valid_pour_held_xy_dist": 0.010294036988927096, + "valid_pour_held_gripper_dist": 0.007129600175098306, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.031272204019651, + "valid_pour_source_tilt_deg": 1.8992822142181442, + "valid_pour_source_upright_tilt_deg": 2.9302682958048853, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.842877388000488e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33919596310016975, + 0.0061324379028373545, + 1.031272204019651 + ], + "valid_pour_held_grasp_finger_b": [ + 0.327478855662029, + 0.0301975262062221, + 1.031272204019651 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33333740938109935, + 0.018164982054529728, + 1.031272204019651 + ], + "valid_pour_held_grasp_object_position": [ + 0.33919596310016975, + 0.0301975262062221, + 1.031272204019651 + ], + "valid_pour_held_grasp_finger_gap": 0.026766006085455457, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024520491667931958, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0415519365618291, + -0.9986924984436428, + 0.02977801404318614 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0063633604888026695, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037946872741086844, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33919596310016975, + 0.0061324379028373545, + 1.031272204019651 + ], + "held_grasp_finger_b": [ + 0.327478855662029, + 0.0301975262062221, + 1.031272204019651 + ], + "held_grasp_midpoint": [ + 0.33333740938109935, + 0.018164982054529728, + 1.031272204019651 + ], + "held_grasp_object_position": [ + 0.33919596310016975, + 0.0301975262062221, + 1.031272204019651 + ], + "held_grasp_finger_gap": 0.026766006085455457, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024520491667931958, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0415519365618291, + -0.9986924984436428, + 0.02977801404318614 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0063633604888026695, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037946872741086844, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3069797705000862, + 0.2285393579010254, + 0.76111196827472 + ], + "target_position": [ + 0.31519565106793784, + 0.2239642895996276, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009403826001562202, + "xy_threshold": 0.08, + "gripper_dist": 0.2100677603814754, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76111196827472, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519672655125419, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09002587720813536, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18238864610631503, + "release_required_pad_clearance": 0.05501293860406768, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.078565416348052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31f1628852123e5cf789f3a3c33b069649f6c836dbda4a55f2870496489cbebc", + "visual_seed": 1131092284408030059, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e699b378711b4456d8e265f5d2e3e92d856305e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3329267458471256, + 0.22339418956081006, + 1.0028278921634577 + ], + "current_z": 1.0028278921634577, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14172132454404707, + "gripper_z": 1.0026023546519616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3278079911862165, + 0.2186533686230409, + 1.0026023546519616 + ], + "object_minus_gripper": [ + 0.005118754660909108, + 0.004740820937769147, + 0.0002255375114961211 + ], + "object_to_gripper_xy": 0.006976892749825602, + "object_to_gripper_z": 0.0002255375114961211, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3329267458471256, + 0.19865441076044246, + 1.0028278921634577 + ], + "finger_b": [ + 0.32160481018882425, + 0.22339418956081006, + 1.0028278921634577 + ], + "finger_midpoint": [ + 0.32726577801797496, + 0.21102430016062626, + 1.0028278921634577 + ], + "object_minus_finger_midpoint": [ + 0.005660967829150654, + 0.012369889400183798, + 0.0 + ], + "finger_gap": 0.027207404913769963, + "fingertip_max_gap": 0.09130625585037286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01360370245688497, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028278921634577, + "object_top_z": 1.0526832965624422, + "finger_top_clearance": 0.049855404398984504, + "fingertip_min_top_clearance": 0.014956621319695367, + "object_projection_between_fingers": 0.8268322058297686, + "object_to_finger_line_xy": 0.010295071678688763, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815312792518643, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.257842755971995, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32879103338782245, + 0.0412334081219957, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3309684512621531, + 0.027790847912256195, + 1.0305215745066052 + ], + "target_minus_gripper": [ + -0.0021774178743306227, + 0.013442560209739503, + -0.26037518470999343 + ], + "held_position": [ + 0.3360475343100041, + 0.03257441821901698, + 1.0307062300107237 + ], + "held_minus_target": [ + 0.007256500922181663, + -0.008658989902978718, + 0.26055984021411194 + ], + "held_minus_gripper": [ + 0.005079083047851041, + 0.004783570306760784, + 0.00018465550411850273 + ], + "xy_dist": 0.013617766835715988, + "held_xy_dist": 0.011297562204896715, + "held_gripper_dist": 0.006979521985200171, + "max_held_gripper_dist": 0.006982523578994944, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0307062300107237, + "required_height": 0.8001463897966118, + "gripper_z": 1.0305215745066052, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22566595929227, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.863797624601727, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.810083576298052, + "max_source_tilt_deg": 89.70895049978607, + "source_upright_tilt_deg": 2.354861130711559, + "max_source_upright_tilt_deg": 89.67303943686437, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.810083576298052, + "source_upright_return_tilt_deg": 2.354861130711559, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.365778852490731e-08, + "max_target_xy_drift": 1.3457530638715954e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3288, + 0.0412, + 0.7701 + ], + "controller_target_position": [ + 0.3288, + 0.0412, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0016, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3288, + 0.0144, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.2153257886124876e-05, + -0.0016313823479758636, + 0.0013251321165035895 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.354855392408944, + "source_return_step_error_deg": 1.81008115462849, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.353013920987013, + "source_return_best_wrist_position": -1.6095852851867676, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095852851867676 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3288, + 0.0412, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3288, + 0.0412, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0016, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3288, + 0.0144, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.2153257886124876e-05, + -0.0016313823479758636, + 0.0013251321165035895 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.354855392408944, + "pour_controller_source_return_step_error_deg": 1.81008115462849, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.353013920987013, + "pour_controller_source_return_best_wrist_position": -1.6095852851867676, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095852851867676, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013617766835715988, + "valid_pour_held_xy_dist": 0.011297562204896715, + "valid_pour_held_gripper_dist": 0.006979521985200171, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0307062300107237, + "valid_pour_source_tilt_deg": 1.810083576298052, + "valid_pour_source_upright_tilt_deg": 2.354861130711559, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.365778852490731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3360475343100041, + 0.008377168118111872, + 1.0307062300107237 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32471324878896324, + 0.03257441821901698, + 1.0307062300107237 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3303803915494837, + 0.020475793168564425, + 1.0307062300107237 + ], + "valid_pour_held_grasp_object_position": [ + 0.3360475343100041, + 0.03257441821901698, + 1.0307062300107237 + ], + "valid_pour_held_grasp_finger_gap": 0.026720272092892863, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024514444126194225, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029788217676995535, + -0.9991555181295538, + 0.028300400684284077 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00603460988529079, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03780065617131194, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3360475343100041, + 0.008377168118111872, + 1.0307062300107237 + ], + "held_grasp_finger_b": [ + 0.32471324878896324, + 0.03257441821901698, + 1.0307062300107237 + ], + "held_grasp_midpoint": [ + 0.3303803915494837, + 0.020475793168564425, + 1.0307062300107237 + ], + "held_grasp_object_position": [ + 0.3360475343100041, + 0.03257441821901698, + 1.0307062300107237 + ], + "held_grasp_finger_gap": 0.026720272092892863, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024514444126194225, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029788217676995535, + -0.9991555181295538, + 0.028300400684284077 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00603460988529079, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03780065617131194, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30926243479872706, + 0.23777506146036176, + 0.7611110865732547 + ], + "target_position": [ + 0.308839768174983, + 0.22118896282781686, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016591483204443626, + "xy_threshold": 0.08, + "gripper_dist": 0.21679362804722144, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110865732547, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0789199147660718, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08799460783387196, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19106725664103733, + "release_required_pad_clearance": 0.05399730391693598, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.992899950805044, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "138195c29ffb7be79ea703ee0d0b7a26b995a9789fee79d5698238aa82ff6fc3", + "visual_seed": 4758584416074676631, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b766b6c7444630c1850f71cf1aec0605b5f2a68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_79_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33270996839215045, + 0.22299023054725609, + 1.005552328104065 + ], + "current_z": 1.005552328104065, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14444587969394385, + "gripper_z": 1.0049675606244768, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3276862985796203, + 0.2181953078787908, + 1.0049675606244768 + ], + "object_minus_gripper": [ + 0.005023669812530163, + 0.00479492266846529, + 0.000584767479588244 + ], + "object_to_gripper_xy": 0.006944677226616737, + "object_to_gripper_z": 0.000584767479588244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33270996839215045, + 0.19855450563190352, + 1.005552328104065 + ], + "finger_b": [ + 0.3209968035860406, + 0.22299023054725609, + 1.005552328104065 + ], + "finger_midpoint": [ + 0.3268533859890955, + 0.2107723680895798, + 1.005552328104065 + ], + "object_minus_finger_midpoint": [ + 0.005856582403054922, + 0.012217862457676282, + 0.0 + ], + "finger_gap": 0.027098023579476646, + "fingertip_max_gap": 0.0913644454577883, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013549011789738323, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005552328104065, + "object_top_z": 1.0554859863643697, + "finger_top_clearance": 0.049933658260304714, + "fingertip_min_top_clearance": 0.01498009747809143, + "object_projection_between_fingers": 0.8131585301456268, + "object_to_finger_line_xy": 0.010562381874487152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818222272889415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1409707118161463, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3347518852955525, + 0.03915203255289055, + 0.7701463897966118 + ], + "gripper_position": [ + 0.33620610039170684, + 0.027157343469283224, + 1.029747235571672 + ], + "target_minus_gripper": [ + -0.0014542150961543432, + 0.011994689083607325, + -0.25960084577506015 + ], + "held_position": [ + 0.34125412546425765, + 0.03193274020596874, + 1.0302904818442524 + ], + "held_minus_target": [ + 0.006502240168705153, + -0.007219292346921806, + 0.26014409204764066 + ], + "held_minus_gripper": [ + 0.00504802507255081, + 0.004775396736685519, + 0.000543246272580511 + ], + "xy_dist": 0.012082520753480704, + "held_xy_dist": 0.009715827767197533, + "held_gripper_dist": 0.006970085195929885, + "max_held_gripper_dist": 0.006975154994743865, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0302904818442524, + "required_height": 0.8001463897966118, + "gripper_z": 1.029747235571672, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22851414817617, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.775071980548891, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7754166155565094, + "max_source_tilt_deg": 89.83264430026419, + "source_upright_tilt_deg": 1.760595807928089, + "max_source_upright_tilt_deg": 89.94358443945694, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7754166155565094, + "source_upright_return_tilt_deg": 1.760595807928089, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 2.0267770454035696e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3348, + 0.0392, + 0.7701 + ], + "controller_target_position": [ + 0.3348, + 0.0392, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3342, + 0.0139, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005028706122200952, + -4.2811925102055094e-05, + 0.0007433898375053252 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7605933323629208, + "source_return_step_error_deg": 1.775398287962627, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.773499297139776, + "source_return_best_wrist_position": -1.6094568967819214, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094568967819214 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3348, + 0.0392, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3348, + 0.0392, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3342, + 0.0139, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005028706122200952, + -4.2811925102055094e-05, + 0.0007433898375053252 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7605933323629208, + "pour_controller_source_return_step_error_deg": 1.775398287962627, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.773499297139776, + "pour_controller_source_return_best_wrist_position": -1.6094568967819214, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094568967819214, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012082520753480704, + "valid_pour_held_xy_dist": 0.009715827767197533, + "valid_pour_held_gripper_dist": 0.006970085195929885, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0302904818442524, + "valid_pour_source_tilt_deg": 1.7754166155565094, + "valid_pour_source_upright_tilt_deg": 1.760595807928089, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34125412546425765, + 0.007798709317463553, + 1.0302904818442524 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32986708858152114, + 0.03193274020596874, + 1.0302904818442524 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33556060702288937, + 0.01986572476171615, + 1.0302904818442524 + ], + "valid_pour_held_grasp_object_position": [ + 0.34125412546425765, + 0.03193274020596874, + 1.0302904818442524 + ], + "valid_pour_held_grasp_finger_gap": 0.02668550272893738, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024272767773934723, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013184268407548948, + -0.9995279335950237, + 0.027750405939728107 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005861631663038406, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037733995933756356, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34125412546425765, + 0.007798709317463553, + 1.0302904818442524 + ], + "held_grasp_finger_b": [ + 0.32986708858152114, + 0.03193274020596874, + 1.0302904818442524 + ], + "held_grasp_midpoint": [ + 0.33556060702288937, + 0.01986572476171615, + 1.0302904818442524 + ], + "held_grasp_object_position": [ + 0.34125412546425765, + 0.03193274020596874, + 1.0302904818442524 + ], + "held_grasp_finger_gap": 0.02668550272893738, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024272767773934723, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013184268407548948, + -0.9995279335950237, + 0.027750405939728107 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005861631663038406, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037733995933756356, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3031601727640825, + 0.21894366270261953, + 0.7611116746204751 + ], + "target_position": [ + 0.3086647953541625, + 0.21816205908140388, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005559835796128917, + "xy_threshold": 0.08, + "gripper_dist": 0.21160309797327714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116746204751, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576345125521747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586119365717697, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18206214503723858, + "release_required_pad_clearance": 0.052930596828588486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8873114263632761, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d175dff7611de046ec4f7f8d8a0b3d3411ba4d3a3d3b2da3c0a557f3f693b6d", + "visual_seed": 3365018429867714333, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a48187cdd8afe73dfa5fe229c596d34e8ecd13ef --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_7_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3381983076342651, + 0.22174510192967126, + 1.0054705658226881 + ], + "current_z": 1.0054705658226881, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.1443639385986325, + "gripper_z": 1.0052941791795025, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.332936301782762, + 0.21693065211586937, + 1.0052941791795025 + ], + "object_minus_gripper": [ + 0.005262005851503104, + 0.004814449813801885, + 0.00017638664318564423 + ], + "object_to_gripper_xy": 0.007132154835031971, + "object_to_gripper_z": 0.00017638664318564423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381983076342651, + 0.19693999337801138, + 1.0054705658226881 + ], + "finger_b": [ + 0.32671360845267594, + 0.22174510192967126, + 1.0054705658226881 + ], + "finger_midpoint": [ + 0.3324559580434705, + 0.2093425476538413, + 1.0054705658226881 + ], + "object_minus_finger_midpoint": [ + 0.005742349590794615, + 0.012402554275829952, + 0.0 + ], + "finger_gap": 0.027334807947948438, + "fingertip_max_gap": 0.09095068856675678, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013667403973974243, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0054705658226881, + "object_top_z": 1.0554553952088286, + "finger_top_clearance": 0.04998482938614046, + "fingertip_min_top_clearance": 0.014995448815842154, + "object_projection_between_fingers": 0.82347460393209, + "object_to_finger_line_xy": 0.010421847866096292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797534428337839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6318743181568701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3296266011006061, + 0.03328089308612801, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3320947354340944, + 0.01974326106540654, + 1.0283902405849397 + ], + "target_minus_gripper": [ + -0.0024681343334883032, + 0.013537632020721474, + -0.258243850788328 + ], + "held_position": [ + 0.3373507919310234, + 0.024563879526003665, + 1.0285245642606755 + ], + "held_minus_target": [ + 0.00772419083041731, + -0.008717013560124349, + 0.25837817446406386 + ], + "held_minus_gripper": [ + 0.005256056496929007, + 0.004820618460597125, + 0.00013432367573584791 + ], + "xy_dist": 0.013760783691948912, + "held_xy_dist": 0.011646864358791796, + "held_gripper_dist": 0.007133199498922108, + "max_held_gripper_dist": 0.0071358491816023596, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0285245642606755, + "required_height": 0.8001463897966117, + "gripper_z": 1.0283902405849397, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23617079023575, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.198168467636941, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8173500601588675, + "max_source_tilt_deg": 89.83754081426838, + "source_upright_tilt_deg": 1.6931313154049343, + "max_source_upright_tilt_deg": 89.90633631365073, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8173500601588675, + "source_upright_return_tilt_deg": 1.6931313154049343, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993507385254e-08, + "max_target_xy_drift": 1.5703766724734002e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3296, + 0.0333, + 0.7701 + ], + "controller_target_position": [ + 0.3296, + 0.0333, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0017, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3295, + 0.0064, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001763187210653942, + -0.001689887446376077, + -0.0013424063777383371 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.693131257427636, + "source_return_step_error_deg": 1.8173584148311506, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8061296775866198, + "source_return_best_wrist_position": -1.6090127229690552, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6090127229690552 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3296, + 0.0333, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3296, + 0.0333, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0017, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3295, + 0.0064, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001763187210653942, + -0.001689887446376077, + -0.0013424063777383371 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.693131257427636, + "pour_controller_source_return_step_error_deg": 1.8173584148311506, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8061296775866198, + "pour_controller_source_return_best_wrist_position": -1.6090127229690552, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6090127229690552, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013760783691948912, + "valid_pour_held_xy_dist": 0.011646864358791796, + "valid_pour_held_gripper_dist": 0.007133199498922108, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0285245642606755, + "valid_pour_source_tilt_deg": 1.8173500601588675, + "valid_pour_source_upright_tilt_deg": 1.6931313154049343, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993507385254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3373507919310234, + 0.00018491827057529896, + 1.0285245642606755 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32599850244708667, + 0.024563879526003665, + 1.0285245642606755 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33167464718905504, + 0.012374398898289481, + 1.0285245642606755 + ], + "valid_pour_held_grasp_object_position": [ + 0.3373507919310234, + 0.024563879526003665, + 1.0285245642606755 + ], + "valid_pour_held_grasp_finger_gap": 0.02689253108989145, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024501398730710475, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011722826982918613, + -0.9995634165833985, + 0.027121053734171723 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005827982536932908, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03760263163022002, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3373507919310234, + 0.00018491827057529896, + 1.0285245642606755 + ], + "held_grasp_finger_b": [ + 0.32599850244708667, + 0.024563879526003665, + 1.0285245642606755 + ], + "held_grasp_midpoint": [ + 0.33167464718905504, + 0.012374398898289481, + 1.0285245642606755 + ], + "held_grasp_object_position": [ + 0.3373507919310234, + 0.024563879526003665, + 1.0285245642606755 + ], + "held_grasp_finger_gap": 0.02689253108989145, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024501398730710475, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011722826982918613, + -0.9995634165833985, + 0.027121053734171723 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005827982536932908, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03760263163022002, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31299662520460414, + 0.2172400007313705, + 0.7611065060704056 + ], + "target_position": [ + 0.3139014557077775, + 0.217550484506037, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0009566182173699764, + "xy_threshold": 0.08, + "gripper_dist": 0.21466909087162186, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065060704056, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075869234899685, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610052727620214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18398599518537784, + "release_required_pad_clearance": 0.05305026363810107, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.130890272328166, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e64723b20de01203195c2cd8c3434d4487e201fd3c32a8cd9b6ae863cc247a4c", + "visual_seed": 1273984583139650716, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5a7d2dac99323aeea562aa8b6be1d0bbfa740e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_80_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3309176791418802, + 0.22772842702236423, + 1.0043982784806613 + ], + "current_z": 1.0043982784806613, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14329171086125037, + "gripper_z": 1.0043035356764431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3258125712325354, + 0.2229703756180202, + 1.0043035356764431 + ], + "object_minus_gripper": [ + 0.005105107909344819, + 0.004758051404344044, + 9.474280421817305e-05 + ], + "object_to_gripper_xy": 0.006978623068516837, + "object_to_gripper_z": 9.474280421817305e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3309176791418802, + 0.20306539554281477, + 1.0043982784806613 + ], + "finger_b": [ + 0.3194748374346031, + 0.22772842702236423, + 1.0043982784806613 + ], + "finger_midpoint": [ + 0.3251962582882416, + 0.2153969112825895, + 1.0043982784806613 + ], + "object_minus_finger_midpoint": [ + 0.005721420853638581, + 0.012331515739774729, + 0.0 + ], + "finger_gap": 0.027188301677358372, + "fingertip_max_gap": 0.0914725343032107, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013594150838679197, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043982784806613, + "object_top_z": 1.0544501256180525, + "finger_top_clearance": 0.05005184713739119, + "fingertip_min_top_clearance": 0.01501555414121734, + "object_projection_between_fingers": 0.8228653105797623, + "object_to_finger_line_xy": 0.010380021841419292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823626715160535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0622729942516824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33018083489005023, + 0.034078608124189155, + 0.7701463897966118 + ], + "gripper_position": [ + 0.33167260065064247, + 0.022932637699133993, + 1.0289217351003286 + ], + "target_minus_gripper": [ + -0.001491765760592234, + 0.011145970425055163, + -0.2587753453037168 + ], + "held_position": [ + 0.33678423787603684, + 0.027681875634507903, + 1.0289738571314553 + ], + "held_minus_target": [ + 0.006603402985986606, + -0.006396732489681253, + 0.2588274673348435 + ], + "held_minus_gripper": [ + 0.005111637225394372, + 0.00474923793537391, + 5.212203112670011e-05 + ], + "xy_dist": 0.011245355565773796, + "held_xy_dist": 0.009193645497836021, + "held_gripper_dist": 0.006977593625094606, + "max_held_gripper_dist": 0.0069802674465228, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0289738571314553, + "required_height": 0.8001463897966118, + "gripper_z": 1.0289217351003286, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23729777144881, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4089965587332698, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8134716421575197, + "max_source_tilt_deg": 89.98811739702283, + "source_upright_tilt_deg": 1.7943332096009288, + "max_source_upright_tilt_deg": 89.88720951112705, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8134716421575197, + "source_upright_return_tilt_deg": 1.7943332096009288, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.69677776838001e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3302, + 0.0341, + 0.7701 + ], + "controller_target_position": [ + 0.3302, + 0.0341, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0006, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3293, + 0.0095, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009102355144105351, + 0.0006271583919110462, + -0.0004602442277616512 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7942658423048958, + "source_return_step_error_deg": 1.813378284187449, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8036947105512287, + "source_return_best_wrist_position": -1.6093355417251587, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093355417251587 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3302, + 0.0341, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3302, + 0.0341, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0006, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3293, + 0.0095, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009102355144105351, + 0.0006271583919110462, + -0.0004602442277616512 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7942658423048958, + "pour_controller_source_return_step_error_deg": 1.813378284187449, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8036947105512287, + "pour_controller_source_return_best_wrist_position": -1.6093355417251587, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093355417251587, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011245355565773796, + "valid_pour_held_xy_dist": 0.009193645497836021, + "valid_pour_held_gripper_dist": 0.006977593625094606, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0289738571314553, + "valid_pour_source_tilt_deg": 1.8134716421575197, + "valid_pour_source_upright_tilt_deg": 1.7943332096009288, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.69677776838001e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33678423787603684, + 0.0034144470811372416, + 1.0289738571314553 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3255305130732821, + 0.027681875634507903, + 1.0289738571314553 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3311573754746595, + 0.015548161357822571, + 1.0289738571314553 + ], + "valid_pour_held_grasp_object_position": [ + 0.33678423787603684, + 0.027681875634507903, + 1.0289738571314553 + ], + "valid_pour_held_grasp_finger_gap": 0.026749848794508847, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024444881815954896, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0168257474240525, + -0.9995096691641414, + 0.02640673154729245 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005838953838964351, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03768716149322856, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33678423787603684, + 0.0034144470811372416, + 1.0289738571314553 + ], + "held_grasp_finger_b": [ + 0.3255305130732821, + 0.027681875634507903, + 1.0289738571314553 + ], + "held_grasp_midpoint": [ + 0.3311573754746595, + 0.015548161357822571, + 1.0289738571314553 + ], + "held_grasp_object_position": [ + 0.33678423787603684, + 0.027681875634507903, + 1.0289738571314553 + ], + "held_grasp_finger_gap": 0.026749848794508847, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024444881815954896, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0168257474240525, + -0.9995096691641414, + 0.02640673154729245 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005838953838964351, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03768716149322856, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30588140019206955, + 0.23128982256664146, + 0.7611088635639627 + ], + "target_position": [ + 0.3067877853415474, + 0.22503352642453955, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006321611776823468, + "xy_threshold": 0.08, + "gripper_dist": 0.21604753245987546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088635639627, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544047801451224, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619521299236398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187582488833112, + "release_required_pad_clearance": 0.05309760649618199, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2181826981156052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6df513b98045b46788f4a727c3bf3ed57de4aa94bda2767dcb3a0af8a966132a", + "visual_seed": 3162420868721482217, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..910b2f92581c5625b9046932279211a7ac1bfc35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_81_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33262922473869055, + 0.2270422977769661, + 1.0024260560517884 + ], + "current_z": 1.0024260560517884, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.14131925001379875, + "gripper_z": 1.0023105284046279, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3275233642042488, + 0.2223166819510854, + 1.0023105284046279 + ], + "object_minus_gripper": [ + 0.005105860534441731, + 0.0047256158258807135, + 0.00011552764716049602 + ], + "object_to_gripper_xy": 0.006957101172973113, + "object_to_gripper_z": 0.00011552764716049602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33262922473869055, + 0.20232782787720693, + 1.0024260560517884 + ], + "finger_b": [ + 0.3213029155473025, + 0.2270422977769661, + 1.0024260560517884 + ], + "finger_midpoint": [ + 0.3269660701429965, + 0.21468506282708652, + 1.0024260560517884 + ], + "object_minus_finger_midpoint": [ + 0.005663154595694053, + 0.012357234949879586, + 0.0 + ], + "finger_gap": 0.027186215299762187, + "fingertip_max_gap": 0.09138465862885745, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013593107649881106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024260560517884, + "object_top_z": 1.0524661220438805, + "finger_top_clearance": 0.0500400659920921, + "fingertip_min_top_clearance": 0.015012019797627611, + "object_projection_between_fingers": 0.8264281380835836, + "object_to_finger_line_xy": 0.010296531698120356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048192329314428725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0061429692981234, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32914439952437324, + 0.04157531154029824, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3318905935507439, + 0.02800006302482344, + 1.0309163227778229 + ], + "target_minus_gripper": [ + -0.002746194026370663, + 0.0135752485154748, + -0.2607698733765663 + ], + "held_position": [ + 0.3369266523362426, + 0.032798744932508964, + 1.0309911404804026 + ], + "held_minus_target": [ + 0.007782252811869339, + -0.008776566607789277, + 0.2608446910791461 + ], + "held_minus_gripper": [ + 0.005036058785498676, + 0.004798681907685523, + 7.481770257977693e-05 + ], + "xy_dist": 0.013850232990364265, + "held_xy_dist": 0.01172994374448616, + "held_gripper_dist": 0.0069566395501539455, + "max_held_gripper_dist": 0.006959414920318155, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0309911404804026, + "required_height": 0.8001464494012566, + "gripper_z": 1.0309163227778229, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23242784657059, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5690978665968114, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8249054200969916, + "max_source_tilt_deg": 89.8623465695538, + "source_upright_tilt_deg": 2.3957699708951274, + "max_source_upright_tilt_deg": 89.87659178556534, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8249054200969916, + "source_upright_return_tilt_deg": 2.3957699708951274, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.0848209096909341e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3291, + 0.0416, + 0.7701 + ], + "controller_target_position": [ + 0.3291, + 0.0416, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0014, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3299, + 0.0149, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007498995507853857, + -0.0014344953384523417, + 0.0018939860537119666 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.395731735396716, + "source_return_step_error_deg": 1.8248846636855847, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3897934239003398, + "source_return_best_wrist_position": -1.6097453832626343, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097453832626343 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3291, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3291, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0014, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3299, + 0.0149, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007498995507853857, + -0.0014344953384523417, + 0.0018939860537119666 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.395731735396716, + "pour_controller_source_return_step_error_deg": 1.8248846636855847, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3897934239003398, + "pour_controller_source_return_best_wrist_position": -1.6097453832626343, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097453832626343, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013850232990364265, + "valid_pour_held_xy_dist": 0.01172994374448616, + "valid_pour_held_gripper_dist": 0.0069566395501539455, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0309911404804026, + "valid_pour_source_tilt_deg": 1.8249054200969916, + "valid_pour_source_upright_tilt_deg": 2.3957699708951274, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3369266523362426, + 0.008733587446282989, + 1.0309911404804026 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32543627260793667, + 0.032798744932508964, + 1.0309911404804026 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3311814624720896, + 0.020766166189395977, + 1.0309911404804026 + ], + "valid_pour_held_grasp_object_position": [ + 0.3369266523362426, + 0.032798744932508964, + 1.0309911404804026 + ], + "valid_pour_held_grasp_finger_gap": 0.0266675951509978, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02440886226888115, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031743033270511437, + -0.9991259262124801, + 0.027198592037846914 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006132850880949796, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03788055844166091, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3369266523362426, + 0.008733587446282989, + 1.0309911404804026 + ], + "held_grasp_finger_b": [ + 0.32543627260793667, + 0.032798744932508964, + 1.0309911404804026 + ], + "held_grasp_midpoint": [ + 0.3311814624720896, + 0.020766166189395977, + 1.0309911404804026 + ], + "held_grasp_object_position": [ + 0.3369266523362426, + 0.032798744932508964, + 1.0309911404804026 + ], + "held_grasp_finger_gap": 0.0266675951509978, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02440886226888115, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031743033270511437, + -0.9991259262124801, + 0.027198592037846914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006132850880949796, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03788055844166091, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29540993685431355, + 0.22353837324441272, + 0.7611119675659692 + ], + "target_position": [ + 0.3085440024894559, + 0.22268116560653986, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013162009156760792, + "xy_threshold": 0.08, + "gripper_dist": 0.20451571091411366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611119675659692, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538995796304412, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08841589301216955, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1763799821572715, + "release_required_pad_clearance": 0.05420794650608478, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.432691924552315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c3d20830b4957aa506d5ee615c61e48c0d3fcf7e77718c49a34269ac33e741d", + "visual_seed": 8497852541026011175, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a37aecbec1a397b57056c6016e3b4ccd26d740c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_82_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33518195350942637, + 0.22294053744706668, + 1.0057670407812895 + ], + "current_z": 1.0057670407812895, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14466059237116846, + "gripper_z": 1.0055694538037578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33006421080246207, + 0.21817423349085957, + 1.0055694538037578 + ], + "object_minus_gripper": [ + 0.005117742706964301, + 0.004766303956207113, + 0.00019758697753169407 + ], + "object_to_gripper_xy": 0.006993492962578991, + "object_to_gripper_z": 0.00019758697753169407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33518195350942637, + 0.1982359658783317, + 1.0057670407812895 + ], + "finger_b": [ + 0.3237784407738449, + 0.22294053744706668, + 1.0057670407812895 + ], + "finger_midpoint": [ + 0.3294801971416356, + 0.21058825166269918, + 1.0057670407812895 + ], + "object_minus_finger_midpoint": [ + 0.005701756367790745, + 0.012352285784367506, + 0.0 + ], + "finger_gap": 0.027209482889340587, + "fingertip_max_gap": 0.09148211638527173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013604741444670306, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0057670407812895, + "object_top_z": 1.0556786358225017, + "finger_top_clearance": 0.04991159504121212, + "fingertip_min_top_clearance": 0.014973478512363601, + "object_projection_between_fingers": 0.8243546214341059, + "object_to_finger_line_xy": 0.010353702701991374, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824105819263587, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.413061557679575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 179, + "max_stable_success_frames": 179, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3354954830414479, + 0.04160380256050087, + 0.7701463301919671 + ], + "gripper_position": [ + 0.33641480613415053, + 0.031105818298119495, + 1.028080661165607 + ], + "target_minus_gripper": [ + -0.0009193230927026508, + 0.010497984262381375, + -0.25793433097363994 + ], + "held_position": [ + 0.34145915793207043, + 0.03594948640095663, + 1.0282335596885108 + ], + "held_minus_target": [ + 0.00596367489062255, + -0.0056543161595442384, + 0.2580872294965437 + ], + "held_minus_gripper": [ + 0.005044351797919899, + 0.004843668102837137, + 0.00015289852290378825 + ], + "xy_dist": 0.010538160585319593, + "held_xy_dist": 0.008218072123869746, + "held_gripper_dist": 0.00699499704860022, + "max_held_gripper_dist": 0.0069980203174077995, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0282335596885108, + "required_height": 0.8001463301919671, + "gripper_z": 1.028080661165607, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24063773395294, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.862451214090027, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8565233586311363, + "max_source_tilt_deg": 89.908626801569, + "source_upright_tilt_deg": 2.749292959428103, + "max_source_upright_tilt_deg": 89.9568041589194, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8565233586311363, + "source_upright_return_tilt_deg": 2.749292959428103, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.548668278736097e-08, + "max_target_xy_drift": 1.7772406998092776e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3355, + 0.0416, + 0.7701 + ], + "controller_target_position": [ + 0.3355, + 0.0416, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0013, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3341, + 0.0177, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001393301143684215, + 0.0013303246198797126, + -0.0014769900394196113 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7495295725044953, + "source_return_step_error_deg": 1.856705026345585, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7437538791736094, + "source_return_best_wrist_position": -1.609995722770691, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609995722770691 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3355, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3355, + 0.0416, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0013, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3341, + 0.0177, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001393301143684215, + 0.0013303246198797126, + -0.0014769900394196113 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7495295725044953, + "pour_controller_source_return_step_error_deg": 1.856705026345585, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7437538791736094, + "pour_controller_source_return_best_wrist_position": -1.609995722770691, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609995722770691, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010538160585319593, + "valid_pour_held_xy_dist": 0.008218072123869746, + "valid_pour_held_gripper_dist": 0.00699499704860022, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0282335596885108, + "valid_pour_source_tilt_deg": 1.8565233586311363, + "valid_pour_source_upright_tilt_deg": 2.749292959428103, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.548668278736097e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34145915793207043, + 0.011898907848925007, + 1.0282335596885108 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32988082613746894, + 0.03594948640095663, + 1.0282335596885108 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33566999203476966, + 0.02392419712494082, + 1.0282335596885108 + ], + "valid_pour_held_grasp_object_position": [ + 0.34145915793207043, + 0.03594948640095663, + 1.0282335596885108 + ], + "valid_pour_held_grasp_finger_gap": 0.026692472643674723, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02447958429885993, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03944335970725651, + -0.9988489857366117, + 0.027293315444371746 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00626741475954773, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03793714622644953, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34145915793207043, + 0.011898907848925007, + 1.0282335596885108 + ], + "held_grasp_finger_b": [ + 0.32988082613746894, + 0.03594948640095663, + 1.0282335596885108 + ], + "held_grasp_midpoint": [ + 0.33566999203476966, + 0.02392419712494082, + 1.0282335596885108 + ], + "held_grasp_object_position": [ + 0.34145915793207043, + 0.03594948640095663, + 1.0282335596885108 + ], + "held_grasp_finger_gap": 0.026692472643674723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02447958429885993, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03944335970725651, + -0.9988489857366117, + 0.027293315444371746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00626741475954773, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03793714622644953, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30927749658449744, + 0.21506453139584017, + 0.7611063226589271 + ], + "target_position": [ + 0.3110861243216208, + 0.21793714271883682, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0033945588968967073, + "xy_threshold": 0.08, + "gripper_dist": 0.21398370870061914, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063226589271, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567909967077714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512297285999447, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18328968699952336, + "release_required_pad_clearance": 0.05256148642999724, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1897455688562175, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f2ce9054e471053ababc98c7db48ef34f683c92bea3d74116688f98da92d322", + "visual_seed": 7641125747315668700, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee44063cc670eeab30ba0a747d4312481b9e3738 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_83_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3336721648509356, + 0.22734858049746573, + 1.0049573743005564 + ], + "current_z": 1.0049573743005564, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14385092589043524, + "gripper_z": 1.0045661332236853, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3284295453950987, + 0.22246514907140705, + 1.0045661332236853 + ], + "object_minus_gripper": [ + 0.005242619455836872, + 0.004883431426058682, + 0.0003912410768711627 + ], + "object_to_gripper_xy": 0.007164702453817383, + "object_to_gripper_z": 0.0003912410768711627, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3336721648509356, + 0.2026567888050828, + 1.0049573743005564 + ], + "finger_b": [ + 0.3219634763590597, + 0.22734858049746573, + 1.0049573743005564 + ], + "finger_midpoint": [ + 0.32781782060499765, + 0.21500268465127426, + 1.0049573743005564 + ], + "object_minus_finger_midpoint": [ + 0.005854344245937948, + 0.012345895846191474, + 0.0 + ], + "finger_gap": 0.02732723848433678, + "fingertip_max_gap": 0.09123470961393401, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013663619242168403, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049573743005564, + "object_top_z": 1.0548255018791481, + "finger_top_clearance": 0.049868127578591714, + "fingertip_min_top_clearance": 0.014960438273577547, + "object_projection_between_fingers": 0.8164201503536116, + "object_to_finger_line_xy": 0.010579499183501808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811735480696701, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.227489692754741, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.333789359689397, + 0.032700362472467194, + 0.7701463897966119 + ], + "gripper_position": [ + 0.33619944321217776, + 0.018876159888375835, + 1.0298753061378647 + ], + "target_minus_gripper": [ + -0.0024100835227807704, + 0.01382420258409136, + -0.25972891634125284 + ], + "held_position": [ + 0.34149270170649854, + 0.023708225798626834, + 1.0302247367856026 + ], + "held_minus_target": [ + 0.007703342017101544, + -0.00899213667384036, + 0.2600783469889907 + ], + "held_minus_gripper": [ + 0.005293258494320774, + 0.0048320659102509995, + 0.00034943064773784727 + ], + "xy_dist": 0.014032714622366464, + "held_xy_dist": 0.01184060810066218, + "held_gripper_dist": 0.007175621800672562, + "max_held_gripper_dist": 0.007178288562224383, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0302247367856026, + "required_height": 0.8001463897966119, + "gripper_z": 1.0298753061378647, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23011924263112, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3300582045937575, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9258015882519557, + "max_source_tilt_deg": 89.90929150802133, + "source_upright_tilt_deg": 1.6644014021815676, + "max_source_upright_tilt_deg": 89.74220220181233, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9258015882519557, + "source_upright_return_tilt_deg": 1.6644014021815676, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.514431838712321e-08, + "max_target_xy_drift": 1.4528632164001465e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3338, + 0.0327, + 0.7701 + ], + "controller_target_position": [ + 0.3338, + 0.0327, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0019, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3344, + 0.0056, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006253263431523666, + -0.0018894239258346976, + 0.0006786555362046772 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6643982079451898, + "source_return_step_error_deg": 1.9257723520719265, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.918043215029214, + "source_return_best_wrist_position": -1.6094448566436768, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094448566436768 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3338, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3338, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0019, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3344, + 0.0056, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006253263431523666, + -0.0018894239258346976, + 0.0006786555362046772 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6643982079451898, + "pour_controller_source_return_step_error_deg": 1.9257723520719265, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.918043215029214, + "pour_controller_source_return_best_wrist_position": -1.6094448566436768, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094448566436768, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.014032714622366464, + "valid_pour_held_xy_dist": 0.01184060810066218, + "valid_pour_held_gripper_dist": 0.007175621800672562, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0302247367856026, + "valid_pour_source_tilt_deg": 1.9258015882519557, + "valid_pour_source_upright_tilt_deg": 1.6644014021815676, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.514431838712321e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34149270170649854, + -0.0007419196012354198, + 1.0302247367856026 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3302068215229938, + 0.023708225798626834, + 1.0302247367856026 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33584976161474617, + 0.011483153098695707, + 1.0302247367856026 + ], + "valid_pour_held_grasp_object_position": [ + 0.34149270170649854, + 0.023708225798626834, + 1.0302247367856026 + ], + "valid_pour_held_grasp_finger_gap": 0.026929179370913447, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02455352133993654, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010073764442825895, + -0.9995781064588534, + 0.027242032928618043 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057753717510237905, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037557180698625375, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34149270170649854, + -0.0007419196012354198, + 1.0302247367856026 + ], + "held_grasp_finger_b": [ + 0.3302068215229938, + 0.023708225798626834, + 1.0302247367856026 + ], + "held_grasp_midpoint": [ + 0.33584976161474617, + 0.011483153098695707, + 1.0302247367856026 + ], + "held_grasp_object_position": [ + 0.34149270170649854, + 0.023708225798626834, + 1.0302247367856026 + ], + "held_grasp_finger_gap": 0.026929179370913447, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02455352133993654, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010073764442825895, + -0.9995781064588534, + 0.027242032928618043 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057753717510237905, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037557180698625375, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30383456392438574, + 0.22553268172429716, + 0.7611065433151992 + ], + "target_position": [ + 0.30941281607953425, + 0.22364771868999433, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0058881221749473855, + "xy_threshold": 0.08, + "gripper_dist": 0.21105425398588726, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065433151992, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575362786995102, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787644169037905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18153221234717717, + "release_required_pad_clearance": 0.053938220845189525, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.885586742382053, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6acaeee333dd46ec576a58c18aa4c3a464385cc79510d167303a30a9b648f445", + "visual_seed": 8474629448287979004, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6052e0c5be37bbea648d0857820f8891e7f4cc7c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_84_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33182551033018987, + 0.22192015028173898, + 1.0044488679660888 + ], + "current_z": 1.0044488679660888, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.14334212153274373, + "gripper_z": 1.0038536434396845, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32685208075474803, + 0.21715813959193148, + 1.0038536434396845 + ], + "object_minus_gripper": [ + 0.0049734295754418345, + 0.0047620106898075, + 0.0005952245264042588 + ], + "object_to_gripper_xy": 0.0068856188938773285, + "object_to_gripper_z": 0.0005952245264042588, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33182551033018987, + 0.1975064062526862, + 1.0044488679660888 + ], + "finger_b": [ + 0.3201790323207749, + 0.22192015028173898, + 1.0044488679660888 + ], + "finger_midpoint": [ + 0.3260022713254824, + 0.2097132782672126, + 1.0044488679660888 + ], + "object_minus_finger_midpoint": [ + 0.005823239004707492, + 0.012206872014526388, + 0.0 + ], + "finger_gap": 0.027049424162815312, + "fingertip_max_gap": 0.0916101240214596, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013524712081407656, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044488679660888, + "object_top_z": 1.0543732352051587, + "finger_top_clearance": 0.0499243672390699, + "fingertip_min_top_clearance": 0.01497731017172097, + "object_projection_between_fingers": 0.8146156051076053, + "object_to_finger_line_xy": 0.010511651976411457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483050620107298, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.426287119165748, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.331407438874883, + 0.040639306275777595, + 0.7701465090059011 + ], + "gripper_position": [ + 0.3342592793124179, + 0.027172193544109657, + 1.0281864798159437 + ], + "target_minus_gripper": [ + -0.0028518404375348916, + 0.013467112731667938, + -0.2580399708100426 + ], + "held_position": [ + 0.33933287250646926, + 0.03183415794133109, + 1.0287388969414244 + ], + "held_minus_target": [ + 0.007925433631586265, + -0.008805148334446504, + 0.2585923879355233 + ], + "held_minus_gripper": [ + 0.0050735931940513734, + 0.004661964397221434, + 0.0005524171254807086 + ], + "xy_dist": 0.013765758940523834, + "held_xy_dist": 0.011846650811106264, + "held_gripper_dist": 0.006912338578238844, + "max_held_gripper_dist": 0.006917660501804312, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0287388969414244, + "required_height": 0.8001465090059011, + "gripper_z": 1.0281864798159437, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22658120464105, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0798481372260715, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0120993654126327, + "max_source_tilt_deg": 89.98123679413312, + "source_upright_tilt_deg": 1.5824610691206697, + "max_source_upright_tilt_deg": 89.70502771627118, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0120993654126327, + "source_upright_return_tilt_deg": 1.5824610691206697, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.337970883992392e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3314, + 0.0406, + 0.7701 + ], + "controller_target_position": [ + 0.3314, + 0.0406, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0016, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3327, + 0.0139, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013020739062037001, + -0.0015734919164713114, + -0.0013104057941679837 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5824256559525591, + "source_return_step_error_deg": 2.012095269571019, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.010667959456518, + "source_return_best_wrist_position": -1.6094037294387817, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094037294387817 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3314, + 0.0406, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3314, + 0.0406, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0016, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3327, + 0.0139, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013020739062037001, + -0.0015734919164713114, + -0.0013104057941679837 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5824256559525591, + "pour_controller_source_return_step_error_deg": 2.012095269571019, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.010667959456518, + "pour_controller_source_return_best_wrist_position": -1.6094037294387817, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094037294387817, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013765758940523834, + "valid_pour_held_xy_dist": 0.011846650811106264, + "valid_pour_held_gripper_dist": 0.006912338578238844, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0287388969414244, + "valid_pour_source_tilt_deg": 2.0120993654126327, + "valid_pour_source_upright_tilt_deg": 1.5824610691206697, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.337970883992392e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33933287250646926, + 0.007475164037022877, + 1.0287388969414244 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32837849487601006, + 0.03183415794133109, + 1.0287388969414244 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33385568369123964, + 0.019654660989176984, + 1.0287388969414244 + ], + "valid_pour_held_grasp_object_position": [ + 0.33933287250646926, + 0.03183415794133109, + 1.0287388969414244 + ], + "valid_pour_held_grasp_finger_gap": 0.026708780827675936, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024372346161223895, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0020669567198779216, + -0.9996186226912256, + 0.027537916747920825 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005512554801227283, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037556719213938466, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33933287250646926, + 0.007475164037022877, + 1.0287388969414244 + ], + "held_grasp_finger_b": [ + 0.32837849487601006, + 0.03183415794133109, + 1.0287388969414244 + ], + "held_grasp_midpoint": [ + 0.33385568369123964, + 0.019654660989176984, + 1.0287388969414244 + ], + "held_grasp_object_position": [ + 0.33933287250646926, + 0.03183415794133109, + 1.0287388969414244 + ], + "held_grasp_finger_gap": 0.026708780827675936, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024372346161223895, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0020669567198779216, + -0.9996186226912256, + 0.027537916747920825 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005512554801227283, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037556719213938466, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30629081559959354, + 0.22399749067196456, + 0.7611063279790865 + ], + "target_position": [ + 0.307837897451289, + 0.21998763157932935, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004297956746947864, + "xy_threshold": 0.08, + "gripper_dist": 0.21484395197298162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063279790865, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584473627611744, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515864300563912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18525743065581102, + "release_required_pad_clearance": 0.05257932150281956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2238116742512985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4db4caf1b7de5d981f5aa5e0a9a13d7c3604d506e3e3877345a70819eca64e8", + "visual_seed": 2856129837615401915, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e3606662955ffbe5442fe4b81fb10ee4432798 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_85_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33827120691822193, + 0.2217209712507553, + 1.0028561084594307 + ], + "current_z": 1.0028561084594307, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14174966004930967, + "gripper_z": 1.002389535193649, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33321207746819487, + 0.21682958845500316, + 1.002389535193649 + ], + "object_minus_gripper": [ + 0.005059129450027067, + 0.0048913827957521305, + 0.00046657326578181113 + ], + "object_to_gripper_xy": 0.0070370744238434126, + "object_to_gripper_z": 0.00046657326578181113, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33827120691822193, + 0.19736567559514015, + 1.0028561084594307 + ], + "finger_b": [ + 0.3262782760030577, + 0.2217209712507553, + 1.0028561084594307 + ], + "finger_midpoint": [ + 0.33227474146063984, + 0.20954332342294774, + 1.0028561084594307 + ], + "object_minus_finger_midpoint": [ + 0.00599646545758209, + 0.012177647827807558, + 0.0 + ], + "finger_gap": 0.027147943170861544, + "fingertip_max_gap": 0.09110130002415326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573971585430748, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028561084594307, + "object_top_z": 1.0526501913422963, + "finger_top_clearance": 0.049794082882865576, + "fingertip_min_top_clearance": 0.014938224864859672, + "object_projection_between_fingers": 0.8048462948664407, + "object_to_finger_line_xy": 0.01075924523555436, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805065001207663, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9936402453272921, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33583481228415407, + 0.03883544993274665, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33944719558343195, + 0.0260553764260808, + 1.0288818877857029 + ], + "target_minus_gripper": [ + -0.003612383299277877, + 0.012780073506665851, + -0.25873543838444635 + ], + "held_position": [ + 0.34451777224719754, + 0.030940947863673664, + 1.0292935988742475 + ], + "held_minus_target": [ + 0.008682959963043468, + -0.007894502069072988, + 0.259147149472991 + ], + "held_minus_gripper": [ + 0.005070576663765591, + 0.004885571437592863, + 0.0004117110885446529 + ], + "xy_dist": 0.013280797865214428, + "held_xy_dist": 0.011735286815345141, + "held_gripper_dist": 0.007053301496134843, + "max_held_gripper_dist": 0.0070566687014691366, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0292935988742475, + "required_height": 0.8001464494012566, + "gripper_z": 1.0288818877857029, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2314921106543, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.12194145390301199, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0381177277365765, + "max_source_tilt_deg": 89.91150821245152, + "source_upright_tilt_deg": 3.0379477689278067, + "max_source_upright_tilt_deg": 89.9983395528744, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0381177277365765, + "source_upright_return_tilt_deg": 3.0379477689278067, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.337970883992392e-08, + "max_target_xy_drift": 1.48311475197929e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3358, + 0.0388, + 0.7701 + ], + "controller_target_position": [ + 0.3358, + 0.0388, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0008, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3377, + 0.0129, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018470651049710238, + -0.0007565289825540366, + -0.00041434629717219994 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.037947503641991, + "source_return_step_error_deg": 3.0381173245528545, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0303764461755067, + "source_return_best_wrist_position": -1.6337825059890747, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6337825059890747 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3358, + 0.0388, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3358, + 0.0388, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0008, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3377, + 0.0129, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018470651049710238, + -0.0007565289825540366, + -0.00041434629717219994 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.037947503641991, + "pour_controller_source_return_step_error_deg": 3.0381173245528545, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0303764461755067, + "pour_controller_source_return_best_wrist_position": -1.6337825059890747, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6337825059890747, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013280797865214428, + "valid_pour_held_xy_dist": 0.011735286815345141, + "valid_pour_held_gripper_dist": 0.007053301496134843, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0292935988742475, + "valid_pour_source_tilt_deg": 3.0381177277365765, + "valid_pour_source_upright_tilt_deg": 3.0379477689278067, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.337970883992392e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34451777224719754, + 0.0072303604623498744, + 1.0292935988742475 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3329763672474579, + 0.030940947863673664, + 1.0292935988742475 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3387470697473277, + 0.019085654163011768, + 1.0292935988742475 + ], + "valid_pour_held_grasp_object_position": [ + 0.34451777224719754, + 0.030940947863673664, + 1.0292935988742475 + ], + "valid_pour_held_grasp_finger_gap": 0.026370361853486766, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023826017530066836, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01288850092158779, + -0.9985946666074307, + 0.05140601489309003 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005954094803695698, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037955992714037205, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34451777224719754, + 0.0072303604623498744, + 1.0292935988742475 + ], + "held_grasp_finger_b": [ + 0.3329763672474579, + 0.030940947863673664, + 1.0292935988742475 + ], + "held_grasp_midpoint": [ + 0.3387470697473277, + 0.019085654163011768, + 1.0292935988742475 + ], + "held_grasp_object_position": [ + 0.34451777224719754, + 0.030940947863673664, + 1.0292935988742475 + ], + "held_grasp_finger_gap": 0.026370361853486766, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023826017530066836, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01288850092158779, + -0.9985946666074307, + 0.05140601489309003 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005954094803695698, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037955992714037205, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3179134746184379, + 0.22235870709742275, + 0.7611063458097395 + ], + "target_position": [ + 0.3141262819345686, + 0.21940085597457074, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004805383615249672, + "xy_threshold": 0.08, + "gripper_dist": 0.2176484723536484, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063458097395, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554219968448206, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08765808743906238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18823192191699994, + "release_required_pad_clearance": 0.05382904371953119, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.667377149800291, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b07d2f2ba6040f4f7c4a5ebdef2f5053600295787504065b083e765c48d0ed13", + "visual_seed": 1753624329657410233, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8612a5047c6dfad11e89e4d6729ca9ffeca7527 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_86_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.334414429944674, + 0.22859202982540724, + 1.003458437522684 + ], + "current_z": 1.003458437522684, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14235186990327342, + "gripper_z": 1.0032150519851408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3293066605709737, + 0.22368005797494844, + 1.0032150519851408 + ], + "object_minus_gripper": [ + 0.005107769373700333, + 0.004911971850458802, + 0.000243385537543217 + ], + "object_to_gripper_xy": 0.0070863795717284826, + "object_to_gripper_z": 0.000243385537543217, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.334414429944674, + 0.20413206998421354, + 1.003458437522684 + ], + "finger_b": [ + 0.32245231814802505, + 0.22859202982540724, + 1.003458437522684 + ], + "finger_midpoint": [ + 0.32843337404634954, + 0.2163620499048104, + 1.003458437522684 + ], + "object_minus_finger_midpoint": [ + 0.005981055898324483, + 0.01222997992059685, + 0.0 + ], + "finger_gap": 0.02722832631779517, + "fingertip_max_gap": 0.09170264890532395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614163158897585, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003458437522684, + "object_top_z": 1.0534655709459368, + "finger_top_clearance": 0.0500071334232528, + "fingertip_min_top_clearance": 0.015002140026975808, + "object_projection_between_fingers": 0.8069926622144266, + "object_to_finger_line_xy": 0.010745896414891952, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835132445266198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2965073904662032, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3370160571343128, + 0.032876710264615784, + 0.7701465090059013 + ], + "gripper_position": [ + 0.33830683990041865, + 0.019234804041135076, + 1.0282816923531963 + ], + "target_minus_gripper": [ + -0.0012907827661058358, + 0.013641906223480708, + -0.258135183347295 + ], + "held_position": [ + 0.34356197379669584, + 0.023990822915716685, + 1.0284832598087594 + ], + "held_minus_target": [ + 0.006545916662383022, + -0.0088858873488991, + 0.2583367508028581 + ], + "held_minus_gripper": [ + 0.0052551338962771865, + 0.004756018874581609, + 0.00020156745556310085 + ], + "xy_dist": 0.01370283640563214, + "held_xy_dist": 0.0110366670208079, + "held_gripper_dist": 0.0070906119088778325, + "max_held_gripper_dist": 0.007093743732868544, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0284832598087594, + "required_height": 0.8001465090059013, + "gripper_z": 1.0282816923531963, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21569388310405, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5461787397128209, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8238585938423095, + "max_source_tilt_deg": 89.82616360532093, + "source_upright_tilt_deg": 1.7889272771336668, + "max_source_upright_tilt_deg": 89.76360859252931, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8238585938423095, + "source_upright_return_tilt_deg": 1.7889272771336668, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.666000468656264e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.337, + 0.0329, + 0.7701 + ], + "controller_target_position": [ + 0.337, + 0.0329, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0012, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3352, + 0.0065, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018251591337519924, + -0.0011907012507167618, + -0.0006889228690070391 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7889394951544393, + "source_return_step_error_deg": 1.8238722943734953, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8031712690614403, + "source_return_best_wrist_position": -1.605208396911621, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.605208396911621 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.337, + 0.0329, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.337, + 0.0329, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0012, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3352, + 0.0065, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018251591337519924, + -0.0011907012507167618, + -0.0006889228690070391 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7889394951544393, + "pour_controller_source_return_step_error_deg": 1.8238722943734953, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8031712690614403, + "pour_controller_source_return_best_wrist_position": -1.605208396911621, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.605208396911621, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01370283640563214, + "valid_pour_held_xy_dist": 0.0110366670208079, + "valid_pour_held_gripper_dist": 0.0070906119088778325, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0284832598087594, + "valid_pour_source_tilt_deg": 1.8238585938423095, + "valid_pour_source_upright_tilt_deg": 1.7889272771336668, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34356197379669584, + -0.0005847909314243929, + 1.0284832598087594 + ], + "valid_pour_held_grasp_finger_b": [ + 0.332427267274397, + 0.023990822915716685, + 1.0284832598087594 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3379946205355464, + 0.011703015992146145, + 1.0284832598087594 + ], + "valid_pour_held_grasp_object_position": [ + 0.34356197379669584, + 0.023990822915716685, + 1.0284832598087594 + ], + "valid_pour_held_grasp_finger_gap": 0.026980409287138647, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024471073048308242, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00831302884857634, + -0.9995126200156368, + 0.030090130954183995 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054775523805222865, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03739215040940064, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34356197379669584, + -0.0005847909314243929, + 1.0284832598087594 + ], + "held_grasp_finger_b": [ + 0.332427267274397, + 0.023990822915716685, + 1.0284832598087594 + ], + "held_grasp_midpoint": [ + 0.3379946205355464, + 0.011703015992146145, + 1.0284832598087594 + ], + "held_grasp_object_position": [ + 0.34356197379669584, + 0.023990822915716685, + 1.0284832598087594 + ], + "held_grasp_finger_gap": 0.026980409287138647, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024471073048308242, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00831302884857634, + -0.9995126200156368, + 0.030090130954183995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054775523805222865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03739215040940064, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3020100094235567, + 0.2242271491370185, + 0.7611062591637617 + ], + "target_position": [ + 0.3099868924808002, + 0.22414134835035843, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007977344488232256, + "xy_threshold": 0.08, + "gripper_dist": 0.20923409143259863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062591637617, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526395033528308, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502560902470795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18056799149629849, + "release_required_pad_clearance": 0.052512804512353975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691328099184697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0882be200a026946f31810f571aae55ce002922100b035d6e8a3e1573428aa77", + "visual_seed": 1663371504083121852, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..963dec5bf4eaba82d44cb63e6bf6c7731344cb1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_87_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3381768505647277, + 0.21998337802699688, + 1.0025171480898833 + ], + "current_z": 1.0025171480898833, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14141075928440694, + "gripper_z": 1.0018597445801674, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33314710604791586, + 0.21513079038674815, + 1.0018597445801674 + ], + "object_minus_gripper": [ + 0.005029744516811818, + 0.0048525876402487345, + 0.0006574035097159925 + ], + "object_to_gripper_xy": 0.006988986815747568, + "object_to_gripper_z": 0.0006574035097159925, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381768505647277, + 0.19562156336908426, + 1.0025171480898833 + ], + "finger_b": [ + 0.3262791883400381, + 0.21998337802699688, + 1.0025171480898833 + ], + "finger_midpoint": [ + 0.3322280194523829, + 0.2078024706980406, + 1.0025171480898833 + ], + "object_minus_finger_midpoint": [ + 0.005948831112344788, + 0.012180907328956297, + 0.0 + ], + "finger_gap": 0.027111849435980783, + "fingertip_max_gap": 0.09168378049985623, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01355592471799038, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025171480898833, + "object_top_z": 1.052436280300073, + "finger_top_clearance": 0.04991913221018973, + "fingertip_min_top_clearance": 0.014975739663056936, + "object_projection_between_fingers": 0.8074227493233148, + "object_to_finger_line_xy": 0.010690847286709665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834189024992812, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4500465742434685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33650008952681454, + 0.03314461451642968, + 0.7701463897966114 + ], + "gripper_position": [ + 0.339211217485848, + 0.020891046553835432, + 1.028025893403589 + ], + "target_minus_gripper": [ + -0.0027111279590334436, + 0.012253567962594247, + -0.25787950360697764 + ], + "held_position": [ + 0.34437230038831523, + 0.02561077730568045, + 1.0286398068014821 + ], + "held_minus_target": [ + 0.007872210861500695, + -0.007533837210749229, + 0.2584934170048707 + ], + "held_minus_gripper": [ + 0.005161082902467251, + 0.004719730751845019, + 0.0006139133978930733 + ], + "xy_dist": 0.012549906080292753, + "held_xy_dist": 0.010896348331711832, + "held_gripper_dist": 0.007020649881326083, + "max_held_gripper_dist": 0.0070283761936508, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0286398068014821, + "required_height": 0.8001463897966115, + "gripper_z": 1.028025893403589, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23264641262402, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7264007270811299, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9945434289856712, + "max_source_tilt_deg": 89.93142049195426, + "source_upright_tilt_deg": 1.627468106669419, + "max_source_upright_tilt_deg": 89.89858157639574, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9945434289856712, + "source_upright_return_tilt_deg": 1.627468106669419, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.0669426131007984e-08, + "max_target_xy_drift": 1.55572690202453e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3365, + 0.0331, + 0.7701 + ], + "controller_target_position": [ + 0.3365, + 0.0331, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0006, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3374, + 0.0074, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008988074503530103, + -0.0005572702558637817, + -0.0014197898001526608 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6274275237516918, + "source_return_step_error_deg": 1.9945115092940036, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9851807999575994, + "source_return_best_wrist_position": -1.6093789339065552, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093789339065552 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3365, + 0.0331, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3365, + 0.0331, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0006, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3374, + 0.0074, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008988074503530103, + -0.0005572702558637817, + -0.0014197898001526608 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6274275237516918, + "pour_controller_source_return_step_error_deg": 1.9945115092940036, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9851807999575994, + "pour_controller_source_return_best_wrist_position": -1.6093789339065552, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093789339065552, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012549906080292753, + "valid_pour_held_xy_dist": 0.010896348331711832, + "valid_pour_held_gripper_dist": 0.007020649881326083, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0286398068014821, + "valid_pour_source_tilt_deg": 1.9945434289856712, + "valid_pour_source_upright_tilt_deg": 1.627468106669419, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.0669426131007984e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34437230038831523, + 0.0012012376668190088, + 1.0286398068014821 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33331097265312215, + 0.02561077730568045, + 1.0286398068014821 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3388416365207187, + 0.013406007486249729, + 1.0286398068014821 + ], + "valid_pour_held_grasp_object_position": [ + 0.34437230038831523, + 0.02561077730568045, + 1.0286398068014821 + ], + "valid_pour_held_grasp_finger_gap": 0.02679885439056117, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024358317774587593, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.003740562501229055, + -0.9995966217847834, + 0.028153186473706127 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005495742561850379, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0374997155950612, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34437230038831523, + 0.0012012376668190088, + 1.0286398068014821 + ], + "held_grasp_finger_b": [ + 0.33331097265312215, + 0.02561077730568045, + 1.0286398068014821 + ], + "held_grasp_midpoint": [ + 0.3388416365207187, + 0.013406007486249729, + 1.0286398068014821 + ], + "held_grasp_object_position": [ + 0.34437230038831523, + 0.02561077730568045, + 1.0286398068014821 + ], + "held_grasp_finger_gap": 0.02679885439056117, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024358317774587593, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003740562501229055, + -0.9995966217847834, + 0.028153186473706127 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005495742561850379, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0374997155950612, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30969015192489874, + 0.217086200135201, + 0.7611122827868322 + ], + "target_position": [ + 0.3141143964935304, + 0.21761974625247504, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004456300198856108, + "xy_threshold": 0.08, + "gripper_dist": 0.21027585616579875, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611122827868322, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541745066169542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587481111113736, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1808835311911488, + "release_required_pad_clearance": 0.05293740555556868, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9056673932525379, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e12728ba0c2feac4cb0db1d3b3dfa051307586dc4483c791bab63b5dcafbe36", + "visual_seed": 5297621658463744892, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c35400b02e9710353de6c2912d42786ea6ff9cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_88_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3374685924477446, + 0.22093117718544225, + 1.0040589345681563 + ], + "current_z": 1.0040589345681563, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14295248615803513, + "gripper_z": 1.0039700903852398, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321904786134442, + 0.2160185199727931, + 1.0039700903852398 + ], + "object_minus_gripper": [ + 0.00527811383430038, + 0.004912657212649163, + 8.884418291654761e-05 + ], + "object_to_gripper_xy": 0.007210595435664582, + "object_to_gripper_z": 8.884418291654761e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3374685924477446, + 0.1962319679382388, + 1.0040589345681563 + ], + "finger_b": [ + 0.3256951478523551, + 0.22093117718544225, + 1.0040589345681563 + ], + "finger_midpoint": [ + 0.3315818701500498, + 0.2085815725618405, + 1.0040589345681563 + ], + "object_minus_finger_midpoint": [ + 0.005886722297694769, + 0.01234960462360174, + 0.0 + ], + "finger_gap": 0.027361742179142143, + "fingertip_max_gap": 0.09151645652721221, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013680871089571096, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040589345681563, + "object_top_z": 1.0540272740486802, + "finger_top_clearance": 0.04996833948052393, + "fingertip_min_top_clearance": 0.014990501844157194, + "object_projection_between_fingers": 0.8148517565788056, + "object_to_finger_line_xy": 0.010627787138625767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825822826360611, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3609099243898641, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32788611567084236, + 0.035323555438451545, + 0.7701464494012566 + ], + "gripper_position": [ + 0.33107365582355996, + 0.024117491930828003, + 1.030021147512898 + ], + "target_minus_gripper": [ + -0.003187540152717605, + 0.011206063507623543, + -0.2598746981116413 + ], + "held_position": [ + 0.3362983402654671, + 0.0290856013768475, + 1.0300698203000034 + ], + "held_minus_target": [ + 0.008412224594624762, + -0.006237954061604045, + 0.25992337089874673 + ], + "held_minus_gripper": [ + 0.005224684441907157, + 0.0049681094460194974, + 4.867278710540823e-05 + ], + "xy_dist": 0.011650591039173893, + "held_xy_dist": 0.010472707076257415, + "held_gripper_dist": 0.007209841054096787, + "max_held_gripper_dist": 0.007212768927131618, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0300698203000034, + "required_height": 0.8001464494012567, + "gripper_z": 1.030021147512898, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23712701671955, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3849602696980714, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9002994316221782, + "max_source_tilt_deg": 89.81867161935939, + "source_upright_tilt_deg": 2.4886399494318003, + "max_source_upright_tilt_deg": 89.88486074298049, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9002994316221782, + "source_upright_return_tilt_deg": 2.4886399494318003, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 1.1206871983774993e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3279, + 0.0353, + 0.7701 + ], + "controller_target_position": [ + 0.3279, + 0.0353, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0009, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3287, + 0.011, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007774313749152099, + 0.0008675635366263939, + 0.0007511762554085143 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.488637047959684, + "source_return_step_error_deg": 1.900296936149193, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.484668210805873, + "source_return_best_wrist_position": -1.609850287437439, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609850287437439 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3279, + 0.0353, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3279, + 0.0353, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0009, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3287, + 0.011, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007774313749152099, + 0.0008675635366263939, + 0.0007511762554085143 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.488637047959684, + "pour_controller_source_return_step_error_deg": 1.900296936149193, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.484668210805873, + "pour_controller_source_return_best_wrist_position": -1.609850287437439, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609850287437439, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011650591039173893, + "valid_pour_held_xy_dist": 0.010472707076257415, + "valid_pour_held_gripper_dist": 0.007209841054096787, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0300698203000034, + "valid_pour_source_tilt_deg": 1.9002994316221782, + "valid_pour_source_upright_tilt_deg": 2.4886399494318003, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3362983402654671, + 0.0049787064811513656, + 1.0300698203000034 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32444774153868294, + 0.0290856013768475, + 1.0300698203000034 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33037304090207503, + 0.017032153928999434, + 1.0300698203000034 + ], + "valid_pour_held_grasp_object_position": [ + 0.3362983402654671, + 0.0290856013768475, + 1.0300698203000034 + ], + "valid_pour_held_grasp_finger_gap": 0.026862223878439385, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02449211800050268, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03442520949672341, + -0.9990568574209587, + 0.026463193141892494 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006344616966256827, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037882150413674875, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362983402654671, + 0.0049787064811513656, + 1.0300698203000034 + ], + "held_grasp_finger_b": [ + 0.32444774153868294, + 0.0290856013768475, + 1.0300698203000034 + ], + "held_grasp_midpoint": [ + 0.33037304090207503, + 0.017032153928999434, + 1.0300698203000034 + ], + "held_grasp_object_position": [ + 0.3362983402654671, + 0.0290856013768475, + 1.0300698203000034 + ], + "held_grasp_finger_gap": 0.026862223878439385, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02449211800050268, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03442520949672341, + -0.9990568574209587, + 0.026463193141892494 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006344616966256827, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037882150413674875, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30695280306888423, + 0.21689346819209712, + 0.7611106671981203 + ], + "target_position": [ + 0.3131720352645722, + 0.2187297662870079, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006484661887658829, + "xy_threshold": 0.08, + "gripper_dist": 0.212504262394507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611106671981203, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565062839758968, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617829036575962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182389770179063, + "release_required_pad_clearance": 0.05308914518287981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1967794056340755, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26fcadc75295d1c005db5a3d640075dfa13f530e647ae22f5c5bde765169d296", + "visual_seed": 7688996133197587222, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d080891936829c913b60cf286d2da907b42785 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_89_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3303300531640506, + 0.21998334589727503, + 1.0036087896914565 + ], + "current_z": 1.0036087896914565, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.142502162467401, + "gripper_z": 1.0036637857940667, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.325351236210119, + 0.21517461965956208, + 1.0036637857940667 + ], + "object_minus_gripper": [ + 0.004978816953931597, + 0.004808726237712946, + -5.499610261017196e-05 + ], + "object_to_gripper_xy": 0.006921883146227305, + "object_to_gripper_z": -5.499610261017196e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3303300531640506, + 0.1956350391608466, + 1.0036087896914565 + ], + "finger_b": [ + 0.3185193921570826, + 0.21998334589727503, + 1.0036087896914565 + ], + "finger_midpoint": [ + 0.3244247226605666, + 0.20780919252906083, + 1.0036087896914565 + ], + "object_minus_finger_midpoint": [ + 0.005905330503484019, + 0.012174153368214202, + 0.0 + ], + "finger_gap": 0.027061628819284353, + "fingertip_max_gap": 0.09137367465207144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013530814409642164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036087896914565, + "object_top_z": 1.0536396726450221, + "finger_top_clearance": 0.050030882953565614, + "fingertip_min_top_clearance": 0.0150092648860697, + "object_projection_between_fingers": 0.8095238768598717, + "object_to_finger_line_xy": 0.010626470375379197, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818683732603572, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9244347288894389, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 177, + "max_stable_success_frames": 177, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33598742997710146, + 0.038424338071279325, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3375156571409943, + 0.02548735316676451, + 1.0287001066620036 + ], + "target_minus_gripper": [ + -0.0015282271638928369, + 0.012936984904514816, + -0.2585536572607471 + ], + "held_position": [ + 0.34262800951647765, + 0.030149683239063443, + 1.0286033509868444 + ], + "held_minus_target": [ + 0.00664057953937619, + -0.008274654832215882, + 0.2584569015855879 + ], + "held_minus_gripper": [ + 0.005112352375483353, + 0.0046623300722989335, + -9.675567515921024e-05 + ], + "xy_dist": 0.01302693581331021, + "held_xy_dist": 0.010609769517340861, + "held_gripper_dist": 0.006919742059849398, + "max_held_gripper_dist": 0.006922355306618417, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0286033509868444, + "required_height": 0.8001464494012566, + "gripper_z": 1.0287001066620036, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22501026113196, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3223072473250874, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9534494464579664, + "max_source_tilt_deg": 89.91492579748036, + "source_upright_tilt_deg": 1.66548918446355, + "max_source_upright_tilt_deg": 89.83154219919186, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9534494464579664, + "source_upright_return_tilt_deg": 1.66548918446355, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.313225746154785e-08, + "max_target_xy_drift": 2.0624116861323131e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.336, + 0.0384, + 0.7701 + ], + "controller_target_position": [ + 0.336, + 0.0384, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.001, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3358, + 0.0122, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001882751575480253, + -0.001047433458608405, + -0.000576307692164301 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6654918442751756, + "source_return_step_error_deg": 1.9534520121050358, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9475775080305757, + "source_return_best_wrist_position": -1.6083598136901855, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6083598136901855 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.336, + 0.0384, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.336, + 0.0384, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.001, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3358, + 0.0122, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001882751575480253, + -0.001047433458608405, + -0.000576307692164301 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6654918442751756, + "pour_controller_source_return_step_error_deg": 1.9534520121050358, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9475775080305757, + "pour_controller_source_return_best_wrist_position": -1.6083598136901855, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6083598136901855, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01302693581331021, + "valid_pour_held_xy_dist": 0.010609769517340861, + "valid_pour_held_gripper_dist": 0.006919742059849398, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0286033509868444, + "valid_pour_source_tilt_deg": 1.9534494464579664, + "valid_pour_source_upright_tilt_deg": 1.66548918446355, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.313225746154785e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34262800951647765, + 0.005781050766033693, + 1.0286033509868444 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3316094377914565, + 0.030149683239063443, + 1.0286033509868444 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3371187236539671, + 0.01796536700254857, + 1.0286033509868444 + ], + "valid_pour_held_grasp_object_position": [ + 0.34262800951647765, + 0.030149683239063443, + 1.0286033509868444 + ], + "valid_pour_held_grasp_finger_gap": 0.02674395579313268, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024226646107232512, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.011951816758706133, + -0.9995775546449511, + 0.026492759882391415 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005373025257950199, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03747523506627869, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34262800951647765, + 0.005781050766033693, + 1.0286033509868444 + ], + "held_grasp_finger_b": [ + 0.3316094377914565, + 0.030149683239063443, + 1.0286033509868444 + ], + "held_grasp_midpoint": [ + 0.3371187236539671, + 0.01796536700254857, + 1.0286033509868444 + ], + "held_grasp_object_position": [ + 0.34262800951647765, + 0.030149683239063443, + 1.0286033509868444 + ], + "held_grasp_finger_gap": 0.02674395579313268, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024226646107232512, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011951816758706133, + -0.9995775546449511, + 0.026492759882391415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005373025257950199, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03747523506627869, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2960947409998219, + 0.21635449777097937, + 0.7611110321873236 + ], + "target_position": [ + 0.30625531912329296, + 0.21840732566323634, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010365879130994463, + "xy_threshold": 0.08, + "gripper_dist": 0.20796587855746415, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110321873236, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520517574392528, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08677849817211529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792234880482734, + "release_required_pad_clearance": 0.05338924908605765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7918215430964988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42fa6294167290f3fd25d06f5d40e2ffdef356fceabb2ef9a7343f3eb260abec", + "visual_seed": 992530222121169329, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d541984261b1aba9bbf69391a0f93da9164e1bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_8_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33675395943216085, + 0.22644315211002988, + 1.0033960761833656 + ], + "current_z": 1.0033960761833656, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14228950856395484, + "gripper_z": 1.0026469635100783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3317241283191652, + 0.2216117832038228, + 1.0026469635100783 + ], + "object_minus_gripper": [ + 0.005029831112995653, + 0.004831368906207084, + 0.0007491126732872555 + ], + "object_to_gripper_xy": 0.006974333411382318, + "object_to_gripper_z": 0.0007491126732872555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33675395943216085, + 0.2020612031360737, + 1.0033960761833656 + ], + "finger_b": [ + 0.32491548697174455, + 0.22644315211002988, + 1.0033960761833656 + ], + "finger_midpoint": [ + 0.33083472320195273, + 0.2142521776230518, + 1.0033960761833656 + ], + "object_minus_finger_midpoint": [ + 0.005919236230208125, + 0.01219097448697809, + 0.0 + ], + "finger_gap": 0.02710403781661762, + "fingertip_max_gap": 0.09125347857320246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013552018908308799, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033960761833656, + "object_top_z": 1.053209836757466, + "finger_top_clearance": 0.049813760574100474, + "fingertip_min_top_clearance": 0.01494412817223014, + "object_projection_between_fingers": 0.8092241719742314, + "object_to_finger_line_xy": 0.010649521426010042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812673928660123, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2608174431354353, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3302952758080189, + 0.03423995789759613, + 0.7701463897966118 + ], + "gripper_position": [ + 0.33089042933608925, + 0.02074038336307918, + 1.0314113673296745 + ], + "target_minus_gripper": [ + -0.0005951535280703801, + 0.013499574534516952, + -0.26126497753306277 + ], + "held_position": [ + 0.33601212113338796, + 0.0254820492632135, + 1.0321365508207938 + ], + "held_minus_target": [ + 0.005716845325369091, + -0.008757908634382632, + 0.26199016102418204 + ], + "held_minus_gripper": [ + 0.005121691797298711, + 0.00474166590013432, + 0.0007251834911192745 + ], + "xy_dist": 0.01351268738389789, + "held_xy_dist": 0.010458646380980107, + "held_gripper_dist": 0.007017194130904849, + "max_held_gripper_dist": 0.007026807872719936, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0321365508207938, + "required_height": 0.8001463897966118, + "gripper_z": 1.0314113673296745, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2321751295713, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6376196900711238, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.030262238141584, + "max_source_tilt_deg": 89.80733778908832, + "source_upright_tilt_deg": 1.7952389087131422, + "max_source_upright_tilt_deg": 89.96927817235773, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.030262238141584, + "source_upright_return_tilt_deg": 1.7952389087131422, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.3527612686157227e-08, + "max_target_xy_drift": 1.4466410755327046e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3303, + 0.0342, + 0.7701 + ], + "controller_target_position": [ + 0.3303, + 0.0342, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3289, + 0.0091, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014124984957608216, + 2.467513577987957e-05, + 0.00013889437065841637 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7952428643808322, + "source_return_step_error_deg": 2.0302625134066528, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.022846803873934, + "source_return_best_wrist_position": -1.6097151041030884, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097151041030884 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3303, + 0.0342, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3303, + 0.0342, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3289, + 0.0091, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014124984957608216, + 2.467513577987957e-05, + 0.00013889437065841637 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7952428643808322, + "pour_controller_source_return_step_error_deg": 2.0302625134066528, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.022846803873934, + "pour_controller_source_return_best_wrist_position": -1.6097151041030884, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097151041030884, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01351268738389789, + "valid_pour_held_xy_dist": 0.010458646380980107, + "valid_pour_held_gripper_dist": 0.007017194130904849, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0321365508207938, + "valid_pour_source_tilt_deg": 2.030262238141584, + "valid_pour_source_upright_tilt_deg": 1.7952389087131422, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.3527612686157227e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33601212113338796, + 0.001205562908901071, + 1.0321365508207938 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3249056489189154, + 0.0254820492632135, + 1.0321365508207938 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33045888502615167, + 0.013343806086057286, + 1.0321365508207938 + ], + "valid_pour_held_grasp_object_position": [ + 0.33601212113338796, + 0.0254820492632135, + 1.0321365508207938 + ], + "valid_pour_held_grasp_finger_gap": 0.026696470080555014, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024267738012131702, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0002851629877511, + -0.9995091753886096, + 0.03132613918203409 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005569690412059619, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03758954821882927, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33601212113338796, + 0.001205562908901071, + 1.0321365508207938 + ], + "held_grasp_finger_b": [ + 0.3249056489189154, + 0.0254820492632135, + 1.0321365508207938 + ], + "held_grasp_midpoint": [ + 0.33045888502615167, + 0.013343806086057286, + 1.0321365508207938 + ], + "held_grasp_object_position": [ + 0.33601212113338796, + 0.0254820492632135, + 1.0321365508207938 + ], + "held_grasp_finger_gap": 0.026696470080555014, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024267738012131702, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0002851629877511, + -0.9995091753886096, + 0.03132613918203409 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005569690412059619, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03758954821882927, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3055340790666938, + 0.22530771611153, + 0.7611065587464072 + ], + "target_position": [ + 0.3127213238960009, + 0.22308317787973592, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007523633336434947, + "xy_threshold": 0.08, + "gripper_dist": 0.2080518545229672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065587464072, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554118068128565, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734968014133142, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1793826039877845, + "release_required_pad_clearance": 0.05367484007066571, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3593709356392565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ede0fa59e8162b72d746f6020473c654cfbf56fbec714f6354301d5a2e0f0fae", + "visual_seed": 8264441781150597997, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..221b9b7393f2b1dba10b9f9f4a7dd811c68c3ef6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_90_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33080905888093315, + 0.22337283371741593, + 1.0054674233961625 + ], + "current_z": 1.0054674233961625, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14436091538139628, + "gripper_z": 1.0053367609705197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32576219403215, + 0.2185812807712882, + 1.0053367609705197 + ], + "object_minus_gripper": [ + 0.005046864848783139, + 0.004791552946127736, + 0.00013066242564274688 + ], + "object_to_gripper_xy": 0.006959154002996934, + "object_to_gripper_z": 0.00013066242564274688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33080905888093315, + 0.1988892598569901, + 1.0054674233961625 + ], + "finger_b": [ + 0.3191423010094024, + 0.22337283371741593, + 1.0054674233961625 + ], + "finger_midpoint": [ + 0.32497567994516774, + 0.21113104678720301, + 1.0054674233961625 + ], + "object_minus_finger_midpoint": [ + 0.00583337893576541, + 0.012241786930212911, + 0.0 + ], + "finger_gap": 0.027121184122597813, + "fingertip_max_gap": 0.09138977680486174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560592061298919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0054674233961625, + "object_top_z": 1.055565062201522, + "finger_top_clearance": 0.05009763880535956, + "fingertip_min_top_clearance": 0.015029291641607866, + "object_projection_between_fingers": 0.8149525625661991, + "object_to_finger_line_xy": 0.010532133359963626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819488840243087, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.981753446937347, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3333000651604358, + 0.03390793022387482, + 0.7701465686105462 + ], + "gripper_position": [ + 0.33648340684610917, + 0.02250286135459094, + 1.0285974086374 + ], + "target_minus_gripper": [ + -0.0031833416856733576, + 0.011405068869283878, + -0.2584508400268537 + ], + "held_position": [ + 0.3415096017876891, + 0.02731527971076136, + 1.0286870228182785 + ], + "held_minus_target": [ + 0.008209536627253267, + -0.0065926505131134565, + 0.2585404542077323 + ], + "held_minus_gripper": [ + 0.005026194941579909, + 0.004812418356170422, + 8.961418087860551e-05 + ], + "xy_dist": 0.011840999121731829, + "held_xy_dist": 0.01052898534628423, + "held_gripper_dist": 0.006959169255520665, + "max_held_gripper_dist": 0.006961995331009527, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465686105462, + "held_z": 1.0286870228182785, + "required_height": 0.8001465686105462, + "gripper_z": 1.0285974086374, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24045331884535, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7914603892592821, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8461845692659082, + "max_source_tilt_deg": 89.86036097833431, + "source_upright_tilt_deg": 1.8918557997757175, + "max_source_upright_tilt_deg": 89.77569875012388, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8461845692659082, + "source_upright_return_tilt_deg": 1.8918557997757175, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.299587156065733e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3333, + 0.0339, + 0.7701 + ], + "controller_target_position": [ + 0.3333, + 0.0339, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0004, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3351, + 0.0091, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001792861450313224, + 0.0003528163825125708, + -0.0008902867533488723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.891862118581268, + "source_return_step_error_deg": 1.846201000151198, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8880783473049718, + "source_return_best_wrist_position": -1.6099467277526855, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099467277526855 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3333, + 0.0339, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3333, + 0.0339, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0004, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3351, + 0.0091, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001792861450313224, + 0.0003528163825125708, + -0.0008902867533488723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.891862118581268, + "pour_controller_source_return_step_error_deg": 1.846201000151198, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8880783473049718, + "pour_controller_source_return_best_wrist_position": -1.6099467277526855, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099467277526855, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011840999121731829, + "valid_pour_held_xy_dist": 0.01052898534628423, + "valid_pour_held_gripper_dist": 0.006959169255520665, + "valid_pour_required_height": 0.8001465686105462, + "valid_pour_held_z": 1.0286870228182785, + "valid_pour_source_tilt_deg": 1.8461845692659082, + "valid_pour_source_upright_tilt_deg": 1.8918557997757175, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3415096017876891, + 0.0033196545322529804, + 1.0286870228182785 + ], + "valid_pour_held_grasp_finger_b": [ + 0.329917485913374, + 0.02731527971076136, + 1.0286870228182785 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33571354385053154, + 0.01531746712150717, + 1.0286870228182785 + ], + "valid_pour_held_grasp_object_position": [ + 0.3415096017876891, + 0.02731527971076136, + 1.0286870228182785 + ], + "valid_pour_held_grasp_finger_gap": 0.02664896204641023, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024222355533880188, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02068731557962477, + -0.9994549254766889, + 0.025727162970199835 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006050819462319649, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037848882062482506, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3415096017876891, + 0.0033196545322529804, + 1.0286870228182785 + ], + "held_grasp_finger_b": [ + 0.329917485913374, + 0.02731527971076136, + 1.0286870228182785 + ], + "held_grasp_midpoint": [ + 0.33571354385053154, + 0.01531746712150717, + 1.0286870228182785 + ], + "held_grasp_object_position": [ + 0.3415096017876891, + 0.02731527971076136, + 1.0286870228182785 + ], + "held_grasp_finger_gap": 0.02664896204641023, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024222355533880188, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02068731557962477, + -0.9994549254766889, + 0.025727162970199835 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006050819462319649, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037848882062482506, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3101816676673411, + 0.22065717169833557, + 0.7611063491046849 + ], + "target_position": [ + 0.3067479657442231, + 0.22007301283629177, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0034830375353890196, + "xy_threshold": 0.08, + "gripper_dist": 0.2169542122981649, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063491046849, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543140117976821, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08626415489734611, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18716446661496447, + "release_required_pad_clearance": 0.05313207744867306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.289961063808518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a84288029fe37054c46cf081373bfb92b18148b0a8793f822ad635fafe3dc2b", + "visual_seed": 6722779601738490333, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3386ce70999b8969418e71f4ef77c3f31636600 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_91_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3330057757239333, + 0.2247510623559216, + 1.0021530114073225 + ], + "current_z": 1.0021530114073225, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1410465033925563, + "gripper_z": 1.0023166603828513, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277672099258969, + 0.2197883154350117, + 1.0023166603828513 + ], + "object_minus_gripper": [ + 0.0052385657980363876, + 0.004962746920909894, + -0.0001636489755287851 + ], + "object_to_gripper_xy": 0.007216053535095014, + "object_to_gripper_z": -0.0001636489755287851, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3330057757239333, + 0.2002019245421964, + 1.0021530114073225 + ], + "finger_b": [ + 0.320989898828003, + 0.2247510623559216, + 1.0021530114073225 + ], + "finger_midpoint": [ + 0.32699783727596815, + 0.212476493449059, + 1.0021530114073225 + ], + "object_minus_finger_midpoint": [ + 0.006007938447965155, + 0.012274568906862598, + 0.0 + ], + "finger_gap": 0.02733205928896365, + "fingertip_max_gap": 0.09172983323010889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013666029644481825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021530114073225, + "object_top_z": 1.052148429199621, + "finger_top_clearance": 0.04999541779229855, + "fingertip_min_top_clearance": 0.014998625337689597, + "object_projection_between_fingers": 0.8067292053421671, + "object_to_finger_line_xy": 0.010792432972295594, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048364916615054446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2885653386555005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3322335592514699, + 0.03187054288261391, + 0.7701464494012563 + ], + "gripper_position": [ + 0.33530609150610197, + 0.021564275801894642, + 1.0302567416416994 + ], + "target_minus_gripper": [ + -0.0030725322546320544, + 0.010306267080719266, + -0.26011029224044313 + ], + "held_position": [ + 0.3405757315621665, + 0.026485586470628222, + 1.0300386509483963 + ], + "held_minus_target": [ + 0.00834217231069656, + -0.005384956411985685, + 0.25989220154714 + ], + "held_minus_gripper": [ + 0.005269640056064506, + 0.004921310668733581, + -0.00021809069330314124 + ], + "xy_dist": 0.01075451512597718, + "held_xy_dist": 0.009929229296392452, + "held_gripper_dist": 0.007213596091352492, + "max_held_gripper_dist": 0.007218342110603151, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0300386509483963, + "required_height": 0.8001464494012563, + "gripper_z": 1.0302567416416994, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2269363744779, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7368982928510558, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9742128599485964, + "max_source_tilt_deg": 89.92188936008692, + "source_upright_tilt_deg": 2.9821760495336833, + "max_source_upright_tilt_deg": 89.80166871121506, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9742128599485964, + "source_upright_return_tilt_deg": 2.9821760495336833, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3322, + 0.0319, + 0.7701 + ], + "controller_target_position": [ + 0.3322, + 0.0319, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.0017, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3332, + 0.0084, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000988474803944045, + 0.0017367100339843477, + 0.0014472641007637365 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.982192880909658, + "source_return_step_error_deg": 2.974227396848666, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.97441412477482, + "source_return_best_wrist_position": -1.6331822872161865, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6331822872161865 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3322, + 0.0319, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3322, + 0.0319, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.0017, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3332, + 0.0084, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000988474803944045, + 0.0017367100339843477, + 0.0014472641007637365 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.982192880909658, + "pour_controller_source_return_step_error_deg": 2.974227396848666, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.97441412477482, + "pour_controller_source_return_best_wrist_position": -1.6331822872161865, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6331822872161865, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01075451512597718, + "valid_pour_held_xy_dist": 0.009929229296392452, + "valid_pour_held_gripper_dist": 0.007213596091352492, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0300386509483963, + "valid_pour_source_tilt_deg": 2.9742128599485964, + "valid_pour_source_upright_tilt_deg": 2.9821760495336833, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3405757315621665, + 0.0026015785182808377, + 1.0300386509483963 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32899446092814083, + 0.026485586470628222, + 1.0300386509483963 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3347850962451536, + 0.01454358249445453, + 1.0300386509483963 + ], + "valid_pour_held_grasp_object_position": [ + 0.3405757315621665, + 0.026485586470628222, + 1.0300386509483963 + ], + "valid_pour_held_grasp_finger_gap": 0.02654376886137946, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02405440058926975, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017505577127613702, + -0.9986457804962271, + 0.0489914264592337 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006027020825255572, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03789578660177989, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3405757315621665, + 0.0026015785182808377, + 1.0300386509483963 + ], + "held_grasp_finger_b": [ + 0.32899446092814083, + 0.026485586470628222, + 1.0300386509483963 + ], + "held_grasp_midpoint": [ + 0.3347850962451536, + 0.01454358249445453, + 1.0300386509483963 + ], + "held_grasp_object_position": [ + 0.3405757315621665, + 0.026485586470628222, + 1.0300386509483963 + ], + "held_grasp_finger_gap": 0.02654376886137946, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02405440058926975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017505577127613702, + -0.9986457804962271, + 0.0489914264592337 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006027020825255572, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03789578660177989, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30781316097570044, + 0.2232526741703156, + 0.7611064412812171 + ], + "target_position": [ + 0.30864527125061464, + 0.22129200984522046, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002129932418016729, + "xy_threshold": 0.08, + "gripper_dist": 0.21414664888040333, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064412812171, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515941749077432, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08882374652627194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18536698308270902, + "release_required_pad_clearance": 0.05441187326313597, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.849968965617068, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f286ee0f3bb0626e21c153f6ab4c962b59d5ae3aed917d531e38514d8be4421f", + "visual_seed": 1518528832688715514, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4eb11a12fb88ac9c11069cd6e25f46ce777923 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_92_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3337748921803876, + 0.21994663372300163, + 1.0049294064623504 + ], + "current_z": 1.0049294064623504, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1438229580522291, + "gripper_z": 1.0042253898815015, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.328713387613443, + 0.21524223838402648, + 1.0042253898815015 + ], + "object_minus_gripper": [ + 0.005061504566944597, + 0.004704395338975154, + 0.000704016580848954 + ], + "object_to_gripper_xy": 0.0069101493461843615, + "object_to_gripper_z": 0.000704016580848954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3337748921803876, + 0.19523931464086763, + 1.0049294064623504 + ], + "finger_b": [ + 0.3224987164482526, + 0.21994663372300163, + 1.0049294064623504 + ], + "finger_midpoint": [ + 0.32813680431432013, + 0.20759297418193462, + 1.0049294064623504 + ], + "object_minus_finger_midpoint": [ + 0.005638087866067454, + 0.012353659541067014, + 0.0 + ], + "finger_gap": 0.027158861451989705, + "fingertip_max_gap": 0.09148266455272205, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013579430725994853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049294064623504, + "object_top_z": 1.0547638743871128, + "finger_top_clearance": 0.04983446792476243, + "fingertip_min_top_clearance": 0.014950340377428744, + "object_projection_between_fingers": 0.8276145718937027, + "object_to_finger_line_xy": 0.010258311907978135, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824133227636103, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2632483817478692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33456377303664125, + 0.03326363754146553, + 0.7701465686105462 + ], + "gripper_position": [ + 0.3379710411409807, + 0.02055162687793892, + 1.0283847538369553 + ], + "target_minus_gripper": [ + -0.003407268104339445, + 0.012712010663526611, + -0.25823818522640907 + ], + "held_position": [ + 0.3429791063799975, + 0.02532029671964482, + 1.0290466226283699 + ], + "held_minus_target": [ + 0.008415333343356257, + -0.007943340821820712, + 0.2589000540178237 + ], + "held_minus_gripper": [ + 0.005008065239016812, + 0.004768669841705899, + 0.0006618687914146104 + ], + "xy_dist": 0.013160725323646231, + "held_xy_dist": 0.011572143219447596, + "held_gripper_dist": 0.006946869783902137, + "max_held_gripper_dist": 0.006954095345072351, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465686105462, + "held_z": 1.0290466226283699, + "required_height": 0.8001465686105462, + "gripper_z": 1.0283847538369553, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23116426157414, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8630280996542818, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.707474851519922, + "max_source_tilt_deg": 89.72002641010671, + "source_upright_tilt_deg": 2.504401070710609, + "max_source_upright_tilt_deg": 89.74255348374625, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.707474851519922, + "source_upright_return_tilt_deg": 2.504401070710609, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.6743097494724565e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3346, + 0.0333, + 0.7701 + ], + "controller_target_position": [ + 0.3346, + 0.0333, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0009, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3361, + 0.0071, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015527912466516982, + -0.0009440627935831389, + -0.0009229440411993198 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.504401628749672, + "source_return_step_error_deg": 1.7074765612482572, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5009892594975383, + "source_return_best_wrist_position": -1.60821533203125, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60821533203125 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3346, + 0.0333, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3346, + 0.0333, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0009, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3361, + 0.0071, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015527912466516982, + -0.0009440627935831389, + -0.0009229440411993198 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.504401628749672, + "pour_controller_source_return_step_error_deg": 1.7074765612482572, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5009892594975383, + "pour_controller_source_return_best_wrist_position": -1.60821533203125, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60821533203125, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013160725323646231, + "valid_pour_held_xy_dist": 0.011572143219447596, + "valid_pour_held_gripper_dist": 0.006946869783902137, + "valid_pour_required_height": 0.8001465686105462, + "valid_pour_held_z": 1.0290466226283699, + "valid_pour_source_tilt_deg": 1.707474851519922, + "valid_pour_source_upright_tilt_deg": 2.504401070710609, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3429791063799975, + 0.0011421998107961683, + 1.0290466226283699 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3316411687722317, + 0.02532029671964482, + 1.0290466226283699 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3373101375761146, + 0.013231248265220494, + 1.0290466226283699 + ], + "valid_pour_held_grasp_object_position": [ + 0.3429791063799975, + 0.02532029671964482, + 1.0290466226283699 + ], + "valid_pour_held_grasp_finger_gap": 0.02670447901254145, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02451313826453704, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031587264414941044, + -0.9990448761316792, + 0.030192386487629234 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006058840775537039, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037821815370963144, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3429791063799975, + 0.0011421998107961683, + 1.0290466226283699 + ], + "held_grasp_finger_b": [ + 0.3316411687722317, + 0.02532029671964482, + 1.0290466226283699 + ], + "held_grasp_midpoint": [ + 0.3373101375761146, + 0.013231248265220494, + 1.0290466226283699 + ], + "held_grasp_object_position": [ + 0.3429791063799975, + 0.02532029671964482, + 1.0290466226283699 + ], + "held_grasp_finger_gap": 0.02670447901254145, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02451313826453704, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031587264414941044, + -0.9990448761316792, + 0.030192386487629234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006058840775537039, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037821815370963144, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3068589807270827, + 0.22303199020721917, + 0.7611063708716352 + ], + "target_position": [ + 0.3096158918715682, + 0.2167419411234946, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0068676980520588375, + "xy_threshold": 0.08, + "gripper_dist": 0.2120933233548531, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063708716352, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578558241146753, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08891501636518427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18338599571803282, + "release_required_pad_clearance": 0.05445750818259214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9437833338901327, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80206f1fc40613d54eb0b5148e7142c96f7c2ac72ccbc46547a0f0ec570b5e3e", + "visual_seed": 8780638985331481112, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1da04ea63e3948f22c4db8d6e0ae1f6c6c3dad61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_93_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.332159078712229, + 0.22007717960125706, + 1.00300165463615 + ], + "current_z": 1.00300165463615, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.1418949082028047, + "gripper_z": 1.00304613248838, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3270411420272479, + 0.21531034136755187, + 1.00304613248838 + ], + "object_minus_gripper": [ + 0.005117936684981117, + 0.0047668382337051896, + -4.4477852229940495e-05 + ], + "object_to_gripper_xy": 0.006993999046167301, + "object_to_gripper_z": -4.4477852229940495e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.332159078712229, + 0.1954143207763998, + 1.00300165463615 + ], + "finger_b": [ + 0.3206806727825036, + 0.22007717960125706, + 1.00300165463615 + ], + "finger_midpoint": [ + 0.3264198757473663, + 0.20774575018882843, + 1.00300165463615 + ], + "object_minus_finger_midpoint": [ + 0.0057392029648626885, + 0.012331429412428624, + 0.0 + ], + "finger_gap": 0.02720313232152492, + "fingertip_max_gap": 0.09155344873232177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01360156616076246, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00300165463615, + "object_top_z": 1.05282392805489, + "finger_top_clearance": 0.049822273418739904, + "fingertip_min_top_clearance": 0.014946682025621987, + "object_projection_between_fingers": 0.8219568248703277, + "object_to_finger_line_xy": 0.01040653339598036, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048276724366160886, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.386255287363607, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33217165982787056, + 0.03732264679544427, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3357888147580051, + 0.02379344647971797, + 1.0302337504442234 + ], + "target_minus_gripper": [ + -0.0036171549301345363, + 0.013529200315726297, + -0.2600873606476116 + ], + "held_position": [ + 0.3409202708966746, + 0.02854202457436819, + 1.0301479636720052 + ], + "held_minus_target": [ + 0.008748611068804035, + -0.008780622221076076, + 0.26000157387539347 + ], + "held_minus_gripper": [ + 0.005131456138669499, + 0.0047485780946502215, + -8.57867722181549e-05 + ], + "xy_dist": 0.014004394702079955, + "held_xy_dist": 0.012395060396079377, + "held_gripper_dist": 0.006992009396044061, + "max_held_gripper_dist": 0.006994313206138255, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0301479636720052, + "required_height": 0.8001463897966118, + "gripper_z": 1.0302337504442234, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21539335478057, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6545731999788977, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7471794575525967, + "max_source_tilt_deg": 89.71882062944074, + "source_upright_tilt_deg": 2.1408423018722207, + "max_source_upright_tilt_deg": 89.8717859972658, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7471794575525967, + "source_upright_return_tilt_deg": 2.1408423018722207, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0490512728936019e-07, + "max_target_xy_drift": 2.421438694000244e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3322, + 0.0373, + 0.7701 + ], + "controller_target_position": [ + 0.3322, + 0.0373, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0015, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.334, + 0.0107, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018719828298392944, + -0.001468187622623669, + 0.0014785936721721047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.140820007823086, + "source_return_step_error_deg": 1.747152850974566, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1339941572069523, + "source_return_best_wrist_position": -1.607722282409668, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607722282409668 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3322, + 0.0373, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3322, + 0.0373, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0015, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.334, + 0.0107, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018719828298392944, + -0.001468187622623669, + 0.0014785936721721047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.140820007823086, + "pour_controller_source_return_step_error_deg": 1.747152850974566, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1339941572069523, + "pour_controller_source_return_best_wrist_position": -1.607722282409668, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607722282409668, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.014004394702079955, + "valid_pour_held_xy_dist": 0.012395060396079377, + "valid_pour_held_gripper_dist": 0.006992009396044061, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0301479636720052, + "valid_pour_source_tilt_deg": 1.7471794575525967, + "valid_pour_source_upright_tilt_deg": 2.1408423018722207, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0490512728936019e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3409202708966746, + 0.004243827270058856, + 1.0301479636720052 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3296475711520133, + 0.02854202457436819, + 1.0301479636720052 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33528392102434396, + 0.016392925922213523, + 1.0301479636720052 + ], + "valid_pour_held_grasp_object_position": [ + 0.3409202708966746, + 0.02854202457436819, + 1.0301479636720052 + ], + "valid_pour_held_grasp_finger_gap": 0.026785745309257904, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024526139842361336, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02172523225829382, + -0.9993020271476778, + 0.030388695626253126 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005910387317704483, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03770208216904517, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3409202708966746, + 0.004243827270058856, + 1.0301479636720052 + ], + "held_grasp_finger_b": [ + 0.3296475711520133, + 0.02854202457436819, + 1.0301479636720052 + ], + "held_grasp_midpoint": [ + 0.33528392102434396, + 0.016392925922213523, + 1.0301479636720052 + ], + "held_grasp_object_position": [ + 0.3409202708966746, + 0.02854202457436819, + 1.0301479636720052 + ], + "held_grasp_finger_gap": 0.026785745309257904, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024526139842361336, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02172523225829382, + -0.9993020271476778, + 0.030388695626253126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005910387317704483, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03770208216904517, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3078754477520758, + 0.21521150739835437, + 0.7611063155082095 + ], + "target_position": [ + 0.3079243683030299, + 0.21731881449965468, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0021078748633389837, + "xy_threshold": 0.08, + "gripper_dist": 0.21523222155625696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063155082095, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752726179870793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08880551015387915, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18542035119514727, + "release_required_pad_clearance": 0.05440275507693958, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.831216592368165, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ebad26a4cb4c5e8855267285e5df2e72b5b6addb47cbb4bcdeaf066356e7fdc3", + "visual_seed": 7042395924672023122, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f76cd14de3b863eb2108965f02dc2755b133ea6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_94_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33060575122550395, + 0.2251714418827952, + 1.0026376017755267 + ], + "current_z": 1.0026376017755267, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14153097455147112, + "gripper_z": 1.0025655273696028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3253905023283378, + 0.22026082699258848, + 1.0025655273696028 + ], + "object_minus_gripper": [ + 0.005215248897166125, + 0.0049106148902067215, + 7.207440592393866e-05 + ], + "object_to_gripper_xy": 0.007163306475316581, + "object_to_gripper_z": 7.207440592393866e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33060575122550395, + 0.20057427497625943, + 1.0026376017755267 + ], + "finger_b": [ + 0.3187423644189477, + 0.2251714418827952, + 1.0026376017755267 + ], + "finger_midpoint": [ + 0.3246740578222258, + 0.2128728584295273, + 1.0026376017755267 + ], + "object_minus_finger_midpoint": [ + 0.005931693403278149, + 0.012298583453267897, + 0.0 + ], + "finger_gap": 0.027308617071355904, + "fingertip_max_gap": 0.09171412983689833, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654308535677976, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026376017755267, + "object_top_z": 1.0525095195978875, + "finger_top_clearance": 0.04987191782236078, + "fingertip_min_top_clearance": 0.014961575346708215, + "object_projection_between_fingers": 0.8112799833184932, + "object_to_finger_line_xy": 0.010685480872033401, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835706491844917, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3713190593763493, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32840303695265693, + 0.033962114571265946, + 0.7701463897966115 + ], + "gripper_position": [ + 0.33097320473240366, + 0.023217825996211874, + 1.0297899774416055 + ], + "target_minus_gripper": [ + -0.0025701677797467237, + 0.010744288575054071, + -0.25964358764499396 + ], + "held_position": [ + 0.3362470420496629, + 0.028062420651882858, + 1.0298058273973494 + ], + "held_minus_target": [ + 0.007844005097005946, + -0.005899693919383088, + 0.25965943760073784 + ], + "held_minus_gripper": [ + 0.005273837317259222, + 0.0048445946556709835, + 1.5849955743885147e-05 + ], + "xy_dist": 0.011047420486253144, + "held_xy_dist": 0.009815029511125326, + "held_gripper_dist": 0.007161264458722977, + "max_held_gripper_dist": 0.00716503088996684, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0298058273973494, + "required_height": 0.8001463897966116, + "gripper_z": 1.0297899774416055, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.22809067644762, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0477710253302193, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9696086130168884, + "max_source_tilt_deg": 89.96803967449927, + "source_upright_tilt_deg": 3.012839044480846, + "max_source_upright_tilt_deg": 89.93182426037072, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9696086130168884, + "source_upright_return_tilt_deg": 3.012839044480846, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.9202417088836242e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3284, + 0.034, + 0.7701 + ], + "controller_target_position": [ + 0.3284, + 0.034, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0017, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3285, + 0.0104, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 8.847611771695043e-05, + 0.0016735124224337128, + 0.0009082022661478554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0128412591326326, + "source_return_step_error_deg": 2.9696098531700716, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0041232906347926, + "source_return_best_wrist_position": -1.632822871208191, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.632822871208191 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3284, + 0.034, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3284, + 0.034, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0017, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3285, + 0.0104, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 8.847611771695043e-05, + 0.0016735124224337128, + 0.0009082022661478554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0128412591326326, + "pour_controller_source_return_step_error_deg": 2.9696098531700716, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0041232906347926, + "pour_controller_source_return_best_wrist_position": -1.632822871208191, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.632822871208191, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011047420486253144, + "valid_pour_held_xy_dist": 0.009815029511125326, + "valid_pour_held_gripper_dist": 0.007161264458722977, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0298058273973494, + "valid_pour_source_tilt_deg": 2.9696086130168884, + "valid_pour_source_upright_tilt_deg": 3.012839044480846, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3362470420496629, + 0.004009393029918714, + 1.0298058273973494 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3249750190629497, + 0.028062420651882858, + 1.0298058273973494 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33061103055630625, + 0.016035906840900786, + 1.0298058273973494 + ], + "valid_pour_held_grasp_object_position": [ + 0.3362470420496629, + 0.028062420651882858, + 1.0298058273973494 + ], + "valid_pour_held_grasp_finger_gap": 0.02656325733030422, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02415467752479477, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011967337328206302, + -0.9986177956827228, + 0.051178911507109834 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005812032629730567, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03777780740915097, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362470420496629, + 0.004009393029918714, + 1.0298058273973494 + ], + "held_grasp_finger_b": [ + 0.3249750190629497, + 0.028062420651882858, + 1.0298058273973494 + ], + "held_grasp_midpoint": [ + 0.33061103055630625, + 0.016035906840900786, + 1.0298058273973494 + ], + "held_grasp_object_position": [ + 0.3362470420496629, + 0.028062420651882858, + 1.0298058273973494 + ], + "held_grasp_finger_gap": 0.02656325733030422, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02415467752479477, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011967337328206302, + -0.9986177956827228, + 0.051178911507109834 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005812032629730567, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03777780740915097, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3060630547875769, + 0.2212889781525888, + 0.7611064897740891 + ], + "target_position": [ + 0.3062493149898885, + 0.22246640308305154, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0011920664116735946, + "xy_threshold": 0.08, + "gripper_dist": 0.2173693121662912, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064897740891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546397036364512, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09008675933962727, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18727676320366396, + "release_required_pad_clearance": 0.05504337966981364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.166166970291197, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 207, + "max_placed_release_frames": 207 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bddc36f23932474d3eb6dae67adf26b36fc478fc3cefcdce6f7f9f2d82a01397", + "visual_seed": 3695026914898491694, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b288d0725536917334d08055deabbf0759dcd254 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_95_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3309241052678164, + 0.22354351517447602, + 1.0021866916495776 + ], + "current_z": 1.0021866916495776, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14108018363481167, + "gripper_z": 1.0016886604016746, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32569695636342466, + 0.2185923768401865, + 1.0016886604016746 + ], + "object_minus_gripper": [ + 0.005227148904391743, + 0.0049511383342895066, + 0.0004980312479030413 + ], + "object_to_gripper_xy": 0.007199781696270719, + "object_to_gripper_z": 0.0004980312479030413, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3309241052678164, + 0.19902930128597024, + 1.0021866916495776 + ], + "finger_b": [ + 0.3188882173777626, + 0.22354351517447602, + 1.0021866916495776 + ], + "finger_midpoint": [ + 0.3249061613227895, + 0.21128640823022313, + 1.0021866916495776 + ], + "object_minus_finger_midpoint": [ + 0.006017943945026916, + 0.012257106944252888, + 0.0 + ], + "finger_gap": 0.027309508964339764, + "fingertip_max_gap": 0.09159331005875013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654754482169882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021866916495776, + "object_top_z": 1.0520871136776258, + "finger_top_clearance": 0.04990042202804812, + "fingertip_min_top_clearance": 0.014970126608414418, + "object_projection_between_fingers": 0.8057645550796262, + "object_to_finger_line_xy": 0.01080394123746885, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048296655029375066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.192463721626759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3279111496216481, + 0.04119920995705582, + 0.7701465090059013 + ], + "gripper_position": [ + 0.3295590884208029, + 0.028734889900448146, + 1.0279637651911218 + ], + "target_minus_gripper": [ + -0.0016479387991548133, + 0.012464320056607671, + -0.25781725618522044 + ], + "held_position": [ + 0.33483577093227257, + 0.03363938897322078, + 1.0284034313017951 + ], + "held_minus_target": [ + 0.00692462131062449, + -0.007559820983835036, + 0.2582569222958938 + ], + "held_minus_gripper": [ + 0.005276682511469677, + 0.004904499072772635, + 0.0004396661106733646 + ], + "xy_dist": 0.01257278715159499, + "held_xy_dist": 0.010251891220803475, + "held_gripper_dist": 0.007217395359168861, + "max_held_gripper_dist": 0.007221240502325513, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0284034313017951, + "required_height": 0.8001465090059013, + "gripper_z": 1.0279637651911218, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23801494131166, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5390639249811271, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.947843146042765, + "max_source_tilt_deg": 89.93073573458159, + "source_upright_tilt_deg": 2.9663629199061985, + "max_source_upright_tilt_deg": 89.97886169143585, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.947843146042765, + "source_upright_return_tilt_deg": 2.9663629199061985, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.3181422660465637e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3279, + 0.0412, + 0.7701 + ], + "controller_target_position": [ + 0.3279, + 0.0412, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + -0.0003, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3268, + 0.0157, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011495498553188554, + -0.0002934011787393178, + -0.001601484227852826 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9663605070938273, + "source_return_step_error_deg": 2.947852129941434, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.958921321611123, + "source_return_best_wrist_position": -1.6332405805587769, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6332405805587769 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3279, + 0.0412, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3279, + 0.0412, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + -0.0003, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3268, + 0.0157, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011495498553188554, + -0.0002934011787393178, + -0.001601484227852826 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9663605070938273, + "pour_controller_source_return_step_error_deg": 2.947852129941434, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.958921321611123, + "pour_controller_source_return_best_wrist_position": -1.6332405805587769, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6332405805587769, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01257278715159499, + "valid_pour_held_xy_dist": 0.010251891220803475, + "valid_pour_held_gripper_dist": 0.007217395359168861, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0284034313017951, + "valid_pour_source_tilt_deg": 2.947843146042765, + "valid_pour_source_upright_tilt_deg": 2.9663629199061985, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33483577093227257, + 0.009642167536218956, + 1.0284034313017951 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32341431473580556, + 0.03363938897322078, + 1.0284034313017951 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3291250428340391, + 0.02164077825471987, + 1.0284034313017951 + ], + "valid_pour_held_grasp_object_position": [ + 0.33483577093227257, + 0.03363938897322078, + 1.0284034313017951 + ], + "valid_pour_held_grasp_finger_gap": 0.02657661186728501, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024061648986855512, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008456136275557, + -0.9986601015332816, + 0.05105384769853405 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058440496349586694, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037786006966729936, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33483577093227257, + 0.009642167536218956, + 1.0284034313017951 + ], + "held_grasp_finger_b": [ + 0.32341431473580556, + 0.03363938897322078, + 1.0284034313017951 + ], + "held_grasp_midpoint": [ + 0.3291250428340391, + 0.02164077825471987, + 1.0284034313017951 + ], + "held_grasp_object_position": [ + 0.33483577093227257, + 0.03363938897322078, + 1.0284034313017951 + ], + "held_grasp_finger_gap": 0.02657661186728501, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024061648986855512, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008456136275557, + -0.9986601015332816, + 0.05105384769853405 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058440496349586694, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037786006966729936, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31063121344992745, + 0.2223145295216931, + 0.7611064484096839 + ], + "target_position": [ + 0.306569838413182, + 0.22058238582218254, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004415324335182292, + "xy_threshold": 0.08, + "gripper_dist": 0.2174399878562495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064484096839, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580940985015208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524780341124354, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1868861310003467, + "release_required_pad_clearance": 0.05262390170562177, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3090101372540128, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5314975d8ba699f63341ff3ffa8e27f31ff97d34ddc114019f47ca95748f40b", + "visual_seed": 513778407484701289, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b903c37ca806edb9cc271a6d4dfdfa8816996b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_96_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3361533693785608, + 0.22534937674860703, + 1.0035711856521208 + ], + "current_z": 1.0035711856521208, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1424646776373547, + "gripper_z": 1.0031327398606151, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33082283276391944, + 0.22051458857671957, + 1.0031327398606151 + ], + "object_minus_gripper": [ + 0.005330536614641335, + 0.004834788171887455, + 0.00043844579150564833 + ], + "object_to_gripper_xy": 0.00719651285464389, + "object_to_gripper_z": 0.00043844579150564833, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3361533693785608, + 0.2004720479572814, + 1.0035711856521208 + ], + "finger_b": [ + 0.32463842325005565, + 0.22534937674860703, + 1.0035711856521208 + ], + "finger_midpoint": [ + 0.3303958963143082, + 0.21291071235294423, + 1.0035711856521208 + ], + "object_minus_finger_midpoint": [ + 0.005757473064252561, + 0.012438664395662796, + 0.0 + ], + "finger_gap": 0.027413052951725272, + "fingertip_max_gap": 0.09167704475775387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013706526475862624, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035711856521208, + "object_top_z": 1.0537096501446013, + "finger_top_clearance": 0.050138464492480495, + "fingertip_min_top_clearance": 0.01504153934774418, + "object_projection_between_fingers": 0.8235551401753337, + "object_to_finger_line_xy": 0.010449806570529952, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833852237887694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0202684252480188, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3347319773441974, + 0.03513391581051804, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3376416821939439, + 0.023300952956702828, + 1.028413932666762 + ], + "target_minus_gripper": [ + -0.0029097048497465083, + 0.011832962853815215, + -0.2582675428701502 + ], + "held_position": [ + 0.34294814893974335, + 0.028166085849070547, + 1.0288102452847168 + ], + "held_minus_target": [ + 0.00821617159554594, + -0.006967829961447496, + 0.2586638554881049 + ], + "held_minus_gripper": [ + 0.005306466745799432, + 0.004865132892367719, + 0.0003963126179546972 + ], + "xy_dist": 0.012185458227428671, + "held_xy_dist": 0.010772935071701737, + "held_gripper_dist": 0.007210074276720289, + "max_held_gripper_dist": 0.007214128287566782, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0288102452847168, + "required_height": 0.8001463897966119, + "gripper_z": 1.028413932666762, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21615833596762, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.628215000209479, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5916571506496504, + "max_source_tilt_deg": 89.87014200517737, + "source_upright_tilt_deg": 2.161066830655469, + "max_source_upright_tilt_deg": 89.99405411733426, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5916571506496504, + "source_upright_return_tilt_deg": 2.161066830655469, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.3662219659158773e-07, + "max_target_xy_drift": 2.4959444999694824e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3347, + 0.0351, + 0.7701 + ], + "controller_target_position": [ + 0.3347, + 0.0351, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0005, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3347, + 0.0104, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -1.9332057591341795e-05, + 0.00046627326482421997, + -0.000643495628151268 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.161052263605249, + "source_return_step_error_deg": 1.5916505152417897, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1561713777247555, + "source_return_best_wrist_position": -1.6054109334945679, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6054109334945679 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3347, + 0.0351, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3347, + 0.0351, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0005, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3347, + 0.0104, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -1.9332057591341795e-05, + 0.00046627326482421997, + -0.000643495628151268 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.161052263605249, + "pour_controller_source_return_step_error_deg": 1.5916505152417897, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1561713777247555, + "pour_controller_source_return_best_wrist_position": -1.6054109334945679, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6054109334945679, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012185458227428671, + "valid_pour_held_xy_dist": 0.010772935071701737, + "valid_pour_held_gripper_dist": 0.007210074276720289, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0288102452847168, + "valid_pour_source_tilt_deg": 1.5916571506496504, + "valid_pour_source_upright_tilt_deg": 2.161066830655469, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.3662219659158773e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34294814893974335, + 0.003705732038156797, + 1.0288102452847168 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33146043712183604, + 0.028166085849070547, + 1.0288102452847168 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3372042930307897, + 0.015935908943613672, + 1.0288102452847168 + ], + "valid_pour_held_grasp_object_position": [ + 0.34294814893974335, + 0.028166085849070547, + 1.0288102452847168 + ], + "valid_pour_held_grasp_finger_gap": 0.027023627279963176, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02468970789192519, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021479542981209267, + -0.9992887789411582, + 0.03099299139494948 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006017059755823998, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03762214692388095, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34294814893974335, + 0.003705732038156797, + 1.0288102452847168 + ], + "held_grasp_finger_b": [ + 0.33146043712183604, + 0.028166085849070547, + 1.0288102452847168 + ], + "held_grasp_midpoint": [ + 0.3372042930307897, + 0.015935908943613672, + 1.0288102452847168 + ], + "held_grasp_object_position": [ + 0.34294814893974335, + 0.028166085849070547, + 1.0288102452847168 + ], + "held_grasp_finger_gap": 0.027023627279963176, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02468970789192519, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021479542981209267, + -0.9992887789411582, + 0.03099299139494948 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006017059755823998, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03762214692388095, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3103362494994122, + 0.21948401154372288, + 0.7611069906829443 + ], + "target_position": [ + 0.31156204500216883, + 0.2231358542575201, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038520812323849488, + "xy_threshold": 0.08, + "gripper_dist": 0.2153392778570665, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069906829443, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535922433452465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870760633224698, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18527739928528555, + "release_required_pad_clearance": 0.0535380316612349, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.086854776087349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 204, + "max_placed_release_frames": 204 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2872c075d346a5d7d134538334f8034f93c140bedc2b7612529a3c9e2f3491bd", + "visual_seed": 8003891899242867890, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f898f4a8c69801327a335fbffccf5f97093d369 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_97_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3346305346502044, + 0.22208228935102547, + 1.0054109909024949 + ], + "current_z": 1.0054109909024949, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14430454249237368, + "gripper_z": 1.0049942175661326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3294078490163376, + 0.21714251974883791, + 1.0049942175661326 + ], + "object_minus_gripper": [ + 0.005222685633866853, + 0.00493976960218756, + 0.0004167733363622528 + ], + "object_to_gripper_xy": 0.007188725127092804, + "object_to_gripper_z": 0.0004167733363622528, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3346305346502044, + 0.19755572591343726, + 1.0054109909024949 + ], + "finger_b": [ + 0.32264822339956944, + 0.22208228935102547, + 1.0054109909024949 + ], + "finger_midpoint": [ + 0.32863937902488694, + 0.20981900763223138, + 1.0054109909024949 + ], + "object_minus_finger_midpoint": [ + 0.00599115562531749, + 0.012263281718794095, + 0.0 + ], + "finger_gap": 0.027297034581894287, + "fingertip_max_gap": 0.09134550979257675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013648517290947133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0054109909024949, + "object_top_z": 1.0553812101072855, + "finger_top_clearance": 0.04997021920479061, + "fingertip_min_top_clearance": 0.0149910657614372, + "object_projection_between_fingers": 0.8073139591811527, + "object_to_finger_line_xy": 0.01076618473468013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048172754896288375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1441908769746234, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33623851454321796, + 0.04147078734510399, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33938382024453884, + 0.028129500566846447, + 1.0293869724094413 + ], + "target_minus_gripper": [ + -0.0031453057013208774, + 0.013341286778257543, + -0.2592405230081848 + ], + "held_position": [ + 0.3446288211864812, + 0.03304886371466403, + 1.0297601805635648 + ], + "held_minus_target": [ + 0.008390306643263234, + -0.008421923630439962, + 0.25961373116230824 + ], + "held_minus_gripper": [ + 0.005245000941942357, + 0.004919363147817581, + 0.00037320815412345 + ], + "xy_dist": 0.013707037639638665, + "held_xy_dist": 0.011888063055222671, + "held_gripper_dist": 0.007200656427533961, + "max_held_gripper_dist": 0.007204185017144075, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0297601805635648, + "required_height": 0.8001464494012566, + "gripper_z": 1.0293869724094413, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.23120524270915, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6523481126229083, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.801677286442605, + "max_source_tilt_deg": 89.88021436811034, + "source_upright_tilt_deg": 1.7484133784872247, + "max_source_upright_tilt_deg": 89.6749731462512, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.801677286442605, + "source_upright_return_tilt_deg": 1.7484133784872247, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.2605580922729247e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3362, + 0.0415, + 0.7701 + ], + "controller_target_position": [ + 0.3362, + 0.0415, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0015, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3381, + 0.0148, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001852058693094539, + -0.0014975153778459668, + 0.00015146766103200059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7484341283285976, + "source_return_step_error_deg": 1.801695988747555, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.7899576606388583, + "source_return_best_wrist_position": -1.6097803115844727, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097803115844727 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3362, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3362, + 0.0415, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0015, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3381, + 0.0148, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001852058693094539, + -0.0014975153778459668, + 0.00015146766103200059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7484341283285976, + "pour_controller_source_return_step_error_deg": 1.801695988747555, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.7899576606388583, + "pour_controller_source_return_best_wrist_position": -1.6097803115844727, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097803115844727, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013707037639638665, + "valid_pour_held_xy_dist": 0.011888063055222671, + "valid_pour_held_gripper_dist": 0.007200656427533961, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0297601805635648, + "valid_pour_source_tilt_deg": 1.801677286442605, + "valid_pour_source_upright_tilt_deg": 1.7484133784872247, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3446288211864812, + 0.008852198636906712, + 1.0297601805635648 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3329461518677285, + 0.03304886371466403, + 1.0297601805635648 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3387874865271049, + 0.02095053117578537, + 1.0297601805635648 + ], + "valid_pour_held_grasp_object_position": [ + 0.3446288211864812, + 0.03304886371466403, + 1.0297601805635648 + ], + "valid_pour_held_grasp_finger_gap": 0.026869375937979754, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024351658111895408, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014231161474442545, + -0.9995344433064065, + 0.02698834354384716 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006021714270873318, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03771067896767504, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3446288211864812, + 0.008852198636906712, + 1.0297601805635648 + ], + "held_grasp_finger_b": [ + 0.3329461518677285, + 0.03304886371466403, + 1.0297601805635648 + ], + "held_grasp_midpoint": [ + 0.3387874865271049, + 0.02095053117578537, + 1.0297601805635648 + ], + "held_grasp_object_position": [ + 0.3446288211864812, + 0.03304886371466403, + 1.0297601805635648 + ], + "held_grasp_finger_gap": 0.026869375937979754, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024351658111895408, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014231161474442545, + -0.9995344433064065, + 0.02698834354384716 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006021714270873318, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03771067896767504, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3016551245804237, + 0.2234769540495099, + 0.7611123245694109 + ], + "target_position": [ + 0.3104014681994384, + 0.21729154728159256, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010712505943357846, + "xy_threshold": 0.08, + "gripper_dist": 0.20979445270837763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611123245694109, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575952424766132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08955004445334012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18177847696824728, + "release_required_pad_clearance": 0.054775022226670064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5814271241060185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f5131f4c7c32d95734b6f7214aafcd7e7d4c8bb94ba4bbcabc02678ffb396ae", + "visual_seed": 9088306556667660790, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c28851eb0828689d7e0b8be796307c556e8b5ea4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_98_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33958302413070557, + 0.21966798757926434, + 1.0047471178470795 + ], + "current_z": 1.0047471178470795, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14364060983231342, + "gripper_z": 1.0039842573819626, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344883577813479, + 0.21486508485300249, + 1.0039842573819626 + ], + "object_minus_gripper": [ + 0.005094666349357679, + 0.004802902726261854, + 0.0007628604651168658 + ], + "object_to_gripper_xy": 0.007001678356595014, + "object_to_gripper_z": 0.0007628604651168658, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33958302413070557, + 0.19505402524117885, + 1.0047471178470795 + ], + "finger_b": [ + 0.3280056876329773, + 0.21966798757926434, + 1.0047471178470795 + ], + "finger_midpoint": [ + 0.3337943558818415, + 0.2073610064102216, + 1.0047471178470795 + ], + "object_minus_finger_midpoint": [ + 0.005788668248864093, + 0.012306981169042747, + 0.0 + ], + "finger_gap": 0.027200769517833893, + "fingertip_max_gap": 0.09165565487948094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600384758916935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0047471178470795, + "object_top_z": 1.05461702345599, + "finger_top_clearance": 0.04986990560891047, + "fingertip_min_top_clearance": 0.014960971682673158, + "object_projection_between_fingers": 0.8188430786049011, + "object_to_finger_line_xy": 0.010476325838634545, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832782743974047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3047440180767298, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32822294151846815, + 0.0403067570614145, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3307584101669628, + 0.028690556962450292, + 1.030043391354881 + ], + "target_minus_gripper": [ + -0.002535468648494632, + 0.011616200098964205, + -0.25989694195362467 + ], + "held_position": [ + 0.33585081198452915, + 0.0335089557996394, + 1.0307473862877088 + ], + "held_minus_target": [ + 0.007627870466061004, + -0.006797801261775094, + 0.26060093688645247 + ], + "held_minus_gripper": [ + 0.005092401817566372, + 0.004818398837189111, + 0.0007039949328278006 + ], + "xy_dist": 0.011889689062657409, + "held_xy_dist": 0.010217363155021787, + "held_gripper_dist": 0.007045930207660723, + "max_held_gripper_dist": 0.0070525637433065365, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0307473862877088, + "required_height": 0.8001464494012563, + "gripper_z": 1.030043391354881, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.21943682676923, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3339495682432168, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9177226243751537, + "max_source_tilt_deg": 89.78005301569516, + "source_upright_tilt_deg": 3.122187781165216, + "max_source_upright_tilt_deg": 89.88361357072765, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9177226243751537, + "source_upright_return_tilt_deg": 3.122187781165216, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3282, + 0.0403, + 0.7701 + ], + "controller_target_position": [ + 0.3282, + 0.0403, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3274, + 0.0157, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008586357795584601, + 0.000629671834939091, + 0.0011968340451911082 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1221501896011215, + "source_return_step_error_deg": 2.9176946794770626, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1105251018739843, + "source_return_best_wrist_position": -1.632173776626587, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.632173776626587 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3282, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3282, + 0.0403, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3274, + 0.0157, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008586357795584601, + 0.000629671834939091, + 0.0011968340451911082 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1221501896011215, + "pour_controller_source_return_step_error_deg": 2.9176946794770626, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1105251018739843, + "pour_controller_source_return_best_wrist_position": -1.632173776626587, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.632173776626587, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011889689062657409, + "valid_pour_held_xy_dist": 0.010217363155021787, + "valid_pour_held_gripper_dist": 0.007045930207660723, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0307473862877088, + "valid_pour_source_tilt_deg": 2.9177226243751537, + "valid_pour_source_upright_tilt_deg": 3.122187781165216, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33585081198452915, + 0.009528468249821898, + 1.0307473862877088 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32466886663997296, + 0.0335089557996394, + 1.0307473862877088 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33025983931225106, + 0.02151871202473065, + 1.0307473862877088 + ], + "valid_pour_held_grasp_object_position": [ + 0.33585081198452915, + 0.0335089557996394, + 1.0307473862877088 + ], + "valid_pour_held_grasp_finger_gap": 0.026459396909521468, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024165340638762536, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019714648212932555, + -0.9985156669652697, + 0.050771994945469454 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005857696276526652, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03785802786951795, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33585081198452915, + 0.009528468249821898, + 1.0307473862877088 + ], + "held_grasp_finger_b": [ + 0.32466886663997296, + 0.0335089557996394, + 1.0307473862877088 + ], + "held_grasp_midpoint": [ + 0.33025983931225106, + 0.02151871202473065, + 1.0307473862877088 + ], + "held_grasp_object_position": [ + 0.33585081198452915, + 0.0335089557996394, + 1.0307473862877088 + ], + "held_grasp_finger_gap": 0.026459396909521468, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024165340638762536, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019714648212932555, + -0.9985156669652697, + 0.050771994945469454 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005857696276526652, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03785802786951795, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3181656765663009, + 0.2182154427183273, + 0.7611063717409603 + ], + "target_position": [ + 0.31532091702626347, + 0.21807333225707914, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028483069047822345, + "xy_threshold": 0.08, + "gripper_dist": 0.21542461283502862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063717409603, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534698409275038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573541459053811, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18578321404450096, + "release_required_pad_clearance": 0.05286770729526906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7773241526832947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1cb9a38f7fa1c08ec5ef056b587d4a05b97f0942c406db980c7566786fbaaf7", + "visual_seed": 9115128996978718743, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5952e36f254bdd44d94449eea468a260ae5957 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33091561674490017, + 0.22022655026079832, + 1.0032535205721391 + ], + "current_z": 1.0032535205721391, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1421468933480836, + "gripper_z": 1.0036439081854849, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32533430681144593, + 0.21530358659039464, + 1.0036439081854849 + ], + "object_minus_gripper": [ + 0.005581309933454237, + 0.0049229636704036794, + -0.0003903876133457551 + ], + "object_to_gripper_xy": 0.0074422168655172505, + "object_to_gripper_z": -0.0003903876133457551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33091561674490017, + 0.19535507123924442, + 1.0032535205721391 + ], + "finger_b": [ + 0.31906100923885206, + 0.22022655026079832, + 1.0032535205721391 + ], + "finger_midpoint": [ + 0.32498831299187614, + 0.20779081075002137, + 1.0032535205721391 + ], + "object_minus_finger_midpoint": [ + 0.005927303753024027, + 0.01243573951077695, + 0.0 + ], + "finger_gap": 0.027552172107513553, + "fingertip_max_gap": 0.09360582854449731, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013776086053756765, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032535205721391, + "object_top_z": 1.0534023789810214, + "finger_top_clearance": 0.05014885840888228, + "fingertip_min_top_clearance": 0.0150446575226647, + "object_projection_between_fingers": 0.8148760221039766, + "object_to_finger_line_xy": 0.010701211532248915, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930291427224866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9254441259570028, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33112059152190126, + 0.03352940347664811, + 0.770146330191967 + ], + "gripper_position": [ + 0.3328060989496412, + 0.020152579427434994, + 1.0304465492746484 + ], + "target_minus_gripper": [ + -0.0016855074277399296, + 0.013376824049213115, + -0.2603002190826814 + ], + "held_position": [ + 0.33828814194219087, + 0.025181889213160537, + 1.030029763479972 + ], + "held_minus_target": [ + 0.007167550420289603, + -0.008347514263487572, + 0.259883433288005 + ], + "held_minus_gripper": [ + 0.005482042992549674, + 0.005029309785725543, + -0.00041678579467641086 + ], + "xy_dist": 0.013482594592012802, + "held_xy_dist": 0.011002489418605325, + "held_gripper_dist": 0.007451205452247423, + "max_held_gripper_dist": 0.0074532438925710804, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.030029763479972, + "required_height": 0.800146330191967, + "gripper_z": 1.0304465492746484, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24441482856396, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.398863419436883, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 0.8763383372691449, + "max_source_tilt_deg": 89.75350689482714, + "source_upright_tilt_deg": 4.1486791375767185, + "max_source_upright_tilt_deg": 89.93799764979202, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 0.8763383372691449, + "source_upright_return_tilt_deg": 4.1486791375767185, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.548668278736097e-08, + "max_target_xy_drift": 1.2383438750054435e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3311, + 0.0335, + 0.7701 + ], + "controller_target_position": [ + 0.3311, + 0.0335, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0014, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3307, + 0.0069, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00040831543016327785, + -0.0014448377647372599, + 0.0014126785823490272 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.14867957625821, + "source_return_step_error_deg": 0.8763415730298548, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.149946177646312, + "source_return_best_wrist_position": -1.5851631164550781, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5851631164550781 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3311, + 0.0335, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3311, + 0.0335, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0014, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3307, + 0.0069, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00040831543016327785, + -0.0014448377647372599, + 0.0014126785823490272 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.14867957625821, + "pour_controller_source_return_step_error_deg": 0.8763415730298548, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.149946177646312, + "pour_controller_source_return_best_wrist_position": -1.5851631164550781, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5851631164550781, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013482594592012802, + "valid_pour_held_xy_dist": 0.011002489418605325, + "valid_pour_held_gripper_dist": 0.007451205452247423, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.030029763479972, + "valid_pour_source_tilt_deg": 0.8763383372691449, + "valid_pour_source_upright_tilt_deg": 4.1486791375767185, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.548668278736097e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33828814194219087, + 0.0007358697102547021, + 1.030029763479972 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3259795619005783, + 0.025181889213160537, + 1.030029763479972 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33213385192138456, + 0.01295887946170762, + 1.030029763479972 + ], + "valid_pour_held_grasp_object_position": [ + 0.33828814194219087, + 0.025181889213160537, + 1.030029763479972 + ], + "valid_pour_held_grasp_finger_gap": 0.02736985590347957, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.025254559250580684, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07089331959865947, + -0.9973796817509183, + 0.014419003665975816 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.007007472314173915, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037965566543500445, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33828814194219087, + 0.0007358697102547021, + 1.030029763479972 + ], + "held_grasp_finger_b": [ + 0.3259795619005783, + 0.025181889213160537, + 1.030029763479972 + ], + "held_grasp_midpoint": [ + 0.33213385192138456, + 0.01295887946170762, + 1.030029763479972 + ], + "held_grasp_object_position": [ + 0.33828814194219087, + 0.025181889213160537, + 1.030029763479972 + ], + "held_grasp_finger_gap": 0.02736985590347957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025254559250580684, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07089331959865947, + -0.9973796817509183, + 0.014419003665975816 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.007007472314173915, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037965566543500445, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2985826384665465, + 0.21990083386291545, + 0.7611079231642006 + ], + "target_position": [ + 0.306332816434486, + 0.2182554234540864, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00792291827221626, + "xy_threshold": 0.08, + "gripper_dist": 0.2106681862418961, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079231642006, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534449181002577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087242161149071, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18228135611396523, + "release_required_pad_clearance": 0.053621080574535504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.246526483771398, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e9ff63a2d9a9ffaf051fd6bb345c509324260b9031f6f59df10f11f05fce5e6", + "visual_seed": 4489739401928555816, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b18b1c62260ad6d56e4382316756047ab7ed6a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33706585130870287, + 0.22106737743923094, + 1.0054880233181387 + ], + "current_z": 1.0054880233181387, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.14438121728014885, + "gripper_z": 1.0054251195048607, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3319049605639204, + 0.21619000603714322, + 1.0054251195048607 + ], + "object_minus_gripper": [ + 0.005160890744782487, + 0.004877371402087716, + 6.290381327800354e-05 + ], + "object_to_gripper_xy": 0.007100953814346677, + "object_to_gripper_z": 6.290381327800354e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33706585130870287, + 0.19654919363118223, + 1.0054880233181387 + ], + "finger_b": [ + 0.3252164168638899, + 0.22106737743923094, + 1.0054880233181387 + ], + "finger_midpoint": [ + 0.3311411340862964, + 0.20880828553520658, + 1.0054880233181387 + ], + "object_minus_finger_midpoint": [ + 0.00592471722240645, + 0.012259091904024355, + 0.0 + ], + "finger_gap": 0.027231423648189635, + "fingertip_max_gap": 0.0916980514206178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013615711824094805, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0054880233181387, + "object_top_z": 1.0555552503564694, + "finger_top_clearance": 0.050067227038330664, + "fingertip_min_top_clearance": 0.015020168111499164, + "object_projection_between_fingers": 0.8106546901710876, + "object_to_finger_line_xy": 0.010668799967741008, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483490257103089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3018727824471414, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 178, + "max_stable_success_frames": 178, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3301765433556262, + 0.03269135844581581, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3314837379978043, + 0.02148175419037736, + 1.0285553985905809 + ], + "target_minus_gripper": [ + -0.0013071946421781, + 0.011209604255438453, + -0.2584090087939691 + ], + "held_position": [ + 0.33666883674943343, + 0.026331188201957838, + 1.028577179278057 + ], + "held_minus_target": [ + 0.006492293393807247, + -0.006360170243857974, + 0.25843078948144516 + ], + "held_minus_gripper": [ + 0.005185098751629147, + 0.004849434011580479, + 2.1780687476047333e-05 + ], + "xy_dist": 0.01128556535562499, + "held_xy_dist": 0.00908854438522086, + "held_gripper_dist": 0.0070994882699506314, + "max_held_gripper_dist": 0.007102240855653954, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.028577179278057, + "required_height": 0.8001463897966118, + "gripper_z": 1.0285553985905809, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.24464705499574, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9480453871104983, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7992179467914364, + "max_source_tilt_deg": 89.71788460740373, + "source_upright_tilt_deg": 1.8118345706735757, + "max_source_upright_tilt_deg": 89.89836457040558, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7992179467914364, + "source_upright_return_tilt_deg": 1.8118345706735757, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-09, + "max_target_xy_drift": 1.0803341865539551e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3302, + 0.0327, + 0.7701 + ], + "controller_target_position": [ + 0.3302, + 0.0327, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0005, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3287, + 0.008, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001485165055906091, + 0.0004980385488849003, + -0.0012024191227482848 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.811820526323376, + "source_return_step_error_deg": 1.799212072043897, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8079458440192364, + "source_return_best_wrist_position": -1.6100733280181885, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100733280181885 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3302, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3302, + 0.0327, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0005, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3287, + 0.008, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001485165055906091, + 0.0004980385488849003, + -0.0012024191227482848 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.811820526323376, + "pour_controller_source_return_step_error_deg": 1.799212072043897, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8079458440192364, + "pour_controller_source_return_best_wrist_position": -1.6100733280181885, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100733280181885, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01128556535562499, + "valid_pour_held_xy_dist": 0.00908854438522086, + "valid_pour_held_gripper_dist": 0.0070994882699506314, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.028577179278057, + "valid_pour_source_tilt_deg": 1.7992179467914364, + "valid_pour_source_upright_tilt_deg": 1.8118345706735757, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33666883674943343, + 0.0021629855060955566, + 1.028577179278057 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32510219506086413, + 0.026331188201957838, + 1.028577179278057 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3308855159051488, + 0.014247086854026697, + 1.028577179278057 + ], + "valid_pour_held_grasp_object_position": [ + 0.33666883674943343, + 0.026331188201957838, + 1.028577179278057 + ], + "valid_pour_held_grasp_finger_gap": 0.026793454825759858, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024357876668665533, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017442977424994413, + -0.9995000581050435, + 0.026369990264808907 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060016185109641245, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03774306840561901, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33666883674943343, + 0.0021629855060955566, + 1.028577179278057 + ], + "held_grasp_finger_b": [ + 0.32510219506086413, + 0.026331188201957838, + 1.028577179278057 + ], + "held_grasp_midpoint": [ + 0.3308855159051488, + 0.014247086854026697, + 1.028577179278057 + ], + "held_grasp_object_position": [ + 0.33666883674943343, + 0.026331188201957838, + 1.028577179278057 + ], + "held_grasp_finger_gap": 0.026793454825759858, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024357876668665533, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017442977424994413, + -0.9995000581050435, + 0.026369990264808907 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060016185109641245, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03774306840561901, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3117367822866783, + 0.2246923159205683, + 0.7611114079066724 + ], + "target_position": [ + 0.31288832688908974, + 0.2196390622475129, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005182801139884765, + "xy_threshold": 0.08, + "gripper_dist": 0.2149307830869847, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611114079066724, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575382209793233, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.089002194628357, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18592025081228472, + "release_required_pad_clearance": 0.0545010973141785, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.027843668792081, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 5125611169601523735, + "physical_seed": 7839386756231552205, + "layout_id": "layout_00011", + "step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "workflow_spec_digest": "8c7098812623732904b6ad2cde5253dc2995a88fa88d32c7e65e1b4d3fa8398b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ffe11acdcff9f87a1dba6801f91d0da9f4d3be4d52de719e53404619783dbc24", + "visual_seed": 2747447442806688384, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 833302438968261441, + 2635298924869554144, + 5370397393835884011 + ], + "runtime_workflow_digest": "f3a9b7ff4580c34260ae10ab98a885c8b5e4f60261ce46da95b40bf4908805dc" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..10a141b21e4a1efc30b904448b730bc7d1212679 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00011", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a2ce57b5d963877845975ffc61dd0d29e531f594 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f57297e516533c7aaac38cf69f7c63cde4cebea536a8921e8589ec184e038154 +size 4581161 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..143fa326eeaca89caa2e15b2dc1df0ba65ac0b8d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a14474c3e13b8ba51ee1f6edbdb23d4290294ba0784e654840804f35341d3d2f +size 4564379 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdbd1827f7678a4c82fd71c947ad6b7266e5dca8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06407dbfbf91656ab4460d0e6c17f1e4c115fdd1b0b13b1e8b436e2862e69d71 +size 4642402 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e6f89f313a2c6ea59cc7a9f072657bc717a5a15 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25b3ae83ff0a187af7722de9cacbea43467350c0ee9dfa31a677867bf4e18604 +size 5461972 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d43698c3652b9e80997d3810004e83c6eafbeb71 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72d8ba02e38de8a4ead4fd7d1c631a57ae361a1d658805b4fe75feb34410282b +size 4461673 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35caa8dcfb7dad9b5d1724f28363eb89d0626302 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dad5ec806c5bd4969143611992b9309d67c25e6683e53c1fa09828b1e0ec8044 +size 5083608 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae0a93ab2aaa2bab5af0f1f6626c98d7e15bb9a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c15ac4b237abf292f83c5aa78174b8ce2b7e128a46c2dacdef72fbbef3d7d5a +size 3659899 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..94f6bfe478bb8f5f77742e9b6298410793aa137d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9665a28b32d2d7377c7cec93472f21002949efd76fb1e523d153ae116954ea3e +size 4962756 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dccdbb9146bf9cdaaf91c945eb6c22d35ef3c357 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:346461d272a9c9bfc79597add785ab1939c9d1e494e14b7c935b496d73e57333 +size 5480711 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1bc181c85076ce5777094f584a3b96bd6867db66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6171ff89e9e29bbd897ce774009479a18867044be7e0b07006a6f182d481e162 +size 4722710 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93975b50da65b51f5cf4e26d6e264b912f38a10e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33817dcd75936afe7d84e9127fb04191283b4e992cd5d62010df455debe2f122 +size 5206766 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9659b373e88c6560d4abd2ad5d8a071b7cf7e0e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1b9830b5cd6f1cb9f916b5e024b293d218d224aeb694210e1b00c754348221c +size 3718487 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33c3a012b37d6274fb0916cc86e0cd0ffc8738a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f355975a95c036ec8865f975b78c65a4edfb5be50f27f46e479c9a57f9faaff +size 3976994 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b390711706a73aa3ab93b3628a65016038248bc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c10d1b0e694576c03c50f79afe10ecf9a9c8bb6beb879bc4bf64a919807a32e +size 3859490 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6923d87f0ffe6ee3c8bc0c25f36f5558f600aca1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17452421af78b84ea2101a5656ec54e195e8641faba38e4727e352c24fb65bfe +size 4942092 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e424544256b5a3d38d4492a0308084b768e7870 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18ff2c1b248ee505af6dbd72f8662ca231def05c74ed584fea11ec5035b44197 +size 5659438 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5e58777d27d77010c520c2446ac2f3490da830e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13c818c78b6a8da069d7e00426ecccc9e1f8d541b818b24df1387d6003cf0f5 +size 3882678 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..227f1485b247596675cd6af3c914174f10d038f8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:014625af3a8032310b871626d5e5cb8ecc9c895a111ef8c2e323267054458345 +size 4405994 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab6a6c08c59946a2a4ce5cbe666350b5b01f1032 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87a686200a45e20aa998e66a0f1fa5e5c5fa4f03234c098c017defc8fd080e8c +size 4247066 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6be937d9d449e72b18f8cd6929076ce6579af351 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d63766c1be53610875facec300c93f855416601af4c9b216a39cbbf797d24c3 +size 3712797 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce0b945e3acae4ede3f8a364632175f4cfcbc327 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26e6d29b10cec50fd91d0bc7ca2d555ac50ad99d79797bac3efdb8265e3fcd69 +size 3810493 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e99dd329b16c6e7adc843a3d5fa13bcedef9561d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cfc840a114effe24edb5c7638b11bbcbfbaf95815160ee5b8c24d378e25ecca +size 5020226 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c8040289780960e9345a01077ab4cd710b1d3574 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ca5520d639575d09eaa6e1a3983a333edf50dab2b9f033b81d839e74c6931ff +size 3107268 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db7f85d9a4c54e540e630268dfbe0203deefddee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bde5666863adf2881305e4c6eff6032d7055deebd10ae95d867d67af7f88171 +size 3833946 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eac2ba9fa60ff0a077d7512f455ff72f394cb22c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd7a5fb504e561292c4c3e586e651e832fbc4ed0c93e7e79532479744579b2b +size 4427450 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..717db7519a6037dd29b2ea3e827188c239cc63ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:270d69832ff2a75655a70d62a29d00780382b5b28c63cb3791334f70c5dc7b91 +size 5160422 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63e8c50fe6d539fa321b2bba331b05e8cf4c4ed4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a6ad89d9f817fb0a9c4d223c3d7286a4d704b876d6d93d504f2560061386c89 +size 4533631 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..146d20a83c20e9b49708fbba7b6681d6c21d26ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f42a6bb6879b82e4207858d263455864623e82f1f6ecb2b2f34109612afb29eb +size 3734544 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebe9a75e76dfee18740cee9d7cfae54ef3dd5a46 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bd25406079b3e1fae50a3db57d9e75b3baf98350f316ccaecac6c59c0d20dc2 +size 4009875 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d674254bbc8e8e5a04109e0d84a7496414874685 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d09cd307a6e1e6bb8a4b8aea9c1ac24f15dd0f092c935d3f85e522a0fbc57ce5 +size 4750217 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f41c988737f1e1586304f51f2e61546871846937 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6020112647ff9979e655b082445c84d69fc12c101cbdc3e9d85587e10af05af +size 6276516 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5af75c68f07f91f2f6280b1b2f36bacedf3ba6b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c78e6880fb4e8a4ac4cc206ca2dcb13d66f8c174a837c89268127cd7cbd3f891 +size 4558962 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75669ddf81afd8ed197e0bb2566dc09d04e6951b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da0d6047f22470df2f7c24e8edf6183f365f17ba25dd2f6694fb7ef7eb6e1434 +size 3752107 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a17f65c123245dc7655b336ffc6f26ea568b415 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9fcd7940d38853db84bec4d72fe3275fdb57e759ac22f56c29a21caa1c5df51 +size 4753580 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fab9ded5506f9f9c854d44953db2d9d194fc9b40 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb9526f44966c649c25ca107cb2cd3e6a2eeff7d53057e520b5414d3a57197fc +size 3923188 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a93042bc90cfddf1e27b3df1f23827637986ef91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c8663e2497f3194765a2532fca796923555be64e4d3ebc67d7f777f3f4b94bd +size 5164174 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6db7a98a9fd3bdb68a21c325925bdc17aebe834 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2281b4493bb5fd9286fd80cb46a8d84dcfda25057715a41c3451873f9b318f8 +size 5482818 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c7a307743f5391288ccb4a214f261ee2181f80f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50bd1ded13075a446be68ebfbeda2277472fe564c4c1b61443a4db1918420c09 +size 4540715 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b817c9c3a2f4d730c6a29d520b0a673a837d27d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35c32be0076c2ea0e20ab07e65a3695a944c9b24b7c5f039b900c37ab46137f6 +size 5040883 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc935ac94f97d41bcdb8eda3d1ca96270520563d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca8468303191a9ebeaa5a33c91f8eaf0ae24e6cd8bbbf9275d31e709c73b104c +size 4305916 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7adfd93694f7a8000396c5b589284963d477c2bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4864b497ace0640de4aed92f219afca1a92c4cbbf3c2c49f5966f4272cde0fb7 +size 4633488 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4c1362367c310f251c34ddf1a02acdb65dc729e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b935f20d3ed1fd8e5f3e859eddd50e6129919386c9e863e78d87af5936f5f3aa +size 5067658 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f9b02a7b2efde2748f743ef02ba13250cca5588 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c2c8003eab3b21f97b38e7887938bf18407bc65384d60936e485a4b1cc1856d +size 3698400 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fbc8eace0f2a487d1aeb7bc09eac8dd9804bbfbb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8320e1537f997f64d980d520919e11dadff3926ee25742866873116ea3489c81 +size 4590996 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ed739d9c6d1bc88a4eefb98a577b8019882ab93 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75edf4737308fb800802aad7054c6f948edc2530a97582417d28932f3046f017 +size 4270267 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f83873585081446ca2af41c52be0211a1508215b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9423eeb886765a8b542be50b0cdceff5c94977c7f6f58768f253ada38d37718 +size 4499492 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9831327741a24380b147f0a6c410f454c00649b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:675307f4f30031a1fb4a187454aa81e4406a8e731715f53d6a296072613ff990 +size 5272680 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e07c8a94169faffd3fa536e265625822420a9105 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dd9c83c98a52576efdf0194d5234bb607def4df2b423b0454612b6ddda08c88 +size 3519304 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc1f407aea610db3885efa6ac9ab8ac175061d8d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0ddd12094d41fbaf9d81204d00bd08b0365942aaba0352eb6767e760ff1a0d5 +size 4468999 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88c8cfb99b26b6dd09910e178aff75af27c93b06 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a72c6b85e163d36122619a80b298a7635976f6cbac7f9a46fbae812d8060d9d +size 4245214 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59e5359e3eeff9e4f5be261e3f5fa09a23ebb0d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cd2245dac1c7a611b784997974c8bf550613b064d45230c55c3e83e04209fff +size 6050621 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a074215487b214252b191250bd68370bcbb093d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e21d53d03fa73f5b7187dcfb81e7338b29e0b4fdc14e7d016cee0e2cc17e5975 +size 4418392 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4bea0c9d29dc62e89cfd15e05469c29f33b64294 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cef61ce0f8b54b165238e729f352db928cc5619acdd4e37c47536e53b229ad78 +size 3795500 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b403f05eaaca3e48234508bda562a5fe7619eeec --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6edda06d56a5417954a5608b2af4b36cde6d5970328343009f4f93b548a1016 +size 4759976 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25e31a74f06ad082c1ec74792afcaacb92d2be14 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:509d946da4501ec5598cfac9ceb25c238484d7561fa84e53162f9d407b595565 +size 3784130 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a10a4f7e16ed990adabdafdbd8e43a43e3a8d7ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f41f59b7043f916830a4cbfeb339b72dd4e5faca5e1a6bf05363901624dfbc19 +size 5022474 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9e9fd4fd993d36ceaac880851e8fca72180b62b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9f98afdae99bb3bc0f4b8717138db5d97ac4c6dcd5ac701126babb2398d971b +size 4350324 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f704b4482df3f23d0dfa06d78347b0b5f8489e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19939370c17520a37a65e7eb777ce42b59e45b839a4250158a06b318883f078b +size 3943160 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3abcb92997c8bbdd7969b0245fb019dc2913c09c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2948e9df5ea88f41c2903475eaa24a1f3a62c114a7a94ce583c323fb97ff0d4e +size 3982994 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c3c55dbf60c2785eaf5957e428417854e20d16b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f9a00bb12afd2da0fe353f29141e204f5dea3c192d72013d0b36e3408f15c87 +size 4270104 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..051541349e17955aba7d490f8a97f2ca0d1823fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:badeaf6dd2bf3c5517edc7089bb8ff5bbc2830af9e25d3dadab36a6cc9ea3572 +size 3807709 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f2e5183f1e6318a32689679f0df12ff43c9ff01 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b570ffc08468dcde402976f281a97c366252ca967c7f97bbf47191f4c09c58c +size 5262243 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..223cba232d0a2feb20f779fc59889923b8c41b32 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb7c6e5cb2ba0167f4ed9f383718570c96aa6a6349ff72ec4ae7d372b9759cc2 +size 5905895 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa71eea2e064b2a700e4151c969827092e54d00b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21ae0742c1ff2997e3de53e07f19025a6c4f84c4ac432a57b1d65e132e962fa0 +size 4603220 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5c95b6f07ab4f027138033f5ef950aca452a606 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:028b760a03d124ca6d3b48633f118f1537a29e5d6286c8814127771a051ec7cb +size 5550859 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b871df1a2fe071cd4dbd5a2a79a38e84e75e15d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a081a58472442b091bdc430cf797ea2337bdf290db47b72070e4a0f79318f7a4 +size 4635201 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ee89223ce4f1a20ae96cc657a7734f0e7fb6ab2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd7edf96f576177c734253c874025be057a7be30e6047314cf8c252fc6c0c988 +size 3996071 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6509909860020b058edea64760970f8eada8155 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f2375f38fb0f95fa23a8171a1f8b9c680acbfc5bbbd9f80a77a8fbdaa56c485 +size 5925717 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f3cba47c7e2bfa45273d8e90e8d37118732dbd2b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:725e43a8d48a2f089d9ca8643bfb84bfb57f04f637f1730ef70c99cf155436bb +size 4074174 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ca256717c82a7ab49003d61242cf12578f2b6ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3ecb12eec14163bd0227759b75903eff098ad466da5df0682b9a95299f18da5 +size 4511051 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e6d813a47fd941b9c7cf766a9a471988959c8eb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:299371b1fb3c97ebdbafa0c47ec1b1625efdbc593aec1c5e7971c5e913a5cf44 +size 5324689 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92a5c4d8530ad234915ff0992dfce058c13efdac --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c7dd1f2e8816dc0af5370f97ecd87756951a344dd3d8d62d6b2c474fcefbfa5 +size 4729574 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3dcb760f76f0b6d88d10db9eee537ce5822d97dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fa67289e05781ae8ed71399a3a32a52854f52573c3517e7da8584602f0392f0 +size 4245100 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0072527d24aef3c2e53729ed182d9455250f115c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:047a69014394bd7e9fb88dbf1336cc3ae0b598a495cc28146bfba117acf31ae3 +size 3822709 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f837c3bed8ec9db6d893e3db5802867c64d3e79 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:491a45f76674723cef75113a4c4e941e97365e7041e6815a776c9215b17a7b93 +size 4084969 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bc442d6d4e6071841735233c39e313187b4f1da --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05acc0efb666a1af98557511e71688ba81abf6da832a74d83d1e0149032d5ac4 +size 5375349 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09ec44e9e56f4d600d549af47a09eb83240bf8a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:744c45ac52c6be537ee351a51faa0a4b350f9ac3c1481be3227da9d5e8fd6e4b +size 3923184 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8a99d69cd722245ffeb42fc3379da691d09aa2d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7172f3036a79d049838f3f5106c78b226321c4de3632c7fb93eb87c8d34cffcd +size 3768233 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..044cab5d693d125b925ac9e81c1c549b4920f439 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d88ae91fc747908ef457751c1b57e9dc2f5508a56d64835a1b7eeab1eae5fee6 +size 4679831 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9953c4a875d701956280b7799bdd92e977b5320d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82f56d917a02648a7c545d060d4b9e934918130dbfca1110c7dd1066a9432d53 +size 4270690 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a05a3dbd114750c7b1333c9f66b24c59830c43cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18031b57b984a9d903407909dfa4e14f6d066eaf094f85d7e9016e42a10abc51 +size 3416365 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e925a8ba73ac3756977cd4d9a76a287fe0379ded --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:708fc4a87e3968861cd2ca9f5da2d44a2c87b956e49dcdea41c5f1a92a59a954 +size 5430882 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b68b82aa54f2bb52914df683a65081f337e686d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d5cb83f27693795879c66b70dc2bd282b7ecfdb5e103ee0bd9cf291c24f3851 +size 4072553 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4cdac7d9d07957acde8d9b8f24f107f3c29b0274 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf981daa1c90ee921637a500da8604bcae52605f70d68369a0ccd45dd73d59f6 +size 4135096 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c3d38bbc5c264144ff15390135739f294b68e80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1b02a12b07838468b8bb506d53a40c824109f654c2439b01d961b1eba649e9e +size 4799014 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a586e2d948c9a779f729850ac4cb48a8d0d0946 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df880f15ab9c3139acc1468466a130ecb7fd76726a5259960432b30d66337ee8 +size 4972432 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1638d0e471d9a54a7475dff25d809c32dff79a5b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:604bf403205eba95e6f67f738d5f38b19a38162f21e115d3c71ba59c261a7fd1 +size 4899532 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7ee474a5e28c8163d8281c3863ea07e62a5cea6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10d46fc7fd0859ab1399080381de8fcd4d3a7a30c3ba946e1b97b633c8b3ac84 +size 3810882 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cf2040e4d67a3c1f4bf7001ea5fc4a1d8c38b8e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5decd97296b10240e750e54e9c48ea46cfffeed8554be195eb1a008b40567319 +size 3981403 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..58310951d3da744c87d8a9d33e0ac35019046bdd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb4c2e8f919e9ff1e5c5bd4778c176a509499ca969ca6a72019b6b3c749aac9f +size 3662581 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e356d58e0ed59c553f90afd0b8aaebe52bee5e03 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9bd68a57d49f6268c87b3824b7b76db2aa815cdb905ad4b7050329db2fd62b1 +size 5098909 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3009e8075a5aef9ca789cbe224a8b87b1efa8cbd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f46d5c46afd7651484af33554fdebb608dcbf84b48e72e7877df809856fc926 +size 6131925 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed14db29bb6351016a2769692d109b69839bfd8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6250a9b73fd32290461790a9646aa70ec5c7b61597362e5aba3d47923cf1726 +size 4361930 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b50051ae7360a9f9d5c08ec5e33574397133058f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a1ffcf12ff3f17cdc9a951b0aae23124d989dbd3a71928fc50734ad5b62c568 +size 5323730 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a02ac1a2f7e06abe0b761758ae0bb6d13bbb03a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52bdf437c4f5df9567967c089ffb2a0a306c426c98c702df22928afd0f978e9c +size 4849468 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53b7d63ad89d4fcc96a2d821d629fa9e855402cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d74b29352ab15ffcefeb0ae6dda986c94ee29eda97292d94299b260523413855 +size 4205578 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bcf8f7fd22da5de9208d77a5a19c8799dcf1a15 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cea7e6b90c6b486cb25df4e30917b44bdaff4288ff2a494ad0a1c416de501fd +size 4504507 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d2109712b9096f60c5d5b1c59b7d3ac0eb9a601 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b31ce43ee5749f4aa2f702e4e87c584345c397cde68c78f0b895b0c7953506aa +size 4983646 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5b79a8670ea5503ebcb80ef6580b457734a8bf9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abdde0969869d5756acb6ae3f44ae29d50a331396601bd26c48db81a5da5b6d9 +size 5003087 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a4f6ac975d3d6164bf501e0ccced4986ecd35b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0878d59904776ed5895bc9620ffdf9ce2563597d564f92dd55cb77d51f74331 +size 5015308 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cdbffaa4db0228190c6cdf25cce2cb5131f3e5c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":793,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":803,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":793,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":802,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":791,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":800,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":800,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":793,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":801,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":798,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":794,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":793,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":793,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":795,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":800,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":801,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":799,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":796,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":797,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1da3336d36eb04315504167dd9957adf7ca5900e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T16:57:26","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.43358985065225486,-0.8778088893897624,0.71338606911949],"aabb_xy":[[0.41107615882879767,-0.9478088899907701],[0.45610354247571205,-0.807808888788755]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.5051797558008826,0.8745531728000437,0.71338606911949],"aabb_xy":[[-0.569179756504352,0.8285347903271228],[-0.44117975509741336,0.9205715552729649]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.2803519781467464,-1.7302550969521682,0.71338606911949],"aabb_xy":[[0.26517980886511305,-1.7454239538803715],[0.29552414742837974,-1.7150862400239648]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.002353958246342658,-0.9674767385827356,0.71338606911949],"aabb_xy":[[-0.02763770448752767,-0.9974767379195361],[0.032345620980212986,-0.937476739245935]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.04449299431386833,0.5400408935222933,0.71338606911949],"aabb_xy":[[-0.05464600986801769,0.5039713519495529],[-0.034339978759718934,0.5761104350950336]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.43662179492725334,-0.4932906815133795,0.71338606911949],"aabb_xy":[[-0.5166217923308467,-0.5732832527115622],[-0.3566217975236599,-0.41329811031519664]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.18491483918165497,-1.3856657986678265,0.71338606911949],"aabb_xy":[[-0.2349079512908469,-1.435665799342022],[-0.1349217270724631,-1.3356657979936308]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.18294750557673378,1.051037551837379,0.71338606911949],"aabb_xy":[[0.14835642272268854,0.9860375515523477],[0.21753858843077897,1.1160375521224097]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.626886677144384,-1.818409030334534,0.71338606911949],"aabb_xy":[[0.618850342443099,-1.8264471496389507],[0.6349230118456687,-1.8103709110301172]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.49665740019956917,-1.8377285340857195,0.71338606911949],"aabb_xy":[[0.4616574019294492,-1.8448026617807076],[0.5316573984696891,-1.8306544063907313]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.11948167807373178,1.6886934260223865,0.71338606911949],"aabb_xy":[[-0.1312498648683893,1.6036934261171651],[-0.10771349127907427,1.7736934259276083]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.4521624632900344,-1.5287951169363436,0.71338606911949],"aabb_xy":[[-0.5418495395981497,-1.6187951171907942],[-0.3624753869819189,-1.438795116681893]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.38412112498747986,1.6752665121079668,0.71338606911949],"aabb_xy":[[0.32012112276707283,1.6308934279826786],[0.4481211272078869,1.7196395962332551]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.6363274777886282,-0.8511573561358687,0.71338606911949],"aabb_xy":[[-0.6863104279761074,-0.901157355778429],[-0.5863445276011487,-0.8011573564933082]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.06344582823975975,-0.6122194358328641,0.71338606911949],"aabb_xy":[[-0.14344582539933504,-0.6237670367906811],[0.01655416891981555,-0.600671834875047]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.20510921646082714,-1.2588202065150562,0.71338606911949],"aabb_xy":[[-0.23757091734275454,-1.2889530386299586],[-0.17264751557889962,-1.2286873744001534]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.6341946576258615,-1.4524144402863792,0.71338606911949],"aabb_xy":[[0.6215678703386651,-1.4619605139879521],[0.6468214449130578,-1.4428683665848063]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.07620125222833452,-1.8114211320884548,0.71338606911949],"aabb_xy":[[-0.1260839491060307,-1.8614211313347298],[-0.02631855535063831,-1.7614211328421803]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.07986986052159262,0.22167938849235203,0.71338606911949],"aabb_xy":[[-0.08858382957152709,0.19917938783316375],[-0.07115589147165811,0.2441793891515402]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.158754300704269,-0.06700214964024687,0.71338606911949],"aabb_xy":[[-0.18233942416816384,-0.13200215188567865],[-0.13516917724037414,-0.0020021473948150653]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.600705287463555,0.4458466708327933,0.71338606911949],"aabb_xy":[[0.5894602318929371,0.43460487310869794],[0.6119503430341727,0.4570884685568885]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.31836321812329893,-1.7628096634538664,0.71338606911949],"aabb_xy":[[-0.3823632174174671,-1.8267958038227206],[-0.25436321882913066,-1.6988235230850122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562646751714467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6313.png","name":"6313"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6313.png","name":"6313"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6587.png","name":"6587"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2242.png","name":"2242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5597.png","name":"5597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1209.png","name":"1209"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":655.2921759611177,"rotation_z_degrees":14.610973615544776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011553710023123038,-0.006525728406793699,0.010717988020543419]},{"name":"camera_2","offset_m":[-0.005063819920094699,-0.0038634209113222705,-0.003840475605386272]},{"name":"camera_3","offset_m":[0.012844372726169711,-0.014508961177831474,0.007235209509317959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001221649050913551,-0.0003740784742939365,-9.125835882835254e-05],"end_effector_yaw_offset_degrees":0.865300692383931},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007710556480348871,0.0002896875708427592,-0.0008235376989471344],"end_effector_yaw_offset_degrees":0.0705804697240624},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007848264726606983,-0.0013358677491770365,-0.0010213334274043896],"end_effector_yaw_offset_degrees":-0.01409427255484652}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028844096351841953,0.00444450978623242],"position_m":[0.32578440963518424,-0.11955549021376757,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0045941552444843095,0.0009192548061898887],"position_m":[0.31670584475551566,0.12211925480618989,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004577732377542457,-0.0003690186220650215],"position_m":[0.29722226762245757,0.0022309813779349784,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003519985629130116,-0.003374767292129598],"position_m":[0.09878001437086989,0.3884252327078704,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009296268383003972,-0.0008692640763207915],"position_m":[0.1651296268383004,-0.4385692640763208,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4c1ceb4685a3eb95f5e7c05ee6a2b41cf46e10cbb41573d240be2340a525a943","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6313/tex_ceiling_textures_1209/tex_floor_textures_5597/tex_table_textures_6587/tex_wall_textures_2242","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3758027692288431762,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3758027692288431762,"visual_seed":3758027692288431762,"scene_id":"lab_003","finished_at":"2026-09-03T16:59:51"} +{"episode_id":"ep_000001","started_at":"2026-09-03T16:59:55","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.2396563087209435,-2.059116285899944,0.71338606911949],"aabb_xy":[[-0.2742473915749887,-2.1241162861849747],[-0.20506522586689827,-1.9941162856149128]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.5194356797281996,-0.7996532361196946,0.71338606911949],"aabb_xy":[[0.47443567826197075,-0.8446530929811754],[0.5644356811944284,-0.7546533792582141]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.09150396014748008,0.881018720361463,0.71338606911949],"aabb_xy":[[-0.17150395716172806,0.8608841686880517],[-0.011503963133232084,0.9011532720348743]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.5878358377757213,-0.5032484918471192,0.71338606911949],"aabb_xy":[[0.5078358391884019,-0.5825640937852801],[0.6678358363630408,-0.42393288990895833]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.46365470545526566,1.5242193912720512,0.71338606911949],"aabb_xy":[[-0.508647292173716,1.479219391997602],[-0.4186621187368152,1.5692193905464995]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.23942454137828106,-1.6837859635236967,0.71338606911949],"aabb_xy":[[-0.2438551707331213,-1.6892343352583794],[-0.23499391202344094,-1.6783375917890144]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.6599177289197153,0.5628428602080713,0.71338606911949],"aabb_xy":[[0.6558017788076426,0.5587273051752256],[0.6640336790317879,0.5669584152409167]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.5285341181926448,-1.7932334801762386,0.71338606911949],"aabb_xy":[[0.4709036493053739,-1.8532334791029486],[0.5861645870799156,-1.7332334812495274]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.015263997262461748,0.7007262471399427,0.71338606911949],"aabb_xy":[[-0.06524141412771532,0.650726245650694],[0.03471341960279183,0.7507262486291911]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.31591838312747456,1.227953960465285,0.71338606911949],"aabb_xy":[[0.2983400809385277,1.2103794708911801],[0.3334966853164214,1.2455284500393902]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.14934657763541026,1.177807651353838,0.71338606911949],"aabb_xy":[[0.10716216347457952,1.1138076510766268],[0.191530991796241,1.2418076516310492]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.32373693323248054,0.2030956852787611,0.71338606911949],"aabb_xy":[[-0.3349819888030984,0.19185388755466581],[-0.3124918776618627,0.21433748300285638]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.11785487864516819,-0.6331776109285452,0.71338606911949],"aabb_xy":[[0.08035487853957524,-0.6399997727815263],[0.15535487875076115,-0.6263554490755641]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.3543723552940745,-0.4945104416495858,0.71338606911949],"aabb_xy":[[-0.3795931921539141,-0.5197341925024724],[-0.3291515184342348,-0.469286690796699]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.5421690883697288,-1.3072594268346105,0.71338606911949],"aabb_xy":[[0.5176228727469779,-1.3375083233836476],[0.5667153039924794,-1.2770105302855734]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.565522793772564,-0.28863418636281013,0.71338606911949],"aabb_xy":[[-0.5789693204066073,-0.3021040380159014],[-0.5520762671385206,-0.27516433470971896]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.6262274916123061,-0.3013574663380485,0.71338606911949],"aabb_xy":[[0.6215923764600726,-0.3052248014151971],[0.6308626067645393,-0.2974901312608998]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.595240536913336,0.02279223299253852,0.71338606911949],"aabb_xy":[[0.5912800531436018,0.015124368407017922],[0.5992010206830705,0.030460097578059123]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.016454002895726294,1.314360589921113,0.71338606911949],"aabb_xy":[[-0.024563940490644587,1.2643605892901557],[0.057471946282097175,1.3643605905520704]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.20157776429618357,0.7307867441020997,0.71338606911949],"aabb_xy":[[0.1365777631902403,0.7058213710339714],[0.26657776540212685,0.7557521171702279]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.07834025024403568,-0.00896071808938892,0.71338606911949],"aabb_xy":[[-0.14234025258683722,-0.05390156933352141],[-0.014340247901234114,0.03598013315474357]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.39075525097310915,-0.993677402884706,0.71338606911949],"aabb_xy":[[0.32675525386100346,-1.0427097726791166],[0.45475524808521484,-0.9446450330902953]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.2552687976094803,-1.8644574864438719,0.71338606911949],"aabb_xy":[[0.19026879905240746,-1.894210019857754],[0.3202687961665531,-1.8347049530299888]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[-0.15082728138113533,-0.804374968315366,0.71338606911949],"aabb_xy":[[-0.2059524870107261,-0.8643749697566531],[-0.09570207575154456,-0.7443749668740788]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.36526973506219473,-0.6299113027351022,0.71338606911949],"aabb_xy":[[0.3347854849351646,-0.6799113025165981],[0.3957539851892249,-0.5799113029536063]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.6071563368694868,1.6622661622411088,0.71338606911949],"aabb_xy":[[0.5974003473603128,1.6525036281818741],[0.6169123263786606,1.672028696300343]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.13016436925608477,-0.6897998329525374,0.71338606911949],"aabb_xy":[[0.050164368785868815,-0.6981105405668859],[0.21016436972630073,-0.6814891253381892]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[-0.46591748126048926,-0.040665024646183046,0.71338606911949],"aabb_xy":[[-0.5034174820524847,-0.04703286560437314],[-0.4284174804684938,-0.03429718368799295]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.16273185269540968,0.4720069409311334,0.71338606911949],"aabb_xy":[[-0.2267318499810583,0.4305002219782894],[-0.09873185540976101,0.5135136598839773]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[0.6667359955118859,1.694310355485745,0.71338606911949],"aabb_xy":[[0.6580380332211706,1.6821853811782705],[0.6754339578026012,1.70643532979322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6544527724492722,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6969.png","name":"6969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6754.png","name":"6754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":589.5967532522889,"rotation_z_degrees":212.6530788354722,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01840984575003392,-0.011929742885491597,0.014116888175254989]},{"name":"camera_2","offset_m":[0.01701396012329173,0.019241681805946934,0.019834778549109987]},{"name":"camera_3","offset_m":[-0.012176199518307689,-0.009416651158668712,-0.014037526556061471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001187756500774525,0.0012801475691060701,2.6734102540134416e-05],"end_effector_yaw_offset_degrees":0.24157067748389616},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014550311695145407,-0.00011921536951241371,-0.0016960287767043174],"end_effector_yaw_offset_degrees":-0.544824500856568},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009540790195077965,0.0013596267330351097,0.0010567424343921913],"end_effector_yaw_offset_degrees":-0.6644702833660616}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010279659192303694,-0.0041431246431329815],"position_m":[0.32187203408076964,-0.128143124643133,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019995423577269748,-0.002748816841512771],"position_m":[0.32329954235772695,0.11845118315848722,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0016557076551881609,0.0013395224130578276],"position_m":[0.3034557076551882,0.0039395224130578275,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006940633968706873,0.0013827927305743917],"position_m":[0.10160593660312932,0.3931827927305744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.9758531272630444e-05,0.0007744403380493866],"position_m":[0.16417024146872738,-0.43692555966195057,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07cbfd9d5d3759983d3d14f703c7e5a5089925a58bd1ad45c5eb2e67af50a5cf","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7312/tex_ceiling_textures_5637/tex_floor_textures_6754/tex_table_textures_6969/tex_wall_textures_425","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8330191375608001740,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8330191375608001740,"visual_seed":8330191375608001740,"scene_id":"lab_003","finished_at":"2026-09-03T17:02:40"} +{"episode_id":"ep_000002","started_at":"2026-09-03T17:02:45","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.23257558120484534,-1.053010749232962,0.71338606911949],"aabb_xy":[[-0.29657558158237896,-1.1027560160837742],[-0.1685755808273117,-1.0032654823821496]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.3356732841391722,-0.24838339307590962,0.71338606911949],"aabb_xy":[[-0.36911345933519174,-0.28182701890683964],[-0.30223310894315253,-0.2149397672449795]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.29258524729396274,1.0343921300694938,0.71338606911949],"aabb_xy":[[0.20258524757078852,1.0113187775343138],[0.38258524701713686,1.0574654826046734]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.4129391113791472,-1.3171517076121835,0.71338606911949],"aabb_xy":[[-0.4494349320064259,-1.353635650038941],[-0.37644329075186844,-1.280667765185426]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.6509282226181083,-2.3479226826750614,0.71338606911949],"aabb_xy":[[0.643666975047701,-2.3607096929385714],[0.6581894701885159,-2.3351356724115524]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.5773576027998532,-0.4235087005434308,0.71338606911949],"aabb_xy":[[-0.5875106183540023,-0.45957824211617104],[-0.5672045872457036,-0.38743915897069037]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.6495783953592125,-0.7751035848211563,0.71338606911949],"aabb_xy":[[0.5995783944086797,-0.8066527318246776],[0.6995783963097453,-0.7435544378176348]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.4364613431775699,1.1897173923020805,0.71338606911949],"aabb_xy":[[0.41866783624265347,1.1719176467062828],[0.45425485011248634,1.2075171378978782]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.29224129492783035,-0.6944189607860825,0.71338606911949],"aabb_xy":[[0.2753305624914886,-0.7078911663786969],[0.30915202736417213,-0.6809467551934678]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.5915176882012474,0.519174176997903,0.71338606911949],"aabb_xy":[[0.5570552101881596,0.5125104998149802],[0.6259801662143352,0.5258378541808258]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.5315971860658444,-1.75496657965195,0.71338606911949],"aabb_xy":[[0.5218411965566704,-1.7647291137111842],[0.5413531755750182,-1.7452040455927154]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.26331866377273083,0.6255958110017712,0.71338606911949],"aabb_xy":[[-0.3184438694023216,0.565595809560484],[-0.20819345814314008,0.6855958124430583]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.037287584436337506,-0.5391157850112838,0.71338606911949],"aabb_xy":[[-0.06725514134616317,-0.5691157853091695],[-0.007320027526511841,-0.509115784713398]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.2072565450941697,-1.7109004523538414,0.71338606911949],"aabb_xy":[[0.19684498641368597,-1.7162461856897397],[0.2176681037746534,-1.705554719017943]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.7144656768068436,-1.4258787584931607,0.71338606911949],"aabb_xy":[[0.705305797862967,-1.4324099765366978],[0.7236255557507202,-1.4193475404496236]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.4052622352086994,0.9109785922766704,0.71338606911949],"aabb_xy":[[0.3502622370069545,0.8704566256502329],[0.4602622334104442,0.951500558903108]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.3028162720895058,0.5601899406868625,0.71338606911949],"aabb_xy":[[0.2957748211387582,0.5531631889490679],[0.3098577230402534,0.567216692424657]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.5694573957312723,-1.423770227514007,0.71338606911949],"aabb_xy":[[-0.5869573948656394,-1.4336498545515945],[-0.551957396596905,-1.413890600476419]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.355598230930922,-1.8960374357899035,0.71338606911949],"aabb_xy":[[0.30951313967619054,-1.9600374330424584],[0.4016833221856535,-1.8320374385373481]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.19358236078251623,-0.5629236269000262,0.71338606911949],"aabb_xy":[[0.12858236222544336,-0.5926761603139089],[0.25858235933958906,-0.5331710934861437]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.20458083295729057,0.49845683688474596,0.71338606911949],"aabb_xy":[[0.16958083298079477,0.4889922208371293],[0.23958083293378643,0.5079214529323626]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.14788333274935894,-1.3841051780518012,0.71338606911949],"aabb_xy":[[0.14374747641665878,-1.4216051774961582],[0.15201918908205916,-1.3466051786074442]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.5837846704915157,0.39840257125784095,0.71338606911949],"aabb_xy":[[0.4937846668145973,0.33697016468073654],[0.6737846741684337,0.4598349778349452]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.268975392485595,-2.10653889471115,0.71338606911949],"aabb_xy":[[0.2489169808723547,-2.126603981620308],[0.2890338040988353,-2.086473807801993]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.21069427568911803,-0.8779984718845015,0.71338606911949],"aabb_xy":[[-0.22657876895444315,-0.8923514121833255],[-0.19480978242379285,-0.8636455315856774]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[0.20324833347081162,1.5713258966544514,0.71338606911949],"aabb_xy":[[0.18075191203694752,1.5488258968477038],[0.22574475490467572,1.5938258964611987]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.31486585790086763,1.081885548315633,0.71338606911949],"aabb_xy":[[-0.3398658578333856,1.0750028800947098],[-0.2898658579683498,1.0887682165365564]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.012468921923627918,1.2721611806095998,0.71338606911949],"aabb_xy":[[-0.010044769899829276,1.202161180008592],[0.03498261374708511,1.3421611812106071]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.10875635033293563,0.43741274108421324,0.71338606911949],"aabb_xy":[[-0.11674984012821768,0.4294146091437377],[-0.10076286053765363,0.445410873024689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543357103024158,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6096.png","name":"6096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6096.png","name":"6096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4616.png","name":"4616"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9795.png","name":"9795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5035.png","name":"5035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2668.png","name":"2668"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":802.0373971681245,"rotation_z_degrees":338.1259578152101,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001811945419625146,0.016858477877199757,0.0015694271751871686]},{"name":"camera_2","offset_m":[0.0039920714518395,-0.017248925697281665,0.012517052379049997]},{"name":"camera_3","offset_m":[0.016862133728863905,-0.003939673943110889,-0.01835645372911312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002986075213689413,0.0018658487170225475,-0.0002542799240038982],"end_effector_yaw_offset_degrees":-0.6562284043511766},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008185536468029281,0.0018738921087940708,0.0008998228349331766],"end_effector_yaw_offset_degrees":0.42660146579461156},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00039847138357891956,-0.00016582991507831536,0.0005455051830250213],"end_effector_yaw_offset_degrees":-0.7346653696024552}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003301465285344405,0.003327965803959267],"position_m":[0.32620146528534444,-0.12067203419604074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013526174882062779,0.0005838528133948724],"position_m":[0.32265261748820623,0.12178385281339488,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0029225479751269056,-0.0012104225501681598],"position_m":[0.2988774520248731,0.00138957744983184,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038009315893024294,0.0030326942849486062],"position_m":[0.10610093158930244,0.3948326942849486,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003038791681474192,-0.002383903608990723],"position_m":[0.16116120831852582,-0.4400839036089907,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b5590a3de09dc23687fed2f33492e92cdd3a512af2b85f7998ea9d0be112ae7","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6096/tex_ceiling_textures_2668/tex_floor_textures_5035/tex_table_textures_4616/tex_wall_textures_9795","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5928703669645473370,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5928703669645473370,"visual_seed":5928703669645473370,"scene_id":"lab_003","finished_at":"2026-09-03T17:05:31"} +{"episode_id":"ep_000003","started_at":"2026-09-03T17:05:34","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.2292079509842213,1.0103061994560867,0.71338606911949],"aabb_xy":[[-0.2364517170304666,0.9303062012524843],[-0.22196418493797596,1.090306197659689]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.22679369370283908,-1.7048065523595952,0.71338606911949],"aabb_xy":[[0.1567936915714095,-1.7275685179852907],[0.29679369583426857,-1.6820445867338993]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.5294081222930638,-0.8754867056242741,0.71338606911949],"aabb_xy":[[-0.619408119028674,-0.9286701689415684],[-0.43940812555745357,-0.8223032423069794]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.12771817672921015,0.5646191220081067,0.71338606911949],"aabb_xy":[[0.1213043630860252,0.5582093017604383],[0.13413199037239507,0.5710289422557749]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.028345401166745443,-1.45303563642666,0.71338606911949],"aabb_xy":[[0.005845401156597152,-1.4671318560662632],[0.050845401176893734,-1.4389394167870566]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.24027364942653845,1.2425308239666215,0.71338606911949],"aabb_xy":[[-0.27730775885459813,1.2081536166329119],[-0.2032395399984787,1.2769080313003307]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.10776528270440888,0.7942310614339423,0.71338606911949],"aabb_xy":[[-0.1138599105925272,0.7856616668822736],[-0.10167065481629056,0.802800455985611]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.06766761902505902,0.43813647546580503,0.71338606911949],"aabb_xy":[[-0.08755865890539927,0.4254806641811083],[-0.04777657914471878,0.450792286750502]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.24770201601675657,-2.1285387571757317,0.71338606911949],"aabb_xy":[[0.18370201379634954,-2.17291184130102],[0.3117020182371636,-2.0841656730504434]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.5145036995061945,-1.3861231754394048,0.71338606911949],"aabb_xy":[[0.4906674818655895,-1.4761231762478912],[0.5383399171467996,-1.2961231746309183]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.421885047270625,0.4566509292765857,0.71338606911949],"aabb_xy":[[-0.4305990163205594,0.4341509286173974],[-0.41317107822069044,0.47915092993577385]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.2201648284240766,-1.4628595573688883,0.71338606911949],"aabb_xy":[[0.1988868202806043,-1.5278595596949611],[0.2414428365675488,-1.397859555042815]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.6173614406865073,1.4554528043482864,0.71338606911949],"aabb_xy":[[0.5533614404125291,1.4053867041509984],[0.6813614409604856,1.5055189045455744]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.37808101302069935,-1.3312134550781247,0.71338606911949],"aabb_xy":[[-0.42805430702395975,-1.3812134556326718],[-0.32810771901743885,-1.2812134545235772]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.6441899221958607,-0.34610744912312263,0.71338606911949],"aabb_xy":[[0.6286341527855956,-0.3616578823675299],[0.6597456916061262,-0.3305570158787155]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.5170849116272556,1.6234845061399796,0.71338606911949],"aabb_xy":[[0.5046175535175199,1.6110191815066561],[0.5295522697369912,1.6359498307733031]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.3607625940163433,0.13127136714973098,0.71338606911949],"aabb_xy":[[-0.3982625943085181,0.12722989174912738],[-0.3232625937241685,0.13531284255033457]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.1838208690394434,1.713734741570215,0.71338606911949],"aabb_xy":[[-0.23095024804127903,1.649734740525813],[-0.1366914900376077,1.7777347426146168]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.07756081436018991,-2.0535672023985763,0.71338606911949],"aabb_xy":[[0.06291740880615691,-2.0682259220553605],[0.09220421991422288,-2.038908482741792]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.6332991023920851,0.07932879400111759,0.71338606911949],"aabb_xy":[[0.5881277845439161,0.015328796856579178],[0.6784704202402541,0.14332879114565603]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.3807595069251257,-1.922320660745719,0.71338606911949],"aabb_xy":[[-0.3846733801205482,-1.9310696761522759],[-0.37684563372970314,-1.9135716453391622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6529554115039856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9821.png","name":"9821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9821.png","name":"9821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/165.png","name":"165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5157.png","name":"5157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8112.png","name":"8112"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8595.png","name":"8595"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":532.5967388271274,"rotation_z_degrees":331.64857019518956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010826179682279724,-0.0022086274837742406,0.00454479170281857]},{"name":"camera_2","offset_m":[0.004715420866614074,-0.00321102830092794,0.010371400793778067]},{"name":"camera_3","offset_m":[-0.004016896062473126,0.00024116631167933264,-0.01821662710402862]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016927395037848593,0.0013641369780078298,0.0016092860290305463],"end_effector_yaw_offset_degrees":-0.7125649311055196},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0003409067618359747,0.0011469608941968444,-0.0014822703494145313],"end_effector_yaw_offset_degrees":-0.29969856550237495},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00042826097219797487,0.00019561459015982833,0.001279245274260979],"end_effector_yaw_offset_degrees":0.6978238130522658}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011816643058854773,-0.0015139388585090553],"position_m":[0.3240816643058855,-0.12551393885850906,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003225985316481093,-0.003635102940549764],"position_m":[0.3245259853164811,0.11756489705945024,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0011936183269916,-0.0014870768849634917],"position_m":[0.3029936183269916,0.0011129231150365081,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001852432080735328,-0.002234473707040732],"position_m":[0.10044756791926468,0.38956552629295926,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011301087117762173,0.0043240226246436106],"position_m":[0.16533010871177622,-0.4333759773753564,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc1c8e4a60f145e71585ad652a58e5eb40ac70003c4419c6dd66d30e227d79a5","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9821/tex_ceiling_textures_8595/tex_floor_textures_8112/tex_table_textures_165/tex_wall_textures_5157","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3064608251770586246,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3064608251770586246,"visual_seed":3064608251770586246,"scene_id":"lab_003","finished_at":"2026-09-03T17:08:26"} +{"episode_id":"ep_000004","started_at":"2026-09-03T17:08:29","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.1671424913116134,-0.7973426019857557,0.71338606911949],"aabb_xy":[[-0.17535703642729733,-0.8060191922833969],[-0.15892794619592937,-0.7886660116881142]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.6396907449845628,1.5584843187176438,0.71338606911949],"aabb_xy":[[0.5896907454082282,1.5085037397655379],[0.6896907445608976,1.6084648976697498]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.6090062641322787,1.0485858444547445,0.71338606911949],"aabb_xy":[[0.6010829838935304,1.026085844216741],[0.6169295443710271,1.0710858446927478]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.4029402775985895,0.4454437730321006,0.71338606911949],"aabb_xy":[[0.3529402762377023,0.39546586845668497],[0.45294027895947675,0.4954216776075162]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.6426878138981589,-0.5823532323573284,0.71338606911949],"aabb_xy":[[0.6251878136531094,-0.599853020196895],[0.6601878141432082,-0.5648534445177613]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.23683554139450447,-0.6118089124954684,0.71338606911949],"aabb_xy":[[0.18683554044397163,-0.6433580594989898],[0.2868355423450373,-0.580259765491947]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.5714909720799874,0.21273368951871774,0.71338606911949],"aabb_xy":[[-0.6354866694750839,0.14873369121800903],[-0.5074952746848908,0.2767336878194264]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.26590495776572237,-1.3750605916240857,0.71338606911949],"aabb_xy":[[-0.3034049563413431,-1.3877968872876436],[-0.22840495919010154,-1.3623242959605277]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.33396065203194625,0.32327884355136804,0.71338606911949],"aabb_xy":[[0.3089606520994284,0.3163961753304448],[0.3589606519644642,0.3301615117722914]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.5607951476810764,-2.28946046129892,0.71338606911949],"aabb_xy":[[0.5419107639125663,-2.308346386079273],[0.5796795314495867,-2.270574536518567]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.23577307852650042,-2.491688174733737,0.71338606911949],"aabb_xy":[[0.15577308054571537,-2.499289715695589],[0.3157730765072855,-2.484086633771885]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.33949147731532325,-2.151454421649416,0.71338606911949],"aabb_xy":[[-0.40349147442742894,-2.2004867914438266],[-0.27549148020321756,-2.1024220518550054]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.14098050715040922,-2.2706477280424746,0.71338606911949],"aabb_xy":[[-0.2059805081509097,-2.3214340931971496],[-0.07598050614990867,-2.2198613628877997]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.351403225184419,1.6417515582901223,0.71338606911949],"aabb_xy":[[0.3014299311811585,1.5917515577355745],[0.4013765191876794,1.6917515588446692]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.4828209129093515,0.11364473304511336,0.71338606911949],"aabb_xy":[[0.44904535371865845,0.09960623783194833],[0.5165964721000444,0.12768322825827838]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.26994290919148506,-1.0146219202530953,0.71338606911949],"aabb_xy":[[-0.28071588311285284,-1.0496219184721343],[-0.2591699352701173,-0.9796219220340563]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.18721500482094056,-2.455127600648351,0.71338606911949],"aabb_xy":[[-0.21836192366452367,-2.5251275993351583],[-0.15606808597735744,-2.385127601961544]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.018656318139024575,-0.9637078536409138,0.71338606911949],"aabb_xy":[[-0.0536563194905063,-0.9840675895977345],[0.016343683212457157,-0.9433481176840929]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.1440958838679427,-0.14353947495025432,0.71338606911949],"aabb_xy":[[-0.15596796687944384,-0.2285394746439047],[-0.13222380085644161,-0.058539475256603996]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.3982374102567791,-0.6633291491125686,0.71338606911949],"aabb_xy":[[-0.4357374117724109,-0.6745559221287136],[-0.36073740874114746,-0.6521023760964235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537662029765704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3698.png","name":"3698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3698.png","name":"3698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5509.png","name":"5509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4437.png","name":"4437"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":847.8434571387269,"rotation_z_degrees":51.83830938643051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018208328401986804,-0.0198494558203175,-0.009833409171967147]},{"name":"camera_2","offset_m":[-0.0035264575378304644,-0.003073059978318894,-0.011846549668939103]},{"name":"camera_3","offset_m":[0.006440760145838241,0.0013091012179348611,-0.018628313134862004]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019706383454175646,0.00023029265630983503,-0.0019987566615028702],"end_effector_yaw_offset_degrees":-0.21289876693539767},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006895138296992788,0.0006255864762152686,0.0015037534369723624],"end_effector_yaw_offset_degrees":-0.40190591239420925},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00186066174479024,0.0005612163692606535,-6.703359917271923e-05],"end_effector_yaw_offset_degrees":-0.1059031822258023}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004374656423952542,-0.004932151056012464],"position_m":[0.32727465642395254,-0.12893215105601247,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003448221980109442,0.0005534198720498207],"position_m":[0.32474822198010944,0.12175341987204982,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028386595090534317,-0.0015929985054959394],"position_m":[0.2989613404909466,0.0010070014945040605,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000639621477198149,0.0038642070803009713],"position_m":[0.10293962147719815,0.395664207080301,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001406130457581185,0.003413791320388232],"position_m":[0.16560613045758119,-0.43428620867961176,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d9d600fd9828b24e3984cb7a339e8a99bf9811e7c079bfc377a544da5c6a1b25","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3698/tex_ceiling_textures_4437/tex_floor_textures_754/tex_table_textures_1908/tex_wall_textures_5509","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4112475615538451985,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4112475615538451985,"visual_seed":4112475615538451985,"scene_id":"lab_003","finished_at":"2026-09-03T17:11:02"} +{"episode_id":"ep_000005","started_at":"2026-09-03T17:11:05","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.7002976708968298,0.990820919648844,0.71338606911949],"aabb_xy":[[0.694715999262701,0.9783209198310686],[0.7058793425309586,1.0033209194666195]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.3660715165618569,-0.4079662887670801,0.71338606911949],"aabb_xy":[[0.3120559202799568,-0.47196629165933723],[0.4200871128437568,-0.3439662858748229]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.3587117299624518,-1.9141228941298216,0.71338606911949],"aabb_xy":[[0.3212117301454182,-1.9187611054409632],[0.3962117297794853,-1.9094846828186796]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.5090974012637897,0.20590492383385817,0.71338606911949],"aabb_xy":[[-0.5455932218910683,0.1694209814071006],[-0.4726015806365108,0.24238886626061573]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.2787609690085513,-1.712758470353878,0.71338606911949],"aabb_xy":[[0.2671919882616147,-1.7377584704708098],[0.29032994975548787,-1.6877584702369464]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.09046055186377067,1.6142560158097363,0.71338606911949],"aabb_xy":[[-0.11429676950437576,1.52425601500125],[-0.06662433422316562,1.704256016618223]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.6387627090104778,-1.5884727815548931,0.71338606911949],"aabb_xy":[[-0.6569685326717256,-1.599498182136885],[-0.6205568853492303,-1.5774473809729017]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.43582521731160906,-1.5854568664578343,0.71338606911949],"aabb_xy":[[0.3758252156686872,-1.6374570157497788],[0.4958252189545309,-1.5334567171658904]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.4156373844355636,-0.9678441310074657,0.71338606911949],"aabb_xy":[[-0.4331373837136504,-0.9851822310738115],[-0.39813738515747665,-0.9505060309411196]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.2994981553841596,0.6689188271412241,0.71338606911949],"aabb_xy":[[0.26449815540766375,0.6594542110936075],[0.3344981553606554,0.6783834431888407]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.5263548992487674,0.17747273042009448,0.71338606911949],"aabb_xy":[[0.4938931983668398,0.1473398983051918],[0.5588166001306947,0.20760556253499704]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.5113957883521854,0.6595964956064755,0.71338606911949],"aabb_xy":[[0.4473957880917147,0.6145876962535475],[0.5753957886126563,0.7046052949594035]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.2862629249991931,1.015205920417535,0.71338606911949],"aabb_xy":[[-0.2927645615071977,1.0054380983912252],[-0.2797612884911885,1.0249737424438448]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.5238600271414061,-2.2500418947004737,0.71338606911949],"aabb_xy":[[-0.5613600274896339,-2.261833290281557],[-0.48636002679317836,-2.23825049911939]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.5970836558218077,-2.1610060337621557,0.71338606911949],"aabb_xy":[[-0.6195800772556719,-2.183506033568903],[-0.5745872343879437,-2.1385060339554083]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.006946382102549831,1.290883389474994,0.71338606911949],"aabb_xy":[[-0.09194638051997306,1.206009094012709],[0.0780536163148734,1.375757684937279]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.22559322175551833,-1.0308415859339024,0.71338606911949],"aabb_xy":[[-0.27557063862077186,-1.0808415874231507],[-0.1756158048902647,-0.9808415844446537]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.4939215262170782,0.40939203055434836,0.71338606911949],"aabb_xy":[[0.4830810479905633,0.39220574926369955],[0.5047620044435931,0.42657831184499717]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.5611095923743916,-0.021000951410384605,0.71338606911949],"aabb_xy":[[-0.6511095947084107,-0.09848330599549726],[-0.47110959004037256,0.05648140317472805]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.23049656127898588,0.08117884845502488,0.71338606911949],"aabb_xy":[[-0.255496560444619,0.07422660274966832],[-0.20549656211335277,0.08813109416038147]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.44331365852531984,-0.22014019042770183,0.71338606911949],"aabb_xy":[[-0.45886942793558516,-0.23569062367210908],[-0.42775788911505463,-0.2045897571832947]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.61235458265596,-0.8673046006026799,0.71338606911949],"aabb_xy":[[0.5623545830796254,-0.9172851795547858],[0.6623545822322948,-0.8173240216505739]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[-0.11474767941537123,-2.371010650613544,0.71338606911949],"aabb_xy":[[-0.18474768122411667,-2.3923644193777314],[-0.04474767760662578,-2.3496568818493566]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.6658764598375135,-1.6052661577518812,0.71338606911949],"aabb_xy":[[0.6314141124393715,-1.6397600401497034],[0.7003388072356551,-1.570772275354058]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.3585736690616377,0.8413441946358691,0.71338606911949],"aabb_xy":[[0.2685736693384635,0.818270842100689],[0.44857366878481186,0.8644175471710487]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.44574928279375037,-1.1454487068170929,0.71338606911949],"aabb_xy":[[-0.44945254412288915,-1.1491507251258104],[-0.44204602146461136,-1.141746688508375]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.14651488777548172,-2.3964127357986547,0.71338606911949],"aabb_xy":[[0.14239893766340905,-2.4005282908314998],[0.15063083788755438,-2.3922971807658087]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.2345684992915223,-0.8766955678323554,0.71338606911949],"aabb_xy":[[-0.24398597386138504,-0.8861117449700744],[-0.22515102472165954,-0.8672793906946363]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[0.26191184571852166,-2.5265991179659903,0.71338606911949],"aabb_xy":[[0.24185343410528137,-2.5466642048751478],[0.28197025733176195,-2.506534031056833]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[0.11778499684157961,-1.5803554340847634,0.71338606911949],"aabb_xy":[[0.05278499573563633,-1.6053208071528915],[0.1827849979475229,-1.555390061016635]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.4289982045594125,0.32108843812710264,0.71338606911949],"aabb_xy":[[-0.44649820480446184,0.30358865028753573],[-0.41149820431436307,0.33858822596666943]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_31","position":[-0.565819868807109,1.0555671942471694,0.71338606911949],"aabb_xy":[[-0.6298198673936816,1.0085602308476604],[-0.5018198702205366,1.1025741576466779]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555146449321579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5052.png","name":"5052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5052.png","name":"5052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8567.png","name":"8567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/561.png","name":"561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9091.png","name":"9091"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":507.09270137243186,"rotation_z_degrees":208.64467769265516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016789800548532827,0.0006668140660888826,0.004220759921726325]},{"name":"camera_2","offset_m":[-0.015339230734197639,-0.004885877951098983,0.009806533375760002]},{"name":"camera_3","offset_m":[-0.018399458590748083,0.013603149422246868,-0.017290709346276713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017636370543349918,-0.0004251257156115491,-0.00017874314239876062],"end_effector_yaw_offset_degrees":0.5980822976839724},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012203890954421328,-0.001209454602610011,0.0016136279379395722],"end_effector_yaw_offset_degrees":-0.3908324093402995},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00016542650466690612,0.0007366634448684444,-0.0009015844431231033],"end_effector_yaw_offset_degrees":0.8478444982609967}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004960188827401354,0.002351402928922633],"position_m":[0.32786018882740137,-0.12164859707107736,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028916967769923364,-0.0033620106344386383],"position_m":[0.3184083032230076,0.11783798936556136,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001700914130459582,-0.004428151444592757],"position_m":[0.3035009141304596,-0.0018281514445927568,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049139294359262465,-0.004252012062747552],"position_m":[0.10721392943592625,0.3875479879372524,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030385456011816853,0.0026188479655870744],"position_m":[0.1672385456011817,-0.4350811520344129,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f719ca61b16809c230ad5a0c578ec343868a148e2192059465e38f6c70df61d","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5052/tex_ceiling_textures_9091/tex_floor_textures_561/tex_table_textures_3302/tex_wall_textures_8567","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":9075614241197707461,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":9075614241197707461,"visual_seed":9075614241197707461,"scene_id":"lab_003","finished_at":"2026-09-03T17:13:44"} +{"episode_id":"ep_000006","started_at":"2026-09-03T17:13:48","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.2528079270233488,0.1720316674969249,0.71338606911949],"aabb_xy":[[-0.26991000498171697,0.15492486196565516],[-0.23570584906498065,0.18913847302819467]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.6643919659244129,-2.267012174258213,0.71338606911949],"aabb_xy":[[-0.6822610736788682,-2.280845082235424],[-0.6465228581699572,-2.253179266281002]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.12631977443528586,0.6593360270719995,0.71338606911949],"aabb_xy":[[0.09185742703714402,0.6248421446741765],[0.1607821218334276,0.6938299094698219]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[-0.20556864876757147,-0.22495864076581862,0.71338606911949],"aabb_xy":[[-0.24306864871133788,-0.23325173080065523],[-0.16806864882380507,-0.21666555073098206]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[-0.6132947295947534,-2.078202959951855,0.71338606911949],"aabb_xy":[[-0.6772947319375549,-2.123143811195987],[-0.5492947272519517,-2.033262108707722]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.6369649344084896,-1.6756377582923636,0.71338606911949],"aabb_xy":[[0.6136830922103581,-1.7606377595895917],[0.6602467766066208,-1.5906377569951355]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.4900592880191126,-1.8280839850630275,0.71338606911949],"aabb_xy":[[0.45574301084449464,-1.8780839850362052],[0.5243755651937305,-1.7780839850898498]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.36612444112955833,1.1083871544732231,0.71338606911949],"aabb_xy":[[0.3436107493061011,1.0383871538722156],[0.38863813295301547,1.1783871550742306]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.4031023226958024,-1.41116613988751,0.71338606911949],"aabb_xy":[[0.3531023240498812,-1.4610856835469723],[0.45310232134172357,-1.3612465962280476]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.715503838423674,-0.45591609812659817,0.71338606911949],"aabb_xy":[[0.7061568308413788,-0.4702197203442422],[0.7248508460059693,-0.44161247590895414]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.5829143680645984,0.7211702312688466,0.71338606911949],"aabb_xy":[[-0.5989762955231159,0.6361702294562546],[-0.5668524406060806,0.8061702330814382]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.5086278231669477,0.49424418206883036,0.71338606911949],"aabb_xy":[[0.4586545291636872,0.444244181514283],[0.5586011171702081,0.5442441826233777]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.0440130784946372,-0.8798746832570405,0.71338606911949],"aabb_xy":[[-0.0012655363865120561,-0.9438746826052242],[0.08929169337578646,-0.8158746839088569]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.4200307096578964,-0.22303507512643472,0.71338606911949],"aabb_xy":[[-0.42707101959143345,-0.30303507452610623],[-0.41299039972435947,-0.14303507572676338]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.3039943384574568,-1.112653022165082,0.71338606911949],"aabb_xy":[[0.23999433523881902,-1.1593761340640905],[0.36799434167609474,-1.0659299102660738]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.13891773270250896,-0.8051001189082123,0.71338606911949],"aabb_xy":[[-0.17483123712749862,-0.8410136271249669],[-0.10300422827751925,-0.7691866106914576]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.15261805846718224,1.2046487656660627,0.71338606911949],"aabb_xy":[[0.1391715318331389,1.1911789140129714],[0.16606458510122557,1.218118617319154]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.3223146394177028,1.733422203344603,0.71338606911949],"aabb_xy":[[0.27231463775620796,1.6834237610888998],[0.3723146410791975,1.7834206456003052]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.4672722246162535,-2.121726848908872,0.71338606911949],"aabb_xy":[[0.4121470189866627,-2.1817268503501586],[0.5223974302458443,-2.0617268474675843]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.1246100742273123,-1.1104366475943255,0.71338606911949],"aabb_xy":[[-0.1896100751844395,-1.1623848595280308],[-0.0596100732701851,-1.0584884356606197]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.14103926085353868,-1.703780178912393,0.71338606911949],"aabb_xy":[[-0.18322367501436942,-1.7677801791896044],[-0.09885484669270794,-1.639780178635182]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.4698809349441342,-2.252131468613137,0.71338606911949],"aabb_xy":[[0.444880935778501,-2.2590837143184936],[0.49488093410976725,-2.2451792229077805]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.6248335611000837,1.2467673222367792,0.71338606911949],"aabb_xy":[[0.6193756154630635,1.1667673189291201],[0.6302915067371037,1.3267673255444383]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.08602591860523412,1.4645746398092858,0.71338606911949],"aabb_xy":[[-0.0992568641399154,1.4513472207872864],[-0.07279497307055281,1.4778020588312852]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601054929318829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5658.png","name":"5658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5658.png","name":"5658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7227.png","name":"7227"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6324.png","name":"6324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3032.png","name":"3032"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":646.5690795764897,"rotation_z_degrees":165.52502065856467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01605025233217941,0.016984868978558183,0.010419900725133373]},{"name":"camera_2","offset_m":[0.01290318707649073,-0.009180184401301786,0.006582229630559846]},{"name":"camera_3","offset_m":[-0.01955827821373857,-0.011372597716879968,0.007983241825159793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001588999726952955,-0.00016937035545116835,0.0015695877498119975],"end_effector_yaw_offset_degrees":0.1662975228632373},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002534805040487252,-0.0018142110203723206,0.0019330947172512573],"end_effector_yaw_offset_degrees":0.42306421836697017},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016584360752293895,-0.0012281032640522312,0.0012528144118326636],"end_effector_yaw_offset_degrees":-0.14986155703279835}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004008911536191964,-0.00463808225324922],"position_m":[0.31889108846380804,-0.12863808225324921,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004687333132020729,0.00384897337092546],"position_m":[0.3259873331320207,0.12504897337092546,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002128106594187338,0.004126883901615713],"position_m":[0.2996718934058127,0.006726883901615713,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001527433692463177,-0.0017970301401245004],"position_m":[0.10077256630753682,0.3900029698598755,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004611145364772625,-0.0025167270883260317],"position_m":[0.16881114536477262,-0.440216727088326,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2227699f61bb3e72ae95e58f432f7159ce156788c180306dc665655558ec94ef","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5658/tex_ceiling_textures_3032/tex_floor_textures_7551/tex_table_textures_7227/tex_wall_textures_6324","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1869828801518683794,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1869828801518683794,"visual_seed":1869828801518683794,"scene_id":"lab_003","finished_at":"2026-09-03T17:16:13"} +{"episode_id":"ep_000007","started_at":"2026-09-03T17:16:17","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.10982461034447977,0.20480793092052396,0.71338606911949],"aabb_xy":[[-0.11352787167361862,0.2011059126118061],[-0.10612134901534089,0.20850994922924182]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.11764586128687526,1.8031601948881515,0.71338606911949],"aabb_xy":[[0.09997023069827692,1.7854799786087487],[0.13532149187547357,1.8208404111675542]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.5951246088837812,-1.344998168072193,0.71338606911949],"aabb_xy":[[0.5538200658200451,-1.4089981676403098],[0.636429151947517,-1.2809981685040757]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.2580953021824296,-0.6970542429076401,0.71338606911949],"aabb_xy":[[-0.2830953017341681,-0.7071967267727748],[-0.23309530263069111,-0.6869117590425053]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.2336812003647719,0.7768710213232954,0.71338606911949],"aabb_xy":[[0.18370813483225648,0.7268710215107627],[0.2836542658972874,0.8268710211358286]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.517484938096642,1.066116286311476,0.71338606911949],"aabb_xy":[[-0.5814849404394435,1.0211754350673432],[-0.45348493575384047,1.1110571375556082]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.6563391373934239,-0.7011894841448638,0.71338606911949],"aabb_xy":[[-0.6815599742532633,-0.7264132349977506],[-0.631118300533584,-0.6759657332919771]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.40220949120465643,0.5124437679035974,0.71338606911949],"aabb_xy":[[-0.48220948860824986,0.4324511967054145],[-0.322209493801063,0.5924363391017801]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.243893430397907,1.4911875474247602,0.71338606911949],"aabb_xy":[[0.2392583152456736,1.487320212347611],[0.24852854555014037,1.4950548825019085]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.4971047292831541,-1.2906508997156811,0.71338606911949],"aabb_xy":[[-0.5071864363617276,-1.3706508976077956],[-0.48702302220458055,-1.2106509018235663]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.30794954071634084,1.1165793739813736,0.71338606911949],"aabb_xy":[[0.2626709258351916,1.05257937463319],[0.3532281555974901,1.1805793733295573]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.4921542291081136,1.6493191271239982,0.71338606911949],"aabb_xy":[[0.44218093510485307,1.5993191265694504],[0.542127523111374,1.699319127678545]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.22730288196177395,1.1200599386301806,0.71338606911949],"aabb_xy":[[-0.30729670554033217,1.040059936037339],[-0.14730905838321576,1.2000599412230222]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.43018783680090644,-0.827539727966397,0.71338606911949],"aabb_xy":[[0.4260718866888337,-0.8316552829992424],[0.43430378691297905,-0.8234241729335513]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[-0.36607433911479836,0.7163497320674059,0.71338606911949],"aabb_xy":[[-0.3885734748410254,0.693849731289143],[-0.34357520338857145,0.7388497328456689]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.522573967012008,1.3505621874871245,0.71338606911949],"aabb_xy":[[-0.5825739675198608,1.293715453801203],[-0.462573966504155,1.4074089211730456]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.45661042262413165,-1.5886980247075617,0.71338606911949],"aabb_xy":[[0.40161721128699496,-1.6436980250463555],[0.5116036339612684,-1.5336980243687683]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.6140573263208491,0.8268144106524904,0.71338606911949],"aabb_xy":[[0.5640743761333696,0.7768144110099298],[0.6640402765083283,0.8768144102950506]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.3984979079658828,0.3938487421311496,0.71338606911949],"aabb_xy":[[0.3706528711852757,0.3630642433928379],[0.4263429447464899,0.42463324086946125]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.16175573723553205,-1.5291729758463795,0.71338606911949],"aabb_xy":[[-0.1787658345255827,-1.5453074643446534],[-0.1447456399454814,-1.5130384873481055]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.18597949330093067,-2.065016646049728,0.71338606911949],"aabb_xy":[[0.15097949503081076,-2.0720907737447156],[0.22097949157105057,-2.0579425183547393]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.5791290337344639,-0.7984246022745403,0.71338606911949],"aabb_xy":[[-0.6041290330064262,-0.8147699658707025],[-0.5541290344625016,-0.7820792386783778]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.45211443907352905,-2.170979626388846,0.71338606911949],"aabb_xy":[[-0.48559360633457005,-2.2044587397599535],[-0.41863527181248816,-2.1375005130177396]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.24718252594180934,-1.448443812861626,0.71338606911949],"aabb_xy":[[0.18559176671781655,-1.512443810970673],[0.30877328516580216,-1.3844438147525793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.2142471949426819,-0.31051546589530554,0.71338606911949],"aabb_xy":[[-0.26424719438287747,-0.3604833903796218],[-0.16424719550248626,-0.2605475414109892]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[-0.49318557309893907,-1.4919129225910794,0.71338606911949],"aabb_xy":[[-0.5231531300087647,-1.5219129228889652],[-0.4632180161891134,-1.4619129222931937]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.7020007107819075,-0.3835250441669804,0.71338606911949],"aabb_xy":[[0.6960341718411717,-0.3894861888263444],[0.7079672497226431,-0.3775638995076163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595332150417302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/18.png","name":"18"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3445.png","name":"3445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/882.png","name":"882"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":664.4134324212108,"rotation_z_degrees":7.728622455793417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011472026657895928,-0.016233977633654872,0.018441037379696403]},{"name":"camera_2","offset_m":[0.00233358652106172,0.01465916343930956,0.011352185777580816]},{"name":"camera_3","offset_m":[-0.017360024724102092,0.01710269833498126,-0.01862958833693849]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015823020905698067,-5.533145364167787e-05,0.0015038294580308163],"end_effector_yaw_offset_degrees":-0.5833313589841052},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007259127043352819,0.0008526606202177932,0.0006161032533755755],"end_effector_yaw_offset_degrees":0.23484732095164285},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00013794883605203895,0.0012952134060671703,0.001418983509325145],"end_effector_yaw_offset_degrees":-0.058851425576752936}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005901724081676255,-0.00032483688481299913],"position_m":[0.3223098275918324,-0.124324836884813,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005277530262425782,0.0015302732619346714],"position_m":[0.32182775302624256,0.12273027326193467,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004945186424736709,0.003960310155881154],"position_m":[0.30674518642473675,0.006560310155881154,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003918902024242383,0.0009388096763709788],"position_m":[0.10621890202424239,0.392738809676371,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032605255664543776,-0.0031655195311339245],"position_m":[0.16746052556645438,-0.4408655195311339,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f106154463b83e32d9200a111614ffb58939e053c2302b07fc8089aab07b5b54","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8110/tex_ceiling_textures_882/tex_floor_textures_5374/tex_table_textures_18/tex_wall_textures_3445","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8643884250653140191,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8643884250653140191,"visual_seed":8643884250653140191,"scene_id":"lab_003","finished_at":"2026-09-03T17:18:58"} +{"episode_id":"ep_000008","started_at":"2026-09-03T17:21:48","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.6078190740628785,-0.49541685305110406,0.71338606911949],"aabb_xy":[[-0.6117329472583011,-0.5041658684576609],[-0.6039052008674559,-0.48666783764454724]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[0.2536718420170012,-2.0278457211127234,0.71338606911949],"aabb_xy":[[0.20367184337108002,-2.0777652647721854],[0.3036718406629224,-1.9779261774532606]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.2462678366506043,0.6991280552163248,0.71338606911949],"aabb_xy":[[-0.2962411306538647,0.6491280546617775],[-0.19629454264734383,0.7491280557708722]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.4698812687224727,1.7045978518254086,0.71338606911949],"aabb_xy":[[-0.5069153781505324,1.670220644491699],[-0.432847159294413,1.7389750591591178]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.5255287711835834,-0.5008919956703921,0.71338606911949],"aabb_xy":[[-0.5477012981602342,-0.5230676628265152],[-0.5033562442069325,-0.4787163285142688]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.6496851251039956,-0.80683336006717,0.71338606911949],"aabb_xy":[[-0.6846851233741154,-0.813907487762158],[-0.6146851268338756,-0.7997592323721817]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.5284705110999102,1.5961078657090826,0.71338606911949],"aabb_xy":[[-0.5659705110436766,1.587814775674246],[-0.49097051115614376,1.6044009557439192]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.6230867907862563,0.7335620141502677,0.71338606911949],"aabb_xy":[[0.6055084885973093,0.7159875245761627],[0.640665092975203,0.7511365037243725]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.09530966530347051,0.973771786150905,0.71338606911949],"aabb_xy":[[0.07525125369023022,0.9537066992417473],[0.1153680769167108,0.9938368730600624]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.31974722807444667,-1.699728296674812,0.71338606911949],"aabb_xy":[[-0.3658323193291781,-1.7637282939273673],[-0.27366213681971513,-1.635728299422257]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.19723943071584304,-2.379411879668638,0.71338606911949],"aabb_xy":[[0.13323943343019437,-2.4209185986214816],[0.2612394280014917,-2.3379051607157937]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.5326452846116887,-1.5321243553568664,0.71338606911949],"aabb_xy":[[-0.5413592536616231,-1.5546243560160544],[-0.5239313155617541,-1.509624354697678]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.17899690193254125,-0.5825323277758359,0.71338606911949],"aabb_xy":[[0.16884388637839182,-0.6186018693485761],[0.18914991748669055,-0.5464627862030954]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[0.4551929045599612,0.8860874186758383,0.71338606911949],"aabb_xy":[[0.43330315697102045,0.7960874213865893],[0.47708265214890205,0.9760874159650875]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.5907918461100159,-0.17007104526128058,0.71338606911949],"aabb_xy":[[0.5826641579167026,-0.17898465367198824],[0.598919534303329,-0.16115743685057293]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.35218812221003426,-1.2916268225093765,0.71338606911949],"aabb_xy":[[0.2871881240541152,-1.3179230670592887],[0.4171881203659533,-1.2653305779594644]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.12976967981726595,1.1485174381482266,0.71338606911949],"aabb_xy":[[-0.14797550347851363,1.137492037566235],[-0.11156385615601827,1.1595428387302182]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.5405278116206313,-1.109664666551269,0.71338606911949],"aabb_xy":[[-0.56081211434403,-1.1299472916939775],[-0.5202435088972325,-1.0893820414085598]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.25809123362449427,1.331471289199114,0.71338606911949],"aabb_xy":[[0.168091236888884,1.2782878258818193],[0.3480912303601044,1.3846547525164083]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.33678910440883514,-0.6706177931863446,0.71338606911949],"aabb_xy":[[0.3105002800883945,-0.6968892268409957],[0.3630779287292758,-0.6443463595316933]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.05212423640888786,-1.4092717385740336,0.71338606911949],"aabb_xy":[[-0.01787576698267412,-1.4445875122774643],[0.12212423980044983,-1.3739559648706026]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.2775107586212986,-0.880868189382287,0.71338606911949],"aabb_xy":[[0.22251075899955275,-0.9358518821697597],[0.33251075824304444,-0.8258844965948142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65932394680514,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6586.png","name":"6586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6586.png","name":"6586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9487.png","name":"9487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9596.png","name":"9596"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8830.png","name":"8830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7724.png","name":"7724"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":621.1482524400236,"rotation_z_degrees":260.9142493438339,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005787856659954538,-0.005374497968144256,-0.006295598390049154]},{"name":"camera_2","offset_m":[-0.0030383447490326433,-0.00885592864705075,0.0013055677505762718]},{"name":"camera_3","offset_m":[0.007847089134570672,0.012936924734090662,-0.0032263169293270458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008456719135923937,0.0010600278395986938,0.00029289503116110716],"end_effector_yaw_offset_degrees":0.9418073112703884},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005625529651329319,-0.0008542430221262526,-0.001123848945342607],"end_effector_yaw_offset_degrees":-0.8910008276620316},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007382197885268749,-0.0007729408941885261,0.001489475237348322],"end_effector_yaw_offset_degrees":-0.03173450987556925}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024807712178569023,-4.8408315397346045e-05],"position_m":[0.3253807712178569,-0.12404840831539735,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004453252165416872,-0.0013305486355508177],"position_m":[0.32575325216541684,0.11986945136444918,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00152334784416244,0.0015591659197137812],"position_m":[0.3033233478441624,0.004159165919713781,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003920658408439306,0.001991458826139092],"position_m":[0.1062206584084393,0.3937914588261391,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023422962718529297,-0.0038726282648657573],"position_m":[0.16654229627185294,-0.44157262826486576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"40772915a2cad6036d5c2a779cb369af64e3f4d0bfc466e45ead3f807df70924","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6586/tex_ceiling_textures_7724/tex_floor_textures_8830/tex_table_textures_9487/tex_wall_textures_9596","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5132724069994232187,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5132724069994232187,"visual_seed":5132724069994232187,"scene_id":"lab_003","finished_at":"2026-09-03T17:24:21"} +{"episode_id":"ep_000009","started_at":"2026-09-03T17:24:24","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.04991145479772685,-1.9427462578785184,0.71338606911949],"aabb_xy":[[0.04191746622002346,-1.9507463379736085],[0.05790544337543024,-1.9347461777834278]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.4430027989735017,-0.6482964008368255,0.71338606911949],"aabb_xy":[[0.39300279802296895,-0.6798455478403469],[0.49300279992403456,-0.6167472538333041]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.1323676066373075,-1.16602973969781,0.71338606911949],"aabb_xy":[[0.09557297351240124,-1.2029356147943924],[0.16916223976221378,-1.1291238646012278]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.14962751113327144,0.762576564548374,0.71338606911949],"aabb_xy":[[0.13212751088822206,0.745076776708807],[0.16712751137832083,0.7800763523879407]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.08511726019954291,-1.4606308664331742,0.71338606911949],"aabb_xy":[[-0.10261719363352628,-1.4781308663534085],[-0.06761732676555954,-1.4431308665129394]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.28512839194484174,-0.33621529437045083,0.71338606911949],"aabb_xy":[[-0.3101283914965802,-0.34635777823558556],[-0.26012839239310326,-0.3260728105053161]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.09267618761018437,1.2372702705549568,0.71338606911949],"aabb_xy":[[-0.14669178389208437,1.1732702676626994],[-0.03866059132828435,1.3012702734472137]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.06800199134741003,0.9336183009964074,0.71338606911949],"aabb_xy":[[0.02191690009267856,0.8696183037438523],[0.11408708260214151,0.9976182982489625]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.13248292148919727,-0.0047006455766163135,0.71338606911949],"aabb_xy":[[-0.19648291788477032,-0.06866393399534987],[-0.06848292509362416,0.05926264284211724]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.4607627559669033,-0.9080896670664886,0.71338606911949],"aabb_xy":[[-0.49073031287672897,-0.9380896673643745],[-0.43079519905707764,-0.878089666768603]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.3343351220926749,0.8975409982310394,0.71338606911949],"aabb_xy":[[0.3124453745037341,0.8075410009417904],[0.3562248696816157,0.9875409955202886]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.026857919829071597,-0.7986617517776156,0.71338606911949],"aabb_xy":[[-0.04030444646311493,-0.8121316034307068],[-0.013411393195028265,-0.7851919001245243]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[0.12354124015487811,-1.0797278043859146,0.71338606911949],"aabb_xy":[[0.11550490545359327,-1.0877659236903312],[0.13157757485616295,-1.0716896850814976]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.2219273247816464,-2.163313533641119,0.71338606911949],"aabb_xy":[[-0.2859273264596437,-2.211830925120433],[-0.15792732310364901,-2.1147961421618047]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.4444086031702728,-1.5525892883765333,0.71338606911949],"aabb_xy":[[-0.5344086068471908,-1.6140216949536372],[-0.35440859949335457,-1.4911568817994287]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.35714484904367116,1.3652638799804548,0.71338606911949],"aabb_xy":[[-0.3936406696709499,1.3287799375536973],[-0.3206490284163924,1.4017478224072124]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.5881519388612884,-0.9517170986479475,0.71338606911949],"aabb_xy":[[-0.6186361889883184,-1.0017170984294435],[-0.5576676887342581,-0.9017170988664515]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.11303051070779924,-1.3825657724662006,0.71338606911949],"aabb_xy":[[-0.11766562586003261,-1.386433107543349],[-0.10839539555556583,-1.3786984373890518]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.36123373347629095,-2.5371242282697573,0.71338606911949],"aabb_xy":[[0.3267712554632031,-2.54378790545268],[0.39569621148937867,-2.5304605510868345]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.605880493852667,1.4868568155653485,0.71338606911949],"aabb_xy":[[-0.6209827953136848,1.4717552939342862],[-0.5907781923916486,1.50195833719641]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.5958519912406497,0.6965515209942259,0.71338606911949],"aabb_xy":[[-0.6136454981755661,0.6787517753984283],[-0.5780584843057333,0.7143512665900237]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.613058227363505,-1.6391032486162853,0.71338606911949],"aabb_xy":[[0.5490582250207034,-1.6840440998604176],[0.6770582297063066,-1.5941623973721526]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.3483170504164006,1.5232297976200164,0.71338606911949],"aabb_xy":[[0.2683170530128071,1.4432372264218334],[0.42831704781999397,1.603222368818199]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.0640268076922067,-2.2779738107722363,0.71338606911949],"aabb_xy":[[-0.015973192581400283,-2.350923358597953],[0.14402680796581366,-2.2050242629465195]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.1106368923756631,1.7801442110939916,0.71338606911949],"aabb_xy":[[-0.14813689316765855,1.7737763701358014],[-0.07313689158366765,1.7865120520521818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6508273208530445,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/606.png","name":"606"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/606.png","name":"606"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8735.png","name":"8735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5507.png","name":"5507"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":789.614172626236,"rotation_z_degrees":142.01662050330998,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017342507668101387,0.014108699371148305,0.006625645458117703]},{"name":"camera_2","offset_m":[0.007786955799247805,0.016593782620032405,-0.012185187550838484]},{"name":"camera_3","offset_m":[-0.006404566494096655,-0.0063578992383861894,-0.009873985472304154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011569966283823466,-0.0015729801771737334,0.0007887123615678651],"end_effector_yaw_offset_degrees":0.29961150671328496},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009442463194731555,-0.001046775389007296,0.0006173680955992174],"end_effector_yaw_offset_degrees":0.644011210695939},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-5.0546569233207933e-05,0.0010001782854688877,0.0012701616683325548],"end_effector_yaw_offset_degrees":0.4897419787984578}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016995273950796263,-0.0035724351089467046],"position_m":[0.32459952739507963,-0.1275724351089467,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025286353110266615,0.003855775729737664],"position_m":[0.3238286353110266,0.12505577572973767,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004192647843070986,0.0023425268341081065],"position_m":[0.297607352156929,0.004942526834108106,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003111557817474687,-0.0008313445982595456],"position_m":[0.10541155781747469,0.3909686554017404,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013309523824686698,0.004758828871014714],"position_m":[0.16286904761753135,-0.4329411711289853,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b3912d8909ee1f086af80eee4ee028992058e05fc2e03e3f09bb89f4175caf2","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_606/tex_ceiling_textures_9149/tex_floor_textures_5507/tex_table_textures_8735/tex_wall_textures_8193","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7100289701195350989,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7100289701195350989,"visual_seed":7100289701195350989,"scene_id":"lab_003","finished_at":"2026-09-03T17:26:49"} +{"episode_id":"ep_000010","started_at":"2026-09-03T17:26:53","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.03631612280684482,-0.9225170833533969,0.71338606911949],"aabb_xy":[[-0.10631612493827436,-0.9452790489790924],[0.03368387932458473,-0.8997551177277011]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.5055284238021059,-0.42179413573788915,0.71338606911949],"aabb_xy":[[-0.5291135472660009,-0.48679413798332094],[-0.4819433003382112,-0.35679413349245737]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.35164027981964446,0.8216997628295921,0.71338606911949],"aabb_xy":[[-0.3609872874019397,0.8073961406119481],[-0.34229327223734923,0.8360033850472361]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.47377656075072516,0.49755339393581366,0.71338606911949],"aabb_xy":[[0.46566290607734795,0.4894475774817846],[0.48189021542410215,0.5056592103898427]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.07505431271133534,1.7186756608526106,0.71338606911949],"aabb_xy":[[-0.1650543124345095,1.6956023083174308],[0.014945687011838847,1.7417490133877904]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.07728700548217249,1.3944999546413284,0.71338606911949],"aabb_xy":[[-0.11174935288031428,1.3600060722435054],[-0.04282465808403068,1.4289938370391508]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.28875609372334043,-1.235280377672905,0.71338606911949],"aabb_xy":[[0.2087560904593273,-1.2488404099818182],[0.36875609698735357,-1.2217203453639915]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.6173468963703481,-1.825060239114444,0.71338606911949],"aabb_xy":[[0.5473468945616027,-1.8464140078786313],[0.6873468981790936,-1.8037064703502566]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.1750390353877116,-0.6167335416353381,0.71338606911949],"aabb_xy":[[0.17019544062648162,-0.6215851941143222],[0.17988263014894157,-0.611881889156354]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.45520601145464934,1.464445194442471,0.71338606911949],"aabb_xy":[[-0.5101992227917862,1.4094451941036774],[-0.40021280011751265,1.5194451947812648]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.3087693596813494,-1.2731635885927801,0.71338606911949],"aabb_xy":[[-0.3887693599549563,-1.3461131364184968],[-0.22876935940774237,-1.2002140407670634]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.2963843907141196,-0.6420951657734177,0.71338606911949],"aabb_xy":[[0.2854786146265569,-0.7220951621722469],[0.3072901668016823,-0.5620951693745886]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.35914051220396837,-1.9382133626137612,0.71338606911949],"aabb_xy":[[0.27914051524092914,-2.0152890042575344],[0.4391405091670075,-1.8611377209699873]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.2981717639397035,-0.409166614618393,0.71338606911949],"aabb_xy":[[-0.3631717620956226,-0.4354628591683052],[-0.23317176578378446,-0.3828703700684808]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.09305395725751153,1.1764353906354406,0.71338606911949],"aabb_xy":[[-0.14804943507817092,1.1214353892015334],[-0.03805847943685213,1.2314353920693473]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.2867711081586176,-0.779994482965501,0.71338606911949],"aabb_xy":[[0.27160823518168054,-0.7951599402606199],[0.3019339811355547,-0.7648290256703824]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.34204919237565656,1.0202348851052792,0.71338606911949],"aabb_xy":[[0.3120575296417862,0.9902348857684786],[0.37204085510952684,1.0502348844420797]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.5572634316315687,-0.994659614712057,0.71338606911949],"aabb_xy":[[-0.5633004446322335,-1.0006863157810053],[-0.551226418630904,-0.9886329136431089]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.20138639173063977,0.4443889166667332,0.71338606911949],"aabb_xy":[[-0.265386391024808,0.38040277629787905],[-0.13738639243647152,0.5083750570355874]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.5432413403124323,0.6179138774834305,0.71338606911949],"aabb_xy":[[-0.5770168995031253,0.6038753822702654],[-0.5094657811217393,0.6319523726965954]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.6105911158315109,0.5738784529870684,0.71338606911949],"aabb_xy":[[0.6066306320617766,0.5662105884015478],[0.6145515996012453,0.581546317572589]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.13037321313114592,-2.343068202948856,0.71338606911949],"aabb_xy":[[-0.15365505532927726,-2.428068204246084],[-0.10709137093301459,-2.258068201651628]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[-0.21896653491947998,-0.9998063007008375,0.71338606911949],"aabb_xy":[[-0.23413870420111332,-1.0149751576290411],[-0.20379436563784664,-0.9846374437726343]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.18112835569689756,0.9215429752919406,0.71338606911949],"aabb_xy":[[0.17384603932023385,0.8315429716824314],[0.18841067207356116,1.0115429789014492]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.06008281018708683,-2.0616705492340572,0.71338606911949],"aabb_xy":[[-0.0900503670969125,-2.091670549531943],[-0.03011525327726116,-2.0316705489361713]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6512009324086152,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9740.png","name":"9740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7907.png","name":"7907"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":706.6568383479889,"rotation_z_degrees":6.782059561179694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01514020732447954,0.015873851840898564,0.008550686950384682]},{"name":"camera_2","offset_m":[-0.01647830774662352,0.014486492490404842,-0.003014302301504526]},{"name":"camera_3","offset_m":[-0.005948551440446925,-0.0024486593547455374,0.0007924623267258346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014314878164251757,-0.00017166931067572576,-0.0008127122859754947],"end_effector_yaw_offset_degrees":-0.677463750217985},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009810874508036492,-0.0016803935988698106,0.0016498716653793664],"end_effector_yaw_offset_degrees":-0.6433367966456696},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000646810015725444,0.0010235170795586004,-0.0015238185528422786],"end_effector_yaw_offset_degrees":0.2626967036067056}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001095197108147906,-0.004336640576673941],"position_m":[0.3218048028918521,-0.12833664057667393,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001353455816677793,0.003940896693398828],"position_m":[0.32265345581667776,0.12514089669339884,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002359712259694231,0.0011128037967958748],"position_m":[0.2994402877403058,0.0037128037967958747,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028053015831056706,-0.0019551598842197327],"position_m":[0.09949469841689433,0.38984484011578024,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004780562569308857,0.0003613391145967969],"position_m":[0.15941943743069115,-0.4373386608854032,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32045eeeb30617f6f84648126cbedf8e820e0e8f8dfde89c8c2f3c4610ce9894","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8710/tex_ceiling_textures_6900/tex_floor_textures_7907/tex_table_textures_9740/tex_wall_textures_2671","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4538163265704335866,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4538163265704335866,"visual_seed":4538163265704335866,"scene_id":"lab_003","finished_at":"2026-09-03T17:29:34"} +{"episode_id":"ep_000011","started_at":"2026-09-03T17:32:27","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.14778909362323034,-0.14789586108237884,0.71338606911949],"aabb_xy":[[-0.2077890952661522,-0.19989601037432306],[-0.08778909198030849,-0.09589571179043468]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.2780565870199458,0.9861256845688899,0.71338606911949],"aabb_xy":[[-0.32804969912913773,0.9361256838946944],[-0.22806347491075396,1.0361256852430856]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.5553641988051696,-2.0738731175076626,0.71338606911949],"aabb_xy":[[0.5378641996708025,-2.08375274454525],[0.5728641979395368,-2.0639934904700743]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.4822933164180755,1.1962118417562984,0.71338606911949],"aabb_xy":[[-0.4916403240003707,1.1819082195386543],[-0.47294630883578026,1.2105154639739424]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[0.5763328957839451,1.1182818821177687,0.71338606911949],"aabb_xy":[[0.5628863691499019,1.1048120304646774],[0.5897794224179885,1.13175173377086]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[0.28491695745890955,1.0424636383415464,0.71338606911949],"aabb_xy":[[0.2209169601565631,0.9980972113736897],[0.3489169547612559,1.0868300653094032]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.027060097583529674,-2.2934817262392317,0.71338606911949],"aabb_xy":[[0.012725672457366225,-2.305541941793771],[0.04139452270969313,-2.2814215106846927]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.31135004237994446,-0.9461782506636345,0.71338606911949],"aabb_xy":[[0.2994173080181164,-0.9585604034714938],[0.3232827767417725,-0.9337960978557751]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.46604741896533325,0.006841599474337823,0.71338606911949],"aabb_xy":[[-0.4835473523993166,-0.01065840044589672],[-0.4485474855313499,0.024341599394572366]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.11289156152850932,0.27960733832335816,0.71338606911949],"aabb_xy":[[-0.20289156520542745,0.21817493174625374],[-0.022891557851591148,0.34103974490046246]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.36908291357428147,1.5651909577478196,0.71338606911949],"aabb_xy":[[-0.4330829142777509,1.5191725752748988],[-0.3050829128708122,1.6112093402207408]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.09773883704328479,1.1653148517978469,0.71338606911949],"aabb_xy":[[0.060238838619884424,1.152150637830016],[0.13523883546668514,1.1784790657656774]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.2806620404850563,-2.514682876906271,0.71338606911949],"aabb_xy":[[-0.30316204099709687,-2.5371747352716687],[-0.2581620399730157,-2.492191018540872]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.4882654797743068,0.9221852351940703,0.71338606911949],"aabb_xy":[[-0.5532654807748074,0.8713988700393953],[-0.4232654787738063,0.9729716003487452]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.22810817097927127,-2.5573716248858616,0.71338606911949],"aabb_xy":[[0.148108173819696,-2.568919225843678],[0.30810816813884656,-2.545824023928044]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.3220238593268476,-1.5934268074336853,0.71338606911949],"aabb_xy":[[-0.36420827348767826,-1.6574268077108967],[-0.2798394451660168,-1.5294268071564743]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.4125049144639408,-0.7189142524370042,0.71338606911949],"aabb_xy":[[-0.44696726186208247,-0.7534081348348267],[-0.37804256706579886,-0.6844203700391813]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.5560397349984483,-2.008187725957766,0.71338606911949],"aabb_xy":[[-0.6360397382624614,-2.021747758266679],[-0.47603973173443515,-1.9946276936488525]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.442956827861041,-1.2928133012593963,0.71338606911949],"aabb_xy":[[-0.45108451605435423,-1.3017269096701043],[-0.4348291396677278,-1.2838996928486888]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.714772930428625,-0.15757324142017248,0.71338606911949],"aabb_xy":[[0.7070697397545481,-0.16528261211891046],[0.7224761211027021,-0.14986387072143445]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.25465181700948314,0.7566035092986367,0.71338606911949],"aabb_xy":[[0.24142087147480185,0.7433760902766372],[0.26788276254416443,0.769830928320636]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.5734862309746176,1.6671310788268312,0.71338606911949],"aabb_xy":[[-0.6334862318354303,1.6157046488203444],[-0.5134862301138047,1.7185575088333171]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.2781073250919055,0.10426444360487475,0.71338606911949],"aabb_xy":[[-0.29590083202682194,0.08646469800907707],[-0.26031381815698906,0.1220641892006724]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.5443157103453384,-1.9423860026713864,0.71338606911949],"aabb_xy":[[0.4543157106221642,-1.965459355206566],[0.6343157100685125,-1.9193126501362063]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.40248950740636014,1.2145470995624827,0.71338606911949],"aabb_xy":[[0.3474940295857007,1.1595470981285754],[0.45748498522701947,1.2695471009963892]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_25","position":[-0.23755462834129082,-1.8256879341480672,0.71338606911949],"aabb_xy":[[-0.30155462860176163,-1.8706967335009954],[-0.17355462808082003,-1.7806791347951394]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.12048154079536266,-2.3864176803772357,0.71338606911949],"aabb_xy":[[0.11444452779469794,-2.392444381446184],[0.1265185537960274,-2.380390979308288]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.20198654796732052,-2.081984242861352,0.71338606911949],"aabb_xy":[[0.18592462050880285,-2.1669842446739436],[0.21804847542583813,-1.9969842410487602]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[-0.1609427752044995,0.07390534595476517,0.71338606911949],"aabb_xy":[[-0.1984427763892923,0.06948712325870461],[-0.12344277401970673,0.0783235686508257]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[-0.6217941455512521,-0.6691778213504567,0.71338606911949],"aabb_xy":[[-0.6716768424289484,-0.7191778205967315],[-0.571911448673556,-0.619177822104182]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_30","position":[0.7132970445416156,0.4791230788215919,0.71338606911949],"aabb_xy":[[0.7056727764514374,0.4714898552850483],[0.7209213126317939,0.4867563023581357]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[-0.46786871719799966,-1.7041229993182,0.71338606911949],"aabb_xy":[[-0.5064144100232006,-1.7426687703743888],[-0.4293230243727986,-1.6655772282620114]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_32","position":[-0.035622499450512546,-2.2574596070195776,0.71338606911949],"aabb_xy":[[-0.04286626549675787,-2.33745960522318],[-0.02837873340426722,-2.1774596088159752]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_33","position":[0.49842368145693605,-0.7734213746689869,0.71338606911949],"aabb_xy":[[0.4809236812118867,-0.7909211625085538],[0.5159236817019854,-0.7559215868294201]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_34","position":[-0.3511082652140723,1.3042294872828366,0.71338606911949],"aabb_xy":[[-0.3591017550093544,1.296231355342361],[-0.3431147754187903,1.3122276192233122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6564421849105898,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3432.png","name":"3432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3432.png","name":"3432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9466.png","name":"9466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9566.png","name":"9566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3678.png","name":"3678"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":678.4368540317973,"rotation_z_degrees":127.67533960261916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018467440278219331,-0.010786017262135359,0.009264143885285264]},{"name":"camera_2","offset_m":[-0.010600938982493195,0.019460537830849754,-0.009381017667657207]},{"name":"camera_3","offset_m":[-0.010690395185714179,0.013175945366808054,0.012115492226652837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009500976907928097,0.001999154440055745,0.001455766624260989],"end_effector_yaw_offset_degrees":0.8214834859459654},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011816724833717475,-0.0010787381937878524,-0.0019181302003317127],"end_effector_yaw_offset_degrees":0.16870230540709152},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010593518411360452,-0.0006198169529984447,1.4011669378232068e-06],"end_effector_yaw_offset_degrees":-0.339903626142114}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010706763170884046,0.0007552035587079352],"position_m":[0.3239706763170884,-0.12324479644129206,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023000247586486286,0.002963434103932604],"position_m":[0.32360002475864863,0.1241634341039326,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004506762700184768,0.001786585701107457],"position_m":[0.29729323729981527,0.004386585701107457,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006232215387756016,0.0005440939927035624],"position_m":[0.1029232215387756,0.39234409399270354,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003775484226947334,0.0020518588660653767],"position_m":[0.16797548422694736,-0.4356481411339346,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"56fbc45915490797c200d103424523b88fe0bf1fd739268cbdfa1b57b7a3642e","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3432/tex_ceiling_textures_3678/tex_floor_textures_4804/tex_table_textures_9466/tex_wall_textures_9566","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7228756093823258398,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7228756093823258398,"visual_seed":7228756093823258398,"scene_id":"lab_003","finished_at":"2026-09-03T17:34:54"} +{"episode_id":"ep_000012","started_at":"2026-09-03T17:34:58","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.1366375342025884,1.3617353077088183,0.71338606911949],"aabb_xy":[[-0.14541876134982465,1.3529555604202883],[-0.1278563070553522,1.3705150549973488]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.5763385105373053,-2.03598146901085,0.71338606911949],"aabb_xy":[[0.4963385072794624,-2.115977976802834],[0.6563385137951483,-1.9559849612188662]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.5071831774311362,-0.41846261647906813,0.71338606911949],"aabb_xy":[[-0.5173361929852853,-0.4545321580518084],[-0.49703016187698656,-0.38239307490632773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.6500076888193822,-0.1578054376735012,0.71338606911949],"aabb_xy":[[0.6460938156239597,-0.16655445308005795],[0.6539215620148047,-0.14905642226694443]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.40579173850174133,-1.17120763130014,0.71338606911949],"aabb_xy":[[0.34179173528310347,-1.2179307431991484],[0.4697917417203792,-1.1244845194011317]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.22478084928273706,1.5316057588577752,0.71338606911949],"aabb_xy":[[-0.23988315074375513,1.5165042372267128],[-0.20967854782171894,1.5467072804888367]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.4545571177003516,-2.0417203029992828,0.71338606911949],"aabb_xy":[[-0.5345571151039449,-2.121712874197465],[-0.37455712029675814,-1.9617277318010997]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.35258743180118635,-1.6797831922058437,0.71338606911949],"aabb_xy":[[0.26758743310911165,-1.7117690556007223],[0.43758743049326093,-1.6477973288109646]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.015493882977531959,-0.958660159704319,0.71338606911949],"aabb_xy":[[-0.04950611705677077,-1.0053608363846462],[0.08049388301183469,-0.9119594830239917]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.25306813073566786,1.7439027869046622,0.71338606911949],"aabb_xy":[[-0.3430681301540387,1.7105272900604724],[-0.16306813131729692,1.7772782837488519]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.012592377045532954,-1.4580925221757237,0.71338606911949],"aabb_xy":[[-0.06660797332743296,-1.5220925250679807],[0.04142321923636705,-1.3940925192834663]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.6178340943637584,0.6693610043460865,0.71338606911949],"aabb_xy":[[0.5538340940897801,0.6192949041487984],[0.6818340946377366,0.7194271045433743]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.3183443246429449,-0.6770584748115756,0.71338606911949],"aabb_xy":[[-0.3428905402656956,-0.7073073713606126],[-0.29379810902019415,-0.6468095782625385]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.3618406106089711,1.2163335596354758,0.71338606911949],"aabb_xy":[[0.32434061011161286,1.2123648760873573],[0.39934061110632935,1.2203022431835944]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.03526862302376521,-2.164656177192902,0.71338606911949],"aabb_xy":[[-0.10526862483251065,-2.18600994595709],[0.03473137878498023,-2.143302408428715]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.3785838745886836,1.66271767327795,0.71338606911949],"aabb_xy":[[0.3726173356479477,1.656756528618586],[0.38455041352941927,1.6686788179373142]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.2674219062021109,0.7375349993330067,0.71338606911949],"aabb_xy":[[0.229921906030239,0.7048342639500994],[0.30492190637398287,0.7702357347159138]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.16425127393001526,-1.2078968527578788,0.71338606911949],"aabb_xy":[[-0.1992512730599709,-1.213642073833543],[-0.12925127480005957,-1.2021516316822147]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.5978203529001683,-2.576299644109856,0.71338606911949],"aabb_xy":[[-0.6104471401873646,-2.585845717811429],[-0.5851935656129719,-2.5667535704082827]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.4209004086880306,0.6656046029626883,0.71338606911949],"aabb_xy":[[0.37871599452719984,0.6016046026854771],[0.4630848228488613,0.7296046032398995]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[0.43562558925072414,-1.4780672871608915,0.71338606911949],"aabb_xy":[[0.4195636617922064,-1.5630672889734833],[0.4516875167092417,-1.3930672853482997]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.2229411846852991,-2.513476668620321,0.71338606911949],"aabb_xy":[[0.2004411846751508,-2.5275728882599244],[0.24544118469544737,-2.499380448980718]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.14710728841437726,-0.7232627983986815,0.71338606911949],"aabb_xy":[[0.12459359659092006,-0.793262798999689],[0.16962098023783445,-0.6532627977976739]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.4100806150947044,-1.729720113335437,0.71338606911949],"aabb_xy":[[-0.47508061609520486,-1.780506478490112],[-0.3450806140942038,-1.678933748180762]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.2569053034213395,0.5031683997448071,0.71338606911949],"aabb_xy":[[-0.3369053020086589,0.42385279780664625],[-0.1769053048340201,0.582484001682968]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.5153994467154184,-1.156651991074054,0.71338606911949],"aabb_xy":[[-0.5653994453613396,-1.2065715347335162],[-0.4653994480694972,-1.1067324474145914]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.48118003590508396,1.745770884511042,0.71338606911949],"aabb_xy":[[0.4582643230200341,1.7228665873746185],[0.5040957487901339,1.7686751816474655]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.6416991109462209,-1.1937344450090106,0.71338606911949],"aabb_xy":[[0.6031534181210199,-1.2322802160651993],[0.6802448037714219,-1.1551886739528219]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[0.08868361254262702,0.5888156202903927,0.71338606911949],"aabb_xy":[[0.08064727784134217,0.5807775009859758],[0.09671994724391185,0.5968537395948094]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.43020561493252885,0.6143954753773051,0.71338606911949],"aabb_xy":[[-0.44770561406689596,0.6045158483397173],[-0.4127056157981616,0.6242751024148929]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[-0.5222016790748323,1.6459560816206573,0.71338606911949],"aabb_xy":[[-0.5500467158554394,1.6151715828823456],[-0.49435664229422516,1.676740580358969]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[-0.41022353756206625,0.4847468796088714,0.71338606911949],"aabb_xy":[[-0.4338086610259611,0.4197468773634397],[-0.3866384140981714,0.5497468818543032]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[-0.29178706498540674,-1.8876280631789213,0.71338606911949],"aabb_xy":[[-0.3088891429437749,-1.9047348687101908],[-0.2746849870270386,-1.8705212576476513]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_33","position":[0.4987619016068279,1.3739879845038647,0.71338606911949],"aabb_xy":[[0.4762971316354227,1.351487983625004],[0.521226671578233,1.396487985382725]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518101011002112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9833.png","name":"9833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9833.png","name":"9833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8018.png","name":"8018"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6267.png","name":"6267"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5676.png","name":"5676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5017.png","name":"5017"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":820.5552361973266,"rotation_z_degrees":312.52444266324113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01801159390561081,-0.00012971505618025042,0.0012829926571517186]},{"name":"camera_2","offset_m":[-0.007043675413380215,-0.000951575975509357,-0.01606238100894381]},{"name":"camera_3","offset_m":[-0.006116879846747265,0.009556709377818749,0.011536271188913403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014750024341081453,-0.0007387487252656962,-3.755702309510755e-05],"end_effector_yaw_offset_degrees":0.4573684157672724},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015449003970635813,-0.0009380070184368239,0.0008285045583546536],"end_effector_yaw_offset_degrees":0.5735492932775252},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001561276599535303,-0.0015917902199900588,0.0016807969564428607],"end_effector_yaw_offset_degrees":-0.5927597952076751}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010255408462031658,-0.0003011898341889873],"position_m":[0.32187445915379687,-0.12430118983418899,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004817745291216066,-0.0048391907331971264],"position_m":[0.3164822547087839,0.11636080926680288,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004728978558945527,0.0003181941387619446],"position_m":[0.29707102144105446,0.0029181941387619445,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004080695234878775,-0.0038754989913766845],"position_m":[0.09821930476512122,0.3879245010086233,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004754950037977498,-0.0005169875533487609],"position_m":[0.15944504996202252,-0.43821698755334876,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"48851515b86060db4ee592855be2063925c2f7ae59fb56431be5cb595199793d","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9833/tex_ceiling_textures_5017/tex_floor_textures_5676/tex_table_textures_8018/tex_wall_textures_6267","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8970831965486565201,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8970831965486565201,"visual_seed":8970831965486565201,"scene_id":"lab_003","finished_at":"2026-09-03T17:37:25"} +{"episode_id":"ep_000013","started_at":"2026-09-03T17:37:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.08333614673620726,-1.2971668035458759,0.71338606911949],"aabb_xy":[[-0.14733615002591538,-1.3405017225497933],[-0.019336143446499154,-1.253831884541958]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.5173053385040074,-1.097492527497423,0.71338606911949],"aabb_xy":[[-0.543594162824448,-1.1237639611520742],[-0.4910165141835667,-1.0712210938427718]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.348898271198268,1.6073540368210595,0.71338606911949],"aabb_xy":[[0.3263982709547526,1.5951494021612875],[0.3713982714417834,1.6195586714808314]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.6658699466638147,-1.4867917737619947,0.71338606911949],"aabb_xy":[[-0.6805133522178476,-1.5014504934187787],[-0.6512265411097816,-1.4721330541052102]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.008871152436329743,-1.4165764054442578,0.71338606911949],"aabb_xy":[[-0.034091989296169405,-1.4418001562971443],[0.016349684423509925,-1.3913526545913708]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.3171746950096008,1.0237747359177694,0.71338606911949],"aabb_xy":[[0.2946610031861436,0.9537747353167616],[0.33968838683305796,1.0937747365187767]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.47109281148397963,1.753074905239893,0.71338606911949],"aabb_xy":[[0.464051360533232,1.7460481535020986],[0.4781342624347272,1.7601016569776875]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.003876271451214941,-1.571107133769121,0.71338606911949],"aabb_xy":[[-0.06787627172519317,-1.6211732339664089],[0.06012372882276329,-1.521041033571833]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.22198649638463108,-2.274878869977803,0.71338606911949],"aabb_xy":[[0.17418032877086242,-2.339878872684862],[0.26979266399839974,-2.209878867270744]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.43807642330987323,-0.8340714356448937,0.71338606911949],"aabb_xy":[[-0.44994850632137434,-0.9190714353385441],[-0.4262043402983721,-0.7490714359512434]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[-0.616230710005429,0.2630620293647592,0.71338606911949],"aabb_xy":[[-0.6862307121368584,0.24030006373906349],[-0.5462307078739993,0.2858239949904548]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.4557502253020478,0.7966004197747827,0.71338606911949],"aabb_xy":[[0.42143394812742985,0.746600419801605],[0.4900665024766657,0.8466004197479604]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.21250281220447365,0.32820714833549847,0.71338606911949],"aabb_xy":[[-0.25749539892292406,0.28320714906104966],[-0.1675102254860232,0.37320714760994717]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.40975854812739304,-1.8538696691844851,0.71338606911949],"aabb_xy":[[-0.417973093243077,-1.8625462594821258],[-0.40154400301170906,-1.8451930788868431]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.10822370028128503,-1.7713429485309493,0.71338606911949],"aabb_xy":[[0.05322370110469553,-1.826332623305907],[0.16322369945787452,-1.7163532737559917]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.3175969426900399,-1.7538614369003374,0.71338606911949],"aabb_xy":[[-0.35259694404152164,-1.7742211728571582],[-0.28259694133855817,-1.7335017009435165]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.30012229036207416,-1.6073603651064563,0.71338606911949],"aabb_xy":[[0.28934931644070633,-1.6423603633254953],[0.3108952642834419,-1.5723603668874173]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.27343959024107045,0.7805040000375101,0.71338606911949],"aabb_xy":[[0.18343959374019866,0.7345923576190518],[0.36343958674194216,0.8264156424559683]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.1394084173543214,-2.4077214356764247,0.71338606911949],"aabb_xy":[[0.13214716978391403,-2.420508445939934],[0.14666966492472885,-2.3949344254129152]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.20206398265492354,1.1284948542374602,0.71338606911949],"aabb_xy":[[-0.2393952591801662,1.093841799442608],[-0.16473270612968094,1.1631479090323125]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.3365063212066852,-0.6446607926621153,0.71338606911949],"aabb_xy":[[0.2865063217664896,-0.6946287171464315],[0.38650632064688084,-0.5946928681777989]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.6289619473102293,0.7470798348893268,0.71338606911949],"aabb_xy":[[0.5789888817777139,0.697079835076794],[0.6789350128427448,0.79707983470186]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.6371235524901664,-2.4154528319190463,0.71338606911949],"aabb_xy":[[0.6283214971811936,-2.423264158073975],[0.645925607799139,-2.4076415057641167]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.34119065799452253,-1.117338586102747,0.71338606911949],"aabb_xy":[[0.2771906560821802,-1.1732497353607574],[0.40519065990686487,-1.0614274368447365]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.18602083929389623,-2.0418014429427247,0.71338606911949],"aabb_xy":[[-0.25002084070188685,-2.0935903944666494],[-0.12202083788590555,-1.9900124914188002]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.28037102305976264,0.5030610773877351,0.71338606911949],"aabb_xy":[[-0.3453710209414104,0.4519374136811942],[-0.21537102517811485,0.554184741094276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654792995044692,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/400.png","name":"400"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7167.png","name":"7167"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6257.png","name":"6257"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":708.00649250535,"rotation_z_degrees":144.16150307465284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01449712235993601,-0.01120469812307475,-4.8137422119131495e-05]},{"name":"camera_2","offset_m":[-0.013259535219081537,0.019484816695555292,0.012036168543391134]},{"name":"camera_3","offset_m":[-0.013569019112699175,0.014392467845459198,-0.011441774502430523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011119290738238856,0.001464682319008721,-0.0006995134659734891],"end_effector_yaw_offset_degrees":-0.3993393528481024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011375807793238195,-0.001371156077907942,0.0015558891638465153],"end_effector_yaw_offset_degrees":0.6073895179854472},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013156307085014358,0.0010974580667109214,0.0008178128413751629],"end_effector_yaw_offset_degrees":0.10742162187306925}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004643994923479813,-0.0022556140527820946],"position_m":[0.32754399492347985,-0.1262556140527821,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037297619171989234,-0.003904240238922605],"position_m":[0.3250297619171989,0.1172957597610774,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00011298656767485052,-0.0002741275242369532],"position_m":[0.3016870134323252,0.0023258724757630467,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002979070956966984,0.004177753366445142],"position_m":[0.09932092904303302,0.39597775336644514,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004912254195625632,-0.00024844001060404103],"position_m":[0.16370877458043745,-0.437948440010604,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"39cba91ef71baa263b890ba306e03abb3e82f26ed1068d6eaa04842c873dc9c9","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2246/tex_ceiling_textures_6257/tex_floor_textures_7167/tex_table_textures_400/tex_wall_textures_2986","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5747485407370346887,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5747485407370346887,"visual_seed":5747485407370346887,"scene_id":"lab_003","finished_at":"2026-09-03T17:39:56"} +{"episode_id":"ep_000014","started_at":"2026-09-03T17:39:58","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[0.14194405524674358,-0.633293416130031,0.71338606911949],"aabb_xy":[[0.08695180461123263,-0.6882934178733439],[0.19693630588225455,-0.5782934143867183]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.20611674199962882,-1.5888302353235326,0.71338606911949],"aabb_xy":[[0.18943960600653328,-1.605530159297463],[0.2227938779927243,-1.5721303113496023]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.16807505803354283,-2.426981819911918,0.71338606911949],"aabb_xy":[[-0.20307505634423828,-2.4346968348354636],[-0.1330750597228474,-2.4192668049883723]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.2467121379555593,-0.22040297489073923,0.71338606911949],"aabb_xy":[[-0.2575526161820742,-0.23758925618138804],[-0.2358716597290444,-0.20321669360009043]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.3289462211014944,-1.6880613079675642,0.71338606911949],"aabb_xy":[[0.2713157522142235,-1.7480613068942743],[0.38657668998876515,-1.628061309040853]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.3490008799190807,-0.48256148836553026,0.71338606911949],"aabb_xy":[[0.2990179297316013,-0.5325614880080906],[0.39898383010655997,-0.4325614887229698]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.06760557921290555,-0.6190766668567436,0.71338606911949],"aabb_xy":[[-0.11259816593135596,-0.6640766661311923],[-0.022612992494455142,-0.5740766675822948]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.38884247569215447,0.34210358777823835,0.71338606911949],"aabb_xy":[[0.3713424764140676,0.3247654877118924],[0.40634247497024134,0.3594416878445843]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.4733625168161615,-1.93472011098266,0.71338606911949],"aabb_xy":[[0.45871911126212844,-1.9493788306394444],[0.4880059223701944,-1.920061391325876]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.5098502191340306,1.0297408553687677,0.71338606911949],"aabb_xy":[[0.5057143628013304,0.9922408559244107],[0.5139860754667308,1.0672408548131247]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.2545322739944633,1.10691861372863,0.71338606911949],"aabb_xy":[[0.2471198184530748,1.101067403307002],[0.26194472953585174,1.112769824150258]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.22562614776906026,-2.3506383102529167,0.71338606911949],"aabb_xy":[[-0.2477986747457111,-2.3728139774090398],[-0.20345362079240942,-2.3284626430967936]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.3729343058936707,-2.077897030584654,0.71338606911949],"aabb_xy":[[0.3664326693856661,-2.087664852610964],[0.3794359424016754,-2.0681292085583443]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.36652561826021146,-1.9576444491055436,0.71338606911949],"aabb_xy":[[0.34402561801669607,-1.9698490837653155],[0.38902561850372686,-1.9454398144457716]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.20081449377379246,-1.3141645444004086,0.71338606911949],"aabb_xy":[[-0.26481449020111436,-1.361334168222505],[-0.13681449734647055,-1.2669949205783122]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.29532966332575494,1.698001207623022,0.71338606911949],"aabb_xy":[[0.23132966621364925,1.6489688378286114],[0.35932966043786063,1.7470335774174326]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.04124969409778301,1.0467385300020946,0.71338606911949],"aabb_xy":[[0.03483588045459806,1.040328709754426],[0.04766350774096794,1.0531483502497627]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.4563063935144342,-0.08078977102962215,0.71338606911949],"aabb_xy":[[-0.5213063961522277,-0.1322693697290691],[-0.39130639087664065,-0.029310172330175202]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.3368370354555015,-1.2060026377007578,0.71338606911949],"aabb_xy":[[0.27683703485948535,-1.2608151102459815],[0.3968370360515177,-1.1511901651555345]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.4310093998238571,-0.69745120573797,0.71338606911949],"aabb_xy":[[0.4223114375331419,-0.7095761800454448],[0.43970736211457245,-0.6853262314304953]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.22532928127397833,-1.5984991856961854,0.71338606911949],"aabb_xy":[[-0.3053292834367408,-1.678454369322329],[-0.14532927911121582,-1.5185440020700418]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[0.3477142912114124,-1.8411006768965066,0.71338606911949],"aabb_xy":[[0.31341738019367166,-1.875397563106448],[0.3820112022291529,-1.8068037906865653]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[0.468156067462838,1.2504934042009572,0.71338606911949],"aabb_xy":[[0.46206143957471973,1.2419240096492885],[0.4742506953509564,1.259062798752626]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.3945131153698289,-1.3192009488935956,0.71338606911949],"aabb_xy":[[-0.47451311252940415,-1.3307485498514124],[-0.3145131182102536,-1.3076533479357784]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555241495748003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9141.png","name":"9141"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9141.png","name":"9141"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7420.png","name":"7420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8096.png","name":"8096"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9914.png","name":"9914"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":838.4540225245555,"rotation_z_degrees":67.4560113199331,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014290097074113203,0.018670676248990204,-0.014144030745598158]},{"name":"camera_2","offset_m":[-0.01039115556486475,-0.01595700714031662,0.010708935811156103]},{"name":"camera_3","offset_m":[-0.0036729897063774927,-0.014072326540582162,0.008261101643150005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012461803581551197,0.0019810874175054194,0.0001561632953500651],"end_effector_yaw_offset_degrees":-0.03689181416489573},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014059979084316632,0.0012032343042227217,-0.0014266321877930027],"end_effector_yaw_offset_degrees":0.7877575595666761},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010859983018098244,-0.0004996841187512072,0.0007976722867104749],"end_effector_yaw_offset_degrees":0.16820736624795019}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030051465258731673,0.0027725607977097987],"position_m":[0.3259051465258732,-0.1212274392022902,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004709456531515225,-0.004191506293717636],"position_m":[0.31659054346848475,0.11700849370628237,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.000912884273110098,0.0004096521036999921],"position_m":[0.3008871157268899,0.003009652103699992,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010947114836737117,0.002602765157679569],"position_m":[0.10120528851632629,0.3944027651576795,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044935536640265,0.004249669989868547],"position_m":[0.16869355366402652,-0.43345033001013145,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc06351987a4c743c69d1eeba437faccdb1eb2c9478ce3e2f3bd1e447b9e285b","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9141/tex_ceiling_textures_9914/tex_floor_textures_8096/tex_table_textures_6806/tex_wall_textures_7420","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7313415684876689500,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7313415684876689500,"visual_seed":7313415684876689500,"scene_id":"lab_003","finished_at":"2026-09-03T17:42:38"} +{"episode_id":"ep_000015","started_at":"2026-09-03T17:42:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.3938481142988988,-1.707272947336144,0.71338606911949],"aabb_xy":[[-0.45784811570688944,-1.7590618988600688],[-0.3298481128909081,-1.6554839958122194]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.3269951432785374,-2.3830689928377646,0.71338606911949],"aabb_xy":[[0.25699514114710775,-2.40583095846346],[0.39699514540996683,-2.3603070272120683]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.011092581921782751,0.7902412836224322,0.71338606911949],"aabb_xy":[[-0.011407418590257847,0.7677494252570336],[0.03359258243382335,0.8127331419878303]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.5577427567553475,-1.1291747851554619,0.71338606911949],"aabb_xy":[[-0.5799152837319982,-1.1513504523115847],[-0.5355702297786965,-1.1069991179993386]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.4584492017163013,-1.3975090023977297,0.71338606911949],"aabb_xy":[[0.4504058417903461,-1.4825090034930961],[0.46649256164225644,-1.3125090013023633]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.07639490902070156,-0.29686215267497085,0.71338606911949],"aabb_xy":[[-0.14039491107043356,-0.3369566357642788],[-0.01239490697096958,-0.2567676695856629]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.53122433533589,-0.22679312365760618,0.71338606911949],"aabb_xy":[[-0.5928150945598829,-0.29079312176665306],[-0.46963357611189727,-0.1627931255485593]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.3276318685646541,0.5685926893060382,0.71338606911949],"aabb_xy":[[-0.39163186585030274,0.5270859703531943],[-0.26363187127900545,0.6100994082588822]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.6130537653017109,-1.4442864374475008,0.71338606911949],"aabb_xy":[[-0.6289382585670361,-1.458639377746325],[-0.5971692720363858,-1.4299334971486768]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.5011858501279949,-1.7562654272702185,0.71338606911949],"aabb_xy":[[0.4904128762066271,-1.7912654254892575],[0.5119588240493627,-1.7212654290511795]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.08095292473110294,1.214010062792262,0.71338606911949],"aabb_xy":[[0.01695722733600634,1.1500100644915534],[0.14494862212619952,1.2780100610929708]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.43719597515059205,1.1648917400027479,0.71338606911949],"aabb_xy":[[-0.44489916582466915,1.1571823693040098],[-0.42949278447651507,1.172601110701486]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.371856247169591,-0.9818758733172317,0.71338606911949],"aabb_xy":[[0.35675394570857283,-0.9969773949482934],[0.386958548630609,-0.9667743516861698]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.5504184559766511,-0.896883064279445,0.71338606911949],"aabb_xy":[[-0.5926028701374819,-0.9608830645566563],[-0.5082340418158204,-0.8328830640022339]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.17401040698857229,0.6863411923389737,0.71338606911949],"aabb_xy":[[0.08401040465455323,0.6088588377538611],[0.26401040932259134,0.7638235469240864]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.6509892780995674,-1.0155965652858023,0.71338606911949],"aabb_xy":[[0.6049041868448359,-1.0795965625383575],[0.6970743693542989,-0.9515965680332473]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.08378453273887865,-0.5154206481421859,0.71338606911949],"aabb_xy":[[-0.1212845330871064,-0.5272120437232694],[-0.04628453239065089,-0.5036292525611022]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.318915955696452,-0.2904307891100615,0.71338606911949],"aabb_xy":[[-0.36890019140462915,-0.3404307879235571],[-0.2689317199882747,-0.2404307902965659]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.3510012188792062,1.010636819791595,0.71338606911949],"aabb_xy":[[0.2870012165364046,0.9656959685474623],[0.4150012212220077,1.0555776710357272]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.015206618839806785,-1.4679882055483349,0.71338606911949],"aabb_xy":[[0.0043008427522440735,-1.547988201947164],[0.026112394927369498,-1.3879882091495057]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.3017737168182665,1.3879101266808047,0.71338606911949],"aabb_xy":[[0.2667737154667847,1.3675503907239839],[0.33677371816974816,1.4082698626376255]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.4825736091597659,0.8269946374507007,0.71338606911949],"aabb_xy":[[0.47865973596434336,0.8182456220441437],[0.4864874823551884,0.8357436528572574]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.48912429152471865,0.12865831714443443,0.71338606911949],"aabb_xy":[[-0.5116242913386211,0.12418370077395374],[-0.46662429171081626,0.13313293351491512]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[0.487067304748084,-1.2037378894560733,0.71338606911949],"aabb_xy":[[0.3970673080124738,-1.2569213527733676],[0.5770673014836942,-1.1505544261387786]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.1436373736467541,-2.1206992819072394,0.71338606911949],"aabb_xy":[[-0.18113737393892893,-2.124740757307843],[-0.10613737335457929,-2.1166578065066357]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.5102324957089792,-2.340787554489587,0.71338606911949],"aabb_xy":[[0.4462324934885722,-2.3851606386148747],[0.5742324979293862,-2.296414470364298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6488206103335504,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7357.png","name":"7357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2741.png","name":"2741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5719.png","name":"5719"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":785.2714851193831,"rotation_z_degrees":9.8060360131432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017932595254090116,-0.013414736681886415,-0.010747460407652799]},{"name":"camera_2","offset_m":[-0.014433014164437603,-0.014281549112523561,0.010465402013158386]},{"name":"camera_3","offset_m":[0.011292709555590027,0.019077638150164476,-0.011303351964423598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00197050622142778,0.0007025190380712705,3.416036757391107e-05],"end_effector_yaw_offset_degrees":-0.8041112648042528},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005925120078224099,0.0015919240346106093,0.000355225212598162],"end_effector_yaw_offset_degrees":0.1263286255602425},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015003926998598924,-0.00024075191525555037,8.272173538961163e-05],"end_effector_yaw_offset_degrees":-0.9323706825626095}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028530735335333545,-0.00490710951883567],"position_m":[0.32004692646646665,-0.12890710951883566,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002701762172367731,0.0009386062034250423],"position_m":[0.3240017621723677,0.12213860620342504,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003550287877350215,-0.004002841184751034],"position_m":[0.30535028787735025,-0.001402841184751034,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003439838651964444,-0.002580017706375164],"position_m":[0.10573983865196444,0.3892199822936248,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038655206869849237,0.004933454933706126],"position_m":[0.1603344793130151,-0.43276654506629386,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"494f245bcfcdc505e5aa55a1f85fcb8dd6b75dccf1b10d668da910f6728fccd6","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_35/tex_ceiling_textures_5719/tex_floor_textures_1497/tex_table_textures_7357/tex_wall_textures_2741","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8792983655504769315,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8792983655504769315,"visual_seed":8792983655504769315,"scene_id":"lab_003","finished_at":"2026-09-03T17:45:16"} +{"episode_id":"ep_000016","started_at":"2026-09-03T17:45:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.6494748063883611,-0.8491623025178767,0.71338606911949],"aabb_xy":[[0.6195072494785354,-0.8791623028157624],[0.6794423632981867,-0.8191623022199909]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.20209004407957099,-1.3912139385400113,0.71338606911949],"aabb_xy":[[0.13209004766960913,-1.4116518741916926],[0.27209004048953267,-1.3707760028883291]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.30032712691750485,-2.164049250262837,0.71338606911949],"aabb_xy":[[-0.33278882779943225,-2.194182082377739],[-0.26786542603557734,-2.1339164181479333]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.08611416639174807,-0.7787563395422323,0.71338606911949],"aabb_xy":[[-0.16611416504863408,-0.7932611984664951],[-0.006114167734862064,-0.7642514806179695]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.4025155206128943,1.2203827482107235,0.71338606911949],"aabb_xy":[[0.33251551848146466,1.1976207825850274],[0.47251552274432373,1.2431447138364187]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.25393060359064046,-1.505687479770815,0.71338606911949],"aabb_xy":[[-0.3179306068092783,-1.5524105916698236],[-0.1899306003720026,-1.458964367871807]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.12256873558815895,-1.0691767226421878,0.71338606911949],"aabb_xy":[[0.11606709908015435,-1.0789445446684975],[0.12907037209616357,-1.059408900615878]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.42142886175023175,-0.7387663882023612,0.71338606911949],"aabb_xy":[[-0.4287111781268953,-0.8287663918118701],[-0.414146545373568,-0.6487663845928521]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.2727201701469566,1.1275208602778712,0.71338606911949],"aabb_xy":[[0.18272017042378233,1.104447507742691],[0.36272016987013067,1.1505942128130506]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.5585019865237485,1.3187128065974592,0.71338606911949],"aabb_xy":[[-0.6185019871197647,1.2639003340522355],[-0.4985019859277323,1.3735252791426824]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.45460375048368307,0.536121003214284,0.71338606911949],"aabb_xy":[[0.44544387153980647,0.529589785170747],[0.46376362942755966,0.5426522212578211]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.5052014396572557,0.10002144652972467,0.71338606911949],"aabb_xy":[[-0.542701440154614,0.09605276298160625],[-0.4677014391598975,0.10399013007784308]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.41682929912570743,-1.8384627321242921,0.71338606911949],"aabb_xy":[[0.4059235230381447,-1.9184627285231213],[0.42773507521327014,-1.758462735725463]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.47906969121961585,0.2640837982920332,0.71338606911949],"aabb_xy":[[-0.5590696944836291,0.2505237659831199],[-0.39906968795560277,0.27764383060094655]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.1843918985691715,-0.612928946189947,0.71338606911949],"aabb_xy":[[-0.1914322085027085,-0.6929289455896185],[-0.1773515886356345,-0.5329289467902757]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.6182355661202029,0.23190177309054727,0.71338606911949],"aabb_xy":[[-0.6263632543135161,0.22298816467983962],[-0.6101078779268897,0.24081538150125492]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.611480052989487,-2.333671911808863,0.71338606911949],"aabb_xy":[[0.5214800543950171,-2.3499224981222846],[0.701480051583957,-2.317421325495442]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.08761508300939191,-2.3331932227186916,0.71338606911949],"aabb_xy":[[0.002615084591968672,-2.418067518180977],[0.17261508142681514,-2.248318927256407]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.30686072476415416,-1.201759196512702,0.71338606911949],"aabb_xy":[[0.24186072472985143,-1.2484598731930294],[0.3718607247984569,-1.1550585198323748]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.003427455733542195,1.314776100716478,0.71338606911949],"aabb_xy":[[-0.019488257151507708,1.2918718035800545],[0.0263431686185921,1.3376803978529015]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.5634897793602893,1.1007518144474338,0.71338606911949],"aabb_xy":[[0.5526493011337743,1.083565533156785],[0.5743302575868041,1.1179380957380824]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.058639691522180404,-1.2223996883216017,0.71338606911949],"aabb_xy":[[0.05368367133729921,-1.2448996885237236],[0.0635957117070616,-1.1998996881194803]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.07666312454995161,-0.5809603700868098,0.71338606911949],"aabb_xy":[[-0.08392437212035903,-0.5937473803503194],[-0.0694018769795442,-0.5681733598233004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6522310543705833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2631.png","name":"2631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2631.png","name":"2631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4702.png","name":"4702"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8473.png","name":"8473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":700.7753972050617,"rotation_z_degrees":265.6556138184898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018637782856744143,0.016678663467247026,0.005378381993830967]},{"name":"camera_2","offset_m":[0.01710433593414352,-0.005010491804320481,0.015732858489523733]},{"name":"camera_3","offset_m":[-0.0063869718552314984,-0.004999042500917374,-0.003844788014443018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014158357228934628,-0.0016407236751890077,-0.0009082889325535879],"end_effector_yaw_offset_degrees":-0.6128383819473737},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00046874233938915986,0.0012869724635485831,-0.0002731193848610207],"end_effector_yaw_offset_degrees":0.9150378391110225},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011332423214896479,0.0004002919271742134,0.00018204209261822374],"end_effector_yaw_offset_degrees":-0.891942055321399}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002494278204677438,0.003196611419921885],"position_m":[0.3253942782046775,-0.12080338858007811,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000757544728949947,-0.003380930862637157],"position_m":[0.32205754472894993,0.11781906913736284,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003327262003208732,-0.004280659888837471],"position_m":[0.3051272620032087,-0.0016806598888374708,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004892226014566065,0.0005889455716541125],"position_m":[0.09740777398543393,0.3923889455716541,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001505297847057682,0.003973605933675471],"position_m":[0.16404947021529426,-0.4337263940663245,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c60f8185e1352812aa952d7da6011b341d80f5b9d7989f450af263911c078530","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2631/tex_ceiling_textures_4168/tex_floor_textures_296/tex_table_textures_4702/tex_wall_textures_8473","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2242373472676590901,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2242373472676590901,"visual_seed":2242373472676590901,"scene_id":"lab_003","finished_at":"2026-09-03T17:47:44"} +{"episode_id":"ep_000017","started_at":"2026-09-03T17:47:48","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.045139485698903026,-1.511237523653156,0.71338606911949],"aabb_xy":[[-0.08076864159886277,-1.5468701904100088],[-0.009510329798943278,-1.475604856896303]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.3759867983272054,0.853609553072578,0.71338606911949],"aabb_xy":[[0.368725550756798,0.8408225428090685],[0.38324804589761285,0.8663965633360875]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.2464152534170202,-2.23552188664674,0.71338606911949],"aabb_xy":[[-0.25238179235775593,-2.2414830313061036],[-0.24044871447628438,-2.2295607419873753]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.3645869401149811,-0.0030706321964770744,0.71338606911949],"aabb_xy":[[-0.3726303000409363,-0.0880706332918435],[-0.35654358018902593,0.08192936889888935]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.58918780643847,-1.3273101908071099,0.71338606911949],"aabb_xy":[[-0.6009559932331276,-1.4123101907123317],[-0.5774196196438126,-1.2423101909018885]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.07111635167965269,-0.4825805439162201,0.71338606911949],"aabb_xy":[[-0.08717827913817032,-0.5675805457288119],[-0.05505442422113504,-0.39758054210362825]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.15057239881684226,-2.1117421085103287,0.71338606911949],"aabb_xy":[[-0.21457240103724928,-2.156115192635617],[-0.08657239659643523,-2.0673690243850404]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.46330725821490026,0.7274565127940642,0.71338606911949],"aabb_xy":[[0.4507045590778238,0.7148611165691988],[0.4759099573519767,0.7400519090189298]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.11366446185145151,-0.03658387053452605,0.71338606911949],"aabb_xy":[[-0.13134009244004982,-0.05426408681392879],[-0.09598883126285317,-0.018903654255123293]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.26517621720776385,0.4990543765403368,0.71338606911949],"aabb_xy":[[-0.29382554956818,0.470408817263261],[-0.23652688484734757,0.5276999358174126]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.4093781625499553,-2.100365779270806,0.71338606911949],"aabb_xy":[[0.3593781612661153,-2.150344633661428],[0.45937816383379526,-2.0503869248801836]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.23190534204910218,1.0090105657507031,0.71338606911949],"aabb_xy":[[0.21369951838785453,0.9979851651687115],[0.25011116571034986,1.0200359663326948]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.1860956583475365,-1.4431108223339777,0.71338606911949],"aabb_xy":[[-0.19313596828107354,-1.5231108217336495],[-0.17905534841399953,-1.3631108229343065]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.6125903550105362,-2.2192928658201527,0.71338606911949],"aabb_xy":[[-0.6468872660282765,-2.2535897520300936],[-0.5782934439927954,-2.184995979610211]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.017380497857121924,-2.414482107625514,0.71338606911949],"aabb_xy":[[-0.052619503951623514,-2.4358358763897012],[0.08738049966586736,-2.3931283388613265]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.24045388330777756,0.30185398192517887,0.71338606911949],"aabb_xy":[[-0.33045388272614845,0.2684784850809891],[-0.15045388388940667,0.33522947876936854]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.6001604329746266,-1.1193527888593988,0.71338606911949],"aabb_xy":[[0.5826604327152901,-1.1334443310481717],[0.6176604332339634,-1.1052612466706264]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.19080947176575558,-1.6285886626021187,0.71338606911949],"aabb_xy":[[-0.2283094718713485,-1.6354108244550998],[-0.1533094716601626,-1.6217665007491375]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.5779190072793745,1.259270869446485,0.71338606911949],"aabb_xy":[[0.5429190073833556,1.2508966339345449],[0.6129190071753934,1.267645104958425]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[0.47104372788832394,-1.383261901468369,0.71338606911949],"aabb_xy":[[0.4596819932350377,-1.3946303678746568],[0.48240546254161004,-1.3718934350620806]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.02132671953530707,0.8203776578538573,0.71338606911949],"aabb_xy":[[-0.0301079466825433,0.8115979105653274],[-0.012545492388070845,0.8291574051423877]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.1403863138917233,-1.9581564273295773,0.71338606911949],"aabb_xy":[[0.11680119042782844,-2.0231564295750095],[0.16397143735561814,-1.8931564250841457]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.04246569680987822,1.6105255949291624,0.71338606911949],"aabb_xy":[[0.03375172775994372,1.588025594269974],[0.0511796658598127,1.6330255955883504]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.6746392980620932,0.39619070972106396,0.71338606911949],"aabb_xy":[[0.6665256433887161,0.3880848932670348],[0.6827529527354703,0.404296526175093]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.5685888716045665,1.6301523404038654,0.71338606911949],"aabb_xy":[[-0.6185676801148825,1.5801523403981466],[-0.5186100630942507,1.6801523404095842]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[0.0663054117221421,0.9066445945694168,0.71338606911949],"aabb_xy":[[0.02897413519689948,0.8719915397745646],[0.10363668824738473,0.9412976493642691]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.44186786789891713,-2.3568246779494846,0.71338606911949],"aabb_xy":[[-0.5058678650110229,-2.405857047743895],[-0.37786787078681144,-2.307792308155074]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.6832297123506219,1.6557236314997126,0.71338606911949],"aabb_xy":[[0.673812237780759,1.6463074543619933],[0.6926471869204845,1.6651398086374314]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.30373852904174053,1.7900388687732858,0.71338606911949],"aabb_xy":[[-0.326238529285256,1.7778342341135138],[-0.2812385287982252,1.8022435034330577]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[-0.2793258129463443,-1.8624471342534323,0.71338606911949],"aabb_xy":[[-0.3220925198257644,-1.9264471376752348],[-0.23655910606692404,-1.7984471308316299]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[-0.2141838774439937,1.1054630105172212,0.71338606911949],"aabb_xy":[[-0.24415143435381936,1.0754630102193354],[-0.18421632053416803,1.135463010815107]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_31","position":[-0.517040012635616,-0.4840594678638892,0.71338606911949],"aabb_xy":[[-0.5720400108373608,-0.5245814344903268],[-0.46204001443387116,-0.4435375012374516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569960335645589,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3832.png","name":"3832"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3135.png","name":"3135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8608.png","name":"8608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5870.png","name":"5870"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":630.493803416861,"rotation_z_degrees":109.54457560481418,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002540371001863471,0.013958466628988992,-0.015812682332650138]},{"name":"camera_2","offset_m":[0.014731405642091872,0.006212172192837401,-0.018783485847189484]},{"name":"camera_3","offset_m":[-0.010225319465632468,0.017901099693047897,-0.001886834572586666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010891746035952905,0.00032535449282739557,-0.0011906522882798223],"end_effector_yaw_offset_degrees":0.9968707169445066},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[5.655251838255484e-05,-0.001106415067564896,-0.0016541349638553985],"end_effector_yaw_offset_degrees":0.33256151166992787},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016350762279310526,0.001671678783774231,-0.0017720693059996501],"end_effector_yaw_offset_degrees":0.3803154198900929}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004199872417116038,-0.003297197227542098],"position_m":[0.31870012758288396,-0.1272971972275421,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009058185462640809,0.0024688652805616084],"position_m":[0.3203941814537359,0.1236688652805616,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0003927622744048006,-0.00143937237918098],"position_m":[0.30219276227440484,0.00116062762081902,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00278625670415517,-0.004188208887446964],"position_m":[0.09951374329584484,0.387611791112553,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003822726524645911,0.0012709236139007733],"position_m":[0.16802272652464592,-0.4364290763860992,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4af1772e96b0098ab2aa52c45fb64d6588e38c1f2583994e79f3e2d62cb8fb61","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2585/tex_ceiling_textures_5870/tex_floor_textures_8608/tex_table_textures_3832/tex_wall_textures_3135","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7993622558441478598,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7993622558441478598,"visual_seed":7993622558441478598,"scene_id":"lab_003","finished_at":"2026-09-03T17:50:17"} +{"episode_id":"ep_000018","started_at":"2026-09-03T17:50:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.4079140756496529,-1.2345280404999652,0.71338606911949],"aabb_xy":[[0.39041407651528565,-1.2444076675375528],[0.42541407478402,-1.2246484134623772]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.5982882251780414,-2.4033335806931713,0.71338606911949],"aabb_xy":[[-0.6091940012656041,-2.483333577092],[-0.5873824490904787,-2.3233335842943417]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.5516840180103482,0.9458905927795502,0.71338606911949],"aabb_xy":[[-0.6416840216872662,0.8844581862024458],[-0.46168401433342987,1.0073229993566546]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.09765548573140637,-2.3935385626700563,0.71338606911949],"aabb_xy":[[-0.14753818260910256,-2.4435385619163315],[-0.04777278885371017,-2.343538563423782]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.1980017575629548,0.3707704683958988,0.71338606911949],"aabb_xy":[[-0.25300175718470064,0.3157867756084261],[-0.14300175794120895,0.42575416118337156]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.389170856558568,-2.079632179387942,0.71338606911949],"aabb_xy":[[-0.4531708597772059,-2.1263552912869503],[-0.3251708533399302,-2.0329090674889336]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.01240974772586334,1.4921905206647597,0.71338606911949],"aabb_xy":[[0.006443208785127552,1.4862293760053953],[0.01837628666659913,1.4981516653241236]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.2064987543802418,-1.436334631158258,0.71338606911949],"aabb_xy":[[0.16519421131650577,-1.500334630726375],[0.24780329744397775,-1.3723346315901408]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.051690640254675735,-0.7611753696884711,0.71338606911949],"aabb_xy":[[0.019228939372748274,-0.7913082018033735],[0.08415234113660318,-0.7310425375735683]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.4271176874824137,-2.3639138448869184,0.71338606911949],"aabb_xy":[[-0.43524537567572696,-2.3728274532976266],[-0.4189899992891005,-2.355000236476211]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.32716916999745504,-0.6580834737887888,0.71338606911949],"aabb_xy":[[0.23716917140298516,-0.6743340601022099],[0.41716916859192504,-0.6418328874753678]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.4369455422137103,-2.2535702320639404,0.71338606911949],"aabb_xy":[[0.37294554362713783,-2.300577195463449],[0.5009455408002828,-2.2065632686644316]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.5264435303437134,-1.1679870798488066,0.71338606911949],"aabb_xy":[[-0.6064435308139294,-1.176297787463155],[-0.44644352987349756,-1.159676372234458]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.11277348397814213,-0.4159857296701164,0.71338606911949],"aabb_xy":[[-0.1767734863209437,-0.4609265809142489],[-0.04877348163534057,-0.3710448784259839]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.06791312022574103,-1.4521544567781588,0.71338606911949],"aabb_xy":[[-0.11789192873605692,-1.5021544567838774],[-0.017934311715425144,-1.4021544567724398]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.6020715154669423,-1.55899214883366,0.71338606911949],"aabb_xy":[[0.5220715143938219,-1.5687701951710444],[0.6820715165400626,-1.5492141024962756]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.4261207162360705,1.7655138694760297,0.71338606911949],"aabb_xy":[[0.3621207191239648,1.7164814996816191],[0.4901207133481762,1.8145462392704403]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.5033925876996087,-2.4215911579294236,0.71338606911949],"aabb_xy":[[-0.5258925872233161,-2.444087105380044],[-0.48089258817590136,-2.3990952104788024]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.4354546489203431,0.19998633545833977,0.71338606911949],"aabb_xy":[[-0.4524647462103937,0.18385184696006582],[-0.41844455163029237,0.21612082395661367]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.5682745557892692,1.0687273461992168,0.71338606911949],"aabb_xy":[[0.5312404463612094,1.0343501388655072],[0.6053086652173288,1.103104553532926]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.23195986615932507,-2.1082100049661596,0.71338606911949],"aabb_xy":[[0.16195986455704559,-2.121642798167817],[0.30195986776160455,-2.094777211764502]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.09547588862622336,1.4408938231750859,0.71338606911949],"aabb_xy":[[-0.14075450350737262,1.376893823826902],[-0.050197273745074086,1.5048938225232693]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.2621913267322984,-1.231248649264244,0.71338606911949],"aabb_xy":[[-0.30718391345074886,-1.2762486485386928],[-0.21719874001384804,-1.1862486499897953]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.5368896478513508,-2.2295119633965688,0.71338606911949],"aabb_xy":[[-0.6018896488084781,-2.2814601753302743],[-0.4718896468942237,-2.177563751462863]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[-0.6523460625220621,-0.7369493438657417,0.71338606911949],"aabb_xy":[[-0.6603400510997653,-0.744949423960832],[-0.6443520739443586,-0.7289492637706513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65473105996571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3454.png","name":"3454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3454.png","name":"3454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9504.png","name":"9504"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8879.png","name":"8879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2121.png","name":"2121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":713.6568693054628,"rotation_z_degrees":131.11707725046801,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001064103452016081,-0.008481235840219795,0.005759604301398272]},{"name":"camera_2","offset_m":[-0.014274822375936292,-0.006388202227556365,0.01229139605643793]},{"name":"camera_3","offset_m":[-0.016536805836904818,0.004868520822940821,0.00899235261403672]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017654547840618728,-0.00026605965789674676,0.0008336182074247379],"end_effector_yaw_offset_degrees":-0.18711365949157366},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012272058207982183,-0.00045150132201587033,-0.0006271600247451561],"end_effector_yaw_offset_degrees":-0.14696765375755416},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016944672729091842,-0.001228673030390049,0.000680138656523748],"end_effector_yaw_offset_degrees":0.30931639000863465}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028901380536452666,-0.0035568195139122636],"position_m":[0.32579013805364526,-0.12755681951391226,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016138941168544817,0.0023969745886814288],"position_m":[0.3196861058831455,0.12359697458868144,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002865996569242334,0.004399725953122103],"position_m":[0.29893400343075766,0.006999725953122103,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004268416507941312,-0.004068579276991625],"position_m":[0.10656841650794131,0.38773142072300837,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004554223122347199,-0.004630952215655515],"position_m":[0.1596457768776528,-0.4423309522156555,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"acc4c6210ed2edf8dfa030330da26a7c77bf66ee6f488a4d7935e0ba7ac5019b","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3454/tex_ceiling_textures_3437/tex_floor_textures_2121/tex_table_textures_9504/tex_wall_textures_8879","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":174604016792572340,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":174604016792572340,"visual_seed":174604016792572340,"scene_id":"lab_003","finished_at":"2026-09-03T17:52:48"} +{"episode_id":"ep_000019","started_at":"2026-09-03T17:52:50","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.028136072286069402,-1.7698994356076205,0.71338606911949],"aabb_xy":[[-0.09213606868164248,-1.833862724026354],[0.035863924109503675,-1.705936147188887]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.5402204903581079,0.5070578974501321,0.71338606911949],"aabb_xy":[[-0.6102204921668535,0.4857041286859447],[-0.4702204885493626,0.5284116662143195]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.015519621531657868,-0.8696407358763512,0.71338606911949],"aabb_xy":[[-0.04548717844148353,-0.899640736174237],[0.0144479353781678,-0.8396407355784655]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[0.08068155290828138,-2.3755386348388585,0.71338606911949],"aabb_xy":[[0.0556815533565429,-2.385681118703993],[0.10568155246001987,-2.3653961509737234]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.015338252494877191,-1.0012592783981706,0.71338606911949],"aabb_xy":[[-0.06533326345432923,-1.0512592774337626],[0.03465675846457484,-0.9512592793625791]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.26053145560681956,-2.351185992370263,0.71338606911949],"aabb_xy":[[0.22490229970685977,-2.386818659127116],[0.29616061150677925,-2.31555332561341]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.2417048077766305,-1.2075278218002319,0.71338606911949],"aabb_xy":[[0.19170480913070925,-1.2574473654596943],[0.29170480642255164,-1.1576082781407695]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.14658928535010263,1.482688778449209,0.71338606911949],"aabb_xy":[[-0.2265892858203186,1.474378070834861],[-0.06658928487988668,1.4909994860635576]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.43536741125021894,-1.1271875708995622,0.71338606911949],"aabb_xy":[[-0.5153674086538123,-1.2071801420977448],[-0.3553674138466255,-1.0471949997013792]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.39109128010833616,0.3311684450569303,0.71338606911949],"aabb_xy":[[0.36109961737446583,0.3011684457201298],[0.4210829428422065,0.36116844439373086]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.3294936340553887,-0.42467011647537234,0.71338606911949],"aabb_xy":[[0.27950939834721145,-0.4746701152888679],[0.3794778697635659,-0.3746701176618767]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.07877912783613861,-2.4928945797455575,0.71338606911949],"aabb_xy":[[0.05966682047815974,-2.5120293586227995],[0.09789143519411747,-2.4737598008683155]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.49176741771788146,0.5337207911591704,0.71338606911949],"aabb_xy":[[0.4017674140409631,0.4722883845820658],[0.5817674213947994,0.5951531977362745]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.5724146985821816,0.8763381490594639,0.71338606911949],"aabb_xy":[[0.5412677797385985,0.8063381503726567],[0.6035616174257648,0.946338147746271]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.40537367268219515,1.0023461174006645,0.71338606911949],"aabb_xy":[[-0.4428736733467738,0.9866590594004422],[-0.3678736720176164,1.0180331754008864]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.64669781012652,-2.432083159560214,0.71338606911949],"aabb_xy":[[0.6091978099546479,-2.4647838949431207],[0.6841978102983918,-2.3993824241773063]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.6697810408599858,-0.20752037750375107,0.71338606911949],"aabb_xy":[[0.6663403646199287,-0.2113818104781156],[0.6732217171000431,-0.20365894452938665]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.5417955232047946,-1.8862004445102847,0.71338606911949],"aabb_xy":[[0.5337692525741687,-1.8949519394876373],[0.5498217938354207,-1.877448949532932]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.6618131040533839,-0.8355477857925093,0.71338606911949],"aabb_xy":[[0.6557760910527192,-0.8415744868614575],[0.6678501170540486,-0.8295210847235611]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.4291766322907757,-1.6425871856541745,0.71338606911949],"aabb_xy":[[-0.4389326217999495,-1.652349719713409],[-0.41942064278160174,-1.63282465159494]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.619538174470661,1.596102806439489,0.71338606911949],"aabb_xy":[[0.6070708163609254,1.5836374818061656],[0.6320055325803967,1.6085681310728126]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.5242259967756185,-2.0357956076365573,0.71338606911949],"aabb_xy":[[-0.5467251325018455,-2.05829560841482],[-0.5017268610493916,-2.0132956068582946]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.39321944681935095,0.4117978827620399,0.71338606911949],"aabb_xy":[[-0.42699500601004386,0.3977593875488749],[-0.3594438876286579,0.42583637797520496]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.19945941040393977,-0.9851257539012226,0.71338606911949],"aabb_xy":[[0.1494662982947479,-1.0351257545754184],[0.24945252251313169,-0.9351257532270272]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[-0.21663608601116147,-1.3937014259499894,0.71338606911949],"aabb_xy":[[-0.2429249103316021,-1.4199728596046404],[-0.19034726169072078,-1.367429992295338]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[-0.22862308795900016,0.9348979029409543,0.71338606911949],"aabb_xy":[[-0.2405558223208282,0.922515750133095],[-0.21669035359717206,0.9472800557488137]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.2252107797792519,-2.4120254487769106,0.71338606911949],"aabb_xy":[[-0.30521078194201434,-2.4919806324030542],[-0.1452107776164894,-2.332070265150767]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[0.7103178995034292,1.7479479100256072,0.71338606911949],"aabb_xy":[[0.701536672356193,1.7391681627370774],[0.7190991266506656,1.756727657314138]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.3164186512330467,1.1096319817059497,0.71338606911949],"aabb_xy":[[0.29931657327467853,1.09252517617468],[0.33352072919141484,1.1267387872372194]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[-0.24567176064041796,0.08965580139199902,0.71338606911949],"aabb_xy":[[-0.2582985479276143,0.08010972769042611],[-0.23304497335322158,0.09920187509357191]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[0.4427903627315537,-1.628202096620639,0.71338606911949],"aabb_xy":[[0.3627903657685144,-1.7052777382644124],[0.5227903596945928,-1.5511264549768655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656310159572935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4292.png","name":"4292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9066.png","name":"9066"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3235.png","name":"3235"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.5309964363149,"rotation_z_degrees":327.85485464837257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019855978003391513,0.00047020556239851796,-0.009815836256437782]},{"name":"camera_2","offset_m":[0.0021532010883868608,-0.0005483448123138092,-0.01321361727240003]},{"name":"camera_3","offset_m":[-0.018350376169678922,0.003308925594441927,0.008896974984219767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001239328561244436,0.0008773949461134806,-0.0011236285800046118],"end_effector_yaw_offset_degrees":-0.5215601526065188},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00014441039082791797,0.0009076086392294609,-0.0019009276862937098],"end_effector_yaw_offset_degrees":-0.8508431462605204},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005210017621198504,-0.0013302358846797953,-0.0003217960693629655],"end_effector_yaw_offset_degrees":0.08168692187728466}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006231165037188279,-0.0027857542314608853],"position_m":[0.3222768834962812,-0.12678575423146088,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004305215681716587,0.00016223041913406705],"position_m":[0.3217305215681716,0.12136223041913408,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-9.712020609874833e-05,0.0023091566844503685],"position_m":[0.30170287979390126,0.004909156684450368,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001987607655738182,-0.0010841058113163042],"position_m":[0.10031239234426181,0.3907158941886837,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007166342890275266,-0.0027626558683301605],"position_m":[0.1634833657109725,-0.4404626558683301,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3a78c4b1e459cbfac495107e492fa32f893706cb61fbd6b99c25e6af67646a58","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7538/tex_ceiling_textures_3532/tex_floor_textures_3235/tex_table_textures_4292/tex_wall_textures_9066","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5599755038456857030,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5599755038456857030,"visual_seed":5599755038456857030,"scene_id":"lab_003","finished_at":"2026-09-03T17:55:35"} +{"episode_id":"ep_000020","started_at":"2026-09-03T17:55:38","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.20656552558348285,-0.9480853765350554,0.71338606911949],"aabb_xy":[[0.14156552294568933,-0.9995649752345023],[0.27156552822127633,-0.8966057778356084]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.586211662733569,0.1289221646243237,0.71338606911949],"aabb_xy":[[-0.6362116636841018,0.09737301762080228],[-0.5362116617830361,0.1604713116278451]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.25389914300764194,-0.8208735341940925,0.71338606911949],"aabb_xy":[[-0.30387220854015745,-0.8708735340066257],[-0.20392607747512653,-0.7708735343815599]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5175987132326166,1.0142065243754987,0.71338606911949],"aabb_xy":[[-0.6025987116500399,0.9293322289132138],[-0.4325987148151934,1.0990808198377837]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.2333317083829357,-0.16957631895629222,0.71338606911949],"aabb_xy":[[-0.32333171071695477,-0.24705867354140487],[-0.14333170604891662,-0.09209396437117956]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.2806477828288305,0.9333600446071602,0.71338606911949],"aabb_xy":[[0.24564778451813507,0.9256450296836146],[0.31564778113952596,0.9410750595307059]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.6468625950255409,0.33639254341017466,0.71338606911949],"aabb_xy":[[-0.6687523426144818,0.24639254612092557],[-0.6249728474366002,0.4263925406994238]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.39313423607830367,-1.6372907289522147,0.71338606911949],"aabb_xy":[[-0.40328725163245294,-1.6733602705249548],[-0.3829812205241542,-1.6012211873794742]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.019275236302329524,-1.7659210087518633,0.71338606911949],"aabb_xy":[[-0.01775887312573019,-1.8002982160855723],[0.05630934573038924,-1.7315438014181534]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.44107520208166684,1.7028890796625036,0.71338606911949],"aabb_xy":[[-0.5050752039940092,1.6469779304044934],[-0.37707520016932455,1.7588002289205142]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.3848972047281978,-0.6746113484770886,0.71338606911949],"aabb_xy":[[0.33972588688002886,-0.7386113456216271],[0.43006852257636685,-0.6106113513325503]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.30737789673891647,-1.6516375143451207,0.71338606911949],"aabb_xy":[[0.2433778964649383,-1.7017036145424087],[0.37137789701289475,-1.6015714141478328]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[0.6712271605276192,-1.8685088485892862,0.71338606911949],"aabb_xy":[[0.6509428578042202,-1.8887914737319949],[0.6915114632510178,-1.8482262234465772]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.3788575699625775,-2.4914017150804004,0.71338606911949],"aabb_xy":[[-0.38516966949891596,-2.497168654333619],[-0.3725454704262391,-2.4856347758271817]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.09547610491738445,-1.5134963904350631,0.71338606911949],"aabb_xy":[[0.03147610465691363,-1.558505189787991],[0.15947610517785524,-1.468487591082135]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.36348804106415794,-0.3673969260906169,0.71338606911949],"aabb_xy":[[-0.37426101498552566,-0.4023969243096559],[-0.3527150671427901,-0.33239692787157793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[0.3050543999422759,-2.434824010952003,0.71338606911949],"aabb_xy":[[0.2550544005020802,-2.4847919354363195],[0.35505439938247146,-2.384856086467687]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.33289410017199295,0.6301482019904228,0.71338606911949],"aabb_xy":[[0.2828941015260717,0.5802286583309603],[0.3828940988179141,0.680067745649885]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.04172533874722717,0.2600654909797018,0.71338606911949],"aabb_xy":[[-0.07672533701734707,0.25299136328471356],[-0.006725340477107267,0.2671396186746899]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.09539624126233393,-0.6569423732303044,0.71338606911949],"aabb_xy":[[0.050396239796105094,-0.701942230091785],[0.1403962427285628,-0.6119425163688237]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.5368822959930978,1.2201360440090112,0.71338606911949],"aabb_xy":[[-0.600882295287266,1.156149903640157],[-0.47288229669892956,1.2841221843778654]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.30268036704134116,0.7719987276881795,0.71338606911949],"aabb_xy":[[0.22268036838445515,0.7574938687639167],[0.38268036569822717,0.7865035866124422]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.254469756275094,1.2534414979823212,0.71338606911949],"aabb_xy":[[-0.3160605154990868,1.1894414998732745],[-0.19287899705110118,1.3174414960913683]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.621110347456582,1.7670411181372558,0.71338606911949],"aabb_xy":[[0.5958895105967421,1.741817367284369],[0.6463311843164214,1.7922648689901426]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521330643801104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5621.png","name":"5621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5621.png","name":"5621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3436.png","name":"3436"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2921.png","name":"2921"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/764.png","name":"764"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":566.7371336180391,"rotation_z_degrees":255.96493473107515,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016888516639041735,0.0059740684862179955,0.017858599802842327]},{"name":"camera_2","offset_m":[0.013563459531751695,-0.01143969064755444,0.014603670078126536]},{"name":"camera_3","offset_m":[-0.009839876539207336,-0.0188793381405772,-0.016669633964109903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00036677226318180883,-0.0016531009543916163,-0.0004757450431737121],"end_effector_yaw_offset_degrees":0.18198695810114107},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008364231599222271,0.0007365987738103155,0.0001490732217812262],"end_effector_yaw_offset_degrees":0.9423423380476206},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014078435390079925,0.00024417127593239114,-0.0008114971725423086],"end_effector_yaw_offset_degrees":-0.0838076321210448}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033323920878150807,0.004340037999364836],"position_m":[0.3195676079121849,-0.11965996200063517,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003471016443295869,0.002948814190812947],"position_m":[0.32095289835567037,0.12414881419081295,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003101355131982605,0.00191087431964488],"position_m":[0.2986986448680174,0.00451087431964488,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017315723640691561,-0.0021809305354617225],"position_m":[0.10056842763593085,0.3896190694645383,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002353124512377147,0.0016590479654380588],"position_m":[0.16184687548762286,-0.43604095203456195,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d98ba31bea6bdf3294cbfcfb93f0e68a207a0c8f26fa5a38f2a719ac2873c844","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5621/tex_ceiling_textures_764/tex_floor_textures_2921/tex_table_textures_3436/tex_wall_textures_1374","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4926734897748353007,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4926734897748353007,"visual_seed":4926734897748353007,"scene_id":"lab_003","finished_at":"2026-09-03T17:58:10"} +{"episode_id":"ep_000021","started_at":"2026-09-03T17:58:13","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.6100530875160328,-1.1142941164453706,0.71338606911949],"aabb_xy":[[-0.6226798748032292,-1.1238401901469435],[-0.5974263002288365,-1.1047480427437977]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.5554693976665008,1.3528545021713145,0.71338606911949],"aabb_xy":[[0.49546939715864796,1.296007768485393],[0.6154693981743538,1.4097012358572356]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.23673669540680553,-0.22102757696162545,0.71338606911949],"aabb_xy":[[-0.3007366986965136,-0.264362495965543],[-0.17273669211709738,-0.1776926579577078]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.26742302833564474,0.3054235259325737,0.71338606911949],"aabb_xy":[[-0.27466679438189007,0.22542352772897134],[-0.2601792622893994,0.3854235241361761]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.5762969032235645,-1.5853302382926646,0.71338606911949],"aabb_xy":[[0.4862969035003903,-1.6084035908278442],[0.6662969029467386,-1.5622568857574846]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.6561367481848641,1.1603303119423476,0.71338606911949],"aabb_xy":[[0.6011367490082745,1.1053406371673897],[0.7111367473614535,1.215319986717305]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.665091542175424,-0.2893910454245421,0.71338606911949],"aabb_xy":[[0.6306290641623362,-0.2960547226074649],[0.6995540201885118,-0.28272736824161926]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.04069695684934571,-1.1004730249721217,0.71338606911949],"aabb_xy":[[-0.05625272625961099,-1.116023458216529],[-0.025141187439080455,-1.0849225917277145]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.3124592938259272,1.6717753888366809,0.71338606911949],"aabb_xy":[[0.30636466593780887,1.663205994285012],[0.3185539217140455,1.6803447833883494]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.30074625172739056,1.2983045812380731,0.71338606911949],"aabb_xy":[[0.23574625317031767,1.2685520478241905],[0.36574625028446334,1.3280571146519558]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.2303262493454854,0.8210354045345452,0.71338606911949],"aabb_xy":[[-0.280303666210739,0.7710354030452964],[-0.1803488324802318,0.8710354060237935]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.536515064999258,0.24908361331127038,0.71338606911949],"aabb_xy":[[0.5236431614983178,0.16908361289743423],[0.5493869685001981,0.3290836137251065]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.5627079800088446,-0.19941702211061418,0.71338606911949],"aabb_xy":[[-0.6427018035874028,-0.27941702470345575],[-0.48271415643028637,-0.11941701951777259]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.10092659918429059,1.387872346393856,0.71338606911949],"aabb_xy":[[-0.1510240631653642,1.323872345884044],[-0.05082913520321697,1.4518723469036676]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.4185524222021017,1.7162725875083056,0.71338606911949],"aabb_xy":[[-0.4362280527907,1.6985923712289026],[-0.4008767916135033,1.733952803787708]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.06535488594369021,-1.8632052522521363,0.71338606911949],"aabb_xy":[[0.058853249435685595,-1.8729730742784463],[0.07185652245169483,-1.8534374302258267]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.15124782264471703,-0.9068783416260509,0.71338606911949],"aabb_xy":[[0.11878612176278956,-0.9370111737409532],[0.18370952352664446,-0.876745509511148]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.63026452186416,1.0680239190660537,0.71338606911949],"aabb_xy":[[-0.6802645205100812,1.0181043754065913],[-0.5802645232182388,1.117943462725516]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.3725655369999059,0.7975644444804892,0.71338606911949],"aabb_xy":[[0.2875655385824828,0.7126901490182043],[0.45756553541732925,0.8824387399427742]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.47583036563129055,-1.319172878877375,0.71338606911949],"aabb_xy":[[0.4383303672078902,-1.3323370928452054],[0.5133303640546909,-1.3060086649095444]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.3322913189399482,-2.558669965609093,0.71338606911949],"aabb_xy":[[-0.36606687813064115,-2.572708460822258],[-0.2985157597492552,-2.5446314703959283]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.407015173399907,-2.158617647073676,0.71338606911949],"aabb_xy":[[-0.48701517483003415,-2.2381348020862855],[-0.32701517196977975,-2.0791004920610665]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.40244923147100153,-0.36701580029542225,0.71338606911949],"aabb_xy":[[0.33844922942126954,-0.40711028338473015],[0.46644923352073353,-0.3269213172061142]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.6399621035765239,-2.1640782781602135,0.71338606911949],"aabb_xy":[[-0.6897788830413587,-2.214078276644517],[-0.5901453241116892,-2.11407827967591]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.4147826774943444,-1.896337828651346,0.71338606911949],"aabb_xy":[[0.3647895653851525,-1.9463378293255416],[0.4647757896035363,-1.8463378279771503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546548496832503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2858.png","name":"2858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2858.png","name":"2858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4854.png","name":"4854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9093.png","name":"9093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7687.png","name":"7687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5833.png","name":"5833"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":558.2676312313137,"rotation_z_degrees":350.28317249712353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008563056496019801,-0.006642232763470318,0.010692330747145814]},{"name":"camera_2","offset_m":[0.008503621080610688,0.017763829054037155,-0.013659563405235012]},{"name":"camera_3","offset_m":[-0.014535568875276707,-0.017377080273565187,0.010339727721284546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013404394921830332,-0.0003563030711800192,-0.0004255203612415336],"end_effector_yaw_offset_degrees":0.08171946726346824},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001618047094198577,-0.0005595549958460398,-0.0014807382645758943],"end_effector_yaw_offset_degrees":0.7831717423322366},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001517738050379091,-0.00020713469282309977,-0.00017651466336290824],"end_effector_yaw_offset_degrees":-0.7899282841400357}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004569405812412026,-0.003892151844943548],"position_m":[0.3274694058124121,-0.12789215184494354,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003464132412326416,0.0015157515419770137],"position_m":[0.31783586758767357,0.12271575154197702,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0003785414624495097,-0.0027763678653909907],"position_m":[0.30217854146244955,-0.00017636786539099083,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028672119578831523,0.001681175245582629],"position_m":[0.09943278804211685,0.3934811752455826,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003878644203489619,0.004866712268636963],"position_m":[0.16807864420348964,-0.43283328773136304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cbf25a7a34521d4a1c73e17f65d30da8f125e7bb3ab142c3f614a46bf20d6f80","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2858/tex_ceiling_textures_5833/tex_floor_textures_7687/tex_table_textures_4854/tex_wall_textures_9093","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5728646042731783143,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5728646042731783143,"visual_seed":5728646042731783143,"scene_id":"lab_003","finished_at":"2026-09-03T18:00:41"} +{"episode_id":"ep_000022","started_at":"2026-09-03T18:03:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.14387831826206565,-2.0608274283376176,0.71338606911949],"aabb_xy":[[-0.1813783194468584,-2.0652456510336776],[-0.10637831707727281,-2.0564092056415566]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.37614314704631985,-2.2150947864128536,0.71338606911949],"aabb_xy":[[-0.3824552465826583,-2.220861725666072],[-0.3698310475099814,-2.2093278471596345]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.1727955977488197,0.558869182885152,0.71338606911949],"aabb_xy":[[0.13546432122357707,0.5242161280902997],[0.21012687427406232,0.5935222376800042]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.6608771252565879,-2.4509328360232105,0.71338606911949],"aabb_xy":[[-0.6858771245285501,-2.4672781996193724],[-0.6358771259846255,-2.4345874724270478]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[0.6441310070599873,-2.483353397067731,0.71338606911949],"aabb_xy":[[0.5641310048972248,-2.563308580693874],[0.7241310092227498,-2.4033982134415868]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.23113742387124092,1.6485802531403917,0.71338606911949],"aabb_xy":[[0.21851063658404452,1.6390341794388184],[0.24376421115843722,1.6581263268419641]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.13884886472699332,-0.7406762389158514,0.71338606911949],"aabb_xy":[[0.11051915477845312,-0.7451369811095685],[0.16717857467553357,-0.7362154967221344]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.4673841318503892,-2.071965891998145,0.71338606911949],"aabb_xy":[[-0.5323841297320371,-2.1230895557046865],[-0.4023841339687415,-2.0208422282916048]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.17579178874626422,0.8107411424341855,0.71338606911949],"aabb_xy":[[0.11179179235069114,0.7467778540154519],[0.2397917851418373,0.874704430852919]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.4764915467961075,0.8171347719383872,0.71338606911949],"aabb_xy":[[0.4589132446071607,0.7995602823642823],[0.4940698489850544,0.8347092615124921]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.08386301720708178,1.1744818962931736,0.71338606911949],"aabb_xy":[[0.042614206177167026,1.119481896780956],[0.12511182823699646,1.229481895805391]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.5460007587553367,-0.7648340524870936,0.71338606911949],"aabb_xy":[[-0.5912793736364859,-0.8288340518352773],[-0.5007221438741873,-0.7008340531389099]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.33162795865483496,-0.40426376207306847,0.71338606911949],"aabb_xy":[[0.30913153722097086,-0.42676376187981596],[0.35412438008869906,-0.3817637622663211]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.11544895591579662,-0.2506806051779038,0.71338606911949],"aabb_xy":[[-0.12423018306303288,-0.259460352466434],[-0.10666772876856043,-0.2419008578893737]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.4405500843986605,-0.5374610936572144,0.71338606911949],"aabb_xy":[[0.4094031655550774,-0.6074610923440216],[0.4716970032422436,-0.4674610949704072]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.6060823348114796,0.5917335654469364,0.71338606911949],"aabb_xy":[[-0.6558991142763142,0.5417335669626331],[-0.5562655553466447,0.6417335639312398]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.229558835630223,-1.5720127292009363,0.71338606911949],"aabb_xy":[[-0.2528406778283543,-1.657012730498164],[-0.20627699343209163,-1.487012727903708]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.5479535002781817,0.8967765229104998,0.71338606911949],"aabb_xy":[[-0.5907202071576019,0.8327765194886974],[-0.5051867933987615,0.9607765263323023]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.09036119801027631,-0.12807822617146725,0.71338606911949],"aabb_xy":[[-0.11286033373650328,-0.15057822694973022],[-0.06786206228404934,-0.10557822539320427]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.5243074869049495,-2.2892829754411763,0.71338606911949],"aabb_xy":[[0.4603074862014803,-2.3353013579140973],[0.588307487608419,-2.2432645929682553]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.2580074206693729,-1.8378768904190983,0.71338606911949],"aabb_xy":[[0.20300742149278334,-1.8928665651940557],[0.3130074198459623,-1.7828872156441404]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.11663286698197861,-1.4194452465896434,0.71338606911949],"aabb_xy":[[-0.12266987998264335,-1.4254719476585918],[-0.1105958539813139,-1.4134185455206956]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.3360945126939281,-1.244322344357848,0.71338606911949],"aabb_xy":[[-0.39108772403106495,-1.2993223446966415],[-0.2811013013567914,-1.1893223440190543]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6528484503539453,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6917.png","name":"6917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6917.png","name":"6917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1879.png","name":"1879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2503.png","name":"2503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4311.png","name":"4311"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.3316740370663,"rotation_z_degrees":220.6221292540488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010315605526758765,-0.015593118156918271,0.009019770722689606]},{"name":"camera_2","offset_m":[-0.006208644956270697,0.01027150411911927,-0.012284118295269137]},{"name":"camera_3","offset_m":[-0.008527828660063333,0.010454513348957976,0.011102626018410128]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001582458602560465,-0.0010380807531232916,0.0005533065134369084],"end_effector_yaw_offset_degrees":0.9382314292282403},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013524914266123927,-0.0014694352073625471,0.0009952645230484661],"end_effector_yaw_offset_degrees":0.021235531380032313},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010914843970056959,-0.0001795598953842376,0.001622471420015652],"end_effector_yaw_offset_degrees":-0.8958362739065742}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007561824551253803,-0.0029334221413089136],"position_m":[0.3236561824551254,-0.1269334221413089,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009237825933342027,-0.0013730797162221963],"position_m":[0.3203762174066658,0.11982692028377781,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0023621492438077917,-0.004572323575409419],"position_m":[0.2994378507561922,-0.0019723235754094195,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002118988758091275,0.004931930946889284],"position_m":[0.10441898875809127,0.39673193094688924,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002895408139047715,-1.095041255492861e-05],"position_m":[0.1613045918609523,-0.4377109504125549,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"012eacb8473aae2a1f524b9c8e26cf7a8afec5137921b5b60d5b3bf298b559af","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6917/tex_ceiling_textures_4311/tex_floor_textures_2503/tex_table_textures_4772/tex_wall_textures_1879","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2714487377816277779,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2714487377816277779,"visual_seed":2714487377816277779,"scene_id":"lab_003","finished_at":"2026-09-03T18:06:10"} +{"episode_id":"ep_000023","started_at":"2026-09-03T18:06:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.045918946631275714,-1.5139076157176672,0.71338606911949],"aabb_xy":[[-0.08091894660777155,-1.5233722317652836],[-0.010918946654779882,-1.5044429996700504]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.07364685001337523,1.381370958372357,0.71338606911949],"aabb_xy":[[-0.08127111810355347,1.3737377348358133],[-0.06602258192319699,1.3890041819089007]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.01629705187356434,-1.6431931877493335,0.71338606911949],"aabb_xy":[[0.007583082823629849,-1.6656931884085215],[0.025011020923498824,-1.620693187090145]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.2507479599685025,1.6786494317681853,0.71338606911949],"aabb_xy":[[-0.28824796026067734,1.6746079563675813],[-0.2132479596763277,1.6826909071687883]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.4951461746196304,-2.480745259695498,0.71338606911949],"aabb_xy":[[-0.5591461710152035,-2.5447085481142317],[-0.4311461782240573,-2.4167819712767646]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.3429789843495484,-0.4454487566960359,0.71338606911949],"aabb_xy":[[-0.39296322005772555,-0.4954487555095315],[-0.2929947486413711,-0.3954487578825403]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.4016293660531782,0.843390552069871,0.71338606911949],"aabb_xy":[[0.3606114226668073,0.7933905514389135],[0.44264730943954905,0.8933905527008281]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.1510883057162421,1.506194208718893,0.71338606911949],"aabb_xy":[[-0.16302104007807017,1.4938120559110337],[-0.13915557135441403,1.5185763615267525]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.44396211222180737,-0.975709928155521,0.71338606911949],"aabb_xy":[[0.3939671012623555,-1.0257099271911128],[0.49395712318125956,-0.9257099291199294]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[-0.48181354967724566,1.3056183522006015,0.71338606911949],"aabb_xy":[[-0.49691585113826364,1.2905168305695391],[-0.46671124821622745,1.320719873831663]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.544105694471705,0.6087982964001282,0.71338606911949],"aabb_xy":[[-0.5532655734155816,0.6022670783565911],[-0.5349458155278284,0.6153295144436652]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.47503414674882705,-0.39654871545474135,0.71338606911949],"aabb_xy":[[0.4110341494631784,-0.4380554344075854],[0.5390341440344757,-0.35504199650189744]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.021094753263096844,-1.1403481599871272,0.71338606911949],"aabb_xy":[[-0.009303357836046742,-1.1707550619887968],[0.051492864362240424,-1.1099412579854577]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.17908268140465833,-1.77975749509863,0.71338606911949],"aabb_xy":[[0.1415826812327864,-1.8124582304815369],[0.21658268157653027,-1.7470567597157225]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.16520041249643358,-1.2703484109798155,0.71338606911949],"aabb_xy":[[0.13655108013601736,-1.2989939702568911],[0.1938497448568498,-1.2417028517027395]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.4009877283758927,-1.6543752057379142,0.71338606911949],"aabb_xy":[[0.37849130694202854,-1.6768752055446619],[0.42348414980975674,-1.631875205931167]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.25664117689331734,1.1840490735741893,0.71338606911949],"aabb_xy":[[-0.3366411790560798,1.1040938899480457],[-0.17664117473055485,1.264004257200333]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.028467296366678774,-0.8645254900008152,0.71338606911949],"aabb_xy":[[-0.04852570797991907,-0.8845905769099728],[-0.00840888475343849,-0.8444604030916577]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.5112081010967908,0.28152164602494434,0.71338606911949],"aabb_xy":[[0.47620810196683516,0.27577642494928023],[0.5462081002267465,0.28726686710060845]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[-0.09137481257225932,0.19074146666124037,0.71338606911949],"aabb_xy":[[-0.18137481624917745,0.12930906008413598],[-0.0013748088953411256,0.25217387323834467]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.32599690897871914,-1.4882926224620199,0.71338606911949],"aabb_xy":[[0.31011241571339393,-1.502645562760844],[0.34188140224404423,-1.4739396821631958]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.48719567033896705,-2.3550633700788093,0.71338606911949],"aabb_xy":[[0.48256055518673363,-2.3589307051559576],[0.49183078549120035,-2.35119603500166]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.01868217310018383,-0.11792389514915946,0.71338606911949],"aabb_xy":[[-0.0288351886543332,-0.15399343672189977],[-0.008529157546034444,-0.08185435357641911]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.23238100478057716,-0.21714423295170615,0.71338606911949],"aabb_xy":[[-0.2963810012078991,-0.2643138567738026],[-0.16838100835325528,-0.1699746091296097]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.22595964327126017,-1.7338255662733042,0.71338606911949],"aabb_xy":[[-0.30595964354486715,-1.806775114099021],[-0.14595964299765318,-1.6608760184475875]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[-0.49667227218992077,1.5342298903663205,0.71338606911949],"aabb_xy":[[-0.5606722694922672,1.4898634633984638],[-0.4326722748875743,1.5785963173341773]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[-0.3373501053365274,0.23913468438612373,0.71338606911949],"aabb_xy":[[-0.3873233993397878,0.18913468383157636],[-0.2873768113332669,0.28913468494067107]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.5282007705168632,-2.027842397549186,0.71338606911949],"aabb_xy":[[-0.5560458072974703,-2.058626896287498],[-0.5003557337362561,-1.9970578988108745]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.6043566345481453,0.12808093470630055,0.71338606911949],"aabb_xy":[[-0.6218566347931946,0.11058114686673369],[-0.5868566343030959,0.14558072254586737]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_29","position":[0.5437906264249297,-1.9553792797492555,0.71338606911949],"aabb_xy":[[0.5306393804536403,-1.9803792795059423],[0.5569418723962191,-1.9303792799925692]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[-0.14985793737904307,-1.0298288923968146,0.71338606911949],"aabb_xy":[[-0.21985793951047258,-1.05259085802251],[-0.0798579352476135,-1.0070669267711188]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_31","position":[-0.4597837383932102,-1.1622875071198753,0.71338606911949],"aabb_xy":[[-0.523783741611848,-1.2090106190188836],[-0.39578373517457227,-1.115564395220867]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_32","position":[0.13601003480501594,-2.099706470193012,0.71338606911949],"aabb_xy":[[0.11780421114376827,-2.1107318707750036],[0.15421585846626362,-2.0886810696110203]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_33","position":[0.7107151727665655,-2.2609090547006674,0.71338606911949],"aabb_xy":[[0.7067546889968311,-2.268576919286188],[0.7146756565362998,-2.253241190115147]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_34","position":[0.036938630665827366,0.7342439930886799,0.71338606911949],"aabb_xy":[[-0.04678359483425509,0.644243989553984],[0.12066085616590982,0.8242439966233759]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6585187846291178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2128.png","name":"2128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2128.png","name":"2128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7751.png","name":"7751"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1324.png","name":"1324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7123.png","name":"7123"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":653.9159574803448,"rotation_z_degrees":184.19291746216396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011301132676959789,0.005729446074335072,-0.003251775184764844]},{"name":"camera_2","offset_m":[0.008819441713996169,-0.017379154389063213,-0.003631866467960706]},{"name":"camera_3","offset_m":[-0.007957492421004679,-0.015622980552622404,-0.00825395587844977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007476931198650968,-0.0005168157451348008,0.00022493864316603263],"end_effector_yaw_offset_degrees":0.7502186963993593},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009559461085543667,0.00011586116152718191,0.00013364764198953378],"end_effector_yaw_offset_degrees":0.7724169655396718},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001154443933082995,-0.0003529375159271595,0.0015141989286372626],"end_effector_yaw_offset_degrees":-0.17880912658158143}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004445934243907314,-0.000650921013636948],"position_m":[0.32734593424390734,-0.12465092101363695,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033114220027283666,0.0038862156540619896],"position_m":[0.32461142200272836,0.125086215654062,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0026772743493588347,-0.0030250855923061736],"position_m":[0.2991227256506412,-0.0004250855923061737,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002744471716982999,0.004454559736843759],"position_m":[0.099555528283017,0.39625455973684376,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004208524561802735,-0.0005857988786201144],"position_m":[0.16840852456180275,-0.43828579887862007,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"494fdb98601edf2f3fbb3402b674d1d1efe8388ce9ca1ac47f75fb22a1cf77c0","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2128/tex_ceiling_textures_7123/tex_floor_textures_1324/tex_table_textures_8845/tex_wall_textures_7751","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2667319284670203528,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2667319284670203528,"visual_seed":2667319284670203528,"scene_id":"lab_003","finished_at":"2026-09-03T18:08:49"} +{"episode_id":"ep_000024","started_at":"2026-09-03T18:08:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.43123820694729836,-1.9169886825190239,0.71338606911949],"aabb_xy":[[-0.46686736284725805,-1.9526213492758768],[-0.39560905104733857,-1.881356015762171]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.4262279078437707,-1.2916802771801794,0.71338606911949],"aabb_xy":[[-0.4912279078780734,-1.3383809538605065],[-0.36122790780946795,-1.244979600499852]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.25006121482451255,-1.8296944795777508,0.71338606911949],"aabb_xy":[[-0.26142294947779865,-1.8410629459840389],[-0.23869948017122633,-1.8183260131714627]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.46951110317300104,-1.4547983475806787,0.71338606911949],"aabb_xy":[[0.3795110994960828,-1.5162307541577824],[0.5595111068499192,-1.393365941003574]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.5216389356469928,0.6661401918487098,0.71338606911949],"aabb_xy":[[0.4991389351349522,0.6436483334833113],[0.5441389361590334,0.688632050214108]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.2605144877664147,0.979099338439112,0.71338606911949],"aabb_xy":[[-0.3181449566536855,0.9190993395124013],[-0.20288401887914376,1.0390993373658226]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.3969906083150241,-1.2682236136513465,0.71338606911949],"aabb_xy":[[0.3169906097277046,-1.3475392155895074],[0.47699060690234346,-1.1889080117131856]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.6334216750409634,-0.6690930875308787,0.71338606911949],"aabb_xy":[[0.5694216736329726,-0.7208820390548034],[0.6974216764489539,-0.617304136006954]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.12284126150034425,1.0020081597790296,0.71338606911949],"aabb_xy":[[0.052841265090382415,0.9815702241273475],[0.19284125791030599,1.0224460954307109]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.4374122835765717,-1.8266500536613206,0.71338606911949],"aabb_xy":[[0.4282524046326951,-1.8331812717048577],[0.4465721625204483,-1.8201188356177835]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.4640304501169865,1.6519524902237994,0.71338606911949],"aabb_xy":[[0.4421407025280457,1.56195249293455],[0.4859201977059273,1.7419524875130483]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.5312481580839011,-0.9261144733355042,0.71338606911949],"aabb_xy":[[-0.6162481565013244,-1.0109887687977892],[-0.4462481596664779,-0.8412401778732193]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.2470974936622488,-0.8395173365578767,0.71338606911949],"aabb_xy":[[-0.3270974906252879,-0.9165929782016501],[-0.16709749669920962,-0.7624416949141032]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.13606901231781465,-1.0368750857763862,0.71338606911949],"aabb_xy":[[-0.1710690122138335,-1.0452493212883263],[-0.10106901242179576,-1.0285008502644462]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.5742238468618168,-0.090756651076485,0.71338606911949],"aabb_xy":[[0.5567238475837301,-0.10809475114283096],[0.5917238461399038,-0.07341855101013905]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5353420137166423,0.38923426732952615,0.71338606911949],"aabb_xy":[[0.47134201442247403,0.32524812696067196],[0.5993420130108105,0.45322040769838035]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.051060120279971644,-0.7719768393275834,0.71338606911949],"aabb_xy":[[-0.08839139680521427,-0.8066298941224357],[-0.01372884375472902,-0.7373237845327312]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.6341216716286469,-1.2787452506889967,0.71338606911949],"aabb_xy":[[0.6214948843414504,-1.2882913243905696],[0.6467484589158431,-1.2691991769874238]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.3862931135696521,1.4024701187421917,0.71338606911949],"aabb_xy":[[0.30629311249653174,1.3926920724048073],[0.4662931146427724,1.4122481650795762]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.08335562741489033,1.7566751416785906,0.71338606911949],"aabb_xy":[[-0.08831164759977153,1.734175141476469],[-0.07839960723000913,1.7791751418807122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6576589287807414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8215.png","name":"8215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8215.png","name":"8215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4366.png","name":"4366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5699.png","name":"5699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":612.0766587068521,"rotation_z_degrees":168.6541532632013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010357807093900231,-0.00681954170338293,0.007965600130346306]},{"name":"camera_2","offset_m":[0.017899698028254415,-0.009264323257623231,0.0014343531355077849]},{"name":"camera_3","offset_m":[0.005528048042668449,-0.011990190864178811,-0.019383176647838472]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015107947225012474,-0.0007856698135021048,-0.0003646668660477084],"end_effector_yaw_offset_degrees":0.5862965528538382},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00015786584199727408,-0.0002847783524521344,-0.0012870533795727823],"end_effector_yaw_offset_degrees":0.07307092255759584},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015658309108107452,0.0006482184431566241,-8.604535133777732e-06],"end_effector_yaw_offset_degrees":-0.005045295239769931}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006480807233385033,0.0033959512313716063],"position_m":[0.3222519192766615,-0.12060404876862839,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007009731801836637,-0.004199695312134374],"position_m":[0.32059902681981634,0.11700030468786562,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0006361174258018845,-0.004599904691580855],"position_m":[0.3011638825741981,-0.0019999046915808553,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035315705818991603,0.001627016060646136],"position_m":[0.09876842941810084,0.3934270160606461,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00218945650866372,-0.0015530722272860988],"position_m":[0.16638945650866374,-0.4392530722272861,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"57b99315e595f1fc31b418a0ab0d05850c1f815b26e422f685df61141c8fae78","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8215/tex_ceiling_textures_9198/tex_floor_textures_865/tex_table_textures_4366/tex_wall_textures_5699","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6155582803775037859,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6155582803775037859,"visual_seed":6155582803775037859,"scene_id":"lab_003","finished_at":"2026-09-03T18:11:21"} +{"episode_id":"ep_000025","started_at":"2026-09-03T18:11:24","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.15281088522191522,0.23939302716784816,0.71338606911949],"aabb_xy":[[-0.16417261987520132,0.2280245607615601],[-0.141449150568629,0.25076149357413624]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.30702106049015176,-0.9311785786509117,0.71338606911949],"aabb_xy":[[0.2988933722968385,-0.9400921870616193],[0.31514874868346493,-0.922264970240204]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.594644811632878,0.6076324302238256,0.71338606911949],"aabb_xy":[[0.5590156557329181,0.5719997634669726],[0.6302739675328376,0.6432650969806785]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.6741274469219561,1.6593119275764683,0.71338606911949],"aabb_xy":[[-0.6912295248803243,1.6422051220451985],[-0.657025368963588,1.676418733107738]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.4695988587144857,0.5957738112536326,0.71338606911949],"aabb_xy":[[0.4520988584694362,0.5782740234140656],[0.487098858959535,0.6132735990931993]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.6223335157543126,0.0839601959556977,0.71338606911949],"aabb_xy":[[0.5723604502217973,0.03396019614316482],[0.6723065812868282,0.13396019576823062]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[-0.19088340356358635,0.3295764791817106,0.71338606911949],"aabb_xy":[[-0.19572699832481633,0.3247248267027265],[-0.18603980880235638,0.33442813166069474]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.045254270318465295,-1.9579969739441982,0.71338606911949],"aabb_xy":[[-0.10924996771356188,-2.0219969722449065],[0.01874142707663129,-1.8939969756434893]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.3611925632463234,-1.223001127998946,0.71338606911949],"aabb_xy":[[-0.4511925629694975,-1.2460744805341255],[-0.27119256352314913,-1.1999277754637658]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.19421503466551593,1.617305012719886,0.71338606911949],"aabb_xy":[[0.16175333378358842,1.5871721806049832],[0.22667673554744333,1.6474378448347884]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.40704716723813805,-0.006673403710430126,0.71338606911949],"aabb_xy":[[-0.44454716790271676,-0.02236046171065231],[-0.36954716657355935,0.00901365428979206]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.45265266594746806,-1.6067257106008808,0.71338606911949],"aabb_xy":[[-0.457985180602081,-1.6120500388461165],[-0.447320151292855,-1.6014013823556454]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.5791324590982168,0.598918800627787,0.71338606911949],"aabb_xy":[[-0.6016324593417323,0.5867141659680151],[-0.5566324588547015,0.611123435287559]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.2409721766872821,-1.0519247320932636,0.71338606911949],"aabb_xy":[[0.22836947755020567,-1.0645201283181291],[0.25357487582435856,-1.0393293358683982]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.1811019804806273,-1.009993137310359,0.71338606911949],"aabb_xy":[[-0.2061019797525896,-1.0263385009065211],[-0.15610198120866503,-0.9936477737141965]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.12497551769467163,-2.367275704133095,0.71338606911949],"aabb_xy":[[0.07784613869283595,-2.431275705177497],[0.1721048966965073,-2.3032757030886932]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.05881326812836207,0.523679869724945,0.71338606911949],"aabb_xy":[[-0.07144005541555842,0.514133796023372],[-0.04618648084116573,0.5332259434265177]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.5169354399254076,-0.4876600822104895,0.71338606911949],"aabb_xy":[[0.45534468070141465,-0.5516600803195365],[0.5785261991494003,-0.42366008410144274]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.6728021685230967,-0.24857731920423154,0.71338606911949],"aabb_xy":[[0.6353021673383038,-0.25299554190029205],[0.7103021697078894,-0.244159096508171]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.024184091661676788,0.9239549237307538,0.71338606911949],"aabb_xy":[[-0.08918409261880399,0.8720067117970481],[0.04081590929545041,0.9759031356644593]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.403311244211898,-0.24976094138133487,0.71338606911949],"aabb_xy":[[0.36739773978690826,-0.28567444959808946],[0.43922474863688765,-0.21384743316458024]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.6219591514287947,0.7487714770936762,0.71338606911949],"aabb_xy":[[-0.6569591513248134,0.7403972415817363],[-0.5869591515327757,0.7571457126056161]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.7012902103684335,1.744236999349344,0.71338606911949],"aabb_xy":[[0.6973297265986993,1.736569134763824],[0.705250694138168,1.751904863934865]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.4022739737922285,-1.106501830339398,0.71338606911949],"aabb_xy":[[0.36477397329487027,-1.1104705138875164],[0.43977397428958676,-1.1025331467912798]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.547350004727333,0.1951424484549813,0.71338606911949],"aabb_xy":[[0.5098500063039325,0.18197823448715064],[0.5848500031507332,0.2083066624228119]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[-0.23315627731459965,-1.4064305871927472,0.71338606911949],"aabb_xy":[[-0.2635543884137432,-1.4368374891944167],[-0.20275816621545603,-1.3760236851910777]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[0.05709777465546517,1.240250083936945,0.71338606911949],"aabb_xy":[[-0.007902223901607663,1.2104975505230624],[0.12209777321253801,1.2700026173508276]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.5569331808971649,0.3874620097735617,0.71338606911949],"aabb_xy":[[0.522470702884077,0.3807983325906388],[0.5913956589102526,0.3941256869564844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518440758721036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8936.png","name":"8936"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8936.png","name":"8936"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6265.png","name":"6265"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6291.png","name":"6291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":604.8067340664737,"rotation_z_degrees":84.478661143769,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013884046981788713,0.018526636198701794,0.004630512417242275]},{"name":"camera_2","offset_m":[0.010509479813896806,0.014924297542850077,0.018476067738046508]},{"name":"camera_3","offset_m":[-0.0009062603946643627,-0.00986811040245172,-0.016829926539281476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012139039087876733,-0.0017092709650928383,-0.0016104409591265047],"end_effector_yaw_offset_degrees":0.6751799563692005},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018211554880310575,0.00014492004654031564,0.0009275127801915144],"end_effector_yaw_offset_degrees":0.27934549116818186},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000431104880523303,-0.0013596849413819272,0.0017506859661928107],"end_effector_yaw_offset_degrees":0.8590569003387263}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00023971913313600244,-0.0007268330734215541],"position_m":[0.32313971913313605,-0.12472683307342156,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003688670703689675,0.0026685604252671804],"position_m":[0.3176113292963103,0.12386856042526719,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016771722580207417,-0.004351246358844412],"position_m":[0.3001228277419793,-0.0017512463588444122,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002574688216516018,-0.0024942403705354634],"position_m":[0.09972531178348398,0.3893057596294645,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.6808770685328156e-05,0.0047440045131850106],"position_m":[0.16421680877068534,-0.43295599548681496,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69804f407b3fcc0657ce744f985f36f5931f4d747e7564454511ec09235a9492","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8936/tex_ceiling_textures_3249/tex_floor_textures_6291/tex_table_textures_6265/tex_wall_textures_1296","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6790147503168375611,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6790147503168375611,"visual_seed":6790147503168375611,"scene_id":"lab_003","finished_at":"2026-09-03T18:13:37"} +{"episode_id":"ep_000026","started_at":"2026-09-03T18:13:42","dimensions":{"distractor":{"count":33,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.29429063383815124,0.9076996127468484,0.71338606911949],"aabb_xy":[[0.2825224470434938,0.822699612841627],[0.3060588206328088,0.9926996126520701]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.34062834359002186,-1.5529524493529636,0.71338606911949],"aabb_xy":[[-0.35579121656695895,-1.5681179066480826],[-0.3254654706130848,-1.537786992057845]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.2844877085726032,-2.2489591863554383,0.71338606911949],"aabb_xy":[[-0.3484877106223352,-2.2890536694447468],[-0.2204877065228712,-2.208864703266131]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.06188281424365638,1.7182727648570908,0.71338606911949],"aabb_xy":[[-0.06958600491773342,1.7105633941583527],[-0.05417962356957933,1.725982135555829]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.6406273018369506,-2.3043308449213296,0.71338606911949],"aabb_xy":[[0.5766273011334814,-2.350349227394251],[0.70462730254042,-2.258312462448409]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.6778564277682113,1.7309775900834725,0.71338606911949],"aabb_xy":[[-0.688762203855774,1.6509775936846431],[-0.6669506516806486,1.8109775864823014]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.32238831483912905,1.742965135054567,0.71338606911949],"aabb_xy":[[-0.3863883151131073,1.692899034857279],[-0.2583883145651508,1.793031235251855]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.3952328751998062,1.2835097375422375,0.71338606911949],"aabb_xy":[[0.37271918337634896,1.2135097369412298],[0.41774656702326335,1.3535097381432448]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.153335691302252,-0.14808647917693785,0.71338606911949],"aabb_xy":[[-0.23333568826529116,-0.22516212082071127],[-0.07333569433921283,-0.07101083753316437]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.197230637746364,-1.7839785404019932,0.71338606911949],"aabb_xy":[[-0.21940316472301483,-1.806154207558116],[-0.17505811076971317,-1.76180287324587]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.03569827098594702,-1.8613495859884739,0.71338606911949],"aabb_xy":[[-0.10069827194307422,-1.9132977979221792],[0.029301729971180187,-1.809401374054768]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.36463599322080253,-0.49508827185878923,0.71338606911949],"aabb_xy":[[0.2846359899629596,-0.5750847796507732],[0.4446359964786455,-0.41509176406680526]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.13908106063074865,-1.1745882926508593,0.71338606911949],"aabb_xy":[[0.049081063895138444,-1.2277717559681538],[0.22908105736635886,-1.1214048293335648]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.4936638982326364,0.13566957759874754,0.71338606911949],"aabb_xy":[[-0.5274394574233294,0.12163108238558251],[-0.4598883390419434,0.14970807281191256]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.5805646571085405,0.8150533588208875,0.71338606911949],"aabb_xy":[[0.568097298998805,0.8025880341875641],[0.5930320152182763,0.8275186834542111]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.03705701885680279,0.826388829403736,0.71338606911949],"aabb_xy":[[-0.0004429818077759106,0.8107017714035138],[0.07455701952138148,0.8420758874039582]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.631660681165553,-1.2078507233562101,0.71338606911949],"aabb_xy":[[0.5766606819889634,-1.2628403981311678],[0.6866606803421423,-1.1528610485812525]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.07898330544996657,-2.430285495094839,0.71338606911949],"aabb_xy":[[-0.1289833071114613,-2.480283937350541],[-0.0289833037884718,-2.3802870528391358]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.0367696365642699,-2.0080694173412947,0.71338606911949],"aabb_xy":[[-0.05968534944931981,-2.0309737144777182],[-0.01385392367922,-1.9851651202048712]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.5439972876776024,-2.2032859536102842,0.71338606911949],"aabb_xy":[[-0.5939815233857796,-2.25328595242378],[-0.49401305196942513,-2.1532859547967886]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.671015985009515,-0.3501804769753103,0.71338606911949],"aabb_xy":[[0.6596542503562287,-0.3615489433815984],[0.682377719662801,-0.3388120105690222]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.29461869848863526,1.21062413123183,0.71338606911949],"aabb_xy":[[-0.34460164867611454,1.1606241315892694],[-0.2446357483011559,1.2606241308743902]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.12050141172278606,-0.9617553641113539,0.71338606911949],"aabb_xy":[[0.11346110178924909,-1.0417553635110255],[0.12754172165632308,-0.8817553647116827]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.46298238959832294,-1.5388982847063055,0.71338606911949],"aabb_xy":[[0.4285199115852351,-1.5455619618892282],[0.49744486761141066,-1.5322346075233824]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[0.5066889287351262,0.3070478360130271,0.71338606911949],"aabb_xy":[[0.4416889260973327,0.25556823731358014],[0.5716889313729197,0.35852743471247406]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.09070587923493334,1.5008327827025956,0.71338606911949],"aabb_xy":[[-0.11259562682387415,1.4108327854133464],[-0.06881613164599255,1.5908327799918447]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.33997254552669814,1.4589981623280166,0.71338606911949],"aabb_xy":[[-0.3774725454704645,1.45070507229318],[-0.3024725455829317,1.4672912523628532]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.6797085088576963,-2.282340724407098,0.71338606911949],"aabb_xy":[[-0.6902759885157952,-2.292885754520106],[-0.6691410291995972,-2.271795694294089]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[-0.24809490830021075,-0.8703323746292908,0.71338606911949],"aabb_xy":[[-0.2522108584122834,-0.8744479296621362],[-0.24397895818813806,-0.8662168195964451]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[-0.3176335011199071,-1.9344037409660306,0.71338606911949],"aabb_xy":[[-0.407633500538278,-1.9677792378102201],[-0.22763350170153623,-1.9010282441218407]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[-0.51123990986293,-1.5180536844817443,0.71338606911949],"aabb_xy":[[-0.5191631901016783,-1.5405536847197479],[-0.5033166296241817,-1.4955536842437411]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_31","position":[0.29413082199433604,-1.7032560717469227,0.71338606911949],"aabb_xy":[[0.23413082214776926,-1.7600746939399612],[0.35413082184090283,-1.6464374495538838]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_32","position":[0.5955194561633081,-1.0572282587271913,0.71338606911949],"aabb_xy":[[0.5605194570333524,-1.0629734798028554],[0.6305194552932637,-1.0514830376515272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6527712661313072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9204.png","name":"9204"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6239.png","name":"6239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1068.png","name":"1068"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":534.2536472184969,"rotation_z_degrees":242.70990319070776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008005335170568477,0.010445130142952772,0.010387209921351219]},{"name":"camera_2","offset_m":[-0.004064112446207312,0.014570525269705852,-0.010294870900562577]},{"name":"camera_3","offset_m":[0.014327179209365843,-0.017708364674827518,-0.006662219504392483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019321466657512977,-0.0006846672797764799,-0.001732350864378611],"end_effector_yaw_offset_degrees":0.26583060906105827},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018029534011298515,-0.001933429762418172,0.001074420577227456],"end_effector_yaw_offset_degrees":-0.9110097311336522},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009381104016816279,-0.00198942236746714,0.0005673042256055098],"end_effector_yaw_offset_degrees":0.9499188450363245}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00040938456230920316,-0.0016518451474765638],"position_m":[0.32330938456230923,-0.12565184514747657,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038913938160243422,0.0018438154773575046],"position_m":[0.31740860618397565,0.1230438154773575,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0016418725556715226,0.003323152124733951],"position_m":[0.3034418725556715,0.005923152124733951,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003909729060548748,-0.004647841960360182],"position_m":[0.10620972906054875,0.3871521580396398,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011330648670815915,0.0020627881699036192],"position_m":[0.16306693513291842,-0.43563721183009635,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe047d9d73d57a0eee2376268cb43ebfbb069179ad8077b32d77caf42751feff","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1003/tex_ceiling_textures_1068/tex_floor_textures_5407/tex_table_textures_9204/tex_wall_textures_6239","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8297970843878820087,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8297970843878820087,"visual_seed":8297970843878820087,"scene_id":"lab_003","finished_at":"2026-09-03T18:15:51"} +{"episode_id":"ep_000027","started_at":"2026-09-03T18:15:54","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.19375455707014488,-1.238498567499857,0.71338606911949],"aabb_xy":[[-0.2577545603598529,-1.2818334865037744],[-0.1297545537804367,-1.1951636484959391]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.2016018384805094,0.8576675611248539,0.71338606911949],"aabb_xy":[[-0.2366018367912048,0.8499525462013081],[-0.16660184016981391,0.8653825760483994]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.2761973350410411,-0.07506413601811524,0.71338606911949],"aabb_xy":[[-0.30071095913804696,-0.09932872932015169],[-0.25168371094403524,-0.05079954271607878]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.33855597554520095,-0.27408767012289426,0.71338606911949],"aabb_xy":[[-0.3498010311158188,-0.28532946784698954],[-0.3273109199745831,-0.262845872398799]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.23219815343169709,-1.1249117139557099,0.71338606911949],"aabb_xy":[[-0.2696981532487306,-1.1295499252668517],[-0.1946981536146635,-1.120273502644568]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.21639786080526757,-1.048435437038597,0.71338606911949],"aabb_xy":[[0.18291869354422668,-1.081914550409704],[0.24987702806630857,-1.0149563236674901]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.3642915738301493,-0.5166431281646133,0.71338606911949],"aabb_xy":[[0.35548951852117655,-0.5244544543195423],[0.373093629139122,-0.5088318020096841]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.12358947393259234,-1.6632167444236023,0.71338606911949],"aabb_xy":[[-0.14610316575604954,-1.7332167450246097],[-0.10107578210913513,-1.5932167438225946]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[0.4149361203772406,-0.04654257235894477,0.71338606911949],"aabb_xy":[[0.41050549102240047,-0.05199094409362737],[0.4193667497320808,-0.04109420062426217]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.39434524325850795,-0.8928706372280577,0.71338606911949],"aabb_xy":[[-0.43289093608370893,-0.9314164082842464],[-0.35579955043330685,-0.8543248661718692]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.018870045582121242,-1.7501552576392245,0.71338606911949],"aabb_xy":[[-0.04075979317106204,-1.8401552549284736],[0.0030197020068195505,-1.6601552603499754]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.6372032849843788,-1.2011590891653008,0.71338606911949],"aabb_xy":[[-0.6921964963215156,-1.2561590895040946],[-0.5822100736472421,-1.1461590888265074]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.6262961552977317,-1.854446111070954,0.71338606911949],"aabb_xy":[[0.5894456073607441,-1.891946111893988],[0.6631467032347194,-1.8169461102479205]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.3619358652630178,-2.4125531919001864,0.71338606911949],"aabb_xy":[[-0.45193586893993587,-2.4739855984772903],[-0.27193586158609956,-2.3511207853230816]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.10144028855535447,-0.9606557533479565,0.71338606911949],"aabb_xy":[[-0.10956797674866771,-0.9695693617586641],[-0.09331260036204127,-0.9517421449372488]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.06121299778192402,0.794378834695928,0.71338606911949],"aabb_xy":[[0.0012129975305228344,0.7400975096594632],[0.12121299803332519,0.8486601597323925]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.48928923422030113,-0.7581489393913214,0.71338606911949],"aabb_xy":[[-0.5532892345978346,-0.8078942062421337],[-0.4252892338427674,-0.7084036725405092]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.22493902106898828,-0.5957372685096594,0.71338606911949],"aabb_xy":[[-0.31493902340300733,-0.673219623094772],[-0.13493901873496922,-0.5182549139245467]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.04846115172696819,0.6453944974755221,0.71338606911949],"aabb_xy":[[-0.085961152019143,0.6413530220749185],[-0.01096115143479337,0.6494359728761258]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.009915723726702463,-2.248743495519052,0.71338606911949],"aabb_xy":[[-0.05508427415494534,-2.299867159225593],[0.07491572160835026,-2.1976198318125113]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.5377790879804275,-0.8796429488279602,0.71338606911949],"aabb_xy":[[-0.5536635812457527,-0.8939958891267843],[-0.5218945947151024,-0.8652900085291362]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.360102576933142,1.1606086032680474,0.71338606911949],"aabb_xy":[[-0.44009640051170024,1.080608600675206],[-0.2801087533545838,1.2406086058608892]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.5326472566778458,1.4060839576097188,0.71338606911949],"aabb_xy":[[-0.560492293458453,1.3752994588714071],[-0.5048022198972387,1.4368684563480305]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.628134267707362,0.6447509771177069,0.71338606911949],"aabb_xy":[[0.5916384470800833,0.6082670346909492],[0.6646300883346408,0.6812349195444644]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[0.1743692301372427,-1.787432754823556,0.71338606911949],"aabb_xy":[[0.12436922885340272,-1.8374116092141777],[0.22436923142108264,-1.7374539004329335]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.44196822556036924,1.7704785585766083,0.71338606911949],"aabb_xy":[[-0.4545950128475656,1.7609324848750352],[-0.4293414382731729,1.780024632278181]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.641014771650253,0.845371536572983,0.71338606911949],"aabb_xy":[[-0.6486390397404314,0.8377383130364395],[-0.6333905035600749,0.853004760109527]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.37089541219549804,0.01439899736746586,0.71338606911949],"aabb_xy":[[-0.3941772543936294,-0.0706010039297622],[-0.3476135699973667,0.09939899866469391]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.5769165559873268,-1.953893336015767,0.71338606911949],"aabb_xy":[[0.5069165595773649,-1.9743312716674486],[0.6469165523972885,-1.9334554003640851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6578449935151818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7907.png","name":"7907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6301.png","name":"6301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5286.png","name":"5286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2693.png","name":"2693"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":694.8695519755354,"rotation_z_degrees":62.332284307013886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01333821129595682,-0.013288405629361693,-0.0018606297749173203]},{"name":"camera_2","offset_m":[-0.0136000642565361,-0.0031395598304678057,0.016246912384589408]},{"name":"camera_3","offset_m":[-0.019535170328342826,0.004663785227972714,-0.011718239624570491]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002581928649119502,-0.0007320991632472746,-0.0011277056416467035],"end_effector_yaw_offset_degrees":-0.09468930622654281},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009120788563317165,0.0016507685282837175,-0.0017772972877610604],"end_effector_yaw_offset_degrees":0.8268648611025493},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00015793462296702864,4.885162090878048e-05,0.0015827983648403973],"end_effector_yaw_offset_degrees":-0.8732311525105281}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003309931706153859,0.00299866635267028],"position_m":[0.32620993170615387,-0.12100133364732972,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012679277323896453,0.003598616759327252],"position_m":[0.3200320722676103,0.12479861675932725,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004445599600679328,1.5365196778683449e-06],"position_m":[0.3062455996006793,0.0026015365196778682,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036962938520418275,0.0038452893454310006],"position_m":[0.09860370614795817,0.395645289345431,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023762102147608178,-0.0016235478590915244],"position_m":[0.16657621021476082,-0.4393235478590915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e3a1280a2c4b1fc026ec2eaa3132caab04e8fee2de51a367c6fe1851f9745f6f","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4475/tex_ceiling_textures_2693/tex_floor_textures_5286/tex_table_textures_7907/tex_wall_textures_6301","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6910030229231907526,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6910030229231907526,"visual_seed":6910030229231907526,"scene_id":"lab_003","finished_at":"2026-09-03T18:18:25"} +{"episode_id":"ep_000028","started_at":"2026-09-03T18:18:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.10008341699699674,-0.37858665227967103,0.71338606911949],"aabb_xy":[[-0.17008341859927623,-0.3920194454813286],[-0.03008341539471726,-0.36515385907801345]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.09027443242764954,0.9256573337763112,0.71338606911949],"aabb_xy":[[0.06836575028829849,0.9037566669562204],[0.11218311456700057,0.9475580005964018]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.5324970996682898,-0.6864564517102711,0.71338606911949],"aabb_xy":[[0.49499709956269683,-0.6932786135632522],[0.5699970997738827,-0.6796342898572899]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.22281116389497435,0.3531886695443478,0.71338606911949],"aabb_xy":[[-0.2928111660264039,0.33042670391865214],[-0.15281116176354478,0.37595063517004346]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.5101748714073374,0.8076628815329898,0.71338606911949],"aabb_xy":[[-0.5278505019959356,0.789982665253587],[-0.492499240818739,0.8253430978123925]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.4350487295394692,1.5998655937091395,0.71338606911949],"aabb_xy":[[-0.4496921350935022,1.5852068740523553],[-0.42040532398543623,1.6145243133659237]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.2747806158602409,-1.37768226203271,0.71338606911949],"aabb_xy":[[-0.29861683350084595,-1.4676822628411967],[-0.2509443982196358,-1.2876822612242238]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.3546789360638485,-1.312075891553521,0.71338606911949],"aabb_xy":[[0.3047015191985949,-1.3620758930427694],[0.40465635292910207,-1.2620758900642723]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.5246883251467767,-1.4040499806503945,0.71338606911949],"aabb_xy":[[-0.5946883285383386,-1.4393657543538252],[-0.45468832175521473,-1.3687342069469635]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.04503860645943414,0.7227975806287539,0.71338606911949],"aabb_xy":[[-0.018961392710335794,0.6760308935097914],[0.10903860562920409,0.7695642677477164]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.6605399545052864,0.5630552296084392,0.71338606911949],"aabb_xy":[[0.6542278549689479,0.5572882903552204],[0.6668520540416246,0.568822168861658]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.32448935919968513,0.517699810842982,0.71338606911949],"aabb_xy":[[0.27931804135151617,0.4536998136984436],[0.3696606770478541,0.5816998079875204]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.23648042006646774,-1.451226124915075,0.71338606911949],"aabb_xy":[[0.21898048663248437,-1.4687261248353094],[0.2539803535004511,-1.4337261249948403]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.3202896369556043,-2.2053937992023713,0.71338606911949],"aabb_xy":[[0.2701921729745307,-2.269393799712183],[0.3703871009366779,-2.1413937986925595]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.3130634497264157,-2.43640511472841,0.71338606911949],"aabb_xy":[[-0.3583420646075649,-2.5004051140765937],[-0.2677848348452664,-2.3724051153802264]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.04734872828140624,-1.7650654120877847,0.71338606911949],"aabb_xy":[[-0.05534271685910963,-1.7730654921828748],[-0.039354739703702846,-1.757065331992694]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.608906483030498,1.3196420075971473,0.71338606911949],"aabb_xy":[[0.5489064824344818,1.264829535051924],[0.6689064836265142,1.374454480142371]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.18185890913881508,-0.9391739507824148,0.71338606911949],"aabb_xy":[[0.17652639448420213,-0.9444982790276503],[0.1871914237934281,-0.9338496225371792]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.507261521788237,-0.06419100157894242,0.71338606911949],"aabb_xy":[[-0.5204127677595264,-0.08919100133562896],[-0.49411027581694766,-0.03919100182225587]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.2843204282015411,1.3558250481274827,0.71338606911949],"aabb_xy":[[-0.29407641771071497,1.346062514068248],[-0.2745644386923672,1.365587582186717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610680432695425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8538.png","name":"8538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/354.png","name":"354"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":782.0497009195776,"rotation_z_degrees":255.02878241297117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003793309713369785,0.018825980458263742,-0.00034952170378154887]},{"name":"camera_2","offset_m":[-0.003175352498821539,-0.011778836530709604,-0.005360659970112033]},{"name":"camera_3","offset_m":[0.002517002025973221,-0.019646644207396587,-0.01750981996971956]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000579848299267131,0.0009475434124869859,0.0019688575199614837],"end_effector_yaw_offset_degrees":0.43601135477750597},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000862568926946279,-0.0014861489394479314,-0.0005980505109722664],"end_effector_yaw_offset_degrees":0.14252454674338955},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00137165948375281,-0.0015128758144689108,-0.0015798750297467735],"end_effector_yaw_offset_degrees":-0.20753532505276517}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038711316117372996,-0.003025162890940234],"position_m":[0.3190288683882627,-0.12702516289094024,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017052881170641979,0.0011510881208437731],"position_m":[0.3230052881170642,0.12235108812084378,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0019377567604874093,0.0045745712670584105],"position_m":[0.2998622432395126,0.00717457126705841,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039329066173393054,0.00043415430482072505],"position_m":[0.1062329066173393,0.3922341543048207,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004387933239061509,-0.0042071981751017895],"position_m":[0.16858793323906152,-0.44190719817510177,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af3cdee0c6082ca30379f5c167867fb573ab97afc67a1138a15b5e52262c4e25","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2671/tex_ceiling_textures_4444/tex_floor_textures_354/tex_table_textures_8538/tex_wall_textures_2004","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6822899441941437068,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6822899441941437068,"visual_seed":6822899441941437068,"scene_id":"lab_003","finished_at":"2026-09-03T18:20:56"} +{"episode_id":"ep_000029","started_at":"2026-09-03T18:21:00","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.30570682317428166,-2.1198243717924945,0.71338606911949],"aabb_xy":[[-0.38570682364449765,-2.1281350794068428],[-0.22570682270406572,-2.1115136641781462]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.30416368796398435,0.38015227123036155,0.71338606911949],"aabb_xy":[[-0.34166368806957725,0.3733301093773804],[-0.26666368785839134,0.3869744330833427]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.5612866187776446,0.3904302744914605,0.71338606911949],"aabb_xy":[[-0.5787866190369813,0.37633873230268794],[-0.543786618518308,0.4045218166802332]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.18706940222405122,-1.4228071337276829,0.71338606911949],"aabb_xy":[[-0.22456940301604666,-1.4291749746858733],[-0.14956940143205577,-1.4164392927694929]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.6241490443982805,0.79104476746731,0.71338606911949],"aabb_xy":[[0.5954997120378642,0.7623992081902342],[0.6527983767586967,0.8196903267443858]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.38177688528233067,1.3490407269391733,0.71338606911949],"aabb_xy":[[0.34677688615237495,1.343295505863509],[0.4167768844122863,1.3547859480148372]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.3668627930700241,0.34760274281089387,0.71338606911949],"aabb_xy":[[0.316862792709458,0.2976227556012909],[0.41686279343059013,0.3975827300204968]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.6541285910538952,-1.4283977102975327,0.71338606911949],"aabb_xy":[[0.6236443409268652,-1.4783977100790284],[0.6846128411809255,-1.3783977105160365]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.43176312171645626,-0.22633015401652168,0.71338606911949],"aabb_xy":[[-0.5117631187307042,-0.246464705689933],[-0.3517631247022083,-0.20619560234311046]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.42095284766459756,1.5815937811751515,0.71338606911949],"aabb_xy":[[-0.4859528458205166,1.5552975366252393],[-0.3559528495086785,1.6078900257250637]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.11349065743602305,-1.0683584221711144,0.71338606911949],"aabb_xy":[[0.09591235524707618,-1.0859329117452194],[0.1310689596249699,-1.0507839325970094]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.24472882583820615,0.748557887176514,0.71338606911949],"aabb_xy":[[-0.334728825256577,0.7151823903323241],[-0.15472882641983524,0.7819333840207036]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.1912029698803942,1.527380473326526,0.71338606911949],"aabb_xy":[[-0.24120297124128143,1.4774025687511103],[-0.14120296851950698,1.5773583779019416]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.1560702306813092,-1.5377969962901634,0.71338606911949],"aabb_xy":[[0.12610267377148354,-1.5677969965880492],[0.18603778759113487,-1.5077969959922777]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.4125865894128387,0.4422759269544545,0.71338606911949],"aabb_xy":[[-0.42847108267816386,0.42792298665563044],[-0.39670209614751356,0.45662886725327856]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.24498111623831742,-1.0704515403632833,0.71338606911949],"aabb_xy":[[0.20794700681025766,-1.1048287476969927],[0.2820152256663771,-1.0360743330295739]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.0054127039968216994,-2.4954255526004703,0.71338606911949],"aabb_xy":[[-0.03589183906691429,-2.5594255521685874],[0.04671724706055769,-2.431425553032353]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.42277713497863445,-2.006390927844131,0.71338606911949],"aabb_xy":[[0.3949320981980273,-2.0371754265824427],[0.4506221717592416,-1.9756064291058193]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5108292488311625,0.14291893061713434,0.71338606911949],"aabb_xy":[[0.4558369981956517,0.08791892887382156],[0.5658214994666736,0.19791893236044714]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.3357062897133538,-1.2607543634156921,0.71338606911949],"aabb_xy":[[0.31820629043526694,-1.2780924634820383],[0.3532062889914407,-1.2434162633493464]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.5480754423982195,-1.0779220574899049,0.71338606911949],"aabb_xy":[[0.5134843595441742,-1.142922057774936],[0.5826665252522646,-1.0129220572048738]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.24554590474089377,-1.6866237286632422,0.71338606911949],"aabb_xy":[[0.19042069911130302,-1.7466237301045293],[0.30067111037048455,-1.626623727221955]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.6467593013650399,1.1150952037936754,0.71338606911949],"aabb_xy":[[0.6338873978640998,1.0350952033798393],[0.65963120486598,1.1950952042075116]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.4457755804163729,1.7626793322896002,0.71338606911949],"aabb_xy":[[-0.4832755819320046,1.7514525592734553],[-0.4082755789007412,1.7739061053057454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543267883334943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/615.png","name":"615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/615.png","name":"615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3396.png","name":"3396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5307.png","name":"5307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7951.png","name":"7951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":590.1816675613846,"rotation_z_degrees":237.1451122063887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008627305797173704,0.010860166228663017,-0.015567550976644862]},{"name":"camera_2","offset_m":[-0.013587446008677288,-0.012804919075828867,-0.015636129892990923]},{"name":"camera_3","offset_m":[0.005409071434989414,0.0030216690507900747,-0.005123113667670367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004590964125737477,0.000998484561076182,0.001708748600260255],"end_effector_yaw_offset_degrees":-0.1732152126220723},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015769562975072558,0.0008158368584195025,0.0005162665951783723],"end_effector_yaw_offset_degrees":0.8330238325019095},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008568482898122661,0.0007857224722769432,-0.0018045129989913544],"end_effector_yaw_offset_degrees":-0.1502250298981287}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004245382207367751,0.00374106591437104],"position_m":[0.3271453822073678,-0.12025893408562896,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013627336696449455,0.003268708817672901],"position_m":[0.319937266330355,0.1244687088176729,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0004637179273950069,0.0032475280295890642],"position_m":[0.301336282072605,0.005847528029589064,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004601293628488604,-0.0023609824758459895],"position_m":[0.10276012936284887,0.389439017524154,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033582936035483494,-0.002721935274673245],"position_m":[0.16084170639645165,-0.4404219352746732,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ca86d5949c24aee107b7a611f7a1cfa9b926882d2dbf93d25c41b7a7cd53675","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_615/tex_ceiling_textures_7925/tex_floor_textures_7951/tex_table_textures_3396/tex_wall_textures_5307","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7722646876710826925,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7722646876710826925,"visual_seed":7722646876710826925,"scene_id":"lab_003","finished_at":"2026-09-03T18:23:31"} +{"episode_id":"ep_000030","started_at":"2026-09-03T18:23:34","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.47857922701059863,-0.8932902447487061,0.71338606911949],"aabb_xy":[[0.4085792254083191,-0.9067230379503637],[0.5485792286128781,-0.8798574515470485]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.5459438673374064,0.44597824202433944,0.71338606911949],"aabb_xy":[[0.4959438663868735,0.41442909502081793],[0.5959438682879391,0.47752738902786074]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.6425119599411726,-2.295620296466829,0.71338606911949],"aabb_xy":[[-0.6768088709589132,-2.3299171826767697],[-0.608215048923432,-2.261323410256887]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.41424103936234746,-0.7007400438312748,0.71338606911949],"aabb_xy":[[0.39817911190382976,-0.7857400456438663],[0.43030296682086505,-0.6157400420186827]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.1434598317691056,-0.05174882429141148,0.71338606911949],"aabb_xy":[[-0.15138311200785393,-0.07424882452941484],[-0.13553655153035726,-0.02924882405340811]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.039666352652518166,0.6430672136739615,0.71338606911949],"aabb_xy":[[-0.04380220898521836,0.6055672142296045],[-0.03553049631981797,0.6805672131183185]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.5406777974460744,1.3763925709005171,0.71338606911949],"aabb_xy":[[0.5031777972742023,1.34369183551761],[0.5781777976179462,1.4090933062834243]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.05088650753905988,-0.8098927417396968,0.71338606911949],"aabb_xy":[[0.013386506747064424,-0.8162605826978868],[0.08838650833105532,-0.8035249007815066]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.25346614672366435,-0.4956678799890981,0.71338606911949],"aabb_xy":[[-0.26387770540414807,-0.5010136133249965],[-0.24305458804318064,-0.4903221466531995]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.5216616742537927,-1.126794489250005,0.71338606911949],"aabb_xy":[[0.43166167483542184,-1.1601699860941945],[0.6116616736721636,-1.093418992405815]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.3612576249832317,-0.8681422052501346,0.71338606911949],"aabb_xy":[[-0.44125144856179,-0.9481422078429761],[-0.28126380140467355,-0.788142202657293]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.12613167269895587,-1.0294295677069554,0.71338606911949],"aabb_xy":[[0.10363167268880757,-1.0435257873465589],[0.14863167270910416,-1.0153333480673523]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[0.4727104184012656,-1.8704244985539904,0.71338606911949],"aabb_xy":[[0.467372842735261,-1.8954244994831304],[0.4780479940672701,-1.8454244976248508]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.010535056936944343,-1.7533481392602632,0.71338606911949],"aabb_xy":[[-0.002336846563995796,-1.8333481396740994],[0.023406960437884483,-1.673348138846427]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.4290078076932076,1.2360191288004119,0.71338606911949],"aabb_xy":[[-0.5090078109510505,1.156022621008428],[-0.3490078044353647,1.3160156365923958]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.1923648170167116,-1.5226931214897312,0.71338606911949],"aabb_xy":[[-0.20994311920565845,-1.540267611063836],[-0.17478651482776475,-1.5051186319156264]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.20871360365024777,-2.0014875610792897,0.71338606911949],"aabb_xy":[[-0.22621360278461491,-2.0113671881168766],[-0.19121360451588057,-1.9916079340417012]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.5806726860630244,-0.6065865964211246,0.71338606911949],"aabb_xy":[[-0.5841133623030816,-0.610448029395489],[-0.5772320098229673,-0.6027251634467601]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[-0.3303665378146012,0.34954129263381306,0.71338606911949],"aabb_xy":[[-0.3482356455690567,0.3357083846566021],[-0.3124974300601457,0.36337420061102393]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.11153253038441746,0.982980116667973,0.71338606911949],"aabb_xy":[[0.03153253179709802,0.9036645147298121],[0.19153252897173687,1.062295718606134]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.10942580990047868,-0.2983456945657337,0.71338606911949],"aabb_xy":[[-0.14692581039783692,-0.3023143781138521],[-0.07192580940312043,-0.29437701101761526]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.13272735666166657,-2.225196575272769,0.71338606911949],"aabb_xy":[[0.09522735636949178,-2.2292380506733727],[0.17022735695384142,-2.221155099872165]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.5484842740754827,-0.5766064849106454,0.71338606911949],"aabb_xy":[[0.48348427619383494,-0.6277301486171863],[0.6134842719571305,-0.5254828212041046]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.41343123501557,0.7075636491993289,0.71338606911949],"aabb_xy":[[0.3494312347550992,0.6625548498464009],[0.4774312352760408,0.7525724485522569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583440192718159,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3586.png","name":"3586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3586.png","name":"3586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2308.png","name":"2308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1640.png","name":"1640"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.521166092376,"rotation_z_degrees":137.40259530969504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01115628237637575,0.019819804960649934,0.0167288452356703]},{"name":"camera_2","offset_m":[0.01697451784328442,-0.0042452330487499045,-0.011321641191607648]},{"name":"camera_3","offset_m":[-0.007841672064576586,-0.01409542162474954,0.0015934558049725094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014683362639913117,0.0013605841009764054,0.0006305948919840495],"end_effector_yaw_offset_degrees":0.8048683379597004},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007872093572043469,-0.0019097806924362076,0.0019534371406662856],"end_effector_yaw_offset_degrees":0.5864675405254651},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002558894831877505,-0.0019217925911136934,3.6758256691698295e-05],"end_effector_yaw_offset_degrees":-0.06405569620281959}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005373721786444772,0.002828842304304173],"position_m":[0.32236262782135555,-0.12117115769569582,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001356577621418594,-0.00020606933581812734],"position_m":[0.3226565776214186,0.12099393066418188,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0031537496208542226,0.0023263650537763284],"position_m":[0.2986462503791458,0.004926365053776328,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002887969458078377,0.000303971630490704],"position_m":[0.10518796945807837,0.3921039716304907,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002072965982250592,-0.0027075889936060437],"position_m":[0.1662729659822506,-0.44040758899360605,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bbcb62350319f72e24e2939db0cb624fa0f7c81bec35be8ffefe83bd70c26b68","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3586/tex_ceiling_textures_1640/tex_floor_textures_2308/tex_table_textures_1289/tex_wall_textures_3023","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5956443596652290341,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5956443596652290341,"visual_seed":5956443596652290341,"scene_id":"lab_003","finished_at":"2026-09-03T18:26:05"} +{"episode_id":"ep_000031","started_at":"2026-09-03T18:26:09","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.5693932432845549,-1.698073516938591,0.71338606911949],"aabb_xy":[[-0.5758948797925595,-1.707841338964901],[-0.5628916067765503,-1.6883056949122814]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.16412735048569616,-2.1000280784627354,0.71338606911949],"aabb_xy":[[0.15404564340712268,-2.1800280763548496],[0.17420905756426963,-2.0200280805706203]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.22203800362868958,-1.1793275090622986,0.71338606911949],"aabb_xy":[[-0.31172507993680504,-1.269327509316749],[-0.13235092732057413,-1.089327508807848]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.21885625008102882,-0.5044477930786972,0.71338606911949],"aabb_xy":[[-0.22431419571804886,-0.5844477963863564],[-0.21339830444400873,-0.42444778977103814]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.1875198308220375,1.5947768638987978,0.71338606911949],"aabb_xy":[[0.16984420023343913,1.577096647619395],[0.2051954614106358,1.6124570801782006]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.25442072161455387,-1.173110303408394,0.71338606911949],"aabb_xy":[[0.24351494552699116,-1.253110299807223],[0.2653264977021166,-1.0931103070095647]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.41029219984860726,-2.228735882097623,0.71338606911949],"aabb_xy":[[-0.42584796925887264,-2.24428631534203],[-0.3947364304383421,-2.2131854488532157]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.327094201788449,0.35319005855780006,0.71338606911949],"aabb_xy":[[-0.3431561292469666,0.26819005674520824],[-0.3110322743299313,0.4381900603703919]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.4036726595686498,0.8044851778836968,0.71338606911949],"aabb_xy":[[-0.42110337464765624,0.7872130632198459],[-0.3862419444896432,0.8217572925475475]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.5391961538349637,1.6994854478665817,0.71338606911949],"aabb_xy":[[0.48420067601430417,1.6444854464326748],[0.5941916316556229,1.7544854493004887]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.2068189275087184,-1.5963789301653377,0.71338606911949],"aabb_xy":[[-0.21928628561845404,-1.6088442547986614],[-0.19435156939898274,-1.5839136055320144]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.6093986855318381,-1.3371302955020123,0.71338606911949],"aabb_xy":[[0.5453986831890365,-1.3820711467461448],[0.6733986878746396,-1.2921894442578798]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.36701867182177894,1.6335341959718224,0.71338606911949],"aabb_xy":[[-0.39486370860238607,1.6027496972335107],[-0.3391736350411718,1.664318694710134]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.3301501089425966,-1.8598013878120399,0.71338606911949],"aabb_xy":[[-0.3941501122323047,-1.9031363068159572],[-0.26615010565288844,-1.816466468808122]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.6231743762708497,1.5478404431068173,0.71338606911949],"aabb_xy":[[0.5731743768306541,1.497872518622501],[0.6731743757110453,1.5978083675911336]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.050298611742163546,-1.026247645112542,0.71338606911949],"aabb_xy":[[-0.08733272117022325,-1.0606248524462514],[-0.013264502314103824,-0.9918704377788325]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.09192954858869418,-0.3971769126240621,0.71338606911949],"aabb_xy":[[-0.09604549870076683,-0.4012924676569075],[-0.0878135984766215,-0.3930613575912165]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.4386323910971517,-1.1588993028987202,0.71338606911949],"aabb_xy":[[0.3836401404616408,-1.213899304642033],[0.4936246417326627,-1.1038993011554075]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.023103513565983502,-1.7351524058747807,0.71338606911949],"aabb_xy":[[0.0018255054225112498,-1.8001524082008538],[0.04438152170945575,-1.6701524035487076]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.18233591063515664,1.6298580804802083,0.71338606911949],"aabb_xy":[[-0.24633591090913487,1.5797919802829203],[-0.11833591036117841,1.6799241806774963]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.03276766998496805,1.5931644308762656,0.71338606911949],"aabb_xy":[[-0.03123232930920016,1.5291782905074116],[0.09676766927913627,1.65715057124512]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.6025694291128962,0.5099403700373331,0.71338606911949],"aabb_xy":[[0.5385694327173233,0.4459770816185994],[0.6665694255084694,0.5739036584560665]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.22155892077164474,-2.542167072237052,0.71338606911949],"aabb_xy":[[0.19527009645120405,-2.5684385058917028],[0.24784774509208538,-2.5158956385824003]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.27839527923180846,0.8130810187424835,0.71338606911949],"aabb_xy":[[-0.3129863620858537,0.7480810184574523],[-0.24380419637776327,0.8780810190275145]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.05917156300618576,1.0467548013830594,0.71338606911949],"aabb_xy":[[-0.0208284402516572,0.9667582935910752],[0.1391715662640287,1.1267513091750432]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.4421473578394527,0.29508744510903373,0.71338606911949],"aabb_xy":[[-0.45130723678332924,0.2885562270654967],[-0.43298747889557604,0.30161866315257074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571962459887388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7006.png","name":"7006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3095.png","name":"3095"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8531.png","name":"8531"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":525.941622213615,"rotation_z_degrees":351.4436624555332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00808505102081352,-0.013033962910032476,-0.01691004473792566]},{"name":"camera_2","offset_m":[0.012785294210830935,-0.008807093341320469,-0.010016665803761513]},{"name":"camera_3","offset_m":[-0.007081968424012718,-0.010146914517994739,-0.0029032771467701717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013584183103141725,-0.0016211252231006408,-0.0017965764165377319],"end_effector_yaw_offset_degrees":-0.845672862171486},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010745905578565145,0.000929406630063234,-0.0018289967355228378],"end_effector_yaw_offset_degrees":-0.31847878199410484},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005915139073638734,-0.0010769826385199886,0.0017551071981256492],"end_effector_yaw_offset_degrees":-0.2032074748390491}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016975240078736346,-0.004600031639597267],"position_m":[0.3245975240078737,-0.12860003163959727,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031963250400684944,-0.004677443712381879],"position_m":[0.3244963250400685,0.11652255628761812,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0009541975945934643,0.0018328818287051008],"position_m":[0.3027541975945935,0.004432881828705101,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024091055610985,-0.0036100921086446537],"position_m":[0.0998908944389015,0.3881899078913553,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010264884043558091,-0.0044228642988861115],"position_m":[0.1631735115956442,-0.4421228642988861,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"46e052cbe56c31b1b008e835ab853e85e50897e3daca7118a56742f5632a9424","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9649/tex_ceiling_textures_1298/tex_floor_textures_8531/tex_table_textures_7006/tex_wall_textures_3095","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7855780681134195137,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7855780681134195137,"visual_seed":7855780681134195137,"scene_id":"lab_003","finished_at":"2026-09-03T18:28:45"} +{"episode_id":"ep_000032","started_at":"2026-09-03T18:28:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.31315911996772794,1.082008118724648,0.71338606911949],"aabb_xy":[[0.3092452467723054,1.0732591033180912],[0.31707299316315046,1.0907571341312048]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.39512926044774543,1.4243674442491474,0.71338606911949],"aabb_xy":[[0.35762925926295264,1.4199492215530867],[0.43262926163253823,1.4287856669452077]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.5864092985310987,-1.610449236957448,0.71338606911949],"aabb_xy":[[0.5364142875716467,-1.6604492359930398],[0.6364043094905507,-1.5604492379218564]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.28677977961430456,-2.303789603680199,0.71338606911949],"aabb_xy":[[-0.35677977602426625,-2.324227539331879],[-0.21677978320434269,-2.2833516680285157]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.1313760179851312,-2.444936124707432,0.71338606911949],"aabb_xy":[[-0.1813708509130728,-2.4949361236026757],[-0.08138118505718961,-2.3949361258121886]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.0924613587768518,1.5608904310546703,0.71338606911949],"aabb_xy":[[-0.15646136199548966,1.514167319155662],[-0.028461355558213955,1.6076135429536786]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.4813928656101828,-1.8190427472683344,0.71338606911949],"aabb_xy":[[-0.5012839054905232,-1.8316985585530312],[-0.46150182572984266,-1.8063869359836375]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.01838870442857443,0.7332387941128542,0.71338606911949],"aabb_xy":[[0.01494802818851726,0.7293773611384896],[0.021829380668631604,0.7371002270872186]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.24555574368707722,1.2701666301037657,0.71338606911949],"aabb_xy":[[-0.25878668922175846,1.2569392110817659],[-0.23232479815239587,1.2833940491257647]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.47304947554854426,0.6488319587502511,0.71338606911949],"aabb_xy":[[-0.5055111764304716,0.6186991266353484],[-0.4405877746666167,0.6789647908651536]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.6651395759959868,-0.535430471205379,0.71338606911949],"aabb_xy":[[-0.6840239597644971,-0.5543163959857317],[-0.6462551922274767,-0.5165445464250261]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.3880274312668747,-0.7731158679421231,0.71338606911949],"aabb_xy":[[-0.4520274329448721,-0.8216332594214372],[-0.32402742958887737,-0.7245984764628087]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.5780986555038854,-1.8727922082578319,0.71338606911949],"aabb_xy":[[-0.6005634254752905,-1.8952922091366924],[-0.5556338855324803,-1.8502922073789714]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.02131168436587627,1.2942309230343838,0.71338606911949],"aabb_xy":[[-0.07131168538501155,1.2577647072965559],[0.028688316653259004,1.3306971387722117]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.6308876618911374,-2.064864688496156,0.71338606911949],"aabb_xy":[[0.6182608746039411,-2.0744107621977292],[0.6435144491783338,-2.055318614794583]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.10561249381796667,0.707570565009572,0.71338606911949],"aabb_xy":[[-0.1856124970819798,0.6940105327006587],[-0.02561249055395355,0.7211305973184854]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.38636849472836177,0.36668841772342287,0.71338606911949],"aabb_xy":[[-0.4763684984052798,0.30525601114631845],[-0.2963684910514435,0.4281208243005271]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.6946271928406649,-1.09730384892209,0.71338606911949],"aabb_xy":[[0.6727185107013138,-1.1192045157421808],[0.7165358749800159,-1.0754031821019994]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.5269752898167537,-1.2971006785516277,0.71338606911949],"aabb_xy":[[0.44697529115986767,-1.3116055374758906],[0.6069752884736397,-1.2825958196273648]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.6426587355540627,-2.375981826617637,0.71338606911949],"aabb_xy":[[-0.6801587341296834,-2.3887181222811944],[-0.6051587369784418,-2.3632455309540785]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.5502895447807024,1.075015916629976,0.71338606911949],"aabb_xy":[[-0.6052817954162134,1.0200159148866634],[-0.4952972941451915,1.130015918373289]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.5128133520749967,0.853328941014575,0.71338606911949],"aabb_xy":[[0.46281335249866196,0.8033483620624692],[0.5628133516513314,0.9033095199666811]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.5707108058190182,0.5463446676562169,0.71338606911949],"aabb_xy":[[-0.5768054337071366,0.5377752731045483],[-0.5646161779308999,0.5549140622078857]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.020213230546576755,-1.7583526278448605,0.71338606911949],"aabb_xy":[[-0.0397867710963451,-1.8103527771368046],[0.0802132321894986,-1.7063524785529163]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[0.03587006493161082,-2.1636505677891567,0.71338606911949],"aabb_xy":[[-0.0016299350121555811,-2.1719436578239932],[0.07337006487537723,-2.15535747775432]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[0.5481903418405136,1.3192955458293798,0.71338606911949],"aabb_xy":[[0.48819034158911234,1.265014220792915],[0.6081903420919147,1.3735768708658442]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.001159450615479285,0.8946760160537122,0.71338606911949],"aabb_xy":[[-0.08615944930755393,0.8626901526588333],[0.08384054807659536,0.926661879448591]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.03983141222254072,-2.4722996226074505,0.71338606911949],"aabb_xy":[[-0.04016858885057961,-2.482077668944835],[0.11983141329566105,-2.462521576270066]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[-0.3008869672365869,-1.763237411163351,0.71338606911949],"aabb_xy":[[-0.30851123532676517,-1.7708706346998953],[-0.2932626991464087,-1.7556041876268078]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[-0.32620694219235574,1.6766920024077128,0.71338606911949],"aabb_xy":[[-0.3713782600405247,1.6126920052631748],[-0.2810356243441868,1.7406919995522516]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[0.5470336197192511,1.0543881585881172,0.71338606911949],"aabb_xy":[[0.5397723721488437,1.041601148324608],[0.5542948672896586,1.0671751688516269]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[0.19649851590703438,-1.3354510221738685,0.71338606911949],"aabb_xy":[[0.15373180902761416,-1.399451025595671],[0.23926522278645454,-1.271451018752066]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_32","position":[0.5998081290455166,1.7134116431329383,0.71338606911949],"aabb_xy":[[0.5498251788580372,1.6634116434903776],[0.6497910792329958,1.7634116427754984]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_33","position":[-0.12758938819194932,-1.8806326515616918,0.71338606911949],"aabb_xy":[[-0.1324329829531793,-1.8854843040406761],[-0.12274579343071934,-1.875780999082708]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6523852795833008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3995.png","name":"3995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3995.png","name":"3995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6040.png","name":"6040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4889.png","name":"4889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5024.png","name":"5024"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.9555869191768,"rotation_z_degrees":138.00940681375664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011427454067376702,-0.008080872832888716,0.0046781128539578574]},{"name":"camera_2","offset_m":[0.0058755972427879805,0.007116510369031059,0.0008466670403621673]},{"name":"camera_3","offset_m":[0.003588976698074068,0.010705289828164849,0.0022470806868854776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041791643033648254,-0.0014749940949202532,0.0011449348885540622],"end_effector_yaw_offset_degrees":0.3836631762702052},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00013759648086343178,-0.000775895475080429,6.1003794540975126e-05],"end_effector_yaw_offset_degrees":0.39097620531605504},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003059457406242867,0.0010144304300247218,4.9573826816827916e-05],"end_effector_yaw_offset_degrees":0.40399563171870434}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028474320253458465,-0.003895786079708853],"position_m":[0.32574743202534584,-0.12789578607970886,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002581346803857418,5.36803547476249e-05],"position_m":[0.3238813468038574,0.12125368035474762,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0030973961768350146,-0.0012874883221624211],"position_m":[0.298702603823165,0.0013125116778375787,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003642260757020559,-0.0013651214878626296],"position_m":[0.09865773924297944,0.3904348785121374,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038472900800372188,-0.00037253118869575146],"position_m":[0.16035270991996278,-0.4380725311886957,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5f4019d2e80abce2c328669381f51e7d7ce545c7da650f0de0ab4e9ee169a036","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3995/tex_ceiling_textures_5024/tex_floor_textures_4889/tex_table_textures_3238/tex_wall_textures_6040","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":417598658991141363,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":417598658991141363,"visual_seed":417598658991141363,"scene_id":"lab_003","finished_at":"2026-09-03T18:31:09"} +{"episode_id":"ep_000033","started_at":"2026-09-03T18:31:12","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.26130152953777785,1.7671063626862469,0.71338606911949],"aabb_xy":[[0.2388015295276295,1.7530101430466438],[0.2838015295479261,1.7812025823258504]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.6529863194639608,-0.6853308346970635,0.71338606911949],"aabb_xy":[[-0.6792751437844012,-0.7116022683517146],[-0.6266974951435199,-0.6590594010424121]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.6967742755183088,-0.9980363789610027,0.71338606911949],"aabb_xy":[[0.6743095055469036,-1.0205363798398635],[0.7192390454897138,-0.9755363780821423]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.5181360579789038,1.731295922190268,0.71338606911949],"aabb_xy":[[-0.5220965417486382,1.7236280576047471],[-0.5141755742091695,1.7389637867757883]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.21201853717969443,0.05963925964218486,0.71338606911949],"aabb_xy":[[-0.2252494827143757,0.046411840620185434],[-0.1987875916450131,0.07286667866418428]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.3397776478893862,-2.119603105173229,0.71338606911949],"aabb_xy":[[-0.4037776470591561,-2.1663697922921914],[-0.2757776487196162,-2.0728364180542664]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.2858627062303989,-1.8908385685001652,0.71338606911949],"aabb_xy":[[0.2358627075844777,-1.9407581121596273],[0.3358627048763201,-1.8409190248407026]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.6976833494746255,-1.6329662790592905,0.71338606911949],"aabb_xy":[[0.6872717907941417,-1.6383120123951889],[0.7080949081551091,-1.627620545723392]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.23878992030600588,-1.0788731852228737,0.71338606911949],"aabb_xy":[[0.18878991935547307,-1.110422332226395],[0.2887899212565387,-1.0473240382193523]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.5337507207582849,-2.070896419459932,0.71338606911949],"aabb_xy":[[-0.5687507190689803,-2.0786114343834776],[-0.49875072244758945,-2.0631814045363863]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.18666156049751537,-2.4652465012945,0.71338606911949],"aabb_xy":[[-0.2209778376721333,-2.515246501267678],[-0.15234528332289743,-2.4152465013213225]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.5118440622866129,-0.5913725044858502,0.71338606911949],"aabb_xy":[[0.42184406578574113,-0.6372841469043085],[0.6018440587874846,-0.545460862067392]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.22676521225282054,-1.5598944868532256,0.71338606911949],"aabb_xy":[[0.1717729616173096,-1.6148944885965386],[0.2817574628883315,-1.504894485109913]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.46592362612629734,0.2932865371232731,0.71338606911949],"aabb_xy":[[0.40192362407656534,0.25319205403396516],[0.5299236281760293,0.3333810202125811]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.6592276622951996,1.0042317303026365,0.71338606911949],"aabb_xy":[[0.5976369030712068,0.9402317321935896],[0.7208184215191924,1.0682317284116833]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.45138257363305867,-0.6667794876706401,0.71338606911949],"aabb_xy":[[-0.4888825722086795,-0.6795157833341979],[-0.41388257505743786,-0.654043192007082]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.5976051993642609,-1.3791583622574386,0.71338606911949],"aabb_xy":[[-0.6146152966543116,-1.3952928507557123],[-0.5805951020742103,-1.3630238737591645]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.6380573349185065,-1.9639161575473314,0.71338606911949],"aabb_xy":[[-0.6930528127391659,-2.018916158981238],[-0.5830618570978471,-1.9089161561134242]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.4864751800619589,1.1437423518572585,0.71338606911949],"aabb_xy":[[-0.5664690036405171,1.063742349264417],[-0.40648135648340067,1.2237423544501]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.04570605848687748,1.7213448145655987,0.71338606911949],"aabb_xy":[[0.008206058194702652,1.7173033391649948],[0.0832060587790523,1.7253862899662018]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.48835691922581426,0.32487906450633597,0.71338606911949],"aabb_xy":[[-0.49635090780351754,0.3168789844112456],[-0.48036293064811075,0.3328791446014263]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.29386678825371193,-0.8576160419393846,0.71338606911949],"aabb_xy":[[0.23874158262412112,-0.9176160433806716],[0.34899199388330265,-0.7976160404980973]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.3213160942395421,0.4494563572893604,0.71338606911949],"aabb_xy":[[0.31116307868539267,0.41338681571661995],[0.33146910979369143,0.4855258988621006]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.1727199810351292,-1.3153417927602968,0.71338606911949],"aabb_xy":[[0.15956873506383987,-1.3403417925169834],[0.1858712270064186,-1.2903417930036103]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.6248846581060861,1.4180322030019163,0.71338606911949],"aabb_xy":[[-0.6346406476152598,1.4082696689426817],[-0.6151286685969121,1.4277947370611506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6558693415332998,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6158.png","name":"6158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6158.png","name":"6158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5359.png","name":"5359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8878.png","name":"8878"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9006.png","name":"9006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5988.png","name":"5988"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":569.272608527506,"rotation_z_degrees":19.15496529687909,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008585583034339296,-0.0008313098087211514,-0.014290362807293535]},{"name":"camera_2","offset_m":[0.008432751338289898,-0.010934089432332934,0.014603392522101705]},{"name":"camera_3","offset_m":[0.014910214063493032,0.009413507721329345,0.004005085853424913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.823078039865693e-05,0.00048771608429151,0.00047340886660122766],"end_effector_yaw_offset_degrees":0.4521983273402874},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007138029544441677,0.0002444857089372531,-0.0017838851509848147],"end_effector_yaw_offset_degrees":-0.768445814671961},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004534462941310053,0.001661241630967206,-0.0013514271484997011],"end_effector_yaw_offset_degrees":0.6309137869604389}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032665597270623925,-0.0005013394701676574],"position_m":[0.3196334402729376,-0.12450133947016766,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018549936318041282,0.003357732146635677],"position_m":[0.31944500636819584,0.12455773214663568,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0017213864046441143,0.0017057383063591473],"position_m":[0.3035213864046441,0.004305738306359147,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043067806423175235,-0.003712896806880843],"position_m":[0.09799321935768247,0.3880871031931191,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026482869800672935,0.0016457892167421016],"position_m":[0.16684828698006732,-0.4360542107832579,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d717c71a0bda2b0aaa0e96ca03f0a8ecb2c05e56c1105f9e32243d08117560af","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6158/tex_ceiling_textures_5988/tex_floor_textures_9006/tex_table_textures_5359/tex_wall_textures_8878","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3754395702022506956,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3754395702022506956,"visual_seed":3754395702022506956,"scene_id":"lab_003","finished_at":"2026-09-03T18:33:43"} +{"episode_id":"ep_000034","started_at":"2026-09-03T18:33:48","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.43354974634651855,-1.6831355808876096,0.71338606911949],"aabb_xy":[[0.38354974598595243,-1.7331155680972123],[0.48354974670708456,-1.6331555936780064]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.009642689499854029,-2.1415137661311534,0.71338606911949],"aabb_xy":[[-0.024673587674763908,-2.191513766104331],[0.043958966674471966,-2.0915137661579757]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.6025248783033207,-1.69475480394678,0.71338606911949],"aabb_xy":[[-0.6363004374940137,-1.7087932991599448],[-0.5687493191126277,-1.680716308733615]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.08514480877522912,-0.8025445377537179,0.71338606911949],"aabb_xy":[[0.030151597438092377,-0.8575445380925116],[0.1401380201123659,-0.7475445374149243]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.2659282871788745,-1.3937822824983843,0.71338606911949],"aabb_xy":[[0.2588879772453376,-1.473782281898056],[0.27296859711241156,-1.3137822830987131]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.0541041676048285,-1.5784880220099957,0.71338606911949],"aabb_xy":[[0.03647133201130092,-1.5961109680256185],[0.07173700319835606,-1.5608650759943725]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.4059604634552513,-0.883362365942973,0.71338606911949],"aabb_xy":[[-0.49596046578927033,-0.9608447205280856],[-0.3159604611212322,-0.8058800113578602]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.33862712973036513,1.1224462969930076,0.71338606911949],"aabb_xy":[[0.2746314323352685,1.058446298692299],[0.40262282712546166,1.1864462952937163]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.39155572792065596,-1.9761057768791064,0.71338606911949],"aabb_xy":[[-0.4515557281720571,-2.0303871019155713],[-0.33155572766925473,-1.9218244518426415]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.13905108850773917,1.7355500406830848,0.71338606911949],"aabb_xy":[[-0.21905108547077834,1.6584743990393114],[-0.05905109154470001,1.8126256823268583]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.008640588396990112,1.7475398757384242,0.71338606911949],"aabb_xy":[[-0.00836950889306054,1.7314053872401503],[0.025650685687040764,1.763674364236698]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.12473994809681521,-0.2918518305471256,0.71338606911949],"aabb_xy":[[-0.13415742266667796,-0.3012680076848446],[-0.11532247352695245,-0.2824356534094065]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.4311427946783344,-1.564225008982134,0.71338606911949],"aabb_xy":[[0.41334928774341795,-1.5820247545779316],[0.4489363016132508,-1.5464252633863362]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.12340856467108652,-1.2610073176615004,0.71338606911949],"aabb_xy":[[-0.15932206909607619,-1.2969208258782547],[-0.08749506024609681,-1.2250938094447457]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.046562059719779336,-1.384621408580777,0.71338606911949],"aabb_xy":[[0.03499307897284276,-1.4096214086977088],[0.05813104046671591,-1.3596214084638454]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.4594036339077119,-1.0704989051434297,0.71338606911949],"aabb_xy":[[0.4310739239591717,-1.074959647337147],[0.48773334385625217,-1.0660381629497129]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.6093415277817241,-1.1341273211518805,0.71338606911949],"aabb_xy":[[-0.6428206950427652,-1.1676064345229875],[-0.5758623605206833,-1.1006482077807735]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.1441073616199514,-0.1667009757007203,0.71338606911949],"aabb_xy":[[-0.17910736081276965,-0.1776680216983829],[-0.10910736242713312,-0.15573392970305763]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.19324766128664017,0.38509327396002346,0.71338606911949],"aabb_xy":[[-0.24324267224609222,0.3350932749244318],[-0.14325265032718815,0.4350932729956153]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.2461517561290658,1.3638852253423819,0.71338606911949],"aabb_xy":[[0.19615864401987396,1.3138852246681862],[0.2961448682382577,1.4138852260165775]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.04706271830295694,0.009140631132404486,0.71338606911949],"aabb_xy":[[-0.054323965873364355,-0.003646379131104995],[-0.039801470732549526,0.021927641395913966]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.1640493493939239,-2.0507957689550205,0.71338606911949],"aabb_xy":[[0.10004934705112235,-2.095736620199153],[0.22804935173672547,-2.005854917710888]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[-0.4038147617803007,1.0787458104449281,0.71338606911949],"aabb_xy":[[-0.40914727643491366,1.0734214821996928],[-0.3984822471256877,1.0840701386901639]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.36457084283496566,0.5705121336425578,0.71338606911949],"aabb_xy":[[0.314570843258631,0.5205315546904519],[0.41457084241130043,0.6204927125946638]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6529229577411327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9790.png","name":"9790"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9790.png","name":"9790"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8806.png","name":"8806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2678.png","name":"2678"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3560.png","name":"3560"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":588.4099586242612,"rotation_z_degrees":197.92623456884942,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014991684377323261,0.001824319462845326,0.004455549510201388]},{"name":"camera_2","offset_m":[0.01901510251587941,-0.011527933168749192,0.014369370044599945]},{"name":"camera_3","offset_m":[-0.008601352110528615,-0.005529999046889467,0.014147356157737486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019238359759467276,0.0009362169970522751,0.0013980984823775359],"end_effector_yaw_offset_degrees":0.740452787315528},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009035414752775485,-0.0009058742631452286,-0.0005183201481901488],"end_effector_yaw_offset_degrees":0.9871237131934498},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[3.943669397960675e-05,-0.0012378557803023535,-0.00022014432797497338],"end_effector_yaw_offset_degrees":0.565281644560135}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003916832078021652,-0.0028454089559527985],"position_m":[0.3189831679219784,-0.1268454089559528,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004509466184235763,0.002071922226274975],"position_m":[0.3167905338157642,0.12327192222627498,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0019499500800934677,0.001973064068713051],"position_m":[0.29985004991990655,0.004573064068713051,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027052216815882423,-0.004570447111425567],"position_m":[0.10500522168158824,0.3872295528885744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014067769981554678,0.0015304457276490513],"position_m":[0.16279322300184454,-0.43616955427235093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"352c984fa10b913e3672df3b1c5faeca685c21e0e3e88753db14e87ca7783d64","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9790/tex_ceiling_textures_3560/tex_floor_textures_2678/tex_table_textures_9492/tex_wall_textures_8806","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2857452552373103494,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2857452552373103494,"visual_seed":2857452552373103494,"scene_id":"lab_003","finished_at":"2026-09-03T18:36:19"} +{"episode_id":"ep_000035","started_at":"2026-09-03T18:36:22","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[0.06959225813409564,-1.1886688901551514,0.71338606911949],"aabb_xy":[[0.03529534711635501,-1.2229657763650925],[0.10388916915183626,-1.15437200394521]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.36335964168294405,0.7859027027909775,0.71338606911949],"aabb_xy":[[-0.38085957511692736,0.768402702870743],[-0.3458597082489606,0.8034027027112121]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.4763278187642659,-1.2436112056740007,0.71338606911949],"aabb_xy":[[0.4263329858363243,-1.2936112045692445],[0.5263226516922075,-1.1936112067787574]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.5229398913978176,0.16070968701663402,0.71338606911949],"aabb_xy":[[0.49910367375721254,0.07070968620814756],[0.5467761090384227,0.25070968782512054]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.36374473486055814,0.4034030785060305,0.71338606911949],"aabb_xy":[[-0.3697112738012939,0.3974419338466665],[-0.35777819591982235,0.40936422316539456]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.19669841335287108,-2.5481685042132867,0.71338606911949],"aabb_xy":[[0.15919841318099912,-2.5808692395961934],[0.234198413524743,-2.515467768830379]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.24612455404594558,-1.7824797447520497,0.71338606911949],"aabb_xy":[[-0.3077153132699384,-1.8464797428610968],[-0.18453379482195276,-1.718479746643003]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.2501252270745836,-2.0364193364671834,0.71338606911949],"aabb_xy":[[-0.28762522773916227,-2.0521063944674047],[-0.2126252264100049,-2.0207322784669604]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.4651165496522842,-2.1944391809526675,0.71338606911949],"aabb_xy":[[-0.5150898436555447,-2.2444391815072144],[-0.41514325564902377,-2.1444391803981198]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.4751824482417032,-1.1620784006888745,0.71338606911949],"aabb_xy":[[-0.49268244737607036,-1.1719580277264623],[-0.457682449107336,-1.1521987736512866]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.226710804039702,-1.470480653177066,0.71338606911949],"aabb_xy":[[-0.2637449134677617,-1.5048578605107752],[-0.18967669461164224,-1.4361034458433564]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.6279247386991516,-0.9118543755482833,0.71338606911949],"aabb_xy":[[0.5944845635031317,-0.9452980013792134],[0.6613649138951709,-0.8784107497173532]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.07402479858284483,1.2097998730468897,0.71338606911949],"aabb_xy":[[-0.12402480024433958,1.1598014307911868],[-0.024024796921350063,1.2597983153025922]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.5784620340409241,0.22068355584990718,0.71338606911949],"aabb_xy":[[-0.596008728957043,0.18318355428565594],[-0.5609153391248052,0.25818355741415844]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.028566988461324327,-0.49377201044958907,0.71338606911949],"aabb_xy":[[-0.05106340989518843,-0.5162720102563365],[-0.006070567027460224,-0.47127201064284163]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.06894643016454782,-0.5901720578223999,0.71338606911949],"aabb_xy":[[-0.0939464297162863,-0.6003145416875346],[-0.04394643061280934,-0.5800295739572652]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6436688432245392,0.18820940276607123,0.71338606911949],"aabb_xy":[[0.6024200321946244,0.13320940325385375],[0.6849176542544538,0.24320940227828866]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.3703055375877108,1.5941872824553935,0.71338606911949],"aabb_xy":[[-0.4078055360111111,1.5810230684875628],[-0.3328055391643104,1.6073514964232243]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.21850714630365708,0.794607121563387,0.71338606911949],"aabb_xy":[[0.2088755100832274,0.7849698087836781],[0.22813878252408665,0.8042444343430959]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.39295541514443877,-1.2187950837719688,0.71338606911949],"aabb_xy":[[-0.42795541427439443,-1.2245403048476327],[-0.3579554160144831,-1.2130498626963044]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.18389617061044694,1.2373862236503328,0.71338606911949],"aabb_xy":[[0.10389617033683997,1.164436675824616],[0.2638961708840539,1.3103357714760495]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.3125276162833648,0.9342132317495522,0.71338606911949],"aabb_xy":[[0.25252761568734866,0.8794007592043287],[0.372527616879381,0.9890257042947757]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.49471551532379604,1.011016018400856,0.71338606911949],"aabb_xy":[[-0.5210043396442368,0.984744584746205],[-0.46842669100335543,1.0372874520555073]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.6646211522628629,-1.1934446986422216,0.71338606911949],"aabb_xy":[[0.6396211529909006,-1.2097900622383837],[0.6896211515348252,-1.177099335046059]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.3906926753864012,1.6697827723331335,0.71338606911949],"aabb_xy":[[-0.41319267520030356,1.6653081559626526],[-0.3681926755724988,1.674257388703614]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.09995326990034714,0.8262324328596269,0.71338606911949],"aabb_xy":[[-0.16394896729544373,0.7622324345589181],[-0.03595757250525054,0.8902324311603355]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.49013235716158665,-0.21582991046203448,0.71338606911949],"aabb_xy":[[-0.5541323557481591,-0.2628368738615432],[-0.4261323585750142,-0.16882294706252576]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[-0.6087304274464108,0.9163314442257668,0.71338606911949],"aabb_xy":[[-0.6242861968566763,0.9007810109813598],[-0.5931746580361458,0.9318818774701741]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.6012738634346255,-0.28020811112685173,0.71338606911949],"aabb_xy":[[0.5932475928039996,-0.2889596061042044],[0.6093001340652516,-0.2714566161494992]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[-0.6610190908059319,0.1023718682345649,0.71338606911949],"aabb_xy":[[-0.679903474574442,0.08348594345421212],[-0.6421347070374216,0.12125779301491768]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_30","position":[0.5960372318424649,0.8299737131440983,0.71338606911949],"aabb_xy":[[0.5360372309816519,0.7785472831376118],[0.6560372327032775,0.8814001431505846]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[-0.3606396716918917,-1.4368371893787326,0.71338606911949],"aabb_xy":[[-0.3831396722039323,-1.4593290477441305],[-0.3381396711798511,-1.4143453310133338]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[0.03203020041275917,-2.3296399221260193,0.71338606911949],"aabb_xy":[[0.007030200480241278,-2.3365225903469424],[0.05703020034527706,-2.3227572539050962]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_33","position":[-0.682648548955092,0.7682120131887094,0.71338606911949],"aabb_xy":[[-0.6865624221505144,0.7594629977821526],[-0.6787346757596695,0.7769610285952663]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_34","position":[0.5113676532958549,-2.1008513069741106,0.71338606911949],"aabb_xy":[[0.4563939312595221,-2.155851306538344],[0.5663413753321879,-2.0458513074098774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591435661503611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4402.png","name":"4402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4402.png","name":"4402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9231.png","name":"9231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.8638653306431,"rotation_z_degrees":174.71922919857178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007684806444581544,0.0037081626843020847,-0.0060837496700117295]},{"name":"camera_2","offset_m":[-0.008282513007175609,0.012733630828259592,-0.0031440405427715992]},{"name":"camera_3","offset_m":[-0.0011406922818261271,-0.007074821703331282,0.015248862954294087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017638991928159231,-0.0011584441443077678,0.0003778530771274039],"end_effector_yaw_offset_degrees":-0.4101984536383261},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011050660956768363,-0.0004811610306350888,0.0006500765939600394],"end_effector_yaw_offset_degrees":0.0691531922155404},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018334399697682666,-0.00013680754824082933,0.0005656763278299492],"end_effector_yaw_offset_degrees":-0.17547039461008662}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023873636496348546,0.0008918432684667729],"position_m":[0.3252873636496349,-0.12310815673153322,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000721719287678827,0.0025941980092871976],"position_m":[0.32057828071232114,0.1237941980092872,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002601701992789869,-0.0019034024493121472],"position_m":[0.3044017019927899,0.0006965975506878527,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002576193593039291,0.002328978724468099],"position_m":[0.09972380640696071,0.39412897872446806,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004578553182476877,-0.0011095593031581865],"position_m":[0.1687785531824769,-0.4388095593031582,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"84e9be0fdf835fadafe55f8587e3ff44291fa6c35269b044b28e60c945cc4dea","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4402/tex_ceiling_textures_8331/tex_floor_textures_9231/tex_table_textures_7157/tex_wall_textures_716","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3167755870012851088,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3167755870012851088,"visual_seed":3167755870012851088,"scene_id":"lab_003","finished_at":"2026-09-03T18:39:05"} +{"episode_id":"ep_000036","started_at":"2026-09-03T18:39:09","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.4323680442865039,-0.3395781734247496,0.71338606911949],"aabb_xy":[[-0.4400712349605809,-0.3472875441234876],[-0.42466485361242684,-0.3318688027260116]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.7023940063275922,-0.06437485075699412,0.71338606911949],"aabb_xy":[[0.6919824476471085,-0.06972058409289257],[0.7128055650080759,-0.05902911742109564]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.5552103741201193,1.1975228563153828,0.71338606911949],"aabb_xy":[[-0.5649663636292932,1.1877603222561481],[-0.5454543846109454,1.207285390374617]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.5716144171044188,0.8969374984465142,0.71338606911949],"aabb_xy":[[0.5166144189026739,0.8564155318200766],[0.6266144153061636,0.9374594650729517]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.3077262184932099,-2.41746657033543,0.71338606911949],"aabb_xy":[[0.30226827285618985,-2.4974665736430888],[0.31318416413023,-2.3374665670277706]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.05103231343078085,1.455239239760607,0.71338606911949],"aabb_xy":[[0.042318344380846355,1.4327392391014186],[0.05974628248071533,1.477739240419795]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.07534275973052784,-1.061518382732592,0.71338606911949],"aabb_xy":[[0.057136936069280164,-1.0725437833145839],[0.09354858339177552,-1.0504929821506006]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.32516360423001167,-1.574804590389485,0.71338606911949],"aabb_xy":[[0.28766360343801617,-1.5811724313476747],[0.36266360502200706,-1.5684367494312947]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.26271184141058623,-0.9734164847360618,0.71338606911949],"aabb_xy":[[0.20773811937425335,-1.028416484300295],[0.3176855634469191,-0.9184164851718286]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.023947546994170787,-1.4530200987453832,0.71338606911949],"aabb_xy":[[-0.061447547099763744,-1.459842260598364],[0.013552453111422164,-1.4461979368924018]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.1772496332846113,-0.5222625169315549,0.71338606911949],"aabb_xy":[[-0.18594759557532656,-0.5343874912390296],[-0.16855167099389598,-0.5101375426240802]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.05954845448956958,-1.5762933906323602,0.71338606911949],"aabb_xy":[[-0.09454845368238785,-1.587260436630023],[-0.024548455296751308,-1.5653263446346974]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.4882362276596126,0.6759218277519032,0.71338606911949],"aabb_xy":[[0.47122613036956196,0.6597873392536292],[0.5052463249496633,0.692056316250177]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.16248700743665312,-1.94281251632554,0.71338606911949],"aabb_xy":[[0.09848701013430672,-1.9871789432933966],[0.22648700473899952,-1.898446089357683]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.38545575817246225,-0.8253294931149604,0.71338606911949],"aabb_xy":[[-0.42295575674808306,-0.8380657887785181],[-0.34795575959684144,-0.8125931974514022]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.6088837207421025,0.6814140906872774,0.71338606911949],"aabb_xy":[[0.5995901025049519,0.6439140921991434],[0.6181773389792531,0.7189140891754112]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.30138144869855954,-1.79585317402902,0.71338606911949],"aabb_xy":[[-0.3441481555779798,-1.8598531774508225],[-0.2586147418191394,-1.7318531706072176]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.5058876577005109,-1.003076510248093,0.71338606911949],"aabb_xy":[[0.44588765605758907,-1.0550766595400372],[0.5658876593434328,-0.9510763609561488]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.29178041846450053,1.3165726291179802,0.71338606911949],"aabb_xy":[[0.2267804205828528,1.2654489654114396],[0.3567804163461484,1.3676962928245213]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.5170072331779341,0.07613827100448356,0.71338606911949],"aabb_xy":[[0.45300723388376585,0.01215213063562938],[0.5810072324721023,0.14012441137333775]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.3346147351508484,-1.1545087144438506,0.71338606911949],"aabb_xy":[[0.30421662405170474,-1.18491561644552],[0.3650128462499919,-1.1241018124421809]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.6854865042429659,-0.36369480172269864,0.71338606911949],"aabb_xy":[[0.6758548680225362,-0.3733321145024075],[0.6951181404633955,-0.35405748894298966]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.20631788461897327,1.5594483264383556,0.71338606911949],"aabb_xy":[[-0.21431187319667663,1.5514482463432653],[-0.19832389604126985,1.567448406533446]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.4359030896119298,-2.492786029734049,0.71338606911949],"aabb_xy":[[-0.4611239264717694,-2.5180097805869353],[-0.4106822527520901,-2.467562278881162]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.597765121833988,1.691064079636726,0.71338606911949],"aabb_xy":[[-0.6617651220944587,1.6460552802837978],[-0.5337651215735171,1.7360728789896538]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[0.5696523958582485,1.5010084103468695,0.71338606911949],"aabb_xy":[[0.5056523926396106,1.4542852984478611],[0.6336523990768863,1.5477315222458778]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.21318594742469377,0.6486276964346342,0.71338606911949],"aabb_xy":[[0.1631928353155019,0.5986276957604387],[0.2631790595338857,0.69862769710883]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.30053782741123014,-0.7267906916916493,0.71338606911949],"aabb_xy":[[0.26553782914111024,-0.7338648193866375],[0.33553782568135004,-0.7197165639966612]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[-0.03554839870896509,1.047341430819738,0.71338606911949],"aabb_xy":[[-0.08335456632273373,0.982341428112679],[0.012257768904803564,1.112341433526797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6573050936075376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2163.png","name":"2163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7999.png","name":"7999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/752.png","name":"752"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":713.8303173244142,"rotation_z_degrees":300.5083954305861,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005597752961124898,0.015999630955811365,-0.005397979664815509]},{"name":"camera_2","offset_m":[-0.0016012189606888737,0.017509109770521756,-0.002568611093556824]},{"name":"camera_3","offset_m":[0.011014953840845814,-0.0044313699861003066,-0.01597566031248097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017841057787721648,0.0010827755262077595,-0.0019929365704231495],"end_effector_yaw_offset_degrees":-0.8894118106701816},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00021542784678118252,-0.001509255769056762,-0.0017165806623140676],"end_effector_yaw_offset_degrees":-0.14124941871728058},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006245141962297686,0.000863251894440145,0.001624761450512571],"end_effector_yaw_offset_degrees":-0.32912232380422757}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033843576307123644,-0.0003463942210315705],"position_m":[0.31951564236928764,-0.12434639422103157,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003724272403597551,0.0014749395398272755],"position_m":[0.32502427240359755,0.12267493953982728,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0011621928926196564,0.0012390051885610544],"position_m":[0.30296219289261966,0.0038390051885610543,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013018951213029139,0.004888699883208698],"position_m":[0.10360189512130291,0.3966886998832087,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016476183167903743,-0.0016268667529747926],"position_m":[0.16584761831679037,-0.4393268667529748,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d81e1891ca34afbbf872c4a2b08c7dd37870b38aa03241c499f3b42bcf2365b1","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7622/tex_ceiling_textures_693/tex_floor_textures_752/tex_table_textures_2163/tex_wall_textures_7999","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7624266150780894713,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7624266150780894713,"visual_seed":7624266150780894713,"scene_id":"lab_003","finished_at":"2026-09-03T18:41:40"} +{"episode_id":"ep_000037","started_at":"2026-09-03T18:41:42","dimensions":{"distractor":{"count":26,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.6349903240072969,0.03927599765282652,0.71338606911949],"aabb_xy":[[0.5453032476991815,-0.05072400260162402],[0.7246774003154124,0.12927599790727706]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.5486787939902599,1.2008403688738087,0.71338606911949],"aabb_xy":[[-0.5579724122274105,1.1633403703856748],[-0.5393851757531093,1.2383403673619426]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.42817253541837563,-1.0837237653352942,0.71338606911949],"aabb_xy":[[0.40626385327902453,-1.1056244321553848],[0.4500812175577266,-1.0618230985152033]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.3917830705201937,-0.5195763451211044,0.71338606911949],"aabb_xy":[[0.38766712040812096,-0.5236919001539498],[0.3958990206322663,-0.5154607900882587]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.17113643400545464,-0.9601034459242259,0.71338606911949],"aabb_xy":[[-0.18458296063949794,-0.9735732975773171],[-0.15768990737141128,-0.9466335942711347]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.39323668784422794,0.10161081087482371,0.71338606911949],"aabb_xy":[[0.3781343863832098,0.08650928924376186],[0.408338989305246,0.1167123325058855]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.5003893176307284,1.7580512161218782,0.71338606911949],"aabb_xy":[[0.45038931805439364,1.7080706371697725],[0.5503893172070631,1.8080317950739844]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.2741938885624206,-0.10308893432165256,0.71338606911949],"aabb_xy":[[-0.32419388800261617,-0.15305685880596887],[-0.22419388912222493,-0.05312100983733624]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.47869647417971284,0.4529207835732785,0.71338606911949],"aabb_xy":[[0.4612657591007063,0.43564866890942755],[0.4961271892587193,0.4701928982371292]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.43781775675246704,0.8283046053816152,0.71338606911949],"aabb_xy":[[0.3878184815840309,0.778304604105668],[0.48781703192090325,0.8783046066575624]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.2780008233404814,1.0652806862416595,0.71338606911949],"aabb_xy":[[-0.3580008238106973,1.0569699786273112],[-0.19800082287026544,1.0735913938560078]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.468051833498597,0.17653117205226954,0.71338606911949],"aabb_xy":[[0.4646111572585398,0.1726697390779051],[0.47149250973865414,0.18039260502663404]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.3957127065382259,0.8275846084598886,0.71338606911949],"aabb_xy":[[-0.45971270975686374,0.7808614965608803],[-0.331712703319588,0.874307720358897]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.485524593392783,-0.6661636313255435,0.71338606911949],"aabb_xy":[[0.40552459311917594,-0.7391131791512602],[0.5655245936663899,-0.5932140834998267]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.4477177812596971,1.1390963078834013,0.71338606911949],"aabb_xy":[[-0.4521484106145373,1.1336479361487188],[-0.44328715190485696,1.1445446796180838]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.3579265984948943,-1.8590512705185565,0.71338606911949],"aabb_xy":[[0.34656486384160806,-1.8704197369248445],[0.3692883331481804,-1.8476828041122684]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.0014669070432915543,0.7411426146673596,0.71338606911949],"aabb_xy":[[-0.08518913254337401,0.6511426111326636],[0.0822553184567909,0.8311426182020555]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.6354183508797269,-0.6984761679028666,0.71338606911949],"aabb_xy":[[0.6108721352569761,-0.7287250644519037],[0.6599645665024776,-0.6682272713538295]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.3073722558667624,-1.377859243051309,0.71338606911949],"aabb_xy":[[0.26987225576116936,-1.38468140490429],[0.34487225597235527,-1.3710370811983277]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.37658584905254744,-1.4480709470325595,0.71338606911949],"aabb_xy":[[-0.4565858512153099,-1.528026130658703],[-0.29658584688978495,-1.3681157634064158]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.4033047952250203,0.26269077320213885,0.71338606911949],"aabb_xy":[[-0.49330479890193835,0.20125836662503443],[-0.31330479154810204,0.32412317977924315]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.19505906117215777,-2.3127515848375153,0.71338606911949],"aabb_xy":[[-0.20699179553398586,-2.3251337376453747],[-0.18312632681032973,-2.300369432029656]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.3190578090400671,1.0446928378855835,0.71338606911949],"aabb_xy":[[0.28226317591516076,1.0077869627890013],[0.3558524421649733,1.0815987129821658]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.341211988299557,-1.2433607865893905,0.71338606911949],"aabb_xy":[[0.2934058206857883,-1.3083607892964495],[0.38901815591332556,-1.1783607838823316]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.5434938892294607,-1.3014152787344044,0.71338606911949],"aabb_xy":[[-0.5514873790247429,-1.3094134106748803],[-0.5355003994341788,-1.293417146793929]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.6513888198853939,0.12739727335017337,0.71338606911949],"aabb_xy":[[-0.6660322254394269,0.11273855369338906],[-0.6367454143313609,0.14205599300695762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65100667745885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4754.png","name":"4754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4754.png","name":"4754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9429.png","name":"9429"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5973.png","name":"5973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8624.png","name":"8624"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":515.1437611955762,"rotation_z_degrees":136.9494850405584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019261868742891253,0.0030567294837202247,-0.01776555749838964]},{"name":"camera_2","offset_m":[0.0197197036802214,0.005729378277625142,0.0026082973383471444]},{"name":"camera_3","offset_m":[-0.019660270070578165,-0.0006270172672947459,0.015790296016999373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009376146646378821,-0.0017377178897219096,-0.00035951838803886956],"end_effector_yaw_offset_degrees":0.7498116554576306},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018329167035156893,0.0006374091696556695,-2.679714561039468e-06],"end_effector_yaw_offset_degrees":-0.8186625254413162},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.618305953442043e-05,-0.001371138730879596,-9.244306238192254e-05],"end_effector_yaw_offset_degrees":-0.33143328491526725}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004195641173699361,-0.0021827360678720164],"position_m":[0.3270956411736994,-0.126182736067872,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004275249038091289,0.0026056887788479186],"position_m":[0.3170247509619087,0.12380568877884793,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0004901217176650251,0.0018369962902542456],"position_m":[0.30229012171766506,0.0044369962902542455,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004917123498251458,-0.004746184106840789],"position_m":[0.09738287650174854,0.3870538158931592,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031668386906123125,0.00243872121689254],"position_m":[0.1610331613093877,-0.43526127878310744,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ba7f795ffcd624d941d33cfd995fcaa9272929cec451d6176e6e917f29b8baac","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4754/tex_ceiling_textures_8624/tex_floor_textures_5973/tex_table_textures_9429/tex_wall_textures_6711","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5562599183595949034,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5562599183595949034,"visual_seed":5562599183595949034,"scene_id":"lab_003","finished_at":"2026-09-03T18:44:13"} +{"episode_id":"ep_000038","started_at":"2026-09-03T18:44:17","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.42202858421541833,1.3194561645533525,0.71338606911949],"aabb_xy":[[0.3604378249914255,1.2554561664443056],[0.48361934343941115,1.3834561626623993]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.3636374628264857,1.1874250992187885,0.71338606911949],"aabb_xy":[[-0.44363128640504396,1.107425096625947],[-0.2836436392479275,1.26742510181163]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.519667738139888,-0.8907001006581872,0.71338606911949],"aabb_xy":[[0.49466773886792575,-0.9070454642543494],[0.5446677374118503,-0.8743547370620247]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.1329103218693397,-0.08131926259762157,0.71338606911949],"aabb_xy":[[-0.19791032042641254,-0.11107179601150419],[-0.06791032331226687,-0.051566729183738946]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.6202050928666973,-2.159668356449058,0.71338606911949],"aabb_xy":[[0.5707246716527387,-2.22366835436191],[0.6696855140806562,-2.0956683585362064]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.2741007269121285,1.0344660678306328,0.71338606911949],"aabb_xy":[[0.25699864895376034,1.017359262299363],[0.29120280487049666,1.0515728733619025]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.5615961724440799,1.3681174859777,0.71338606911949],"aabb_xy":[[-0.6165698944804128,1.313117486413467],[-0.506622450407747,1.4231174855419333]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.29767827723894447,-1.4332677567222503,0.71338606911949],"aabb_xy":[[-0.35267827544068925,-1.4737897233486879],[-0.2426782790371996,-1.3927457900958127]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.3397939233169622,-1.0406940716972188,0.71338606911949],"aabb_xy":[[-0.3522612814266979,-1.0531593963305426],[-0.3273265652072266,-1.0282287470638956]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.10982887874568315,-1.0494206524310428,0.71338606911949],"aabb_xy":[[0.1042472071115544,-1.0619206522488183],[0.11541055037981192,-1.0369206526132673]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.2588301156759464,1.6633085443466427,0.71338606911949],"aabb_xy":[[0.2479243395883836,1.5833085479478133],[0.26973589176350904,1.7433085407454716]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.01921664252366162,0.9603760982324845,0.71338606911949],"aabb_xy":[[-0.060783359639100865,0.8804209146063408],[0.0992166446864241,1.040331281858628]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.2502948338210811,-0.7551043943325262,0.71338606911949],"aabb_xy":[[0.24545123905985117,-0.7599560468115103],[0.2551384285823111,-0.7502527418535421]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.03955495741062942,-1.6354313129195033,0.71338606911949],"aabb_xy":[[-0.010422459454624165,-1.6854313144087518],[0.089532374275883,-1.5854313114302547]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.555590130953879,0.8613007711977394,0.71338606911949],"aabb_xy":[[-0.5714746242192041,0.8469478308989152],[-0.5397056376885538,0.8756537114965633]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.022430517037135944,-2.333727876930994,0.71338606911949],"aabb_xy":[[-0.008053733089894214,-2.38372787671249],[0.0529147671641661,-2.283727877149498]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.08776718446114151,-2.0328834340197437,0.71338606911949],"aabb_xy":[[-0.10063908796208164,-2.1128834344335794],[-0.07489528096020136,-1.9528834336059073]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.5906750136333199,-0.5203388401700808,0.71338606911949],"aabb_xy":[[0.5536409042052601,-0.5547160475037901],[0.6277091230613796,-0.4859616328363712]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.5596766514638456,1.489645237407831,0.71338606911949],"aabb_xy":[[0.5169099445844254,1.4256452339860286],[0.6024433583432658,1.5536452408296335]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.281003257670262,0.5850853810722145,0.71338606911949],"aabb_xy":[[0.20100325739665506,0.5121358332464977],[0.361003257943869,0.6580349288979311]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.15643776069311233,1.3952921815554276,0.71338606911949],"aabb_xy":[[-0.2364377577073603,1.3751576298820163],[-0.07643776367886435,1.4154267332288388]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.12512343774550172,-1.9427115015946768,0.71338606911949],"aabb_xy":[[0.07013118710999076,-1.99771150333799],[0.18011568838101266,-1.8877114998513644]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.6007554416146759,-1.0506787202179575,0.71338606911949],"aabb_xy":[[0.550755439953181,-1.10067716247366],[0.6507554432761705,-1.0006802779622546]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.39554463595660583,-1.1339377031099054,0.71338606911949],"aabb_xy":[[-0.43054463593310166,-1.143402319157522],[-0.36054463598011,-1.1244730870622888]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.5862467486565511,-0.2774833328929236,0.71338606911949],"aabb_xy":[[-0.6462467495173637,-0.3289097628994099],[-0.5262467477957381,-0.22605690288643712]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.6787469175989859,1.810907112191352,0.71338606911949],"aabb_xy":[[-0.6824501789281247,1.807205093882634],[-0.6750436562698469,1.8146091305000696]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.6766296240889822,1.3747423172574407,0.71338606911949],"aabb_xy":[[0.6717303317824186,1.3470653979548717],[0.6815289163955456,1.4024192365600092]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[-0.46423129780625666,1.6527382737321816,0.71338606911949],"aabb_xy":[[-0.4985282088239973,1.61844138752224],[-0.42993438678851603,1.6870351599421227]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[0.6494120233135372,-2.535784987993665,0.71338606911949],"aabb_xy":[[0.5854120247269647,-2.5827919513931734],[0.7134120219001097,-2.488778024594156]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.362634505322025,-1.1496171609709276,0.71338606911949],"aabb_xy":[[0.3155051263201893,-1.2136171620153293],[0.4097638843238606,-1.0856171599265254]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_30","position":[-0.42155911365985077,-0.4906324314826094,0.71338606911949],"aabb_xy":[[-0.5052813391599332,-0.5806324350173053],[-0.3378368881597683,-0.4006324279479135]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_31","position":[-0.04425541691901913,0.10471739520943046,0.71338606911949],"aabb_xy":[[-0.07857169409363707,0.05471739523625274],[-0.009939139744401186,0.1547173951826082]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_32","position":[-0.10432791482702364,-1.6292440502480348,0.71338606911949],"aabb_xy":[[-0.11950008410865696,-1.644412907176238],[-0.08915574554539028,-1.6140751933198312]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_33","position":[-0.12192938808128084,-1.452354761978253,0.71338606911949],"aabb_xy":[[-0.2019293913391238,-1.532351269770237],[-0.04192938482343789,-1.372358254186269]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654273648561355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9590.png","name":"9590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9590.png","name":"9590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5730.png","name":"5730"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":588.52882107586,"rotation_z_degrees":70.98998582776034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004375485657834483,-0.018092912985179864,-0.016665624532788456]},{"name":"camera_2","offset_m":[0.0033638203544198615,-0.008230479102237025,-0.018270627403201088]},{"name":"camera_3","offset_m":[-0.015903079380670992,-0.0028487281190286845,-0.013395921226642033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00029647358971630466,0.0006193870223514335,-0.0007544690595810083],"end_effector_yaw_offset_degrees":0.9957546048528603},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016821109809789002,-0.0017791235382705053,-0.0009039946554684226],"end_effector_yaw_offset_degrees":0.48760071801216376},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015219106341893926,0.0015917933022560043,-0.00021022405006532446],"end_effector_yaw_offset_degrees":-0.8171780983844372}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001799844106811489,0.0015284214578011913],"position_m":[0.3211001558931885,-0.12247157854219881,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004744277236504412,0.0005248704159497896],"position_m":[0.32604427723650437,0.12172487041594979,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038905102104407627,0.00037316239050384434],"position_m":[0.3056905102104408,0.0029731623905038442,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008617742552098125,-0.0006034572632167001],"position_m":[0.10316177425520981,0.3911965427367833,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017097604575312328,0.0008852630017090754],"position_m":[0.1640290239542469,-0.4368147369982909,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5bdc0a5b0273d907298ede783b6ade4da93c4e5457532128973a735f1961d10","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9590/tex_ceiling_textures_9597/tex_floor_textures_6616/tex_table_textures_5730/tex_wall_textures_3256","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3592337776614054685,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3592337776614054685,"visual_seed":3592337776614054685,"scene_id":"lab_003","finished_at":"2026-09-03T18:46:50"} +{"episode_id":"ep_000039","started_at":"2026-09-03T18:46:53","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.1330600255653578,1.141397602152161,0.71338606911949],"aabb_xy":[[0.08308673156209734,1.0913976015976135],[0.18303331956861824,1.1913976027067081]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.20591471135692185,-1.0392678155078976,0.71338606911949],"aabb_xy":[[0.1860236714765816,-1.0519236267925947],[0.22580575123726213,-1.026612004223201]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.27381249726654655,-1.3774308209226962,0.71338606911949],"aabb_xy":[[0.1838124978481756,-1.410806317766886],[0.3638124966849174,-1.3440553240785065]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.16968498535606236,1.312704125753069,0.71338606911949],"aabb_xy":[[-0.1776082655948107,1.2902041255150656],[-0.16176170511731403,1.3352041259910723]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.14825363719771645,-1.1631921151576585,0.71338606911949],"aabb_xy":[[0.08425363649424712,-1.2092104976305798],[0.21225363790118584,-1.1171737326847377]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.21868297089467875,-1.6556733642703163,0.71338606911949],"aabb_xy":[[-0.22883598644882808,-1.6917429058430562],[-0.20852995534052932,-1.6196038226975755]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.37463343967183776,1.3471643208342963,0.71338606911949],"aabb_xy":[[-0.4346334405326505,1.2957378908278097],[-0.3146334388110249,1.3985907508407824]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.26405495461441175,-0.7029728699649089,0.71338606911949],"aabb_xy":[[0.22655495450881877,-0.7097950318178898],[0.30155495472000465,-0.6961507081119276]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.5004139559380023,-1.8893216730255853,0.71338606911949],"aabb_xy":[[-0.5074542658715394,-1.969321672425257],[-0.4933736460044654,-1.8093216736259141]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.5694421985978178,-0.589033287915629,0.71338606911949],"aabb_xy":[[0.5444421986652999,-0.5959159561365523],[0.5944421985303356,-0.5821506196947057]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.35687434292122067,-1.8923775398733245,0.71338606911949],"aabb_xy":[[0.3115957280400714,-1.9563775392215081],[0.4021529578023699,-1.8283775405251408]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.3025176308087974,-2.165916705919203,0.71338606911949],"aabb_xy":[[-0.36751762896471646,-2.192212950469115],[-0.23751763265287834,-2.1396204613692906]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.3193241123248432,0.6687678406749433,0.71338606911949],"aabb_xy":[[-0.35682411350963594,0.6643496179788827],[-0.28182411114005035,0.6731860633710037]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.42641527931868795,0.6309625818734195,0.71338606911949],"aabb_xy":[[0.3889152790265131,0.6269211064728158],[0.46391527961086276,0.6350040572740231]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.21242245363293288,0.33808360623628353,0.71338606911949],"aabb_xy":[[-0.2764224558533399,0.29371052211099524],[-0.14842245141252583,0.3824566903615718]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.4856349394147611,1.5551918907985374,0.71338606911949],"aabb_xy":[[-0.5356342145831974,1.5051918895225904],[-0.435635664246325,1.6051918920744848]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.3267801138223969,1.6088248361217095,0.71338606911949],"aabb_xy":[[0.2627801152358244,1.5618178727222005],[0.3907801124089693,1.655831799521218]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.4079430746102831,-1.0119577815034437,0.71338606911949],"aabb_xy":[[-0.41202123251733286,-1.0160387617517068],[-0.4038649167032334,-1.0078768012551802]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.5708295025660243,-1.060348833528309,0.71338606911949],"aabb_xy":[[-0.5911138052894229,-1.0806314586710177],[-0.5505451998426254,-1.0400662083856]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[-0.4618552183158898,-2.126234169769068,0.71338606911949],"aabb_xy":[[-0.511838168503369,-2.176234169411628],[-0.4118722681284104,-2.076234170126507]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.40500446781988697,-1.553720957290506,0.71338606911949],"aabb_xy":[[-0.4181557137911764,-1.5787209570471927],[-0.39185322184859767,-1.5287209575338196]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.5199879758678418,-2.043746210603703,0.71338606911949],"aabb_xy":[[0.5030772434315,-2.057218416196317],[0.5368987083041835,-2.030274005011088]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.1051460356454188,-1.3620529385335434,0.71338606911949],"aabb_xy":[[-0.16914603755776114,-1.4179640877915538],[-0.04114603373307647,-1.306141789275533]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.31466928403655614,0.505186127782379,0.71338606911949],"aabb_xy":[[0.29216928379304075,0.4929814931226071],[0.33716928428007154,0.517390762442151]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.0819619358928867,-1.4867734923352256,0.71338606911949],"aabb_xy":[[-0.11946193668488214,-1.4931413332934158],[-0.04446193510089125,-1.4804056513770358]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[-0.16055025179955884,1.414360528673979,0.71338606911949],"aabb_xy":[[-0.1737811973342401,1.4011331096519797],[-0.14731930626487752,1.4275879476959785]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.19774694834905227,-0.8503805158521474,0.71338606911949],"aabb_xy":[[-0.23233803120309748,-0.9153805161371784],[-0.16315586549500705,-0.7853805155671163]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[-0.6571547793119196,0.8603168649301338,0.71338606911949],"aabb_xy":[[-0.6636564158199242,0.850549042903824],[-0.650653142803915,0.8700846869564436]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.2227845680989784,0.5241665815255843,0.71338606911949],"aabb_xy":[[-0.23148253038969366,0.5120416072181095],[-0.21408660580826308,0.536291555833059]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.10030577737845703,1.2891347622274747,0.71338606911949],"aabb_xy":[[-0.1100617668876309,1.2793722281682403],[-0.09054978786928312,1.2988972962867091]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[0.4210267942633379,-2.550411192156887,0.71338606911949],"aabb_xy":[[0.3839926848352781,-2.5847883994905962],[0.45806090369139757,-2.5160339848231774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6526395700009349,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8860.png","name":"8860"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8860.png","name":"8860"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4157.png","name":"4157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1978.png","name":"1978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8852.png","name":"8852"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":790.6579764442558,"rotation_z_degrees":21.34967640295394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009863070958711605,0.005005210673978692,0.008856608792326283]},{"name":"camera_2","offset_m":[0.00290666789076488,-0.00225609671353039,0.00014686559153977152]},{"name":"camera_3","offset_m":[0.015181228584145948,0.0024505885282604285,-0.01997227701799389]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001962603371255857,0.0005383337915137012,0.0011102151142039583],"end_effector_yaw_offset_degrees":-0.9985433212416504},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00181201141302143,-0.0006720500843416845,0.0011737386315630333],"end_effector_yaw_offset_degrees":-0.3596155688862208},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00033831400986593114,0.00021871156935818724,-0.0015464132491288423],"end_effector_yaw_offset_degrees":0.9715688388861774}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004458927451330478,0.004861196463308684],"position_m":[0.31844107254866955,-0.11913880353669132,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003556056636868819,0.0019637221615965896],"position_m":[0.3248560566368688,0.12316372216159659,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009199325967959764,0.003765990500939978],"position_m":[0.30088006740320405,0.006365990500939978,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007549182557562454,-0.0028701760634828313],"position_m":[0.10305491825575624,0.38892982393651715,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006480631598964537,0.0028022074233509794],"position_m":[0.16355193684010355,-0.434897792576649,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ce885873cb2ab6456e474dcd8cde1032e6e02d515947b9bb2e3baf60cc681125","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8860/tex_ceiling_textures_8852/tex_floor_textures_1978/tex_table_textures_5527/tex_wall_textures_4157","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":282305198264427727,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":282305198264427727,"visual_seed":282305198264427727,"scene_id":"lab_003","finished_at":"2026-09-03T18:49:20"} +{"episode_id":"ep_000040","started_at":"2026-09-03T18:49:23","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.2678161306252743,0.6462448663113989,0.71338606911949],"aabb_xy":[[0.2503161971912909,0.6287448663911643],[0.28531606405925763,0.6637448662316334]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.15839497961332494,1.0915674271037479,0.71338606911949],"aabb_xy":[[-0.1928574576264127,1.084903749920825],[-0.12393250160023717,1.0982311042866704]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.32569283807559063,-0.271099258974945,0.71338606911949],"aabb_xy":[[-0.32980878818766324,-0.27521481400779046],[-0.3215768879635179,-0.26698370394209947]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.49245080975366906,1.122693996745456,0.71338606911949],"aabb_xy":[[-0.5774508084457437,1.090708133350577],[-0.40745081106159436,1.1546798601403347]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.15867751086843518,-0.9230271124311897,0.71338606911949],"aabb_xy":[[-0.18117751068233756,-0.9275017288016705],[-0.1361775110545328,-0.918552496060709]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.3293926472593408,-0.9563479799096501,0.71338606911949],"aabb_xy":[[-0.3529777707232357,-1.021347982155082],[-0.305807523795446,-0.8913479776642184]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.371528959995155,-0.15685116567968382,0.71338606911949],"aabb_xy":[[-0.43552896026913324,-0.2069172658769718],[-0.3075289597211768,-0.10678506548239586]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.42072728107909474,1.3521542077064064,0.71338606911949],"aabb_xy":[[0.39855475410244384,1.3299785405502833],[0.4428998080557455,1.3743298748625294]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.4971216712354301,1.4377084491855183,0.71338606911949],"aabb_xy":[[-0.5047459393256084,1.4300752256489748],[-0.4894974031452519,1.4453416727220623]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.14674287026662147,0.6703778790884924,0.71338606911949],"aabb_xy":[[0.09674287162070028,0.62045833542903],[0.19674286891254267,0.7202974227479547]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.5514714698887768,-1.7376030403702396,0.71338606911949],"aabb_xy":[[-0.6064637205242878,-1.7926030421135526],[-0.4964792192532659,-1.682603038626927]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.0866718250858114,1.6045482625392204,0.71338606911949],"aabb_xy":[[0.07737820684866081,1.5670482640510863],[0.09596544332296197,1.6420482610273541]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.221496111762703,-2.4876376335807504,0.71338606911949],"aabb_xy":[[0.14150228818414481,-2.567637636173592],[0.30148993534126123,-2.407637630987909]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.5877285246515827,1.363376516103624,0.71338606911949],"aabb_xy":[[0.5277285237907696,1.3119500860971371],[0.6477285255123952,1.41480294611011]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.1119387879318473,-0.8925256099815844,0.71338606911949],"aabb_xy":[[0.06194377697239528,-0.9425256090171762],[0.16193379889129933,-0.8425256109459928]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.5737782122718356,-2.1337312847580847,0.71338606911949],"aabb_xy":[[0.5487782127200971,-2.1438737686232194],[0.598778211823574,-2.12358880089295]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.4041524806851414,-1.5683043745036416,0.71338606911949],"aabb_xy":[[-0.45363290189910027,-1.6323043724164934],[-0.3546720594711827,-1.5043043765907897]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.1304286347140502,0.1622332275608911,0.71338606911949],"aabb_xy":[[-0.16542863461006904,0.15385899204895115],[-0.09542863481803131,0.17060746307283103]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.6669841390214117,-2.2479428312936496,0.71338606911949],"aabb_xy":[[0.6554151582744752,-2.2729428314105813],[0.6785531197683483,-2.222942831176718]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.3540868897289504,-2.178801441119495,0.71338606911949],"aabb_xy":[[0.349451774576717,-2.1826687761966435],[0.3587220048811837,-2.174934106042346]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.6464883351080861,-0.8003242031939102,0.71338606911949],"aabb_xy":[[-0.6833388830450737,-0.8378242040169439],[-0.6096377871710985,-0.7628242023708764]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.28562285853244496,-2.506034388052441,0.71338606911949],"aabb_xy":[[-0.33275223753428057,-2.570034389096842],[-0.23849347953060923,-2.442034387008038]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.5440199258883684,-1.6418520191142219,0.71338606911949],"aabb_xy":[[0.5221112437490173,-1.6637526859343126],[0.5659286080277194,-1.6199513522941311]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.22189837585164418,-0.6930699911652041,0.71338606911949],"aabb_xy":[[0.15789837655747596,-0.7570561315340584],[0.2858983751458124,-0.62908385079635]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.6395899895304041,-1.4539476012472567,0.71338606911949],"aabb_xy":[[-0.6522167768176005,-1.4634936749488294],[-0.6269632022432078,-1.4444015275456836]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.39294809700468886,-2.214886902247599,0.71338606911949],"aabb_xy":[[-0.48263517331280426,-2.3048869025020498],[-0.30326102069657335,-2.1248869019931487]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.3008938388464914,-0.7608070622747867,0.71338606911949],"aabb_xy":[[-0.33839383901836334,-0.7935077976576937],[-0.26339383867461946,-0.7281063268918794]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.15925482674507185,-1.5549490766454568,0.71338606911949],"aabb_xy":[[-0.1744176997220089,-1.5701145339405755],[-0.14409195376813475,-1.539783619350338]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[-0.6686318268672287,-0.5849817313371468,0.71338606911949],"aabb_xy":[[-0.6720725031072858,-0.5888431643115114],[-0.6651911506271715,-0.5811202983627825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600071518227816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/669.png","name":"669"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/669.png","name":"669"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3526.png","name":"3526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5482.png","name":"5482"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":669.9696539995848,"rotation_z_degrees":255.97696813789514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019747385352541887,-0.0007418007513025904,0.0036236879297559185]},{"name":"camera_2","offset_m":[0.006297048044614631,0.015816291040801175,-0.01218233123639314]},{"name":"camera_3","offset_m":[-0.006720966574083489,0.008339537015469935,-0.01946074373796321]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011612436647935023,-0.0017691152320993462,-0.0006765203836028024],"end_effector_yaw_offset_degrees":-0.14576850364015148},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013783230669911252,-0.0010116937410162268,-7.891622574054047e-05],"end_effector_yaw_offset_degrees":-0.1696524034325566},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010646112135950679,0.00029279628550342267,9.580374693368308e-05],"end_effector_yaw_offset_degrees":-0.9489346632954956}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003250473875124096,0.004745068659052017],"position_m":[0.3196495261248759,-0.11925493134094799,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010323274948088332,0.0011559676382490117],"position_m":[0.32233232749480883,0.12235596763824902,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0034758115899838444,-0.002899002357926389],"position_m":[0.30527581158998385,-0.0002990023579263891,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004068277307286274,0.0010416167392205107],"position_m":[0.10636827730728628,0.39284161673922047,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038265090936442066,-0.0032446737671255046],"position_m":[0.16802650909364422,-0.4409446737671255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7221dcc932df6bfa9a94220186e310ab7e71a3f71d1c08fa1cd3d979f70ba2f6","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_669/tex_ceiling_textures_5482/tex_floor_textures_1296/tex_table_textures_4454/tex_wall_textures_3526","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":76214558513453198,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":76214558513453198,"visual_seed":76214558513453198,"scene_id":"lab_003","finished_at":"2026-09-03T18:52:02"} +{"episode_id":"ep_000041","started_at":"2026-09-03T18:52:06","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.4410910960584372,0.850183422277321,0.71338606911949],"aabb_xy":[[-0.4585910953365241,0.8328453222109752],[-0.42359109678035034,0.8675215223436671]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.2900697445618605,-0.7342678625263017,0.71338606911949],"aabb_xy":[[-0.2954022592164735,-0.7395921907715373],[-0.28473722990724754,-0.7289435342810662]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.18580065732108664,-1.1471171844364876,0.71338606911949],"aabb_xy":[[0.16912352132799113,-1.1638171084104179],[0.20247779331418214,-1.1304172604625573]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.14399822432503562,-0.9925310029702317,0.71338606911949],"aabb_xy":[[0.10649822314024278,-0.9969492256662921],[0.18149822550982836,-0.988112780274171]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.5974993999757205,-0.23222080809265178,0.71338606911949],"aabb_xy":[[-0.6524916506112315,-0.28722080983596454],[-0.5425071493402096,-0.177220806349339]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[-0.49484999400647967,-0.967318083453474,0.71338606911949],"aabb_xy":[[-0.5291662711810976,-1.0173180834266518],[-0.4605337168318618,-0.9173180834802962]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.3763208193644295,-1.518987154042458,0.71338606911949],"aabb_xy":[[-0.40979998662547046,-1.552466267413565],[-0.34284165210338857,-1.485508040671351]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.5858125562093952,0.6776978386749963,0.71338606911949],"aabb_xy":[[0.5752450765512962,0.6671528085619878],[0.5963800358674942,0.6882428687880049]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.053360702764483126,1.4689533695578016,0.71338606911949],"aabb_xy":[[-0.06147435743786022,1.4608475531037723],[-0.04524704809110602,1.4770591860118305]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.22448896103505167,-2.4390137892251995,0.71338606911949],"aabb_xy":[[-0.3144889577706619,-2.4921972525424936],[-0.13448896429944143,-2.3858303259079046]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.17433410325091325,-0.11044928655793074,0.71338606911949],"aabb_xy":[[-0.2093341031469321,-0.11882352206987068],[-0.13933410335489435,-0.1020750510459908]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.26916717686794395,-0.13369687672146213,0.71338606911949],"aabb_xy":[[-0.2772035115692288,-0.14173499602587888],[-0.2611308421666591,-0.12565875741704532]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.46417012509314515,-0.3771704367201236,0.71338606911949],"aabb_xy":[[0.40917012689140025,-0.41769240334656116],[0.5191701232948899,-0.336648470093686]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.5352921977466036,-2.536610604037642,0.71338606911949],"aabb_xy":[[-0.5697545451447452,-2.571104486435464],[-0.5008298503484616,-2.5021167216398186]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.5784902376106826,-1.9884475011295546,0.71338606911949],"aabb_xy":[[-0.5959902378700194,-2.002539043318328],[-0.5609902373513461,-1.9743559589407826]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.5944635252024264,-1.6269389494842526,0.71338606911949],"aabb_xy":[[0.5444635265565052,-1.676858493143715],[0.6444635238483476,-1.5770194058247902]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.5483150557509802,-0.8699713446303656,0.71338606911949],"aabb_xy":[[0.5434714609897502,-0.8748229971093497],[0.5531586505122101,-0.8651196921513815]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.27658889932875047,1.332158008952288,0.71338606911949],"aabb_xy":[[-0.2859359069110457,1.3178543867346437],[-0.26724189174645524,1.3464616311699318]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.326683053211114,1.3942168328967899,0.71338606911949],"aabb_xy":[[0.32204793805888055,1.390349497819641],[0.33131816836334727,1.3980841679739384]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.32744419444056216,-0.3868550623733342,0.71338606911949],"aabb_xy":[[-0.3914441977302702,-0.4301899813772518],[-0.263444191150854,-0.34352014336941655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577098595783122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1359.png","name":"1359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7527.png","name":"7527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7097.png","name":"7097"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":821.5408504174945,"rotation_z_degrees":21.53172390477629,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011139413426752065,-0.011535737413199226,-0.0025419787561413755]},{"name":"camera_2","offset_m":[5.7852518842473055e-05,0.01093604193609465,0.018914116628226927]},{"name":"camera_3","offset_m":[-0.015820593781129242,-0.019287448713615762,-0.009365670797660201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002884510344682051,0.0011641764483235248,-0.0015488904897066208],"end_effector_yaw_offset_degrees":-0.6069914990823297},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00047503123913840363,0.0019419580527164568,0.0019954555022411377],"end_effector_yaw_offset_degrees":0.3335787597766722},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015401916468581025,0.000398305276596728,0.0015124961848356194],"end_effector_yaw_offset_degrees":0.39191511793739986}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00264623256162845,-0.0047963568438394],"position_m":[0.3202537674383716,-0.1287963568438394,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013076051971692647,-0.003735530117247803],"position_m":[0.3199923948028307,0.11746446988275219,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0004858129740862192,0.002879765930813052],"position_m":[0.30228581297408624,0.005479765930813052,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013378675085167126,0.0003875648463519746],"position_m":[0.1009621324914833,0.392187564846352,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[6.273910331880406e-07,-0.004055686033034415],"position_m":[0.1642006273910332,-0.4417556860330344,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f11b7f46944530b86e6f07bcfbab4a9315087a62579dfde54bb85ced2e7aab0b","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8243/tex_ceiling_textures_7097/tex_floor_textures_7527/tex_table_textures_1359/tex_wall_textures_7809","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3646991893626794544,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3646991893626794544,"visual_seed":3646991893626794544,"scene_id":"lab_003","finished_at":"2026-09-03T18:54:38"} +{"episode_id":"ep_000042","started_at":"2026-09-03T18:54:41","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.4160137673143185,1.537005253712445,0.71338606911949],"aabb_xy":[[0.32601376363740026,1.4755728471353406],[0.5060137709912366,1.5984376602895491]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.28952846353895145,1.1407747779675677,0.71338606911949],"aabb_xy":[[0.25202846359518505,1.132481687932731],[0.32702846348271786,1.1490678680024042]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.5888060726262392,-0.8845389932854353,0.71338606911949],"aabb_xy":[[0.5528925682012494,-0.9204525015021899],[0.6247195770512287,-0.8486254850686806]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.5950688552570205,-0.7811778847528257,0.71338606911949],"aabb_xy":[[0.5725697195307935,-0.8036778855310887],[0.6175679909832474,-0.7586778839745627]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.13427056262032844,-1.5727634405106747,0.71338606911949],"aabb_xy":[[-0.1462032969821565,-1.5851455933185339],[-0.12233782825850037,-1.5603812877028151]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.5404021889339159,-2.5527645714012404,0.71338606911949],"aabb_xy":[[-0.5443626727036501,-2.560432435986761],[-0.5364417051641814,-2.5450967068157198]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.17870979156367428,-1.2020322519659143,0.71338606911949],"aabb_xy":[[-0.2487097936951038,-1.2247942175916098],[-0.10870978943224471,-1.1792702863402185]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.06543186082992025,-1.3741524493909663,0.71338606911949],"aabb_xy":[[0.0510974357037568,-1.3862126649455053],[0.0797662859560837,-1.3620922338364276]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.10418567931723988,-1.4413902678103971,0.71338606911949],"aabb_xy":[[-0.1391856806687216,-1.4617500037672178],[-0.06918567796575814,-1.421030531853576]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.20324107685382975,-0.746757155480114,0.71338606911949],"aabb_xy":[[0.19394745861667917,-0.7842571539682478],[0.21253469509098033,-0.70925715699198]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.3566406613987323,-1.6741960583102706,0.71338606911949],"aabb_xy":[[0.3390939664826133,-1.7116960598745221],[0.37418735631485117,-1.6366960567460196]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.4575871823759894,-1.3599563356762217,0.71338606911949],"aabb_xy":[[-0.507587181816185,-1.4099242601605377],[-0.40758718293579377,-1.3099884111919051]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.09628637685174213,0.23334059609191327,0.71338606911949],"aabb_xy":[[-0.10332668678527915,0.15334059669224187],[-0.08924606691820515,0.31334059549158466]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.34132032297407466,-0.4672813589024827,0.71338606911949],"aabb_xy":[[0.3254358297087495,-0.48163429920130674],[0.3572048162393998,-0.4529284186036586]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.5660443047383803,1.0622931569657936,0.71338606911949],"aabb_xy":[[0.5160450295699441,1.0122931556898467],[0.6160435799068165,1.112293158241741]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.437222485820179,1.7727875575980048,0.71338606911949],"aabb_xy":[[0.38222248619843313,1.717803864810532],[0.4922224854419248,1.8277712503854775]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.13227545061579737,-1.7203234134129517,0.71338606911949],"aabb_xy":[[0.062275447224235385,-1.7556391871163826],[0.20227545400735933,-1.6850076397095208]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.4337751116726276,-1.5377072234776583,0.71338606911949],"aabb_xy":[[0.3838018176693671,-1.5877072240322054],[0.483748405675888,-1.4877072229231108]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.5612212087938282,0.5000195659747213,0.71338606911949],"aabb_xy":[[-0.6162212069955729,0.45949759934828366],[-0.5062212105920832,0.5405415326011588]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.41482416518939136,0.5426330802068247,0.71338606911949],"aabb_xy":[[0.3648399294812141,0.49263308139332906],[0.46480840089756853,0.5926330790203203]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.03823117098330453,1.0159080957223408,0.71338606911949],"aabb_xy":[[0.03277322534628446,0.9359080924146814],[0.0436891166203246,1.0959080990299996]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532315664101467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/475.png","name":"475"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4228.png","name":"4228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5141.png","name":"5141"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":582.764627748567,"rotation_z_degrees":292.2631290764315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01235399260816714,0.005234621106205359,-0.0012240362313370341]},{"name":"camera_2","offset_m":[-0.01974707377912592,0.0074995204242142115,-0.010205603319610837]},{"name":"camera_3","offset_m":[-0.016727200568755804,0.007808895544043754,0.010443387539261807]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-8.12793057197508e-05,0.00044665934750002297,-0.0013415774423296968],"end_effector_yaw_offset_degrees":0.2510842817855756},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010899955288172182,0.0010296509682847835,0.0003653959842958416],"end_effector_yaw_offset_degrees":-0.39609346608384666},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00024607984321345453,-0.001844095973924215,0.0005227920997644118],"end_effector_yaw_offset_degrees":0.08198971682272727}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010519947856930103,-0.00466847666961068],"position_m":[0.321848005214307,-0.12866847666961068,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025526565789131986,-0.003867385093998632],"position_m":[0.3187473434210868,0.11733261490600137,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015529201899646006,-0.0018637820186162813],"position_m":[0.3002470798100354,0.0007362179813837186,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020971009974102904,0.0006082163653667481],"position_m":[0.10020289900258972,0.3924082163653667,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043086293962239265,-0.002138910484791552],"position_m":[0.1598913706037761,-0.4398389104847915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"deedf8025da6b72e749dfdbbe83ebcdf6cca4a6ea92f32b63541f9f3363b1af2","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_218/tex_ceiling_textures_5141/tex_floor_textures_2346/tex_table_textures_475/tex_wall_textures_4228","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7390284728437151285,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7390284728437151285,"visual_seed":7390284728437151285,"scene_id":"lab_003","finished_at":"2026-09-03T18:57:27"} +{"episode_id":"ep_000043","started_at":"2026-09-03T18:57:30","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.6236461364529595,-1.1947959957592884,0.71338606911949],"aabb_xy":[[0.6132345777724756,-1.2001417290951868],[0.634057695133443,-1.18945026242339]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.39519277525703095,-1.0973612208272956,0.71338606911949],"aabb_xy":[[-0.4851927719926411,-1.1505446841445899],[-0.3051927785214207,-1.0441777575100009]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.001144796470568532,-2.4331317776116976,0.71338606911949],"aabb_xy":[[-0.06514479852030053,-2.4732262607010056],[0.06285520557916346,-2.3930372945223897]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.2539823434683315,-0.8796830436032468,0.71338606911949],"aabb_xy":[[0.20398234218449154,-0.9296618979938689],[0.30398234475217145,-0.8297041892126247]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.6764774128692748,0.05180411984168121,0.71338606911949],"aabb_xy":[[0.6692336468230294,-0.028195878361921167],[0.6837211789155201,0.13180411804528358]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.27514347332070255,-1.0642963890321846,0.71338606911949],"aabb_xy":[[0.2560311659627237,-1.0834311679094266],[0.2942557806786814,-1.0451616101549426]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.5765989304266312,0.5733708363634809,0.71338606911949],"aabb_xy":[[-0.6465989338181931,0.53805506266005],[-0.5065989270350691,0.6086866100669117]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.05120776739145194,-1.9493037912411957,0.71338606911949],"aabb_xy":[[0.013707766726873237,-1.9649908492414176],[0.08870776805603063,-1.9336167332409733]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.5583034065092871,-2.166209635891076,0.71338606911949],"aabb_xy":[[-0.5627340358641273,-2.1716580076257586],[-0.5538727771544469,-2.1607612641563936]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.26492675589297554,-0.32478927831517934,0.71338606911949],"aabb_xy":[[-0.34492675290722347,-0.3449238299885905],[-0.1849267588787275,-0.30465472664176796]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.470296317304312,0.9191604125121691,0.71338606911949],"aabb_xy":[[-0.5071468652412996,0.8816604116891354],[-0.4334457693673244,0.9566604133352029]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.4449941386315972,-2.245153186173136,0.71338606911949],"aabb_xy":[[-0.4624941379096841,-2.262491286239482],[-0.4274941393535103,-2.2278150861067902]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.48119045208872246,-1.5088833914874178,0.71338606911949],"aabb_xy":[[-0.5161904534402042,-1.5292431274442386],[-0.44619045073724073,-1.488523655530597]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.32909369818820466,-0.6788283365401409,0.71338606911949],"aabb_xy":[[0.2590937017782428,-0.6992662721918224],[0.3990936945981664,-0.6583904008884589]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.2961558321386004,-2.084719331266477,0.71338606911949],"aabb_xy":[[0.2897420184954154,-2.0911291515141452],[0.3025696457817853,-2.078309511018808]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.13058030847283797,-1.260773306285926,0.71338606911949],"aabb_xy":[[-0.14143191472171357,-1.2716325970135771],[-0.11972870222396237,-1.249914015558275]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.16785715948936286,0.9689068626475685,0.71338606911949],"aabb_xy":[[0.13035715914113508,0.957115467066485],[0.2053571598375906,0.9806982582286521]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.18439455387229187,-1.2990113041652125,0.71338606911949],"aabb_xy":[[0.1788128822381631,-1.311511303982988],[0.18997622550642063,-1.286511304347437]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.5922386775357573,0.49329350868246946,0.71338606911949],"aabb_xy":[[0.586144049647639,0.48472411413080074],[0.5983333054238756,0.5018629032341382]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.44167317947051465,0.23035927708569393,0.71338606911949],"aabb_xy":[[0.4006552360841438,0.1803592764547366],[0.48269112285688553,0.28035927771665126]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.3405596140065146,0.3765500734686502,0.71338606911949],"aabb_xy":[[0.3325162540805594,0.2915500723732838],[0.34860297393246975,0.46155007456401664]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.08183212338122103,-1.2315819475202505,0.71338606911949],"aabb_xy":[[0.07441966783983256,-1.2374331579418785],[0.08924457892260951,-1.2257307370986226]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.33436237333674196,-0.4248206417752196,0.71338606911949],"aabb_xy":[[-0.34513534725810974,-0.4598206399942586],[-0.3235893994153742,-0.3898206435561806]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.19126353939458585,1.6892297706973953,0.71338606911949],"aabb_xy":[[0.17347003245966935,1.6714300251015979],[0.20905704632950223,1.7070295162931932]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.28558786170940154,-2.346334003170241,0.71338606911949],"aabb_xy":[[0.26036702484956176,-2.3715577540231267],[0.3108086985692411,-2.3211102523173537]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.028716063573926753,-0.7283870054646295,0.71338606911949],"aabb_xy":[[-0.08384126920351752,-0.7883870069059166],[0.026409142055664022,-0.6683870040233423]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[-0.1241170591884665,-0.1456761352964353,0.71338606911949],"aabb_xy":[[-0.12819521709551623,-0.14975711554469862],[-0.12003890128141674,-0.141595155048172]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[-0.295680988523825,-0.5124888327948534,0.71338606911949],"aabb_xy":[[-0.31318098765819213,-0.5223684598324411],[-0.2781809893894578,-0.5026092057572654]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.7059322168626734,-2.026364016354775,0.71338606911949],"aabb_xy":[[0.693305429575477,-2.035910090056347],[0.7185590041498697,-2.016817942653202]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.14985628428258113,1.7165313753474787,0.71338606911949],"aabb_xy":[[-0.19982934981509665,1.6665313755349462],[-0.0998832187500657,1.766531375160012]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_30","position":[0.5253482643204539,-2.099390919574658,0.71338606911949],"aabb_xy":[[0.4353482678195821,-2.145302561993115],[0.6153482608213255,-2.0534792771561987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660743724959184,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1251.png","name":"1251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1251.png","name":"1251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5473.png","name":"5473"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3037.png","name":"3037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6213.png","name":"6213"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.2268431967209,"rotation_z_degrees":234.53317198658308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010627289478620353,-0.008244931466695653,-0.019170634127018825]},{"name":"camera_2","offset_m":[0.0063083871051369846,0.01820488037760044,0.011442011071985041]},{"name":"camera_3","offset_m":[0.017692544661784545,0.011082112499097862,0.0057465735317268375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010170494651930487,-0.0007689750684701845,0.00019411828480340575],"end_effector_yaw_offset_degrees":0.4178596311348377},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0002935518569688075,0.0015053084434823272,-4.396572522319137e-05],"end_effector_yaw_offset_degrees":0.39673958115563956},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019392372817280158,0.0016991096305373093,0.0011334385680657638],"end_effector_yaw_offset_degrees":-0.07043206187219275}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0042316080718670405,0.0020916132748728016],"position_m":[0.3271316080718671,-0.1219083867251272,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024418687678405453,0.0012955427843129577],"position_m":[0.3237418687678405,0.12249554278431296,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0026233704701863316,0.0031917442931563783],"position_m":[0.30442337047018636,0.005791744293156378,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002184908222945833,0.001710852369185405],"position_m":[0.10011509177705417,0.39351085236918537,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033089838826779122,-0.004920655677546188],"position_m":[0.16750898388267793,-0.44262065567754616,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f52bab481cc36c06ce3b9d7e25c608eca6a267e40730574dc7eebf6b3e4024d7","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1251/tex_ceiling_textures_6213/tex_floor_textures_3037/tex_table_textures_5473/tex_wall_textures_8477","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8120675346560013337,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8120675346560013337,"visual_seed":8120675346560013337,"scene_id":"lab_003","finished_at":"2026-09-03T19:00:04"} +{"episode_id":"ep_000044","started_at":"2026-09-03T19:00:07","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.6347644464284539,-1.564283791265584,0.71338606911949],"aabb_xy":[[0.5997644472984982,-1.5700290123412481],[0.6697644455584095,-1.55853857018992]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.03480493566237719,-0.7078756060511728,0.71338606911949],"aabb_xy":[[-0.11480493709250439,-0.7873927610637823],[0.04519506576775001,-0.6283584510385634]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.18585088453026177,-1.1984849223498941,0.71338606911949],"aabb_xy":[[-0.21933005179130272,-1.231964035721001],[-0.15237171726922083,-1.1650058089787871]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.6704159596967376,0.9865471765602609,0.71338606911949],"aabb_xy":[[0.6479511897253325,0.9640471756814004],[0.6928807296681427,1.0090471774391214]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[0.6314015795619135,-0.5323721922814917,0.71338606911949],"aabb_xy":[[0.5864015780956847,-0.5773720491429725],[0.6764015810281424,-0.4873723354200111]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.40125065228492907,0.12452830320864505,0.71338606911949],"aabb_xy":[[-0.4909377285930445,0.0345283029541945],[-0.3115635759768136,0.2145283034630956]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.19087141352964188,0.27107829035759057,0.71338606911949],"aabb_xy":[[-0.22837141195304222,0.2579140763897599],[-0.15337141510624153,0.28424250432542114]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.3625129353664347,0.7789995019304254,0.71338606911949],"aabb_xy":[[0.3125396413631742,0.7289995013758779],[0.4124862293696951,0.8289995024849726]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.36642702982177666,-1.7670303361976036,0.71338606911949],"aabb_xy":[[0.3048362705977839,-1.831030334306651],[0.42801778904576954,-1.7030303380885572]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.5080918923131769,0.8511537549002206,0.71338606911949],"aabb_xy":[[-0.5281503039264172,0.831088667991063],[-0.4880334806999366,0.871218841809378]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.3005683898567232,-0.7943695323353199,0.71338606911949],"aabb_xy":[[0.23656838947918957,-0.8441147991861321],[0.3645683902342568,-0.7446242654845076]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.2579719993472007,-2.2586324905831487,0.71338606911949],"aabb_xy":[[-0.26812501490135005,-2.294702032155888],[-0.24781898379305128,-2.2225629490104075]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.6128315317004446,0.9585491408893612,0.71338606911949],"aabb_xy":[[-0.6304643672939721,0.9409261948737381],[-0.595198696106917,0.976172086904984]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.07902212154414101,-2.369640113643849,0.71338606911949],"aabb_xy":[[-0.08705845624542584,-2.377678232948265],[-0.07098578684285616,-2.361601994339432]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.567256933666096,-2.0135602232028145,0.71338606911949],"aabb_xy":[[-0.6272569342621122,-2.068372695748038],[-0.5072569330700798,-1.958747750657591]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.3855378348728551,1.608240967348316,0.71338606911949],"aabb_xy":[[0.33553783451228897,1.558260980138713],[0.4355378352334211,1.658220954557919]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.4617996235047772,-1.0871444543596311,0.71338606911949],"aabb_xy":[[0.4017996226439643,-1.138570884366117],[0.5217996243655898,-1.0357180243531443]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.6001609233045507,-1.8249865708507036,0.71338606911949],"aabb_xy":[[-0.6801609212853358,-1.8325881118125553],[-0.5201609253237657,-1.8173850298888514]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.32456470761811856,0.8802533364734852,0.71338606911949],"aabb_xy":[[-0.36674912177894936,0.8162533361962742],[-0.2823802934572879,0.9442533367506966]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.19739565370431755,-1.2471552078458588,0.71338606911949],"aabb_xy":[[0.14739565412798283,-1.297135786797965],[0.24739565328065227,-1.197174628893753]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.5629840210002612,-2.357388892729934,0.71338606911949],"aabb_xy":[[0.49898402369791484,-2.4017553196977905],[0.6269840183026076,-2.313022465762077]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.2665501317102439,-0.6711435577435398,0.71338606911949],"aabb_xy":[[-0.27454362150552597,-0.6791416896840156],[-0.2585566419149619,-0.6631454258030643]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.031105050899815412,-1.4387511389705483,0.71338606911949],"aabb_xy":[[0.006105050967297517,-1.4456338071914716],[0.0561050508323333,-1.431868470749625]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.34631278705223156,1.6047953841680562,0.71338606911949],"aabb_xy":[[-0.4263127881253519,1.595017337830672],[-0.26631278597911123,1.6145734305054409]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.27463268521892703,-0.7650316933421464,0.71338606911949],"aabb_xy":[[-0.2858777407895448,-0.7762734910662415],[-0.26338762964830914,-0.753789895618051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607963061436929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7341.png","name":"7341"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7991.png","name":"7991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3086.png","name":"3086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/112.png","name":"112"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":795.9926958918311,"rotation_z_degrees":205.35669906250808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0039976133034460605,-0.0024582940604646573,-0.006185449888904997]},{"name":"camera_2","offset_m":[0.003210367528365312,0.0005641089622340882,-0.00873935644277982]},{"name":"camera_3","offset_m":[-0.016477318072378608,-0.015951068949163077,0.007633078940085258]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003498509884056276,0.0006559002827592349,-0.0019224137210687477],"end_effector_yaw_offset_degrees":0.38869994738229585},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00026651137850581554,-0.0007460797486815688,-0.0004109746159239526],"end_effector_yaw_offset_degrees":0.7773365689482767},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000493400518705573,-0.0007317055688353111,0.0005951929996150145],"end_effector_yaw_offset_degrees":0.2227841559190924}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0040412054150548524,0.004126785918735071],"position_m":[0.31885879458494515,-0.11987321408126493,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004525488415763787,-0.0002693219203581919],"position_m":[0.3167745115842362,0.1209306780796418,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004407202617991418,0.0033387271787015957],"position_m":[0.2973927973820086,0.005938727178701596,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012234101794219164,0.0009650733312556413],"position_m":[0.10107658982057809,0.3927650733312556,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046748476098029635,-0.0034808891316423516],"position_m":[0.16887484760980298,-0.44118088913164233,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5106c9aa29692550818ac3c50bce1213774d86db0730dcca29d01f55b77295c","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2979/tex_ceiling_textures_112/tex_floor_textures_3086/tex_table_textures_7341/tex_wall_textures_7991","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8922231704018049785,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8922231704018049785,"visual_seed":8922231704018049785,"scene_id":"lab_003","finished_at":"2026-09-03T19:02:36"} +{"episode_id":"ep_000045","started_at":"2026-09-03T19:02:40","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.43113021676813706,1.215588821722172,0.71338606911949],"aabb_xy":[[-0.49513021535470947,1.1685818583226633],[-0.36713021818156455,1.2625957851216807]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.5132928436803376,-2.0170042789800737,0.71338606911949],"aabb_xy":[[-0.583292845811767,-2.039766244605769],[-0.4432928415489079,-1.9942423133543776]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.3745829187210769,-1.981414866234947,0.71338606911949],"aabb_xy":[[-0.38594465337436307,-1.992783332641235],[-0.36322118406779075,-1.9700463998286588]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.46368788545984607,0.5072993706095068,0.71338606911949],"aabb_xy":[[0.44480350169133587,0.4884134458291539],[0.4825722692283563,0.5261852953898595]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.4678121744077235,-0.4345483429749488,0.71338606911949],"aabb_xy":[[0.45839469983786074,-0.4439645201126678],[0.47722964897758624,-0.42513216583722974]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.3721582993548276,-1.0065608300851778,0.71338606911949],"aabb_xy":[[0.3221590241863915,-1.056560831361125],[0.4221575745232638,-0.9565608288092307]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.06058720393730177,-1.9717284397856838,0.71338606911949],"aabb_xy":[[0.05354575298655417,-1.9787551915234785],[0.06762865488804937,-1.9647016880478891]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.2770036100732004,-1.9439027046229544,0.71338606911949],"aabb_xy":[[0.21200361003889762,-1.9906033813032815],[0.3420036101075031,-1.897202027942627]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.17660106195518877,1.013877504597109,0.71338606911949],"aabb_xy":[[-0.20160106112082188,1.0069252588917523],[-0.15160106278955565,1.0208297503024655]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.1592979969759356,-1.0041570889802707,0.71338606911949],"aabb_xy":[[0.11401938209478635,-1.0681570883284541],[0.20457661185708487,-0.9401570896320868]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.5137970457913561,1.1546248739418798,0.71338606911949],"aabb_xy":[[0.5097188878843065,1.1505438936936165],[0.5178752036984059,1.1587058541901432]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.41562441659706173,0.9943175983177439,0.71338606911949],"aabb_xy":[[0.3516244149190644,0.9458002068384296],[0.4796244182750591,1.0428349897970581]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.633412549594301,1.5953568284156456,0.71338606911949],"aabb_xy":[[0.5694125531669791,1.5481872045935494],[0.697412546021623,1.6425264522377423]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.5983476223741602,-1.2567469114538437,0.71338606911949],"aabb_xy":[[-0.6534728280037508,-1.3167469128951306],[-0.5432224167445693,-1.1967469100125563]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.38943977431437404,-0.5069256257593429,0.71338606911949],"aabb_xy":[[-0.42506893021433384,-0.5425582925161958],[-0.35381061841441436,-0.4712929590024899]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.3568226557381213,-0.13761202747854862,0.71338606911949],"aabb_xy":[[-0.37710695846152,-0.15789465262125743],[-0.33653835301472246,-0.11732940233583976]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.18550123825672726,-2.331248122807355,0.71338606911949],"aabb_xy":[[-0.20933745589733235,-2.421248123615842],[-0.1616650206161222,-2.241248121998869]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.35980359440092413,-1.1876810428435352,0.71338606911949],"aabb_xy":[[0.3454691692747607,-1.199741258398074],[0.3741380195270876,-1.1756208272889963]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.08001666687355158,-2.142948580898535,0.71338606911949],"aabb_xy":[[0.04953241674652141,-2.192948580680031],[0.11050091700058172,-2.092948581117039]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.3173687174978646,0.4119272971726944,0.71338606911949],"aabb_xy":[[-0.40236871618993925,0.37994143377781553],[-0.23236871880578996,0.44391316056757324]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.5128308063305808,-1.6511582345199423,0.71338606911949],"aabb_xy":[[-0.5503308064361736,-1.6579803963729232],[-0.47533080622498775,-1.644336072666961]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[0.2598291287713652,0.7723194031688014,0.71338606911949],"aabb_xy":[[0.23482912921962673,0.7621769193036666],[0.2848291283231037,0.782461887033936]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.23630086193518562,-2.3987038182734763,0.71338606911949],"aabb_xy":[[0.21380086169167023,-2.4109084529332483],[0.258800862178701,-2.3864991836137044]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.37074255998604855,1.1284597145927493,0.71338606911949],"aabb_xy":[[0.3067425597255777,1.0834509152398213],[0.4347425602465193,1.1734685139456773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6500645661812393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4180.png","name":"4180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3.png","name":"3"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4822.png","name":"4822"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":534.0216000322033,"rotation_z_degrees":273.61517483311354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01143812736434301,0.016820567726867918,-0.00940982718656759]},{"name":"camera_2","offset_m":[0.017325351420342753,0.01668922219748069,0.007028295607940268]},{"name":"camera_3","offset_m":[-0.015506167139223299,-0.018905941441113926,0.006885116427927624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009036402312881868,-1.8091002381246703e-05,-0.001510877937194045],"end_effector_yaw_offset_degrees":-0.7044578274440856},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006439228423671425,-0.0003483061363130787,-0.0007357634326291475],"end_effector_yaw_offset_degrees":-0.8543748996738605},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008570392709497372,0.0016511577354040977,-0.001026611328950473],"end_effector_yaw_offset_degrees":0.26919515129870075}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006932975528094977,-0.0046633247610962224],"position_m":[0.3222067024471905,-0.1286633247610962,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034387603975210767,-0.002249064451507069],"position_m":[0.3178612396024789,0.11895093554849294,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0030021137168843703,-0.0016368370487414388],"position_m":[0.29879788628311565,0.0009631629512585611,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003364921990017827,0.002531239687287837],"position_m":[0.09893507800998218,0.39433123968728784,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00236131622477984,0.004749528076066823],"position_m":[0.16183868377522018,-0.43295047192393316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"310c45a512d2717ac30ad821d087ab2aed1ad0a2b00a849715407c941c711c1b","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3233/tex_ceiling_textures_4822/tex_floor_textures_5612/tex_table_textures_4180/tex_wall_textures_3","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5939081261471107978,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5939081261471107978,"visual_seed":5939081261471107978,"scene_id":"lab_003","finished_at":"2026-09-03T19:05:27"} +{"episode_id":"ep_000046","started_at":"2026-09-03T19:05:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.512181868111496,1.745629298256493,0.71338606911949],"aabb_xy":[[-0.5182764959996143,1.7370599037048242],[-0.5060872402233777,1.7541986928081617]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[0.673084621910786,-2.427706360506716,0.71338606911949],"aabb_xy":[[0.6511948743218452,-2.517706357795965],[0.6949743694997268,-2.3377063632174666]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.09055638460471582,0.5250285018915095,0.71338606911949],"aabb_xy":[[-0.15455638389888404,0.4610423615226553],[-0.026556385310547603,0.5890146422603637]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.19095176630614208,0.2950696285080472,0.71338606911949],"aabb_xy":[[-0.26095176843757156,0.2723076628823515],[-0.12095176417471248,0.3178315941337428]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.5292949772222199,-1.2012350103911482,0.71338606911949],"aabb_xy":[[-0.5462057096585615,-1.2147072159837624],[-0.512384244785878,-1.1877628047985336]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.007599051426949943,1.1915925992672753,0.71338606911949],"aabb_xy":[[-0.04237401410556552,1.1415925994547425],[0.057572116959465416,1.2415925990798082]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.39693709436766,-0.01669901660997608,0.71338606911949],"aabb_xy":[[0.38536811362072343,-0.04169901672690779],[0.4085060751145966,0.008300983506955625]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.3790652416768794,-1.810695454671409,0.71338606911949],"aabb_xy":[[0.3693092521677055,-1.8204579887306431],[0.3888212311860533,-1.8009329206121742]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.27907357487169737,0.09252046920598378,0.71338606911949],"aabb_xy":[[-0.314987079296687,0.05660696098922916],[-0.24316007044670762,0.1284339774227384]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.2948226443316606,-2.5554497648463523,0.71338606911949],"aabb_xy":[[0.20482264573719067,-2.571700351159773],[0.38482264292613055,-2.5391991785329315]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.23200193879642728,1.7411071311073445,0.71338606911949],"aabb_xy":[[0.16200193698768184,1.719753362343157],[0.3020019406051727,1.7624608998715316]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.22876463072180475,-1.5423279490378412,0.71338606911949],"aabb_xy":[[-0.23604694709846838,-1.6323279526473498],[-0.22148231434514107,-1.4523279454283318]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.146057078288518,1.3962943028991224,0.71338606911949],"aabb_xy":[[-0.21105707939446128,1.3713289298309943],[-0.08105707718257471,1.421259675967251]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.2642107612441992,1.4668038816850602,0.71338606911949],"aabb_xy":[[0.2567983057028107,1.460952671263432],[0.27162321678558765,1.4726550921066879]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.6072285918849613,0.7205861192505276,0.71338606911949],"aabb_xy":[[-0.6712285951746694,0.67725120024661],[-0.5432285885952531,0.7639210382544452]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5950394039530649,-1.4835164212307324,0.71338606911949],"aabb_xy":[[0.5100394055356416,-1.568390716693017],[0.6800394023704881,-1.3986421257684472]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.6019924537872885,-1.003540822014807,0.71338606911949],"aabb_xy":[[-0.6152233993219697,-1.0167682410368062],[-0.5887615082526071,-0.9903134029928073]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.214577475576759,-1.9683655605557187,0.71338606911949],"aabb_xy":[[0.2091195299397389,-2.0483655638633778],[0.22003542121377903,-1.8883655572480595]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.6315478157066439,0.5534078119288859,0.71338606911949],"aabb_xy":[[0.6004008968630608,0.4834078132420787],[0.662694734550227,0.6234078106156931]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.6932568262560248,-1.1569446631775357,0.71338606911949],"aabb_xy":[[0.6898161500159676,-1.1608060961519002],[0.696697502496082,-1.1530832302031713]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.5843939039252337,-0.09079001886893545,0.71338606911949],"aabb_xy":[[0.5343988929657817,-0.14079001790452716],[0.6343889148846857,-0.04079001983334373]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.17866440321927335,-0.5933922503796125,0.71338606911949],"aabb_xy":[[0.12366892539861396,-0.6483922518135193],[0.23365988103993274,-0.5383922489457055]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.10140444619951772,-1.6116534419334834,0.71338606911949],"aabb_xy":[[-0.13873572272476037,-1.6463064967283358],[-0.06407316967427511,-1.5770003871386313]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.45143645273542754,1.2638403994812792,0.71338606911949],"aabb_xy":[[-0.4857333637531681,1.2295435132713377],[-0.41713954171768686,1.2981372856912203]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.40312733616642815,-1.11054786472745,0.71338606911949],"aabb_xy":[[-0.4256237576002923,-1.1330478645341975],[-0.3806309147325641,-1.0880478649207026]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.16797591470111983,-1.208167794871315,0.71338606911949],"aabb_xy":[[-0.18565154528971814,-1.2258480111507177],[-0.15030028411252147,-1.1904875785919122]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[-0.02408658405141051,-0.7712398318122886,0.71338606911949],"aabb_xy":[[-0.09408658046137229,-0.7916777674639701],[0.04591341235855128,-0.7508018961606067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.651261443739191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5205.png","name":"5205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8467.png","name":"8467"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5289.png","name":"5289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2809.png","name":"2809"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":745.4161357155492,"rotation_z_degrees":131.11461924945988,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005722121910880951,-0.005030590640703641,-0.00431068059809725]},{"name":"camera_2","offset_m":[-0.015434809938559852,0.006627816156496734,0.010993964494073381]},{"name":"camera_3","offset_m":[0.0032246494696803844,-0.010429978601863281,0.009757396427885413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018104773672993502,-0.0002432256997349524,-0.0016746583343834214],"end_effector_yaw_offset_degrees":-0.647789618869514},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0004689067680780112,0.00048597422597509987,-0.00024615634858015365],"end_effector_yaw_offset_degrees":-0.47669747470673585},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010113777671637383,-0.0013879889034969222,-0.0018391840514341497],"end_effector_yaw_offset_degrees":0.7215677474909841}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004599232167027887,-0.0005895228406923633],"position_m":[0.3274992321670279,-0.12458952284069236,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004335543449047295,4.71140410789354e-05],"position_m":[0.3169644565509527,0.12124711404107893,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00039940862883166683,0.0035530499534451405],"position_m":[0.30219940862883166,0.00615304995344514,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019886129561833762,0.003956072534799318],"position_m":[0.10428861295618339,0.3957560725347993,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010041077552625814,0.004473080957595506],"position_m":[0.16319589224473743,-0.43322691904240446,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a2d3883f645a40ef76e77529994ab1765261a3455d157aa3110cc40f8ccc3b85","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_243/tex_ceiling_textures_2809/tex_floor_textures_5289/tex_table_textures_5205/tex_wall_textures_8467","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4331486029505995973,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4331486029505995973,"visual_seed":4331486029505995973,"scene_id":"lab_003","finished_at":"2026-09-03T19:07:59"} +{"episode_id":"ep_000047","started_at":"2026-09-03T19:08:02","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.5166931145386751,0.23903039137945825,0.71338606911949],"aabb_xy":[[-0.5268461300928242,0.20296084980671783],[-0.5065400989845255,0.2750999329521985]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.4967792670094873,0.46150085396779783,0.71338606911949],"aabb_xy":[[-0.5467740999374289,0.4115008550725543],[-0.4467844340815457,0.5115008528630414]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.26346390999866265,1.6412290831994318,0.71338606911949],"aabb_xy":[[0.17846391158123942,1.5563547877371469],[0.3484639084160859,1.7261033786617168]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.42229103464785234,0.5107483255424374,0.71338606911949],"aabb_xy":[[0.35829103437387405,0.46068222534514947],[0.4862910349218305,0.5608144257397254]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.09528705169204654,-1.0721734198733015,0.71338606911949],"aabb_xy":[[0.030287050691546025,-1.1229597850279764],[0.16028705269254706,-1.0213870547186266]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.4366021975437633,1.3468051086519304,0.71338606911949],"aabb_xy":[[0.3726022011481902,1.2828418202331966],[0.5006021939393364,1.4107683970706637]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.10078695253912462,-1.63128588307666,0.71338606911949],"aabb_xy":[[-0.1507800646483165,-1.6812858837508555],[-0.050793840429932735,-1.5812858824024643]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.3433787335551264,0.7071097557926129,0.71338606911949],"aabb_xy":[[-0.4333787372320444,0.6456773492155085],[-0.2533787298782081,0.7685421623697171]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.6740188815114556,0.6156533249152627,0.71338606911949],"aabb_xy":[[0.6262127138976868,0.5506533222082037],[0.7218250491252242,0.6806533276223217]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.18159984356504966,-1.8613440351968835,0.71338606911949],"aabb_xy":[[0.14058190017867878,-1.9113440358278408],[0.22261778695142054,-1.8113440345659262]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.103199938499285,-0.8073662154942831,0.71338606911949],"aabb_xy":[[0.0806999379872444,-0.8298580738596815],[0.1256999390113256,-0.7848743571288848]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.49815268793097967,1.0440184904958794,0.71338606911949],"aabb_xy":[[-0.5481526875073144,0.9940379115437736],[-0.448152688354645,1.0939990694479855]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.15020658337016957,-2.3236786541535275,0.71338606911949],"aabb_xy":[[0.13241307643525316,-2.341478399749325],[0.16800009030508603,-2.30587890855773]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.14409019825628433,0.32478888836290354,0.71338606911949],"aabb_xy":[[-0.16909019818880225,0.3179062201419803],[-0.11909019832376647,0.3316715565838269]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.08869977108282268,1.153304476403791,0.71338606911949],"aabb_xy":[[0.06679108894347165,1.1314038095837],[0.11060845322217373,1.1752051432238815]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.014308239797898414,1.32623911981969,0.71338606911949],"aabb_xy":[[-0.0027018574921522376,1.310104631321416],[0.031318337087949066,1.3423736083179638]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.5140822657390736,-1.5217262378326395,0.71338606911949],"aabb_xy":[[0.4965823323050901,-1.5392262377528738],[0.5315821991730568,-1.5042262379124047]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.20064640685307178,-1.0571607267730607,0.71338606911949],"aabb_xy":[[-0.20863989664835383,-1.0651588587135368],[-0.19265291705778978,-1.0491625948325856]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.500067188813144,1.7268755881463052,0.71338606911949],"aabb_xy":[[-0.5837894143132265,1.6368755846116094],[-0.4163449633130616,1.8168755916810013]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.36362990338017065,-2.092268464544718,0.71338606911949],"aabb_xy":[[0.34652782542180255,-2.109375270075988],[0.38073198133853886,-2.0751616590134483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551292680798901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3427.png","name":"3427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3427.png","name":"3427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5851.png","name":"5851"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/82.png","name":"82"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":754.0864592336884,"rotation_z_degrees":171.5470498623857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008529190814265966,0.014046330267235781,-0.012471415504766119]},{"name":"camera_2","offset_m":[0.0036534717187319057,-0.009039284689088682,0.0021863193088065003]},{"name":"camera_3","offset_m":[0.00970222885695669,-0.007236689259601801,0.004075384438493198]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006987082211766028,0.0018280684293299873,0.0008377300497583594],"end_effector_yaw_offset_degrees":-0.12386962732605955},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00010375985824582178,0.00044736300458079114,-0.0009471941108952075],"end_effector_yaw_offset_degrees":-0.5756825324026662},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015293996583143504,0.001820008266797026,-0.000988781286327833],"end_effector_yaw_offset_degrees":-0.4779763717255614}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001834292182125931,-0.0037136767213587505],"position_m":[0.32473429218212596,-0.12771367672135875,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023858778201319166,-0.0006330324978154212],"position_m":[0.31891412217986803,0.12056696750218458,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0023067018511076483,0.0026368180830697594],"position_m":[0.30410670185110766,0.005236818083069759,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004402961785207583,0.004470274608812366],"position_m":[0.09789703821479243,0.39627027460881237,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043796661757496995,0.004717736713370438],"position_m":[0.1685796661757497,-0.43298226328662953,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"acfc247d038c3be69a6f38bdf14749d09248f9f375e55b131a0d3d86c6c4a43b","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3427/tex_ceiling_textures_82/tex_floor_textures_5851/tex_table_textures_1612/tex_wall_textures_8694","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6868715130127918215,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6868715130127918215,"visual_seed":6868715130127918215,"scene_id":"lab_003","finished_at":"2026-09-03T19:10:27"} +{"episode_id":"ep_000048","started_at":"2026-09-03T19:10:30","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.5824626013512939,1.4230708150801399,0.71338606911949],"aabb_xy":[[0.5648842991623471,1.4054963255060349],[0.6000409035402408,1.440645304654245]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.4435217694342627,-1.0534961947046333,0.71338606911949],"aabb_xy":[[-0.4791509253342224,-1.0891288614614862],[-0.4078926135343029,-1.0178635279477803]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.5164167018174108,-0.35147394744447347,0.71338606911949],"aabb_xy":[[0.5029701751833674,-0.3649437990975647],[0.5298632284514541,-0.33800409579138224]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.21527324999862496,1.7464478514017663,0.71338606911949],"aabb_xy":[[-0.2351642898789653,1.7337920401170697],[-0.1953822101182848,1.7591036626864633]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.3482751529463838,-1.8069508889141146,0.71338606911949],"aabb_xy":[[-0.43827515528040284,-1.8844332434992275],[-0.2582751506123647,-1.7294685343290022]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.25995218063955733,-0.8416106075615242,0.71338606911949],"aabb_xy":[[-0.3249521785212051,-0.8927342712680651],[-0.19495218275790954,-0.7904869438549834]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.40266086054304284,0.6200225722483164,0.71338606911949],"aabb_xy":[[0.3938796333958067,0.6112428249597863],[0.4114420876902792,0.6288023195368466]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[0.3890846585668992,0.4676934367487875,0.71338606911949],"aabb_xy":[[0.37661730045716363,0.45522811211546405],[0.4015520166766349,0.48015876138211105]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.42577544953078883,-0.42594317877558785,0.71338606911949],"aabb_xy":[[-0.45077544880275117,-0.4422885423717502],[-0.4007754502588266,-0.4095978151794255]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.6589240110965819,1.5937696486332436,0.71338606911949],"aabb_xy":[[0.6502100420466473,1.5712696479740549],[0.6676379801465163,1.6162696492924313]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.6873682467470719,-0.15482395617243805,0.71338606911949],"aabb_xy":[[0.6793248868211166,-0.23982395726780445],[0.6954116066730269,-0.06982395507707159]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.3464220749116282,-2.3013057090553026,0.71338606911949],"aabb_xy":[[-0.3639687698277471,-2.338805710619554],[-0.32887537999550925,-2.263805707491051]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.02893585174786517,-1.6684618108252238,0.71338606911949],"aabb_xy":[[-0.03978745799674077,-1.679321101552875],[-0.018084245498989574,-1.657602520097573]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.021550840580706554,1.2944953060404338,0.71338606911949],"aabb_xy":[[-0.05844915657886873,1.2829477050826166],[0.10155083774028184,1.3060429069982507]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.3675241603316739,-1.5112672470406157,0.71338606911949],"aabb_xy":[[0.3594978897010479,-1.5200187420179683],[0.3755504309622999,-1.502515752063263]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.032275307447973356,-1.1224082254317773,0.71338606911949],"aabb_xy":[[-0.0052246924957930485,-1.130701315466614],[0.06977530739173976,-1.1141151353969407]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.41918498545750893,-2.265881407831437,0.71338606911949],"aabb_xy":[[0.37700057129667824,-2.329881408108648],[0.4613693996183397,-2.2018814075542257]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.4811485338942508,-0.648173019812659,0.71338606911949],"aabb_xy":[[-0.4881888438277878,-0.7281730192123305],[-0.47410822396071384,-0.5681730204129877]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.26532563207710036,-1.7263600490338007,0.71338606911949],"aabb_xy":[[0.25733164349939697,-1.7343601291288908],[0.27331962065480375,-1.7183599689387101]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.37696049486393785,-0.29468801994911686,0.71338606911949],"aabb_xy":[[-0.39945963059016476,-0.3171880207273798],[-0.3544613591377108,-0.27218801917085383]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.19873629040715823,0.9212722932813286,0.71338606911949],"aabb_xy":[[-0.22988320925074132,0.8512722945945215],[-0.1675893715635751,0.9912722919681358]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.33274138512949947,0.34145984319944533,0.71338606911949],"aabb_xy":[[-0.3446741194913275,0.3290776903915859],[-0.32080865076767134,0.35384199600730465]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.2680699646335741,-2.000701282328249,0.71338606911949],"aabb_xy":[[-0.30556996473916703,-2.0075234441812304],[-0.23056996452798115,-1.9938791204752682]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.4810404968271451,-1.5727572718345617,0.71338606911949],"aabb_xy":[[-0.49659626623741043,-1.5883077050789691],[-0.4654847274168799,-1.5572068385901547]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[0.12945612416059782,-1.4486806100945777,0.71338606911949],"aabb_xy":[[0.06545612776502474,-1.5126438985133113],[0.1934561205561709,-1.3847173216758442]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.46840698087427435,-1.390156796932595,0.71338606911949],"aabb_xy":[[0.41840697921277953,-1.4401552391882975],[0.518406982535769,-1.340158354676892]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.20418936954907685,-0.6022853044359202,0.71338606911949],"aabb_xy":[[-0.23415692645890251,-0.6322853047338061],[-0.17422181263925118,-0.5722853041380346]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_27","position":[0.33882697776478565,0.9997991005181688,0.71338606911949],"aabb_xy":[[0.27882697690397273,0.9483726705116823],[0.39882697862559835,1.051225530524655]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_28","position":[-0.597430704284639,-1.5295520436335166,0.71338606911949],"aabb_xy":[[-0.6349307050766344,-1.535919884591707],[-0.5599307034926435,-1.5231842026753266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561796204901762,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8221.png","name":"8221"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4684.png","name":"4684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7250.png","name":"7250"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":731.0036785986463,"rotation_z_degrees":73.45508677311146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004789155068531982,0.0019263735177200009,-0.018439944657424656]},{"name":"camera_2","offset_m":[-0.005641150923030032,-0.011107219471657034,-0.002408771301737108]},{"name":"camera_3","offset_m":[-0.013728862673553706,-0.01410491556693863,-0.001971459595862403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006155448550987912,-0.000988872202370553,0.000379634591082716],"end_effector_yaw_offset_degrees":0.5433721636836839},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00024793079271941826,-0.0006261784098516054,-0.0009095353071280404],"end_effector_yaw_offset_degrees":0.37786493464790105},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016898347457366745,0.0013727710854396676,-0.0003445028354012924],"end_effector_yaw_offset_degrees":0.960404260671601}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019371188235302664,-0.004122241834156654],"position_m":[0.3248371188235303,-0.12812224183415666,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0044296360430552545,-0.00027245983914940455],"position_m":[0.31687036395694473,0.1209275401608506,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0033789295848736765,-0.004532771702612372],"position_m":[0.29842107041512633,-0.0019327717026123717,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020409755866458057,0.0004694622213381461],"position_m":[0.1002590244133542,0.3922694622213381,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022863188744594656,-0.0015212557046369733],"position_m":[0.16442863188744597,-0.43922125570463694,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2b9bf6ff2c3c1e3973229a971ebd852d95e2a731a0f35d996d9617c5b7bc551d","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8136/tex_ceiling_textures_7250/tex_floor_textures_4684/tex_table_textures_9497/tex_wall_textures_8221","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4243851850748256575,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4243851850748256575,"visual_seed":4243851850748256575,"scene_id":"lab_003","finished_at":"2026-09-03T19:12:59"} +{"episode_id":"ep_000049","started_at":"2026-09-03T19:13:02","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.13386254238022033,-0.4264262525921798,0.71338606911949],"aabb_xy":[[-0.16886254157303854,-0.4373932985898424],[-0.09886254318740201,-0.4154592065945171]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.5784054146754845,-1.9017816761627748,0.71338606911949],"aabb_xy":[[-0.6684054170095036,-1.9792640307478875],[-0.4884054123414655,-1.8242993215776622]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.18232232457760178,1.696125073405105,0.71338606911949],"aabb_xy":[[-0.24632232483807256,1.6511162740521768],[-0.11832232431713095,1.7411338727580328]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.4575557489978094,1.523631788138783,0.71338606911949],"aabb_xy":[[-0.4838445733182499,1.4973603544841319],[-0.4312669246773686,1.5499032217934343]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.3347305282493316,0.4535571002367105,0.71338606911949],"aabb_xy":[[0.27710005936206067,0.39355710130999977],[0.39236099713660233,0.513557099163421]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.370835687312688,-1.9781483340259387,0.71338606911949],"aabb_xy":[[-0.3837075908136281,-2.0581483344397746],[-0.3579637838117478,-1.8981483336121026]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.15718990349581585,1.2425752391426412,0.71338606911949],"aabb_xy":[[0.11968990332394391,1.2098745037597338],[0.1946899036676878,1.2752759745255482]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.5638659173831362,-0.7466335871497403,0.71338606911949],"aabb_xy":[[0.5263659189597358,-0.7597978011175709],[0.6013659158065365,-0.7334693731819096]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.5155941491254841,-2.1511032676207105,0.71338606911949],"aabb_xy":[[0.48059414914898824,-2.1605678836683273],[0.5505941491019799,-2.1416386515730936]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.2096969887064264,0.9952984750158853,0.71338606911949],"aabb_xy":[[-0.25969698972556166,0.9588322592780575],[-0.1596969876872911,1.0317646907537132]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.6193499882704716,1.4416275233958529,0.71338606911949],"aabb_xy":[[-0.68334998854445,1.3915614231985647],[-0.5553499879964935,1.4916936235931406]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.24485533486826006,1.3894495560606268,0.71338606911949],"aabb_xy":[[0.18085533252545846,1.3445087048164943],[0.30885533721106156,1.4343904073047593]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.5788213745204527,1.2355166247654594,0.71338606911949],"aabb_xy":[[-0.6266275421342214,1.1705166220584005],[-0.5310152069066841,1.3005166274725184]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.09197349688236356,0.41193173000993966,0.71338606911949],"aabb_xy":[[-0.11414602385901437,0.3897560628538164],[-0.0698009699057127,0.4341073971660628]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.5550931760840505,-1.787445892398376,0.71338606911949],"aabb_xy":[[0.49109317879840186,-1.8289526113512198],[0.6190931733696992,-1.7459391734455318]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.5845700102674904,-1.231763388861553,0.71338606911949],"aabb_xy":[[-0.6220700107648487,-1.235732072409671],[-0.5470700097701322,-1.2277947053134344]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.263912615330477,-1.9818623401329178,0.71338606911949],"aabb_xy":[[-0.29891261522649587,-1.990236575644858],[-0.22891261543445815,-1.9734881046209778]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.5837935195521502,0.4256359143547579,0.71338606911949],"aabb_xy":[[0.5287935213504054,0.3851139477283203],[0.638793517753895,0.4661578809811955]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.5812067933772573,1.7473032737726295,0.71338606911949],"aabb_xy":[[0.5112067899856954,1.7119875000691986],[0.6512067967688193,1.7826190474760604]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.22242039591948315,1.4927181330728385,0.71338606911949],"aabb_xy":[[0.21537894496873558,1.4856913813350443],[0.22946184687023077,1.4997448848106332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593391305374336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9483.png","name":"9483"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9483.png","name":"9483"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4625.png","name":"4625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4079.png","name":"4079"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7016.png","name":"7016"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":723.4691882238144,"rotation_z_degrees":71.95564107715057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010156323029546459,0.018485574754165967,0.006659034972532184]},{"name":"camera_2","offset_m":[-3.235886354971407e-05,0.013747515520237046,0.015197353332212827]},{"name":"camera_3","offset_m":[0.017499987972170176,-0.00978173883970479,0.007026667164920248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014733794395899564,0.0014288450314054774,-0.0006252441750104838],"end_effector_yaw_offset_degrees":-0.309810098349274},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-5.409130825800011e-05,-0.0016439310018516592,-0.0006797797486140374],"end_effector_yaw_offset_degrees":0.8653828069122014},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002478623481500463,0.0009610806115759184,0.001330143500992712],"end_effector_yaw_offset_degrees":0.07049601386031745}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004309870471989803,0.001271818813681395],"position_m":[0.32720987047198985,-0.1227281811863186,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00447189059889327,-0.001591216434954753],"position_m":[0.3257718905988932,0.11960878356504524,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002282842187589068,-0.002525024844644813],"position_m":[0.29951715781241095,7.497515535518674e-05,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027052296419792297,-0.0026153626944201004],"position_m":[0.09959477035802078,0.3891846373055799,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016824613315040001,-0.004625762760893381],"position_m":[0.165882461331504,-0.44232576276089336,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"370b25e642290deb37e8a6f71d5dc1f52a4b46986c3884c326a6fe2d4e1a6a64","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9483/tex_ceiling_textures_7016/tex_floor_textures_4079/tex_table_textures_4625/tex_wall_textures_1821","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5034489592330336365,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5034489592330336365,"visual_seed":5034489592330336365,"scene_id":"lab_003","finished_at":"2026-09-03T19:15:50"} +{"episode_id":"ep_000050","started_at":"2026-09-03T19:15:53","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.39820379209694523,-2.114715332771755,0.71338606911949],"aabb_xy":[[0.36070379199135216,-2.1215374946247354],[0.4357037922025381,-2.1078931709187736]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.4716508221528086,1.5784910050673449,0.71338606911949],"aabb_xy":[[-0.476285937305042,1.5746236699901959],[-0.46701570700057526,1.5823583401444934]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.3518694158536608,-0.32097140574658045,0.71338606911949],"aabb_xy":[[-0.35913066342406824,-0.33375841601009],[-0.3446081682832534,-0.308184395483071]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.38871917799984423,-1.4209798839385002,0.71338606911949],"aabb_xy":[[0.3709256710649278,-1.4387796295342978],[0.40651268493476067,-1.4031801383427025]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.08956176842008001,-2.3000333442077006,0.71338606911949],"aabb_xy":[[0.03958847441681955,-2.3500333447622475],[0.13953506242334046,-2.2500333436531528]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.6077702010160815,0.30541297490584496,0.71338606911949],"aabb_xy":[[0.5983527264462187,0.29599679776812593],[0.6171876755859442,0.314829152043564]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.4627414735724735,1.402689326890739,0.71338606911949],"aabb_xy":[[-0.47095601868815745,1.3940127365930974],[-0.4545269284567895,1.4113659171883801]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.16642338952804792,-0.7262710863000259,0.71338606911949],"aabb_xy":[[0.1545513065165468,-0.8112710859936761],[0.17829547253954903,-0.6412710866063754]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.13460302273991676,1.2533025175681112,0.71338606911949],"aabb_xy":[[-0.19860302002556543,1.2117957986152672],[-0.07060302545426814,1.2948092365209551]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.10027520087077313,0.5087498302277105,0.71338606911949],"aabb_xy":[[-0.12033361248401342,0.48868474331855305],[-0.08021678925753284,0.5288149171368681]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.05061225329175645,-2.0147985065373657,0.71338606911949],"aabb_xy":[[-0.06811225242612362,-2.024678133574953],[-0.033112254157389276,-2.0049188794997774]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.5431093208108785,0.7394829223761414,0.71338606911949],"aabb_xy":[[-0.5781093221623601,0.7191231864193206],[-0.5081093194593966,0.7598426583329623]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.38572495494359,-0.5283620022129303,0.71338606911949],"aabb_xy":[[-0.4357199659030421,-0.5783620012485221],[-0.33572994398413797,-0.4783620031773387]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.32000137639963633,1.4635261351432445,0.71338606911949],"aabb_xy":[[0.28267009987439373,1.4288730803483922],[0.3573326529248789,1.4981791899380967]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.5587470221115054,-0.013388123370623006,0.71338606911949],"aabb_xy":[[0.49374702355443245,-0.04314065678450563],[0.6237470206685781,0.016364410043259614]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.04381759835937382,-1.174854923488494,0.71338606911949],"aabb_xy":[[-0.06740272182326867,-1.2398549257339258],[-0.020232474895478976,-1.1098549212430622]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.42458266704915504,0.29564903891829575,0.71338606911949],"aabb_xy":[[0.36058267065358196,0.2316857504995622],[0.4885826634447281,0.3596123273370293]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.4311872592425289,0.04756036120295759,0.71338606911949],"aabb_xy":[[-0.47635857709069795,-0.016439635941580825],[-0.38601594139436,0.11156035834749603]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.5889139956028717,-0.555594374528221,0.71338606911949],"aabb_xy":[[-0.6539139934845195,-0.606718038234762],[-0.5239139977212239,-0.5044707108216803]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.5434451734278861,-0.4048347821805325,0.71338606911949],"aabb_xy":[[-0.5720945057883023,-0.43348034145760816],[-0.5147958410674699,-0.3761892229034566]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.14396551010950753,0.6465758940194077,0.71338606911949],"aabb_xy":[[-0.20896550826542656,0.6202796494694955],[-0.07896551195358845,0.6728721385693199]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.22379383843011402,1.1020663576704832,0.71338606911949],"aabb_xy":[[-0.24146946901871236,1.0843861413910805],[-0.2061182078415157,1.119746573949886]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.1824553957850218,-1.234486837416083,0.71338606911949],"aabb_xy":[[-0.23245539536135656,-1.2844674163681888],[-0.13245539620868713,-1.184506258463977]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.6659486783822368,1.2008133866358364,0.71338606911949],"aabb_xy":[[0.6579123436809519,1.1927752673314194],[0.6739850130835215,1.208851505940253]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.6456092389821965,-0.257161485276582,0.71338606911949],"aabb_xy":[[-0.6883759458616167,-0.32116148869838446],[-0.6028425321027763,-0.19316148185477955]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.13917386560994027,-1.3983890766536724,0.71338606911949],"aabb_xy":[[-0.14621531656068787,-1.4054158283914673],[-0.13213241465919268,-1.391362324915878]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.6106548158206787,-2.2668732978359096,0.71338606911949],"aabb_xy":[[-0.6943770413207612,-2.356873301370605],[-0.5269325903205963,-2.1768732943012132]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.6234837962751991,-1.042852980037457,0.71338606911949],"aabb_xy":[[0.559483796001221,-1.092919080234745],[0.6874837965491775,-0.9927868798401691]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.569479025249721,0.3137611128211035,0.71338606911949],"aabb_xy":[[-0.6334790275925226,0.268820261576971],[-0.5054790229069195,0.35870196406523597]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[0.013636109390060658,-1.6344794884265978,0.71338606911949],"aabb_xy":[[-0.031356477328389754,-1.6794794877010466],[0.05862869610851107,-1.589479489152149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524837671300054,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6005.png","name":"6005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/682.png","name":"682"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":755.2651156981401,"rotation_z_degrees":190.11842768253072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013249115649724249,0.009755610506172102,0.004064593973732308]},{"name":"camera_2","offset_m":[0.004467278642187159,-0.0016065239301929143,0.004406131688273036]},{"name":"camera_3","offset_m":[-0.019881791096655155,0.009951081615740199,0.0016742970854164221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019271342448489003,-0.0019063812582478953,-0.001248018461857767],"end_effector_yaw_offset_degrees":0.5288581806361556},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008571620052604985,-0.0007673441530608453,0.0019051840964231927],"end_effector_yaw_offset_degrees":-0.4420785946129706},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00166330658233049,-0.001404931038864683,-0.0002811151838808094],"end_effector_yaw_offset_degrees":0.35145360186541574}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004383834400442294,0.0002995162643179561],"position_m":[0.32728383440044234,-0.12370048373568204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027899015127268957,-0.0036599589087393802],"position_m":[0.3185100984872731,0.11754004109126062,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[2.4040796764918278e-05,-0.002090564397824013],"position_m":[0.30182404079676495,0.000509435602175987,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008232760393251572,0.001935279059636955],"position_m":[0.10147672396067485,0.39373527905963696,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030443517271810674,0.0003681872751921415],"position_m":[0.16115564827281895,-0.4373318127248078,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0700eeb5dca28a9120cfacb472bebae9d41529bdeee1ff1e90313e629a75447","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4730/tex_ceiling_textures_682/tex_floor_textures_6005/tex_table_textures_2900/tex_wall_textures_8916","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":326012578770996434,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":326012578770996434,"visual_seed":326012578770996434,"scene_id":"lab_003","finished_at":"2026-09-03T19:18:24"} +{"episode_id":"ep_000051","started_at":"2026-09-03T19:18:27","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.2807924862568462,-0.09148470450774626,0.71338606911949],"aabb_xy":[[-0.30296501323349706,-0.11366037166386943],[-0.2586199592801954,-0.06930903735162308]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.5744645091423823,-2.4145737630174446,0.71338606911949],"aabb_xy":[[0.5555801253738722,-2.433459687797797],[0.5933488929108927,-2.3956878382370914]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.09500122300224367,-0.9116058938740508,0.71338606911949],"aabb_xy":[[0.08066679787608022,-0.9236661094285896],[0.10933564812840713,-0.8995456783195119]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.578454740859772,1.7333495894802957,0.71338606911949],"aabb_xy":[[0.5134547423026992,1.703597056066413],[0.6434547394168448,1.7631021228941783]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.2614498560345797,-0.6483959676928928,0.71338606911949],"aabb_xy":[[0.22465522290967344,-0.685301842789475],[0.298244489159486,-0.6114900925963105]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.2359013397155197,0.9044865472404942,0.71338606911949],"aabb_xy":[[-0.3259013383099897,0.8882359609270731],[-0.1459013411210498,0.9207371335539152]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.0293374474662903,-1.4537542021649588,0.71338606911949],"aabb_xy":[[-0.005253635387754914,-1.5187542024499896],[0.0639285303203355,-1.3887542018799275]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.3958499914861924,-1.3946225576775415,0.71338606911949],"aabb_xy":[[0.3546011804562776,-1.4496225571897587],[0.43709880251610705,-1.3396225581653238]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.5905770077709729,0.14417760165469584,0.71338606911949],"aabb_xy":[[0.5105831841924148,0.06417759906185427],[0.6705708313495312,0.2241776042475374]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.09982087544253115,0.030927942949822373,0.71338606911949],"aabb_xy":[[-0.12232087525643354,0.02645332657934169],[-0.07732087562862877,0.03540255932030306]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.5004369054770097,-0.5237320398920526,0.71338606911949],"aabb_xy":[[-0.5052805002382397,-0.5285836923710369],[-0.4955933107157797,-0.5188803874130686]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.4091240830630165,-1.8336982915597946,0.71338606911949],"aabb_xy":[[0.3741240831669977,-1.8420725270717346],[0.44412408295903544,-1.8253240560478545]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.590265485854289,1.568761636945554,0.71338606911949],"aabb_xy":[[-0.6542654850240589,1.5219949498265914],[-0.526265486684519,1.6155283240645164]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.28436978544276265,1.566364345761825,0.71338606911949],"aabb_xy":[[-0.3193697845727183,1.560619124686161],[-0.24936978631280698,1.5721095668374891]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.4516488509830088,1.4842271634900102,0.71338606911949],"aabb_xy":[[0.4141488510392424,1.4759340734551736],[0.48914885092677524,1.4925202535248467]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.4210309938010959,0.18389594705064471,0.71338606911949],"aabb_xy":[[-0.45534727097571376,0.133895947077467],[-0.3867147166264779,0.23389594702382244]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.09035563221354703,0.12387879754875053,0.71338606911949],"aabb_xy":[[-0.12785563339833977,0.11946057485269],[-0.052855631028754214,0.12829702024481107]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.5564084321586935,1.0878216782838597,0.71338606911949],"aabb_xy":[[0.549147184588286,1.0750346680203502],[0.563669679729101,1.1006086885473692]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.13572171401580235,0.7026063734279866,0.71338606911949],"aabb_xy":[[0.07172171673015368,0.6610996544751426],[0.19972171130145097,0.7441130923808306]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.5893053882880531,0.24353933288600382,0.71338606911949],"aabb_xy":[[-0.6392786822913135,0.19353933233145643],[-0.5393320942847926,0.2935393334405511]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.17209153363475294,-2.132920731236011,0.71338606911949],"aabb_xy":[[0.10809153129195136,-2.177861582480143],[0.23609153597755447,-2.087979879991878]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[-0.15182260483128385,-1.3570614719512941,0.71338606911949],"aabb_xy":[[-0.20181743775922545,-1.4070614708465374],[-0.10182777190334225,-1.3070614730560504]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[-0.08663433097400741,-1.6966900960262636,0.71338606911949],"aabb_xy":[[-0.17663432747487914,-1.7426017384447219],[0.003365665526864347,-1.6507784536078054]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.02225600159403318,-2.1965865023216535,0.71338606911949],"aabb_xy":[[-0.0027439976779290993,-2.2129318659178154],[0.047256000865995455,-2.1802411387254907]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.14521637671308907,-2.063587808224506,0.71338606911949],"aabb_xy":[[-0.15011566901965256,-2.091264727527075],[-0.14031708440652557,-2.0359108889219373]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[0.30716387373104825,0.5643310877701193,0.71338606911949],"aabb_xy":[[0.3037231974909911,0.5604696547957548],[0.3106045499711054,0.5681925207444838]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[0.5647015461304055,0.6874397106244796,0.71338606911949],"aabb_xy":[[0.5549455566212316,0.6776771765652452],[0.5744575356395794,0.6972022446837141]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[0.36073350401949256,-0.8635268311032109,0.71338606911949],"aabb_xy":[[0.29573350613784477,-0.9146504948097519],[0.4257335019011404,-0.8124031673966702]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.19052811006903014,-2.4469824312946242,0.71338606911949],"aabb_xy":[[0.10052811065065922,-2.480357928138814],[0.28052810948740103,-2.4136069344504345]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[-0.4306938438933747,0.4624391376617343,0.71338606911949],"aabb_xy":[[-0.48069384555486944,0.41244069540603157],[-0.3806938422318799,0.512437579917437]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[0.45868479553262786,-0.5662749734403514,0.71338606911949],"aabb_xy":[[0.42520562827158703,-0.5997540868114584],[0.4921639627936689,-0.5327958600692444]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_31","position":[0.2598287983325026,1.1091285975148035,0.71338606911949],"aabb_xy":[[0.2120226307187339,1.0441285948077446],[0.3076349659462712,1.1741286002218625]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_32","position":[0.382969088232866,-2.0360822926122952,0.71338606911949],"aabb_xy":[[0.35968724603473473,-2.1210822939095233],[0.4062509304309974,-1.9510822913150674]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_33","position":[0.652014814214384,1.1587042006635833,0.71338606911949],"aabb_xy":[[0.6345148149362971,1.141366100597237],[0.6695148134924709,1.176042300729929]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_34","position":[-0.2713599521069249,1.4350398690545254,0.71338606911949],"aabb_xy":[[-0.2976487764273655,1.408768435399874],[-0.24507112778648418,1.4613113027091764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6575984213441484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9062.png","name":"9062"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9062.png","name":"9062"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/355.png","name":"355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7734.png","name":"7734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2737.png","name":"2737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":586.1970041302579,"rotation_z_degrees":24.94094777238853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01261975318514816,0.015787580980540738,-0.019961686134897]},{"name":"camera_2","offset_m":[0.002004742992426964,-0.011585896429958123,-0.004216441036124521]},{"name":"camera_3","offset_m":[0.014037766743032958,0.012016193367829674,-0.015452686365373247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010270881540121292,-0.00161205149408796,-0.001097370004326418],"end_effector_yaw_offset_degrees":-0.8984667527590806},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001976644971551633,0.0017507258639699766,-0.0015735235444255045],"end_effector_yaw_offset_degrees":-0.024383395478069003},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00023258070052046805,6.900337811991926e-05,-0.0003982021234787184],"end_effector_yaw_offset_degrees":-0.9581870411713476}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00044624504802678877,0.0021060264537015707],"position_m":[0.32245375495197326,-0.12189397354629843,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014177251790681925,-0.0014844541843227377],"position_m":[0.32271772517906816,0.11971554581567727,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003276017229529151,-0.0016514130454898424],"position_m":[0.30507601722952915,0.0009485869545101575,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002994852384292433,0.003983390249131747],"position_m":[0.10529485238429244,0.39578339024913173,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027116761765674565,-0.0008797663964557889],"position_m":[0.16691167617656746,-0.4385797663964558,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2843fd3b878fa4313ec627998c802b7918638111fda5dc76e84a919d86bcba6d","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9062/tex_ceiling_textures_7662/tex_floor_textures_2737/tex_table_textures_355/tex_wall_textures_7734","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1079941869935538735,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1079941869935538735,"visual_seed":1079941869935538735,"scene_id":"lab_003","finished_at":"2026-09-03T19:21:00"} +{"episode_id":"ep_000052","started_at":"2026-09-03T19:21:02","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.35865727953057824,1.2534387442893165,0.71338606911949],"aabb_xy":[[0.29466158213548166,1.1894387459886078],[0.42265297692567483,1.3174387425900251]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.6814085271693604,-1.2585307231843714,0.71338606911949],"aabb_xy":[[-0.6923143032569231,-1.3385307195832006],[-0.6705027510817977,-1.1785307267855423]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.1980292106993063,1.228078538997536,0.71338606911949],"aabb_xy":[[-0.23506332012736597,1.1937013316638265],[-0.16099510127124655,1.2624557463312454]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.04738717562614958,1.6298052378481072,0.71338606911949],"aabb_xy":[[-0.09738200855409118,1.5798052389528636],[0.0026076573017920213,1.6798052367433507]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.37229628756298033,-0.9134771581003931,0.71338606911949],"aabb_xy":[[-0.43629628783695856,-0.9635432582976811],[-0.3082962872890021,-0.8634110579031051]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.5991246769416843,-0.02367312583061576,0.71338606911949],"aabb_xy":[[0.5950087268296115,-0.02778868086346125],[0.6032406270537568,-0.019557570797770256]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.5026097890201157,0.8095653115579013,0.71338606911949],"aabb_xy":[[-0.5196198863101662,0.7934308230596273],[-0.4855996917300649,0.8256998000561752]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.5463991415400333,0.9413098096421351,0.71338606911949],"aabb_xy":[[0.4563991392060144,0.8638274550570224],[0.6363991438740525,1.0187921642272477]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.4757912913501328,1.5633338355779274,0.71338606911949],"aabb_xy":[[-0.5257905665185689,1.5133338343019802],[-0.4257920161816967,1.6133338368538745]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.11212003347256261,-1.9301287597895946,0.71338606911949],"aabb_xy":[[0.09701773201154448,-1.9452302814206561],[0.12722233493358065,-1.9150272381585323]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.5681124358346816,-0.5085049272117983,0.71338606911949],"aabb_xy":[[0.532483279934722,-0.5441375939686512],[0.6037415917346415,-0.47287226045494535]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.25830059546289075,-2.467736356378796,0.71338606911949],"aabb_xy":[[0.24062496487429244,-2.4854165726581985],[0.2759762260514891,-2.450056140099393]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.18777140033954898,-1.6908279381638764,0.71338606911949],"aabb_xy":[[0.12377139842720666,-1.746739087421887],[0.2517714022518913,-1.6349167889058662]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.40148072754416436,0.6667975945200473,0.71338606911949],"aabb_xy":[[-0.41089820211402706,0.6573814173823282],[-0.39206325297430156,0.6762137716577663]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.4892997645925392,-1.2725876936320195,0.71338606911949],"aabb_xy":[[0.39929976517416826,-1.3059631904762092],[0.5792997640109101,-1.2392121967878298]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[-0.2085620438886141,-2.322336482514609,0.71338606911949],"aabb_xy":[[-0.25373336173678307,-2.3863364796591475],[-0.16339072604044513,-2.2583364853700707]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.09509844622483632,-2.1254024466236974,0.71338606911949],"aabb_xy":[[0.06063596821174855,-2.1320661238066196],[0.1295609242379241,-2.118738769440774]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.607757767133118,-1.5800011262293148,0.71338606911949],"aabb_xy":[[0.543757770705796,-1.6271707500514114],[0.6717577635604398,-1.5328315024072185]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.012182842002992467,-2.5439096009816935,0.71338606911949],"aabb_xy":[[-0.07618284405272446,-2.5840040840710015],[0.05181716004673953,-2.5038151178923855]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.25409101838939185,0.43840587597441205,0.71338606911949],"aabb_xy":[[-0.27172385398291937,0.420782929958789],[-0.23645818279586425,0.45602882199003497]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.02537870129065356,-1.1157126030379256,0.71338606911949],"aabb_xy":[[-0.008100465970387376,-1.1491917164090328],[0.058857868551694496,-1.0822334896668189]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.09287029958850512,-0.8327895344713134,0.71338606911949],"aabb_xy":[[0.05537029909114688,-0.8367582180194317],[0.13037030008586337,-0.8288208509231949]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.6096371391725225,0.6010495287063295,0.71338606911949],"aabb_xy":[[-0.6318096661491733,0.5788738615502064],[-0.5874646121958716,0.6232251958624527]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.5721415275411665,-0.026279567102669432,0.71338606911949],"aabb_xy":[[-0.642141529672596,-0.04904153272836509],[-0.5021415254097369,-0.0035176014769737717]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.6021412321312956,0.5995200263119074,0.71338606911949],"aabb_xy":[[0.5975061169790621,0.5956526912347585],[0.6067763472835288,0.6033873613890558]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.5614332982747052,1.2935276715766868,0.71338606911949],"aabb_xy":[[0.49643329716876194,1.2685622985085587],[0.6264332993806485,1.3184930446448153]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.6643667925800676,-1.8627660345849237,0.71338606911949],"aabb_xy":[[0.6512155466087782,-1.8877660343416107],[0.677518038551357,-1.8377660348282376]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.05427164754259817,1.5333139289539504,0.71338606911949],"aabb_xy":[[0.048813701905578086,1.4533139256462912],[0.05972959317961822,1.6133139322616095]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[0.4867968403737071,-2.014039882991021,0.71338606911949],"aabb_xy":[[0.4780988780829918,-2.026164857298496],[0.49549480266442236,-2.0019149086835464]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[-0.39898948170969784,1.1600604580931706,0.71338606911949],"aabb_xy":[[-0.47898948497371097,1.1465004257842573],[-0.3189894784456847,1.173620490402084]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.5776619248096371,-0.1620289238967927,0.71338606911949],"aabb_xy":[[-0.657661921823885,-0.18216347557020396],[-0.4976619277953891,-0.14189437222338142]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[0.021116633177215793,0.7966127903622571,0.71338606911949],"aabb_xy":[[-0.028883367841919482,0.7601465746244292],[0.07111663419635107,0.8330790061000851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6597338395534738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/582.png","name":"582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/582.png","name":"582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2948.png","name":"2948"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/88.png","name":"88"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5078.png","name":"5078"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":770.9882276965698,"rotation_z_degrees":194.30864470204125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005064551526457014,0.00866481025078428,0.0001440242176993685]},{"name":"camera_2","offset_m":[-0.0026939763993810914,-0.01814358610629804,-0.011396484376139621]},{"name":"camera_3","offset_m":[0.002146299259917085,-0.010177177852266897,-0.00972017416174782]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015066537854011527,0.0015182374054679075,-0.0019227408739594539],"end_effector_yaw_offset_degrees":-0.32377860067652686},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019441463090723596,0.0017616818101282624,0.000703395797873652],"end_effector_yaw_offset_degrees":0.7760655830720196},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004075976348674301,-0.0013154576775683043,-0.0011424537046067704],"end_effector_yaw_offset_degrees":0.29275720512491343}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014553797018626168,8.73670726374131e-05],"position_m":[0.3214446202981374,-0.12391263292736258,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004077740189492509,0.003504210926579053],"position_m":[0.3253777401894925,0.12470421092657906,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004474164439683798,-0.0019028940721900222],"position_m":[0.3062741644396838,0.0006971059278099777,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035507067999460623,-0.0043433637868775425],"position_m":[0.10585070679994607,0.38745663621312243,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004063210593400086,-0.002571478149840777],"position_m":[0.1682632105934001,-0.44027147814984074,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"025643a30ca05e13b0f728cb79b38560fdc67911e5f11e5be36228d0fbf749d0","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_582/tex_ceiling_textures_5078/tex_floor_textures_88/tex_table_textures_2948/tex_wall_textures_6625","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4594590743197330409,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4594590743197330409,"visual_seed":4594590743197330409,"scene_id":"lab_003","finished_at":"2026-09-03T19:23:35"} +{"episode_id":"ep_000053","started_at":"2026-09-03T19:23:38","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.6095914943542997,0.36759619525994713,0.71338606911949],"aabb_xy":[[-0.6272243299478273,0.34997324924432416],[-0.5919586587607721,0.3852191412755701]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.05875835276583563,-2.258856055678977,0.71338606911949],"aabb_xy":[[-0.08397918962567529,-2.2840798065318633],[-0.033537515905995956,-2.23363230482609]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.6953898487569183,0.5293263112305961,0.71338606911949],"aabb_xy":[[0.6866758797069837,0.5068263105714078],[0.7041038178068527,0.5518263118897843]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.3426934467529637,-2.3844235180496764,0.71338606911949],"aabb_xy":[[-0.37699035777070433,-2.4187204042596173],[-0.3083965357352231,-2.3501266318397347]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.11859570714729128,-1.326817953967643,0.71338606911949],"aabb_xy":[[0.05459570984494487,-1.3711843809354998],[0.18259570444963769,-1.2824515269997863]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.6132984116977898,1.3422738170596777,0.71338606911949],"aabb_xy":[[-0.663298413058677,1.292295912484262],[-0.5632984103369025,1.3922517216350931]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.4530010034342742,0.750024963168034,0.71338606911949],"aabb_xy":[[-0.4681033048952922,0.7349234415369721],[-0.43789870197325603,0.7651264847990957]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.6294344972003011,0.6708899024821573,0.71338606911949],"aabb_xy":[[-0.6669344956237014,0.6577256885143266],[-0.5919344987769007,0.6840541164499878]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.48415290468368904,1.013876894102486,0.71338606911949],"aabb_xy":[[-0.4953979602543068,1.0026350963783905],[-0.47290784911307115,1.025118691826581]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.20042541023078791,-1.5696088990095747,0.71338606911949],"aabb_xy":[[-0.20770772660745154,-1.659608902619083],[-0.19314309385412423,-1.479608895400065]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.4230287827481207,-2.3573618020639073,0.71338606911949],"aabb_xy":[[0.41699176974745605,-2.3633885031328554],[0.4290657957487855,-2.3513351009949592]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.47947528827546204,-1.2655621207758605,0.71338606911949],"aabb_xy":[[0.41547528686747137,-1.3173510722997852],[0.5434752896834527,-1.2137731692519358]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.12728949507090148,1.7377014134662097,0.71338606911949],"aabb_xy":[[-0.1622894942637197,1.726734367468547],[-0.09228949587808316,1.748668459463872]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.6356642568098481,-1.29460902863126,0.71338606911949],"aabb_xy":[[0.6317503836144255,-1.3033580440378167],[0.6395781300052704,-1.2858600132247031]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.27661750014114594,0.6531819516096942,0.71338606911949],"aabb_xy":[[0.2391174997929182,0.6413905560286105],[0.3141175004893737,0.6649733471907776]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.07091235191171408,-1.316299487970648,0.71338606911949],"aabb_xy":[[-0.077326165554899,-1.3227093082183161],[-0.06449853826852912,-1.3098896677229794]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.212357112614745,-2.2271726756073207,0.71338606911949],"aabb_xy":[[-0.253661655678481,-2.2911726751754378],[-0.171052569551009,-2.1631726760392036]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.04300800965351048,-2.0950514424509548,0.71338606911949],"aabb_xy":[[-0.07297556656333615,-2.1250514427488403],[-0.01304045274368481,-2.0650514421530692]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.6163934850027856,-1.2524783719470947,0.71338606911949],"aabb_xy":[[-0.6813934850370883,-1.2991790486274217],[-0.5513934849684828,-1.2057776952667671]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.2891267453394814,-1.376914218424281,0.71338606911949],"aabb_xy":[[-0.30662674559881803,-1.391005760613054],[-0.2716267450801448,-1.3628226762355087]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.6183101219500969,0.587413753472712,0.71338606911949],"aabb_xy":[[-0.6412258348351468,0.5645094563362886],[-0.595394409065047,0.6103180506091356]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.35898728399791685,-0.26558746958165536,0.71338606911949],"aabb_xy":[[-0.374871777263242,-0.2799404098804794],[-0.3431027907325917,-0.2512345292828313]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[0.5577672169062815,0.14132427613913157,0.71338606911949],"aabb_xy":[[0.48776721477485185,0.11856231051343588],[0.6277672190377109,0.1640862417648272]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.3937234562002203,-0.27307185822341484,0.71338606911949],"aabb_xy":[[0.3562234550154274,-0.2774900809194753],[0.431223457385013,-0.2686536355273543]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[0.012747427226946662,0.7937701912949913,0.71338606911949],"aabb_xy":[[0.004753937431664635,0.7857720593545159],[0.020740917022228692,0.8017683232354671]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.2555694340470759,-1.9575423734323096,0.71338606911949],"aabb_xy":[[0.23339690707042499,-1.9797180405884325],[0.27774196102372667,-1.9353667062761863]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.07522581674096662,-1.720885642460436,0.71338606911949],"aabb_xy":[[-0.1392258138530723,-1.7699180122548466],[-0.011225819628860947,-1.6718532726660253]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.339781391565702,0.44135045362623027,0.71338606911949],"aabb_xy":[[-0.41978138872527726,0.4298028526684132],[-0.2597813944061267,0.4528980545840473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571183084411552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9907.png","name":"9907"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9907.png","name":"9907"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4311.png","name":"4311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2749.png","name":"2749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4973.png","name":"4973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5833.png","name":"5833"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":766.0740015800776,"rotation_z_degrees":84.47418129631937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016212326367493365,-0.003254237729096599,0.012031619667139035]},{"name":"camera_2","offset_m":[0.006010624539775428,-0.018985810390955142,0.008597191299166269]},{"name":"camera_3","offset_m":[0.01848618833187574,-0.003654887379991093,-0.018611042182276456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019040879485527997,-0.00042318037075049064,-0.0015181276485470058],"end_effector_yaw_offset_degrees":-0.4854096328258797},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0014134547181079609,0.0008964128593824451,-0.0010317056227920518],"end_effector_yaw_offset_degrees":0.14644656609007822},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010085158590829668,-0.0005588456865915753,-0.0010666132385699538],"end_effector_yaw_offset_degrees":-0.6113903988169029}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019307633397098135,-0.0029924651836806906],"position_m":[0.32483076333970984,-0.12699246518368068,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036218569393801385,-0.0006464496609039491],"position_m":[0.32492185693938014,0.12055355033909605,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002039660024342533,-0.0009137924221721749],"position_m":[0.2997603399756575,0.001686207577827825,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022020202114337506,0.00438066407343288],"position_m":[0.10450202021143375,0.3961806640734329,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024533954103901513,-0.0004484244918151513],"position_m":[0.16665339541039018,-0.4381484244918151,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b0f849c660b99752bd8e96d2541b7985e63365fd283403ca900834b2a60e863","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9907/tex_ceiling_textures_5833/tex_floor_textures_4973/tex_table_textures_4311/tex_wall_textures_2749","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7481989924686324095,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7481989924686324095,"visual_seed":7481989924686324095,"scene_id":"lab_003","finished_at":"2026-09-03T19:25:52"} +{"episode_id":"ep_000054","started_at":"2026-09-03T19:25:55","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.18190227480856425,-0.6611087758335263,0.71338606911949],"aabb_xy":[[-0.2669022732259875,-0.7459830712958112],[-0.09690227639114102,-0.5762344803712413]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.16313820273944668,-1.432688957021311,0.71338606911949],"aabb_xy":[[0.12628765480245904,-1.470188957844345],[0.19998875067643426,-1.3951889561982775]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.4594901338408507,-0.1720024820173487,0.71338606911949],"aabb_xy":[[-0.5007389448707653,-0.22700248152956612],[-0.41824132281093596,-0.11700248250513122]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.14767599111993257,1.60971694511719,0.71338606911949],"aabb_xy":[[0.06767599064971665,1.6014062375028422],[0.22767599159014856,1.6180276527315387]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.33185613883971726,-1.0980952336388008,0.71338606911949],"aabb_xy":[[-0.3818561398588526,-1.134561449376629],[-0.281856137820582,-1.061629017900973]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.005578601256622684,-1.6535557594149946,0.71338606911949],"aabb_xy":[[-0.07441522232193554,-1.7335557620078361],[0.0855724248351809,-1.573555756822153]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.6669707734343349,-0.2993769513048625,0.71338606911949],"aabb_xy":[[0.6621271786731049,-0.3042286037838467],[0.6718143681955648,-0.29452529882587847]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.5914234315410513,-1.036277944372075,0.71338606911949],"aabb_xy":[[-0.6033561659028793,-1.0486600971799347],[-0.5794906971792232,-1.023895791564216]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.019908023336503877,-0.9548861242061362,0.71338606911949],"aabb_xy":[[-0.0238218965319264,-0.9636351396126931],[-0.015994150141081354,-0.9461371087995795]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.3125573427176733,-1.7174528665325761,0.71338606911949],"aabb_xy":[[0.24855734066794133,-1.757547349621884],[0.3765573447674053,-1.6773583834432682]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.1358863303512906,1.107769931804409,0.71338606911949],"aabb_xy":[[0.09838633000306285,1.0959785362233254],[0.17338633069951837,1.1195613273854925]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.5180160580817932,0.3303319400224103,0.71338606911949],"aabb_xy":[[0.4979576464685529,0.31026685311325275],[0.5380744696950335,0.3503970269315678]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.642535646663168,1.3996236647155516,0.71338606911949],"aabb_xy":[[-0.6614200304316783,1.3807377399351985],[-0.6236512628946579,1.418509589495904]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.20158858479548414,1.6449495087099986,0.71338606911949],"aabb_xy":[[-0.28158858338280357,1.565633906771838],[-0.12158858620816475,1.7242651106481597]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.6060625179403474,0.46460923109973296,0.71338606911949],"aabb_xy":[[-0.6558792974051821,0.4146092326154296],[-0.5562457384755126,0.5146092295840363]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.35605398859853343,-2.038527411024828,0.71338606911949],"aabb_xy":[[0.34735602630781814,-2.050652385332303],[0.3647519508892487,-2.0264024367173534]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.4123541939268136,-2.51598619819934,0.71338606911949],"aabb_xy":[[0.3898541944031062,-2.53848214564996],[0.434854193450521,-2.4934902507487187]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.3641213956770082,0.7041853628336132,0.71338606911949],"aabb_xy":[[0.32849223977704844,0.6685526960767603],[0.3997505515769679,0.7398180295904662]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.48202966253330404,-0.4486363768664634,0.71338606911949],"aabb_xy":[[0.44523502940839765,-0.4855422519630456],[0.5188242956582102,-0.4117305017698811]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.4062109358335574,0.657585969293562,0.71338606911949],"aabb_xy":[[-0.423843771427085,0.639963023277939],[-0.38857810024002987,0.6752089153091849]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.08554808169405015,-2.116124184350088,0.71338606911949],"aabb_xy":[[-0.140548081315796,-2.1711078771375614],[-0.030548082072304306,-2.061140491562616]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[0.6109028762504811,1.7596502449313411,0.71338606911949],"aabb_xy":[[0.5774237089894403,1.7261711315602342],[0.6443820435115222,1.7931293583024481]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[0.5565956886628103,-1.2787665547897162,0.71338606911949],"aabb_xy":[[0.5215956886863145,-1.2882311708373329],[0.5915956886393061,-1.2693019387420996]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.4306980673417675,0.9905524679850504,0.71338606911949],"aabb_xy":[[-0.44085108289591685,0.9544829264123099],[-0.4205450517876181,1.0266220095577907]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.015550157626495364,0.8575002122239295,0.71338606911949],"aabb_xy":[[0.004982677968396354,0.846955182110921],[0.026117637284594375,0.8680452423369381]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.12049378038690994,-0.7736836512839145,0.71338606911949],"aabb_xy":[[0.05649377816650292,-0.8180567354092028],[0.18449378260731697,-0.7293105671586262]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[-0.43416370518514896,-0.9587685351316639,0.71338606911949],"aabb_xy":[[-0.49416370543655014,-1.0130498601681284],[-0.3741637049337478,-0.9044872100951992]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.1694306608821975,0.6267471850591719,0.71338606911949],"aabb_xy":[[-0.21943066216603743,0.5767683306685498],[-0.11943065959835751,0.676726039449794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6534784798336138,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6162.png","name":"6162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6162.png","name":"6162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7154.png","name":"7154"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5767.png","name":"5767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1352.png","name":"1352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1214.png","name":"1214"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":641.8073059389799,"rotation_z_degrees":220.92373830731108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007779393340921441,0.0016882186105911141,-0.005949276695957498]},{"name":"camera_2","offset_m":[-0.0002634518767842889,0.019422403157834316,-0.01440123982769281]},{"name":"camera_3","offset_m":[-0.005885237080477982,0.015176588058158507,-0.012089694501685906]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000703310629859713,0.0012801023441150134,0.0003435562240507767],"end_effector_yaw_offset_degrees":0.665167235102623},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-4.278596413498023e-05,0.0005285917442891465,-0.001334695378607617],"end_effector_yaw_offset_degrees":-0.2227267020385264},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012769411347518266,0.0017013511097466174,-0.0011870779281840562],"end_effector_yaw_offset_degrees":-0.819185399210203}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026517447952478703,-0.001952999054880803],"position_m":[0.3255517447952479,-0.1259529990548808,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001840410479665727,0.0005805259074543557],"position_m":[0.3231404104796657,0.12178052590745436,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001321438670950097,0.0023204421893320863],"position_m":[0.30047856132904993,0.004920442189332086,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017407716613664615,-0.0023176329595639834],"position_m":[0.10055922833863354,0.389482367040436,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015175149540989819,0.0005762263013287996],"position_m":[0.16268248504590102,-0.43712377369867117,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ce84ea29cf7f940abc90507d5c72278bdb4fda8f525cb0710d7c464afeeb10f","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6162/tex_ceiling_textures_1214/tex_floor_textures_1352/tex_table_textures_7154/tex_wall_textures_5767","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8367271303216814572,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8367271303216814572,"visual_seed":8367271303216814572,"scene_id":"lab_003","finished_at":"2026-09-03T19:27:59"} +{"episode_id":"ep_000055","started_at":"2026-09-03T19:28:02","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.6334549734768367,1.2136479183847855,0.71338606911949],"aabb_xy":[[0.5959549750534363,1.2004837044169545],[0.670954971900237,1.226812132352616]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.17003302364097173,1.126931768675449,0.71338606911949],"aabb_xy":[[0.10844226441697893,1.062931770566402],[0.23162378286496457,1.1909317667844959]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.5628569613729419,-1.0065435091613584,0.71338606911949],"aabb_xy":[[-0.5841349695164142,-1.0715435114874314],[-0.5415789532294697,-0.9415435068352853]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.3023137376514876,0.6987381564018169,0.71338606911949],"aabb_xy":[[0.27191562655234397,0.6683312544001474],[0.33271184875063115,0.7291450584034864]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.35850938821445755,1.5273545711510095,0.71338606911949],"aabb_xy":[[-0.3935093873444132,1.5216093500753451],[-0.3235093890845019,1.5330997922266734]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.17779757536021656,-1.1833133493679107,0.71338606911949],"aabb_xy":[[0.14995253857960944,-1.2140978481062226],[0.2056426121408237,-1.1525288506295992]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.5217662956546072,1.0971499427650029,0.71338606911949],"aabb_xy":[[-0.5373220650648726,1.081599509520596],[-0.506210526244342,1.1127003760094103]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.5276806872224111,-2.324781998305537,0.71338606911949],"aabb_xy":[[0.4942015199613703,-2.3582611116766445],[0.5611598544834522,-2.2913028849344306]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.44813625086265807,-1.688321137648071,0.71338606911949],"aabb_xy":[[0.42624650327371727,-1.77832113493732],[0.47002599845159887,-1.5983211403588218]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.2097010627790551,-2.2375706087594183,0.71338606911949],"aabb_xy":[[0.19776832841722702,-2.2499527615672776],[0.22163379714088316,-2.225188455951559]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.5512376827159816,-2.43882111543096,0.71338606911949],"aabb_xy":[[-0.5631097657274826,-2.5238211151246097],[-0.5393655997044804,-2.353821115737309]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.5007154495175419,-1.2762370820905902,0.71338606911949],"aabb_xy":[[0.4905624339633923,-1.3123066236633303],[0.510868465071691,-1.2401675405178496]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5746060081252431,-0.8412413735158291,0.71338606911949],"aabb_xy":[[0.504606004733681,-0.8765571472192599],[0.644606011516805,-0.8059255998123982]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.012884343041569046,1.4695386568233313,0.71338606911949],"aabb_xy":[[-0.037110489886372555,1.419538657928088],[0.06287917596951065,1.519538655718575]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.18176127768432426,-1.5395648919302714,0.71338606911949],"aabb_xy":[[-0.19919199276333074,-1.556837006594122],[-0.16433056260531773,-1.5222927772664203]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.23952254905300785,-1.3791891054086967,0.71338606911949],"aabb_xy":[[-0.29449627108934073,-1.4341891049729298],[-0.18454882701667497,-1.3241891058444635]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.37230243474317626,1.1669345647789293,0.71338606911949],"aabb_xy":[[0.3498024349292739,1.1624599484084486],[0.39480243455707864,1.17140918114941]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.6039267794749767,-0.43553052412947224,0.71338606911949],"aabb_xy":[[0.599848621567927,-0.4396115043777356],[0.6080049373820263,-0.431449543881209]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.5347646404208057,-2.4850818632129315,0.71338606911949],"aabb_xy":[[0.4447646418263359,-2.501332449526353],[0.6247646390152758,-2.4688312768995107]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.2879682977095468,-0.8784799498316218,0.71338606911949],"aabb_xy":[[0.20796829663642646,-0.8882579961690061],[0.3679682987826671,-0.8687019034942373]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.610639832390538,0.8695839484477839,0.71338606911949],"aabb_xy":[[0.5606398310296508,0.8196060438723682],[0.6606398337514252,0.9195618530231995]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.542412861710516,0.10741326453553235,0.71338606911949],"aabb_xy":[[0.5038671688853149,0.0688674934793437],[0.580958554535717,0.14595903559172102]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.30965621844682845,-0.25398183480270564,0.71338606911949],"aabb_xy":[[-0.3736562203591708,-0.3098929840607161],[-0.2456562165344861,-0.1980706855446952]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.3254925606505319,-1.551758037324507,0.71338606911949],"aabb_xy":[[0.3174662900199059,-1.5605095323018596],[0.3335188312811579,-1.5430065423471544]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.6967070844008763,-1.8163295384051192,0.71338606911949],"aabb_xy":[[0.671707085128914,-1.8326749020012814],[0.7217070836728385,-1.7999841748089567]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.027849649950345334,1.0364784016629116,0.71338606911949],"aabb_xy":[[-0.0453496490847125,1.0265987746253238],[-0.01034965081597816,1.0463580287004994]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.07202699928430767,0.5730217043455617,0.71338606911949],"aabb_xy":[[-0.13602700250294553,0.5262985924465533],[-0.008026996065669811,0.61974481624457]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.4599229645856888,1.4317924886740898,0.71338606911949],"aabb_xy":[[0.44815477779103136,1.3467924887688685],[0.4716911513803464,1.5167924885793118]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[-0.26587848681669934,-2.3328659210653835,0.71338606911949],"aabb_xy":[[-0.33587848894812883,-2.3556278866910785],[-0.19587848468526975,-2.3101039554396876]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_29","position":[0.12001938333490536,0.884227316429151,0.71338606911949],"aabb_xy":[[0.08268810680966275,0.8495742616342987],[0.157350659860148,0.9188803712240032]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_30","position":[0.3687025356242657,-2.0094648675810705,0.71338606911949],"aabb_xy":[[0.31870253434042567,-2.059443721971692],[0.4187025369081056,-1.9594860131904481]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_31","position":[0.06261053302899389,-1.2342104953457915,0.71338606911949],"aabb_xy":[[0.025759985092006277,-1.2717104961688255],[0.0994610809659815,-1.196710494522758]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.13797190571099616,1.6069306578950058,0.71338606911949],"aabb_xy":[[0.07397190545052536,1.5619218585420775],[0.20197190597146697,1.6519394572479336]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_33","position":[-0.5266029022359866,1.651080886343458,0.71338606911949],"aabb_xy":[[-0.60660289963958,1.571088315145275],[-0.44660290483239323,1.7310734575416407]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_34","position":[-0.1377520858131055,-1.0396979588023865,0.71338606911949],"aabb_xy":[[-0.1606677986981554,-1.0626022559388102],[-0.1148363729280556,-1.0167936616659632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6544778368516398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9326.png","name":"9326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9326.png","name":"9326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9053.png","name":"9053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9442.png","name":"9442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6531.png","name":"6531"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":846.41342655782,"rotation_z_degrees":205.60921289702992,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010571167505861569,-0.010716690082912464,0.010986065081142665]},{"name":"camera_2","offset_m":[-0.015780118644238533,0.0035994146308081995,-0.01777980914445429]},{"name":"camera_3","offset_m":[-0.015420843031310492,0.017777783493749883,0.015186410598960285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009209740927840625,0.001828762199589981,-0.0008991301106781675],"end_effector_yaw_offset_degrees":0.8102582239625187},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010303676510205729,-0.0017505788098839594,0.0014874795282557056],"end_effector_yaw_offset_degrees":0.10852233403775546},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011154004791180286,0.001851895108521945,0.0007878103083128309],"end_effector_yaw_offset_degrees":0.19036274138992537}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004896313856337291,-0.004079157868130243],"position_m":[0.31800368614366276,-0.12807915786813023,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00018601823336791053,-0.0038861460740803712],"position_m":[0.3211139817666321,0.11731385392591963,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0025164920299142112,0.004428829360222537],"position_m":[0.2992835079700858,0.007028829360222537,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017232049681118432,-0.0005870187548846452],"position_m":[0.10402320496811185,0.39121298124511533,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029338657010802493,0.004064139588053497],"position_m":[0.16713386570108027,-0.43363586041194646,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad2785295f29b476a53a8a1987f942bb94225b4c03d9e942020ec706e7431a4c","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9326/tex_ceiling_textures_6531/tex_floor_textures_1856/tex_table_textures_9053/tex_wall_textures_9442","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1532909780333745057,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1532909780333745057,"visual_seed":1532909780333745057,"scene_id":"lab_003","finished_at":"2026-09-03T19:30:31"} +{"episode_id":"ep_000056","started_at":"2026-09-03T19:30:34","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.5455534579348211,-0.08930564251481998,0.71338606911949],"aabb_xy":[[0.49573667846998626,-0.13930564099912335],[0.5953702373996558,-0.03930564403051662]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.5405426878885196,-1.86765555403049,0.71338606911949],"aabb_xy":[[0.5345761489477838,-1.8736166986898541],[0.5465092268292553,-1.8616944093711258]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.632586358050755,-0.33170026607593206,0.71338606911949],"aabb_xy":[[-0.6457376040220445,-0.35670026583261866],[-0.6194351120794658,-0.3067002663192456]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.439772838707031,1.2786944854736695,0.71338606911949],"aabb_xy":[[0.41192780192642386,1.2479099867353576],[0.4676178754876381,1.309478984211981]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.21361685751653525,-1.2106075429081695,0.71338606911949],"aabb_xy":[[0.1336168542525221,-1.2241675752170829],[0.2936168607805484,-1.1970475105992562]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.4061099108805404,-1.4300740517544912,0.71338606911949],"aabb_xy":[[0.35622721400284413,-1.4800740510007662],[0.4559926077582366,-1.3800740525082167]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[-0.28848778948298803,-0.7462441369623853,0.71338606911949],"aabb_xy":[[-0.35248779153272003,-0.7863386200516934],[-0.22448778743325604,-0.7061496538730775]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.19256762673021877,-2.290782467866816,0.71338606911949],"aabb_xy":[[-0.1966835768422914,-2.2948980228996607],[-0.18845167661814607,-2.2866669128339696]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.012600900128478032,-1.6881272781465202,0.71338606911949],"aabb_xy":[[-0.037377908381837854,-1.738127278152239],[0.06257970863879392,-1.6381272781408014]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.42540145557156417,-0.32245026042514446,0.71338606911949],"aabb_xy":[[0.3654014539286423,-0.37445040971708865],[0.485401457214486,-0.2704501111332003]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.3552827803698404,-1.9560215727433634,0.71338606911949],"aabb_xy":[[0.3206916975157952,-2.0210215730283947],[0.3898738632238856,-1.8910215724583324]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.4675593764703111,-0.6409593096889252,0.71338606911949],"aabb_xy":[[-0.4834438697356363,-0.6553122499877494],[-0.451674883204986,-0.6266063693901013]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.5771546684878237,-1.8362530579376701,0.71338606911949],"aabb_xy":[[-0.6184592115515597,-1.9002530575057872],[-0.5358501254240877,-1.772253058369553]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.2765340366980331,-1.1659764311800194,0.71338606911949],"aabb_xy":[[-0.34053403707556673,-1.2157216980308314],[-0.2125340363204995,-1.1162311643292069]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.09899894118221408,-2.281655041482463,0.71338606911949],"aabb_xy":[[0.08382677190058074,-2.2968238984106666],[0.11417111046384743,-2.2664861845542594]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.631344287101872,0.06711928426190417,0.71338606911949],"aabb_xy":[[0.5940130105766294,0.03246622946705186],[0.6686755636271146,0.10177233905675648]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.0705590306436209,-2.2380747615234506,0.71338606911949],"aabb_xy":[[-0.08019066686405052,-2.247712074303159],[-0.06092739442319128,-2.2284374487437413]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.6124867021308222,1.3424748809687181,0.71338606911949],"aabb_xy":[[0.6048624340406441,1.3348416574321746],[0.6201109702210006,1.350108104505262]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.5592659343952044,-2.1537176442127643,0.71338606911949],"aabb_xy":[[0.49526593110549627,-2.1970525632166815],[0.6232659376849125,-2.1103827252088463]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.6388640013072558,0.6170129399590656,0.71338606911949],"aabb_xy":[[-0.646907361233211,0.5320129388636992],[-0.6308206413813007,0.702012941054432]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.24645693950925995,-1.6801981432031212,0.71338606911949],"aabb_xy":[[-0.29643435637451354,-1.7301981446923695],[-0.19647952264400637,-1.6301981417138725]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.18632550589286856,1.5832785105359357,0.71338606911949],"aabb_xy":[[-0.26632550290711654,1.5631439588625244],[-0.10632550887862058,1.603413062209347]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[0.4153971970952228,-1.607198575536361,0.71338606911949],"aabb_xy":[[0.3778971986718224,-1.6203627895041912],[0.4528971955186231,-1.5940343615685302]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.5681654231452637,0.7506050645204763,0.71338606911949],"aabb_xy":[[0.5616637866372591,0.7408372424941665],[0.5746670596532684,0.7603728865467861]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[-0.4839820113479718,0.7618339318295586,0.71338606911949],"aabb_xy":[[-0.506495703171429,0.691833931228551],[-0.46146831952451456,0.831833932430566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574525159988917,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1065.png","name":"1065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1065.png","name":"1065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5578.png","name":"5578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":617.0721481724951,"rotation_z_degrees":29.33213576572014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014039540051962753,-0.0016211129664757892,-0.009115401531109471]},{"name":"camera_2","offset_m":[0.0022895048778629155,-0.011565845811034543,-0.015290986838768545]},{"name":"camera_3","offset_m":[-0.008598495945539346,-0.008410698567351611,0.011296124098179237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003447773086908425,-0.0014804293351864484,-0.00033560067726053945],"end_effector_yaw_offset_degrees":-0.5461317129247858},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001997198914447008,-0.0009037349938059731,-0.000506281283439913],"end_effector_yaw_offset_degrees":-0.4505054280427585},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00027112035409315813,-0.0001712741447982022,-0.0001452048223631998],"end_effector_yaw_offset_degrees":0.13854197920907985}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029963316737480817,-0.00030516207117503146],"position_m":[0.31990366832625194,-0.12430516207117503,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026920275885364588,-0.0033848860394791592],"position_m":[0.3186079724114635,0.11781511396052084,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0024786920337903674,-0.0004463153295695124],"position_m":[0.29932130796620965,0.0021536846704304875,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016392079435154031,0.001832899610037169],"position_m":[0.10393920794351541,0.39363289961003717,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018625142277242136,-0.003467446741978032],"position_m":[0.16438625142277244,-0.441167446741978,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c474dea6db48d3a30a3b2e04d21c992ca1d69aeb8c3c621e40f660eb663675a6","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1065/tex_ceiling_textures_7810/tex_floor_textures_5578/tex_table_textures_4369/tex_wall_textures_1019","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1025983889934562950,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1025983889934562950,"visual_seed":1025983889934562950,"scene_id":"lab_003","finished_at":"2026-09-03T19:32:59"} +{"episode_id":"ep_000057","started_at":"2026-09-03T19:33:01","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.07445484866170793,-0.8799378841456895,0.71338606911949],"aabb_xy":[[0.00945485050578887,-0.9062341286956017],[0.139454846817627,-0.8536416395957773]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.3900819595530951,-1.125140462852365,0.71338606911949],"aabb_xy":[[0.3250819616714474,-1.1762641265589058],[0.455081957434743,-1.074016799145824]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.6286386047760344,-1.962387128628166,0.71338606911949],"aabb_xy":[[0.606138604532519,-1.9745917632879377],[0.6511386050195498,-1.9501824939683938]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.46257354583897636,-1.2698759914623527,0.71338606911949],"aabb_xy":[[0.4266600414139866,-1.3057894996791073],[0.498487050263966,-1.2339624832455982]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.0826371646476699,-2.39409661427974,0.71338606911949],"aabb_xy":[[0.025006695760399038,-2.4540966132064503],[0.14026763353494073,-2.334096615353029]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.4151103305659614,-1.191007985039312,0.71338606911949],"aabb_xy":[[-0.4951103310361774,-1.1993186926536608],[-0.3351103300957455,-1.1826972774249638]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.4679979546211636,-1.9564409466703512,0.71338606911949],"aabb_xy":[[-0.47935968927444966,-1.967809413076639],[-0.45663621996787734,-1.9450724802640629]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.42413080288996025,-0.3204540456013869,0.71338606911949],"aabb_xy":[[-0.484130802736527,-0.37727266779442553],[-0.3641308030433934,-0.26363542340834817]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.40913040357453695,0.49102714119620927,0.71338606911949],"aabb_xy":[[-0.43040841171800914,0.4260271388701361],[-0.38785239543106464,0.5560271435222822]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.572378418904856,-1.5842621971151007,0.71338606911949],"aabb_xy":[[-0.6323784194127088,-1.641108930801022],[-0.5123784183970029,-1.5274154634291794]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.005639552510750212,1.2889642543890298,0.71338606911949],"aabb_xy":[[-0.05836044460135548,1.2399318845946192],[0.0696395496228559,1.3379966241834405]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.212641989943453,1.7071673721278162,0.71338606911949],"aabb_xy":[[-0.29264199320746614,1.693607339818903],[-0.13264198667943988,1.7207274044367298]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.1170567794381947,-0.4683300648245394,0.71338606911949],"aabb_xy":[[-0.12169189459042808,-0.47219739990168796],[-0.1124216642859613,-0.46446272974739067]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.36183258880080005,1.579590373539371,0.71338606911949],"aabb_xy":[[0.3545502724241362,1.4895903699298616],[0.36911490517746354,1.6695903771488796]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.39945798337155325,0.3544934882767419,0.71338606911949],"aabb_xy":[[0.37445798409959097,0.33814812468057953],[0.42445798264351553,0.3708388518729042]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.6267226103720974,-0.3720661828482661,0.71338606911949],"aabb_xy":[[-0.6512362344691033,-0.3963307761503026],[-0.6022089862750916,-0.3478015895462297]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.6484367495253072,-0.2600291810200863,0.71338606911949],"aabb_xy":[[0.6315260170889654,-0.2735013866127008],[0.665347481961649,-0.24655697542747176]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.5137301255932614,1.3390823584581826,0.71338606911949],"aabb_xy":[[0.45213936636926877,1.275082360349136],[0.5753208848172544,1.4030823565672297]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.2540534606949502,-0.8809408209714655,0.71338606911949],"aabb_xy":[[-0.3340472842735085,-0.9609408235643072],[-0.17405963711639205,-0.8009408183786241]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.6431649512663701,-1.3609682378047263,0.71338606911949],"aabb_xy":[[-0.6563161972376595,-1.3859682375614129],[-0.6300137052950808,-1.3359682380480398]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.1877944738445314,-0.11270923035305724,0.71338606911949],"aabb_xy":[[-0.20243787939856436,-0.12736795000984152],[-0.1731510682904984,-0.09805051069627295]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.4781628047185835,1.7385258710980254,0.71338606911949],"aabb_xy":[[0.4685311684981539,1.7288885583183164],[0.48779444093901314,1.7481631838777343]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.24020902336482497,0.6189119241418406,0.71338606911949],"aabb_xy":[[0.2225333927762266,0.6012317078624378],[0.25788465395342325,0.6365921404212433]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.36916243368637225,-1.7331689923498885,0.71338606911949],"aabb_xy":[[-0.43416243632416573,-1.7846485910493357],[-0.30416243104857876,-1.6816893936504418]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659457355257489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2036.png","name":"2036"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2036.png","name":"2036"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1523.png","name":"1523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7895.png","name":"7895"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2753.png","name":"2753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5234.png","name":"5234"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":765.8074691713975,"rotation_z_degrees":293.0096755625337,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003549187317895476,0.008254662780945887,0.015572104952574512]},{"name":"camera_2","offset_m":[0.0032103613476659673,0.013600476341465228,0.015356208932336832]},{"name":"camera_3","offset_m":[0.0033540697962962697,-0.015629091829564765,0.001155527242689202]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016957939204932122,-0.0009937299233673906,-0.0011675414041621263],"end_effector_yaw_offset_degrees":0.24524746333683312},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015549741774313049,0.00010798042927866007,0.001649342359521157],"end_effector_yaw_offset_degrees":-0.5223661537856485},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006808982632541443,-0.0017958962410493386,-0.00136361951733644],"end_effector_yaw_offset_degrees":-0.7343581204365293}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004474186699616363,-0.0027707000298468664],"position_m":[0.32334741866996164,-0.12677070002984686,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001596824579192644,0.0032999682074095387],"position_m":[0.31970317542080734,0.12449996820740954,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004854745339424247,0.0018946892189278279],"position_m":[0.29694525466057575,0.004494689218927828,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007270535914286223,-0.0013051324634041107],"position_m":[0.10157294640857138,0.39049486753659585,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001989828391776926,-0.004462108815849995],"position_m":[0.16618982839177693,-0.44216210881585,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc94d08620beec78f7df2ef04e17d6d3a4a91c946d4a19bb444b9109fd3aa2f9","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2036/tex_ceiling_textures_5234/tex_floor_textures_2753/tex_table_textures_1523/tex_wall_textures_7895","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4134378934086585994,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4134378934086585994,"visual_seed":4134378934086585994,"scene_id":"lab_003","finished_at":"2026-09-03T19:35:36"} +{"episode_id":"ep_000058","started_at":"2026-09-03T19:35:39","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.1654487386630895,-1.9124031957056404,0.71338606911949],"aabb_xy":[[0.1014487379596202,-1.9584215781785617],[0.2294487393665589,-1.8663848132327197]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.20608108499864863,-0.6085282690779539,0.71338606911949],"aabb_xy":[[0.19805481436802266,-0.6172797640553065],[0.21410735562927466,-0.5997767741006013]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.3059077397082035,-1.4466382518707412,0.71338606911949],"aabb_xy":[[-0.3146889668554398,-1.4554179991592715],[-0.29712651256096734,-1.437858504582211]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.24298074634803574,-2.3223290660908247,0.71338606911949],"aabb_xy":[[-0.2464214225880929,-2.326190499065189],[-0.23954007010797856,-2.31846763311646]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.012764815720052725,-0.790436877898065,0.71338606911949],"aabb_xy":[[-0.037332648261020895,-0.8544368784078767],[0.06286227970112634,-0.7264368773882531]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.5704450499880693,-0.7035882377595952,0.71338606911949],"aabb_xy":[[0.5617310809381346,-0.7260882384187833],[0.5791590190380036,-0.6810882371004069]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.013648221306516994,-2.485437061133037,0.71338606911949],"aabb_xy":[[-0.036329195558736586,-2.535437062622285],[0.06362563817177057,-2.435437059643788]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.4507980983601696,1.3498112389954766,0.71338606911949],"aabb_xy":[[-0.5147980986341478,1.2997451387981884],[-0.38679809808619137,1.3998773391927644]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.6440708377154746,-2.5256704322290107,0.71338606911949],"aabb_xy":[[-0.6665708377256229,-2.539766651868614],[-0.6215708377053263,-2.5115742125894074]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.1345441382595729,-1.5773788752145042,0.71338606911949],"aabb_xy":[[-0.1512212742526684,-1.5940787991884344],[-0.1178670022664774,-1.5606789512405739]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.006905223316913567,1.022200375063798,0.71338606911949],"aabb_xy":[[-0.0203517499509569,1.008730523410707],[0.006541303317129766,1.0356702267168896]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.17995392216052208,-2.432217525064477,0.71338606911949],"aabb_xy":[[0.1386493790967861,-2.4962175246325935],[0.22125846522425807,-2.3682175254963593]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.5332213004468547,-2.292691415542999,0.71338606911949],"aabb_xy":[[-0.5803506794486902,-2.3566914165874007],[-0.4860919214450189,-2.2286914144985968]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.1749756929772016,-0.8034521407386781,0.71338606911949],"aabb_xy":[[-0.1846073291976312,-0.8130894535183869],[-0.16534405675677197,-0.7938148279589691]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.039551348066863556,-1.7280489681182454,0.71338606911949],"aabb_xy":[[0.01663563518181366,-1.750953265254669],[0.06246706095191347,-1.705144670981822]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.4050682981813903,-1.0824160674821293,0.71338606911949],"aabb_xy":[[-0.41306178797667237,-1.090414199422605],[-0.3970748083861083,-1.0744179355416539]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.4310058094524616,0.9544182321560792,0.71338606911949],"aabb_xy":[[0.4005215593254314,0.9044182323745832],[0.4614900595794917,1.0044182319375752]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.6321804807192273,-0.9154536038251362,0.71338606911949],"aabb_xy":[[-0.6492825586775954,-0.9325604093564059],[-0.6150784027608591,-0.8983467982938664]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.6296106072219139,0.3647485115700446,0.71338606911949],"aabb_xy":[[-0.6795836727544294,0.3147485117575118],[-0.5796375416893985,0.4147485113825776]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.20131860746801633,-1.2015996506434634,0.71338606911949],"aabb_xy":[[0.12131860639489597,-1.211377696980848],[0.28131860854113666,-1.1918216043060792]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.15005642760745208,1.057233121139474,0.71338606911949],"aabb_xy":[[-0.2140564249097985,1.0128666941716171],[-0.08605643030510571,1.1015995481073306]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.03791367342746521,-2.3785709757567433,0.71338606911949],"aabb_xy":[[-0.04199183133451495,-2.382651956005007],[-0.03383551552041547,-2.3744899955084797]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.4096524213093932,-1.2785840221991756,0.71338606911949],"aabb_xy":[[-0.41899942889168845,-1.2928876444168198],[-0.400305413727098,-1.2642803999815317]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.30507873642267797,0.5928713604310296,0.71338606911949],"aabb_xy":[[-0.316950819434179,0.5078713607373792],[-0.2932066534111768,0.6778713601246799]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.047163695186413834,0.8628029674669833,0.71338606911949],"aabb_xy":[[-0.10215690652355061,0.8078029671281898],[0.007829516150722924,0.917802967805777]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.3412377707380658,-0.6920026083084843,0.71338606911949],"aabb_xy":[[0.303737770389838,-0.7037940038895678],[0.37873777108629353,-0.6802112127274007]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[0.36205105668043136,-1.5712603939366807,0.71338606911949],"aabb_xy":[[0.2720510580859614,-1.5875109802501022],[0.4520510552749013,-1.5550098076232601]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[-0.20490836905772442,-2.164026076058607,0.71338606911949],"aabb_xy":[[-0.2849083712204869,-2.243981259684751],[-0.12490836689496193,-2.0840708924324636]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[0.20991981065421994,1.083093208327873,0.71338606911949],"aabb_xy":[[0.19731711151714348,1.0704978121030075],[0.2225225097912964,1.0956886045527385]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.5637201803179803,0.5453698349579512,0.71338606911949],"aabb_xy":[[0.552358445664694,0.5340013685516629],[0.5750819149712664,0.5567383013642391]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[-0.33059646916765306,1.1477229973873215,0.71338606911949],"aabb_xy":[[-0.3804791660453493,1.0977229981410468],[-0.28071377228995686,1.1977229966335963]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.4127582328735841,-0.771108625579279,0.71338606911949],"aabb_xy":[[-0.4176575251801475,-0.7987855448818477],[-0.4078589405670205,-0.7434317062767102]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560355633897259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4904.png","name":"4904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4904.png","name":"4904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5327.png","name":"5327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5404.png","name":"5404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7120.png","name":"7120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9221.png","name":"9221"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":572.134964189659,"rotation_z_degrees":277.1104310761906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009318883000319737,-0.005950693309853872,-0.013677916306962152]},{"name":"camera_2","offset_m":[-0.016859079402909264,-0.018027438999296985,0.0004033442556477945]},{"name":"camera_3","offset_m":[-0.0019706162088584563,0.011638924666281723,0.016490595827053516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005753964668256213,0.001601597620108359,0.00040459663949157397],"end_effector_yaw_offset_degrees":-0.9138264429927938},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013899015096637633,0.0008512035893243728,0.0019075582362004968],"end_effector_yaw_offset_degrees":-0.8888786004468443},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014974060799254423,0.0009777715485868345,-0.0019748875652024545],"end_effector_yaw_offset_degrees":0.46575789523500366}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006367521676310609,0.0039211324624351925],"position_m":[0.32353675216763106,-0.1200788675375648,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00419500207427135,0.0003046206534070457],"position_m":[0.32549500207427134,0.12150462065340704,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002376177657453171,-0.002023713178972465],"position_m":[0.3041761776574532,0.0005762868210275351,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036347238529145258,0.0039578606374981945],"position_m":[0.10593472385291453,0.3957578606374982,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017956451235920032,-0.0017588639038152941],"position_m":[0.1640204354876408,-0.4394588639038153,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"74c60f5bea95ecc5993c3118b83c7b115ab558c87f0e8d3a271d53a7edd5fcda","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4904/tex_ceiling_textures_9221/tex_floor_textures_7120/tex_table_textures_5327/tex_wall_textures_5404","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1896866757737258869,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1896866757737258869,"visual_seed":1896866757737258869,"scene_id":"lab_003","finished_at":"2026-09-03T19:38:07"} +{"episode_id":"ep_000059","started_at":"2026-09-03T19:38:11","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.5088828795797018,1.6085182348784834,0.71338606911949],"aabb_xy":[[-0.5180427585235784,1.6019870168349466],[-0.4997230006358252,1.6150494529220207]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.5783168727977155,1.4841389188256406,0.71338606911949],"aabb_xy":[[-0.6583168730713224,1.411189370999924],[-0.49831687252410845,1.5570884666513574]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.23705481587339172,-0.18872558174277776,0.71338606911949],"aabb_xy":[[-0.27268397177335146,-0.22435824849963068],[-0.20142565997343195,-0.15309291498592478]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.30036614613830925,-0.6966522334934373,0.71338606911949],"aabb_xy":[[0.2653661462422903,-0.7050264690053771],[0.33536614603432807,-0.6882779979814972]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.11496433813294316,1.7764555754686255,0.71338606911949],"aabb_xy":[[-0.17996433816724589,1.7297548987882985],[-0.04996433809864041,1.823156252148953]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.24022214056923563,0.3765618385538261,0.71338606911949],"aabb_xy":[[-0.304222142247233,0.32804444707451186],[-0.17622213889123828,0.4250792300331403]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.5938105914387907,-0.8195162421340461,0.71338606911949],"aabb_xy":[[-0.6056826744502918,-0.9045162418276965],[-0.5819385084272896,-0.7345162424403958]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.6611912261137314,0.5205756172740679,0.71338606911949],"aabb_xy":[[-0.6653270824464317,0.48307561782971087],[-0.6570553697810313,0.5580756167184249]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.06423797973646317,0.7674778665723183,0.71338606911949],"aabb_xy":[[-0.06981965137059193,0.7549778667545428],[-0.058656308102334416,0.7799778663900938]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.6032240116972536,0.37885052887500814,0.71338606911949],"aabb_xy":[[0.5392240109937844,0.33283214640208714],[0.667224012400723,0.4248689113479292]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.06482597495411047,-1.6193513507137096,0.71338606911949],"aabb_xy":[[-0.09826615015013006,-1.6527949765446395],[-0.03138579975809085,-1.5859077248827793]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.7003240196230605,-2.5398285113885604,0.71338606911949],"aabb_xy":[[0.6922977489924345,-2.548580006365913],[0.7083502902536865,-2.5310770164112077]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.12254948456429005,0.7945376460499958,0.71338606911949],"aabb_xy":[[0.08795840171024481,0.7295376457649645],[0.15714056741833524,0.8595376463350266]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.621864674351974,-2.3330762383351398,0.71338606911949],"aabb_xy":[[-0.6858646736461423,-2.3970623787039935],[-0.5578646750578059,-2.269090097966285]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.4825417352479378,1.284149160292905,0.71338606911949],"aabb_xy":[[-0.5475417334038568,1.2578529157429927],[-0.41754173709201875,1.3104454048428171]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.30823077156461887,-2.4633548692138434,0.71338606911949],"aabb_xy":[[0.29560398427742246,-2.4729009429154156],[0.32085755885181516,-2.4538087955122703]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.025248822573152307,-2.447826923713241,0.71338606911949],"aabb_xy":[[-0.016935591587678434,-2.5118269239904523],[0.06743323673398305,-2.38382692343603]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.30493896129883674,1.3872682108421044,0.71338606911949],"aabb_xy":[[-0.3394013086969785,1.3527743284442812],[-0.2704766139006949,1.4217620932399266]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.20046609761660905,-2.06186391656164,0.71338606911949],"aabb_xy":[[0.1779660980929016,-2.084359864012261],[0.2229660971403164,-2.0393679691110194]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.671866875240511,-2.4037668230905114,0.71338606911949],"aabb_xy":[[0.6606218196698931,-2.4150086208146067],[0.6831119308111288,-2.392525025366416]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.4100342779473809,0.939878669070068,0.71338606911949],"aabb_xy":[[0.37757257706545333,0.9097458369551653],[0.44249597882930825,0.9700115011849705]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.4224102471711117,-1.4519066796988904,0.71338606911949],"aabb_xy":[[-0.486410244473458,-1.496273106666747],[-0.3584102498687652,-1.4075402527310334]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.6114877136052895,1.1565013145113658,0.71338606911949],"aabb_xy":[[-0.6714877141131423,1.0996545808254443],[-0.5514877130974365,1.213348048197287]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.6033435941509153,-1.6485091540302945,0.71338606911949],"aabb_xy":[[-0.6082996143357966,-1.6710091542324166],[-0.5983875739660343,-1.6260091538281733]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.3601996483952566,-0.07319227530964101,0.71338606911949],"aabb_xy":[[-0.3854204852550962,-0.09841602616252776],[-0.33497881153541686,-0.047968524456754265]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.5694240261400053,0.10796264070232864,0.71338606911949],"aabb_xy":[[-0.5919240266520458,0.08547078233693027],[-0.5469240256279646,0.130454499067727]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[0.2719323374044986,1.011510464662468,0.71338606911949],"aabb_xy":[[0.2543540352155518,0.9939359750883631],[0.2895106395934455,1.029084954236573]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.6497899357757058,1.6762246385666733,0.71338606911949],"aabb_xy":[[0.6122899345909127,1.6718064158706125],[0.6872899369604983,1.6806428612627335]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.10183638413441853,0.40857902062160845,0.71338606911949],"aabb_xy":[[-0.11430374224415417,0.396113695988285],[-0.08936902602468287,0.421044345254932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587260921868415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1067.png","name":"1067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2977.png","name":"2977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.4302929253291,"rotation_z_degrees":170.20238700581217,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016794593027373222,-0.019227869817292943,-0.012530225462960405]},{"name":"camera_2","offset_m":[-0.00855851783569478,-0.007930849620655081,-0.0016036555900201498]},{"name":"camera_3","offset_m":[0.011246640838914308,-0.00381279781863348,0.015228345651519985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015471675486026762,0.0006191314959927657,-0.0006867121059443023],"end_effector_yaw_offset_degrees":0.6289197560982773},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012321005032442218,-0.0002274696970650538,-0.0015846828247837177],"end_effector_yaw_offset_degrees":-0.6301421808343495},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019308686067870439,-0.0009007864436599963,0.0018636525721349973],"end_effector_yaw_offset_degrees":-0.05406304114380611}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017284794642845125,0.00115276148262319],"position_m":[0.3246284794642845,-0.1228472385173768,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004127139524907369,0.0005261481196229979],"position_m":[0.31717286047509263,0.121726148119623,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001124627872293673,-0.0006790259426184874],"position_m":[0.30067537212770634,0.0019209740573815125,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026911191900575227,0.0039945761485276786],"position_m":[0.09960888080994248,0.39579457614852764,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004275806760452431,-0.0008218048571666352],"position_m":[0.16847580676045246,-0.43852180485716663,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"43ccd61e7df1c82a90aa593266084a308296f6536107e78128e028f0340a8d96","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2636/tex_ceiling_textures_8754/tex_floor_textures_2977/tex_table_textures_1067/tex_wall_textures_8887","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2544605929601984733,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2544605929601984733,"visual_seed":2544605929601984733,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:34"} +{"episode_id":"ep_000060","started_at":"2026-09-03T19:40:37","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.33634619439441477,0.8132916311301988,0.71338606911949],"aabb_xy":[[-0.3963461942409815,0.75647300893716],[-0.2763461945478479,0.8701102533232373]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.272966013568608,0.5881826778915991,0.71338606911949],"aabb_xy":[[-0.3179660150348369,0.5431828210301184],[-0.2279660121023792,0.6331825347530797]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.3049237747106541,-2.0154012508247625,0.71338606911949],"aabb_xy":[[0.2627393605498234,-2.079401251101974],[0.34710818887148487,-1.9514012505475518]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.39312048262952604,1.3144743302637503,0.71338606911949],"aabb_xy":[[0.3754876470359984,1.296851384248127],[0.41075331822305355,1.332097276279373]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.49262947644466504,0.82731105135877,0.71338606911949],"aabb_xy":[[0.4026294797090547,0.7741275880414754],[0.5826294731802751,0.8804945146760644]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.2323751318327547,-0.7555446090594446,0.71338606911949],"aabb_xy":[[0.2098759961065277,-0.7780446098377076],[0.2548742675589817,-0.7330446082811817]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.47984087248165475,-2.3628267810619,0.71338606911949],"aabb_xy":[[0.43882292909528375,-2.4128267816928575],[0.5208588158680255,-2.312826780430943]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.4489930802889299,-1.7744081807120482,0.71338606911949],"aabb_xy":[[0.378993083878968,-1.7948461163637295],[0.5189930766988915,-1.753970245060366]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.4826401075343425,1.5608315017293006,0.71338606911949],"aabb_xy":[[0.450178406652415,1.5306986696143978],[0.5151018084162698,1.590964333844203]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.44065704919500154,0.4420240117850165,0.71338606911949],"aabb_xy":[[-0.45041303870417543,0.432261477725782],[-0.43090105968582765,0.4517865458442509]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.5405438370004794,0.2971014614915015,0.71338606911949],"aabb_xy":[[0.5030438368286073,0.2644007261085943],[0.5780438371723512,0.32980219687440865]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.20448526873218875,-2.28863364317095,0.71338606911949],"aabb_xy":[[0.13448526534062674,-2.3239494168743806],[0.2744852721237507,-2.253317869467519]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.07079538839942234,1.2216931955227084,0.71338606911949],"aabb_xy":[[-0.10829538991505405,1.2104664225065631],[-0.033295386883790634,1.2329199685388532]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.1753430205602342,-2.4662526309493358,0.71338606911949],"aabb_xy":[[-0.17930350432996855,-2.4739204955348564],[-0.1713825367904998,-2.458584766363815]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[0.36816632009080674,-1.683699482000533,0.71338606911949],"aabb_xy":[[0.3549353745561254,-1.6969269010225325],[0.381397265625488,-1.6704720629785337]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.5109187009682672,1.0827944147430157,0.71338606911949],"aabb_xy":[[-0.5484187021530598,1.078376192046955],[-0.47341869978347423,1.087212637439076]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.08692256695222145,1.6894323007401764,0.71338606911949],"aabb_xy":[[0.07812051164324872,1.681620974585247],[0.09572462226119414,1.6972436268951052]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.33451392831882515,-0.9268391312905138,0.71338606911949],"aabb_xy":[[-0.33862987843089776,-0.9309546863233592],[-0.33039797820675243,-0.9227235762576681]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.11058908588816907,1.812893713397988,0.71338606911949],"aabb_xy":[[0.09391194989507357,1.7961937894240576],[0.12726622188126457,1.8295936373719182]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.5817467131178169,1.1716694576430235,0.71338606911949],"aabb_xy":[[-0.5897830478191017,1.1636313383386065],[-0.573710378416532,1.17970757694744]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.6173141098802127,1.31587423999015,0.71338606911949],"aabb_xy":[[-0.6673141108307454,1.2843250929866283],[-0.5673141089296798,1.3474233869936711]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.4770163808233172,-1.134912861220506,0.71338606911949],"aabb_xy":[[0.45484385384666626,-1.157088528376629],[0.49918890779996794,-1.1127371940643829]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.08306397807743837,-1.0852767406178636,0.71338606911949],"aabb_xy":[[0.07962330183738119,-1.089138173592228],[0.08650465431749553,-1.0814153076434991]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.32052931837874077,0.7917710121397392,0.71338606911949],"aabb_xy":[[0.3080619602690052,0.7793056875064158],[0.3329966764884765,0.8042363367730628]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.4233016569418114,-0.5809927950106393,0.71338606911949],"aabb_xy":[[-0.5033016583719385,-0.6605099500232489],[-0.3433016555116841,-0.5014756399980299]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.02527305175729011,0.7750592707487822,0.71338606911949],"aabb_xy":[[-0.05049388861712977,0.7498355198958954],[-5.221489745044216e-05,0.8002830216016689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6496601418840209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/77.png","name":"77"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/77.png","name":"77"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8550.png","name":"8550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9514.png","name":"9514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6954.png","name":"6954"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6545.png","name":"6545"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.0878342716597,"rotation_z_degrees":228.84481176887203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016975695824567368,-0.0008978274284099086,-0.019433512824340332]},{"name":"camera_2","offset_m":[0.011530625856811864,0.019511145740127894,-0.002066759613368871]},{"name":"camera_3","offset_m":[0.011131435664961758,-0.00012899561600522233,0.017801738597453116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019864322893022443,-0.001606040317882989,-0.0015465676020555241],"end_effector_yaw_offset_degrees":0.8486871242407805},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00029369453327401603,0.0018182748857157038,0.0005929364947413812],"end_effector_yaw_offset_degrees":-0.2137808874155398},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007312020633925477,0.0011036774753329826,-0.0018731444500501948],"end_effector_yaw_offset_degrees":0.3600982485134334}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00041566374007911445,0.0032360018897692666],"position_m":[0.3224843362599209,-0.12076399811023074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008870176597888715,0.003160382887014839],"position_m":[0.3204129823402111,0.12436038288701484,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0014856343362137426,-0.0011503266584213558],"position_m":[0.3003143656637863,0.0014496733415786441,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004086782829785197,-0.004607336891368711],"position_m":[0.1063867828297852,0.38719266310863126,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037750971545576382,0.003776561418171994],"position_m":[0.16042490284544236,-0.43392343858182797,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"561664849a4720f31ebcbc7665bcbcd7e10f5aaea0bec6e9d5fb5e028ebbd986","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_77/tex_ceiling_textures_6545/tex_floor_textures_6954/tex_table_textures_8550/tex_wall_textures_9514","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3580125670325806153,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3580125670325806153,"visual_seed":3580125670325806153,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:06"} +{"episode_id":"ep_000061","started_at":"2026-09-03T19:43:10","dimensions":{"distractor":{"count":22,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.4197702298508008,-2.0175693421648155,0.71338606911949],"aabb_xy":[[0.40276013256075016,-2.0337038306630895],[0.43678032714085147,-2.0014348536665416]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.2971110851865246,-1.7109778816906172,0.71338606911949],"aabb_xy":[[-0.3078840591078924,-1.745977879909656],[-0.28633811126515685,-1.675977883471578]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.17058476616438345,1.3866753082523124,0.71338606911949],"aabb_xy":[[0.1554824647033653,1.3715737866212498],[0.1856870676254015,1.4017768298833737]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.4385995953333883,-0.44837675658851284,0.71338606911949],"aabb_xy":[[0.4288436058242144,-0.4581392906477473],[0.44835558484256216,-0.4386142225292784]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.4540046627518641,-0.9029354181947082,0.71338606911949],"aabb_xy":[[-0.4627186318017985,-0.9254354188538964],[-0.44529069370192953,-0.8804354175355199]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5883005304682928,1.4010287026682553,0.71338606911949],"aabb_xy":[[-0.6498912896922857,1.3370287045592084],[-0.5267097712443001,1.4650287007773022]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.07286625032850969,-1.4156429087046745,0.71338606911949],"aabb_xy":[[0.022883300141030346,-1.4656429083472347],[0.12284920051598901,-1.3656429090621138]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.06473902072089699,-2.117094795292518,0.71338606911949],"aabb_xy":[[-0.1022390210130718,-2.1211362706931216],[-0.02723902042872217,-2.113053319891914]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.5753791715105104,-1.54748826226543,0.71338606911949],"aabb_xy":[[-0.6553791736732729,-1.6274434458915736],[-0.49537916934774795,-1.4675330786392864]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.4951219158706309,-0.7642041666336061,0.71338606911949],"aabb_xy":[[-0.5601219168711316,-0.8149905317882811],[-0.43012191487013046,-0.7134178014789312]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.1239573085611928,0.875607392707777,0.71338606911949],"aabb_xy":[[0.04395730748807246,0.8658293463703925],[0.20395730963431313,0.8853854390451614]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.3243445827773106,0.7036064618984064,0.71338606911949],"aabb_xy":[[0.2593445848956628,0.6524827981918655],[0.38934458065895844,0.7547301256049473]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.493185059085693,-0.807328795148631,0.71338606911949],"aabb_xy":[[0.4291850619735873,-0.8563611649430416],[0.5571850561977987,-0.7582964253542204]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.6628558346244101,-0.7688742315445909,0.71338606911949],"aabb_xy":[[-0.6804886702179377,-0.7864971775602138],[-0.6452229990308825,-0.7512512855289678]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.6736683356481064,1.1006929673021428,0.71338606911949],"aabb_xy":[[0.63616833570434,1.0923998772673063],[0.7111683355918728,1.1089860573369794]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.6761731864591296,0.26735002467604474,0.71338606911949],"aabb_xy":[[0.6311805997406792,0.22235002540159599],[0.72116577317758,0.3123500239504935]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.02289170139222174,1.7975554266031408,0.71338606911949],"aabb_xy":[[0.015630453821814324,1.7847684163396318],[0.030152948962629152,1.8103424368666508]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.34510490944282285,0.6859251622854914,0.71338606911949],"aabb_xy":[[-0.3794018204605634,0.65162827607555],[-0.31080799842508217,0.7202220484954326]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.5766046938291967,-2.01246829992077,0.71338606911949],"aabb_xy":[[-0.5941513887453156,-2.0499683014850216],[-0.5590579989130777,-1.9749682983565189]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.41417086700932537,0.30757047043880315,0.71338606911949],"aabb_xy":[[0.4092148468244443,0.2850704702366816],[0.41912688719420665,0.3300704706409248]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.5639792006073601,0.9420680153358449,0.71338606911949],"aabb_xy":[[-0.627979197002933,0.8781047269171113],[-0.4999792042117869,1.0060313037545785]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.32009689705481537,1.6322829773931455,0.71338606911949],"aabb_xy":[[-0.32543447272082,1.6072829764640055],[-0.31475932138881085,1.657282978322285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555497213466228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5842.png","name":"5842"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5842.png","name":"5842"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5997.png","name":"5997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6912.png","name":"6912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8099.png","name":"8099"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.1318490030095,"rotation_z_degrees":266.12307549753467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016454595152768023,-0.017814492571531223,-0.013542965442549192]},{"name":"camera_2","offset_m":[0.007951990253315298,0.006022345880607034,-0.019332899370458182]},{"name":"camera_3","offset_m":[0.019750390578677026,-0.019261120367293518,0.012946562411969526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001095737461978447,-0.00018506151061227125,0.001624526689466237],"end_effector_yaw_offset_degrees":0.3228088263962685},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006600804409632414,0.0001839772041343059,0.0017398664994032393],"end_effector_yaw_offset_degrees":0.5553229467869041},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001593438075949547,-0.0016927357126826762,-0.0012319254741992814],"end_effector_yaw_offset_degrees":0.22540262214230888}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002113284511791461,-0.004470379263047816],"position_m":[0.3207867154882086,-0.12847037926304783,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008223482234763517,-0.0008037561052580845],"position_m":[0.32212234822347635,0.12039624389474192,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002773439864803348,0.002688362290172758],"position_m":[0.30457343986480334,0.005288362290172758,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004160320862767328,-0.0019768662214300235],"position_m":[0.09813967913723268,0.38982313377857,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001984410108204892,-0.0006132478502240413],"position_m":[0.1643984410108205,-0.438313247850224,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5764f94c956c35edafc8cd3f539272324e19f8083253854c30b6cbf5fc16beeb","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5842/tex_ceiling_textures_8099/tex_floor_textures_950/tex_table_textures_5997/tex_wall_textures_6912","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2360434522691094986,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2360434522691094986,"visual_seed":2360434522691094986,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:37"} +{"episode_id":"ep_000062","started_at":"2026-09-03T19:45:41","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.3727613342800913,0.654168095427647,0.71338606911949],"aabb_xy":[[-0.42276133594158594,0.6041696531719442],[-0.3227613326185964,0.7041665376833496]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.45961004933093763,-0.7325544368273427,0.71338606911949],"aabb_xy":[[0.4144387314827688,-0.7965544339718812],[0.5047813671791067,-0.6685544396828043]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.18236829279420164,0.5122277911683111,0.71338606911949],"aabb_xy":[[-0.1917153003764969,0.49792416895066705],[-0.17302128521190643,0.5265314133859551]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.249688571443885,-0.09366970817851161,0.71338606911949],"aabb_xy":[[-0.2538045215559577,-0.09778526321135708],[-0.24557262133181232,-0.08955415314566609]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.4647202922895408,0.1050772122104906,0.71338606911949],"aabb_xy":[[0.4175909132877051,0.04107721116608863],[0.5118496712913765,0.16907721325489256]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.17366665374921353,-2.0253056022346656,0.71338606911949],"aabb_xy":[[-0.22866213156987292,-2.080305603668572],[-0.11867117592855414,-1.9703056008007582]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.21592270032601407,-1.2804725296317347,0.71338606911949],"aabb_xy":[[-0.27089642236234696,-1.335472529195968],[-0.1609489782896812,-1.2254725300675016]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.21106837814252488,1.6355268284682896,0.71338606911949],"aabb_xy":[[-0.2560609648609753,1.590526829193841],[-0.16607579142407447,1.6805268277427385]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.5143005288119586,1.3250283251782005,0.71338606911949],"aabb_xy":[[-0.5269032279490351,1.3124329289533352],[-0.5016978296748822,1.3376237214030662]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.46484976603942973,0.4767197467522668,0.71338606911949],"aabb_xy":[[0.4273497660956633,0.4684266567174301],[0.5023497659831961,0.4850128367871033]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.5063215700181103,1.4159921082426599,0.71338606911949],"aabb_xy":[[0.49043707675278503,1.4016391679438358],[0.5222060632834353,1.430345048541484]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.25548596252705,-1.1999416810358159,0.71338606911949],"aabb_xy":[[0.2437177757323925,-1.2849416809410377],[0.26725414932170755,-1.1149416811305946]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.5622362559568899,0.9143906764532495,0.71338606911949],"aabb_xy":[[-0.5997362564542481,0.9104219929051309],[-0.5247362554595316,0.9183593600013678]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.5808357478565128,0.3732543450530694,0.71338606911949],"aabb_xy":[[-0.5896169750037491,0.3644745977645393],[-0.5720545207092768,0.38203409234159963]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.26508329211135007,-1.034912484123797,0.71338606911949],"aabb_xy":[[-0.35508329152972096,-1.0682879809679866],[-0.17508329269297918,-1.0015369872796072]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.4290244752405272,-2.4340818884496085,0.71338606911949],"aabb_xy":[[-0.4840167258760382,-2.4890818901929217],[-0.3740322246050163,-2.379081886706296]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.16929996974930617,-1.374402399692492,0.71338606911949],"aabb_xy":[[0.16384202411228607,-1.454402403000151],[0.1747579153863262,-1.2944023963848328]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.5827702440242117,0.27411689353177016,0.71338606911949],"aabb_xy":[[-0.591468206314927,0.26199191922429543],[-0.5740722817334964,0.2862418678392449]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.45628547140881803,-1.3340580102691209,0.71338606911949],"aabb_xy":[[-0.49128547053877364,-1.339803231344785],[-0.4212854722788623,-1.3283127891934567]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.5390451923317318,0.840672242774072,0.71338606911949],"aabb_xy":[[-0.5565451257657151,0.8231722428538374],[-0.5215452588977484,0.8581722426943065]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.5960045202920314,-0.19225105959912092,0.71338606911949],"aabb_xy":[[0.5320045209978632,-0.2562371999679751],[0.6600045195861997,-0.12826491923026673]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6536990168742836,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6762.png","name":"6762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6762.png","name":"6762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/97.png","name":"97"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6154.png","name":"6154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5586.png","name":"5586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6943.png","name":"6943"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.9873867966085,"rotation_z_degrees":277.76031560679183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024085989280485803,0.019194668562675783,-0.019060363549995935]},{"name":"camera_2","offset_m":[0.0019572358836324744,-0.008530208780094096,-0.011132159695011277]},{"name":"camera_3","offset_m":[0.006607236337819549,-0.018228178733622175,0.007549615770892616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006913729654078272,-0.0009667425842334559,0.0014241409290348347],"end_effector_yaw_offset_degrees":-0.5486428300888437},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001995930065331131,-0.0018864002018339893,0.0011523529637651676],"end_effector_yaw_offset_degrees":-0.3952867476175168},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009035115150733755,0.0007261045046460047,-0.00102476941236909],"end_effector_yaw_offset_degrees":-0.0379459596621301}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003440732003478229,-0.00044586939145114385],"position_m":[0.32634073200347824,-0.12444586939145114,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017817887672779698,-0.0004042653523618064],"position_m":[0.32308178876727794,0.1207957346476382,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0014271242261840534,-0.001176836210307014],"position_m":[0.30037287577381594,0.0014231637896929858,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023061887657234237,0.004358389019987092],"position_m":[0.09999381123427657,0.39615838901998707,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007438565473136885,0.0011071920896002898],"position_m":[0.16345614345268633,-0.43659280791039967,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e71eb7db199478fc733c0319e7e627603181f2f49f096403d0ee029f10c597f2","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6762/tex_ceiling_textures_6943/tex_floor_textures_5586/tex_table_textures_97/tex_wall_textures_6154","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5930539646275328979,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5930539646275328979,"visual_seed":5930539646275328979,"scene_id":"lab_003","finished_at":"2026-09-03T19:48:11"} +{"episode_id":"ep_000063","started_at":"2026-09-03T19:48:14","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.49602546896671695,0.8384950841338994,0.71338606911949],"aabb_xy":[[0.4410254693449711,0.7835113913464267],[0.5510254685884628,0.8934787769213721]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.53022997853032,-0.6802616198943929,0.71338606911949],"aabb_xy":[[0.5193242024427572,-0.7602616162932221],[0.5411357546178827,-0.6002616234955638]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.31474963233323844,-1.79952315369477,0.71338606911949],"aabb_xy":[[-0.3228773205265517,-1.8084367621054778],[-0.3066219441399253,-1.7906095452840622]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.5217183938163071,-1.1524902538487178,0.71338606911949],"aabb_xy":[[-0.5711988150302659,-1.2164902517615697],[-0.47223797260234834,-1.088490255935866]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.1667648533609124,1.3921067738003492,0.71338606911949],"aabb_xy":[[0.08676485193078518,1.3125896187877397],[0.24676485479103957,1.4716239288129587]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.32771498024090345,-0.37552798858533887,0.71338606911949],"aabb_xy":[[-0.3627149793708591,-0.3812732096610029],[-0.2927149811109478,-0.3697827675096747]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.009966570101834105,-1.6454913841525374,0.71338606911949],"aabb_xy":[[-0.07003343206092838,-1.7254465677786808],[0.08996657226459659,-1.5655362005263935]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.6980746706786674,0.6580765572976808,0.71338606911949],"aabb_xy":[[0.6798688470174197,0.6470511567156892],[0.716280494339915,0.6691019578796725]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.4642020861884747,0.7599346428028881,0.71338606911949],"aabb_xy":[[-0.477648612822518,0.7464647911497969],[-0.45075555955443136,0.7734044944559794]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.17055173985859284,-2.561034338842428,0.71338606911949],"aabb_xy":[[-0.19577257671843246,-2.5862580896953147],[-0.14533090299875312,-2.5358105879895407]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.19368783617652308,1.7500390472390284,0.71338606911949],"aabb_xy":[[-0.2736878394405362,1.736479014930115],[-0.11368783291250995,1.7635990795479417]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[0.23543368779024743,-1.590810250527167,0.71338606911949],"aabb_xy":[[0.1998045318902877,-1.62644291728402],[0.27106284369020717,-1.5551775837703141]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.5467015500430294,0.33932448165583695,0.71338606911949],"aabb_xy":[[-0.5965842469207258,0.2893244824095622],[-0.49681885316533336,0.38932448090211175]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.1986529965451042,-1.897826521093824,0.71338606911949],"aabb_xy":[[-0.253646207882241,-1.952826521432618],[-0.14365978520796746,-1.8428265207550307]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.05045653163680919,0.6548611996991012,0.71338606911949],"aabb_xy":[[-0.0954491183552596,0.6098612004246523],[-0.005463944918358776,0.6998611989735498]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[0.40070408719707795,1.5757603300767768,0.71338606911949],"aabb_xy":[[0.3782040869535626,1.5635556954170051],[0.4232040874405934,1.587964964736549]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.3912558879616822,-1.6567672245693439,0.71338606911949],"aabb_xy":[[-0.42875588813355414,-1.6894679599522506],[-0.35375588778981026,-1.6240664891864363]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.3819418313843766,-0.6368679598781635,0.71338606911949],"aabb_xy":[[-0.39782632464970175,-0.6512209001769875],[-0.36605733811905145,-0.6225150195793394]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.47856125394395765,-0.45797029383403043,0.71338606911949],"aabb_xy":[[-0.5485612503539192,-0.478408229485712],[-0.40856125753399575,-0.43753235818234854]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.6841513876432739,1.5730856738883277,0.71338606911949],"aabb_xy":[[0.666604692727155,1.5355856723240764],[0.7016980825593928,1.610585675452579]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.34758749446394116,0.15650969934618963,0.71338606911949],"aabb_xy":[[-0.3850874956487339,0.15209147665012904],[-0.3100874932791483,0.16092792204225012]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.3777775332104058,0.5455966298189536,0.71338606911949],"aabb_xy":[[-0.467777529946016,0.4924131665016591],[-0.2877775364747956,0.5987800931362481]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.46358189706827324,0.17384725351914687,0.71338606911949],"aabb_xy":[[-0.5010818974165009,0.1620558579380633],[-0.42608189672004537,0.1856386491002304]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[0.08782115003613544,-2.5367855245325255,0.71338606911949],"aabb_xy":[[0.07081105274608479,-2.5529200130307994],[0.1048312473261861,-2.5206510360342516]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.10322635239287581,-1.2417089607848377,0.71338606911949],"aabb_xy":[[0.03322635058413037,-1.263062729549025],[0.17322635420162125,-1.2203551920206503]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.389235225320939,-0.9353724371396028,0.71338606911949],"aabb_xy":[[0.37180451024193245,-0.9526445518034534],[0.40666594039994547,-0.9181003224757518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6502619497091859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1293.png","name":"1293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1293.png","name":"1293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3232.png","name":"3232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1039.png","name":"1039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3786.png","name":"3786"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":814.552771804916,"rotation_z_degrees":171.30923636727852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01591364905406598,0.00045039500548820985,0.0012439232305103479]},{"name":"camera_2","offset_m":[-0.004295457817977896,-0.010321467547178926,0.004851280783258253]},{"name":"camera_3","offset_m":[0.008929950959932577,0.00321186996264684,-0.016921151000852844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011074352693205228,-0.0019629023212179206,0.0002820821182071705],"end_effector_yaw_offset_degrees":-0.21693052756725018},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018772978857728535,0.0003756467003156222,-0.00044979446719919523],"end_effector_yaw_offset_degrees":0.9100815960765525},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007245900435224582,0.0018951456580345626,0.0009349209920930797],"end_effector_yaw_offset_degrees":-0.7301247624302905}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016356967165769279,-0.0028951702936652513],"position_m":[0.3212643032834231,-0.12689517029366526,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011141573506405315,-0.0029175249680229564],"position_m":[0.3211885842649359,0.11828247503197704,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0038908177713579085,-0.003962475376673021],"position_m":[0.2979091822286421,-0.001362475376673021,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00044196530782239767,-0.0037719397174416315],"position_m":[0.10185803469217761,0.3880280602825584,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003553116882618459,0.0031230285136623305],"position_m":[0.16064688311738157,-0.43457697148633767,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"555602bec5a0c2cbc0a1b6119430ddb3d9289e33fce81e44d25058bfbb11de54","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1293/tex_ceiling_textures_3786/tex_floor_textures_2792/tex_table_textures_3232/tex_wall_textures_1039","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7620403698402700096,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7620403698402700096,"visual_seed":7620403698402700096,"scene_id":"lab_003","finished_at":"2026-09-03T19:50:42"} +{"episode_id":"ep_000064","started_at":"2026-09-03T19:53:30","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.12055882048624633,1.798193805695314,0.71338606911949],"aabb_xy":[[0.09806239905238222,1.7756938058885665],[0.14305524192011043,1.8206938055020614]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.2281496526478929,-1.6651775707691958,0.71338606911949],"aabb_xy":[[0.20363602855088705,-1.6894421640712323],[0.25266327674489875,-1.6409129774671594]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.6349039325153802,-1.2192381102480427,0.71338606911949],"aabb_xy":[[0.5749039326688133,-1.2760567324410812],[0.6949039323619469,-1.1624194880550038]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.6078978936730933,-0.7707613435685512,0.71338606911949],"aabb_xy":[[-0.6149393446238409,-0.7777880953063457],[-0.6008564427223457,-0.7637345918307566]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.1806165028434864,-0.22275456129826443,0.71338606911949],"aabb_xy":[[-0.20846153962409353,-0.2535390600365761],[-0.15277146606287928,-0.19197006255995278]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.44192483076993994,-2.0120258453158124,0.71338606911949],"aabb_xy":[[0.43312277546096717,-2.019837171470741],[0.4507268860789126,-2.004214519160883]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.29790969504231823,-0.7029875561443948,0.71338606911949],"aabb_xy":[[0.29383153713526844,-0.7070685363926581],[0.3019878529493679,-0.6989065758961315]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.43863134707661083,0.8085017022536349,0.71338606911949],"aabb_xy":[[-0.523631345494034,0.7236274067913501],[-0.35363134865918766,0.89337599771592]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.32125529893305105,-2.4348183142243376,0.71338606911949],"aabb_xy":[[0.3034617919981346,-2.452618059820135],[0.3390488058679675,-2.4170185686285395]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.044185565263142434,0.9116075053071988,0.71338606911949],"aabb_xy":[[-0.07762574045916203,0.8781638794762686],[-0.010745390067122827,0.9450511311381288]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.5571965565366843,-2.33473157213318,0.71338606911949],"aabb_xy":[[0.5227340785235965,-2.3413952493161023],[0.5916590345497721,-2.328067894950257]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.5289200017252433,-0.802090320576553,0.71338606911949],"aabb_xy":[[0.43892000230687234,-0.8354658174207427],[0.6189200011436141,-0.7687148237323632]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.5747996932783296,0.031058465656641054,0.71338606911949],"aabb_xy":[[-0.664486769586445,-0.058941534597809486],[-0.4851126169702141,0.1210584659110916]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.621540837011332,-2.1059832399953096,0.71338606911949],"aabb_xy":[[-0.6765408361879214,-2.1609729147702668],[-0.5665408378347424,-2.0509935652203515]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.2137429882997881,-0.9714343076472283,0.71338606911949],"aabb_xy":[[-0.22177932300107295,-0.9794724269516448],[-0.20570665359850326,-0.9633961883428113]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.22345395713612737,-1.9042369390904792,0.71338606911949],"aabb_xy":[[-0.26024859026103364,-1.9411428141870615],[-0.18665932401122107,-1.867331063993897]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.6770637004836166,-1.716244209344323,0.71338606911949],"aabb_xy":[[-0.6946965360771442,-1.733867155359946],[-0.6594308648900891,-1.6986212633287001]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.23368016059277408,0.2990503516504912,0.71338606911949],"aabb_xy":[[-0.2701759812200528,0.26256640922373364],[-0.1971843399654953,0.3355342940772488]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.06374029907363699,-0.8559062801648867,0.71338606911949],"aabb_xy":[[-0.1337403012050665,-0.8786682457905821],[0.006259703057792582,-0.8331443145391908]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.0913493286560002,-1.4529909638273857,0.71338606911949],"aabb_xy":[[-0.15634932965650072,-1.5037773289820606],[-0.026349327655499688,-1.4022045986727107]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.2818126631005189,1.7203266461937798,0.71338606911949],"aabb_xy":[[0.2704509284472327,1.7089581797874918],[0.293174397753805,1.731695112600068]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.08248531333251219,1.1862904385085526,0.71338606911949],"aabb_xy":[[0.06580817733941668,1.1695905145346224],[0.0991624493256077,1.202990362482483]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[0.6443527804089284,-1.4506903829863889,0.71338606911949],"aabb_xy":[[0.6366495897348514,-1.4583997536851268],[0.6520559710830054,-1.442981012287651]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.26886740686058375,-1.1727506608524514,0.71338606911949],"aabb_xy":[[0.2554208802265404,-1.1862205125055425],[0.2823139334946271,-1.1592808091993603]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.21494162428721608,-1.6576652300292722,0.71338606911949],"aabb_xy":[[-0.26494089945565225,-1.7076652313052194],[-0.16494234911877992,-1.607665228753325]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[0.5132351965941773,-1.3939996980941824,0.71338606911949],"aabb_xy":[[0.505610928503999,-1.4016329216307264],[0.5208594646843555,-1.386366474557639]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[0.5222426488327558,-0.3883315604726483,0.71338606911949],"aabb_xy":[[0.49724264890023795,-0.3952142286935716],[0.5472426487652737,-0.38144889225172496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554167509905106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1355.png","name":"1355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1355.png","name":"1355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5853.png","name":"5853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":749.2991611726097,"rotation_z_degrees":212.71000807424434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01483302260899725,-0.0015650153810990407,0.01556669486543483]},{"name":"camera_2","offset_m":[0.01063293774302915,0.0011272028181926116,0.009998512992642535]},{"name":"camera_3","offset_m":[0.014485021373772704,-0.011953933629901839,0.015493162270065853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011123562842175832,-0.001227786891829309,0.0013696752496758684],"end_effector_yaw_offset_degrees":0.534746067714633},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-3.3620711241792722e-06,-0.0015538257631073802,-0.00022256025371522408],"end_effector_yaw_offset_degrees":-0.33829294891689976},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015916241884326276,0.0004377085799900809,0.001288970620414236],"end_effector_yaw_offset_degrees":-0.3559160131708361}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014719114682354194,-0.0001551539446094461],"position_m":[0.32437191146823546,-0.12415515394460945,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[8.485310705577502e-06,4.1163542935367115e-05],"position_m":[0.32130848531070555,0.12124116354293538,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028913775111045047,0.00029114371276968507],"position_m":[0.2989086224888955,0.002891143712769685,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00373337769555752,0.0013794122079364068],"position_m":[0.10603337769555753,0.3931794122079364,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012658338596355234,0.0007761655482248966],"position_m":[0.16546583385963554,-0.4369238344517751,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29954f3c173631d8c79d1fade5d4f100503bc8ecd2e9c993ea225a82c3645a64","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1355/tex_ceiling_textures_3315/tex_floor_textures_5853/tex_table_textures_2346/tex_wall_textures_8067","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7710390900016073723,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7710390900016073723,"visual_seed":7710390900016073723,"scene_id":"lab_003","finished_at":"2026-09-03T19:55:53"} +{"episode_id":"ep_000065","started_at":"2026-09-03T19:55:55","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.4869861178216479,0.3378422053075081,0.71338606911949],"aabb_xy":[[-0.4932982173579863,0.3320752660542893],[-0.4806740182853094,0.3436091445607269]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.614791957529863,-0.8634392386401206,0.71338606911949],"aabb_xy":[[-0.6208865854179814,-0.8720086331917892],[-0.6086973296417447,-0.8548698440884518]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.40682167849328577,0.6863398445940638,0.71338606911949],"aabb_xy":[[-0.456805914201463,0.6363398457805682],[-0.35683744278510854,0.7363398434075594]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[0.3309422737961196,-0.7303473891163961,0.71338606911949],"aabb_xy":[[0.30594227424438114,-0.7404898729815308],[0.3559422733478581,-0.7202049052512614]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.25694819850017164,1.6186805129924289,0.71338606911949],"aabb_xy":[[-0.274448198745221,1.6011807251528618],[-0.23944819825512223,1.6361803008319955]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.3386895634958882,-0.6326887531769436,0.71338606911949],"aabb_xy":[[0.3293959452587376,-0.6701887516650774],[0.34798318173303877,-0.5951887546888096]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.21768562074344633,-1.7035795365605608,0.71338606911949],"aabb_xy":[[0.18720137061641615,-1.7535795363420568],[0.24816987087047646,-1.6535795367790649]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.24285130258765936,-0.9071636181871412,0.71338606911949],"aabb_xy":[[-0.306851299873308,-0.9486703371399852],[-0.1788513053020107,-0.8656568992342972]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.6910578652681361,-2.4868801026615786,0.71338606911949],"aabb_xy":[[0.6610662025342656,-2.516880101998379],[0.7210495280020063,-2.456880103324778]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.5058362793641074,-0.46501927304677126,0.71338606911949],"aabb_xy":[[-0.5235119099527056,-0.48269948932617396],[-0.48816064877550897,-0.44733905676736846]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.10205732063639594,1.2837454116067062,0.71338606911949],"aabb_xy":[[0.067741043461778,1.2337454116335285],[0.13637359781101388,1.333745411579884]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.41040083407408035,0.5278402672626386,0.71338606911949],"aabb_xy":[[0.4049428884370603,0.44784026395497945],[0.4158587797111004,0.6078402705702977]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.23628069677859437,-0.5475353477999145,0.71338606911949],"aabb_xy":[[-0.2404165531112946,-0.5850353472442716],[-0.2321448404458942,-0.5100353483555576]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.37882897915430325,0.08363869974365379,0.71338606911949],"aabb_xy":[[-0.4428289824440113,0.04030378073973618],[-0.3148289758645951,0.1269736187475714]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.0025259912462912704,-2.5137337971151865,0.71338606911949],"aabb_xy":[[-0.057474009005109905,-2.5680151221516514],[0.06252599149769245,-2.4594524720787216]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.6262442838387448,-0.4050629878204677,0.71338606911949],"aabb_xy":[[0.588744285263124,-0.4177992834840255],[0.6637442824143656,-0.39232669215690963]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.3379334397658011,-0.6860735854306528,0.71338606911949],"aabb_xy":[[-0.3879334407849364,-0.7225398011684808],[-0.2879334387466658,-0.649607369692825]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.024394865563991064,1.1287313334739362,0.71338606911949],"aabb_xy":[[0.006525757809535567,1.1148984254967251],[0.04226397331844656,1.1425642414511472]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.4609353291462688,-1.0956786594113461,0.71338606911949],"aabb_xy":[[0.42663841812852815,-1.1299755456212872],[0.4952322401640094,-1.0613817732014046]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.5398903636464831,-1.530005291713172,0.71338606911949],"aabb_xy":[[0.49040994243252434,-1.594005289626024],[0.5893707848604419,-1.4660052938003203]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.3162236347891088,-0.2969257103799383,0.71338606911949],"aabb_xy":[[-0.3234848823595162,-0.3097127206434478],[-0.3089623872187014,-0.28413870011642883]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.08053933474912278,1.4922305636173783,0.71338606911949],"aabb_xy":[[0.03273316713535413,1.4272305609103193],[0.12834550236289144,1.557230566324437]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.1235396420092918,1.0605290394024753,0.71338606911949],"aabb_xy":[[0.11551337137866578,1.0517775444251227],[0.1315659126399178,1.069280534379828]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.1926475481710842,-2.1103068827018463,0.71338606911949],"aabb_xy":[[0.183300540588789,-2.1246105049194903],[0.20199455575337946,-2.0960032604842023]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.5166642173201206,-0.5587898660339614,0.71338606911949],"aabb_xy":[[0.46666920636066866,-0.6087898650695531],[0.5666592282795727,-0.5087898669983697]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.6357327782060589,-1.1833625712572056,0.71338606911949],"aabb_xy":[[-0.6857327791565916,-1.2149117182607267],[-0.585732777255526,-1.151813424253684]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[-0.05799016971595605,-2.3565644696493386,0.71338606911949],"aabb_xy":[[-0.09299016890877432,-2.3675315156470007],[-0.022990170523137787,-2.3455974236516757]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[-0.05325868347092755,0.05357391254637678,0.71338606911949],"aabb_xy":[[-0.0658854707581239,0.04402783884480388],[-0.04063189618373119,0.06311998624794968]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.2817297734600976,-1.350745013918933,0.71338606911949],"aabb_xy":[[-0.3317297721060188,-1.4006645575783954],[-0.2317297748141764,-1.3008254702594706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562703931302877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/672.png","name":"672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/672.png","name":"672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2523.png","name":"2523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/113.png","name":"113"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7504.png","name":"7504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2008.png","name":"2008"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":523.9106471307332,"rotation_z_degrees":186.09557809513623,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01788618545744174,0.009535461284344172,0.012140852208767153]},{"name":"camera_2","offset_m":[-0.01933433005561198,0.013952097642901454,0.005356840397992155]},{"name":"camera_3","offset_m":[-0.01142588237217129,-0.018220741957293413,-0.01647769788430144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.74818991739592e-05,-0.0008683065986047245,0.0005024715523766978],"end_effector_yaw_offset_degrees":0.03844252874012111},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019632271534993145,-0.0015293973899850643,-0.001197505519523646],"end_effector_yaw_offset_degrees":0.8997603027179872},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018878779473576173,-0.001166338340129848,-0.0009286063551930295],"end_effector_yaw_offset_degrees":-0.6001183023872165}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028611706434876617,-0.004863028567768327],"position_m":[0.32003882935651234,-0.12886302856776832,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00299949661743227,0.004255092503799682],"position_m":[0.3183005033825677,0.1254550925037997,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004858015266660934,-0.004554453706255789],"position_m":[0.3066580152666609,-0.001954453706255789,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014882496706863902,5.660944979216185e-05],"position_m":[0.10081175032931361,0.39185660944979217,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016735544985611635,-4.833139642232854e-05],"position_m":[0.16587355449856117,-0.43774833139642233,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"76fcfa519d30ed1a13c69509b171fd5077b68fa596ab2df277f517600aa08d14","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_672/tex_ceiling_textures_2008/tex_floor_textures_7504/tex_table_textures_2523/tex_wall_textures_113","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5130198747982315638,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5130198747982315638,"visual_seed":5130198747982315638,"scene_id":"lab_003","finished_at":"2026-09-03T19:58:23"} +{"episode_id":"ep_000066","started_at":"2026-09-03T19:58:26","dimensions":{"distractor":{"count":31,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[-0.33448981205304945,0.4823775154877601,0.71338606911949],"aabb_xy":[[-0.3415301219865864,0.4023775160880888],[-0.3274495021195124,0.5623775148874316]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.4819860719522073,-1.663584001245619,0.71338606911949],"aabb_xy":[[-0.5038947540915584,-1.6854846680657094],[-0.4600773898128562,-1.641683334425528]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.1470690564870062,1.4270317505570378,0.71338606911949],"aabb_xy":[[0.13273463136084276,1.414971535002499],[0.16140348161316967,1.4390919661115766]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[0.3621976423150304,1.3965990876209582,0.71338606911949],"aabb_xy":[[0.349594943177954,1.384003691396093],[0.3748003414521069,1.409194483845824]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.2543919380713767,1.1301155693498885,0.71338606911949],"aabb_xy":[[0.20439710514343518,1.080115570454645],[0.3043867709993184,1.180115568245132]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.555949790675517,1.4920124272859225,0.71338606911949],"aabb_xy":[[-0.5934497906192834,1.483719337251086],[-0.5184497907317506,1.5003055173207591]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.032853011307778734,-2.099337388881697,0.71338606911949],"aabb_xy":[[-0.04547979859497509,-2.10888346258327],[-0.02022622402058239,-2.0897913151801237]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.06649073738353661,1.5949697871508017,0.71338606911949],"aabb_xy":[[0.016490736433003805,1.56342064014728],[0.11649073833406942,1.626518934154323]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.21933535495830003,-2.257428324406774,0.71338606911949],"aabb_xy":[[0.19433535540656158,-2.2675708082719086],[0.24433535451003854,-2.247285840541639]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.5798250163981177,0.20344713531197245,0.71338606911949],"aabb_xy":[[-0.6298250180596123,0.1534486930562697],[-0.5298250147366228,0.2534455775676751]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.6367486802591089,-2.2374030446329036,0.71338606911949],"aabb_xy":[[0.5567486832448609,-2.2575375963063142],[0.7167486772733569,-2.217268492959492]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.6420710966099495,0.9454936056073251,0.71338606911949],"aabb_xy":[[-0.6521528036885229,0.8654936077152103],[-0.631989389531376,1.0254936034994397]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.03568885041863146,-1.504432992600386,0.71338606911949],"aabb_xy":[[-0.0996888523309738,-1.5603441418583965],[0.028311151493710884,-1.4485218433423757]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.20731716613172446,-0.984169009106151,0.71338606911949],"aabb_xy":[[0.19860319708178997,-1.0066690097653392],[0.21603113518165895,-0.9616690084469628]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.4164560041089791,-2.500574030194251,0.71338606911949],"aabb_xy":[[-0.4320117735192444,-2.516124463438658],[-0.4009002346987139,-2.4850235969498438]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.3033343679612045,0.8185881990561641,0.71338606911949],"aabb_xy":[[0.26478867513600346,0.7800424279999755],[0.34188006078640554,0.8571339701123527]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.06805397522127599,-0.7269870118835535,0.71338606911949],"aabb_xy":[[-0.13305397525557872,-0.7736876885638808],[-0.0030539751869732706,-0.6802863352032262]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.32418161967803216,-1.5116614289662247,0.71338606911949],"aabb_xy":[[-0.3691742063964825,-1.5566614282406734],[-0.2791890329595817,-1.466661429691776]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.12762540960229318,0.5710948983558404,0.71338606911949],"aabb_xy":[[0.10512540935877779,0.5588902636960684],[0.15012540984580858,0.5832995330156123]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.5939091502568068,-1.942502031782562,0.71338606911949],"aabb_xy":[[0.5762763146632792,-1.9601249777981848],[0.6115419858503344,-1.924879085766939]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.5318729703823086,-2.5463049611326265,0.71338606911949],"aabb_xy":[[0.5129885866137984,-2.5651908859129797],[0.5507573541508188,-2.527419036352274]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.2697144286496491,-1.1611558199717311,0.71338606911949],"aabb_xy":[[-0.32483963427923984,-1.2211558214130183],[-0.2145892230200583,-1.101155818530444]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[0.07853244766930678,-2.391721704269205,0.71338606911949],"aabb_xy":[[0.072565908728571,-2.397682848928569],[0.08449898661004257,-2.3857605596098406]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.6259987801531781,1.1834390666485306,0.71338606911949],"aabb_xy":[[0.5809987786869494,1.13843920978705],[0.6709987816194071,1.2284389235100113]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.28076520164940594,-0.5744884033896893,0.71338606911949],"aabb_xy":[[-0.29167097773696865,-0.6544883997885184],[-0.2698594255618432,-0.49448840699086005]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.6121983646217517,0.6365720696728494,0.71338606911949],"aabb_xy":[[-0.6471983659732333,0.6162123337160285],[-0.5771983632702699,0.6569318056296701]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.48726546192746356,-0.4385601201161653,0.71338606911949],"aabb_xy":[[-0.551265460514036,-0.485567083515674],[-0.4232654633408911,-0.3915531567166566]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[-0.40831075956384283,-0.2730978551180616,0.71338606911949],"aabb_xy":[[-0.436960091924259,-0.30174341439513735],[-0.37966142720342655,-0.24445229584098577]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[0.3604917898636908,-1.7392748562617604,0.71338606911949],"aabb_xy":[[0.2704917931280805,-1.7924583195790547],[0.45049178659930095,-1.6860913929444656]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[-0.11163846566020308,-2.299431901672685,0.71338606911949],"aabb_xy":[[-0.11577432199290327,-2.336931901117042],[-0.10750260932750288,-2.261931902228328]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[0.3987614117884657,-1.9819250701287432,0.71338606911949],"aabb_xy":[[0.372472587468025,-2.008196503783394],[0.4250502361089063,-1.9556536364740917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6522344472137985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3231.png","name":"3231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3291.png","name":"3291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9729.png","name":"9729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2799.png","name":"2799"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":693.2403285176529,"rotation_z_degrees":286.69183142030363,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018656930025082497,0.01911891220503387,-0.014449134422465745]},{"name":"camera_2","offset_m":[-0.009582832558827135,-0.019193590478322073,0.01848952280127387]},{"name":"camera_3","offset_m":[0.011173668298894882,-0.00845522016456266,-0.010871761939053376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019015256785882566,0.001981748304139444,0.0008405264471590566],"end_effector_yaw_offset_degrees":0.671959321983508},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012818979882519865,-0.001945661024108059,0.0015654186737439689],"end_effector_yaw_offset_degrees":-0.24306370340527628},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00022314858584603168,0.001021006452767691,0.0001245948812418009],"end_effector_yaw_offset_degrees":0.3838876826074007}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017940526944695999,-0.000525358398996075],"position_m":[0.3246940526944696,-0.12452535839899607,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034381566014183426,0.0038011558503186866],"position_m":[0.3247381566014183,0.12500115585031868,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0040261310292105225,4.37286641041465e-05],"position_m":[0.2977738689707895,0.0026437286641041464,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029106588052596567,0.003145940496890278],"position_m":[0.10521065880525966,0.39494594049689025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003424802063237904,0.0003190218091173461],"position_m":[0.16077519793676212,-0.4373809781908826,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d342f79140968737bff07dea16f9ee6838ecc4b144eee9572768bcf117ea3b18","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_980/tex_ceiling_textures_2799/tex_floor_textures_9729/tex_table_textures_3231/tex_wall_textures_3291","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7080644331118176972,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7080644331118176972,"visual_seed":7080644331118176972,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:58"} +{"episode_id":"ep_000067","started_at":"2026-09-03T20:01:00","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.00857427489652085,-2.1250205846653927,0.71338606911949],"aabb_xy":[[-0.01786789313367143,-2.1625205831535266],[0.00071934334062973,-2.0875205861772588]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.10466941193750823,0.5732615534021206,0.71338606911949],"aabb_xy":[[-0.14216941188127463,0.5649684633672839],[-0.06716941199374184,0.5815546434369571]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.4054750397135568,-0.6029668725583133,0.71338606911949],"aabb_xy":[[-0.4413885441385464,-0.6388803807750678],[-0.369561535288567,-0.5670533643415585]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.33188425843277103,-1.4603919381022534,0.71338606911949],"aabb_xy":[[0.29688425853675215,-1.468766173614193],[0.3668842583287899,-1.4520177025903134]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.6703916156755865,-0.7851555100499346,0.71338606911949],"aabb_xy":[[-0.6774319256091234,-0.8651555094496062],[-0.6633513057420494,-0.7051555106502633]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.5669351249160981,1.0241318488154438,0.71338606911949],"aabb_xy":[[-0.6566222012242136,0.9341318485609933],[-0.47724804860798264,1.1141318490698944]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.0957475451068397,0.38461161966288593,0.71338606911949],"aabb_xy":[[-0.11242468109993518,0.36791169568895565],[-0.07907040911374418,0.4013115436368162]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.6407482102800648,1.6852517086825824,0.71338606911949],"aabb_xy":[[0.6129031734994577,1.6544672099442705],[0.6685932470606719,1.716036207420894]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.5013640223363587,-1.8018560623806574,0.71338606911949],"aabb_xy":[[-0.5613640225877599,-1.8561373874171219],[-0.4413640220849575,-1.7475747373441926]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.2592407909609965,-2.23734113409334,0.71338606911949],"aabb_xy":[[-0.2652778039616613,-2.2433678351622883],[-0.25320377796033183,-2.231314433024392]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.39749437520125586,-2.067489727715267,0.71338606911949],"aabb_xy":[[0.3874126681226823,-2.147489725607381],[0.4075760822798293,-1.9874897298231518]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.16969221714333715,-1.3482023017951583,0.71338606911949],"aabb_xy":[[-0.21969221671967187,-1.3981828807472645],[-0.11969221756700243,-1.2982217228430526]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.4269402265845643,-1.7166982663782298,0.71338606911949],"aabb_xy":[[0.36294022336592646,-1.7634213782772383],[0.4909402298032022,-1.6699751544792216]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.02989257009478352,-0.9794098282726622,0.71338606911949],"aabb_xy":[[-0.034736164856013496,-0.9842614807516463],[-0.025048975333553547,-0.9745581757936781]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.592136153933047,1.2415314712897034,0.71338606911949],"aabb_xy":[[-0.65613615032862,1.1775681828709699],[-0.5281361575374739,1.305494759708437]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.6329815775323759,-1.3091041716755756,0.71338606911949],"aabb_xy":[[-0.6829746896415679,-1.3591041723497712],[-0.5829884654231842,-1.25910417100138]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[-0.6672422668597557,-1.143193760396045,0.71338606911949],"aabb_xy":[[-0.6917884824825064,-1.173442656945082],[-0.6426960512370049,-1.1129448638470079]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.3559084048849805,0.941380899599157,0.71338606911949],"aabb_xy":[[-0.38219722920542104,0.9151094659445057],[-0.3296195805645397,0.9676523332538082]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.05034127522984677,1.5248614426548852,0.71338606911949],"aabb_xy":[[0.02201156528130655,1.5204007004611682],[0.078670985178387,1.5293221848486023]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.5508189956817497,-0.4214990868388395,0.71338606911949],"aabb_xy":[[-0.6148189975940922,-0.47741023609685],[-0.4868189937694075,-0.36558793758082914]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.5833249136106624,-1.5393182612072376,0.71338606911949],"aabb_xy":[[0.5233249119677406,-1.591318410499182],[0.6433249152535843,-1.4873181119152936]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.19132834985688074,1.0352261679169632,0.71338606911949],"aabb_xy":[[-0.22882835104167348,1.0308079452209022],[-0.1538283486720879,1.0396443906130233]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.43377917153873813,-0.10430773660592108,0.71338606911949],"aabb_xy":[[-0.47127917164433103,-0.1111298984589022],[-0.3962791714331451,-0.09748557475293995]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.354204210071589,0.8810111736272725,0.71338606911949],"aabb_xy":[[0.3454902410216545,0.8585111729680841],[0.36291817912152347,0.9035111742864605]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.5887463435161779,0.43232683404504213,0.71338606911949],"aabb_xy":[[-0.678746345850197,0.35484447945992953],[-0.4987463411821589,0.5098091886301548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659477621896249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5262.png","name":"5262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/58.png","name":"58"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4758.png","name":"4758"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.4854934665186,"rotation_z_degrees":30.250387062752182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008687520401549204,0.017306632218264745,0.004671001860987966]},{"name":"camera_2","offset_m":[0.01897176008637565,-0.011502690031194494,-0.01283819780205597]},{"name":"camera_3","offset_m":[0.006721732331937499,0.006333731336851715,-0.015527180625913083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001360735241879585,3.404154906359999e-05,-0.0017931338046701564],"end_effector_yaw_offset_degrees":-0.6488133963374894},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017135899068900513,-0.0007953375270709291,0.00032617228909888546],"end_effector_yaw_offset_degrees":-0.43793554758049114},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006038727223884131,0.0014005618547791856,0.0018616221216122926],"end_effector_yaw_offset_degrees":-0.6203167260747438}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035222377741249275,-0.000495636688867057],"position_m":[0.32642223777412493,-0.12449563668886705,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006531698312206135,0.0022853829866701534],"position_m":[0.3219531698312206,0.12348538298667015,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012504188458981559,0.003755217902218292],"position_m":[0.3030504188458982,0.006355217902218292,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006416461760561975,0.0012421359514179645],"position_m":[0.10165835382394381,0.39304213595141796,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004408039119646527,-0.0018020076467241898],"position_m":[0.16860803911964653,-0.43950200764672415,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8b8c1814de3b705a92884c08322fd7a4af65c648a9b4f660cffeabe392fcb1c","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8114/tex_ceiling_textures_4758/tex_floor_textures_58/tex_table_textures_5262/tex_wall_textures_6529","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8516457147880721785,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8516457147880721785,"visual_seed":8516457147880721785,"scene_id":"lab_003","finished_at":"2026-09-03T20:03:24"} +{"episode_id":"ep_000068","started_at":"2026-09-03T20:03:27","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.46570339336526767,-0.8881823604690415,0.71338606911949],"aabb_xy":[[0.4506010919042494,-0.9032838821001032],[0.4808056948262856,-0.8730808388379796]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.523201512437558,0.8631325129104304,0.71338606911949],"aabb_xy":[[0.5167876987943729,0.8567226926627619],[0.5296153260807428,0.8695423331580986]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.20713103539265554,1.3637624161994637,0.71338606911949],"aabb_xy":[[0.18824665162414533,1.3448764914191107],[0.22601541916116574,1.3826483409798163]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.0008109891322012341,-1.8520928895775315,0.71338606911949],"aabb_xy":[[-0.012743723494029302,-1.8644750423853906],[0.011121745229626834,-1.839710736769672]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.6519045510042425,-0.7977185064117784,0.71338606911949],"aabb_xy":[[0.6431233238570064,-0.8064982537003088],[0.660685778151479,-0.7889387591232485]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.36044310756077963,0.7407652428699976,0.71338606911949],"aabb_xy":[[-0.37508651311481256,0.7261065232132132],[-0.3457997020067466,0.7554239625267817]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.4837715791213842,1.6779764286120948,0.71338606911949],"aabb_xy":[[-0.508771579053902,1.6710937603911717],[-0.4587715791888663,1.6848590968330184]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.37941649906243624,-2.2147820592008998,0.71338606911949],"aabb_xy":[[0.329416498043301,-2.251248274938728],[0.42941650008157156,-2.1783158434630723]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[0.05785958795740709,0.8981821482754073,0.71338606911949],"aabb_xy":[[0.03402337031680203,0.8081821474669211],[0.08169580559801216,0.988182149083894]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.1029286009885314,-1.1331721874045924,0.71338606911949],"aabb_xy":[[0.09376872204465479,-1.1397034054481294],[0.11208847993240799,-1.1266409693610553]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.3578074354254256,-0.2935346133133816,0.71338606911949],"aabb_xy":[[-0.370410134562502,-0.3061300095382471],[-0.3452047362883491,-0.2809392170885161]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.3555422522459565,-1.5545082337835305,0.71338606911949],"aabb_xy":[[-0.42554225488254277,-1.5746130987793958],[-0.2855422496093701,-1.5344033687876648]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.6387148887852367,1.8041485090366414,0.71338606911949],"aabb_xy":[[0.6254839432505553,1.7909210900146417],[0.6519458343199179,1.8173759280586406]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.13934548277616232,-1.2252583481990804,0.71338606911949],"aabb_xy":[[-0.16767519272470255,-1.2297190903927975],[-0.1110157728276221,-1.2207976060053634]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.3383797725862885,1.2265054266086404,0.71338606911949],"aabb_xy":[[0.3278122929281895,1.2159603964956316],[0.3489472522443875,1.2370504567216487]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.18857000159438586,0.12713948531198582,0.71338606911949],"aabb_xy":[[-0.268569998557425,0.05006384366821237],[-0.1085700046313467,0.20421512695575927]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.552569592010892,1.2506764594506792,0.71338606911949],"aabb_xy":[[-0.5562728533400307,1.2469744411419612],[-0.548866330681753,1.2543784777593967]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.40276751106871833,1.5253027841855142,0.71338606911949],"aabb_xy":[[0.3387675139566127,1.4762704143911036],[0.4667675081808241,1.5743351539799249]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.1277371862225667,1.1511919294906865,0.71338606911949],"aabb_xy":[[-0.19273718886036015,1.0997123307912398],[-0.06273718358477318,1.2026715281901337]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.6259456304302831,-1.9449336717972558,0.71338606911949],"aabb_xy":[[0.5459456318429636,-2.0242492737354167],[0.7059456290176025,-1.865618069859095]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.38819650101305436,0.2712349372451608,0.71338606911949],"aabb_xy":[[0.3705636654195268,0.2536119912295378],[0.40582933660658194,0.28885788326078377]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.06868976583829312,-1.6931328271248351,0.71338606911949],"aabb_xy":[[-0.14868976691141345,-1.7029108734622196],[0.011310235234827215,-1.6833547807874507]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.018084952445595603,-0.5990207258303764,0.71338606911949],"aabb_xy":[[-0.02570922053577385,-0.6066539493669201],[-0.010460684355417358,-0.5913875022938326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609391591447947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8922.png","name":"8922"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8922.png","name":"8922"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/621.png","name":"621"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6992.png","name":"6992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.747250756988,"rotation_z_degrees":308.6860164758529,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01721061066537448,-0.012677828371682031,-0.01853258922353326]},{"name":"camera_2","offset_m":[-0.012358604370246225,0.010548006446441719,-0.003084298460154157]},{"name":"camera_3","offset_m":[-0.005057858088232638,0.016208454305733606,0.0006463316494403869]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001016697260483195,-0.0009719848154857993,0.000854033722459058],"end_effector_yaw_offset_degrees":-0.32175210895010964},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002750814832167411,0.0019151386178953836,-0.001986193199958465],"end_effector_yaw_offset_degrees":0.26213942221567543},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005661517528077454,-0.001409624794042505,0.0009401857075719599],"end_effector_yaw_offset_degrees":0.6080640817955143}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00025449423890138226,-0.0018743281008106604],"position_m":[0.3226455057610986,-0.12587432810081067,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014974634477938008,-0.004490795149726376],"position_m":[0.3198025365522062,0.11670920485027363,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0003661220312074732,0.0019382628451826882],"position_m":[0.30216612203120746,0.004538262845182688,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036727210855170824,0.0032921746077867924],"position_m":[0.10597272108551709,0.3950921746077868,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004469151131997975,-0.003923959885056704],"position_m":[0.16866915113199799,-0.4416239598850567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a1e77e078c2fa4392a605617ed958bbf31a8044ddccb00582ddacc5dedecf36f","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8922/tex_ceiling_textures_8222/tex_floor_textures_6992/tex_table_textures_1246/tex_wall_textures_621","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5130234798675614904,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5130234798675614904,"visual_seed":5130234798675614904,"scene_id":"lab_003","finished_at":"2026-09-03T20:05:53"} +{"episode_id":"ep_000069","started_at":"2026-09-03T20:08:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.40129810132178867,-1.4523390138268304,0.71338606911949],"aabb_xy":[[-0.41064510890408384,-1.4666426360444744],[-0.3919510937394934,-1.4380353916091864]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.24468373581033354,-0.21951848100982962,0.71338606911949],"aabb_xy":[[-0.2496397559952148,-0.24201848121195127],[-0.2397277156254524,-0.19701848080770804]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.19396208430827433,-0.5758484376162594,0.71338606911949],"aabb_xy":[[-0.2489620839300202,-0.6308321304037321],[-0.13896208468652851,-0.5208647448287866]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.21371761409222573,1.5927611442886938,0.71338606911949],"aabb_xy":[[-0.26319803530618446,1.528761146375842],[-0.1642371928782669,1.6567611422015456]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.2562969182293019,1.1999552316454993,0.71338606911949],"aabb_xy":[[-0.3212969208670954,1.1484756329460524],[-0.1912969155915084,1.2514348303449463]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.10143450396600417,1.5523886657681127,0.71338606911949],"aabb_xy":[[-0.10513776529514304,1.5486866474593945],[-0.0977312426368653,1.55609068407683]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.07460155397074641,-1.431654246349214,0.71338606911949],"aabb_xy":[[0.06451984689217292,-1.5116542442413283],[0.08468326104931988,-1.351654248457099]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.5764035329822554,0.29262651873795953,0.71338606911949],"aabb_xy":[[0.5393694235541957,0.25824931140425],[0.6134376424103152,0.32700372607166894]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.6505844971348924,-0.32141299295123416,0.71338606911949],"aabb_xy":[[0.6409528609144628,-0.331050305730943],[0.660216133355322,-0.3117756801715252]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.49830188699047623,-2.368230944212011,0.71338606911949],"aabb_xy":[[-0.5075955052276269,-2.4057309427001448],[-0.4890082687533256,-2.330730945723877]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.07131859039130539,0.7801009771970424,0.71338606911949],"aabb_xy":[[-0.12131170250049729,0.7301009765228469],[-0.021325478282113498,0.8301009778712383]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.41035001493101775,1.4792365961472078,0.71338606911949],"aabb_xy":[[0.3403500133287383,1.4658038029455505],[0.4803500165332973,1.4926693893488656]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.023921743475216473,0.6335618294097287,0.71338606911949],"aabb_xy":[[0.013354263817117459,0.6230167992967202],[0.03448922313331548,0.6441068595227373]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.5083927367588961,1.2169056120827442,0.71338606911949],"aabb_xy":[[0.4433927382018231,1.1871530786688615],[0.5733927353159688,1.2466581454966268]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.49795453899127573,0.5455657076044096,0.71338606911949],"aabb_xy":[[-0.5204545392347911,0.5333610729446376],[-0.47545453874776034,0.5577703422641815]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.6454360600098488,-0.5193513587192671,0.71338606911949],"aabb_xy":[[0.6001574451286996,-0.5833513580674506],[0.6907146748909981,-0.4553513593710833]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.1354129586937376,-1.661642315725427,0.71338606911949],"aabb_xy":[[0.1124972458086877,-1.684546612861851],[0.1583286715787875,-1.638738018589004]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[0.3896098572954514,-2.0741817103831486,0.71338606911949],"aabb_xy":[[0.3346361352591185,-2.1291817099473818],[0.4445835793317843,-2.0191817108189154]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.2889607664218484,-1.7587628081194506,0.71338606911949],"aabb_xy":[[0.218960764613103,-1.7801165768836378],[0.35896076823059386,-1.737409039355263]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.13838561553505846,-1.5615859489627926,0.71338606911949],"aabb_xy":[[-0.1463791053303405,-1.5695840809032684],[-0.13039212573977643,-1.5535878170223172]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[0.09001617198838352,-1.2138347012878454,0.71338606911949],"aabb_xy":[[0.03502069416772412,-1.268834702721752],[0.1450116498090429,-1.158834699853938]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.6431497646828968,0.7655440991627254,0.71338606911949],"aabb_xy":[[0.618149764750379,0.7586614309418019],[0.6681497646154148,0.7724267673836486]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.4162093072038968,0.23959267202969814,0.71338606911949],"aabb_xy":[[0.35120930609795353,0.21462729896156987],[0.4812093083098401,0.26455804509782643]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[0.4739302054828831,0.4771493364565984,0.71338606911949],"aabb_xy":[[0.423930205122317,0.42716934924699534],[0.5239302058434491,0.5271293236662011]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561509629740546,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6906.png","name":"6906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8240.png","name":"8240"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":707.8477189855453,"rotation_z_degrees":205.58044656040937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014484280731168708,0.003121602701036924,-0.018947040429381796]},{"name":"camera_2","offset_m":[0.005243129982753527,0.004840398496604937,-0.0025022749841391335]},{"name":"camera_3","offset_m":[0.012083971196986367,-0.0038621034175840042,-0.007441016256795462]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003993257795308009,-0.0010568353628626296,0.0008884822296083895],"end_effector_yaw_offset_degrees":-0.42695729909195634},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003570904219882664,-0.0008097276597737501,0.0002979891949606928],"end_effector_yaw_offset_degrees":-0.1433149282464996},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016398576546619453,0.0019509572251940038,0.000384471508633633],"end_effector_yaw_offset_degrees":-0.6639164026023152}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025196232865656552,0.0023071131691094014],"position_m":[0.32541962328656565,-0.12169288683089059,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025073564630050706,-0.004309391616793471],"position_m":[0.32380735646300507,0.11689060838320653,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004505902506286623,0.004159027754267711],"position_m":[0.2972940974937134,0.006759027754267711,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021186214191377785,0.004962055983611525],"position_m":[0.10441862141913778,0.39676205598361153,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010523172224510633,-0.0028961287892096377],"position_m":[0.16314768277754896,-0.4405961287892096,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"665d89a83047fa9095cb97e297e4b228fcdf0dca770cec69bf69f78594106f71","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3902/tex_ceiling_textures_1000/tex_floor_textures_8240/tex_table_textures_7559/tex_wall_textures_6906","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1390751493112120951,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1390751493112120951,"visual_seed":1390751493112120951,"scene_id":"lab_003","finished_at":"2026-09-03T20:11:15"} +{"episode_id":"ep_000070","started_at":"2026-09-03T20:11:18","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.4936493959453393,-0.7389251048023167,0.71338606911949],"aabb_xy":[[-0.5032810321657688,-0.7485624175820255],[-0.4840177597249096,-0.7292877920226076]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.25074879164050506,-1.2728500708616413,0.71338606911949],"aabb_xy":[[-0.29176673502687595,-1.3228500714925986],[-0.20973084825413418,-1.222850070230684]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.1161812319115314,-1.9785476970816562,0.71338606911949],"aabb_xy":[[0.10441304511687391,-2.0635476969868782],[0.12794941870618895,-1.8935476971764351]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.429675410743918,-2.010851740568517,0.71338606911949],"aabb_xy":[[0.40721064077251284,-2.0333517414473774],[0.4521401807153231,-1.9883517396896564]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.4068722945986821,-1.06758201175584,0.71338606911949],"aabb_xy":[[-0.4145754852727591,-1.0752913824545784],[-0.39916910392460503,-1.0598726410571022]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.16609042045269484,-0.509063195204547,0.71338606911949],"aabb_xy":[[-0.20109041872281472,-0.5161373228995351],[-0.1310904221825749,-0.5019890675095587]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.011896128306668197,0.6401695783351267,0.71338606911949],"aabb_xy":[[-0.04689612749948646,0.6292025323374639],[0.023103870886150072,0.6511366243327892]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.6994469299055397,-2.0790209725793325,0.71338606911949],"aabb_xy":[[0.6791626271821407,-2.099303597722041],[0.7197312326289382,-2.058738347436623]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.35464144477560744,-2.2344443253257706,0.71338606911949],"aabb_xy":[[0.3506809610058731,-2.2421121899112912],[0.3586019285453418,-2.22677646074025]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[0.29069983722836534,-1.7481519723318981,0.71338606911949],"aabb_xy":[[0.26819983698484995,-1.7603566069916703],[0.31319983747188074,-1.7359473376721264]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.3344273685576307,-2.4034382411431943,0.71338606911949],"aabb_xy":[[-0.34052199644574904,-2.4120076356948634],[-0.3283327406695124,-2.394868846591526]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.5085675103497516,1.4169096210598027,0.71338606911949],"aabb_xy":[[0.4961001522400159,1.4044442964264792],[0.5210348684594872,1.4293749456931262]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.13469469671959156,-1.2864932168521983,0.71338606911949],"aabb_xy":[[0.05469469931599812,-1.3664857880503811],[0.21469469412318495,-1.2065006456540155]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.0750324989091169,0.6746249491688374,0.71338606911949],"aabb_xy":[[0.07091654879704422,0.6705093941359918],[0.07914844902118955,0.6787405042016829]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.4161346329222603,0.18145686090024693,0.71338606911949],"aabb_xy":[[-0.4224467324585987,0.1756899216470281],[-0.40982253338592184,0.18722380015346576]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.11076792704435812,1.3125979372735794,0.71338606911949],"aabb_xy":[[0.030767923786515175,1.2326014294815955],[0.19076793030220107,1.3925944450655634]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.5172224994528907,0.8751677377261671,0.71338606911949],"aabb_xy":[[-0.5812225027425987,0.8318328187222495],[-0.4532224961631825,0.9185026567300847]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.48566342415976993,0.6486481116650267,0.71338606911949],"aabb_xy":[[0.4777401439210216,0.6261481114270233],[0.49358670439851826,0.67114811190303]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.2765594734121479,1.0372884443432113,0.71338606911949],"aabb_xy":[[0.23379276653272774,0.9732884409214091],[0.3193261802915681,1.101288447765014]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.49781404801038165,-2.5225860937698554,0.71338606911949],"aabb_xy":[[-0.5628140491163249,-2.5475514668379837],[-0.4328140469044384,-2.497620720701727]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.11168213398427107,0.8972702204306393,0.71338606911949],"aabb_xy":[[-0.12258791007183377,0.81727022403181],[-0.10077635789670834,0.9772702168294684]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[0.4606300502139997,0.5445975788432156,0.71338606911949],"aabb_xy":[[0.37063005161952983,0.5283469925297946],[0.5506300488084697,0.5608481651566366]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.09474428275399249,-0.6073529387675587,0.71338606911949],"aabb_xy":[[0.08661659456067929,-0.6162665471782665],[0.10287197094730573,-0.5984393303568512]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.021679930745430398,-2.2775128226913504,0.71338606911949],"aabb_xy":[[0.0038108229909749013,-2.2913457306685614],[0.03954903849988589,-2.2636799147141393]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[0.29786230493108634,1.293416786450448,0.71338606911949],"aabb_xy":[[0.23286230397395916,1.2414685745167424],[0.36286230588821355,1.3453649983841536]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.0012593069749666785,-1.8048337149366276,0.71338606911949],"aabb_xy":[[-0.007521920172269549,-1.8136134622251583],[0.010040534122202906,-1.7960539676480978]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.5760559707933617,1.3435768706650104,0.71338606911949],"aabb_xy":[[-0.6039010075739687,1.312792371926699],[-0.5482109340127544,1.3743613694033223]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.31272532510085155,0.6234976340820051,0.71338606911949],"aabb_xy":[[-0.37272532560870447,0.5666509003960838],[-0.2527253245929986,0.6803443677679264]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.4121394562408935,0.30682306913159474,0.71338606911949],"aabb_xy":[[-0.4671349340615528,0.25182306769768775],[-0.35714397842023404,0.3618230705655016]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.6978166996836979,-1.1146033434693272,0.71338606911949],"aabb_xy":[[0.6851899123965014,-1.1241494171709001],[0.7104434869708941,-1.1050572697677543]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[0.1836048252064294,-2.3749998927390545,0.71338606911949],"aabb_xy":[[0.11960482591226118,-2.438986033107909],[0.24760482450059762,-2.311013752370201]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[0.6112983336099893,1.3640163241831131,0.71338606911949],"aabb_xy":[[0.6004578553834744,1.3468300428924642],[0.6221388118365042,1.3812026054737616]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_32","position":[-0.5016098925301631,-1.8027781719417288,0.71338606911949],"aabb_xy":[[-0.5517073565112368,-1.8667781724515404],[-0.4515124285490896,-1.7387781714319168]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_33","position":[0.5551112911883933,0.00878475305672799,0.71338606911949],"aabb_xy":[[0.5352202513080531,-0.0038710582279688497],[0.5750023310687336,0.02144056434142483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6538073766639182,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5887.png","name":"5887"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5887.png","name":"5887"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/571.png","name":"571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7347.png","name":"7347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4628.png","name":"4628"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.8929110027008,"rotation_z_degrees":240.58567101711628,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017984106962348593,0.019625889995456513,-0.008124565605368117]},{"name":"camera_2","offset_m":[0.002289258710817133,0.011718253402049541,-0.002968195497957366]},{"name":"camera_3","offset_m":[-0.0005726167618724312,-0.012662847057842975,0.006326009427010445]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019471461566895917,-0.000661634487544223,-0.0019076314972909568],"end_effector_yaw_offset_degrees":0.5674980722502674},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00027084365038506806,-0.0002048007717510268,5.8298797029436404e-05],"end_effector_yaw_offset_degrees":-0.478866310831612},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011739106945255298,-0.001705591872850421,-0.00099192001030106],"end_effector_yaw_offset_degrees":-0.09786498514475728}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004041566087497346,0.0019652866948619745],"position_m":[0.3188584339125027,-0.12203471330513803,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024715890325221245,-0.004203782647533505],"position_m":[0.3237715890325221,0.1169962173524665,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002116149351891127,0.0021634665741713946],"position_m":[0.2996838506481089,0.0047634665741713945,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004836581200073191,0.003960210052675029],"position_m":[0.09746341879992682,0.39576021005267503,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017712747201087133,-0.0001967975401643285],"position_m":[0.1624287252798913,-0.4378967975401643,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"54f11fe96861b918d95b8973c01be2f933f2ac628bc5da9525d1b933685f4fe0","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5887/tex_ceiling_textures_817/tex_floor_textures_4628/tex_table_textures_571/tex_wall_textures_7347","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6798908114462893841,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6798908114462893841,"visual_seed":6798908114462893841,"scene_id":"lab_003","finished_at":"2026-09-03T20:13:50"} +{"episode_id":"ep_000071","started_at":"2026-09-03T20:13:52","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.5734911725253371,-0.7036223449846608,0.71338606911949],"aabb_xy":[[0.568033226888317,-0.7836223482923199],[0.5789491181623572,-0.6236223416770017]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.7112915999528364,-1.5412657729052806,0.71338606911949],"aabb_xy":[[0.7048777863096514,-1.5476755931529487],[0.7177054135960212,-1.534855952657612]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.2621714745875568,-0.14739175069751953,0.71338606911949],"aabb_xy":[[-0.3031894179739277,-0.19739175132847686],[-0.22115353120118592,-0.0973917500665622]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.2661043331049342,1.0932534668179104,0.71338606911949],"aabb_xy":[[-0.31610433346550026,1.0432734796083072],[-0.21610433274436816,1.143233454027513]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.12606561448237819,1.678821714301264,0.71338606911949],"aabb_xy":[[-0.15646372558152177,1.6484148122995943],[-0.09566750338323461,1.7092286163029333]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.3334119668524367,0.5054432215600873,0.71338606911949],"aabb_xy":[[0.3247140045617214,0.49331824725261253],[0.34210992914315197,0.517568195867562]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.3250620064019686,-1.2251723601407083,0.71338606911949],"aabb_xy":[[-0.34756114212819555,-1.2476723609189713],[-0.3025628706757416,-1.2026723593624453]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.6230786988836355,-0.6371502545258683,0.71338606911949],"aabb_xy":[[-0.6870787011040427,-0.6815233386511564],[-0.5590786966632286,-0.5927771704005799]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.001540816403441947,1.2470832458120134,0.71338606911949],"aabb_xy":[[-0.03595918341359161,1.2424450345008713],[0.039040816220475505,1.251721457123155]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.027298458818038718,1.4917368746697846,0.71338606911949],"aabb_xy":[[-0.0822984579946282,1.436747199894827],[0.027701540358550773,1.5467265494447422]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.5209914586361428,-0.6464621646334285,0.71338606911949],"aabb_xy":[[0.5156538829701384,-0.6714621655625683],[0.5263290343021475,-0.6214621637042888]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.5728126022814124,-2.0060120692237065,0.71338606911949],"aabb_xy":[[0.5267275110266808,-2.070012066476261],[0.6188976935361438,-1.942012071971151]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.023741843571343457,-1.6730791093103736,0.71338606911949],"aabb_xy":[[0.006639765612975301,-1.6901859148416436],[0.04084392152971161,-1.655972303779104]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.6090980932993816,-0.12269178173741846,0.71338606911949],"aabb_xy":[[-0.6374278032479218,-0.12715252393113552],[-0.5807683833508414,-0.11823103954370141]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.36689240930675937,-1.8345895290831942,0.71338606911949],"aabb_xy":[[0.3553234285598228,-1.859589529200126],[0.37846139005369595,-1.8095895289662627]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.06665023881818544,-2.006519721884267,0.71338606911949],"aabb_xy":[[0.002650238440651806,-2.0562649887350792],[0.13065023919571905,-1.9567744550334547]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.37637590606726845,0.9595022321298838,0.71338606911949],"aabb_xy":[[0.3714198858823872,0.9370022319277622],[0.3813319262521496,0.9820022323320055]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.41668734949636976,-0.40481050705297816,0.71338606911949],"aabb_xy":[[-0.4254013185463042,-0.42731050771216633],[-0.4079733804464352,-0.3823105063937899]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.33620477789409664,-2.2365506831954356,0.71338606911949],"aabb_xy":[[0.24620477817092243,-2.259624035730615],[0.42620477761727077,-2.2134773306602553]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.6451340694263004,-0.9717567078583915,0.71338606911949],"aabb_xy":[[0.5951340698499658,-1.0217372868104975],[0.6951340690026352,-0.9217761289062857]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.008983462871245962,-0.7479155250253737,0.71338606911949],"aabb_xy":[[-0.09898346654816412,-0.809347931602478],[0.08101654080567221,-0.6864831184482694]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.14871457726751225,0.296183711541365,0.71338606911949],"aabb_xy":[[-0.20370682790302325,0.24118370979805231],[-0.09372232663200132,0.35118371328467785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525170060684232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7051.png","name":"7051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7051.png","name":"7051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/169.png","name":"169"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1177.png","name":"1177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6225.png","name":"6225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8912.png","name":"8912"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":750.2347942208207,"rotation_z_degrees":286.7495217346902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011408137979707324,0.018353837090917462,0.0022518505167345333]},{"name":"camera_2","offset_m":[0.011178601281553378,0.014656177686837132,-0.018384531765866633]},{"name":"camera_3","offset_m":[0.01339514653747682,-0.00219518017087994,0.0018945259194323195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019208112226180374,0.0003621896560187885,-0.0016448285608452182],"end_effector_yaw_offset_degrees":-0.8146319043204471},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010753245017612735,-0.0010976569205998655,-0.0012840364267607152],"end_effector_yaw_offset_degrees":-0.9016715943949924},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005957678855128519,0.000971258843908997,-0.000926741568777743],"end_effector_yaw_offset_degrees":0.06898740820199345}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009914114956499302,0.0006941027714526867],"position_m":[0.3219085885043501,-0.12330589722854732,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038791495149932387,0.0023613013821622017],"position_m":[0.31742085048500673,0.1235613013821622,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0022020838624428685,-0.0018463958227003885],"position_m":[0.3040020838624429,0.0007536041772996114,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023216591174027522,0.004363206340332686],"position_m":[0.09997834088259724,0.39616320634033264,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037303698632460223,-0.0004396758710113347],"position_m":[0.160469630136754,-0.4381396758710113,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d8073e46eb90e9fec975d90c3828cf7b49fa3b30c849f89c7b960237dedb8137","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0076.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7051/tex_ceiling_textures_8912/tex_floor_textures_6225/tex_table_textures_169/tex_wall_textures_1177","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2824478833016019673,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2824478833016019673,"visual_seed":2824478833016019673,"scene_id":"lab_003","finished_at":"2026-09-03T20:16:19"} +{"episode_id":"ep_000072","started_at":"2026-09-03T20:16:24","dimensions":{"distractor":{"count":26,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.18848266878938724,1.0090763745692364,0.71338606911949],"aabb_xy":[[-0.21037241637832804,0.9190763772799871],[-0.16659292120044644,1.0990763718584853]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.5771179919600371,1.0991260071107791,0.71338606911949],"aabb_xy":[[0.497124168381479,1.0191260045179376],[0.6571118155385954,1.1791260097036207]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.5495026056251155,1.6402019875726102,0.71338606911949],"aabb_xy":[[-0.5646049070861335,1.6251004659415478],[-0.5344003041640973,1.6553035092036716]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.3093458430986743,0.11756508897136397,0.71338606911949],"aabb_xy":[[-0.32181320120840995,0.10509976433804048],[-0.29687848498893865,0.13003041360468748]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.39524933789700456,-0.7365244284329169,0.71338606911949],"aabb_xy":[[0.3312493405946581,-0.7808908554007735],[0.4592493351993509,-0.69215800146506]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.6352305064799127,1.4136144813898492,0.71338606911949],"aabb_xy":[[-0.652730506724962,1.3961146935502822],[-0.6177305062348633,1.4311142692294159]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.11592726976145695,-1.352922633104272,0.71338606911949],"aabb_xy":[[0.035927271174137514,-1.432238235042433],[0.19592726834877636,-1.2736070311661112]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.6395295568291643,-1.584746482904971,0.71338606911949],"aabb_xy":[[0.5595295535713213,-1.664742990696955],[0.7195295600870072,-1.5047499751129871]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.6342814655282434,-1.1635135019880762,0.71338606911949],"aabb_xy":[[0.5442814669337734,-1.1797640883014975],[0.7242814641227133,-1.1472629156746554]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.18185658710336894,0.2971294216012921,0.71338606911949],"aabb_xy":[[-0.19928730218237542,0.2798573069374412],[-0.1644258720243624,0.31440153626514283]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.5110438088455376,0.5019230080349244,0.71338606911949],"aabb_xy":[[0.49354380858620095,0.4878314658461519],[0.5285438091048742,0.5160145502236971]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.06598518816806587,-1.790320879267223,0.71338606911949],"aabb_xy":[[0.001985191055960178,-1.8393532490616336],[0.12998518528017156,-1.7412885094728123]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.021892731215336747,1.3404463618558786,0.71338606911949],"aabb_xy":[[-0.0523769813423669,1.2904463620743827],[0.008591518911693411,1.3904463616373746]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.1963963279356425,-0.911791733994757,0.71338606911949],"aabb_xy":[[-0.23389632945127417,-0.9230185070109019],[-0.15889632642001075,-0.9005649609786118]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.3119727400742721,-0.5777391512120569,0.71338606911949],"aabb_xy":[[-0.3759727424170736,-0.6226800024561894],[-0.24797273773147052,-0.5327982999679244]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.3096176682955831,-1.7381787089545822,0.71338606911949],"aabb_xy":[[0.28711766848168074,-1.7426533253250627],[0.3321176681094855,-1.7337040925841012]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[-0.2073441047298416,1.5508825715951908,0.71338606911949],"aabb_xy":[[-0.2573441060136815,1.5009037172045685],[-0.15734410344600158,1.6008614259858127]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.4563690367911528,-2.1605965672324796,0.71338606911949],"aabb_xy":[[-0.46044719469820256,-2.1646775474807427],[-0.4522908788841031,-2.1565155869842165]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.36087730026812687,1.48354732340685,0.71338606911949],"aabb_xy":[[-0.4021818433318628,1.4195473238387328],[-0.3195727572043908,1.547547322974967]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.36423465660565557,-2.4669075668932177,0.71338606911949],"aabb_xy":[[0.3092346569839098,-2.5218912596806904],[0.41923465622740147,-2.411923874105745]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.396415758202888,0.43099302311698073,0.71338606911949],"aabb_xy":[[0.36050225377789824,0.3950795149002261],[0.43232926262787763,0.4669065313337353]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[-0.5318836177946157,0.8807171574594239,0.71338606911949],"aabb_xy":[[-0.5488937150846663,0.8645826689611499],[-0.514873520504565,0.8968516459576977]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[0.5522425739332475,-2.06056538782301,0.71338606911949],"aabb_xy":[[0.48224257752328553,-2.0810033234746905],[0.6222425703432091,-2.040127452171327]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.36910513312755655,-1.296828285368817,0.71338606911949],"aabb_xy":[[-0.4331051353479636,-1.3412013694941052],[-0.3051051309071495,-1.2524552012435286]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.5617522669089404,-2.042774772854625,0.71338606911949],"aabb_xy":[[-0.5992522680937331,-2.0471929955506845],[-0.5242522657241475,-2.0383565501585634]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.12410864111040909,1.4101773672020057,0.71338606911949],"aabb_xy":[[0.05410863930166364,1.3888235984378183],[0.19410864291915453,1.431531135966193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650797432214449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3567.png","name":"3567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8266.png","name":"8266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4072.png","name":"4072"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6976.png","name":"6976"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":529.1055195739842,"rotation_z_degrees":185.92290156720858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00981435861524018,-0.01619906191976647,0.014190522654121466]},{"name":"camera_2","offset_m":[-0.010928721739188197,-0.013282009353404681,0.0008350024893377349]},{"name":"camera_3","offset_m":[-0.005015871791644786,-0.0006657423189516086,0.0020537786328473293]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001789584042378437,-0.0008138249638318688,0.0009737000636764279],"end_effector_yaw_offset_degrees":0.30056542409594367},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012641608800242183,-0.000682024687622011,0.0015755177472561326],"end_effector_yaw_offset_degrees":-0.8830974261066133},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015613947970030489,-0.0002183740055106318,0.0018367260848612395],"end_effector_yaw_offset_degrees":-0.43195210745801194}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002421519238330747,-0.004852012241951629],"position_m":[0.32532151923833075,-0.12885201224195164,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023296220131157975,-0.0014772683868453972],"position_m":[0.31897037798688416,0.11972273161315461,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0010834475158644575,-0.00015013640595117322],"position_m":[0.3028834475158645,0.0024498635940488267,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006007430168221981,0.004413584839685298],"position_m":[0.1029007430168222,0.3962135848396853,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035284994667453507,0.0023495543330374668],"position_m":[0.16067150053325466,-0.4353504456669625,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"95e428e402083a61c03ae81c3d12f203701f8e9ece36c4dacc5c4bb93e943047","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6570/tex_ceiling_textures_6976/tex_floor_textures_4072/tex_table_textures_3567/tex_wall_textures_8266","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5108906766123473264,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5108906766123473264,"visual_seed":5108906766123473264,"scene_id":"lab_003","finished_at":"2026-09-03T20:19:04"} +{"episode_id":"ep_000073","started_at":"2026-09-03T20:19:06","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.46129430542055866,-1.622148066557208,0.71338606911949],"aabb_xy":[[-0.5025988484842947,-1.686148066125325],[-0.41998976235682267,-1.5581480669890908]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.5701702998622851,0.7744127945217882,0.71338606911949],"aabb_xy":[[-0.6601702965978953,0.7212293312044936],[-0.48017030312667486,0.8275962578390826]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.3845503990360291,1.222844334762132,0.71338606911949],"aabb_xy":[[-0.43455039768195025,1.1729247911026697],[-0.33455040039010786,1.2727638784215944]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.3402800383954072,1.1366966583998837,0.71338606911949],"aabb_xy":[[0.27628003922563726,1.0899299712809212],[0.40428003756517716,1.1834633455188461]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.23583960348146638,-2.0175009991474733,0.71338606911949],"aabb_xy":[[-0.29983960418493577,-2.0635193816203947],[-0.17183960277799706,-1.9714826166745527]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.020340525948348898,0.8101334797742847,0.71338606911949],"aabb_xy":[[-0.027622842325012546,0.7201334761647755],[-0.013058209571685237,0.9001334833837935]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.5944058250251016,-1.004140860846556,0.71338606911949],"aabb_xy":[[-0.6031870521723379,-1.0129206081350863],[-0.5856245978778654,-0.9953611135580261]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.6255377325785514,-2.2647677479197994,0.71338606911949],"aabb_xy":[[0.6112033074523879,-2.2768279634743385],[0.6398721577047148,-2.2527075323652603]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.39612512771425457,-0.45648157877361495,0.71338606911949],"aabb_xy":[[0.3321251274402763,-0.5065476789709029],[0.46012512798823274,-0.406415478576327]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.2085059995420372,-2.3148137098249006,0.71338606911949],"aabb_xy":[[-0.2164292797807855,-2.337313710062904],[-0.20058271930328883,-2.2923137095868973]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.11889162690370625,1.3566787114802499,0.71338606911949],"aabb_xy":[[-0.17889162675027304,1.2998600892872112],[-0.05889162705713945,1.4134973336732886]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.5182908611866921,0.486451915390786,0.71338606911949],"aabb_xy":[[0.4642752649047921,0.42245191249852876],[0.5723064574685921,0.5504519182830431]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.20356200813955005,1.4409867047801233,0.71338606911949],"aabb_xy":[[0.1435620064966282,1.388986555488179],[0.2635620097824719,1.4929868540720674]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.41215290290350415,0.5681163071456328,0.71338606911949],"aabb_xy":[[-0.4184650024398425,0.562349367892414],[-0.40584080336716566,0.5738832463988516]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.04617766433093218,0.6038462324488707,0.71338606911949],"aabb_xy":[[-0.06867408576479628,0.5813462326421233],[-0.023681242897068078,0.6263462322556181]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.33131333142550146,0.7325075173775302,0.71338606911949],"aabb_xy":[[-0.36881333000112226,0.7197712217139721],[-0.29381333284988065,0.745243813041088]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.4772372222759562,1.6698111430592832,0.71338606911949],"aabb_xy":[[-0.5222372237421851,1.6248112861978028],[-0.43223722080972743,1.7148109999207641]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.5055000380531398,-0.01097539560545524,0.71338606911949],"aabb_xy":[[-0.5230000383124765,-0.02506693779422787],[-0.4880000377938033,0.0031161465833173833]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.1860738618014396,-1.0797030497370645,0.71338606911949],"aabb_xy":[[-0.2710738602188628,-1.1645773451993495],[-0.10107386338401639,-0.9948287542747796]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.06616888299994483,-0.7600424516385691,0.71338606911949],"aabb_xy":[[0.035684632872914665,-0.810042451420065],[0.09665313312697497,-0.7100424518570732]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.19692337173178331,-1.6943346432133723,0.71338606911949],"aabb_xy":[[0.1871673822226094,-1.7040971772726068],[0.20667936124095718,-1.684572109154138]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.08762275879186732,-2.166862650881842,0.71338606911949],"aabb_xy":[[-0.11761442152573764,-2.1968626502186424],[-0.05763109605799699,-2.1368626515450413]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.209877825477784,1.5712369701797582,0.71338606911949],"aabb_xy":[[-0.2714685847017768,1.5072369720707115],[-0.1482870662537912,1.6352369682888053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559805854670681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5046.png","name":"5046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5046.png","name":"5046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3264.png","name":"3264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5028.png","name":"5028"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.7129560042097,"rotation_z_degrees":194.09471524279755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023021493076779247,-0.0011631461905392375,0.0025748299216514017]},{"name":"camera_2","offset_m":[-0.01750911101672405,0.004171277349975768,0.019479588289348915]},{"name":"camera_3","offset_m":[-0.006474247720567771,0.008506105949560212,0.008340288943524121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008757046543885841,-0.0007590202234804457,0.0019567764854595184],"end_effector_yaw_offset_degrees":-0.8781967537775452},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011327759853551208,0.0006825392002703001,0.0011410292963101266],"end_effector_yaw_offset_degrees":0.2743303317686412},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003131764382785958,0.0015198717886064192,-0.0010860905798648437],"end_effector_yaw_offset_degrees":0.425028548645761}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004742762695661492,0.000986612211461282],"position_m":[0.3276427626956615,-0.12301338778853872,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003842456273197208,-0.0009458678623777009],"position_m":[0.32514245627319716,0.1202541321376223,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003692322848446246,-0.0010412504735266325],"position_m":[0.30549232284844624,0.0015587495264733674,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013439442384092695,0.004883322939934809],"position_m":[0.10095605576159074,0.3966833229399348,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.106027575067009e-06,-0.0014855323479367778],"position_m":[0.16419289397242495,-0.4391855323479368,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a368935df23480094c94db3349edbfe355f4d4ced5381184cdbb9b0952e84fad","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5046/tex_ceiling_textures_5028/tex_floor_textures_3264/tex_table_textures_8067/tex_wall_textures_6691","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4404289594391753004,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4404289594391753004,"visual_seed":4404289594391753004,"scene_id":"lab_003","finished_at":"2026-09-03T20:21:38"} +{"episode_id":"ep_000074","started_at":"2026-09-03T20:21:41","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.5650916045633623,-1.7874201987076175,0.71338606911949],"aabb_xy":[[0.49509160275461694,-1.8087739674718049],[0.6350916063721078,-1.76606642994343]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.392092640007603,1.2035999667700463,0.71338606911949],"aabb_xy":[[0.3545926384919713,1.1923731937539013],[0.42959264152323473,1.2148267397861914]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.7097616985345512,-1.9816017106565107,0.71338606911949],"aabb_xy":[[0.7017253638332662,-1.989639829960927],[0.7177980332358359,-1.9735635913520935]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.1625757468483171,1.1131288742877006,0.71338606911949],"aabb_xy":[[-0.17434393364297465,1.028128874382479],[-0.1508075600536596,1.1981288741929221]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.5943616407833829,0.01623317892752718,0.71338606911949],"aabb_xy":[[0.5883246277827183,0.010206477858578979],[0.6003986537840478,0.022259879996475388]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.6223907744559671,-1.4064970719794307,0.71338606911949],"aabb_xy":[[0.5583907730479764,-1.4582860235033552],[0.6863907758639577,-1.3547081204555058]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.6286310037937073,-1.6964047723000697,0.71338606911949],"aabb_xy":[[0.5911310038499409,-1.704697862334906],[0.6661310037374737,-1.688111682265233]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.38216411399812134,-2.334363954397097,0.71338606911949],"aabb_xy":[[-0.4621641161608838,-2.4143191380232407],[-0.30216411183535885,-2.2544087707709535]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.5703033273588193,1.287107151570659,0.71338606911949],"aabb_xy":[[-0.5768049638668239,1.277339329544349],[-0.5638016908508147,1.2968749735969685]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.38450943544733784,-1.724042840748698,0.71338606911949],"aabb_xy":[[-0.4295094369135668,-1.769042697610179],[-0.33950943398110905,-1.6790429838872176]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.15705681150849637,-0.09464126830175301,0.71338606911949],"aabb_xy":[[-0.18157043560550223,-0.11890586160378948],[-0.13254318741149052,-0.07037667499971657]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.5957735690730516,0.6366529768458427,0.71338606911949],"aabb_xy":[[-0.604487538122986,0.6141529761866542],[-0.587059600023117,0.6591529775050307]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.3405010954397478,-1.8270343265133346,0.71338606911949],"aabb_xy":[[0.3180363254683427,-1.8495343273921954],[0.36296586541115294,-1.8045343256344744]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.5255595018231309,0.4925230016384785,0.71338606911949],"aabb_xy":[[0.5201015561861109,0.4125229983308193],[0.531017447460151,0.5725230049461375]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.5523726908585671,-0.8493785934834659,0.71338606911949],"aabb_xy":[[-0.6023726912191331,-0.8993585806930688],[-0.5023726904980009,-0.7993986062738629]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.11649456590238927,-0.9537894855039062,0.71338606911949],"aabb_xy":[[0.06651714903713565,-1.0037894869931545],[0.1664719827676428,-0.9037894840146576]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.5073698630469736,-1.9536807248721204,0.71338606911949],"aabb_xy":[[0.48986986376888675,-1.9710188249384666],[0.5248698623250605,-1.9363426248057747]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.5807106891135494,1.6229574802930453,0.71338606911949],"aabb_xy":[[0.567479743578868,1.6097300612710457],[0.5939416346482306,1.6361848993150445]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.6916710302989759,-1.0277082319138302,0.71338606911949],"aabb_xy":[[0.683677540503694,-1.035706363854306],[0.6996645200942581,-1.0197100999733548]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[0.0757956577939447,-1.9193841606092343,0.71338606911949],"aabb_xy":[[0.04079565952382477,-1.9264582883042223],[0.11079565606406458,-1.912310032914246]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.41074306507679764,0.16717323086685676,0.71338606911949],"aabb_xy":[[-0.49574306349422087,0.08229893540457178],[-0.3257430666593744,0.25204752632914174]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.24909783228537974,-0.7259504696029402,0.71338606911949],"aabb_xy":[[0.23716509792355167,-0.7383326224107997],[0.2610305666472078,-0.7135683167950809]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.12813348379828915,-1.8819009042849197,0.71338606911949],"aabb_xy":[[-0.14701786756679935,-1.9007868290652727],[-0.10924910002977894,-1.8630149795045672]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[0.0011057674612239277,0.6553598381690602,0.71338606911949],"aabb_xy":[[-0.03991217592514695,0.6053598375381029],[0.04212371084759481,0.7053598388000175]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.011613055983922038,1.0747221339088235,0.71338606911949],"aabb_xy":[[-0.03411219171014901,1.0522221331305603],[0.010886079742304934,1.0972221346870863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6519354012700396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/520.png","name":"520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2036.png","name":"2036"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/483.png","name":"483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/718.png","name":"718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2088.png","name":"2088"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":845.5506770826762,"rotation_z_degrees":196.4114935670586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005745949318620998,0.008814553819907187,0.00930313023313616]},{"name":"camera_2","offset_m":[0.01980409040035745,0.018804103681982282,-0.0013849069440251965]},{"name":"camera_3","offset_m":[-0.017151407037346904,0.014371714254227386,-0.009304519419064251]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006186996439164162,0.001621611768640948,0.0004837736591596113],"end_effector_yaw_offset_degrees":-0.11988506512271835},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017224146672787759,0.0016784108055283836,0.00045098527218199883],"end_effector_yaw_offset_degrees":0.0215917910436203},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00036968251556331435,-0.0018540551848535455,-0.0018691500558209353],"end_effector_yaw_offset_degrees":0.04198957573543405}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011582903544533254,-0.004045895886133386],"position_m":[0.3217417096455467,-0.12804589588613338,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002714278541842548,0.00208320363660884],"position_m":[0.3240142785418425,0.12328320363660884,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004571245441546763,-0.003828446734199741],"position_m":[0.30637124544154676,-0.0012284467341997412,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002005504170325999,0.00171721832206262],"position_m":[0.104305504170326,0.3935172183220626,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00031625810814813957,0.0049436672333857444],"position_m":[0.16451625810814816,-0.43275633276661424,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"49890cc543728647cab0402e6f60d064f044dc2d91d9233c7dbd3ba1b57d924a","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_520/tex_ceiling_textures_2088/tex_floor_textures_718/tex_table_textures_2036/tex_wall_textures_483","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":74073728232407557,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":74073728232407557,"visual_seed":74073728232407557,"scene_id":"lab_003","finished_at":"2026-09-03T20:24:04"} +{"episode_id":"ep_000075","started_at":"2026-09-03T20:24:07","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.6419232391956093,1.2963176902461395,0.71338606911949],"aabb_xy":[[-0.6618142790759497,1.2836618789614427],[-0.6220321993152692,1.3089735015308364]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.16160629379033242,0.7525858072996883,0.71338606911949],"aabb_xy":[[0.1497342107788313,0.667585807606038],[0.17347837680183353,0.8375858069933387]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.5617771800265345,-2.0032065227024862,0.71338606911949],"aabb_xy":[[0.5242771799209415,-2.0100286845554676],[0.5992771801321274,-1.9963843608495053]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.5139860615213279,-1.1061780947997142,0.71338606911949],"aabb_xy":[[-0.5839860579312894,-1.1266160304513955],[-0.4439860651113659,-1.085740159148032]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.1404849385734126,1.359320505048501,0.71338606911949],"aabb_xy":[[0.13307248303202412,1.3534692946268732],[0.14789739411480107,1.365171715470129]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.05328874708611797,-2.3561096126323524,0.71338606911949],"aabb_xy":[[-0.11728874734658877,-2.40111841198528],[0.01071125317435284,-2.311100813279424]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.1133247210726156,-1.2226205981989087,0.71338606911949],"aabb_xy":[[-0.13042679903098375,-1.2397274037301784],[-0.09622264311424744,-1.205513792667639]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.22369613283031542,1.163151542789306,0.71338606911949],"aabb_xy":[[-0.23298975106746597,1.125651544301172],[-0.2144025145931648,1.20065154127744]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.6046464982088481,-0.3268850890916011,0.71338606911949],"aabb_xy":[[-0.6846464968657341,-0.34138994801586386],[-0.5246464995519621,-0.3123802301673383]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[0.5230555228746525,-1.4548594356622977,0.71338606911949],"aabb_xy":[[0.5008829958980017,-1.4770351028184208],[0.5452280498513034,-1.4326837685061746]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.00022194716241230594,-0.6503958729716193,0.71338606911949],"aabb_xy":[[-0.04976228854576492,-0.7003958717851149],[0.05020618287058953,-0.6003958741581237]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.36998337995592956,-0.65884728903404,0.71338606911949],"aabb_xy":[[0.32873456892601477,-0.7138472885462573],[0.41123219098584424,-0.6038472895218224]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.03468809700522357,-0.9446689795013952,0.71338606911949],"aabb_xy":[[-0.09627885622921639,-1.008668977610442],[0.026902662218769247,-0.8806689813923484]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.09801324086496055,0.43828676808496736,0.71338606911949],"aabb_xy":[[-0.1284974909919907,0.3882867683034714],[-0.0675289907379304,0.4882867678664633]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.1773554617180222,-2.1450829746356317,0.71338606911949],"aabb_xy":[[-0.24135546312601283,-2.1968719261595564],[-0.1133554603100315,-2.093294023111707]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.4114194996277492,-1.986006234606342,0.71338606911949],"aabb_xy":[[-0.43926453640835633,-2.0167907333446538],[-0.3835744628471421,-1.9552217358680302]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.15099594290300178,-2.2821378287465723,0.71338606911949],"aabb_xy":[[0.085995945021354,-2.333261492453113],[0.21599594078464962,-2.2310141650400315]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.36217974710030054,-1.1836679423976404,0.71338606911949],"aabb_xy":[[0.3199953329394698,-1.2476679426748516],[0.4043641612611313,-1.1196679421204292]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.24936798630986767,1.04054371644443,0.71338606911949],"aabb_xy":[[0.1596809100017522,0.9505437161899795],[0.3390550626179831,1.1305437166988805]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.1309327383713873,-1.3706899213850237,0.71338606911949],"aabb_xy":[[-0.14609561134832438,-1.3858553786801424],[-0.11576986539445022,-1.355524464089905]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.05162853543261081,-1.355288677984979,0.71338606911949],"aabb_xy":[[-0.03209369006747165,-1.445288681519675],[0.13535076093269327,-1.2652886744502831]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.18858970978565948,-1.5992253101542322,0.71338606911949],"aabb_xy":[[-0.2260897082090598,-1.6123895241220627],[-0.1510897113622591,-1.5860610961864012]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.19309595374966826,1.4498955115860341,0.71338606911949],"aabb_xy":[[0.11309595327945232,1.4415848039716859],[0.2730959542198842,1.4582062192003824]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.6155445465831644,-0.6651700808976273,0.71338606911949],"aabb_xy":[[-0.6216391744712827,-0.673739475449296],[-0.6094499186950461,-0.6566006863459586]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.4486685767159677,-2.2355815827532792,0.71338606911949],"aabb_xy":[[-0.4661685758503349,-2.2454612097908666],[-0.43116857758160054,-2.225701955715691]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.6424373532556331,-2.5441539290000663,0.71338606911949],"aabb_xy":[[0.5724373511242036,-2.5669158946257613],[0.7124373553870627,-2.5213919633743704]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.4860130676858765,-0.013274520430213599,0.71338606911949],"aabb_xy":[[-0.566013069848639,-0.09322970405635722],[-0.406013065523114,0.06668066319593002]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[-0.13012256735805772,0.12942677634773725,0.71338606911949],"aabb_xy":[[-0.21512256605013236,0.0974409129528584],[-0.045122568665983076,0.1614126397426161]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.5285226977014132,0.8491054258473367,0.71338606911949],"aabb_xy":[[0.43852270120054143,0.8031937834288784],[0.6185226942022849,0.8950170682657949]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.5446999399287881,-2.417148458179471,0.71338606911949],"aabb_xy":[[-0.5623327755223155,-2.434771404195094],[-0.5270671043352604,-2.399525512163848]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_30","position":[-0.6346314797568227,0.4114920927845298,0.71338606911949],"aabb_xy":[[-0.6400894253938427,0.33149208947687064],[-0.6291735341198026,0.49149209609218886]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_31","position":[-0.6741636224980952,-1.6293405464981843,0.71338606911949],"aabb_xy":[[-0.6902255499566128,-1.7143405483107759],[-0.6581016950395775,-1.5443405446855922]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555294414945909,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3399.png","name":"3399"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/291.png","name":"291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8456.png","name":"8456"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":805.5835581448948,"rotation_z_degrees":314.5216768980614,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011220602579565704,0.011654316522121785,-0.017835517544162873]},{"name":"camera_2","offset_m":[0.00010733060118025758,-0.004950292191689734,-0.005491818857778505]},{"name":"camera_3","offset_m":[0.01099093644867074,-0.0048938736816888945,0.006507370297905199]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001663069761735836,-0.0015474109812277518,-0.0013431989980481598],"end_effector_yaw_offset_degrees":-0.09784313299263658},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005882037285013381,-0.0017279781239524482,-0.0014030595723427757],"end_effector_yaw_offset_degrees":0.24747393329137513},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007445963640297301,-0.0014082139123003895,-0.0005499796890667476],"end_effector_yaw_offset_degrees":-0.2912142305751133}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004444871028901579,-0.0035970484132895877],"position_m":[0.31845512897109846,-0.1275970484132896,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003693911930806198,-0.0007248802444783028],"position_m":[0.3249939119308062,0.12047511975552169,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002898227087839501,-0.004686889194996126],"position_m":[0.2989017729121605,-0.0020868891949961258,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002102831876407062,0.0007289033225453163],"position_m":[0.10019716812359294,0.3925289033225453,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020969785750197404,0.0015378619692758711],"position_m":[0.16629697857501977,-0.4361621380307241,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"583fcd1f9c034e23be096af7aaf64362896ac7e89d94576f37d2ef000a9fb04b","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7239/tex_ceiling_textures_8456/tex_floor_textures_2502/tex_table_textures_3399/tex_wall_textures_291","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":755412613260461929,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":755412613260461929,"visual_seed":755412613260461929,"scene_id":"lab_003","finished_at":"2026-09-03T20:26:32"} +{"episode_id":"ep_000076","started_at":"2026-09-03T20:26:35","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.6026322513020884,-2.4835337077277466,0.71338606911949],"aabb_xy":[[-0.6134727295286033,-2.5007199890183953],[-0.5917917730755735,-2.466347426437098]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.22354600176545147,-2.175226203738315,0.71338606911949],"aabb_xy":[[0.21963212857002898,-2.1839752191448714],[0.22745987496087403,-2.1664771883317577]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.48720422535181007,-2.111396844462057,0.71338606911949],"aabb_xy":[[0.4072042250782031,-2.184346392287774],[0.5672042256254171,-2.0384472966363405]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.10308797475621612,-1.001306305249413,0.71338606911949],"aabb_xy":[[0.08607787746616545,-1.0174407937476868],[0.12009807204626675,-0.985171816751139]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.07153592997722691,-0.6468916603051813,0.71338606911949],"aabb_xy":[[0.011535929469373983,-0.7037383939911025],[0.1315359304850798,-0.5900449266192599]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.1804855165208894,-1.4797684370619637,0.71338606911949],"aabb_xy":[[-0.24448551569065935,-1.526535124180926],[-0.11648551735111946,-1.433001749943001]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.28537856981161136,1.0855377053249167,0.71338606911949],"aabb_xy":[[0.26015773295177164,1.0603139544720297],[0.310599406671451,1.1107614561778032]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[0.24586508707233012,1.776403401047046,0.71338606911949],"aabb_xy":[[0.1818650906450082,1.7292337772249498],[0.309865083499652,1.8235730248691426]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.07413309154437653,0.3855489161356278,0.71338606911949],"aabb_xy":[[-0.09913309147689443,0.3786662479147045],[-0.04913309161185865,0.3924315843565511]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.5423599501202834,1.7471321418130175,0.71338606911949],"aabb_xy":[[-0.5521159396294572,1.737369607753783],[-0.5326039606111094,1.756894675872252]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.3138754623072455,1.5875048572654618,0.71338606911949],"aabb_xy":[[0.23387546014448302,1.5075496736393181],[0.393875464470008,1.6674600408916054]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.5404973381393534,0.08343640125631735,0.71338606911949],"aabb_xy":[[-0.5709815882663836,0.033436401474821395],[-0.5100130880123233,0.1334364010378133]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.6841157880758526,-2.4765702713194413,0.71338606911949],"aabb_xy":[[0.6723476012811951,-2.5615702712246633],[0.6958839748705101,-2.39157027141422]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.44222783157685175,-0.09521755775521923,0.71338606911949],"aabb_xy":[[-0.49222783259598707,-0.1316837734930472],[-0.39222783055771654,-0.05875134201739131]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.48284627429828264,1.2761541815595567,0.71338606911949],"aabb_xy":[[0.4453462740061078,1.272112706158953],[0.5203462745904575,1.28019565696016]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.15109658796927172,-0.0436319215358294,0.71338606911949],"aabb_xy":[[-0.15879977864334877,-0.051341292234567404],[-0.14339339729519468,-0.035922550837091394]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.5662166043593491,-1.2283598115040852,0.71338606911949],"aabb_xy":[[0.5613730095981191,-1.2332114639830694],[0.571060199120579,-1.2235081590251011]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.5781688448140139,0.4954444292748885,0.71338606911949],"aabb_xy":[[0.5408375682887714,0.4607913744800362],[0.6155001213392566,0.5300974840697408]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.2970047157363018,0.8980313284901045,0.71338606911949],"aabb_xy":[[0.28144894632603656,0.8824808952456974],[0.3125604851465671,0.9135817617345118]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.37458918988535816,-2.4995630106225533,0.71338606911949],"aabb_xy":[[0.3246103813750423,-2.549563010628272],[0.42456799839567405,-2.4495630106168345]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.18730843122284513,-1.7512163077809326,0.71338606911949],"aabb_xy":[[0.1812138033347268,-1.7597857023326011],[0.19340305911096345,-1.7426469132292637]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.6921959358418741,1.0527057298452522,0.71338606911949],"aabb_xy":[[0.6750938578835061,1.0355989243139825],[0.7092980138002424,1.069812535376522]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.3120363251265428,0.37333753866646147,0.71338606911949],"aabb_xy":[[0.2820446623926724,0.34333753932966093],[0.34202798786041305,0.403337538003262]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.1125323484901426,-1.015806116882791,0.71338606911949],"aabb_xy":[[-0.1325907601033829,-1.0358712037919482],[-0.0924739368769023,-0.9957410299736332]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[0.5003335454605367,1.3735788919856051,0.71338606911949],"aabb_xy":[[0.4363335468739642,1.3265719285860964],[0.5643335440471091,1.4205858553851138]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.3582286886882585,1.5962942514944634,0.71338606911949],"aabb_xy":[[-0.36831039576683194,1.5162942536023483],[-0.348146981609685,1.6762942493865776]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[0.25647287394058116,-1.269041314779563,0.71338606911949],"aabb_xy":[[0.24884860585040297,-1.2766745383161069],[0.26409714203075946,-1.2614080912430194]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.10011847970523924,0.4910838663092405,0.71338606911949],"aabb_xy":[[-0.12261847922894663,0.4685879188586196],[-0.07761848018153182,0.5135798137598611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650035831245309,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3447.png","name":"3447"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3447.png","name":"3447"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1209.png","name":"1209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6476.png","name":"6476"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1377.png","name":"1377"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":755.4059530043705,"rotation_z_degrees":102.80846839335791,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[4.202617312758228e-05,-0.00662889095368719,-0.006164129438900497]},{"name":"camera_2","offset_m":[0.0018853692664946714,-0.0008021737500388676,-0.0134507698390131]},{"name":"camera_3","offset_m":[-0.004885537047566944,0.01579824839461835,0.01616953950599984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015218946301302884,0.0013053695270654146,0.0002778679378701238],"end_effector_yaw_offset_degrees":-0.8852564471543227},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0002982116760697467,0.0016304341364883398,-0.0003577237909628691],"end_effector_yaw_offset_degrees":0.9567982881423485},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00032957868779284554,-0.001300333127184826,-0.0018621931183447828],"end_effector_yaw_offset_degrees":0.059334089406524404}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002188787092280936,0.0004865067219987744],"position_m":[0.3207112129077191,-0.12351349327800122,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016986067006203708,0.004865347885863143],"position_m":[0.3196013932993796,0.12606534788586315,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002107869209706328,0.001293363647379706],"position_m":[0.29969213079029366,0.0038933636473797058,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004578327953328479,0.0006469884368054367],"position_m":[0.09772167204667152,0.3924469884368054,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002979691059842856,0.004101033069866033],"position_m":[0.16122030894015715,-0.43359896693013394,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8a995b1e561dc0fff869001f022b27737425e5f9c524eff641f723497c93213b","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3447/tex_ceiling_textures_1377/tex_floor_textures_6476/tex_table_textures_6964/tex_wall_textures_1209","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3166868088482550000,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3166868088482550000,"visual_seed":3166868088482550000,"scene_id":"lab_003","finished_at":"2026-09-03T20:29:05"} +{"episode_id":"ep_000077","started_at":"2026-09-03T20:29:08","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.07809916877532197,-0.23507846714074754,0.71338606911949],"aabb_xy":[[-0.10059916829902936,-0.2575744145913682],[-0.05559916925161456,-0.2125825196901267]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.5439414819397244,-2.4578523146060167,0.71338606911949],"aabb_xy":[[-0.594038945920798,-2.5218523151158285],[-0.49384401795865074,-2.393852314096205]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.17101696021450263,1.6142013287973325,0.71338606911949],"aabb_xy":[[-0.23501695950867085,1.5502151884284783],[-0.10701696092033441,1.6781874691661867]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[0.17667002050613578,-1.6788663354899567,0.71338606911949],"aabb_xy":[[0.12167002132954627,-1.7338560102649143],[0.23167001968272524,-1.623876660714999]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.4275083985523491,-1.635878035855622,0.71338606911949],"aabb_xy":[[-0.47749134873982846,-1.685878035498182],[-0.3775254483648698,-1.5858780362130611]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.11733661906762194,1.7274322864333542,0.71338606911949],"aabb_xy":[[0.06733661962742629,1.6774643619490375],[0.16733661850781753,1.77740021091767]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.4109882559136271,1.1937120598910038,0.71338606911949],"aabb_xy":[[0.37598825593713125,1.1842474438433872],[0.4459882558901229,1.2031766759386204]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.024101854146967527,1.2651380656060893,0.71338606911949],"aabb_xy":[[-0.08810185605930987,1.209226916348079],[0.039898147765374814,1.3210492148641]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.2019958339092599,-1.866057388578498,0.71338606911949],"aabb_xy":[[-0.26699583206517896,-1.89235363312841],[-0.13699583575334084,-1.8397611440285857]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[0.4960690663414329,0.1527082453719255,0.71338606911949],"aabb_xy":[[0.4914339511891995,0.14884091029477683],[0.5007041814936661,0.15657558044907413]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.16176203024974778,1.7531760055708365,0.71338606911949],"aabb_xy":[[-0.19926203042161972,1.7204752701879291],[-0.12426203007787584,1.7858767409537435]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.26193315660712563,0.09633295199551517,0.71338606911949],"aabb_xy":[[-0.27329489126041173,0.08496448558922706],[-0.2505714219538394,0.10770141840180322]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.28966879124026945,-2.3723133771926985,0.71338606911949],"aabb_xy":[[0.2831671547322649,-2.3820811992190087],[0.2961704277482741,-2.362545555166389]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.24543443659977732,-0.8174418820880403,0.71338606911949],"aabb_xy":[[-0.31543443820205685,-0.8308746752896978],[-0.1754344349974979,-0.8040090888863827]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.46887776136076337,-2.053548488040379,0.71338606911949],"aabb_xy":[[-0.5101265723906779,-2.108548487552596],[-0.4276289503308486,-1.9985484885281612]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.12473952901869956,-0.37851894783964823,0.71338606911949],"aabb_xy":[[-0.1359845845893174,-0.3897607455637435],[-0.11349447344808171,-0.36727715011555295]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.6094769958159927,-0.971690741990672,0.71338606911949],"aabb_xy":[[-0.6444769950088108,-0.9826577879883345],[-0.5744769966231743,-0.9607236959930092]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.17248656121855654,-0.5871964487391454,0.71338606911949],"aabb_xy":[[-0.2099865613241495,-0.5940186105921266],[-0.1349865611129636,-0.5803742868861643]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.043605797123302814,0.8241290682027476,0.71338606911949],"aabb_xy":[[-0.08045634506029042,0.7866290673797138],[-0.006755249186315204,0.8616290690257813]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[0.04165233033265159,-1.249702114042956,0.71338606911949],"aabb_xy":[[-0.048347668261818355,-1.265952700356377],[0.13165232892712153,-1.233451527729535]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.6417709902779221,1.6793589442389885,0.71338606911949],"aabb_xy":[[0.5617771666993637,1.599358941646147],[0.7217648138564802,1.75935894683183]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.5879451267346425,-2.120741288709523,0.71338606911949],"aabb_xy":[[-0.6117813443752476,-2.21074128951801],[-0.5641089090940374,-2.030741287901037]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.14889234941550555,1.045219566649083,0.71338606911949],"aabb_xy":[[0.10389976269705514,1.0002195673746341],[0.19388493613395597,1.0902195659235316]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.17966679680938247,-1.2812838037295784,0.71338606911949],"aabb_xy":[[-0.20155654439832327,-1.3712838010188275],[-0.15777704922044167,-1.1912838064403293]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.05108440015697213,0.3878456746406318,0.71338606911949],"aabb_xy":[[-0.08608439842709203,0.3807715469456436],[-0.01608440188685223,0.3949198023356199]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.08902623574738133,-1.5890333574270292,0.71338606911949],"aabb_xy":[[-0.11901789848125166,-1.6190333567638295],[-0.059034573013511005,-1.5590333580902285]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.678238417597296,-0.4756921341398521,0.71338606911949],"aabb_xy":[[-0.6891441936848586,-0.5556921305386813],[-0.6673326415097331,-0.39569213774102296]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[0.5141167112802716,-0.7671721840144894,0.71338606911949],"aabb_xy":[[0.5025477305333351,-0.7921721841314211],[0.5256856920272083,-0.7421721838975577]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[-0.17114196561225326,0.9330705103588199,0.71338606911949],"aabb_xy":[[-0.19614196516399174,0.9229280264936852],[-0.14614196606051477,0.9432129942239547]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[-0.4203910419777073,0.32660606404447456,0.71338606911949],"aabb_xy":[[-0.43556321125934067,0.3114372071162712],[-0.405218872696074,0.3417749209726779]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[-0.44803027522803895,-0.3885760509633607,0.71338606911949],"aabb_xy":[[-0.4521661315607392,-0.42607605040771773],[-0.4438944188953388,-0.35107605151900373]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548523616656199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7813.png","name":"7813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2970.png","name":"2970"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":784.0786590008997,"rotation_z_degrees":170.1675015540527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00048399096960016763,-0.01425604750773379,0.017940489986339233]},{"name":"camera_2","offset_m":[0.005884880305459066,-0.01606996043583816,0.0018546934515997898]},{"name":"camera_3","offset_m":[0.014792424162116766,0.0029673671708683597,-0.010981279561804898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006902052224897239,-0.0010642202815694746,-0.0014712335747311335],"end_effector_yaw_offset_degrees":-0.8444093001763429},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011582924410630832,0.0003557319811180672,0.0004228318498484037],"end_effector_yaw_offset_degrees":0.4251098037624721},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018416281262169615,-0.0014885516682422596,-0.0010781112995360584],"end_effector_yaw_offset_degrees":-0.053616653331026276}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013608068394941764,-0.001086904078161908],"position_m":[0.3242608068394942,-0.12508690407816192,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009489055382210987,0.0024454338221267828],"position_m":[0.3203510944617789,0.12364543382212678,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002825560673569567,0.0007480472331888206],"position_m":[0.3046255606735696,0.0033480472331888205,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005172526631802158,-0.0032685312857484573],"position_m":[0.10178274733681979,0.38853146871425154,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021049676340713745,0.0025651077193866723],"position_m":[0.16630496763407138,-0.4351348922806133,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a9307090ad667f23755ef058bf5ff82e54d359339d90d2c74a949551d17e4505","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5748/tex_ceiling_textures_6174/tex_floor_textures_2970/tex_table_textures_515/tex_wall_textures_7813","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2814533768131508241,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2814533768131508241,"visual_seed":2814533768131508241,"scene_id":"lab_003","finished_at":"2026-09-03T20:31:48"} +{"episode_id":"ep_000078","started_at":"2026-09-03T20:31:50","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.5829749964354457,1.7710647007253848,0.71338606911949],"aabb_xy":[[-0.593128011989595,1.7349951591526442],[-0.5728219808812962,1.807134242298125]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.1426274598993461,-0.6336750728693956,0.71338606911949],"aabb_xy":[[0.10512745960717129,-0.6377165482699992],[0.18012746019152093,-0.629633597468792]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.4856609575055688,-1.6324985953787792,0.71338606911949],"aabb_xy":[[0.40566095703535293,-1.6408093029931277],[0.5656609579757848,-1.6241878877644311]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.4525115438573091,-1.6565586938577435,0.71338606911949],"aabb_xy":[[-0.5024889607225625,-1.7065586953469916],[-0.40253412699205543,-1.6065586923684945]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.5533164281639231,-1.1915518982709643,0.71338606911949],"aabb_xy":[[-0.6433164278870972,-1.214625250806144],[-0.4633164284407489,-1.1684785457357842]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.0630574813755731,-2.15390703520396,0.71338606911949],"aabb_xy":[[-0.14305747935635815,-2.161508576165812],[0.016942516605211937,-2.146305494242108]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.5822090615330964,-1.3789286650298422,0.71338606911949],"aabb_xy":[[0.5487298942720554,-1.4124077784009494],[0.6156882287941373,-1.3454495516587355]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.37711872999277984,-0.7145591402714908,0.71338606911949],"aabb_xy":[[0.34211873172265994,-0.7216332679664789],[0.41211872826289975,-0.7074850125765025]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[-0.06438257604401676,0.3066482657346432,0.71338606911949],"aabb_xy":[[-0.06851843237671695,0.26914826629028615],[-0.060246719711316565,0.34414826517900016]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.2838957729632603,-0.10219607002900322,0.71338606911949],"aabb_xy":[[-0.3063957734753009,-0.12468792839440156],[-0.2613957724512197,-0.07970421166360485]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.1107653769165532,-1.5302396215093566,0.71338606911949],"aabb_xy":[[0.05576537871480836,-1.5707615881357941],[0.16576537511829803,-1.489717654882919]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.046623996160844006,-1.8643665665170364,0.71338606911949],"aabb_xy":[[0.041286420494839444,-1.8893665674461764],[0.05196157182684858,-1.8393665655878968]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.5364751532128695,-1.450910203865801,0.71338606911949],"aabb_xy":[[-0.5425697811009877,-1.4594795984174698],[-0.5303805253247511,-1.4423408093141323]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.4639025518984396,0.9604206458355375,0.71338606911949],"aabb_xy":[[-0.4814025521577763,0.9463291036467651],[-0.44640255163910303,0.9745121880243104]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.31501549543133206,0.5089096328916156,0.71338606911949],"aabb_xy":[[-0.3523467719565747,0.4742565780967633],[-0.2776842189060894,0.5435626876864679]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.322088902371507,-1.3179419076915921,0.71338606911949],"aabb_xy":[[0.30441327178290867,-1.335622123970995],[0.33976453296010534,-1.3002616914121894]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.3096718746944981,-0.5772138692097135,0.71338606911949],"aabb_xy":[[-0.33467187396646036,-0.5935592328058759],[-0.2846718754225358,-0.5608685056135512]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.4903851071720078,0.8096322692919924,0.71338606911949],"aabb_xy":[[0.4592381883284246,0.7396322706051852],[0.5215320260155909,0.8796322679787996]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.6056840015142565,-1.480751989781316,0.71338606911949],"aabb_xy":[[-0.6245683852827668,-1.499637914561669],[-0.5867996177457464,-1.4618660650009634]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.24692330343839686,1.2019639034368916,0.71338606911949],"aabb_xy":[[0.19194958140206397,1.1469639038726585],[0.30189702547472974,1.2569639030011248]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6507375101040359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3397.png","name":"3397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3397.png","name":"3397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4663.png","name":"4663"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9219.png","name":"9219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4495.png","name":"4495"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":587.5332593260514,"rotation_z_degrees":264.5852294959286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006152918481541545,-0.015084952683645585,0.0032404664545787817]},{"name":"camera_2","offset_m":[0.019876854133107993,0.018993747011696514,-0.010942700302315967]},{"name":"camera_3","offset_m":[0.01752987253936886,0.018889973681297956,-0.0003823597215121613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008805787310178646,-0.0002924881495565681,0.001826859770173201],"end_effector_yaw_offset_degrees":0.5259500782441908},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009629560896003441,0.00017242523081481987,0.00047129712964499946],"end_effector_yaw_offset_degrees":-0.49119832867818003},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004853935283933794,-0.0008665990841240441,0.0006372949264103742],"end_effector_yaw_offset_degrees":0.7378915351262585}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003713561053721105,-0.0013458589040819678],"position_m":[0.3191864389462789,-0.12534585890408198,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-3.208586192012582e-05,0.0004844033773741688],"position_m":[0.32126791413807987,0.12168440337737417,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004948625749516765,-0.0017991668922852644],"position_m":[0.29685137425048325,0.0008008331077147355,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030791140464127387,0.004408068766483226],"position_m":[0.09922088595358726,0.39620806876648323,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017100462324247988,0.004468602581055776],"position_m":[0.16248995376757522,-0.4332313974189442,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a375449237e8668ffa42a229cbeede593535106bc83bec337c6b34091d8d761f","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3397/tex_ceiling_textures_4495/tex_floor_textures_3544/tex_table_textures_4663/tex_wall_textures_9219","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4750427755473010004,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4750427755473010004,"visual_seed":4750427755473010004,"scene_id":"lab_003","finished_at":"2026-09-03T20:34:26"} +{"episode_id":"ep_000079","started_at":"2026-09-03T20:34:29","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.29943602721491946,-1.4293168426113052,0.71338606911949],"aabb_xy":[[0.2918117591247412,-1.436950066147849],[0.3070602953050977,-1.4216836190747615]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.3244683722532848,-2.5206148011425897,0.71338606911949],"aabb_xy":[[-0.3489819963502907,-2.5448793944446257],[-0.299954748156279,-2.496350207840553]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[0.3294131497402939,0.3099038497130313,0.71338606911949],"aabb_xy":[[0.3233761367396292,0.3038771486440831],[0.3354501627409587,0.3159305507819795]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.235287203943723,1.2167551590142436,0.71338606911949],"aabb_xy":[[-0.30528720575246837,1.1954013902500564],[-0.16528720213497752,1.2381089277784312]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.2752711113068768,-0.6097352646530609,0.71338606911949],"aabb_xy":[[-0.33927111047664676,-0.6565019517720234],[-0.2112711121371069,-0.5629685775340985]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.22934545020653185,-1.956992780346092,0.71338606911949],"aabb_xy":[[-0.23726873044528016,-1.9794927805840954],[-0.2214221699677835,-1.9344927801080887]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.13525981853607727,-2.059623793723566,0.71338606911949],"aabb_xy":[[-0.14610029676259217,-2.076810075014215],[-0.12441934030956237,-2.0424375124329175]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[0.13657494745788523,-1.9111315542305496,0.71338606911949],"aabb_xy":[[0.06657494482129886,-1.9312364192264144],[0.20657495009447155,-1.8910266892346834]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.5056941701781377,1.3713416757832508,0.71338606911949],"aabb_xy":[[0.49919253367013305,1.3615738537569413],[0.5121958066861423,1.3811094978095608]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.6657213321158587,0.5095846180023988,0.71338606911949],"aabb_xy":[[-0.6869993402593308,0.4445846156763258],[-0.6444433239723864,0.5745846203284719]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.3526209132012317,1.7778931642103761,0.71338606911949],"aabb_xy":[[-0.3901209135494594,1.7661017686292924],[-0.31512091285300387,1.7896845597914595]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.14820604115772862,0.640412624776932,0.71338606911949],"aabb_xy":[[0.09821120822978699,0.5904126258816884],[0.1982008740856702,0.6904126236721755]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.6652891755452914,-2.129944623598421,0.71338606911949],"aabb_xy":[[0.6477108733563445,-2.147519113172526],[0.6828674777342382,-2.112370134024316]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.30327844996691194,-2.248422293777107,0.71338606911949],"aabb_xy":[[-0.39327844646778365,-2.2943339361955646],[-0.21327845346604016,-2.202510651358648]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.4662347494309378,-2.5637882261703835,0.71338606911949],"aabb_xy":[[-0.4732762003816854,-2.5708149779081775],[-0.4591932984801902,-2.5567614744325886]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.46516641378045986,-1.0938393243966953,0.71338606911949],"aabb_xy":[[0.427666415204839,-1.106575620060253],[0.5026664123560806,-1.0811030287331371]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[0.6055301644336828,1.1398532039870979,0.71338606911949],"aabb_xy":[[0.5953771488795333,1.1037836624143573],[0.6156831799878321,1.175922745559838]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.5760335856233756,0.9279848973306373,0.71338606911949],"aabb_xy":[[0.5120335891960538,0.8808152735085409],[0.6400335820506976,0.9751545211527338]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[-0.003491188171593773,1.420510137599455,0.71338606911949],"aabb_xy":[[-0.015423922533421841,1.4081279847915957],[0.008441546190234295,1.4328922904073145]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.11084666252068642,-1.093782919504226,0.71338606911949],"aabb_xy":[[-0.12794874047905455,-1.1108897250354954],[-0.09374458456231824,-1.076676113972956]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.26686264766733037,1.7109278201436262,0.71338606911949],"aabb_xy":[[0.20286265055522468,1.6618954503492156],[0.33086264477943605,1.7599601899380368]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.1739442642786827,-2.2362412178177795,0.71338606911949],"aabb_xy":[[0.0939442640050757,-2.309190765643496],[0.25394426455228963,-2.1632916699920623]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.5004181163164279,1.329418354229908,0.71338606911949],"aabb_xy":[[-0.5354181162124466,1.3210441187179678],[-0.4654181164204089,1.337792589741848]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.28498867021053853,1.3545384597665895,0.71338606911949],"aabb_xy":[[0.26719516327562215,1.3367387141707918],[0.302782177145455,1.3723382053623872]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.13346787771454838,0.41495880025628074,0.71338606911949],"aabb_xy":[[-0.14593523582428405,0.4024934756229572],[-0.12100051960481276,0.4274241248896042]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.10958135449613371,-1.2552802644238854,0.71338606911949],"aabb_xy":[[0.07958969176226335,-1.285280263760686],[0.139573017230004,-1.2252802650870849]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[-0.6498120765594606,1.5712820728364325,0.71338606911949],"aabb_xy":[[-0.6551496522254651,1.546282071907293],[-0.6444745008934559,1.5962820737655725]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.48067834883139193,-0.6519188007091501,0.71338606911949],"aabb_xy":[[0.4631783496970247,-0.6617984277467379],[0.49817834796575905,-0.6420391736715623]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.4756636202646292,0.5014138017728267,0.71338606911949],"aabb_xy":[[-0.493869443925877,0.49038840119083515],[-0.45745779660338165,0.5124392023548184]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[-0.28867432127039094,-1.1731075815959298,0.71338606911949],"aabb_xy":[[-0.3386743207105865,-1.223075506080246],[-0.23867432183019527,-1.1231396571116135]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_30","position":[-0.5636376951159305,-1.173273248088609,0.71338606911949],"aabb_xy":[[-0.5839219978393292,-1.1935558732313178],[-0.5433533923925317,-1.1529906229459002]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[0.5188413827200999,-1.6385287911888844,0.71338606911949],"aabb_xy":[[0.45884138185928697,-1.6899552211953706],[0.5788413835809125,-1.5871023611823978]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_32","position":[0.38268597410379135,-2.19554503503929,0.71338606911949],"aabb_xy":[[0.3328691946389566,-2.2455450335235936],[0.4325027535686261,-2.145545036554987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618279697056558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":511.099821417572,"rotation_z_degrees":83.41488570191068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006986005996001306,-0.013448919123322453,0.012201977731306723]},{"name":"camera_2","offset_m":[-0.019419967089616123,-0.013813873173487883,-0.003436317382141566]},{"name":"camera_3","offset_m":[-0.015908572891867395,0.01742248746721042,0.015014286647477653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011184380399472018,0.0009159320970413627,0.0003887690395961755],"end_effector_yaw_offset_degrees":-0.37009150344192276},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005074467722961952,-0.00015206341549954864,-0.00047867109036446066],"end_effector_yaw_offset_degrees":-0.018931350807443348},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001807840858428591,-0.0012106920798063575,0.0014914777191354358],"end_effector_yaw_offset_degrees":-0.19293590422684748}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001086949366899079,0.0019933991966226807],"position_m":[0.32181305063310095,-0.12200660080337732,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002746166536912212,0.00012857738802827222],"position_m":[0.3240461665369122,0.12132857738802827,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0008001940085731228,-1.582316638830579e-05],"position_m":[0.30260019400857313,0.002584176833611694,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-8.483602975568362e-05,-0.004148823930654817],"position_m":[0.10221516397024431,0.3876511760693452,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004830965919828663,-0.004851051238135936],"position_m":[0.16903096591982866,-0.44255105123813593,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"acd719f8bea097daa7152d532deb2818959519644667a682f3e9cf831e868522","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2857/tex_ceiling_textures_7065/tex_floor_textures_2104/tex_table_textures_7473/tex_wall_textures_9185","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7444300832462606186,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7444300832462606186,"visual_seed":7444300832462606186,"scene_id":"lab_003","finished_at":"2026-09-03T20:36:56"} +{"episode_id":"ep_000080","started_at":"2026-09-03T20:36:58","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.38450857857544296,-2.3791228651158387,0.71338606911949],"aabb_xy":[[0.33670241096167436,-2.4441228678228972],[0.4323147461892116,-2.3141228624087793]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.3839271256275798,0.8877925084093445,0.71338606911949],"aabb_xy":[[-0.4339271272890745,0.8377940661536417],[-0.333927123966085,0.9377909506650471]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.5048583434069887,-1.5642326601132108,0.71338606911949],"aabb_xy":[[0.44085834106418714,-1.6091735113573433],[0.5688583457497902,-1.5192918088690783]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.3423137803063083,1.703172348428048,0.71338606911949],"aabb_xy":[[0.3331539013624317,1.6966411303845108],[0.3514736592501849,1.709703566471585]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.2950321686854242,-0.35880086623606955,0.71338606911949],"aabb_xy":[[-0.3109166619507494,-0.37315380653489366],[-0.2791476754200991,-0.34444792593724555]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.5484128366909464,0.512214383781791,0.71338606911949],"aabb_xy":[[-0.5734128358565795,0.5052621380764344],[-0.5234128375253133,0.5191666294871475]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.23684829065673763,-1.386669828251627,0.71338606911949],"aabb_xy":[[0.22721665443630795,-1.3963071410313357],[0.2464799268771672,-1.3770325154719179]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.20838372889452128,-1.6493382156445306,0.71338606911949],"aabb_xy":[[0.14338373033744845,-1.6790907490584133],[0.2733837274515941,-1.619585682230648]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.5338351894017095,-2.283277281039956,0.71338606911949],"aabb_xy":[[0.5163351901236226,-2.3006153811063017],[0.5513351886797964,-2.26593918097361]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.4202812316217866,1.4805032929639075,0.71338606911949],"aabb_xy":[[-0.4290624587690229,1.4717235456753772],[-0.41150000447455043,1.4892830402524377]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.6861003504408201,-1.9230644712003722,0.71338606911949],"aabb_xy":[[0.648600349256027,-1.9274826938964325],[0.7236003516256126,-1.9186462485043114]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.050915475682688394,1.691299659980055,0.71338606911949],"aabb_xy":[[-0.1309154742700078,1.611984058041894],[0.029084522904631028,1.7706152619182158]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.5111307235988749,-0.2976526294907531,0.71338606911949],"aabb_xy":[[0.47666824558578713,-0.30431630667367593],[0.5455932016119627,-0.2909889523078303]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.39118721168037407,1.1968633491569447,0.71338606911949],"aabb_xy":[[0.3686735198569169,1.126863348555937],[0.41370090350383126,1.266863349757952]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.0616072782165874,-0.7498072263239919,0.71338606911949],"aabb_xy":[[0.012126857002628624,-0.8138072242368438],[0.11108769943054621,-0.6858072284111402]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.04735078431290907,0.9661432487379651,0.71338606911949],"aabb_xy":[[0.024851648586682096,0.943643247959702],[0.06984992003913604,0.988643249516228]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.607704722958268,-1.6830839725483147,0.71338606911949],"aabb_xy":[[-0.6575215024231028,-1.7330839710326178],[-0.5578879434934333,-1.633083974064011]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.629464274399272,1.0879981952957896,0.71338606911949],"aabb_xy":[[-0.6403700504868347,1.0079981988969604],[-0.6185584983117093,1.1679981916946187]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.5192574159709225,1.2718865638423624,0.71338606911949],"aabb_xy":[[0.4836282600709627,1.2362538970855095],[0.5548865718708822,1.3075192305992154]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.19817448494166867,-1.9866607592272727,0.71338606911949],"aabb_xy":[[0.13417878754657206,-2.0506607575279814],[0.26217018233676526,-1.922660760926564]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.22322427316583615,-2.477434396340403,0.71338606911949],"aabb_xy":[[0.20293997044243733,-2.4977170214831115],[0.24350857588923486,-2.4571517711976933]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.010280205399175735,-1.672322507469334,0.71338606911949],"aabb_xy":[[0.0015822431084604447,-1.684447481776809],[0.018978167689891023,-1.6601975331618595]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.08721995774224911,-0.7214657679575132,0.71338606911949],"aabb_xy":[[-0.13221254446069952,-0.7664657672319618],[-0.0422273710237987,-0.6764657686830643]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.1510905188711681,0.392590327133457,0.71338606911949],"aabb_xy":[[-0.2010905184475028,0.3426097481813511],[-0.10109051929483337,0.442570906085563]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.4267334653154258,0.8669622279087408,0.71338606911949],"aabb_xy":[[0.41588185906655023,0.8561029371810899],[0.43758507156430143,0.8778215186363919]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[0.5108858071372551,0.08712851808485755,0.71338606911949],"aabb_xy":[[0.4271635816371725,-0.0028714854498383957],[0.5946080326373374,0.1771285216195535]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.6535130432169629,-0.956244262848114,0.71338606911949],"aabb_xy":[[-0.6605533531505,-1.0362442622477857],[-0.646472733283426,-0.8762442634484429]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.05504183547008801,-1.4329892924029632,0.71338606911949],"aabb_xy":[[-0.12004183362600707,-1.4592855369528754],[0.009958162685831058,-1.406693047853051]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[-0.5023021014330358,-1.3221625414462879,0.71338606911949],"aabb_xy":[[-0.5823021035957981,-1.4021177250724313],[-0.4223020992702732,-1.242207357820144]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.2947574258749217,-1.410412088481253,0.71338606911949],"aabb_xy":[[0.29131674963486454,-1.4142735214556175],[0.2981981021149789,-1.4065506555068885]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.003045791100477757,-2.244207787336718,0.71338606911949],"aabb_xy":[[-0.07695420630311565,-2.3242003585349003],[0.08304578850407117,-2.1642152161385346]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[-0.5935774623668229,-0.09738205393593269,0.71338606911949],"aabb_xy":[[-0.6435774633173555,-0.1289312009394541],[-0.5435774614162899,-0.06583290693241128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565508084828747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2634.png","name":"2634"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5843.png","name":"5843"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4104.png","name":"4104"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.6123248661604,"rotation_z_degrees":159.46623317863438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005410459561048603,0.01945328138461486,0.007236849686200995]},{"name":"camera_2","offset_m":[-0.016728729723957475,-0.002639710197321579,0.019405056480837287]},{"name":"camera_3","offset_m":[0.01064335257659791,-0.004545333953774966,-0.004554105717947756]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000884217096118974,-0.0007304818462367489,0.0005328496310014396],"end_effector_yaw_offset_degrees":-0.4581186525352754},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018920703377081486,-0.0013372706439021488,-6.901052233959822e-05],"end_effector_yaw_offset_degrees":0.6813541279361044},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017305837372130633,0.0019580070343960167,-0.0010318276845234214],"end_effector_yaw_offset_degrees":-0.07809790183392562}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015327614808041813,0.001438748874952156],"position_m":[0.32136723851919585,-0.12256125112504784,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003575532840596511,-0.00025272826130524634],"position_m":[0.3248755328405965,0.12094727173869475,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0023784280821608785,-0.003217247674400712],"position_m":[0.29942157191783914,-0.000617247674400712,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004544929082554422,-0.0035945360668164306],"position_m":[0.09775507091744558,0.38820546393318356,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007585413114396013,-0.001487484553364855],"position_m":[0.1649585413114396,-0.4391874845533648,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"33f850ca398c1b7a1e5f17cbbc151f8b12a778e7981c693d8bf71d144f1c93c5","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5478/tex_ceiling_textures_4104/tex_floor_textures_5843/tex_table_textures_2634/tex_wall_textures_9187","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5368524181079498081,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5368524181079498081,"visual_seed":5368524181079498081,"scene_id":"lab_003","finished_at":"2026-09-03T20:39:41"} +{"episode_id":"ep_000081","started_at":"2026-09-03T20:39:44","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.05109658714228704,1.604216164622985,0.71338606911949],"aabb_xy":[[-0.062458321795573195,1.5928476982166968],[-0.039734852489000876,1.615584631029273]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.14609055354379485,0.18795480123226493,0.71338606911949],"aabb_xy":[[-0.1835905534875613,0.17966171119742833],[-0.10859055360002848,0.1962478912671015]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.3551564682951555,-1.5341470580023284,0.71338606911949],"aabb_xy":[[-0.4451564650307657,-1.5873305213196227],[-0.2651564715595453,-1.4809635946850337]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.4601117347196797,-1.2155318986714587,0.71338606911949],"aabb_xy":[[-0.5201117352275325,-1.2723786323573798],[-0.4001117342118267,-1.1586851649855372]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.5564552431615818,-1.9387240401327759,0.71338606911949],"aabb_xy":[[-0.6064283086940974,-1.9887240399453092],[-0.5064821776290664,-1.8887240403202434]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.13259226008684044,0.41867682120531136,0.71338606911949],"aabb_xy":[[-0.19659225651416234,0.37150719738321497],[-0.06859226365951854,0.46584644502740785]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.12539454683604467,-2.4637537006779198,0.71338606911949],"aabb_xy":[[-0.17538937976398628,-2.5137536995731633],[-0.07539971390810307,-2.4137537017826762]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.24261265722488978,-1.99266892673617,0.71338606911949],"aabb_xy":[[0.16261266026185056,-2.069744568379943],[0.3226126541879289,-1.9155932850923962]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.1224477058901271,0.7338724729335597,0.71338606911949],"aabb_xy":[[-0.13935843832646883,0.7204002673409451],[-0.1055369734537853,0.7473446785261741]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.0999965480041416,-1.9170117989170712,0.71338606911949],"aabb_xy":[[-0.11262333529133794,-1.9265578726186439],[-0.08736976071694524,-1.907465725215498]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.4846564023426603,-0.9112758967800558,0.71338606911949],"aabb_xy":[[0.4046564036857743,-0.9257807557043186],[0.5646564009995463,-0.896771037855793]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[0.22634340298375388,1.6881373301649263,0.71338606911949],"aabb_xy":[[0.18135081626530344,1.6431373308904775],[0.2713359897022043,1.733137329439375]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.41253379874226703,-0.38495473810619707,0.71338606911949],"aabb_xy":[[0.3950337984829305,-0.3990462802949698],[0.43003379900160377,-0.3708631959174245]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.1756328175153744,1.056275467650639,0.71338606911949],"aabb_xy":[[-0.22063281898160328,1.0112756107891585],[-0.13063281604914556,1.1012753245121198]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.05060187219478607,0.666504704990782,0.71338606911949],"aabb_xy":[[0.01310187100999327,0.6620864822947213],[0.08810187337957885,0.6709229276868424]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.4703145148677469,1.372529298341238,0.71338606911949],"aabb_xy":[[-0.5343102122628434,1.3085293000405291],[-0.40631881747265025,1.4365292966419465]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.19164661551883555,1.3987427868753564,0.71338606911949],"aabb_xy":[[-0.22814243614611426,1.3622588444485986],[-0.15515079489155678,1.4352267293021137]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[0.6187283046339727,-1.5019240893264596,0.71338606911949],"aabb_xy":[[0.5387283066531875,-1.5095256302883115],[0.6987283026147576,-1.4943225483646077]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.15012295722635216,0.649703780174852,0.71338606911949],"aabb_xy":[[-0.16680009321944766,0.6330038562009218],[-0.13344582123325666,0.6664037041487824]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.06595354912628104,-1.17658576958906,0.71338606911949],"aabb_xy":[[-0.07910479509757042,-1.2015857693457468],[-0.052802303154991695,-1.1515857698323737]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.440157532716476,0.8745494684472943,0.71338606911949],"aabb_xy":[[-0.4901575343779707,0.8245510261915915],[-0.3901575310549812,0.9245479107029969]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.5756089188773648,-1.9431567367311766,0.71338606911949],"aabb_xy":[[0.5381089185851898,-1.9471982121317801],[0.6131089191695395,-1.939115261330573]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.4891061215532869,0.02758409347637203,0.71338606911949],"aabb_xy":[[-0.5531061186653927,-0.021448276318038584],[-0.4251061244411813,0.07661646327078264]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.2446604717960224,-0.7467258400170782,0.71338606911949],"aabb_xy":[[-0.2486209555657568,-0.7543937046025988],[-0.24069998802628806,-0.7390579754315576]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.39124162606260415,1.4486438465322062,0.71338606911949],"aabb_xy":[[0.3818946184803089,1.4343402243145622],[0.4005886336448994,1.4629474687498503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509749967765723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6778.png","name":"6778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6778.png","name":"6778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6092.png","name":"6092"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6118.png","name":"6118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4260.png","name":"4260"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":820.2823746631339,"rotation_z_degrees":183.4523620535718,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016749979090623097,0.013408974566831117,0.018193712038871674]},{"name":"camera_2","offset_m":[0.004271451964313781,0.018579670169143834,-0.013630105125635152]},{"name":"camera_3","offset_m":[0.005302607290686063,-0.003757679757730413,0.016416967953581937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001901001160614348,0.0009014099601711333,0.00034328593306837693],"end_effector_yaw_offset_degrees":-0.24666937764100805},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00030803987557195367,-7.493538887830904e-05,-0.0001321935778286706],"end_effector_yaw_offset_degrees":0.5589811335495267},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.632642929643742e-05,-0.0014116630540971526,-0.0015499559968935803],"end_effector_yaw_offset_degrees":0.4754447418170855}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003096941183348005,0.003032354405364015],"position_m":[0.32599694118334804,-0.12096764559463598,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003884808552555263,-0.003956714451123889],"position_m":[0.3251848085525552,0.11724328554887611,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004707044172073985,-6.779484893212027e-05],"position_m":[0.306507044172074,0.0025322051510678796,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004537402969925974,-0.002192437453775562],"position_m":[0.09776259703007403,0.3896075625462244,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002476514089273213,0.0032551814648313767],"position_m":[0.1617234859107268,-0.4344448185351686,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d1778d4dbe993090cf45b4f14c7eb676f4dd4ae629ba38894c8c22702da8d18f","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6778/tex_ceiling_textures_4260/tex_floor_textures_6118/tex_table_textures_2319/tex_wall_textures_6092","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7014542671988496523,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7014542671988496523,"visual_seed":7014542671988496523,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:09"} +{"episode_id":"ep_000082","started_at":"2026-09-03T20:42:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.46384409113857905,-1.643298913750939,0.71338606911949],"aabb_xy":[[0.4413440913246767,-1.6477735301214198],[0.4863440909524815,-1.6388242973804583]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.32481082273887907,-1.8284757341947033,0.71338606911949],"aabb_xy":[[0.24481082533528567,-1.908468305392886],[0.4048108201424725,-1.7484831629965203]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.5131426974846867,-0.21335392468358494,0.71338606911949],"aabb_xy":[[0.5043406421757138,-0.221165250838514],[0.5219447527936593,-0.20554259852865583]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.35228373449794814,-1.57848254700558,0.71338606911949],"aabb_xy":[[-0.4322837359280753,-1.6579997020181896],[-0.2722837330678209,-1.4989653919929706]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.03972351333182167,1.2282020019317357,0.71338606911949],"aabb_xy":[[-0.04527648536025297,1.1962161385368566],[0.12472351202389631,1.2601878653266143]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.4846805385511685,0.7884153966060037,0.71338606911949],"aabb_xy":[[-0.574367614859284,0.6984153963515531],[-0.394993462243053,0.8784153968604542]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.2561361005060313,0.6563409476392352,0.71338606911949],"aabb_xy":[[-0.32013610379573937,0.6130060286353176],[-0.19213609721632316,0.6996758666431528]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.09398294079049363,0.709099078415802,0.71338606911949],"aabb_xy":[[0.08788831290237532,0.7005296838641333],[0.10007756867861196,0.7176684729674707]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.6038841483947526,-1.3389425083093776,0.71338606911949],"aabb_xy":[[0.5388841505131049,-1.3900661720159184],[0.6688841462764005,-1.2878188446028367]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.16046921225514976,0.2869796631916386,0.71338606911949],"aabb_xy":[[-0.24419143775523222,0.19697965965694259],[-0.0767469867550673,0.3769796667263345]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.5161147149919818,1.019290982384041,0.71338606911949],"aabb_xy":[[0.47861471517494825,1.014652771072899],[0.5536147148090154,1.0239291936951826]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.7040080158660886,-0.6761383511601127,0.71338606911949],"aabb_xy":[[0.7000475320963544,-0.6838062157456334],[0.7079684996358231,-0.6684704865745922]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.3159479569324469,-0.7031627662993687,0.71338606911949],"aabb_xy":[[-0.32090397711732815,-0.7256627665014904],[-0.3109919367475658,-0.6806627660972472]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.23949891311487548,1.7743015798109671,0.71338606911949],"aabb_xy":[[0.23150492453717203,1.7663014997158766],[0.24749290169257881,1.7823016599060573]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.6304835373090891,0.672130548460824,0.71338606911949],"aabb_xy":[[0.6263675871970164,0.6680149934279782],[0.6345994874211617,0.6762461034936693]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[-0.6022304003406129,-0.40194175138405797,0.71338606911949],"aabb_xy":[[-0.6395616768658556,-0.4365948061789103],[-0.5648991238153704,-0.36728869658920565]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.6134135073907205,1.396806570650535,0.71338606911949],"aabb_xy":[[0.5759135072851276,1.3899844087975535],[0.6509135074963135,1.4036287325035157]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.03641575072828507,0.9263349790293125,0.71338606911949],"aabb_xy":[[-0.027584249975184286,0.8803165965563916],[0.10041575143175444,0.9723533615022336]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.28595115442170094,0.5068551176579628,0.71338606911949],"aabb_xy":[[0.2778234662283877,0.4979415092472551],[0.29407884261501416,0.5157687260686704]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.4037464804349463,1.499858865132309,0.71338606911949],"aabb_xy":[[-0.49374648015812045,1.4767855125971288],[-0.3137464807117721,1.5229322176674884]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.48936231009811904,0.19035750187375022,0.71338606911949],"aabb_xy":[[0.40936230962790315,0.18204679425940185],[0.569362310568335,0.19866820948809863]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.22783210117185398,-1.149208034967818,0.71338606911949],"aabb_xy":[[-0.30782592475041215,-1.2292080375606595],[-0.14783827759329574,-1.0692080323749764]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.4298564789959014,1.6331750746407248,0.71338606911949],"aabb_xy":[[0.41074417163792254,1.6140402957634827],[0.44896878635388027,1.6523098535179668]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.36662241222470215,-2.117272201263291,0.71338606911949],"aabb_xy":[[0.3165249482436285,-2.1812722017731034],[0.4167198762057757,-2.05327220075348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545109247187388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9888.png","name":"9888"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9888.png","name":"9888"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/462.png","name":"462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8943.png","name":"8943"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9062.png","name":"9062"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8578.png","name":"8578"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":762.4839817445616,"rotation_z_degrees":279.47968261458016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009396126971342317,0.010704293485161272,0.003520239968024922]},{"name":"camera_2","offset_m":[-0.018965075583682402,-0.00029633413904466,0.013831811382200129]},{"name":"camera_3","offset_m":[-0.009447526701195265,-0.01683876274070726,0.005169596711256386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015562864375857602,-0.0012830186758152284,0.0004871170118662003],"end_effector_yaw_offset_degrees":-0.06838550872147708},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015503198650508847,0.0003898308916533994,0.0012497128372929026],"end_effector_yaw_offset_degrees":0.35885974087008},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[8.780978516177576e-05,-0.0019791251136592955,-0.00020071549455841046],"end_effector_yaw_offset_degrees":-0.21743472552182408}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003973407537684296,0.0005281798575358532],"position_m":[0.31892659246231575,-0.12347182014246415,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010541298088838262,-0.0040920039468884005],"position_m":[0.3223541298088838,0.1171079960531116,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0007324016518593735,0.000542242433306795],"position_m":[0.3025324016518594,0.003142242433306795,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026987960871940053,-0.0008541110503925541],"position_m":[0.099601203912806,0.3909458889496074,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002549646836408007,0.0035803128318286923],"position_m":[0.16674964683640803,-0.4341196871681713,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"10cd2642ff85e793822c9c1afab6befda57df8d192b840d5ccbcfd17f14eb21a","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9888/tex_ceiling_textures_8578/tex_floor_textures_9062/tex_table_textures_462/tex_wall_textures_8943","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7822140153687932023,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7822140153687932023,"visual_seed":7822140153687932023,"scene_id":"lab_003","finished_at":"2026-09-03T20:44:37"} +{"episode_id":"ep_000083","started_at":"2026-09-03T20:44:42","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.34873220141950845,-1.0425639478251305,0.71338606911949],"aabb_xy":[[0.26873220343872334,-1.0501654887869822],[0.42873219940029345,-1.0349624068632783]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[-0.5417290297476964,-2.5019902653439314,0.71338606911949],"aabb_xy":[[-0.5591597448267028,-2.519262380007781],[-0.5242983146686898,-2.48471815068008]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.5523007270613044,-1.908868102815812,0.71338606911949],"aabb_xy":[[-0.5773007269938223,-1.9157507710367356],[-0.5273007271287865,-1.901985434594889]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.48693687222370985,-2.391887685444273,0.71338606911949],"aabb_xy":[[-0.5569368686336715,-2.412325621095954],[-0.416936875813748,-2.3714497497925904]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.5425171949796157,-2.487449048923064,0.71338606911949],"aabb_xy":[[0.4725171915880538,-2.5227648226264945],[0.6125171983711777,-2.4521332752196328]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.16745854999932785,-2.3538811217001214,0.71338606911949],"aabb_xy":[[0.15668557607796008,-2.3888811199191604],[0.17823152392069563,-2.3188811234810824]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.457037807562812,0.19668089407817568,0.71338606911949],"aabb_xy":[[-0.49453780785498674,0.19263941867757206],[-0.4195378072706371,0.20072236947877925]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.1853404183955536,0.5935739693516582,0.71338606911949],"aabb_xy":[[0.16766478780695526,0.5758937530722553],[0.20301604898415193,0.6112541856310608]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.23905194355690412,-1.8583719039375395,0.71338606911949],"aabb_xy":[[-0.26405194310864255,-1.868514387802674],[-0.2140519440051656,-1.8482294200724045]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.48285239110024614,-0.6539715644287425,0.71338606911949],"aabb_xy":[[-0.5328523927617408,-0.7039700066844451],[-0.4328523894387514,-0.6039731221730397]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.15413992690610157,-0.5173720425344137,0.71338606911949],"aabb_xy":[[0.144980047962225,-0.5239032605779508],[0.1632998058499782,-0.5108408244908766]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.4571029877109807,-2.3181744199372094,0.71338606911949],"aabb_xy":[[0.4021292656746478,-2.3731744195014426],[0.5120767097473136,-2.2631744203729762]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.39825424842166357,1.002532496028798,0.71338606911949],"aabb_xy":[[0.3763645008327228,0.9125324987395488],[0.4201439960106044,1.092532493318047]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.5031158434424606,0.7206029243764895,0.71338606911949],"aabb_xy":[[-0.5072516997751608,0.6831029249321326],[-0.49897998710976044,0.7581029238208467]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.023832740124036023,-2.216310479016078,0.71338606911949],"aabb_xy":[[-0.0013880967358036453,-2.2415342298689636],[0.049053576983875684,-2.1910867281631905]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.6020879846141474,-2.386632708136572,0.71338606911949],"aabb_xy":[[0.586915815332514,-2.4018015650647753],[0.6172601538957807,-2.371463851208369]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.14358604272772213,-1.0561680097058588,0.71338606911949],"aabb_xy":[[-0.14801667208256233,-1.0616163814405413],[-0.13915541337288198,-1.0507196379711763]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.552712088215459,1.6916467254897785,0.71338606911949],"aabb_xy":[[0.53242778549206,1.6713641003470694],[0.5729963909388576,1.711929350632487]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[-0.4491683242356629,0.42497641832192334,0.71338606911949],"aabb_xy":[[-0.5091683240822296,0.3681577961288846],[-0.38916832438909604,0.48179504051496197]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.1252309882833328,-0.8851384792788044,0.71338606911949],"aabb_xy":[[-0.13013028058989626,-0.9128153985813732],[-0.12033169597676927,-0.8574615599762356]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.6187474676630378,1.059793171903277,0.71338606911949],"aabb_xy":[[0.581247469087417,1.0470568762397188],[0.6562474662386586,1.0725294675668346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65375725715292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8979.png","name":"8979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/564.png","name":"564"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3182.png","name":"3182"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":760.5880186335025,"rotation_z_degrees":147.8960648142912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01697769698999072,-0.011400879639264021,0.018214878986605117]},{"name":"camera_2","offset_m":[-0.01143649724475032,-0.006878997047784035,0.007258612659371635]},{"name":"camera_3","offset_m":[-0.01543799317718516,-0.01563923234422222,-0.009860421222795549]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009630693703837354,-0.00015040972635887995,-0.0008612758045333897],"end_effector_yaw_offset_degrees":0.1353265033813269},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011131920790309058,0.00028696026082101296,0.0004905917310896327],"end_effector_yaw_offset_degrees":0.8265204987514498},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003048510991695626,0.0006613394923673283,0.0019091002156948755],"end_effector_yaw_offset_degrees":0.2652477751910054}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003799396063027183,0.0037266431040516414],"position_m":[0.3191006039369728,-0.12027335689594836,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021559607905428002,-0.0006698323437789762],"position_m":[0.31914403920945716,0.12053016765622103,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003926820410535319,0.0008950835392927568],"position_m":[0.30572682041053534,0.0034950835392927567,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015450360623573832,0.0002078789849709996],"position_m":[0.10075496393764262,0.39200787898497097,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004618222532200044,-0.0032583488055973123],"position_m":[0.15958177746779997,-0.4409583488055973,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24fd15d485a485eef318035e02ae1eda2f96945d75a3659337a87f87cf9702dc","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7856/tex_ceiling_textures_3182/tex_floor_textures_6148/tex_table_textures_8979/tex_wall_textures_564","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":7332697012015711313,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":7332697012015711313,"visual_seed":7332697012015711313,"scene_id":"lab_003","finished_at":"2026-09-03T20:47:12"} +{"episode_id":"ep_000084","started_at":"2026-09-03T20:47:16","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.08399136849320232,-1.1512263749585,0.71338606911949],"aabb_xy":[[0.06644467357708339,-1.1887263765227514],[0.10153806340932126,-1.1137263733942488]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.5817091765829647,0.4948913833991666,0.71338606911949],"aabb_xy":[[0.577593226470892,0.49077582836632105],[0.5858251266950373,0.49900693843201205]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.38407515061060404,1.0220627696931817,0.71338606911949],"aabb_xy":[[-0.46407514757364315,0.9449871280494082],[-0.3040751536475648,1.0991384113369551]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.2799069843582999,1.6713612320513147,0.71338606911949],"aabb_xy":[[-0.32507830220646894,1.6073612349067767],[-0.234735666510131,1.7353612291958536]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.054609377636544276,1.222104027447155,0.71338606911949],"aabb_xy":[[-0.0642410138569739,1.2124667146674462],[-0.04497774141611466,1.231741340226864]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.48441693971915495,-2.5637495069397196,0.71338606911949],"aabb_xy":[[-0.4935768186630315,-2.5702807249832564],[-0.4752570607752783,-2.5572182888961827]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.09080360550991806,-1.7115008725297465,0.71338606911949],"aabb_xy":[[-0.0947174787053406,-1.720249887936303],[-0.08688973231449555,-1.7027518571231894]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.44262063967147136,-1.6719414945720112,0.71338606911949],"aabb_xy":[[0.4349963715812932,-1.6795747181085554],[0.45024490776164966,-1.664308271035468]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.22544572629697024,-1.9294205580136703,0.71338606911949],"aabb_xy":[[0.19711601634843,-1.9338813002073874],[0.25377543624551047,-1.9249598158199532]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.5639063713401851,1.048569301585053,0.71338606911949],"aabb_xy":[[-0.5815392069337125,1.03094635556943],[-0.5462735357466574,1.066192247600676]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.3602843834172553,-0.5074141620701837,0.71338606911949],"aabb_xy":[[0.2962843801986175,-0.5541372739691921],[0.42428438663589324,-0.4606910501711754]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.6143799533530261,-1.393110105369583,0.71338606911949],"aabb_xy":[[-0.6393799526249883,-1.4094554689657453],[-0.5893799540810637,-1.3767647417734206]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.6283517249873007,-1.7552147780392846,0.71338606911949],"aabb_xy":[[0.5633517249529981,-1.8019154547196117],[0.6933517250216036,-1.708514101358957]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.21789932201989726,-1.8691867426273605,0.71338606911949],"aabb_xy":[[-0.2249396319534343,-1.9491867420270321],[-0.21085901208636032,-1.7891867432276893]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.2394408535802659,-1.2857611392292232,0.71338606911949],"aabb_xy":[[0.23141458294963993,-1.2945126342065758],[0.24746712421089193,-1.2770096442518706]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.2876909339058721,1.7351052192666123,0.71338606911949],"aabb_xy":[[0.22769093226295023,1.6831050699746681],[0.34769093554879393,1.7871053685585565]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.27018642175677604,1.4449236811838735,0.71338606911949],"aabb_xy":[[-0.2782227564580609,1.4368855618794565],[-0.2621500870554912,1.45296180048829]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.30244634445563234,-1.5851478445709224,0.71338606911949],"aabb_xy":[[0.2524689275903787,-1.6351478460601707],[0.3524237613208859,-1.5351478430816736]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.4834995295038268,-2.3430124408195176,0.71338606911949],"aabb_xy":[[-0.5209995280794475,-2.3557487364830756],[-0.445999530928206,-2.3302761451559597]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.6448404208980645,-0.839331364755898,0.71338606911949],"aabb_xy":[[-0.6541340391352151,-0.8768313632440319],[-0.6355468026609139,-0.8018313662677641]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.5179522070131714,-0.6992480099978942,0.71338606911949],"aabb_xy":[[-0.528803813262047,-0.7101073007255452],[-0.5071006007642958,-0.6883887192702431]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.5053557046451433,0.4041981452414043,0.71338606911949],"aabb_xy":[[0.4708933572470014,0.36970426284358154],[0.5398180520432849,0.43869202763922693]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.28656009571213525,-0.9462192137659142,0.71338606911949],"aabb_xy":[[0.2165600930755489,-0.9663240787617796],[0.3565600983487216,-0.9261143487700486]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.2508595396444176,1.1111530144535058,0.71338606911949],"aabb_xy":[[-0.25619711531042216,1.086153013524366],[-0.24552196397841303,1.1361530153826456]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.17623949795200833,-0.6956488389174296,0.71338606911949],"aabb_xy":[[-0.1987386336782353,-0.7181488396956925],[-0.15374036222578136,-0.6731488381391666]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[-0.40643380425589554,-1.4185635398685514,0.71338606911949],"aabb_xy":[[-0.42893380377960283,-1.441059487319172],[-0.383933804732188,-1.3960675924179304]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[-0.031431418802400524,-0.9086638716108375,0.71338606911949],"aabb_xy":[[-0.05334010094175156,-0.9305645384309282],[-0.009522736663049473,-0.8867632047907468]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[-0.4616482856450549,1.5017431168542061,0.71338606911949],"aabb_xy":[[-0.4689306020217185,1.4117431132446967],[-0.4543659692683912,1.5917431204637147]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[-0.2107279342636218,-1.3969790317751338,0.71338606911949],"aabb_xy":[[-0.21704003379996023,-1.4027459710283527],[-0.20441583472728336,-1.391212092521915]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[0.549331116636526,-0.632563863362883,0.71338606911949],"aabb_xy":[[0.5118311182131255,-0.6457280773307135],[0.5868311150599262,-0.6193996493950522]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_30","position":[0.3230100459798124,0.8898948867023728,0.71338606911949],"aabb_xy":[[0.2905483450978849,0.8597620545874701],[0.3554717468617398,0.9200277188172753]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[0.6507711138800327,-1.105739618974704,0.71338606911949],"aabb_xy":[[0.6221217815196164,-1.1343851782517793],[0.6794204462404488,-1.0770940596976277]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574516082587972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8888.png","name":"8888"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8888.png","name":"8888"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2903.png","name":"2903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3854.png","name":"3854"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5741.png","name":"5741"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":535.2628358907144,"rotation_z_degrees":7.174086935975654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072090671677096235,0.0061129153127166685,-0.002890710879098833]},{"name":"camera_2","offset_m":[-0.01570561417942566,-0.01617320931095906,-0.013769877989885786]},{"name":"camera_3","offset_m":[-0.0006299607201722644,-0.01162522545296675,-0.013302152394658182]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001341549407286654,-0.0012464292894016347,0.001663439828354511],"end_effector_yaw_offset_degrees":0.8344949271788737},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019259011752950786,0.0002928225177416324,0.0016757123052202477],"end_effector_yaw_offset_degrees":-0.9690091048949463},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007994949098028127,-0.0016249226452925828,-0.00013623851564980422],"end_effector_yaw_offset_degrees":-0.22868377973888365}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023090581987515145,-0.00452757386346424],"position_m":[0.32059094180124853,-0.12852757386346425,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030982974732608882,-0.001807198628021949],"position_m":[0.31820170252673907,0.11939280137197805,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001397355649479961,-0.0035754031758176486],"position_m":[0.30040264435052005,-0.0009754031758176488,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009115531656442681,0.002365542796887948],"position_m":[0.10321155316564427,0.3941655427968879,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00454652786993836,0.0013999349214820125],"position_m":[0.16874652786993838,-0.436300065078518,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bb97e5689f13fed6721f9e8d1f64cb57c2e0040f84a346c1f5bd46fcf7e373ca","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8888/tex_ceiling_textures_5741/tex_floor_textures_3854/tex_table_textures_2903/tex_wall_textures_4302","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8077101274930163824,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8077101274930163824,"visual_seed":8077101274930163824,"scene_id":"lab_003","finished_at":"2026-09-03T20:49:47"} +{"episode_id":"ep_000085","started_at":"2026-09-03T20:49:49","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.44727636749411714,-1.5322243444216268,0.71338606911949],"aabb_xy":[[-0.5012919637760171,-1.5962243473138837],[-0.3932607712122171,-1.4682243415293694]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.4441225588173012,1.5553539279708555,0.71338606911949],"aabb_xy":[[0.4019381446564705,1.4913539276936445],[0.48630697297813197,1.619353928248067]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.4497117722412562,-0.7667795316430901,0.71338606911949],"aabb_xy":[[-0.45675208217479324,-0.8467795310427618],[-0.44267146230771925,-0.6867795322434189]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.18003496879769343,1.5515856458391002,0.71338606911949],"aabb_xy":[[-0.2500349714342798,1.5314807808432345],[-0.11003496616110706,1.5716905108349655]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.631410102030561,0.7590755785577401,0.71338606911949],"aabb_xy":[[-0.6689101023787888,0.7472841829766564],[-0.5939101016823333,0.7708669741388235]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.19070130298478638,-1.594522753901557,0.71338606911949],"aabb_xy":[[0.15955438414120326,-1.6645227525883641],[0.2218482218283695,-1.5245227552147498]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.6834890426075863,0.9509396162587649,0.71338606911949],"aabb_xy":[[-0.6889469882446063,0.8709396129511058],[-0.6780310969705662,1.030939619566424]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.6554949667770824,-0.2585744454702703,0.71338606911949],"aabb_xy":[[-0.6648419743593776,-0.27287806768791434],[-0.6461479591947872,-0.24427082325262628]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.5072956143040976,1.163328040046868,0.71338606911949],"aabb_xy":[[-0.5872956175619406,1.083331532254884],[-0.4272956110462547,1.243324547838852]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.16860605002861906,-0.7550426411513504,0.71338606911949],"aabb_xy":[[-0.18988405817209128,-0.8200426434774234],[-0.14732804188514678,-0.6900426388252773]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.438691512888713,-1.0371404935939832,0.71338606911949],"aabb_xy":[[0.35869151072595057,-1.1170956772201268],[0.5186915150514755,-0.9571853099678396]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.321937253211686,0.9792303510347624,0.71338606911949],"aabb_xy":[[-0.3859372546196766,0.9274413995108377],[-0.25793725180369526,1.0310193025586871]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.316173611313012,-1.2536909264518699,0.71338606911949],"aabb_xy":[[0.2521736110525412,-1.2986997258047976],[0.38017361157348284,-1.2086821270989416]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.6320790254009094,-1.1144019101813019,0.71338606911949],"aabb_xy":[[-0.6429195036274243,-1.1315881914719506],[-0.6212385471743945,-1.0972156288906532]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.32537395574396455,-1.9034567762287768,0.71338606911949],"aabb_xy":[[-0.4103739541613878,-1.9883310716910618],[-0.24037395732654132,-1.8185824807664919]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.45244288265476484,-1.294777864844823,0.71338606911949],"aabb_xy":[[0.4245978458741577,-1.3255623635831346],[0.48028791943537197,-1.2639933661065113]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.11949362455550161,-2.3376919631622965,0.71338606911949],"aabb_xy":[[-0.16949362399569723,-2.387659887646613],[-0.06949362511530598,-2.2877240386779802]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.16668782989964304,-1.1647975503065429,0.71338606911949],"aabb_xy":[[-0.17393159594588836,-1.244797548510145],[-0.1594440638533977,-1.0847975521029403]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.30510594951004805,0.5163320153598994,0.71338606911949],"aabb_xy":[[-0.3419005826349543,0.479426140263317],[-0.2683113163851418,0.5532378904564815]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.23460890827823033,-0.7577252524422269,0.71338606911949],"aabb_xy":[[0.18461579616903845,-0.8077252531164226],[0.2846020203874222,-0.7077252517680312]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.02106149778825095,-1.917370499600038,0.71338606911949],"aabb_xy":[[-0.0014385020256514336,-1.9218451159705185],[0.04356149760215333,-1.912895883229557]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.5537675862857594,0.06499579251794829,0.71338606911949],"aabb_xy":[[-0.5600796858220978,0.05922885326472946],[-0.547455486749421,0.07076273177116713]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.6299151473911191,0.8402000341067404,0.71338606911949],"aabb_xy":[[-0.6338290205865417,0.8314510187001837],[-0.6260012741956967,0.8489490495132973]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.650268235527894,0.33573741989184924,0.71338606911949],"aabb_xy":[[-0.6930349424073142,0.2717374164700468],[-0.6075015286484738,0.3997374233136517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649714861204725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1291.png","name":"1291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1242.png","name":"1242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8024.png","name":"8024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5957.png","name":"5957"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":827.4934900916743,"rotation_z_degrees":299.0391122634323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011448016401401202,-0.01765849874286158,0.014473173535136993]},{"name":"camera_2","offset_m":[-0.008589356336658699,-0.0013122236141529485,0.01899776717660159]},{"name":"camera_3","offset_m":[-0.014195116616545222,0.0036501987458496116,0.017089133163849805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006027684094846908,-0.0019145392182865599,-0.0016680616139041376],"end_effector_yaw_offset_degrees":-0.36987434840403277},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007611652358123651,-0.00026412268911974357,0.0016371608952468783],"end_effector_yaw_offset_degrees":-0.04134967232632425},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001345912564098627,0.0019738099867826478,0.0013885661522219],"end_effector_yaw_offset_degrees":0.7525775930323584}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030476724388241684,0.0026497313104067123],"position_m":[0.3198523275611759,-0.12135026868959328,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017609879072013703,-0.0014981971689130291],"position_m":[0.3195390120927986,0.11970180283108697,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006866767786234693,0.0022394558320663486],"position_m":[0.3024866767786235,0.004839455832066348,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002544513299594837,0.001131328700743661],"position_m":[0.09975548670040517,0.39293132870074365,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004573837105356764,0.0028064924975716773],"position_m":[0.15962616289464324,-0.4348935075024283,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"05548c6d08ea4efa682cbf9d6b22e470611718b450f0a9d2d48a42f9cd2d0026","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8477/tex_ceiling_textures_5957/tex_floor_textures_8024/tex_table_textures_1291/tex_wall_textures_1242","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1260661045749855261,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1260661045749855261,"visual_seed":1260661045749855261,"scene_id":"lab_003","finished_at":"2026-09-03T20:52:17"} +{"episode_id":"ep_000086","started_at":"2026-09-03T20:52:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.2840828419873136,-0.7700745890189085,0.71338606911949],"aabb_xy":[[0.26665212690830703,-0.7873467036827592],[0.30151355706632005,-0.7528024743550575]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.4706718109426645,-1.0741090732292993,0.71338606911949],"aabb_xy":[[-0.48817181118771386,-1.0916088610688661],[-0.4531718106976151,-1.0566092853897324]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.29790188888573316,-0.690474581868189,0.71338606911949],"aabb_xy":[[-0.3528941395212441,-0.7454745836115018],[-0.24290963825022222,-0.6354745801248762]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.45621469698269246,0.40347664108939885,0.71338606911949],"aabb_xy":[[-0.49723264036906334,0.35347664045844146],[-0.4151967535963216,0.4534766417203561]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.5398068578256903,-1.9901948630608348,0.71338606911949],"aabb_xy":[[0.5301752216052606,-1.9998321758405433],[0.5494384940461199,-1.9805575502811255]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.39217442267676184,-0.3581890092974196,0.71338606911949],"aabb_xy":[[0.3882139389070275,-0.3658568738829402],[0.3961349064464962,-0.350521144711899]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.3312114479464794,-2.1428909684717112,0.71338606911949],"aabb_xy":[[0.27621144974473455,-2.1834129350981484],[0.3862114461482242,-2.102369001845273]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.6186628331778374,-2.356752913601343,0.71338606911949],"aabb_xy":[[-0.655513381114825,-2.394252914424377],[-0.5818122852408498,-2.3192529127783095]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.6183627027758518,-1.3113001158929385,0.71338606911949],"aabb_xy":[[0.6103364321452258,-1.3200516108702913],[0.6263889734064778,-1.302548620915586]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[0.4313542885782491,-0.6138985834820123,0.71338606911949],"aabb_xy":[[0.3413542862442301,-0.6913809380671249],[0.5213542909122681,-0.5364162288968995]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.5961597732925192,0.7433466135726414,0.71338606911949],"aabb_xy":[[0.5161597711297566,0.6633914299464977],[0.6761597754552816,0.8233017971987849]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.47182649845973473,-0.32953853078221096,0.71338606911949],"aabb_xy":[[-0.48969560621419017,-0.3433714387594219],[-0.4539573907052792,-0.31570562280500003]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.6253972143726978,1.8075424692519868,0.71338606911949],"aabb_xy":[[0.6181359668022903,1.7947554589884773],[0.6326584619431053,1.8203294795154963]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.15792076901772034,-2.405890834492097,0.71338606911949],"aabb_xy":[[0.15195423007698453,-2.411851979151461],[0.1638873079584561,-2.399929689832733]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.556091966934737,1.0067330067420834,0.71338606911949],"aabb_xy":[[-0.578556736906142,0.9842330058632229],[-0.5336271969633317,1.029233007620944]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.5986853314040106,1.6374020798923952,0.71338606911949],"aabb_xy":[[-0.6786853346618534,1.5574055721004112],[-0.5186853281461675,1.7173985876843791]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.44217023429622215,0.5536784443842477,0.71338606911949],"aabb_xy":[[0.37217023788626025,0.5332405087325658],[0.5121702307061837,0.5741163800359292]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.1970906373942241,-1.7375976678090073,0.71338606911949],"aabb_xy":[[-0.23209063874570585,-1.757957403765828],[-0.16209063604274238,-1.7172379318521864]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.28674668923874663,-0.9143862410205152,0.71338606911949],"aabb_xy":[[-0.3279955002686613,-0.9693862405327327],[-0.24549787820883187,-0.8593862415082978]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.3590368003355447,-1.717746525302992,0.71338606911949],"aabb_xy":[[-0.4230368007130783,-1.7674917921538043],[-0.2950367999580111,-1.6680012584521797]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.36476978887737976,1.1816726306072844,0.71338606911949],"aabb_xy":[[-0.4347697906861252,1.1603188618430973],[-0.2947697870686343,1.203026399371472]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.022666494348832278,1.275544456691215,0.71338606911949],"aabb_xy":[[-0.03343946827020006,1.2405444584721759],[-0.011893520427464499,1.3105444549102538]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.23077793127767632,1.3262474673809477,0.71338606911949],"aabb_xy":[[0.14077793454206608,1.2730640040636532],[0.32077792801328653,1.3794309306982422]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.2704730108846838,-2.3259486345449565,0.71338606911949],"aabb_xy":[[-0.2905314224979241,-2.346013721454114],[-0.2504145992714435,-2.305883547635799]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.14856182264686724,0.7866062116885781,0.71338606911949],"aabb_xy":[[-0.15980687821748504,0.7753644139644827],[-0.13731676707624937,0.7978480094126733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657789774083548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6339.png","name":"6339"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6339.png","name":"6339"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/241.png","name":"241"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7913.png","name":"7913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4842.png","name":"4842"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.6882116813808,"rotation_z_degrees":99.26415031580562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004723642471644904,0.013663082549581363,0.01454606491557443]},{"name":"camera_2","offset_m":[-0.0103655852967271,0.003718340495646625,0.0018953158248706803]},{"name":"camera_3","offset_m":[-0.0132176821492767,0.0005505596463321674,-0.01909695417026797]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009510025683307573,0.001955263842532264,-0.0019507589314319861],"end_effector_yaw_offset_degrees":0.8274194497830141},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013308501870020239,-0.0009365723227864615,0.0004895106163319983],"end_effector_yaw_offset_degrees":-0.3969793608540557},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015906737186040026,0.0003646489313570492,-0.00130424830866801],"end_effector_yaw_offset_degrees":-0.11744236195736457}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036150528234405958,0.003585791861295029],"position_m":[0.3192849471765594,-0.12041420813870497,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017938756303580092,0.0016947355285338419],"position_m":[0.32309387563035796,0.12289473552853385,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0026982430529031375,0.00306897566965367],"position_m":[0.2991017569470969,0.00566897566965367,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031769005144291927,-0.0007722643495987735],"position_m":[0.10547690051442919,0.3910277356504012,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013240398079961335,-0.0027109193663416744],"position_m":[0.16552403980799615,-0.44041091936634164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9ad7b00f16eb6eace8f0a02e257aec6f7909d7b68f091ed580859460381a5419","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6339/tex_ceiling_textures_4842/tex_floor_textures_7913/tex_table_textures_241/tex_wall_textures_7494","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5080495490882652536,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5080495490882652536,"visual_seed":5080495490882652536,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:45"} +{"episode_id":"ep_000087","started_at":"2026-09-03T20:54:49","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.058536415507784656,1.6154808578262814,0.71338606911949],"aabb_xy":[[0.033315578647944995,1.5902571069733942],[0.08375725236762432,1.6407046086791677]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.2757220965445169,1.6412401245531378,0.71338606911949],"aabb_xy":[[-0.28334636463469515,1.6336069010165946],[-0.26809782845433866,1.648873348089682]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.1751395206482288,0.763932545346286,0.71338606911949],"aabb_xy":[[-0.21263951922384963,0.7511962496827279],[-0.13763952207260802,0.7766688410098438]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.33731224005096305,-0.21129152592212908,0.71338606911949],"aabb_xy":[[-0.3598122395746704,-0.23378747337274983],[-0.3148122405272556,-0.18879557847150827]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.6144729683188801,-1.8201849123701472,0.71338606911949],"aabb_xy":[[0.5594797569817435,-1.8751849127089408],[0.669466179656017,-1.7651849120313536]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.04380022294410568,1.2074769547590494,0.71338606911949],"aabb_xy":[[-0.12380022153142511,1.1281613528208883],[0.03619977564321373,1.28679255669721]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.36454614888498327,-1.557844115214668,0.71338606911949],"aabb_xy":[[0.3395461493332448,-1.5679865990798028],[0.38954614843672175,-1.5477016313495333]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.05919890918055304,-0.31803770725356006,0.71338606911949],"aabb_xy":[[-0.07044396475117087,-0.32927950497765535],[-0.04795385360993521,-0.3067959095294648]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.386285212444182,-2.560218796617611,0.71338606911949],"aabb_xy":[[0.3637852122006666,-2.572423431277383],[0.4087852126876974,-2.548014161957839]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.32149261512817157,-1.4668182886233427,0.71338606911949],"aabb_xy":[[-0.3714926160787044,-1.498367435626864],[-0.27149261417763876,-1.435269141619821]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.19187933068661833,-0.5529988265548034,0.71338606911949],"aabb_xy":[[-0.19601518701931855,-0.5904988259991604],[-0.18774347435391817,-0.5154988271104464]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.5829520025856032,0.20676839171395045,0.71338606911949],"aabb_xy":[[0.5769854636448674,0.20080724705458639],[0.5889185415263388,0.21272953637331446]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.661494241835578,-0.3628170256816623,0.71338606911949],"aabb_xy":[[0.6369480262128273,-0.39306592223069936],[0.6860404574583288,-0.33256812913262523]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.11178412395406145,1.2155143666430828,0.71338606911949],"aabb_xy":[[0.10682810376918025,1.1930143664409611],[0.11674014413894265,1.2380143668452044]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.16329086325058473,1.7813085655633487,0.71338606911949],"aabb_xy":[[-0.21310764271541946,1.7313085670790451],[-0.11347408378574994,1.8313085640476519]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.2891092113817769,1.0906602234905405,0.71338606911949],"aabb_xy":[[0.2251092111077987,1.0405941232932525],[0.35310921165575515,1.1407263236878284]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.4361622342685913,-0.7592007523763087,0.71338606911949],"aabb_xy":[[-0.5001579316636879,-0.8232007506770173],[-0.37216653687349466,-0.6952007540755999]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.1611541069928788,-1.191205210709254,0.71338606911949],"aabb_xy":[[-0.24115410806599913,-1.2009832570466383],[-0.08115410591975847,-1.1814271643718695]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.32937799052410965,0.7343070014328448,0.71338606911949],"aabb_xy":[[0.31852638427523405,0.7234477107051938],[0.34022959677298525,0.7451662921604958]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.4108506362039549,-1.1056537691122983,0.71338606911949],"aabb_xy":[[-0.4210036517581041,-1.1417233106850384],[-0.40069762064980535,-1.0695842275395577]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.5844870706151961,0.26042954550622,0.71338606911949],"aabb_xy":[[-0.5952600445365639,0.225429547287181],[-0.5737140966938283,0.295429543725259]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.7103534706529666,-2.114401252671552,0.71338606911949],"aabb_xy":[[0.6977266833657703,-2.123947326373125],[0.722980257940163,-2.104855178969979]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.5210034529164733,0.48717837101693817,0.71338606911949],"aabb_xy":[[-0.5292179980321571,0.47850178071929683],[-0.5127889078007891,0.4958549613145794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6489018871244836,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6286.png","name":"6286"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6286.png","name":"6286"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/561.png","name":"561"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3520.png","name":"3520"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8725.png","name":"8725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8758.png","name":"8758"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":744.6351714583598,"rotation_z_degrees":256.32396204003953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004117379988767177,-0.008440144499653988,0.015130580834890533]},{"name":"camera_2","offset_m":[0.002874043606145786,-0.01985750461598179,-0.014555257059061653]},{"name":"camera_3","offset_m":[0.004875331500370034,0.006023802545512068,0.007961827641924341]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015813394527914508,-0.00026108168161311385,-0.0007612164411418228],"end_effector_yaw_offset_degrees":0.5865474285254504},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005516976800711208,-0.0009658470998512602,0.0010517725028213946],"end_effector_yaw_offset_degrees":-0.6050729045978005},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010423261322359757,-0.00012520581676947712,-0.0007187092512162168],"end_effector_yaw_offset_degrees":0.3713404730193586}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004945929551416493,0.0024865761720760287],"position_m":[0.3278459295514165,-0.12151342382792397,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001066966146460394,-0.0013029129372013402],"position_m":[0.3223669661464604,0.11989708706279867,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00198362685541845,-0.0028399765913431274],"position_m":[0.29981637314458154,-0.0002399765913431275,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006878667138578778,-0.003603647051358929],"position_m":[0.10298786671385787,0.3881963529486411,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004575529065821681,0.004020079480312401],"position_m":[0.15962447093417834,-0.43367992051968757,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ccfe0ccc2ebdd4f5f841f620b2b6df164a7e62f126d2530597ba489d746b435","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6286/tex_ceiling_textures_8758/tex_floor_textures_8725/tex_table_textures_561/tex_wall_textures_3520","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1432480369805560810,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1432480369805560810,"visual_seed":1432480369805560810,"scene_id":"lab_003","finished_at":"2026-09-03T20:57:31"} +{"episode_id":"ep_000088","started_at":"2026-09-03T20:57:34","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.5816068276246472,-1.8765933099008665,0.71338606911949],"aabb_xy":[[-0.6266068290908762,-1.9215931667623474],[-0.5366068261584185,-1.831593453039386]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.03298429709156536,-1.2342002211647534,0.71338606911949],"aabb_xy":[[0.015308666502967033,-1.2518804374441561],[0.0506599276801637,-1.2165200048853506]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.5308218971377581,-1.5306225851032256,0.71338606911949],"aabb_xy":[[0.5133219637037746,-1.54812258502346],[0.5483218305717413,-1.5131225851829908]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.46735066713074613,-1.0063142858610068,0.71338606911949],"aabb_xy":[[-0.5313506704204541,-1.0496492048649242],[-0.40335066384103796,-0.9629793668570891]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.05832236752086217,0.3437104998967264,0.71338606911949],"aabb_xy":[[-0.06560468389752581,0.2537104962872173],[-0.05104005114419851,0.4337105035062353]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.2890415950834846,-0.29261993132723063,0.71338606911949],"aabb_xy":[[-0.353041596995827,-0.3485310805852411],[-0.2250415931711423,-0.23670878206922025]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.4438125426997981,-0.9995420633612828,0.71338606911949],"aabb_xy":[[0.4341809064793684,-1.0091793761409917],[0.45344417892022765,-0.989904750581574]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.38874341372167703,1.4630564520276983,0.71338606911949],"aabb_xy":[[-0.4527434144251465,1.4170380695547773],[-0.32474341301820775,1.5090748345006195]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.0787767999541793,1.0170107917281723,0.71338606911949],"aabb_xy":[[0.04446052277956136,0.9670107917549944],[0.11309307712879724,1.0670107917013498]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.39043427113244933,1.0521145419235083,0.71338606911949],"aabb_xy":[[0.3482498569716186,0.9881145416462973],[0.43261868529328007,1.1161145422007197]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.17616874796354676,-0.694315368739076,0.71338606911949],"aabb_xy":[[-0.18546236620069734,-0.7318153672272097],[-0.16687512972639618,-0.6568153702509419]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.2659239853561896,-0.9394053733146019,0.71338606911949],"aabb_xy":[[-0.3112026002373388,-1.0034053726627856],[-0.2206453704750403,-0.8754053739664183]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.6694359686161104,1.5415188511470546,0.71338606911949],"aabb_xy":[[-0.6919359686262587,1.5274226315074513],[-0.6469359686059621,1.5556150707866578]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.25557610283589527,-1.0190697949862648,0.71338606911949],"aabb_xy":[[0.2185419934078355,-1.0534470023199742],[0.29261021226395495,-0.9846925876525554]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.4358417217346513,-0.4755208553265855,0.71338606911949],"aabb_xy":[[0.37184171851601344,-0.5222439672255939],[0.49984172495328916,-0.4287977434275771]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.45685726772540736,-1.5689009104281018,0.71338606911949],"aabb_xy":[[-0.5268572711169692,-1.6042166841315328],[-0.3868572643338454,-1.5335851367246711]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.39300421611851677,-1.84220738764001,0.71338606911949],"aabb_xy":[[0.32900421694874676,-1.8889740747589725],[0.45700421528828666,-1.7954407005210475]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.35325080829605704,-2.4806888113276058,0.71338606911949],"aabb_xy":[[0.30325080701221707,-2.530667665718228],[0.403250809579897,-2.4307099569369837]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.1411461816040791,1.789374722067619,0.71338606911949],"aabb_xy":[[-0.15864618073844625,1.7794950950300312],[-0.12364618246971192,1.7992543491052069]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.28077223918090827,1.604866557999244,0.71338606911949],"aabb_xy":[[-0.31668574360589796,1.5689530497824895],[-0.24485873475591857,1.6407800662159986]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.31042505430704925,0.4527083291868861,0.71338606911949],"aabb_xy":[[-0.32219324110170683,0.3677083292816645],[-0.2986568675123918,0.5377083290921076]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.4506150152453513,1.028700192633587,0.71338606911949],"aabb_xy":[[-0.5146150145395195,0.9647140522647326],[-0.3866150159511831,1.092686333002441]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.4449359108135964,1.3793732551717572,0.71338606911949],"aabb_xy":[[0.43436843115549734,1.3688282250587487],[0.45550339047169536,1.3899182852847658]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.03731423995776262,-1.991019650292493,0.71338606911949],"aabb_xy":[[-0.022685761685159234,-2.043019799584437],[0.09731424160068447,-1.939019501000549]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.2864901518791133,0.862592578641622,0.71338606911949],"aabb_xy":[[-0.321490153230595,0.8422328426848011],[-0.2514901505276315,0.8829523145984428]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.696130906186778,-1.9377687073042864,0.71338606911949],"aabb_xy":[[0.6786309059417286,-1.9552684951438535],[0.7136309064318274,-1.9202689194647198]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.212826327236889,0.7788547473156293,0.71338606911949],"aabb_xy":[[0.1528263266408728,0.7240422747704058],[0.27282632783290517,0.8336672198608528]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[0.6564514124817742,-1.0408693182461861,0.71338606911949],"aabb_xy":[[0.6214514133518184,-1.0466145393218502],[0.6914514116117297,-1.035124097170522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583149269496709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7611.png","name":"7611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7611.png","name":"7611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2469.png","name":"2469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1386.png","name":"1386"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9210.png","name":"9210"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":556.2393738144748,"rotation_z_degrees":45.13574675727818,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00958779217104297,0.00999183495001102,0.007551867063850325]},{"name":"camera_2","offset_m":[-0.012208374313856294,-0.013377179636581351,0.016438878631527352]},{"name":"camera_3","offset_m":[0.004201649320919626,-0.017395036805341175,-0.004039482280374682]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018183688242541201,0.0019702739145169837,-0.0017527915935930016],"end_effector_yaw_offset_degrees":-0.8474117747041241},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006757992925495279,0.0009445877063232275,0.0014674631301997412],"end_effector_yaw_offset_degrees":0.5397254861733172},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[2.742604872047914e-05,-0.0010306035630522838,-0.0006043823357949254],"end_effector_yaw_offset_degrees":0.46175072133993833}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023723666033964065,-0.0029777293847984354],"position_m":[0.3205276333966036,-0.12697772938479843,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036837312866327644,-0.0032378269439181694],"position_m":[0.3249837312866327,0.11796217305608184,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00025546946516646647,-0.0041135254948135615],"position_m":[0.3020554694651665,-0.0015135254948135616,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003674555701027203,0.003407324669427023],"position_m":[0.10266745557010272,0.395207324669427,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034906715176888517,-0.0010836397384396844],"position_m":[0.16769067151768888,-0.43878363973843965,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e34459e991d5afc1c3353536fbc495836eaceeb8a5bdf695090215028d639cb","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7611/tex_ceiling_textures_9210/tex_floor_textures_2830/tex_table_textures_2469/tex_wall_textures_1386","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":103155069258058913,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":103155069258058913,"visual_seed":103155069258058913,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:00"} +{"episode_id":"ep_000089","started_at":"2026-09-03T21:00:03","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.2891797911652505,-0.989686613731732,0.71338606911949],"aabb_xy":[[-0.2945123058198635,-0.9950109419769676],[-0.2838472765106375,-0.9843622854864965]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.6748580205626706,-2.048616790399021,0.71338606911949],"aabb_xy":[[0.6465283106141304,-2.053077532592738],[0.7031877305112109,-2.044156048205304]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[-0.4000279977483903,-2.3357761357137385,0.71338606911949],"aabb_xy":[[-0.48002799802199736,-2.408725683539455],[-0.3200279974747834,-2.2628265878880214]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.63000970090623,-1.17398171473389,0.71338606911949],"aabb_xy":[[0.5500097037466546,-1.1855293156917068],[0.7100096980658052,-1.1624341137760728]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.5299382988370251,0.8426205875364321,0.71338606911949],"aabb_xy":[[0.47995949032670926,0.7926205875307134],[0.579917107347341,0.892620587542151]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.06239164668730146,1.1514432798865215,0.71338606911949],"aabb_xy":[[-0.08530735957235136,1.1285389827500982],[-0.03947593380225156,1.1743475770229452]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.5107274139592077,-1.357543886014382,0.71338606911949],"aabb_xy":[[-0.5278294919175759,-1.3746506915456518],[-0.4936253360008396,-1.3404370804831123]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.23513943115827707,0.5574321047117685,0.71338606911949],"aabb_xy":[[-0.243353976273961,0.548755514414127],[-0.22692488604259303,0.5661086950094096]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.2510380778742667,1.7921932484659462,0.71338606911949],"aabb_xy":[[-0.2677152138673622,1.7754933244920161],[-0.23436094188117118,1.8088931724398767]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.44947439039546444,0.7002886492402998,0.71338606911949],"aabb_xy":[[-0.5294743914685848,0.6905106029029153],[-0.3694743893223441,0.7100666955776842]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.05842359748435122,-0.06933995411903116,0.71338606911949],"aabb_xy":[[-0.10840783319252845,-0.11933995293252675],[-0.008439361776173986,-0.01933995530553556]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.4305023609341182,-0.4160546825132747,0.71338606911949],"aabb_xy":[[-0.4543385785747233,-0.5060546833217612],[-0.4066661432935132,-0.32605468170478824]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.2994420379916055,-1.760100389140129,0.71338606911949],"aabb_xy":[[-0.3494420396531002,-1.8100988313958315],[-0.24944203633011072,-1.710101946884426]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.18295059737188357,-1.3863251391483538,0.71338606911949],"aabb_xy":[[0.16266629464848478,-1.4066077642910622],[0.2032349000952823,-1.3660425140056445]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.3480444602075654,-0.16523823067036147,0.71338606911949],"aabb_xy":[[-0.37669379256798163,-0.19388378994743727],[-0.3193951278471492,-0.13659267139328568]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.2849539006339096,0.37594545934178036,0.71338606911949],"aabb_xy":[[-0.3018646330702513,0.36247325374916584],[-0.26804316819756774,0.3894176649343949]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.39844087510466686,-0.3730713647565178,0.71338606911949],"aabb_xy":[[0.39119710905842153,-0.4530713629601202],[0.4056846411509122,-0.29307136655291544]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.47677348092729455,0.20545443890416992,0.71338606911949],"aabb_xy":[[0.3967734839642554,0.12837879726039647],[0.5567734778903337,0.2825300805479434]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.5022449105440783,-0.3165772127809321,0.71338606911949],"aabb_xy":[[0.45214744656300465,-0.3805772132907439],[0.5523423745251519,-0.2525772122711203]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.11581834063684704,1.3736935087472042,0.71338606911949],"aabb_xy":[[0.0458183388281016,1.3523397399830168],[0.18581834244559248,1.3950472775113916]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.4061710477844671,-1.658558498898346,0.71338606911949],"aabb_xy":[[0.32244882228438454,-1.7485585024330417],[0.48989327328454946,-1.5685584953636498]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.04435777545176922,1.5112403507309566,0.71338606911949],"aabb_xy":[[-0.05039478845243395,1.505213649662009],[-0.03832076245110449,1.5172670517999052]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.04311181713504331,-1.6490717917522104,0.71338606911949],"aabb_xy":[[0.03753014550091455,-1.661571791569986],[0.048693488769172066,-1.636571791934435]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.5465282943643366,1.4402826384438687,0.71338606911949],"aabb_xy":[[-0.5502315556934754,1.4365806201351508],[-0.5428250330351976,1.4439846567525862]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.5779030876862364,0.5139528630563972,0.71338606911949],"aabb_xy":[[-0.5957721954406919,0.5001199550791863],[-0.560033979931781,0.5277857710336081]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.1191427209133048,-0.7692334218845487,0.71338606911949],"aabb_xy":[[0.11173026537191633,-0.7750846323061766],[0.12655517645469327,-0.7633822114629207]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554392681272139,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3363.png","name":"3363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3363.png","name":"3363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8579.png","name":"8579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4354.png","name":"4354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1666.png","name":"1666"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2431.png","name":"2431"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.3511530278539,"rotation_z_degrees":117.403383605941,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004591681473292874,0.009184722982163628,-0.018339844261629615]},{"name":"camera_2","offset_m":[0.01732178562832583,-0.005815257763896117,-0.010542390294670833]},{"name":"camera_3","offset_m":[0.009386707913889548,-0.012186373593217495,0.0013721109997622896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022065289087407633,-0.00017392460772603833,0.0018326233083547422],"end_effector_yaw_offset_degrees":-0.02119023334757042},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00029374477242164083,-0.0011164712604483623,-0.0006618329691400464],"end_effector_yaw_offset_degrees":0.5164261008839952},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003967049616614303,-0.0009587770729179454,-0.0009023259089034226],"end_effector_yaw_offset_degrees":-0.6081461796617529}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003967024117526357,0.0017732826018074799],"position_m":[0.3268670241175264,-0.12222671739819252,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016853115051333324,0.0015334054418031364],"position_m":[0.31961468849486663,0.12273340544180314,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0043197223559081075,-0.0029026570787372107],"position_m":[0.3061197223559081,-0.0003026570787372108,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018882993460206735,-0.002141675228126434],"position_m":[0.10418829934602067,0.38965832477187357,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004926440222141999,0.004869798254568117],"position_m":[0.16912644022214202,-0.43283020174543185,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a25f384890898de088fb484e241ece204c713f623c486baa76dfe7dc338004ec","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3363/tex_ceiling_textures_2431/tex_floor_textures_1666/tex_table_textures_8579/tex_wall_textures_4354","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2751664941991085128,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2751664941991085128,"visual_seed":2751664941991085128,"scene_id":"lab_003","finished_at":"2026-09-03T21:02:30"} +{"episode_id":"ep_000090","started_at":"2026-09-03T21:02:33","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.39591500106493593,1.4948147745880207,0.71338606911949],"aabb_xy":[[0.36091500275424054,1.487099759664475],[0.43091499937563144,1.5025297895115663]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.47989082627125934,-2.3709928317943483,0.71338606911949],"aabb_xy":[[-0.4840067763833319,-2.3751083868271934],[-0.47577487615918657,-2.3668772767615023]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.5538268091603413,1.0660137393204274,0.71338606911949],"aabb_xy":[[0.5313268089168259,1.0538091046606555],[0.5763268094038567,1.0782183739801994]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.4136919662545676,-0.6113145758669885,0.71338606911949],"aabb_xy":[[-0.47869196889236115,-0.6627941745664354],[-0.3486919636167742,-0.5598349771675415]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.5408063625274433,-0.36015619325423787,0.71338606911949],"aabb_xy":[[0.49080636124360316,-0.41013504764486],[0.590806363811283,-0.31017733886361576]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.3486906803538766,1.5958177883841063,0.71338606911949],"aabb_xy":[[-0.39145738723329687,1.5318177849623038],[-0.3059239734744565,1.6598177918059087]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.6483027996548387,-2.0667606568034804,0.71338606911949],"aabb_xy":[[0.6070539886249239,-2.1217606563156974],[0.6895516106847533,-2.0117606572912625]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.5604680096116942,-0.32802962222327814,0.71338606911949],"aabb_xy":[[-0.5783371173661497,-0.3418625302004891],[-0.5425989018572387,-0.31419671424606727]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.35755253701739426,-2.5588901147300747,0.71338606911949],"aabb_xy":[[-0.3663545923263669,-2.5667014408850033],[-0.3487504817084215,-2.551078788575145]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.5485675353497648,0.3362223359980834,0.71338606911949],"aabb_xy":[[0.5330117659394996,0.3206719027536762],[0.5641233047600301,0.35177276924249057]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.19734560844984717,1.146598078358609,0.71338606911949],"aabb_xy":[[-0.20775716713033085,1.1412523450227106],[-0.18693404976936343,1.1519438116945073]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.22113641769731895,-2.515658442972192,0.71338606911949],"aabb_xy":[[0.19863999626345483,-2.5381584427789394],[0.24363283913118303,-2.4931584431654445]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.31081492507122993,-1.5369004265318067,0.71338606911949],"aabb_xy":[[-0.3658149246929758,-1.5918841193192796],[-0.2558149254494841,-1.4819167337443342]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.6286474658442549,-0.2542266645271094,0.71338606911949],"aabb_xy":[[0.5911474650522595,-0.26059450548529944],[0.6661474666362504,-0.24785882356891925]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.2860722308817383,1.3337050231644492,0.71338606911949],"aabb_xy":[[0.23607222993120547,1.3021558761609275],[0.3360722318322711,1.3652541701679703]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.6032624288708833,1.029124588301964,0.71338606911949],"aabb_xy":[[-0.6382624287669021,1.0207503527900237],[-0.5682624289748643,1.0374988238139038]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.6079084637525383,0.6582280549476245,0.71338606911949],"aabb_xy":[[0.5946775182178569,0.645000635925625],[0.6211394092872194,0.6714554739696238]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.5237213858823131,-1.674328974396085,0.71338606911949],"aabb_xy":[[0.501222250156086,-1.6968289751743482],[0.54622052160854,-1.6518289736178222]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.113589191164288,-2.345949579534603,0.71338606911949],"aabb_xy":[[-0.12121345925446626,-2.3535828030711468],[-0.10596492307410978,-2.3383163559980593]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.1183571487160694,-1.5451006627535449,0.71338606911949],"aabb_xy":[[0.06838408318355393,-1.5951006625660782],[0.16833021424858485,-1.4951006629410122]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.2841878216473849,-2.083349344730139,0.71338606911949],"aabb_xy":[[0.23420358593920765,-2.133349343543635],[0.3341720573555621,-2.0333493459166436]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[0.6053512018872389,-0.9124470226668486,0.71338606911949],"aabb_xy":[[0.5253512008141186,-0.9222250690042331],[0.6853512029603592,-0.9026689763294642]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6566224966552521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8843.png","name":"8843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8843.png","name":"8843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1225.png","name":"1225"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6177.png","name":"6177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3501.png","name":"3501"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":716.7710313869911,"rotation_z_degrees":10.539084589024522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003114427791839635,0.017318217335808076,-0.007463854582923424]},{"name":"camera_2","offset_m":[-0.018206750603094634,0.008401956272261032,-0.013824055526820068]},{"name":"camera_3","offset_m":[0.007068591777551956,0.0015243490422672153,-0.007111854604919823]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008711924645654872,-0.0014770760896923056,-0.0007308548109944085],"end_effector_yaw_offset_degrees":0.21490560335562336},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016373324206727183,-0.0009483938727914167,-0.0010118244970507605],"end_effector_yaw_offset_degrees":0.47744588028833435},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018622461905482388,-0.0008991125159289971,0.0014068030649233526],"end_effector_yaw_offset_degrees":-0.4741879697192444}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003437305506817723,-0.0010775895217714458],"position_m":[0.3194626944931823,-0.12507758952177145,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031755250321601975,-0.0008319869460817423],"position_m":[0.32447552503216015,0.12036801305391825,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00469961858458338,0.002842105368291932],"position_m":[0.3064996185845834,0.005442105368291932,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016022689680890321,0.0009887021303579303],"position_m":[0.10390226896808903,0.39278870213035794,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001804863960459333,-0.0044257401504267735],"position_m":[0.16239513603954067,-0.44212574015042677,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0d4750fe9e17ce00118f5a5bdcc3e80b82e4f932c592640b15d4125b024d175c","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8843/tex_ceiling_textures_8118/tex_floor_textures_3501/tex_table_textures_1225/tex_wall_textures_6177","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":789823157133171456,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":789823157133171456,"visual_seed":789823157133171456,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:05"} +{"episode_id":"ep_000091","started_at":"2026-09-03T21:05:09","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.32041054189081697,-1.1818566449715873,0.71338606911949],"aabb_xy":[[0.3079431837810813,-1.1943219696049108],[0.3328779000005526,-1.1693913203382638]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.5006229355840726,-1.9070442773217178,0.71338606911949],"aabb_xy":[[-0.5506229366032078,-1.9435104930595457],[-0.4506229345649373,-1.8705780615838898]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.32799327014796564,-0.8945159008333547,0.71338606911949],"aabb_xy":[[-0.33986535315946675,-0.9795159005270052],[-0.31612118713646453,-0.8095159011397045]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.4228268528225485,-2.098151700205486,0.71338606911949],"aabb_xy":[[0.3941775204621322,-2.1267972594825615],[0.4514761851829647,-2.06950614092841]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.4268753212477701,1.715624700419355,0.71338606911949],"aabb_xy":[[-0.4768703322072222,1.6656247013837635],[-0.37688031028831814,1.765624699454947]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.07603651011548374,-2.0750277130813526,0.71338606911949],"aabb_xy":[[-0.15603651154561093,-2.1545448680939616],[0.003963491314643464,-1.9955105580687427]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.5715994736847045,-2.1013495742977657,0.71338606911949],"aabb_xy":[[-0.5755133468801269,-2.1100985897043225],[-0.567685600489282,-2.092600558891209]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.4955373648583821,-1.6710923024366502,0.71338606911949],"aabb_xy":[[-0.5131156670473289,-1.6886667920107554],[-0.4779590626694352,-1.6535178128625454]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.30149819333943717,1.0019780498861564,0.71338606911949],"aabb_xy":[[0.2789845015159799,0.9319780492851486],[0.3240118851628943,1.0719780504871637]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.221051429172214,1.2180822014795991,0.71338606911949],"aabb_xy":[[0.15605142913791126,1.1713815247992718],[0.2860514292065167,1.2647828781599264]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.3682669125537539,-2.5369709910010876,0.71338606911949],"aabb_xy":[[0.3457704911198898,-2.5594709908078346],[0.390763333987618,-2.5144709911943397]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.5868988176562231,-1.1389795564790577,0.71338606911949],"aabb_xy":[[0.5493988178391894,-1.1436177677901995],[0.6243988174732565,-1.1343413451679158]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.6694056368465287,0.1950926341444852,0.71338606911949],"aabb_xy":[[0.6596496473373548,0.18533010008525072],[0.6791616263557025,0.2048551682037196]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.5004579845566328,-0.7685053240261821,0.71338606911949],"aabb_xy":[[-0.5092600398656054,-0.776316650181111],[-0.49165592924766005,-0.7606939978712528]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.3311771712314146,0.31387617257139366,0.71338606911949],"aabb_xy":[[-0.3550133888720197,0.2238761717629072],[-0.3073409535908096,0.4038761733798802]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.34627087715905663,1.3601264412249638,0.71338606911949],"aabb_xy":[[-0.352365505047175,1.3515570466732951],[-0.34017624927093837,1.3686958357766326]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.13469080157653057,0.670229003404383,0.71338606911949],"aabb_xy":[[0.11726008649752405,0.652956888740532],[0.15212151665553705,0.6875011180682337]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.5994830834279639,-2.414387171575921,0.71338606911949],"aabb_xy":[[0.588577307340401,-2.4943871679747502],[0.6103888595155265,-2.334387175177092]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.6250735786252635,1.569633466498789,0.71338606911949],"aabb_xy":[[0.5750961617600099,1.5196334650095404],[0.6750509954905171,1.6196334679880375]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.5700868863203123,1.1167582108266383,0.71338606911949],"aabb_xy":[[0.5500284747070721,1.0966931239174809],[0.5901452979335526,1.1368232977357957]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.1789388044592476,1.3256280654841044,0.71338606911949],"aabb_xy":[[-0.20726851440778785,1.3211673232903876],[-0.1506090945107074,1.3300888076778217]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.14035291820353857,-1.1633466962323324,0.71338606911949],"aabb_xy":[[-0.20435291531564426,-1.212379066026743],[-0.07635292109143288,-1.1143143264379218]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.4397843863849209,-1.5512636810108658,0.71338606911949],"aabb_xy":[[0.43564853005222076,-1.5887636804552228],[0.44392024271762115,-1.5137636815665088]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.529708322754382,-1.3089874923934208,0.71338606911949],"aabb_xy":[[-0.5797075979228182,-1.358987493669368],[-0.4797090475859459,-1.2589874911174737]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.49767256513318503,0.47815839988817554,0.71338606911949],"aabb_xy":[[0.43767256427237217,0.4267319698816891],[0.5576725659939977,0.5295848298946618]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.3083353579369066,-1.60687482848868,0.71338606911949],"aabb_xy":[[0.27083535675211373,-1.6112930511847405],[0.3458353591216993,-1.6024566057926195]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[0.6027641791883054,-1.2736562779885696,0.71338606911949],"aabb_xy":[[0.5387641769678984,-1.318029362113858],[0.6667641814087124,-1.2292831938632813]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.20728258045065384,-2.2570726911744785,0.71338606911949],"aabb_xy":[[0.18273636482790312,-2.2873215877235156],[0.23182879607340456,-2.2268237946254414]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.48586247765153334,0.09779369404787364,0.71338606911949],"aabb_xy":[[-0.5695847031516158,0.007793690513177673],[-0.4021402521514509,0.18779369758256959]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[0.4420812626514785,-0.08157946019059148,0.71338606911949],"aabb_xy":[[0.3920812609899837,-0.13157790244629416],[0.4920812643129732,-0.03158101793488876]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[-0.6683435409994626,0.7272971615431763,0.71338606911949],"aabb_xy":[[-0.686137047934379,0.7094974159473787],[-0.6505500340645461,0.745096907138974]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[0.47472450416509115,1.191016050402669,0.71338606911949],"aabb_xy":[[0.4570488735764928,1.1733358341232663],[0.4924001347536895,1.2086962666820718]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_32","position":[-0.1713140894023646,1.1896457093007582,0.71338606911949],"aabb_xy":[[-0.2056303665769825,1.1396457093275805],[-0.13699781222774662,1.239645709273936]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_33","position":[0.5293733776449441,1.4774551654569632,0.71338606911949],"aabb_xy":[[0.525932701404887,1.4735937324825985],[0.5328140538850014,1.4813165984313275]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_34","position":[-0.3277612478029219,0.04644354659851446,0.71338606911949],"aabb_xy":[[-0.3357975825042067,0.03840542729409768],[-0.31972491310163703,0.05448166590293124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65743462266482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6250.png","name":"6250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7224.png","name":"7224"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":520.6307997638132,"rotation_z_degrees":135.96300161277924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004858452909790461,-0.012353064605675975,0.0014693041651025682]},{"name":"camera_2","offset_m":[-0.007835117320385528,0.0029976774772514057,0.016311622827446585]},{"name":"camera_3","offset_m":[0.00516280312040995,-0.019010816828451897,0.011453376379149952]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002707850451024339,0.0009024907653556605,0.001507519774657688],"end_effector_yaw_offset_degrees":0.6495935532219144},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007456063467213081,0.001524083876614137,-0.0005204824519625792],"end_effector_yaw_offset_degrees":-0.4399934205165792},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015148562345570528,0.0005753626022718568,-0.00033129699607959036],"end_effector_yaw_offset_degrees":0.16240493880207696}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002085322598931943,-9.804557374256014e-05],"position_m":[0.324985322598932,-0.12409804557374256,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004418869251325857,-0.0043905984265030515],"position_m":[0.31688113074867413,0.11680940157349695,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038991182984311366,0.0036483993494162573],"position_m":[0.30569911829843116,0.006248399349416257,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004022277446406109,-0.003155773121044642],"position_m":[0.09827772255359389,0.38864422687895533,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011137207370970183,-0.004872955764958724],"position_m":[0.163086279262903,-0.4425729557649587,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac6c2b903f3fbebe943f9fe1c2dd18b259a60de0fb86a71fb0ff8f31f61969d3","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6468/tex_ceiling_textures_5976/tex_floor_textures_7224/tex_table_textures_6860/tex_wall_textures_6250","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":2454615795717037868,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":2454615795717037868,"visual_seed":2454615795717037868,"scene_id":"lab_003","finished_at":"2026-09-03T21:07:45"} +{"episode_id":"ep_000092","started_at":"2026-09-03T21:07:49","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.010108746224977816,-2.3746302964164308,0.71338606911949],"aabb_xy":[[-0.027391254123249942,-2.386421691997514],[0.047608746573205574,-2.3628389008353468]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.04528600504683489,-0.4812037213442091,0.71338606911949],"aabb_xy":[[-0.07876517230787583,-0.5146828347153162],[-0.011806837785793951,-0.4477246079731022]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.5568852037993117,-1.3985579557194456,0.71338606911949],"aabb_xy":[[0.5225689266246938,-1.4485579556926236],[0.5912014809739297,-1.3485579557462681]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.664402802487275,-2.2221947514976206,0.71338606911949],"aabb_xy":[[0.6469028690532916,-2.2396947514178547],[0.6819027359212584,-2.2046947515773856]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.35850575631219445,0.18081892322698856,0.71338606911949],"aabb_xy":[[-0.4422279818122769,0.09081891969229261],[-0.274783530812112,0.2708189267616845]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.3863857200414884,-2.342104351086567,0.71338606911949],"aabb_xy":[[0.3213857200071857,-2.3888050277668946],[0.45138572007579114,-2.29540367440624]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.2256457854972717,-0.5203850427360637,0.71338606911949],"aabb_xy":[[-0.23827257278446806,-0.5299311164376365],[-0.21301899821007536,-0.5108389690344907]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.4290261424418744,1.575608521183479,0.71338606911949],"aabb_xy":[[0.3490261437849884,1.5611036622592163],[0.5090261410987604,1.590113380107742]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.6571812293746058,0.600586629356799,0.71338606911949],"aabb_xy":[[0.5931812276966083,0.5520692378774847],[0.721181231052603,0.6491040208361132]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[-0.3158889779101157,-1.5380710556128103,0.71338606911949],"aabb_xy":[[-0.3735194467973865,-1.5980710545395205],[-0.2582585090228448,-1.4780710566860995]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.30117712775718497,0.4606217804896908,0.71338606911949],"aabb_xy":[[0.2950824998690667,0.4520523859380221],[0.30727175564530335,0.46919117504135954]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.05632247196013229,0.8541625801116268,0.71338606911949],"aabb_xy":[[-0.09382247275212774,0.8477947391534366],[-0.018822471168136845,0.8605304210698168]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.6382205548579007,-0.4558280206444123,0.71338606911949],"aabb_xy":[[0.6309767888116554,-0.5358280188480147],[0.6454643209041461,-0.37582802244080993]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.17637885524507524,-1.1967572891166622,0.71338606911949],"aabb_xy":[[-0.20470856519361544,-1.2012180313103793],[-0.14804914529653498,-1.1922965469229452]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.3431960109838821,-0.7322502798509989,0.71338606911949],"aabb_xy":[[0.31819601181824897,-0.7392025255563555],[0.3681960101495152,-0.7252980341456423]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.3381832296702485,1.7912455166480004,0.71338606911949],"aabb_xy":[[0.2581832285971282,1.781467470310616],[0.4181832307433689,1.8010235629853848]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.1506650362923807,-0.10835107629754237,0.71338606911949],"aabb_xy":[[-0.17194304443585295,-0.17335107862361543],[-0.12938702814890846,-0.0433510739714693]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[-0.4757808801023118,-1.7004538814867565,0.71338606911949],"aabb_xy":[[-0.5397808833209496,-1.7471769933857648],[-0.41178087688367393,-1.6537307695877481]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.4094577201204037,-1.5785409715181955,0.71338606911949],"aabb_xy":[[0.32945772153308434,-1.6578565734563564],[0.4894577187077232,-1.4992253695800346]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.70157674304406,-1.9069800492021711,0.71338606911949],"aabb_xy":[[0.6815183314308197,-1.9270451361113285],[0.7216351546573003,-1.8869149622930137]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[0.3403513065316639,1.0754590370153752,0.71338606911949],"aabb_xy":[[0.31535130697992547,1.0653165531502404],[0.36535130608340244,1.0856015208805099]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.525726329100886,-2.1128226652411506,0.71338606911949],"aabb_xy":[[0.46072632646309253,-2.164302263940597],[0.5907263317386795,-2.061343066541703]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.15603306764379998,-2.124940405073489,0.71338606911949],"aabb_xy":[[-0.24103306606122318,-2.209814700535774],[-0.07103306922637673,-2.040066109611204]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.372444214537124,0.7746307866218722,0.71338606911949],"aabb_xy":[[-0.3811581835870584,0.7521307859626839],[-0.3637302454871894,0.7971307872810603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6487923198034551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/916.png","name":"916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/916.png","name":"916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5454.png","name":"5454"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4176.png","name":"4176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":600.3140990359652,"rotation_z_degrees":216.58040188721301,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00225094361822022,-0.014788539871532835,0.002857096171390558]},{"name":"camera_2","offset_m":[-0.0019044310283024037,-0.010062329819598727,-0.0011505139573583442]},{"name":"camera_3","offset_m":[0.0052803897884068016,-0.01537707172023394,0.004071575430110417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000214363662909574,0.0003849235094967457,-0.0008137707362366937],"end_effector_yaw_offset_degrees":-0.035154685350360815},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00010277829161170265,-0.001284835215342066,8.071599598947956e-05],"end_effector_yaw_offset_degrees":0.3329686960255409},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004356969735083271,0.0009921901617906915,0.0002961286459880236],"end_effector_yaw_offset_degrees":-0.9682031677194778}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003297783857399127,-0.0006838196141179288],"position_m":[0.31960221614260087,-0.12468381961411792,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025644747660754953,-0.0026890379667243646],"position_m":[0.31873552523392445,0.11851096203327564,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-5.017808673130411e-05,0.0026384825220531205],"position_m":[0.3017498219132687,0.00523848252205312,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00038022062439987524,0.0018756706909835996],"position_m":[0.10268022062439988,0.3936756706909836,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004891824096579641,0.00383212860689472],"position_m":[0.15930817590342036,-0.43386787139310523,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"61357fa5165a1814d01120b9af15b45ed85b24190737e5ee8507d4397c8748ea","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_916/tex_ceiling_textures_2817/tex_floor_textures_4176/tex_table_textures_2708/tex_wall_textures_5454","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":8453455371857493502,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":8453455371857493502,"visual_seed":8453455371857493502,"scene_id":"lab_003","finished_at":"2026-09-03T21:10:24"} +{"episode_id":"ep_000093","started_at":"2026-09-03T21:13:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.14174140804735047,0.6793458788772462,0.71338606911949],"aabb_xy":[[0.09164394406627685,0.6153458783674345],[0.1918388720284241,0.7433458793870581]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.08671334090268623,0.07785446466373092,0.71338606911949],"aabb_xy":[[-0.09934012818988257,0.06830839096215802],[-0.07408655361548987,0.08740053836530381]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.3712795603085819,-1.2979116384180993,0.71338606911949],"aabb_xy":[[0.33273386748338085,-1.336457409474288],[0.40982525313378293,-1.2593658673619106]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.5901955172455053,0.6949239304945758,0.71338606911949],"aabb_xy":[[-0.6701955144050805,0.6833763295367588],[-0.5101955200859299,0.7064715314523928]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.7006604941252208,0.05986490062993477,0.71338606911949],"aabb_xy":[[0.6827913863707652,0.04603199265272383],[0.7185296018796762,0.07369780860714568]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.4109743519913358,-1.1545536623634238,0.71338606911949],"aabb_xy":[[0.3927685283300882,-1.1655790629454155],[0.42918017565258354,-1.1435282617814322]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.6702160167229532,1.2238379482430366,0.71338606911949],"aabb_xy":[[-0.6783437049162664,1.214924339832329],[-0.66208832852964,1.2327515566537446]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.4395372510760938,1.421996718018066,0.71338606911949],"aabb_xy":[[-0.49953725167211,1.3671842454728422],[-0.37953725048007764,1.4768091905632892]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.24452774687203988,-1.5582156948853247,0.71338606911949],"aabb_xy":[[-0.3345277454665099,-1.574466281198746],[-0.15452774827757,-1.541965108571904]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.062117184049260254,-0.6183884922117215,0.71338606911949],"aabb_xy":[[-0.07289015797062803,-0.6533884904307604],[-0.05134421012789247,-0.5833884939926824]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.20738884243206335,-1.4749299156322953,0.71338606911949],"aabb_xy":[[0.17238884330210769,-1.4806751367079594],[0.242388841562019,-1.4691846945566311]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.6876971564443513,0.47434540430411776,0.71338606911949],"aabb_xy":[[0.678350148862056,0.46004178208647367],[0.6970441640266465,0.48864902652176173]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.044301436343949785,-2.2274835416358867,0.71338606911949],"aabb_xy":[[0.01978781224694392,-2.251748134937923],[0.06881506044095564,-2.2032189483338502]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.12405726212907786,-2.0835103663725887,0.71338606911949],"aabb_xy":[[-0.1416355643180247,-2.1010848559466937],[-0.106478959940131,-2.0659358767984837]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.07794059616927285,1.4661597614462196,0.71338606911949],"aabb_xy":[[0.027940594808385618,1.416181856870804],[0.12794059753016004,1.5161376660216352]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.4502277335750724,0.5395491749233168,0.71338606911949],"aabb_xy":[[0.3605406572669569,0.44954917466886624],[0.5399148098831879,0.6295491751777673]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.5482868790454684,0.16340603332835046,0.71338606911949],"aabb_xy":[[-0.5982799911546602,0.11340603265415486],[-0.49829376693627647,0.21340603400254615]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.034584052356765316,0.95324779326514,0.71338606911949],"aabb_xy":[[-0.015410780571176293,0.9032477943698964],[0.08457888528470692,1.0032477921603835]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.37613523292880324,-1.0065597789193008,0.71338606911949],"aabb_xy":[[-0.4006814485515539,-1.0368086754683379],[-0.35158901730605246,-0.9763108823702639]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.5338147554102968,0.8766105653926783,0.71338606911949],"aabb_xy":[[-0.5378929133173465,0.872529585144415],[-0.5297365975032471,0.8806915456409417]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.3416281480561598,-2.4522017577349144,0.71338606911949],"aabb_xy":[[-0.3914449275209946,-2.5022017562192174],[-0.29181136859132506,-2.4022017592506106]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.6145728467884195,1.5094296426426888,0.71338606911949],"aabb_xy":[[-0.6785728490088266,1.4650565585174002],[-0.5505728445680126,1.5538027267679768]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.6666780174356624,0.30722981610613864,0.71338606911949],"aabb_xy":[[0.6291780188600415,0.29449352044258065],[0.7041780160112832,0.3199661117696965]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.44433727300256654,1.0848510601920007,0.71338606911949],"aabb_xy":[[0.4068372714869348,1.0736242871758555],[0.48183727451819824,1.0960778332081456]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.3820824707590895,-1.5050731494604401,0.71338606911949],"aabb_xy":[[0.29836024525900706,-1.5950731529951359],[0.465804696259172,-1.415073145925744]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.2335410315371842,-0.7097304151374169,0.71338606911949],"aabb_xy":[[0.21136850456053333,-0.73190608229354],[0.25571355851383504,-0.6875547479812937]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[0.4929348785452068,-1.2910743740834096,0.71338606911949],"aabb_xy":[[0.4754348794108396,-1.3009540011209975],[0.510434877679574,-1.2811947470458218]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654973090999356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5519.png","name":"5519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3511.png","name":"3511"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.3548320155164,"rotation_z_degrees":2.265167059555959,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013127320689680262,0.015627692556264786,-0.019972787391352203]},{"name":"camera_2","offset_m":[0.017515192245344143,-0.002429118009327335,0.0003662062842104061]},{"name":"camera_3","offset_m":[-0.004473339880813549,0.005897695633554689,0.004343869017201039]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041878968927970854,0.0012403813475107867,-0.0018425211183519244],"end_effector_yaw_offset_degrees":0.9458645584261136},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00043665307595083824,0.0008784836383840702,0.0013127017699667478],"end_effector_yaw_offset_degrees":0.7260027724201241},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005222669960042272,-0.00028672174281942813,-0.0010867539410789558],"end_effector_yaw_offset_degrees":-0.5355647927839158}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002731625117900631,-0.004741091448722179],"position_m":[0.32016837488209937,-0.12874109144872217,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001847360957542574,0.0029629473490434795],"position_m":[0.32314736095754254,0.12416294734904348,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0005735982799736881,-0.0007894631439479124],"position_m":[0.30122640172002635,0.0018105368560520875,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032706759523171746,-0.0016843374585284775],"position_m":[0.10557067595231717,0.3901156625414715,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003583337840009579,0.0040510543023277055],"position_m":[0.1677833378400096,-0.43364894569767226,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6fa1b902e21b542996fa0e03a5e4e583357692ceb2d4bfa5987be3e105f53ccd","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3612/tex_ceiling_textures_8061/tex_floor_textures_3511/tex_table_textures_5519/tex_wall_textures_5242","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":4315377970909741735,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":4315377970909741735,"visual_seed":4315377970909741735,"scene_id":"lab_003","finished_at":"2026-09-03T21:15:46"} +{"episode_id":"ep_000094","started_at":"2026-09-03T21:15:48","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.0013183161755774275,-1.8966408367105065,0.71338606911949],"aabb_xy":[[-0.01578376178279073,-1.9137476422417763],[0.018420394133945583,-1.8795340311792368]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.14484219301708567,-0.9086535622622958,0.71338606911949],"aabb_xy":[[0.13680585831580083,-0.9166916815667125],[0.15287852771837052,-0.900615442957879]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.2239130506520992,0.2813429853100975,0.71338606911949],"aabb_xy":[[-0.24397146226533953,0.26127789840093996],[-0.20385463903885895,0.30140807221925503]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.604161834061994,-1.1034691122758518,0.71338606911949],"aabb_xy":[[-0.6129430612092303,-1.1122488595643822],[-0.5953806069147579,-1.0946893649873217]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.12783172644545437,-1.417633831273069,0.71338606911949],"aabb_xy":[[0.06283172548832715,-1.4695820432067743],[0.19283172740258156,-1.3656856193393632]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.02794772483580754,-2.4705670103790567,0.71338606911949],"aabb_xy":[[-0.03705227332011152,-2.496863254928969],[0.0929477229917266,-2.4442707658291445]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.6082767917172588,-0.9641532982624201,0.71338606911949],"aabb_xy":[[-0.625776725151242,-0.9816532981826545],[-0.5907768582832753,-0.9466532983421854]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.5360155017031101,0.7252536048119875,0.71338606911949],"aabb_xy":[[-0.6210155003951847,0.6932677414171086],[-0.45101550301103543,0.7572394682068663]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.35193839247976916,-2.1859589258954357,0.71338606911949],"aabb_xy":[[-0.43193839464253164,-2.2659141095215793],[-0.2719383903170067,-2.106003742269292]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.18901279973401075,0.733886361844132,0.71338606911949],"aabb_xy":[[-0.27901279646962096,0.6807028985268374],[-0.09901280299840051,0.7870698251614264]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.4707414301634756,0.6881313825937636,0.71338606911949],"aabb_xy":[[0.4332414302197092,0.679838292558927],[0.508241430107242,0.6964244726286002]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.7117676907524308,0.34700813102768846,0.71338606911949],"aabb_xy":[[0.7057306777517662,0.34098142995874026],[0.7178047037530957,0.35303483209663666]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.6833434351526526,1.0894148190363815,0.71338606911949],"aabb_xy":[[0.6483434359598342,1.0784477730387187],[0.7183434343454708,1.1003818650340438]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[-0.25740001894129666,-0.9652060116777559,0.71338606911949],"aabb_xy":[[-0.3214000175278692,-1.0122129750772646],[-0.19340002035472426,-0.918199048278247]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.4893549768292387,-1.8804159455354308,0.71338606911949],"aabb_xy":[[0.41935497343767664,-1.9157317192388619],[0.5593549802208005,-1.8451001718320001]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.5766673622367025,-2.379624168765259,0.71338606911949],"aabb_xy":[[-0.5860143698189977,-2.393927790982903],[-0.5673203546544072,-2.365320546547615]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.5148758032607692,1.0547387579858194,0.71338606911949],"aabb_xy":[[-0.5262375379140554,1.043370291579531],[-0.503514068607483,1.0661072243921073]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.4773840952316415,0.4343745029654351,0.71338606911949],"aabb_xy":[[-0.5272008746964763,0.38437450448113175],[-0.42756731576680673,0.4843745014497385]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.49270516399425346,-2.2787147358716755,0.71338606911949],"aabb_xy":[[0.46271350126038313,-2.3087147352084756],[0.5226968267281238,-2.2487147365348745]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.06948666488699495,-1.5437359101609776,0.71338606911949],"aabb_xy":[[-0.0796396804411443,-1.5798054517337174],[-0.059333649332845545,-1.5076663685882368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539735344861374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6310.png","name":"6310"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6310.png","name":"6310"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1581.png","name":"1581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7823.png","name":"7823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1923.png","name":"1923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7552.png","name":"7552"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":793.5116223675377,"rotation_z_degrees":125.0148526970541,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008814969530750106,-0.017890886527625386,0.0055315212641001595]},{"name":"camera_2","offset_m":[0.005281604426649874,0.014767534065313326,0.010937640001411217]},{"name":"camera_3","offset_m":[-0.016554215253638854,0.010901195464140132,-0.008702175116192161]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012854850958107207,0.0018773112412350836,0.000644179980467278],"end_effector_yaw_offset_degrees":0.5696052688618669},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006194482629718716,-5.429446341354504e-05,-0.00021347365114353736],"end_effector_yaw_offset_degrees":-0.7243909566248679},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00028116041822008196,0.0014729374020027958,-0.00039891310172023085],"end_effector_yaw_offset_degrees":-0.2774881790344037}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031722920988379475,0.002108126791976985],"position_m":[0.326072292098838,-0.12189187320802301,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[8.705580678154776e-05,0.003974933143600833],"position_m":[0.3213870558067815,0.12517493314360084,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009591482130266327,0.004545188476465906],"position_m":[0.3008408517869734,0.007145188476465906,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023135071339765736,-0.00325412845363131],"position_m":[0.09998649286602343,0.38854587154636866,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024288014451250817,-0.0011723108491492086],"position_m":[0.16177119855487493,-0.4388723108491492,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"28bcd0ee291413d3dc01c600c3e2747e176b846b18050a90bccc5325f47e790e","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6310/tex_ceiling_textures_7552/tex_floor_textures_1923/tex_table_textures_1581/tex_wall_textures_7823","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1245511943143538107,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1245511943143538107,"visual_seed":1245511943143538107,"scene_id":"lab_003","finished_at":"2026-09-03T21:18:16"} +{"episode_id":"ep_000095","started_at":"2026-09-03T21:18:18","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.47054942824055135,1.3598370306465406,0.71338606911949],"aabb_xy":[[0.43304942672491964,1.3486102576303953],[0.5080494297561831,1.3710638036626854]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.36884569098678877,-0.6519329431734848,0.71338606911949],"aabb_xy":[[0.35328992157652356,-0.667483376417892],[0.38440146039705414,-0.6363825099290776]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.46409847527731807,-1.2737541595057236,0.71338606911949],"aabb_xy":[[-0.5440984726809115,-1.3537467307039064],[-0.3840984778737247,-1.1937615883075408]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.21504992481870877,-1.5708890129244868,0.71338606911949],"aabb_xy":[[-0.23254985825269212,-1.5883890128447213],[-0.19754999138472537,-1.5533890130042523]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.15739303205214328,1.31271038284798,0.71338606911949],"aabb_xy":[[-0.17054427802343267,1.2877103830912935],[-0.14424178608085395,1.3377103826046666]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.6714765817271122,-0.7225654291956738,0.71338606911949],"aabb_xy":[[0.6545658492907702,-0.7360376347882882],[0.6883873141634538,-0.7090932236030592]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.10933780181015051,1.734488438152621,0.71338606911949],"aabb_xy":[[-0.1443378017061694,1.726114202640681],[-0.07433780191413164,1.7428626736645612]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.04667820271183998,-0.74460374296952,0.71338606911949],"aabb_xy":[[-0.08167820098195988,-0.7516778706645081],[-0.011678204441720075,-0.7375296152745318]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.5963674440803317,-0.23399939564557837,0.71338606911949],"aabb_xy":[[0.5323674438198609,-0.2790081949985064],[0.6603674443408025,-0.18899059629265036]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.08076836878093674,0.28550795284851116,0.71338606911949],"aabb_xy":[[-0.1285745363947054,0.2205079501414522],[-0.03296220116716809,0.3505079555555701]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.10359125302492933,0.5989511008065591,0.71338606911949],"aabb_xy":[[-0.12609125353696993,0.5764592424411606],[-0.08109125251288872,0.6214429591719574]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.6416181961810374,-1.883212222118305,0.71338606911949],"aabb_xy":[[-0.6582953321741328,-1.8999121460922352],[-0.6249410601879418,-1.8665122981443747]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.09946631094957081,-1.9629749655456235,0.71338606911949],"aabb_xy":[[-0.12575513527001145,-1.9892463992002747],[-0.07317748662913014,-1.9367035318909722]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.7043816086915424,0.7176003117938832,0.71338606911949],"aabb_xy":[[0.6925095256800414,0.6326003121002329],[0.7162536917030436,0.8026003114875336]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.7131894070137546,-2.5204895131728406,0.71338606911949],"aabb_xy":[[0.7051954184360512,-2.5284895932679308],[0.7211833955914579,-2.5124894330777496]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.6383072475087161,0.33213777903436004,0.71338606911949],"aabb_xy":[[-0.672623524683334,0.2821377790611823],[-0.6039909703340981,0.38213777900753776]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.6446752057564702,0.3835445504511088,0.71338606911949],"aabb_xy":[[0.564675207775685,0.37594300948925685],[0.7246752037372551,0.39114609141296075]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.030325881337688765,-1.1903470072178355,0.71338606911949],"aabb_xy":[[-0.006468751787217508,-1.2272528823144175],[0.06712051446259504,-1.153441132121253]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.044534626864849325,-2.416823336575022,0.71338606911949],"aabb_xy":[[-0.0945120437301029,-2.4668233380642706],[0.005442790000404262,-2.3668233350857735]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.3900110347975396,-1.5010631766217097,0.71338606911949],"aabb_xy":[[0.3823078441234626,-1.5087725473204474],[0.39771422547161667,-1.4933538059229716]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.5435307911669582,-2.0817088282255956,0.71338606911949],"aabb_xy":[[-0.6075307884526069,-2.123215547178439],[-0.4795307938813096,-2.040202109272751]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.2617761746449801,-0.10198649376165303,0.71338606911949],"aabb_xy":[[-0.32677617728277364,-0.1534660924611],[-0.19677617200718667,-0.050506895062206084]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[0.08431930527856979,1.4510105725562688,0.71338606911949],"aabb_xy":[[0.03450252581373503,1.4010105740719652],[0.13413608474340455,1.501010571040572]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.49581744919928017,0.045409808024943654,0.71338606911949],"aabb_xy":[[0.4486880701974444,-0.018590193019458308],[0.5429468282011157,0.10940980906934561]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.3073663391723015,-1.9614884024790382,0.71338606911949],"aabb_xy":[[-0.3264786465302803,-1.9806231813562802],[-0.2882540318143226,-1.9423536236017962]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[0.3480817487039838,-2.469161019420575,0.71338606911949],"aabb_xy":[[0.32680374056051154,-2.534161021746648],[0.36935975684745603,-2.404161017094502]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.15997078140798138,0.9124761743622503,0.71338606911949],"aabb_xy":[[0.12247078123610941,0.8797754389793431],[0.1974707815798533,0.9451769097451574]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.33862128805094843,1.227723789722873,0.71338606911949],"aabb_xy":[[-0.3624575056915535,1.1377237889143867],[-0.31478507041034337,1.3177237905313597]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.402641395618838,-0.5746989971035998,0.71338606911949],"aabb_xy":[[-0.4312907279792541,-0.6033445563806756],[-0.37399206325842166,-0.546053437826524]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.6127021178617014,-2.351234209492922,0.71338606911949],"aabb_xy":[[0.5628194209840052,-2.4012342087391967],[0.6625848147393976,-2.301234210246647]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_30","position":[0.2613603834478997,-2.2022170997486223,0.71338606911949],"aabb_xy":[[0.22573122754793995,-2.2378497665054753],[0.29698953934785943,-2.1665844329917694]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_31","position":[-0.3039474663719361,0.6967467203623459,0.71338606911949],"aabb_xy":[[-0.30940541200895616,0.6167467170546866],[-0.298489520734916,0.7767467236700049]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_32","position":[-0.21983598277724797,-1.4674096424935898,0.71338606911949],"aabb_xy":[[-0.23741428496619482,-1.4849841320676949],[-0.20225768058830113,-1.4498351529194848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657649279101889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7821.png","name":"7821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7821.png","name":"7821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4945.png","name":"4945"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7125.png","name":"7125"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.0763271935034,"rotation_z_degrees":108.65430234911409,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019206428768184996,-0.013624807992637291,0.019977128257462572]},{"name":"camera_2","offset_m":[0.010831764079824661,0.013592108614320166,-0.004761691487644387]},{"name":"camera_3","offset_m":[0.01785379533178395,0.00987946254005205,0.0024522020259746674]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017012645989478083,0.001034354316815791,-0.0006508202952072036],"end_effector_yaw_offset_degrees":0.9412787568053904},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011327399436967065,0.0014319685280736634,0.001361573671280941],"end_effector_yaw_offset_degrees":-0.06497124902464124},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00015304083207442858,-0.0014842763274600245,6.9705168800654645e-06],"end_effector_yaw_offset_degrees":-0.18892437408145168}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00038964848881573033,-0.00475292209275576],"position_m":[0.32328964848881575,-0.12875292209275577,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003425501270525193,-0.0034438165545581435],"position_m":[0.31787449872947476,0.11775618344544186,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008940803664952745,0.0037617240310472725],"position_m":[0.3009059196335047,0.006361724031047272,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004451958219253417,-0.0009871678850302936],"position_m":[0.10675195821925341,0.3908128321149697,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00033493302902059055,-0.004335403383285431],"position_m":[0.1638650669709794,-0.4420354033832854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7862255e00b60be92f478fb5ee9741b5c286ae991cee5f2de0c662d1b0d1a1f2","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0101.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7821/tex_ceiling_textures_7125/tex_floor_textures_4418/tex_table_textures_4945/tex_wall_textures_6552","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":1581072474011533129,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":1581072474011533129,"visual_seed":1581072474011533129,"scene_id":"lab_003","finished_at":"2026-09-03T21:20:48"} +{"episode_id":"ep_000096","started_at":"2026-09-03T21:20:50","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[3.1954725043248366e-05,-1.7122774389722848,0.71338606911949],"aabb_xy":[[-0.02625686959539741,-1.738548872626936],[0.026320779045483907,-1.6860060053176336]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.14877303772914052,1.4516777860284118,0.71338606911949],"aabb_xy":[[-0.20877303798054167,1.3973964609919471],[-0.08877303747773932,1.5059591110648765]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.44082759991572185,0.842670151941892,0.71338606911949],"aabb_xy":[[0.42324929772677505,0.825095662367787],[0.45840590210466875,0.8602446415159968]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.16785213206535865,1.5643550319309614,0.71338606911949],"aabb_xy":[[0.1559193977035306,1.551972879123102],[0.17978486642718675,1.5767371847388207]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.6152221172315905,-0.740669652033066,0.71338606911949],"aabb_xy":[[-0.6502221172080863,-0.7501342680806826],[-0.5802221172550946,-0.7312050359854494]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.647367603499151,1.1384421144641026,0.71338606911949],"aabb_xy":[[-0.6523236236840323,1.115942114261981],[-0.64241158331427,1.1609421146662242]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.4323945965383068,-1.2195378519078888,0.71338606911949],"aabb_xy":[[-0.4963945972417762,-1.2655562343808098],[-0.36839459583483747,-1.1735194694349678]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5507385247742711,1.513561304830088,0.71338606911949],"aabb_xy":[[-0.6147342221693677,1.4495613065293793],[-0.4867428273791745,1.5775613031307967]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.22810645450200145,-1.8300958798017692,0.71338606911949],"aabb_xy":[[-0.30810645497221745,-1.838406587416118],[-0.14810645403178554,-1.8217851721874214]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.3126174244304331,-2.468542840806887,0.71338606911949],"aabb_xy":[[-0.3175167167369966,-2.4962197601094553],[-0.3077181321238696,-2.440865921504318]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.4813997449773142,1.271738705793806,0.71338606911949],"aabb_xy":[[0.4772638886446141,1.234238706349449],[0.4855356013100145,1.309238705238163]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.11287347567789796,0.6273423588138849,0.71338606911949],"aabb_xy":[[-0.13037347495598484,0.6100042587475388],[-0.09537347639981109,0.6446804588802307]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.45132238641469224,-1.9578434511320058,0.71338606911949],"aabb_xy":[[-0.4738223859383996,-1.9803393985826263],[-0.4288223868909848,-1.9353475036813848]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[0.4891424032793048,-0.9085242037821608,0.71338606911949],"aabb_xy":[[0.4341501526437939,-0.9635242055254739],[0.5441346539148157,-0.8535242020388484]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.0747113456346975,-0.4838294253923143,0.71338606911949],"aabb_xy":[[-0.13471134727761935,-0.5358295746842585],[-0.014711343991775663,-0.4318292761003702]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.32852495668577353,1.3796210205989112,0.71338606911949],"aabb_xy":[[0.2785301237578319,1.3296210217036677],[0.37851978961371513,1.4296210194941548]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.27262720537657553,1.6573814090323995,0.71338606911949],"aabb_xy":[[-0.3176272068428044,1.6123815521709193],[-0.2276272039103467,1.7023812658938806]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.3197742974421782,-2.0691701153300417,0.71338606911949],"aabb_xy":[[0.2873125965602507,-2.0993029474449436],[0.3522359983241056,-2.039037283215138]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.6451208000309121,-1.4725236984424666,0.71338606911949],"aabb_xy":[[0.6215356765670172,-1.5375237006878983],[0.668705923494807,-1.4075236961970348]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.04843181758924353,0.9847778159241813,0.71338606911949],"aabb_xy":[[0.03962976228027081,0.9769664897692524],[0.057233872898216236,0.9925891420791105]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.4923146606270215,-0.9013557330416329,0.71338606911949],"aabb_xy":[[-0.5820017369351369,-0.9913557332960834],[-0.4026275843189061,-0.8113557327871823]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.4761084934292297,-0.3216800431183482,0.71338606911949],"aabb_xy":[[0.46146508787519663,-0.33633876277513236],[0.4907518989832626,-0.3070213234615638]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.4898416706880223,-0.0856509514320356,0.71338606911949],"aabb_xy":[[-0.5030726162227035,-0.09887837045403501],[-0.47661072515334096,-0.07242353241003617]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[-0.6626323414030462,0.5191307587941156,0.71338606911949],"aabb_xy":[[-0.6769667665292096,0.5070705432395768],[-0.6482979162768827,0.5311909743486545]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.27331264406982,-0.9810517134692247,0.71338606911949],"aabb_xy":[[-0.27701590539895876,-0.9847537317779427],[-0.2696093827406811,-0.977349695160507]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[-0.08427003219812301,-0.9847525643167814,0.71338606911949],"aabb_xy":[[-0.1392437542344559,-1.0397525638810148],[-0.02929631016179013,-0.9297525647525483]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[0.20842659756638482,0.7043114849521874,0.71338606911949],"aabb_xy":[[0.19913297932923424,0.6668114864640535],[0.2177202158035354,0.7418114834403213]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.2838236728084138,-1.3526284538252094,0.71338606911949],"aabb_xy":[[0.27095176930747367,-1.4326284542390455],[0.29669557630935395,-1.2726284534113732]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[0.0005654606746421376,-0.7936048105321842,0.71338606911949],"aabb_xy":[[-0.0634345412377002,-0.8495159597901947],[0.06456546258698448,-0.7376936612741738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6581828520938722,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3399.png","name":"3399"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1011.png","name":"1011"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9960.png","name":"9960"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":538.1632110416356,"rotation_z_degrees":168.41376234445696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029863729966776824,-0.012583884565533623,0.0055572099166427]},{"name":"camera_2","offset_m":[-0.018651442349380907,0.017728107476176185,0.0006499271352182895]},{"name":"camera_3","offset_m":[-0.001593771179461835,-0.006286376837671158,0.003045642457076024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006501562189452051,-0.00030660493492084347,-0.0005458510136744938],"end_effector_yaw_offset_degrees":-0.9631100594152024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018488233286701808,-0.0015327464297459474,-0.0006107243082636704],"end_effector_yaw_offset_degrees":0.6854864901732469},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00031745495512233756,0.0013752217994898062,-0.0016030491855206167],"end_effector_yaw_offset_degrees":-0.2267198463115523}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035510342797524025,-0.0010932577047026671],"position_m":[0.3264510342797524,-0.12509325770470267,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010501791715036212,-0.004880188334904031],"position_m":[0.32024982082849635,0.11631981166509597,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002829697919698756,0.0037631261240922307],"position_m":[0.29897030208030123,0.006363126124092231,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013480415169357242,-0.0010372893777998594],"position_m":[0.10095195848306428,0.39076271062220014,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003086953152236967,-0.0013367786703420035],"position_m":[0.167286953152237,-0.43903677867034197,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d109a09721bcfb86bd7cc1cb5d9ba782dfc35553aae4cf6315b0ee21f980d8b9","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0102.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2495/tex_ceiling_textures_9960/tex_floor_textures_1011/tex_table_textures_9084/tex_wall_textures_3399","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":5843647844535365604,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":5843647844535365604,"visual_seed":5843647844535365604,"scene_id":"lab_003","finished_at":"2026-09-03T21:23:16"} +{"episode_id":"ep_000097","started_at":"2026-09-03T21:23:19","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.5351063892877215,1.7859999180809472,0.71338606911949],"aabb_xy":[[0.5131977071483703,1.7640992512608562],[0.5570150714270724,1.8079005849010377]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.036071599737049875,-1.9911724375315,0.71338606911949],"aabb_xy":[[-0.04548907430691262,-2.000588614669219],[-0.02665412516718712,-1.981756260393781]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.07739488048000909,-0.92873810337356,0.71338606911949],"aabb_xy":[[0.06861365333277288,-0.9375178506620904],[0.08617610762724533,-0.9199583560850301]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.18922196057364105,0.33958737027225494,0.71338606911949],"aabb_xy":[[-0.2789090368817565,0.24958737001780434],[-0.09953488426552556,0.4295873705267054]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.15668545283371182,-1.6471196436074567,0.71338606911949],"aabb_xy":[[-0.17996729503184314,-1.732119644904685],[-0.13340361063558046,-1.5621196423102288]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.13585514872900484,-0.6101587460370017,0.71338606911949],"aabb_xy":[[0.13171929239630467,-0.6476587454813588],[0.13999100506170506,-0.5726587465926448]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.4088346866508963,-1.053742501696767,0.71338606911949],"aabb_xy":[[0.35883468529000906,-1.1037204062721824],[0.4588346880117835,-1.0037645971213511]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5769477569840226,0.1669968266514461,0.71338606911949],"aabb_xy":[[-0.6669477537196327,0.11381336333415157],[-0.48694776024841224,0.2201802899687406]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.3395805711831128,-2.039703789085336,0.71338606911949],"aabb_xy":[[0.30528366016537206,-2.074000675295277],[0.3738774822008533,-2.0054069028753942]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.4680312917434548,-0.31060057855529033,0.71338606911949],"aabb_xy":[[0.430531293167834,-0.32333687421884827],[0.5055312903190756,-0.2978642828917324]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.22779120736254044,-0.832677444927358,0.71338606911949],"aabb_xy":[[-0.25279120663450266,-0.8490228085235202],[-0.20279120809057813,-0.8163320813311955]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.5413452565167116,1.257772387712345,0.71338606911949],"aabb_xy":[[-0.5658914721394623,1.227523491163308],[-0.5167990408939609,1.288021284261382]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.3007226365289902,-2.313852014496865,0.71338606911949],"aabb_xy":[[-0.3907226388630092,-2.3913343690819775],[-0.21072263419497106,-2.236369659911752]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[-0.5425620756438324,-0.3399265440605035,0.71338606911949],"aabb_xy":[[-0.5650757674672896,-0.40992654466151096],[-0.5200483838203752,-0.2699265434594959]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.6559139308298712,-1.8570871530799236,0.71338606911949],"aabb_xy":[[-0.6607575255911012,-1.861938805558908],[-0.6510703360686413,-1.8522355006009397]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.5491934581556759,-1.3127534383487913,0.71338606911949],"aabb_xy":[[0.48419345959860294,-1.342505971762674],[0.6141934567127486,-1.2830009049349087]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.18238924579762839,1.3452451150898872,0.71338606911949],"aabb_xy":[[-0.2173892449904466,1.3342780690922245],[-0.14738924660481006,1.3562121610875495]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.5501805955154686,-2.069162152007314,0.71338606911949],"aabb_xy":[[0.533170498225418,-2.0852966405055877],[0.5671906928055193,-2.05302766350904]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.6260616250343165,1.1633505507637154,0.71338606911949],"aabb_xy":[[0.5885616246860887,1.1515591551826319],[0.6635616253825443,1.175141946344799]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.26635108570824373,1.1717914453517184,0.71338606911949],"aabb_xy":[[-0.27456563082392765,1.1631148550540769],[-0.2581365405925597,1.1804680356493595]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.4878005410661283,-2.3631188651805175,0.71338606911949],"aabb_xy":[[-0.5053005413254651,-2.3772104073692906],[-0.4703005408067918,-2.3490273229917453]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.03443664710992178,-0.4816547097371102,0.71338606911949],"aabb_xy":[[-0.038350520305344304,-0.4904037251436669],[-0.030522773914499257,-0.4729056943305534]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.3574631700833683,-1.344125386601711,0.71338606911949],"aabb_xy":[[-0.4214631707868377,-1.390143769074632],[-0.29346316937989897,-1.29810700412879]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.3745994487012678,-0.32730102748885326,0.71338606911949],"aabb_xy":[[0.3665560887753126,-0.4123010285842197],[0.38264280862722294,-0.24230102639348683]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.31799536760260194,1.7619398292534396,0.71338606911949],"aabb_xy":[[0.2794496747774009,1.7233940581972509],[0.356541060427803,1.8004856003096283]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.6797856020362706,-1.7613283092854468,0.71338606911949],"aabb_xy":[[-0.6842162313911108,-1.7667766810201295],[-0.6753549726814304,-1.7558799375507645]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[0.30689476702004614,-2.5311179264522843,0.71338606911949],"aabb_xy":[[0.2894640519410396,-2.548390041116134],[0.3243254820990526,-2.513845811788433]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[0.2527297808698665,1.4290036044181682,0.71338606911949],"aabb_xy":[[0.20273476991041456,1.3790036053825765],[0.3027247918293186,1.47900360345376]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_28","position":[-0.26378430069783576,0.6583550145811423,0.71338606911949],"aabb_xy":[[-0.2937518576076615,0.6283550142832565],[-0.23381674378801015,0.688355014879028]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[0.6642596398151923,1.0212534374307984,0.71338606911949],"aabb_xy":[[0.6467597063812088,1.0037534375105637],[0.6817595732491756,1.0387534373510328]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[-0.08084660379655018,1.7213303546785448,0.71338606911949],"aabb_xy":[[-0.09794868175491832,1.704223549147275],[-0.063744525838182,1.7384371602098145]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_31","position":[-0.22635197519386474,-0.6704188561348003,0.71338606911949],"aabb_xy":[[-0.3063519754674717,-0.743368403960517],[-0.14635197492025778,-0.5974693083090835]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_32","position":[-0.4815772689688501,0.7368360328776666,0.71338606911949],"aabb_xy":[[-0.5615772661284254,0.7252884319198496],[-0.4015772718092748,0.7483836338354837]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_33","position":[-0.3924931655022134,0.1701362429833706,0.71338606911949],"aabb_xy":[[-0.42114249786262964,0.14149068370629478],[-0.3638438331417972,0.19878180226044637]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_34","position":[0.6980943520197889,0.685853195827201,0.71338606911949],"aabb_xy":[[0.6921278130790531,0.6798920511678369],[0.7040608909605246,0.691814340486565]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556874943624587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2131.png","name":"2131"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5120.png","name":"5120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":715.1241061380975,"rotation_z_degrees":211.77635594587878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011132417906561911,0.015509142099890651,-0.006227366764724166]},{"name":"camera_2","offset_m":[0.007774139160741565,0.008786207189158346,-0.017554933676282733]},{"name":"camera_3","offset_m":[0.010450283543976303,0.001984320194979454,0.018843557406477963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00024509838504290513,-0.0005978251952660947,0.0009047993831026815],"end_effector_yaw_offset_degrees":-0.7325184881831535},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00011973509105531145,-0.0007318491936935355,0.0012387908901167108],"end_effector_yaw_offset_degrees":-0.6436684168236708},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017718569834065784,0.0013784799713608734,-0.0007287228666593029],"end_effector_yaw_offset_degrees":0.7107472631357297}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034103989170203635,0.004063108523924961],"position_m":[0.3263103989170204,-0.11993689147607504,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031703247535736956,0.0039218528919070855],"position_m":[0.31812967524642627,0.12512185289190708,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003196742897732336,0.0012227113970853755],"position_m":[0.29860325710226765,0.0038227113970853753,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005385229365607799,-0.004405126455823964],"position_m":[0.10283852293656079,0.387394873544176,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00043618248587844795,-0.0015236903869529196],"position_m":[0.16376381751412156,-0.4392236903869529,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"11cc8ee585e13fb1c423b1eeda1fe838d9706a8703e4b3f6fa96c5c1ed5606e2","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_75/tex_ceiling_textures_4870/tex_floor_textures_5120/tex_table_textures_3579/tex_wall_textures_2131","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6057372082070966235,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6057372082070966235,"visual_seed":6057372082070966235,"scene_id":"lab_003","finished_at":"2026-09-03T21:25:45"} +{"episode_id":"ep_000098","started_at":"2026-09-03T21:25:48","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.09305234039690136,1.0626310414643254,0.71338606911949],"aabb_xy":[[-0.11555234021080374,1.0581564250938447],[-0.07055234058299897,1.0671056578348062]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.46316881385745784,-2.3132235074034857,0.71338606911949],"aabb_xy":[[-0.5006688153730896,-2.3244502804196303],[-0.4256688123418262,-2.30199673438734]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.2806545842366866,0.2519648671273518,0.71338606911949],"aabb_xy":[[-0.2887682389100637,0.2438590506733227],[-0.2725409295633095,0.26007068358138086]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.2613320028435096,-0.4405556499813539,0.71338606911949],"aabb_xy":[[-0.27876271792251606,-0.45782776464520464],[-0.24390128776450307,-0.423283535317503]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.2243072555942438,-0.6547805923487839,0.71338606911949],"aabb_xy":[[0.17431414348505198,-0.7047805930229797],[0.2743003677034358,-0.6047805916745884]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.34205599418360705,-0.7914961543195391,0.71338606911949],"aabb_xy":[[-0.3920334110488606,-0.8414961558087877],[-0.2920785773183534,-0.7414961528302906]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.09668655391642977,0.6217216153897316,0.71338606911949],"aabb_xy":[[-0.125335886276846,0.5930760561126557],[-0.06803722155601355,0.6503671746668073]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.5703837544935841,1.294774383193651,0.71338606911949],"aabb_xy":[[0.5534730220572422,1.281302177601036],[0.5872944869299258,1.3082465887862653]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.34499209429034383,-1.2216566083430385,0.71338606911949],"aabb_xy":[[-0.39900769057224383,-1.2856566112352954],[-0.29097649800844383,-1.157656605450781]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.30119211347515706,-1.8833035886339122,0.71338606911949],"aabb_xy":[[0.23719211113235553,-1.9282444398780447],[0.36519211581795863,-1.8383627373897797]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.5805894078603093,-1.4629517643381424,0.71338606911949],"aabb_xy":[[0.5757458130990794,-1.4678034168171266],[0.5854330026215393,-1.4581001118591583]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.5127286110420932,1.5158476026111312,0.71338606911949],"aabb_xy":[[0.4848835742614861,1.4850631038728195],[0.5405736478227003,1.5466321013494428]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.06453347583548052,1.7916851546526185,0.71338606911949],"aabb_xy":[[-0.09953347410560043,1.7846110269576305],[-0.029533477565360622,1.7987592823476068]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.03994189478068866,-1.7905783066619496,0.71338606911949],"aabb_xy":[[0.002907785352628936,-1.8249555139956588],[0.07697600420874837,-1.75620109932824]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.22888462348199845,0.8231919371586374,0.71338606911949],"aabb_xy":[[0.1788853483135623,0.7731919358826902],[0.2788838986504346,0.8731919384345845]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.5638676946220014,-0.5708130372168427,0.71338606911949],"aabb_xy":[[0.4738676922879823,-0.6482953918019554],[0.6538676969560204,-0.4933306826317301]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.10731858151499418,1.4385538066315786,0.71338606911949],"aabb_xy":[[0.07231858153849835,1.4290891905839622],[0.14231858149149001,1.4480184226791954]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.37725764760081215,-0.5649776435745215,0.71338606911949],"aabb_xy":[[-0.4077418977278423,-0.6149776433560175],[-0.346773397473782,-0.5149776437930256]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.43999158943028344,0.3054935736754052,0.71338606911949],"aabb_xy":[[-0.4899703979405992,0.2554935736696864],[-0.39001278091996744,0.355493573681124]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.3126546858878499,-0.2870198990452999,0.71338606911949],"aabb_xy":[[-0.32525738502492635,-0.2996152952701654],[-0.30005198675077344,-0.2744245028204344]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.664336136189065,-1.5419190019072098,0.71338606911949],"aabb_xy":[[0.65349565796255,-1.5591052831978587],[0.6751766144155799,-1.5247327206165608]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.6360609800793617,0.3867221504557059,0.71338606911949],"aabb_xy":[[0.6269011011354851,0.3801909324121689],[0.6452208590232383,0.3932533684992429]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.300460783463589,0.7677108883311683,0.71338606911949],"aabb_xy":[[-0.3454533701820394,0.7227108890567194],[-0.2554681967451386,0.8127108876056169]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.42016313914929704,0.6336915108369978,0.71338606911949],"aabb_xy":[[0.3401631377191698,0.5541743558243883],[0.5001631405794242,0.7132086658496073]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.29962572681307104,1.7296396468551074,0.71338606911949],"aabb_xy":[[-0.32321085027696594,1.6646396446096756],[-0.27604060334917624,1.7946396491005392]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.09517071391963705,-1.4849635863367159,0.71338606911949],"aabb_xy":[[-0.11033358689657415,-1.5001290436318349],[-0.08000784094269997,-1.4697981290415971]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[0.4205846666022064,-1.5407580159973346,0.71338606911949],"aabb_xy":[[0.4101731079217226,-1.5461037493332328],[0.43099622528269005,-1.535412282661436]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.5845733818896199,-1.1049399121277894,0.71338606911949],"aabb_xy":[[0.5620733816461047,-1.1171445467875616],[0.6070733821331354,-1.0927352774680177]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[-0.2921442732036368,-1.7675179019725813,0.71338606911949],"aabb_xy":[[-0.3022972887577861,-1.8035874435453216],[-0.28199125764948735,-1.731448360399841]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.5606983533613532,-1.5406172752457932,0.71338606911949],"aabb_xy":[[-0.6506983570382712,-1.602049681822897],[-0.4706983496844348,-1.4791848686686886]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[0.46181046828905603,1.0981391661628934,0.71338606911949],"aabb_xy":[[0.4569111759824924,1.0704622468603244],[0.4667097605956194,1.125816085465462]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_31","position":[-0.17406095666282317,1.5727817425671415,0.71338606911949],"aabb_xy":[[-0.18496673275038586,1.4927817461683124],[-0.16315518057526043,1.6527817389659707]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[-0.6286105478106246,-0.7490333237193278,0.71338606911949],"aabb_xy":[[-0.6936105504484181,-0.8005129224187749],[-0.5636105451728312,-0.697553725019881]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546901262541737,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5524.png","name":"5524"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2855.png","name":"2855"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4223.png","name":"4223"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":817.794145338753,"rotation_z_degrees":228.8181328954308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008069551946701149,-0.007258954554014197,0.013928906801466582]},{"name":"camera_2","offset_m":[0.010436547749083744,-0.0038331131033752727,0.017763179020004082]},{"name":"camera_3","offset_m":[0.003980278341540872,-0.0013513346737835837,-0.012789701130143726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00048385492246531977,-0.0015643572543014499,-0.00026884233287516714],"end_effector_yaw_offset_degrees":-0.8103960503035286},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001912224364796689,0.00042564596435292054,0.0019504459271837008],"end_effector_yaw_offset_degrees":0.02406014954573199},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012758765192353114,0.00043647308275066975,-5.145725594852559e-05],"end_effector_yaw_offset_degrees":-0.9230097978272958}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018435189146310425,-0.002414945744391388],"position_m":[0.32474351891463105,-0.12641494574439138,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025994047951820066,0.00010695754879300884],"position_m":[0.323899404795182,0.121306957548793,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003736056501725809,-0.0049226547165266135],"position_m":[0.30553605650172583,-0.0023226547165266136,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002016722612891822,0.004274439194193743],"position_m":[0.10431672261289182,0.3960744391941937,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00387412892256729,0.00480823693077471],"position_m":[0.1680741289225673,-0.4328917630692253,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc6085f48007f0e665aa69d7fe0b3973c2f7c07ceb3c3a891000b7d4ea998990","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0104.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7516/tex_ceiling_textures_3456/tex_floor_textures_4223/tex_table_textures_5524/tex_wall_textures_2855","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":6704845370543570929,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":6704845370543570929,"visual_seed":6704845370543570929,"scene_id":"lab_003","finished_at":"2026-09-03T21:28:35"} +{"episode_id":"ep_000099","started_at":"2026-09-03T21:28:39","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.6511270201449475,1.473750099388543,0.71338606911949],"aabb_xy":[[-0.658539475686336,1.4678988889669151],[-0.643714564603559,1.479601309810171]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.5978033723349787,0.6229132005210416,0.71338606911949],"aabb_xy":[[0.5078033737405088,0.6066626142076206],[0.6878033709294487,0.6391637868344626]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.5611695996840191,-1.094308163093947,0.71338606911949],"aabb_xy":[[0.538673178250155,-1.1168081629006945],[0.5836660211178832,-1.0718081632871996]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[0.21339915870613824,-1.1618460179233234,0.71338606911949],"aabb_xy":[[0.1634217418408846,-1.211846019412572],[0.2633765755713917,-1.1118460164340749]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.042759024680533386,-0.7253849883965278,0.71338606911949],"aabb_xy":[[0.025748927390482727,-0.7415194768948016],[0.05976912197058403,-0.7092504998982537]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.08775483456207034,-1.8311731376662197,0.71338606911949],"aabb_xy":[[-0.002245164856300566,-1.8645486345104094],[0.17775483398044123,-1.79779764082203]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.5971472100733001,-2.38803950853776,0.71338606911949],"aabb_xy":[[-0.6466276312872589,-2.4520395064506117],[-0.5476667888593413,-2.324039510624908]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.33524267806255587,1.4329743996587587,0.71338606911949],"aabb_xy":[[-0.3852269137707331,1.3829744008452631],[-0.28525844235437864,1.4829743984722543]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.003953126307207122,-2.5082668714959495,0.71338606911949],"aabb_xy":[[-0.03354687363655928,-2.516559961530786],[0.04145312625097353,-2.499973781461113]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.1521359421912829,-1.519956379446092,0.71338606911949],"aabb_xy":[[-0.20712915352841968,-1.5749563797848856],[-0.09714273085414615,-1.4649563791072981]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.045964791413878325,-1.4967770775375153,0.71338606911949],"aabb_xy":[[-0.05476684672285104,-1.5045884036924442],[-0.037162736104905614,-1.488965751382586]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.583434935330003,-0.30382937426149814,0.71338606911949],"aabb_xy":[[0.5530368242308593,-0.3342362762631676],[0.6138330464291465,-0.2734224722598286]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.3540188586694384,-0.4367707848488611,0.71338606911949],"aabb_xy":[[0.2900188582919047,-0.4865160516996733],[0.41801885904697195,-0.3870255179980488]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.24647061637471712,0.6695171300421241,0.71338606911949],"aabb_xy":[[0.15647061404069806,0.5920347754570114],[0.3364706187087362,0.7469994846272368]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[-0.409441977923203,-0.7733334150468829,0.71338606911949],"aabb_xy":[[-0.4555270691779345,-0.837333412299438],[-0.36335688666847155,-0.7093334177943278]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.6277790121260237,-0.95833732850478,0.71338606911949],"aabb_xy":[[-0.6459848357872715,-0.9693627290867718],[-0.6095731884647762,-0.9473119279227885]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[0.15118183621139403,-1.3720534517216059,0.71338606911949],"aabb_xy":[[0.12759671274749917,-1.4370534539670377],[0.17476695967528888,-1.307053449476174]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.2279879925512619,0.23767161570170936,0.71338606911949],"aabb_xy":[[-0.26176355174195487,0.2236331204885443],[-0.19421243336056893,0.2517101109148744]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.47670578278332365,0.23423179743024924,0.71338606911949],"aabb_xy":[[0.39670578412643775,0.21972693850598649],[0.5567057814402098,0.24873665635451206]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.1386882008912026,-2.1044692344147116,0.71338606911949],"aabb_xy":[[-0.14668218946890596,-2.1124693145098017],[-0.13069421231349918,-2.0964691543196206]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.12500970192113925,1.801458154942988,0.71338606911949],"aabb_xy":[[-0.16250970049676003,1.7887218592794296],[-0.08750970334551843,1.8141944506065455]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.3454012684867413,1.628777566274699,0.71338606911949],"aabb_xy":[[-0.3605641414636784,1.6136121089795807],[-0.3302383955098042,1.6439430235698183]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546987082029369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8980.png","name":"8980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3231.png","name":"3231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.4097639262386,"rotation_z_degrees":44.17328021232568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018039509657945728,-0.006563487657731378,0.004823879190345503]},{"name":"camera_2","offset_m":[0.007835336752741773,0.0011021009727574735,0.00827768734313242]},{"name":"camera_3","offset_m":[0.010832211693775694,0.003619790892981419,-0.0102407086527174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022600066595995956,0.0010303612542184406,0.0016240701115479944],"end_effector_yaw_offset_degrees":-0.07635128119840418},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011920457472374669,-0.0002698693270387681,6.67154650865415e-05],"end_effector_yaw_offset_degrees":0.5390525908274182},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013303460925516925,0.0008910583826600808,0.0014297402878681062],"end_effector_yaw_offset_degrees":-0.7890774474806976}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00012","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004948268530521691,0.002062463402324092],"position_m":[0.32240517314694783,-0.12193753659767591,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004898588623113436,-0.0048148896257043505],"position_m":[0.31640141137688654,0.11638511037429565,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015072765345702887,0.004623441291398587],"position_m":[0.30029272346542973,0.007223441291398587,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004576147712273484,-0.0019326612584897786],"position_m":[0.09772385228772652,0.3898673387415102,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004235496929449903,-0.00423495984659564],"position_m":[0.1599645030705501,-0.44193495984659564,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fee107e0dc99904a3ce19c55d533913f2ceba47edc75af5740ec3887b73447f7","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/dataset/episode_0105.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7800/tex_ceiling_textures_1884/tex_floor_textures_3231/tex_table_textures_8980/tex_wall_textures_8216","seeds":{"action_seed":7341333033982970114,"physical_seed":8543775924677074192,"visual_seed":3075392399745050443,"layout_id":"layout_00012","physical_randomization_enabled":true},"episode_seed":3075392399745050443,"visual_seed":3075392399745050443,"scene_id":"lab_003","finished_at":"2026-09-03T21:31:10"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9cb7130d3f3bddcf906c1d95d704089344403ba1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00012 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00012 + reproducibility: + enabled: true + layout_id: layout_00012 + action_seed: 7341333033982970114 + step_seeds: + - 3829379865525735683 + - 1742170454347048747 + - 3967963344366819069 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3229 + - 0.3229 + 'y': + - -0.124 + - -0.124 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3213 + - 0.3213 + 'y': + - 0.1212 + - 0.1212 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3018 + - 0.3018 + 'y': + - 0.0026 + - 0.0026 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1023 + - 0.1023 + 'y': + - 0.3918 + - 0.3918 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1642 + - 0.1642 + 'y': + - -0.4377 + - -0.4377 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd46d2f31a9666df990d562b6672347e2f305db1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34914619861177654, + -0.1160173933155072, + 1.0035396179333362 + ], + "current_z": 1.0035396179333362, + "required_z": 0.8611065686231668, + "initial_z": 0.7611065686231668, + "lift_margin": 0.14243304931016942, + "gripper_z": 1.0040748505692219, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34504889249230375, + -0.12036122860203834, + 1.0040748505692219 + ], + "object_minus_gripper": [ + 0.004097306119472788, + 0.004343835286531136, + -0.0005352326358856185 + ], + "object_to_gripper_xy": 0.0059713333882125685, + "object_to_gripper_z": -0.0005352326358856185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34914619861177654, + -0.1397017987855608, + 1.0035396179333362 + ], + "finger_b": [ + 0.33802026261353973, + -0.1160173933155072, + 1.0035396179333362 + ], + "finger_midpoint": [ + 0.34358323061265816, + -0.12785959605053399, + 1.0035396179333362 + ], + "object_minus_finger_midpoint": [ + 0.005562967999118373, + 0.011842202735026786, + 0.0 + ], + "finger_gap": 0.026167489644724547, + "fingertip_max_gap": 0.09274826422823593, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013083744822362249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035396179333362, + "object_top_z": 1.053331324764652, + "finger_top_clearance": 0.04979170683131584, + "fingertip_min_top_clearance": 0.014937512049394752, + "object_projection_between_fingers": 0.8192205783230909, + "object_to_finger_line_xy": 0.010070174212115576, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048874132114117966, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7587803685866183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3191042615428134, + 0.0022348008781882985, + 0.7701463137718327 + ], + "gripper_position": [ + 0.32547216500478643, + -0.036938673204558514, + 1.033843204405876 + ], + "target_minus_gripper": [ + -0.0063679034619730235, + 0.03917347408274681, + -0.26369689063404333 + ], + "held_position": [ + 0.32965721653930125, + -0.03269623731135045, + 1.0332423943907323 + ], + "held_minus_target": [ + 0.01055295499648784, + -0.03493103818953874, + 0.26309608061889955 + ], + "held_minus_gripper": [ + 0.0041850515345148165, + 0.004242435893208066, + -0.0006008100151437823 + ], + "xy_dist": 0.03968767146372591, + "held_xy_dist": 0.03649030402938446, + "held_gripper_dist": 0.005989481724558646, + "max_held_gripper_dist": 0.005997471810154313, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463137718327, + "held_z": 1.0332423943907323, + "required_height": 0.8001463137718328, + "gripper_z": 1.033843204405876, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28445456367098, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2385742259673704, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4607002027041993, + "max_source_tilt_deg": 89.91569951954266, + "source_upright_tilt_deg": 2.608061400731058, + "max_source_upright_tilt_deg": 89.67735927768642, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4607002027041993, + "source_upright_return_tilt_deg": 2.608061400731058, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.5867132164410645e-08, + "max_target_xy_drift": 2.4065552024211567e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.03956468203125711, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 2.5370153619298495e-05, + "max_target_tilt_deg": 0.00012671565681888648, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3191, + 0.0022, + 0.7701 + ], + "controller_target_position": [ + 0.3191, + 0.0022, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0003, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3199, + -0.0227, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007710556480348871, + 0.0002896875708427592, + -0.0008235376989471344 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.608044321464208, + "source_return_step_error_deg": 2.4607056442918247, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.604138290460274, + "source_return_best_wrist_position": -1.6132510900497437, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6132510900497437 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3191, + 0.0022, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3191, + 0.0022, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0003, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3199, + -0.0227, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007710556480348871, + 0.0002896875708427592, + -0.0008235376989471344 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.608044321464208, + "pour_controller_source_return_step_error_deg": 2.4607056442918247, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.604138290460274, + "pour_controller_source_return_best_wrist_position": -1.6132510900497437, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6132510900497437, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03968767146372591, + "valid_pour_held_xy_dist": 0.03649030402938446, + "valid_pour_held_gripper_dist": 0.005989481724558646, + "valid_pour_required_height": 0.8001463137718328, + "valid_pour_held_z": 1.0332423943907323, + "valid_pour_source_tilt_deg": 2.4607002027041993, + "valid_pour_source_upright_tilt_deg": 2.608061400731058, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.5867132164410645e-08, + "valid_pour_target_tilt_deg": 2.5370153619298495e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32965721653930125, + -0.05623969298980913, + 1.0332423943907323 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31914195236348863, + -0.03269623731135045, + 1.0332423943907323 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32439958445139494, + -0.04446796515057979, + 1.0332423943907323 + ], + "valid_pour_held_grasp_object_position": [ + 0.32965721653930125, + -0.03269623731135045, + 1.0332423943907323 + ], + "valid_pour_held_grasp_finger_gap": 0.025784977912937535, + "valid_pour_held_grasp_max_gap": 0.12496583670377731, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02383293926283445, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029849008711544063, + -0.9989641865686454, + 0.03434516897881068 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005621028215987726, + "valid_pour_held_grasp_line_xy_max_dist": 0.047482918351888656, + "valid_pour_held_grasp_object_top_z": 0.04972069710493088, + "valid_pour_held_grasp_top_clearance": 0.03811809768550167, + "valid_pour_held_grasp_min_top_clearance": 0.014916209131479263, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32965721653930125, + -0.05623969298980913, + 1.0332423943907323 + ], + "held_grasp_finger_b": [ + 0.31914195236348863, + -0.03269623731135045, + 1.0332423943907323 + ], + "held_grasp_midpoint": [ + 0.32439958445139494, + -0.04446796515057979, + 1.0332423943907323 + ], + "held_grasp_object_position": [ + 0.32965721653930125, + -0.03269623731135045, + 1.0332423943907323 + ], + "held_grasp_finger_gap": 0.025784977912937535, + "held_grasp_max_gap": 0.12496583670377731, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02383293926283445, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029849008711544063, + -0.9989641865686454, + 0.03434516897881068 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005621028215987726, + "held_grasp_line_xy_max_dist": 0.047482918351888656, + "held_grasp_object_top_z": 0.04972069710493088, + "held_grasp_top_clearance": 0.03811809768550167, + "held_grasp_min_top_clearance": 0.014916209131479263, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3271079277661457, + -0.11564310278877428, + 0.7611088898658264 + ], + "target_position": [ + 0.32578440963518424, + -0.11955549021376757, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004130190746954606, + "xy_threshold": 0.08, + "gripper_dist": 0.21533957800151823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088898658264, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550830344010409, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576839474653579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18690250914972217, + "release_required_pad_clearance": 0.0528841973732679, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8079348543869693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4c1ceb4685a3eb95f5e7c05ee6a2b41cf46e10cbb41573d240be2340a525a943", + "visual_seed": 3758027692288431762, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..807c5060d3bd81e3cc284fc0769b593bcdda04d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3485220163139171, + -0.11654711872179015, + 1.004065218955036 + ], + "current_z": 1.004065218955036, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14295859173098047, + "gripper_z": 1.004548173276708, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34511821287124944, + -0.12046951251475267, + 1.004548173276708 + ], + "object_minus_gripper": [ + 0.0034038034426676633, + 0.003922393792962525, + -0.00048295432167200225 + ], + "object_to_gripper_xy": 0.005193366051356979, + "object_to_gripper_z": -0.00048295432167200225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3485220163139171, + -0.13991695779241003, + 1.004065218955036 + ], + "finger_b": [ + 0.3382346048727658, + -0.11654711872179015, + 1.004065218955036 + ], + "finger_midpoint": [ + 0.34337831059334145, + -0.12823203825710008, + 1.004065218955036 + ], + "object_minus_finger_midpoint": [ + 0.005143705720575653, + 0.011684919535309937, + 0.0 + ], + "finger_gap": 0.02553390319450206, + "fingertip_max_gap": 0.09334790366379173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012766951597251025, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004065218955036, + "object_top_z": 1.0540368836722975, + "finger_top_clearance": 0.049971664717261444, + "fingertip_min_top_clearance": 0.014991499415178399, + "object_projection_between_fingers": 0.8376778433524998, + "object_to_finger_line_xy": 0.009415526799863693, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049173951831895865, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2276770338355742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.322703402400655, + 0.007150717868141902, + 0.7701463301919672 + ], + "gripper_position": [ + 0.32784578261618796, + -0.02905747923596408, + 1.0441887152693108 + ], + "target_minus_gripper": [ + -0.005142380215532982, + 0.03620819710410598, + -0.2740423850773436 + ], + "held_position": [ + 0.33136542831764004, + -0.025255320310505175, + 1.0436328922491493 + ], + "held_minus_target": [ + 0.008662025916985061, + -0.032406038178647074, + 0.27348656205718214 + ], + "held_minus_gripper": [ + 0.0035196457014520788, + 0.003802158925458904, + -0.0005558230201614389 + ], + "xy_dist": 0.0365715410095185, + "held_xy_dist": 0.033543732699603555, + "held_gripper_dist": 0.005210878773099436, + "max_held_gripper_dist": 0.005217864910881758, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0436328922491493, + "required_height": 0.8001463301919672, + "gripper_z": 1.0441887152693108, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.38677762762693, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.759066373360309, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6233869161643253, + "max_source_tilt_deg": 89.92928014683193, + "source_upright_tilt_deg": 2.401283264004343, + "max_source_upright_tilt_deg": 89.98082711302987, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6233869161643253, + "source_upright_return_tilt_deg": 2.401283264004343, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.122274160385132e-09, + "max_target_xy_drift": 1.210719347000122e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3227, + 0.0072, + 0.7701 + ], + "controller_target_position": [ + 0.3227, + 0.0072, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0001, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3233, + -0.0181, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006194482629718716, + -5.429446341354504e-05, + -0.00021347365114353736 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4012807852047255, + "source_return_step_error_deg": 2.623380285115873, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6151444672572857, + "source_return_best_wrist_position": -1.6158004999160767, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6158004999160767 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3227, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3227, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0001, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3233, + -0.0181, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006194482629718716, + -5.429446341354504e-05, + -0.00021347365114353736 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4012807852047255, + "pour_controller_source_return_step_error_deg": 2.623380285115873, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6151444672572857, + "pour_controller_source_return_best_wrist_position": -1.6158004999160767, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6158004999160767, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0365715410095185, + "valid_pour_held_xy_dist": 0.033543732699603555, + "valid_pour_held_gripper_dist": 0.005210878773099436, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0436328922491493, + "valid_pour_source_tilt_deg": 2.6233869161643253, + "valid_pour_source_upright_tilt_deg": 2.401283264004343, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.122274160385132e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33136542831764004, + -0.04865927019129062, + 1.0436328922491493 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32189584719642583, + -0.025255320310505175, + 1.0436328922491493 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32663063775703294, + -0.0369572952508979, + 1.0436328922491493 + ], + "valid_pour_held_grasp_object_position": [ + 0.33136542831764004, + -0.025255320310505175, + 1.0436328922491493 + ], + "valid_pour_held_grasp_finger_gap": 0.025247135216368087, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02365145935108909, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02830753241363361, + -0.9991219001778187, + 0.030888706572407054 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005076883079052195, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816258086908282, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33136542831764004, + -0.04865927019129062, + 1.0436328922491493 + ], + "held_grasp_finger_b": [ + 0.32189584719642583, + -0.025255320310505175, + 1.0436328922491493 + ], + "held_grasp_midpoint": [ + 0.32663063775703294, + -0.0369572952508979, + 1.0436328922491493 + ], + "held_grasp_object_position": [ + 0.33136542831764004, + -0.025255320310505175, + 1.0436328922491493 + ], + "held_grasp_finger_gap": 0.025247135216368087, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02365145935108909, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02830753241363361, + -0.9991219001778187, + 0.030888706572407054 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005076883079052195, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816258086908282, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3264754304485859, + -0.11731063408220717, + 0.7611070885450841 + ], + "target_position": [ + 0.326072292098838, + -0.12189187320802301, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00459894253681685, + "xy_threshold": 0.08, + "gripper_dist": 0.21538299925915433, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070885450841, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754068281629962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866587075378749, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1873508011619398, + "release_required_pad_clearance": 0.05332935376893745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6744000907680288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28bcd0ee291413d3dc01c600c3e2747e176b846b18050a90bccc5325f47e790e", + "visual_seed": 1245511943143538107, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4c244ed91aad8f84a56ef5d31da5da8f027255 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_101_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34564659730058017, + -0.12439683208814056, + 1.0033994007836347 + ], + "current_z": 1.0033994007836347, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14229283316422403, + "gripper_z": 1.0034152601856836, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3423540135881419, + -0.1282588367825756, + 1.0034152601856836 + ], + "object_minus_gripper": [ + 0.0032925837124382906, + 0.0038620046944350395, + -1.585940204895664e-05 + ], + "object_to_gripper_xy": 0.005075055444352525, + "object_to_gripper_z": -1.585940204895664e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34564659730058017, + -0.1475679080579863, + 1.0033994007836347 + ], + "finger_b": [ + 0.33529119533449514, + -0.12439683208814056, + 1.0033994007836347 + ], + "finger_midpoint": [ + 0.34046889631753763, + -0.13598237007306344, + 1.0033994007836347 + ], + "object_minus_finger_midpoint": [ + 0.0051777009830425436, + 0.011585537984922872, + 0.0 + ], + "finger_gap": 0.025379777608946077, + "fingertip_max_gap": 0.09544660888370013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012689888804473049, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033994007836347, + "object_top_z": 1.0533597920871993, + "finger_top_clearance": 0.049960391303564666, + "fingertip_min_top_clearance": 0.014988117391069432, + "object_projection_between_fingers": 0.8335214446081143, + "object_to_finger_line_xy": 0.009454212300499731, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05022330444185007, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.996446703104868, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3227695337540332, + 0.006368719364188683, + 0.7701464494012563 + ], + "gripper_position": [ + 0.32786715972099295, + -0.02876299581146137, + 1.0451501704544541 + ], + "target_minus_gripper": [ + -0.005097625966959729, + 0.03513171517565005, + -0.2750037210531978 + ], + "held_position": [ + 0.33124435731273416, + -0.02498065473952096, + 1.0450723526711334 + ], + "held_minus_target": [ + 0.008474823558700939, + -0.031349374103709644, + 0.2749259032698771 + ], + "held_minus_gripper": [ + 0.00337719759174121, + 0.00378234107194041, + -7.781778332072165e-05 + ], + "xy_dist": 0.0354996225568952, + "held_xy_dist": 0.03247469616556024, + "held_gripper_dist": 0.005071254594826699, + "max_held_gripper_dist": 0.005075991557905384, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0450723526711334, + "required_height": 0.8001464494012563, + "gripper_z": 1.0451501704544541, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.72227651965795, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.458257178288797, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.3912756051341124, + "max_source_tilt_deg": 89.85578023407666, + "source_upright_tilt_deg": 3.771706776697424, + "max_source_upright_tilt_deg": 89.92445671284706, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.3912756051341124, + "source_upright_return_tilt_deg": 3.771706776697424, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.598610952103337e-08, + "max_target_xy_drift": 1.6939385424674315e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3228, + 0.0064, + 0.7701 + ], + "controller_target_position": [ + 0.3228, + 0.0064, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0014, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3239, + -0.0174, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011327399436967065, + 0.0014319685280736634, + 0.001361573671280941 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7717060822466495, + "source_return_step_error_deg": 1.391276945947568, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.771829042804495, + "source_return_best_wrist_position": -1.5908352136611938, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5908352136611938 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3228, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3228, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0014, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3239, + -0.0174, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011327399436967065, + 0.0014319685280736634, + 0.001361573671280941 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7717060822466495, + "pour_controller_source_return_step_error_deg": 1.391276945947568, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.771829042804495, + "pour_controller_source_return_best_wrist_position": -1.5908352136611938, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5908352136611938, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0354996225568952, + "valid_pour_held_xy_dist": 0.03247469616556024, + "valid_pour_held_gripper_dist": 0.005071254594826699, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0450723526711334, + "valid_pour_source_tilt_deg": 1.3912756051341124, + "valid_pour_source_upright_tilt_deg": 3.771706776697424, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.598610952103337e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33124435731273416, + -0.048444973264610204, + 1.0450723526711334 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3214329221599002, + -0.02498065473952096, + 1.0450723526711334 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32633863973631716, + -0.03671281400206558, + 1.0450723526711334 + ], + "valid_pour_held_grasp_object_position": [ + 0.33124435731273416, + -0.02498065473952096, + 1.0450723526711334 + ], + "valid_pour_held_grasp_finger_gap": 0.025433019946618843, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024044781914126484, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06434178962266858, + -0.997834076987639, + 0.013685353863849278 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005652639890455105, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832914440953192, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33124435731273416, + -0.048444973264610204, + 1.0450723526711334 + ], + "held_grasp_finger_b": [ + 0.3214329221599002, + -0.02498065473952096, + 1.0450723526711334 + ], + "held_grasp_midpoint": [ + 0.32633863973631716, + -0.03671281400206558, + 1.0450723526711334 + ], + "held_grasp_object_position": [ + 0.33124435731273416, + -0.02498065473952096, + 1.0450723526711334 + ], + "held_grasp_finger_gap": 0.025433019946618843, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024044781914126484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06434178962266858, + -0.997834076987639, + 0.013685353863849278 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005652639890455105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832914440953192, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3039104637785342, + -0.10752119125966408, + 0.7611178892814839 + ], + "target_position": [ + 0.32328964848881575, + -0.12875292209275577, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.028746116158605953, + "xy_threshold": 0.08, + "gripper_dist": 0.20473223692890602, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611178892814839, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08404097597726361, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855120518413831, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1823105637786398, + "release_required_pad_clearance": 0.05275602592069155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5623072323280818, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7862255e00b60be92f478fb5ee9741b5c286ae991cee5f2de0c662d1b0d1a1f2", + "visual_seed": 1581072474011533129, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5b3bbde386ca596303da93087360d7fc873ed7d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_102_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34937141644131947, + -0.12168450938922587, + 1.0029577596324721 + ], + "current_z": 1.0029577596324721, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14185125161770606, + "gripper_z": 1.0035780641180074, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3454178406897608, + -0.12570527959802397, + 1.0035780641180074 + ], + "object_minus_gripper": [ + 0.003953575751558691, + 0.004020770208798097, + -0.0006203044855352946 + ], + "object_to_gripper_xy": 0.005638914283376824, + "object_to_gripper_z": -0.0006203044855352946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34937141644131947, + -0.14570909756752723, + 1.0029577596324721 + ], + "finger_b": [ + 0.3392724618013504, + -0.12168450938922587, + 1.0029577596324721 + ], + "finger_midpoint": [ + 0.3443219391213349, + -0.13369680347837654, + 1.0029577596324721 + ], + "object_minus_finger_midpoint": [ + 0.005049477319984563, + 0.012012294089150666, + 0.0 + ], + "finger_gap": 0.026060884903570145, + "fingertip_max_gap": 0.09376053631940637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01303044245178507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0029577596324721, + "object_top_z": 1.0528529608545143, + "finger_top_clearance": 0.04989520122204216, + "fingertip_min_top_clearance": 0.014968560366612631, + "object_projection_between_fingers": 0.8498329923685991, + "object_to_finger_line_xy": 0.009309861393976089, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049380268159703186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4707160462463142, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3208339325195971, + 0.006370090271018523, + 0.7701463897966119 + ], + "gripper_position": [ + 0.32713455998477925, + -0.03087702068045449, + 1.0439582269046024 + ], + "target_minus_gripper": [ + -0.006300627465182174, + 0.03724711095147301, + -0.2738118371079905 + ], + "held_position": [ + 0.33099529431940056, + -0.026779666415262922, + 1.0432779853517353 + ], + "held_minus_target": [ + 0.010161361799803481, + -0.033149756686281444, + 0.27313159555512345 + ], + "held_minus_gripper": [ + 0.0038607343346213074, + 0.004097354265191568, + -0.0006802415528670558 + ], + "xy_dist": 0.03777625154361333, + "held_xy_dist": 0.034672173886074215, + "held_gripper_dist": 0.005670653414488876, + "max_held_gripper_dist": 0.005675026484510876, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0432779853517353, + "required_height": 0.8001463897966119, + "gripper_z": 1.0439582269046024, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23603535264475, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.966602523966641, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1860391174934337, + "max_source_tilt_deg": 89.88587727752862, + "source_upright_tilt_deg": 4.84000793048342, + "max_source_upright_tilt_deg": 89.73786409733482, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1860391174934337, + "source_upright_return_tilt_deg": 4.84000793048342, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.423172586400675e-08, + "max_target_xy_drift": 2.239753341970003e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3208, + 0.0064, + 0.7701 + ], + "controller_target_position": [ + 0.3208, + 0.0064, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0015, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3227, + -0.0204, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018488233286701808, + -0.0015327464297459474, + -0.0006107243082636704 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.840008168576158, + "source_return_step_error_deg": 2.186039416937957, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.840616910948242, + "source_return_best_wrist_position": -1.5929744243621826, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5929744243621826 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3208, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3208, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0015, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3227, + -0.0204, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018488233286701808, + -0.0015327464297459474, + -0.0006107243082636704 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.840008168576158, + "pour_controller_source_return_step_error_deg": 2.186039416937957, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.840616910948242, + "pour_controller_source_return_best_wrist_position": -1.5929744243621826, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5929744243621826, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03777625154361333, + "valid_pour_held_xy_dist": 0.034672173886074215, + "valid_pour_held_gripper_dist": 0.005670653414488876, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0432779853517353, + "valid_pour_source_tilt_deg": 2.1860391174934337, + "valid_pour_source_upright_tilt_deg": 4.84000793048342, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.423172586400675e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33099529431940056, + -0.050289896027242265, + 1.0432779853517353 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3203637742510804, + -0.026779666415262922, + 1.0432779853517353 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3256795342852405, + -0.03853478122125259, + 1.0432779853517353 + ], + "valid_pour_held_grasp_object_position": [ + 0.33099529431940056, + -0.026779666415262922, + 1.0432779853517353 + ], + "valid_pour_held_grasp_finger_gap": 0.025802327712264334, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024312061568758765, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0833055818472804, + -0.9964341901454544, + 0.013382254752410169 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006278445917974019, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03844988425092812, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33099529431940056, + -0.050289896027242265, + 1.0432779853517353 + ], + "held_grasp_finger_b": [ + 0.3203637742510804, + -0.026779666415262922, + 1.0432779853517353 + ], + "held_grasp_midpoint": [ + 0.3256795342852405, + -0.03853478122125259, + 1.0432779853517353 + ], + "held_grasp_object_position": [ + 0.33099529431940056, + -0.026779666415262922, + 1.0432779853517353 + ], + "held_grasp_finger_gap": 0.025802327712264334, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024312061568758765, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0833055818472804, + -0.9964341901454544, + 0.013382254752410169 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006278445917974019, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03844988425092812, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3326094748742304, + -0.13107422573892788, + 0.7611137540910892 + ], + "target_position": [ + 0.3264510342797524, + -0.12509325770470267, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008584775429918853, + "xy_threshold": 0.08, + "gripper_dist": 0.2191837589048624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611137540910892, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542410510737683, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860756131850166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18835947973004483, + "release_required_pad_clearance": 0.0530378065925083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.088507577350492, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d109a09721bcfb86bd7cc1cb5d9ba782dfc35553aae4cf6315b0ee21f980d8b9", + "visual_seed": 5843647844535365604, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b7f2f429935f3f5831f46b0a07d802ad3b546c8a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_103_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34900384310466626, + -0.11740683410448916, + 1.0049262726328756 + ], + "current_z": 1.0049262726328756, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1438198242227542, + "gripper_z": 1.0048251769149024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34547836525385434, + -0.12122782074624043, + 1.0048251769149024 + ], + "object_minus_gripper": [ + 0.00352547785081192, + 0.0038209866417512756, + 0.00010109571797323191 + ], + "object_to_gripper_xy": 0.005198935755806868, + "object_to_gripper_z": 0.00010109571797323191, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34900384310466626, + -0.14116395886230226, + 1.0049262726328756 + ], + "finger_b": [ + 0.33921777656422997, + -0.11740683410448916, + 1.0049262726328756 + ], + "finger_midpoint": [ + 0.3441108098344481, + -0.1292853964833957, + 1.0049262726328756 + ], + "object_minus_finger_midpoint": [ + 0.004893033270218172, + 0.011878562378906554, + 0.0 + ], + "finger_gap": 0.025693736106143523, + "fingertip_max_gap": 0.09387265505846262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012846868053071772, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049262726328756, + "object_top_z": 1.0549559936346977, + "finger_top_clearance": 0.050029721001822125, + "fingertip_min_top_clearance": 0.015008916300546654, + "object_projection_between_fingers": 0.8549352779283065, + "object_to_finger_line_xy": 0.009048462346190922, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049436327529231314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.26324589872685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3204669467217152, + 0.003829645781450052, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3257904607594774, + -0.032907994916700684, + 1.0453589769150946 + ], + "target_minus_gripper": [ + -0.005323514037762156, + 0.036737640698150734, + -0.27521258711848284 + ], + "held_position": [ + 0.3293350436480704, + -0.02910846556931608, + 1.045391943550599 + ], + "held_minus_target": [ + 0.008868096926355207, + -0.03293811135076613, + 0.2752455537539872 + ], + "held_minus_gripper": [ + 0.003544582888593051, + 0.003799529347384603, + 3.296663550433898e-05 + ], + "xy_dist": 0.03712134218716602, + "held_xy_dist": 0.03411102933730818, + "held_gripper_dist": 0.0051963042554107625, + "max_held_gripper_dist": 0.005200344816292563, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.045391943550599, + "required_height": 0.8001463897966118, + "gripper_z": 1.0453589769150946, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.10142598448213, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.642768344641493, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.332639870422491, + "max_source_tilt_deg": 89.71617721775725, + "source_upright_tilt_deg": 3.6446471457768377, + "max_source_upright_tilt_deg": 89.92596226978954, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.332639870422491, + "source_upright_return_tilt_deg": 3.6446471457768377, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9980053385384144e-08, + "max_target_xy_drift": 1.6568383036855161e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3205, + 0.0038, + 0.7701 + ], + "controller_target_position": [ + 0.3205, + 0.0038, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0007, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3206, + -0.0221, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00011973509105531145, + -0.0007318491936935355, + 0.0012387908901167108 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.64465373010073, + "source_return_step_error_deg": 2.3326585951585894, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.644389896850215, + "source_return_best_wrist_position": -1.6146265268325806, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6146265268325806 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3205, + 0.0038, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3205, + 0.0038, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0007, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3206, + -0.0221, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00011973509105531145, + -0.0007318491936935355, + 0.0012387908901167108 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.64465373010073, + "pour_controller_source_return_step_error_deg": 2.3326585951585894, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.644389896850215, + "pour_controller_source_return_best_wrist_position": -1.6146265268325806, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6146265268325806, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03712134218716602, + "valid_pour_held_xy_dist": 0.03411102933730818, + "valid_pour_held_gripper_dist": 0.0051963042554107625, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.045391943550599, + "valid_pour_source_tilt_deg": 2.332639870422491, + "valid_pour_source_upright_tilt_deg": 3.6446471457768377, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9980053385384144e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3293350436480704, + -0.05253923411828824, + 1.045391943550599 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31982680274868136, + -0.02910846556931608, + 1.045391943550599 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3245809231983759, + -0.04082384984380216, + 1.045391943550599 + ], + "valid_pour_held_grasp_object_position": [ + 0.3293350436480704, + -0.02910846556931608, + 1.045391943550599 + ], + "valid_pour_held_grasp_finger_gap": 0.025286509442711103, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023875426257198337, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0517494553477737, + -0.9979775063914961, + 0.03691734833137994 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053710893233920535, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382745832293547, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3293350436480704, + -0.05253923411828824, + 1.045391943550599 + ], + "held_grasp_finger_b": [ + 0.31982680274868136, + -0.02910846556931608, + 1.045391943550599 + ], + "held_grasp_midpoint": [ + 0.3245809231983759, + -0.04082384984380216, + 1.045391943550599 + ], + "held_grasp_object_position": [ + 0.3293350436480704, + -0.02910846556931608, + 1.045391943550599 + ], + "held_grasp_finger_gap": 0.025286509442711103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023875426257198337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0517494553477737, + -0.9979775063914961, + 0.03691734833137994 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0053710893233920535, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382745832293547, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3218948187169297, + -0.11914291279780644, + 0.7611078644668418 + ], + "target_position": [ + 0.3263103989170204, + -0.11993689147607504, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004486396175660165, + "xy_threshold": 0.08, + "gripper_dist": 0.21114517617153722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078644668418, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758046034531546, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624664718291063, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18217426304145556, + "release_required_pad_clearance": 0.053123323591455315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2710115375704554, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11cc8ee585e13fb1c423b1eeda1fe838d9706a8703e4b3f6fa96c5c1ed5606e2", + "visual_seed": 6057372082070966235, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39c9970bd8fbe392eae481fd8bcb929868054bcd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_104_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34757932520899076, + -0.12430753057090922, + 1.003258070728053 + ], + "current_z": 1.003258070728053, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14215162231793177, + "gripper_z": 1.0038597160845533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3437456094630851, + -0.12828498000473748, + 1.0038597160845533 + ], + "object_minus_gripper": [ + 0.003833715745905686, + 0.003977449433828259, + -0.0006016453565003133 + ], + "object_to_gripper_xy": 0.005524262884681171, + "object_to_gripper_z": -0.0006016453565003133, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34757932520899076, + -0.14823391522631246, + 1.003258070728053 + ], + "finger_b": [ + 0.3375275147145076, + -0.12430753057090922, + 1.003258070728053 + ], + "finger_midpoint": [ + 0.34255341996174915, + -0.13627072289861084, + 1.003258070728053 + ], + "object_minus_finger_midpoint": [ + 0.005025905247241613, + 0.011963192327701613, + 0.0 + ], + "finger_gap": 0.025952086176169297, + "fingertip_max_gap": 0.09377916103626807, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012976043088084654, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003258070728053, + "object_top_z": 1.0531613213326048, + "finger_top_clearance": 0.04990325060455181, + "fingertip_min_top_clearance": 0.014970975181365509, + "object_projection_between_fingers": 0.8499817706217546, + "object_to_finger_line_xy": 0.009267211997587583, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938958051813404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.389801432069143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3273996225601855, + -0.002316015915341599, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3302293431191028, + -0.038284047444237315, + 1.045894184092583 + ], + "target_minus_gripper": [ + -0.0028297205589172814, + 0.035968031528895716, + -0.2757477942959713 + ], + "held_position": [ + 0.334027909971549, + -0.034284105183636726, + 1.045236726999644 + ], + "held_minus_target": [ + 0.006628287411363509, + -0.03196808926829513, + 0.27509033720303233 + ], + "held_minus_gripper": [ + 0.003798566852446228, + 0.003999942260600589, + -0.0006574570929389623 + ], + "xy_dist": 0.03607917142209886, + "held_xy_dist": 0.032648015643731335, + "held_gripper_dist": 0.005555258594313819, + "max_held_gripper_dist": 0.00555947299744179, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.045236726999644, + "required_height": 0.8001463897966118, + "gripper_z": 1.045894184092583, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.26805527947377, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8713065326857556, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5551006006156833, + "max_source_tilt_deg": 89.73833665479619, + "source_upright_tilt_deg": 3.973942380510877, + "max_source_upright_tilt_deg": 89.9762363342397, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5551006006156833, + "source_upright_return_tilt_deg": 3.973942380510877, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.909211277961731e-08, + "max_target_xy_drift": 1.7229467630386353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3274, + -0.0023, + 0.7701 + ], + "controller_target_position": [ + 0.3274, + -0.0023, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0004, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3255, + -0.0271, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001912224364796689, + 0.00042564596435292054, + 0.0019504459271837008 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9739430734768355, + "source_return_step_error_deg": 1.5551121757641284, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9805413891591224, + "source_return_best_wrist_position": -1.5916846990585327, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5916846990585327 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3274, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3274, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0004, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3255, + -0.0271, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001912224364796689, + 0.00042564596435292054, + 0.0019504459271837008 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9739430734768355, + "pour_controller_source_return_step_error_deg": 1.5551121757641284, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9805413891591224, + "pour_controller_source_return_best_wrist_position": -1.5916846990585327, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5916846990585327, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03607917142209886, + "valid_pour_held_xy_dist": 0.032648015643731335, + "valid_pour_held_gripper_dist": 0.005555258594313819, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.045236726999644, + "valid_pour_source_tilt_deg": 1.5551006006156833, + "valid_pour_source_upright_tilt_deg": 3.973942380510877, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.909211277961731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.334027909971549, + -0.05793674576028436, + 1.045236726999644 + ], + "valid_pour_held_grasp_finger_b": [ + 0.323772448511822, + -0.034284105183636726, + 1.045236726999644 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3289001792416855, + -0.046110425471960544, + 1.045236726999644 + ], + "valid_pour_held_grasp_object_position": [ + 0.334027909971549, + -0.034284105183636726, + 1.045236726999644 + ], + "valid_pour_held_grasp_finger_gap": 0.02578026175196877, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02429253384314058, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06794056957480299, + -0.9975956753687157, + 0.013672874295011402 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005921512357225299, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03827074504135106, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.334027909971549, + -0.05793674576028436, + 1.045236726999644 + ], + "held_grasp_finger_b": [ + 0.323772448511822, + -0.034284105183636726, + 1.045236726999644 + ], + "held_grasp_midpoint": [ + 0.3289001792416855, + -0.046110425471960544, + 1.045236726999644 + ], + "held_grasp_object_position": [ + 0.334027909971549, + -0.034284105183636726, + 1.045236726999644 + ], + "held_grasp_finger_gap": 0.02578026175196877, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02429253384314058, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06794056957480299, + -0.9975956753687157, + 0.013672874295011402 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005921512357225299, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03827074504135106, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32247913053022365, + -0.13071622435711955, + 0.7611064425717462 + ], + "target_position": [ + 0.32474351891463105, + -0.12641494574439138, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004860910661568662, + "xy_threshold": 0.08, + "gripper_dist": 0.21330445228453584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064425717462, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517635273849467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08818492961723227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18426773159036267, + "release_required_pad_clearance": 0.05409246480861614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.197997354218077, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc6085f48007f0e665aa69d7fe0b3973c2f7c07ceb3c3a891000b7d4ea998990", + "visual_seed": 6704845370543570929, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3198649266468c9f022f4aecab179efd19264a33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_105_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34512100213260066, + -0.11703577391764522, + 1.0050032893634462 + ], + "current_z": 1.0050032893634462, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.143896840953325, + "gripper_z": 1.0057332203881915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3413002355914951, + -0.12110719447671393, + 1.0057332203881915 + ], + "object_minus_gripper": [ + 0.0038207665411055802, + 0.004071420559068714, + -0.0007299310247452784 + ], + "object_to_gripper_xy": 0.005583432844625187, + "object_to_gripper_z": -0.0007299310247452784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34512100213260066, + -0.14078236995884127, + 1.0050032893634462 + ], + "finger_b": [ + 0.3347290748414993, + -0.11703577391764522, + 1.0050032893634462 + ], + "finger_midpoint": [ + 0.33992503848704997, + -0.12890907193824325, + 1.0050032893634462 + ], + "object_minus_finger_midpoint": [ + 0.005195963645550694, + 0.011873298020598028, + 0.0 + ], + "finger_gap": 0.025920898448303947, + "fingertip_max_gap": 0.09371237225006343, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012960449224151974, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050032893634462, + "object_top_z": 1.0549421206287874, + "finger_top_clearance": 0.049938831265341266, + "fingertip_min_top_clearance": 0.014981649379602379, + "object_projection_between_fingers": 0.8392717938392251, + "object_to_finger_line_xy": 0.009520229399587507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04935618612503172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4960391103574504, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32215649998251844, + 0.007230409278206604, + 0.7701463897966119 + ], + "gripper_position": [ + 0.32732179666876504, + -0.029089947398358643, + 1.0445887257427517 + ], + "target_minus_gripper": [ + -0.005165296686246601, + 0.036320356676565246, + -0.27444233594613987 + ], + "held_position": [ + 0.33113204516491185, + -0.02503294385506892, + 1.0437832634707462 + ], + "held_minus_target": [ + 0.008975545182393407, + -0.032263353133275524, + 0.27363687367413436 + ], + "held_minus_gripper": [ + 0.0038102484961468064, + 0.004057003543289722, + -0.0008054622720055082 + ], + "xy_dist": 0.03668580923149806, + "held_xy_dist": 0.03348857068797689, + "held_gripper_dist": 0.005623703479405598, + "max_held_gripper_dist": 0.005633587277881937, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0437832634707462, + "required_height": 0.8001463897966119, + "gripper_z": 1.0445887257427517, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.41200151623178, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0602836538927747, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.615355608760095, + "max_source_tilt_deg": 89.91477541223973, + "source_upright_tilt_deg": 4.278728247031285, + "max_source_upright_tilt_deg": 89.99497221694455, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.615355608760095, + "source_upright_return_tilt_deg": 4.278728247031285, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.8812716007232666e-07, + "max_target_xy_drift": 2.9811961472730077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3222, + 0.0072, + 0.7701 + ], + "controller_target_position": [ + 0.3222, + 0.0072, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0003, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3233, + -0.0182, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011920457472374669, + -0.0002698693270387681, + 6.67154650865415e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.278741318364774, + "source_return_step_error_deg": 2.6153739283254787, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.275815318145836, + "source_return_best_wrist_position": -1.6179099082946777, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6179099082946777 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3222, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3222, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0003, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3233, + -0.0182, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011920457472374669, + -0.0002698693270387681, + 6.67154650865415e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.278741318364774, + "pour_controller_source_return_step_error_deg": 2.6153739283254787, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.275815318145836, + "pour_controller_source_return_best_wrist_position": -1.6179099082946777, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6179099082946777, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03668580923149806, + "valid_pour_held_xy_dist": 0.03348857068797689, + "valid_pour_held_gripper_dist": 0.005623703479405598, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0437832634707462, + "valid_pour_source_tilt_deg": 2.615355608760095, + "valid_pour_source_upright_tilt_deg": 4.278728247031285, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.8812716007232666e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33113204516491185, + -0.04822081967401884, + 1.0437832634707462 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3207825891802557, + -0.02503294385506892, + 1.0437832634707462 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3259573171725838, + -0.03662688176454388, + 1.0437832634707462 + ], + "valid_pour_held_grasp_object_position": [ + 0.33113204516491185, + -0.02503294385506892, + 1.0437832634707462 + ], + "valid_pour_held_grasp_finger_gap": 0.02539269233802074, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023808783270530542, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06623866346594764, + -0.9972129107061269, + 0.034334387765901475 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00594427811977999, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03850139256685307, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33113204516491185, + -0.04822081967401884, + 1.0437832634707462 + ], + "held_grasp_finger_b": [ + 0.3207825891802557, + -0.02503294385506892, + 1.0437832634707462 + ], + "held_grasp_midpoint": [ + 0.3259573171725838, + -0.03662688176454388, + 1.0437832634707462 + ], + "held_grasp_object_position": [ + 0.33113204516491185, + -0.02503294385506892, + 1.0437832634707462 + ], + "held_grasp_finger_gap": 0.02539269233802074, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023808783270530542, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06623866346594764, + -0.9972129107061269, + 0.034334387765901475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00594427811977999, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03850139256685307, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3050858726426542, + -0.10166837444733182, + 0.7611180125598574 + ], + "target_position": [ + 0.32240517314694783, + -0.12193753659767591, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.026660778387642164, + "xy_threshold": 0.08, + "gripper_dist": 0.20609773781082652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611180125598574, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08268626884731722, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09044035244193509, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838260261468001, + "release_required_pad_clearance": 0.055220176220967546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.531242269327146, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fee107e0dc99904a3ce19c55d533913f2ceba47edc75af5740ec3887b73447f7", + "visual_seed": 3075392399745050443, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72ff9709fc9b09de1e7b715d13ab4afc746a1e1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_10_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34752843628589536, + -0.12545953668822218, + 1.004529360364121 + ], + "current_z": 1.004529360364121, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14342279274471015, + "gripper_z": 1.004713893233547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34369886148137907, + -0.1295805021037657, + 1.004713893233547 + ], + "object_minus_gripper": [ + 0.003829574804516289, + 0.0041209654155435205, + -0.0001845328694261017 + ], + "object_to_gripper_xy": 0.005625655440879023, + "object_to_gripper_z": -0.0001845328694261017, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34752843628589536, + -0.14912817558317107, + 1.004529360364121 + ], + "finger_b": [ + 0.3369459883067067, + -0.12545953668822218, + 1.004529360364121 + ], + "finger_midpoint": [ + 0.342237212296301, + -0.1372938561356966, + 1.004529360364121 + ], + "object_minus_finger_midpoint": [ + 0.0052912239895943625, + 0.011834319447474428, + 0.0 + ], + "finger_gap": 0.025926678776343904, + "fingertip_max_gap": 0.09345804691705886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012963339388171952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004529360364121, + "object_top_z": 1.0543001261518152, + "finger_top_clearance": 0.04977076578769424, + "fingertip_min_top_clearance": 0.01493122973630827, + "object_projection_between_fingers": 0.8333986521496844, + "object_to_finger_line_xy": 0.00966078771618582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922902345852943, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4178813073078222, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31947104251448566, + 0.004949517870925445, + 0.7701465090059014 + ], + "gripper_position": [ + 0.32504750694810236, + -0.03197109513664061, + 1.0449249803613834 + ], + "target_minus_gripper": [ + -0.005576464433616701, + 0.03692061300756605, + -0.27477847135548195 + ], + "held_position": [ + 0.3288808998614067, + -0.027862670125514508, + 1.044664206815352 + ], + "held_minus_target": [ + 0.009409857346921013, + -0.03281218799643995, + 0.27451769780945057 + ], + "held_minus_gripper": [ + 0.003833392913304312, + 0.004108425011126099, + -0.0002607735460313787 + ], + "xy_dist": 0.03733937091641807, + "held_xy_dist": 0.03413480769541732, + "held_gripper_dist": 0.005625127566742641, + "max_held_gripper_dist": 0.005630450366487502, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.044664206815352, + "required_height": 0.8001465090059015, + "gripper_z": 1.0449249803613834, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.58192296240337, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8733703848272647, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.496380036636046, + "max_source_tilt_deg": 89.75310028341636, + "source_upright_tilt_deg": 4.046923189560714, + "max_source_upright_tilt_deg": 89.86800518161596, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.496380036636046, + "source_upright_return_tilt_deg": 4.046923189560714, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.839941346661803e-08, + "max_target_xy_drift": 1.2743219098427754e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3195, + 0.0049, + 0.7701 + ], + "controller_target_position": [ + 0.3195, + 0.0049, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.001, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3204, + -0.0213, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009442463194731555, + -0.001046775389007296, + 0.0006173680955992174 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.04690828878067, + "source_return_step_error_deg": 2.496359613977081, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.052426615648325, + "source_return_best_wrist_position": -1.617233395576477, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.617233395576477 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3195, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3195, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.001, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3204, + -0.0213, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009442463194731555, + -0.001046775389007296, + 0.0006173680955992174 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.04690828878067, + "pour_controller_source_return_step_error_deg": 2.496359613977081, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.052426615648325, + "pour_controller_source_return_best_wrist_position": -1.617233395576477, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.617233395576477, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03733937091641807, + "valid_pour_held_xy_dist": 0.03413480769541732, + "valid_pour_held_gripper_dist": 0.005625127566742641, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.044664206815352, + "valid_pour_source_tilt_deg": 2.496380036636046, + "valid_pour_source_upright_tilt_deg": 4.046923189560714, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.839941346661803e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3288808998614067, + -0.051094776869692944, + 1.044664206815352 + ], + "valid_pour_held_grasp_finger_b": [ + 0.318462362631566, + -0.027862670125514508, + 1.044664206815352 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32367163124648635, + -0.03947872349760373, + 1.044664206815352 + ], + "valid_pour_held_grasp_object_position": [ + 0.3288808998614067, + -0.027862670125514508, + 1.044664206815352 + ], + "valid_pour_held_grasp_finger_gap": 0.02546127847894675, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023795752231162683, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05966024415761367, + -0.9975065977205123, + 0.03769937361683639 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005908819818603301, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0384439464294112, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3288808998614067, + -0.051094776869692944, + 1.044664206815352 + ], + "held_grasp_finger_b": [ + 0.318462362631566, + -0.027862670125514508, + 1.044664206815352 + ], + "held_grasp_midpoint": [ + 0.32367163124648635, + -0.03947872349760373, + 1.044664206815352 + ], + "held_grasp_object_position": [ + 0.3288808998614067, + -0.027862670125514508, + 1.044664206815352 + ], + "held_grasp_finger_gap": 0.02546127847894675, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023795752231162683, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05966024415761367, + -0.9975065977205123, + 0.03769937361683639 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005908819818603301, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0384439464294112, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3263049464543293, + -0.1238049903030713, + 0.7611065600519792 + ], + "target_position": [ + 0.32459952739507963, + -0.1275724351089467, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004135467873526465, + "xy_threshold": 0.08, + "gripper_dist": 0.21770699602042778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065600519792, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571122308170583, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701721875117245, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18886252606145873, + "release_required_pad_clearance": 0.05350860937558623, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.029428605518856, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b3912d8909ee1f086af80eee4ee028992058e05fc2e03e3f09bb89f4175caf2", + "visual_seed": 7100289701195350989, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05c687537fd2c65093ded0a219acf6582b6d9809 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_11_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3446502309289707, + -0.12487802622701535, + 1.0025196253730257 + ], + "current_z": 1.0025196253730257, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14141311735825957, + "gripper_z": 1.0032481448232369, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3407932752576821, + -0.1288801259932861, + 1.0032481448232369 + ], + "object_minus_gripper": [ + 0.0038569556712885755, + 0.00400209976627075, + -0.0007285194502111292 + ], + "object_to_gripper_xy": 0.005558139040134701, + "object_to_gripper_z": -0.0007285194502111292, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3446502309289707, + -0.1487808189507052, + 1.0025196253730257 + ], + "finger_b": [ + 0.3345123690173768, + -0.12487802622701535, + 1.0025196253730257 + ], + "finger_midpoint": [ + 0.33958129997317377, + -0.13682942258886027, + 1.0025196253730257 + ], + "object_minus_finger_midpoint": [ + 0.005068930955796913, + 0.011951396361844918, + 0.0 + ], + "finger_gap": 0.02596381605485268, + "fingertip_max_gap": 0.09411033909566766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012981908027426329, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025196253730257, + "object_top_z": 1.052469301188249, + "finger_top_clearance": 0.04994967581522336, + "fingertip_min_top_clearance": 0.014984902744567007, + "object_projection_between_fingers": 0.8475400772140984, + "object_to_finger_line_xy": 0.009333112336887299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04955516954783383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.6758211292908296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32130382573668415, + 0.0037200440155790034, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3250030055709389, + -0.03391955427747491, + 1.0460408348878039 + ], + "target_minus_gripper": [ + -0.0036991798342547733, + 0.03763959829305391, + -0.2758943854865473 + ], + "held_position": [ + 0.3288894635036087, + -0.029970681422871202, + 1.045235260146704 + ], + "held_minus_target": [ + 0.007585637766924558, + -0.033690725438450204, + 0.27508881074544755 + ], + "held_minus_gripper": [ + 0.0038864579326697846, + 0.003948872854603706, + -0.0008055747410997682 + ], + "xy_dist": 0.037820937205582626, + "held_xy_dist": 0.03453414080153187, + "held_gripper_dist": 0.005598848341198026, + "max_held_gripper_dist": 0.00560814887902696, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.045235260146704, + "required_height": 0.8001464494012566, + "gripper_z": 1.0460408348878039, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.34912962492182, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1671874153626383, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.461024136266768, + "max_source_tilt_deg": 89.98775346023952, + "source_upright_tilt_deg": 3.963032675002725, + "max_source_upright_tilt_deg": 89.98638730085392, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.461024136266768, + "source_upright_return_tilt_deg": 3.963032675002725, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.154924484423989e-07, + "max_target_xy_drift": 1.7943374184954607e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3213, + 0.0037, + 0.7701 + ], + "controller_target_position": [ + 0.3213, + 0.0037, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0017, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3203, + -0.0232, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009810874508036492, + -0.0016803935988698106, + 0.0016498716653793664 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.963036489322298, + "source_return_step_error_deg": 2.4610009048095836, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.961832748726839, + "source_return_best_wrist_position": -1.6163628101348877, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6163628101348877 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3213, + 0.0037, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3213, + 0.0037, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0017, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3203, + -0.0232, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009810874508036492, + -0.0016803935988698106, + 0.0016498716653793664 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.963036489322298, + "pour_controller_source_return_step_error_deg": 2.4610009048095836, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.961832748726839, + "pour_controller_source_return_best_wrist_position": -1.6163628101348877, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6163628101348877, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037820937205582626, + "valid_pour_held_xy_dist": 0.03453414080153187, + "valid_pour_held_gripper_dist": 0.005598848341198026, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.045235260146704, + "valid_pour_source_tilt_deg": 2.461024136266768, + "valid_pour_source_upright_tilt_deg": 3.963032675002725, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.154924484423989e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3288894635036087, + -0.05349816034138697, + 1.045235260146704 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31902632366597505, + -0.029970681422871202, + 1.045235260146704 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3239578935847919, + -0.041734420882129086, + 1.045235260146704 + ], + "valid_pour_held_grasp_object_position": [ + 0.3288894635036087, + -0.029970681422871202, + 1.045235260146704 + ], + "valid_pour_held_grasp_finger_gap": 0.025511248337114354, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024054388696826894, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0591259278670284, + -0.9976088591359042, + 0.03578671300109615 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005633843512262453, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038276223016263954, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3288894635036087, + -0.05349816034138697, + 1.045235260146704 + ], + "held_grasp_finger_b": [ + 0.31902632366597505, + -0.029970681422871202, + 1.045235260146704 + ], + "held_grasp_midpoint": [ + 0.3239578935847919, + -0.041734420882129086, + 1.045235260146704 + ], + "held_grasp_object_position": [ + 0.3288894635036087, + -0.029970681422871202, + 1.045235260146704 + ], + "held_grasp_finger_gap": 0.025511248337114354, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024054388696826894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0591259278670284, + -0.9976088591359042, + 0.03578671300109615 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005633843512262453, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038276223016263954, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3215584338500702, + -0.13413808170404948, + 0.7611066336182458 + ], + "target_position": [ + 0.3218048028918521, + -0.12833664057667393, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005806670031881694, + "xy_threshold": 0.08, + "gripper_dist": 0.2143111672386099, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066336182458, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561650182615416, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09206971444205884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18378433144073222, + "release_required_pad_clearance": 0.056034857221029424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.314931435502546, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32045eeeb30617f6f84648126cbedf8e820e0e8f8dfde89c8c2f3c4610ce9894", + "visual_seed": 4538163265704335866, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..044152216f39bbe6b456dc55d9319c66ea97cffa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_13_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34642040003657154, + -0.11774684971624093, + 1.0049628218674924 + ], + "current_z": 1.0049628218674924, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14385613503879213, + "gripper_z": 1.0055825184488756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3429999961973992, + -0.12168110104541531, + 1.0055825184488756 + ], + "object_minus_gripper": [ + 0.003420403839172359, + 0.003934251329174382, + -0.0006196965813831667 + ], + "object_to_gripper_xy": 0.0052132039998579955, + "object_to_gripper_z": -0.0006196965813831667, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34642040003657154, + -0.14103395020423035, + 1.0049628218674924 + ], + "finger_b": [ + 0.3359941115311603, + -0.11774684971624093, + 1.0049628218674924 + ], + "finger_midpoint": [ + 0.3412072557838659, + -0.12939039996023563, + 1.0049628218674924 + ], + "object_minus_finger_midpoint": [ + 0.005213144252705637, + 0.011643550243994702, + 0.0 + ], + "finger_gap": 0.025514633862467773, + "fingertip_max_gap": 0.09414303442134034, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012757316931233892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049628218674924, + "object_top_z": 1.0549010833365131, + "finger_top_clearance": 0.049938261469020695, + "fingertip_min_top_clearance": 0.014981478440706224, + "object_projection_between_fingers": 0.8330137180016206, + "object_to_finger_line_xy": 0.009516030269179666, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957151721067017, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.8662101532489457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3191568366295521, + 0.004393641694121141, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3231605933283651, + -0.03215693103744073, + 1.042609028189313 + ], + "target_minus_gripper": [ + -0.004003756698813032, + 0.03655057273156187, + -0.2724625787880566 + ], + "held_position": [ + 0.32665645600275284, + -0.028310755201455817, + 1.041915031263651 + ], + "held_minus_target": [ + 0.007499619373200761, + -0.032704396895576957, + 0.2717685818623945 + ], + "held_minus_gripper": [ + 0.0034958626743877286, + 0.0038461758359849135, + -0.000693996925662077 + ], + "xy_dist": 0.03676920497792255, + "held_xy_dist": 0.033553269096264104, + "held_gripper_dist": 0.005243639588331752, + "max_held_gripper_dist": 0.005252673975950205, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.041915031263651, + "required_height": 0.8001464494012565, + "gripper_z": 1.042609028189313, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.59773485033195, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.357229507625278, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.492920078585972, + "max_source_tilt_deg": 89.8401855652773, + "source_upright_tilt_deg": 3.4995960298976203, + "max_source_upright_tilt_deg": 89.90202283122868, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.492920078585972, + "source_upright_return_tilt_deg": 3.4995960298976203, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.681067705154419e-08, + "max_target_xy_drift": 1.2200325727462769e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3192, + 0.0044, + 0.7701 + ], + "controller_target_position": [ + 0.3192, + 0.0044, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0011, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.318, + -0.0219, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011816724833717475, + -0.0010787381937878524, + -0.0019181302003317127 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.4995871868460657, + "source_return_step_error_deg": 2.4929105233777755, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5003012053281433, + "source_return_best_wrist_position": -1.6172945499420166, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172945499420166 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3192, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3192, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0011, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.318, + -0.0219, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011816724833717475, + -0.0010787381937878524, + -0.0019181302003317127 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.4995871868460657, + "pour_controller_source_return_step_error_deg": 2.4929105233777755, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5003012053281433, + "pour_controller_source_return_best_wrist_position": -1.6172945499420166, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172945499420166, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03676920497792255, + "valid_pour_held_xy_dist": 0.033553269096264104, + "valid_pour_held_gripper_dist": 0.005243639588331752, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.041915031263651, + "valid_pour_source_tilt_deg": 2.492920078585972, + "valid_pour_source_upright_tilt_deg": 3.4995960298976203, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.681067705154419e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32665645600275284, + -0.05144066175595155, + 1.041915031263651 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31679403165527176, + -0.028310755201455817, + 1.041915031263651 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3217252438290123, + -0.039875708478703684, + 1.041915031263651 + ], + "valid_pour_held_grasp_object_position": [ + 0.32665645600275284, + -0.028310755201455817, + 1.041915031263651 + ], + "valid_pour_held_grasp_finger_gap": 0.025144780596169303, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02358462895339061, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05047989753235327, + -0.9981352379662697, + 0.034319479528996714 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005522695374428346, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842578976388118, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32665645600275284, + -0.05144066175595155, + 1.041915031263651 + ], + "held_grasp_finger_b": [ + 0.31679403165527176, + -0.028310755201455817, + 1.041915031263651 + ], + "held_grasp_midpoint": [ + 0.3217252438290123, + -0.039875708478703684, + 1.041915031263651 + ], + "held_grasp_object_position": [ + 0.32665645600275284, + -0.028310755201455817, + 1.041915031263651 + ], + "held_grasp_finger_gap": 0.025144780596169303, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02358462895339061, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05047989753235327, + -0.9981352379662697, + 0.034319479528996714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005522695374428346, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842578976388118, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3228955773603754, + -0.12040841824484862, + 0.7611064283593515 + ], + "target_position": [ + 0.3239706763170884, + -0.12324479644129206, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030332950796098353, + "xy_threshold": 0.08, + "gripper_dist": 0.21425142280618434, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064283593515, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753835251603846, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504173136956843, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18611779984946625, + "release_required_pad_clearance": 0.052520865684784215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190549154633647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "56fbc45915490797c200d103424523b88fe0bf1fd739268cbdfa1b57b7a3642e", + "visual_seed": 7228756093823258398, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce79f965c242ab4d7b9e896c76ee73c30592c790 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_14_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3446117694539145, + -0.12127984680061957, + 1.0032400237181507 + ], + "current_z": 1.0032400237181507, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1421335753080295, + "gripper_z": 1.0039319352468015, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34085712428177517, + -0.12537095659880115, + 1.0039319352468015 + ], + "object_minus_gripper": [ + 0.0037546451721393037, + 0.004091109798181586, + -0.0006919115286507793 + ], + "object_to_gripper_xy": 0.005552885713702954, + "object_to_gripper_z": -0.0006919115286507793, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3446117694539145, + -0.1448514508239334, + 1.0032400237181507 + ], + "finger_b": [ + 0.33403179412229345, + -0.12127984680061957, + 1.0032400237181507 + ], + "finger_midpoint": [ + 0.33932178178810396, + -0.13306564881227648, + 1.0032400237181507 + ], + "object_minus_finger_midpoint": [ + 0.005289987665810514, + 0.01178580201165691, + 0.0 + ], + "finger_gap": 0.02583711273052029, + "fingertip_max_gap": 0.09408315528488934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012918556365260144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032400237181507, + "object_top_z": 1.053183949744089, + "finger_top_clearance": 0.04994392602593822, + "fingertip_min_top_clearance": 0.014983177807781483, + "object_projection_between_fingers": 0.8323199672987414, + "object_to_finger_line_xy": 0.00965227777942883, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04954157764244467, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.604665154561154, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31893480932776375, + 0.0029253704442159106, + 0.7701465090059011 + ], + "gripper_position": [ + 0.32249570371255687, + -0.03370257639390224, + 1.0451030601778049 + ], + "target_minus_gripper": [ + -0.003560894384793123, + 0.03662794683811815, + -0.27495655117190376 + ], + "held_position": [ + 0.326262889391264, + -0.02963679379623197, + 1.0443493269031925 + ], + "held_minus_target": [ + 0.007328080063500275, + -0.03256216424044788, + 0.2742028178972914 + ], + "held_minus_gripper": [ + 0.0037671856787071523, + 0.004065782597670271, + -0.0007537332746123671 + ], + "xy_dist": 0.036800631222788295, + "held_xy_dist": 0.03337656808958903, + "held_gripper_dist": 0.005593781361354104, + "max_held_gripper_dist": 0.005598645177286061, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0443493269031925, + "required_height": 0.8001465090059011, + "gripper_z": 1.0451030601778049, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.64366104231111, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1304822362419187, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.26061553816463, + "max_source_tilt_deg": 89.91774314805214, + "source_upright_tilt_deg": 3.557475545230895, + "max_source_upright_tilt_deg": 89.94252502198165, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.26061553816463, + "source_upright_return_tilt_deg": 3.557475545230895, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.27191262889489e-08, + "max_target_xy_drift": 1.047572314900684e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3189, + 0.0029, + 0.7701 + ], + "controller_target_position": [ + 0.3189, + 0.0029, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.0009, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3174, + -0.0232, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015449003970635813, + -0.0009380070184368239, + 0.0008285045583546536 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5574824338792648, + "source_return_step_error_deg": 1.2606000854440165, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.560247326051849, + "source_return_best_wrist_position": -1.593224287033081, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.593224287033081 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3189, + 0.0029, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3189, + 0.0029, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.0009, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3174, + -0.0232, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015449003970635813, + -0.0009380070184368239, + 0.0008285045583546536 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5574824338792648, + "pour_controller_source_return_step_error_deg": 1.2606000854440165, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.560247326051849, + "pour_controller_source_return_best_wrist_position": -1.593224287033081, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.593224287033081, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036800631222788295, + "valid_pour_held_xy_dist": 0.03337656808958903, + "valid_pour_held_gripper_dist": 0.005593781361354104, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0443493269031925, + "valid_pour_source_tilt_deg": 1.26061553816463, + "valid_pour_source_upright_tilt_deg": 3.557475545230895, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.27191262889489e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.326262889391264, + -0.053126074923306045, + 1.0443493269031925 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31576518563672595, + -0.02963679379623197, + 1.0443493269031925 + ], + "valid_pour_held_grasp_midpoint": [ + 0.321014037513995, + -0.04138143435976901, + 1.0443493269031925 + ], + "valid_pour_held_grasp_object_position": [ + 0.326262889391264, + -0.02963679379623197, + 1.0443493269031925 + ], + "valid_pour_held_grasp_finger_gap": 0.025728352298286825, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024072135307582666, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05983371394616295, + -0.998073060525474, + 0.016434492043336354 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005945223362605753, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038312299019844315, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.326262889391264, + -0.053126074923306045, + 1.0443493269031925 + ], + "held_grasp_finger_b": [ + 0.31576518563672595, + -0.02963679379623197, + 1.0443493269031925 + ], + "held_grasp_midpoint": [ + 0.321014037513995, + -0.04138143435976901, + 1.0443493269031925 + ], + "held_grasp_object_position": [ + 0.326262889391264, + -0.02963679379623197, + 1.0443493269031925 + ], + "held_grasp_finger_gap": 0.025728352298286825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024072135307582666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05983371394616295, + -0.998073060525474, + 0.016434492043336354 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005945223362605753, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038312299019844315, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3277827934703086, + -0.13194819940306254, + 0.7611063202813213 + ], + "target_position": [ + 0.32187445915379687, + -0.12430118983418899, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009663600247429202, + "xy_threshold": 0.08, + "gripper_dist": 0.21978100148597646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063202813213, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529057189828792, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08948534585755279, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18924852478419596, + "release_required_pad_clearance": 0.054742672928776395, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.534726041016479, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48851515b86060db4ee592855be2063925c2f7ae59fb56431be5cb595199793d", + "visual_seed": 8970831965486565201, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91e3ef764e62e0f77c31769a3ea374e536c72b16 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_15_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3505238628816676, + -0.12104509864855831, + 1.003613859760672 + ], + "current_z": 1.003613859760672, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14250735174590612, + "gripper_z": 1.0034371117141738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3465993838767335, + -0.12514053491010657, + 1.0034371117141738 + ], + "object_minus_gripper": [ + 0.003924479004934089, + 0.004095436261548263, + 0.00017674804649825404 + ], + "object_to_gripper_xy": 0.005672224751591995, + "object_to_gripper_z": 0.00017674804649825404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3505238628816676, + -0.14494048909830431, + 1.003613859760672 + ], + "finger_b": [ + 0.34018128838478834, + -0.12104509864855831, + 1.003613859760672 + ], + "finger_midpoint": [ + 0.34535257563322797, + -0.13299279387343133, + 1.003613859760672 + ], + "object_minus_finger_midpoint": [ + 0.005171287248439627, + 0.011947695224873017, + 0.0 + ], + "finger_gap": 0.026037636835344904, + "fingertip_max_gap": 0.09368510526119925, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013018818417672466, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003613859760672, + "object_top_z": 1.053405102468905, + "finger_top_clearance": 0.049791242708232986, + "fingertip_min_top_clearance": 0.014937372812469894, + "object_projection_between_fingers": 0.8422191886681065, + "object_to_finger_line_xy": 0.009491639253645085, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049342552630599626, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5660028470880123, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3235505930191701, + 0.002332447885207909, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3294153989347984, + -0.035024462205271945, + 1.046091494958956 + ], + "target_minus_gripper": [ + -0.005864805915628268, + 0.03735691009047985, + -0.27594510516234405 + ], + "held_position": [ + 0.3332916600491031, + -0.030883959541893997, + 1.0462090106250912 + ], + "held_minus_target": [ + 0.009741067029932993, + -0.033216407427101906, + 0.2760626208284793 + ], + "held_minus_gripper": [ + 0.0038762611143047243, + 0.004140502663377947, + 0.00011751566613527054 + ], + "xy_dist": 0.03781447712102051, + "held_xy_dist": 0.034615287218870194, + "held_gripper_dist": 0.005673003830731827, + "max_held_gripper_dist": 0.005675487446772627, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0462090106250912, + "required_height": 0.8001463897966119, + "gripper_z": 1.046091494958956, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.29209071516304, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0556884089645506, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.677667417203768, + "max_source_tilt_deg": 89.95909675736456, + "source_upright_tilt_deg": 4.325518605376478, + "max_source_upright_tilt_deg": 89.64239846819994, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.677667417203768, + "source_upright_return_tilt_deg": 4.325518605376478, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0745380149674383e-07, + "max_target_xy_drift": 1.901683390156609e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3236, + 0.0023, + 0.7701 + ], + "controller_target_position": [ + 0.3236, + 0.0023, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0014, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3247, + -0.0242, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011375807793238195, + -0.001371156077907942, + 0.0015558891638465153 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.325519285606512, + "source_return_step_error_deg": 1.6776640060863053, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.325183432408471, + "source_return_best_wrist_position": -1.5927308797836304, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5927308797836304 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3236, + 0.0023, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3236, + 0.0023, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0014, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3247, + -0.0242, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011375807793238195, + -0.001371156077907942, + 0.0015558891638465153 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.325519285606512, + "pour_controller_source_return_step_error_deg": 1.6776640060863053, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.325183432408471, + "pour_controller_source_return_best_wrist_position": -1.5927308797836304, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5927308797836304, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03781447712102051, + "valid_pour_held_xy_dist": 0.034615287218870194, + "valid_pour_held_gripper_dist": 0.005673003830731827, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0462090106250912, + "valid_pour_source_tilt_deg": 1.677667417203768, + "valid_pour_source_upright_tilt_deg": 4.325518605376478, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0745380149674383e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3332916600491031, + -0.05446397188653005, + 1.0462090106250912 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32268271142679555, + -0.030883959541893997, + 1.0462090106250912 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3279871857379493, + -0.042673965714212024, + 1.0462090106250912 + ], + "valid_pour_held_grasp_object_position": [ + 0.3332916600491031, + -0.030883959541893997, + 1.0462090106250912 + ], + "valid_pour_held_grasp_finger_gap": 0.025856658195597314, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024296512281953515, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07386822445403039, + -0.9971516443776711, + 0.015234288001597098 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061634197676160365, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0383556581271722, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3332916600491031, + -0.05446397188653005, + 1.0462090106250912 + ], + "held_grasp_finger_b": [ + 0.32268271142679555, + -0.030883959541893997, + 1.0462090106250912 + ], + "held_grasp_midpoint": [ + 0.3279871857379493, + -0.042673965714212024, + 1.0462090106250912 + ], + "held_grasp_object_position": [ + 0.3332916600491031, + -0.030883959541893997, + 1.0462090106250912 + ], + "held_grasp_finger_gap": 0.025856658195597314, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024296512281953515, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07386822445403039, + -0.9971516443776711, + 0.015234288001597098 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061634197676160365, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0383556581271722, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32130538351405347, + -0.13220321986360903, + 0.761107060116238 + ], + "target_position": [ + 0.32754399492347985, + -0.1262556140527821, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008619413390643666, + "xy_threshold": 0.08, + "gripper_dist": 0.21312505925098058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107060116238, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555586145468315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08989932942152588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18316386233943563, + "release_required_pad_clearance": 0.054949664710762944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.9671354190282395, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39cba91ef71baa263b890ba306e03abb3e82f26ed1068d6eaa04842c873dc9c9", + "visual_seed": 5747485407370346887, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5bb4ecab124573568ca3a2ca34e037c7ab86f0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_16_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3487109852491579, + -0.11550636903809162, + 1.0034787337707571 + ], + "current_z": 1.0034787337707571, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14237228536063595, + "gripper_z": 1.004166459798369, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34495724787568, + -0.1195999556534648, + 1.004166459798369 + ], + "object_minus_gripper": [ + 0.0037537373734778945, + 0.004093586615373179, + -0.0006877260276119124 + ], + "object_to_gripper_xy": 0.005554097194558911, + "object_to_gripper_z": -0.0006877260276119124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3487109852491579, + -0.13926888915068164, + 1.0034787337707571 + ], + "finger_b": [ + 0.33836224071821924, + -0.11550636903809162, + 1.0034787337707571 + ], + "finger_midpoint": [ + 0.34353661298368854, + -0.12738762909438664, + 1.0034787337707571 + ], + "object_minus_finger_midpoint": [ + 0.005174372265469351, + 0.011881260056295015, + 0.0 + ], + "finger_gap": 0.025918215128898782, + "fingertip_max_gap": 0.09380867215262631, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012959107564449407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034787337707571, + "object_top_z": 1.0535215200380752, + "finger_top_clearance": 0.05004278626731806, + "fingertip_min_top_clearance": 0.015012835880195401, + "object_projection_between_fingers": 0.8405717967878641, + "object_to_finger_line_xy": 0.009488008677815707, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940433607631316, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5330968899737334, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32275040066306054, + 0.0030146598319039505, + 0.7701463897966117 + ], + "gripper_position": [ + 0.32751700404462647, + -0.029422877537201894, + 1.0425325486720998 + ], + "target_minus_gripper": [ + -0.004766603381565926, + 0.032437537369105846, + -0.2723861588754881 + ], + "held_position": [ + 0.3312143557676315, + -0.02529610352202339, + 1.0417936903374834 + ], + "held_minus_target": [ + 0.00846395510457093, + -0.02831076335392734, + 0.2716473005408717 + ], + "held_minus_gripper": [ + 0.0036973517230050046, + 0.004126774015178504, + -0.000738858334616399 + ], + "xy_dist": 0.032785886267863704, + "held_xy_dist": 0.029548906201317632, + "held_gripper_dist": 0.005589864504135383, + "max_held_gripper_dist": 0.005598872287813059, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0417936903374834, + "required_height": 0.8001463897966117, + "gripper_z": 1.0425325486720998, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.29379143226637, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.078174513907771, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8930169300982942, + "max_source_tilt_deg": 89.96928263910499, + "source_upright_tilt_deg": 4.367518439859789, + "max_source_upright_tilt_deg": 89.99421594766126, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8930169300982942, + "source_upright_return_tilt_deg": 4.367518439859789, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.128534217840579e-08, + "max_target_xy_drift": 1.3397476634068314e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3228, + 0.003, + 0.7701 + ], + "controller_target_position": [ + 0.3228, + 0.003, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0012, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3242, + -0.021, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014059979084316632, + 0.0012032343042227217, + -0.0014266321877930027 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.3675183076221815, + "source_return_step_error_deg": 1.8930221707046855, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.363936808507318, + "source_return_best_wrist_position": -1.5926234722137451, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5926234722137451 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3228, + 0.003, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3228, + 0.003, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0012, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3242, + -0.021, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014059979084316632, + 0.0012032343042227217, + -0.0014266321877930027 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.3675183076221815, + "pour_controller_source_return_step_error_deg": 1.8930221707046855, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.363936808507318, + "pour_controller_source_return_best_wrist_position": -1.5926234722137451, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5926234722137451, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032785886267863704, + "valid_pour_held_xy_dist": 0.029548906201317632, + "valid_pour_held_gripper_dist": 0.005589864504135383, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0417936903374834, + "valid_pour_source_tilt_deg": 1.8930169300982942, + "valid_pour_source_upright_tilt_deg": 4.367518439859789, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.128534217840579e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3312143557676315, + -0.048639381326840286, + 1.0417936903374834 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3205951651579967, + -0.02529610352202339, + 1.0417936903374834 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3259047604628141, + -0.036967742424431835, + 1.0417936903374834 + ], + "valid_pour_held_grasp_object_position": [ + 0.3312143557676315, + -0.02529610352202339, + 1.0417936903374834 + ], + "valid_pour_held_grasp_finger_gap": 0.025645191125757142, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02407412017734201, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07520622113520123, + -0.9970960879912956, + 0.011975625871663897 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006173866541175433, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038481819178689106, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3312143557676315, + -0.048639381326840286, + 1.0417936903374834 + ], + "held_grasp_finger_b": [ + 0.3205951651579967, + -0.02529610352202339, + 1.0417936903374834 + ], + "held_grasp_midpoint": [ + 0.3259047604628141, + -0.036967742424431835, + 1.0417936903374834 + ], + "held_grasp_object_position": [ + 0.3312143557676315, + -0.02529610352202339, + 1.0417936903374834 + ], + "held_grasp_finger_gap": 0.025645191125757142, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02407412017734201, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07520622113520123, + -0.9970960879912956, + 0.011975625871663897 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006173866541175433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038481819178689106, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32880574227171483, + -0.1210215314745041, + 0.7611072238117325 + ], + "target_position": [ + 0.3259051465258732, + -0.1212274392022902, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002907895058828038, + "xy_threshold": 0.08, + "gripper_dist": 0.21907392667146927, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072238117325, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755814042298669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694963977044161, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1895009984841898, + "release_required_pad_clearance": 0.053474819885220806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9623683725254437, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc06351987a4c743c69d1eeba437faccdb1eb2c9478ce3e2f3bd1e447b9e285b", + "visual_seed": 7313415684876689500, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71c1ce9d4819a24b67d0c5929bc6fb0e554eb587 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_17_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3431381419294601, + -0.12496306728312855, + 1.003941048706915 + ], + "current_z": 1.003941048706915, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14283454069214885, + "gripper_z": 1.0041473341266378, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3392743893921055, + -0.12896378802643024, + 1.0041473341266378 + ], + "object_minus_gripper": [ + 0.0038637525373546033, + 0.004000720743301697, + -0.00020628541972289582 + ], + "object_to_gripper_xy": 0.005561865706379346, + "object_to_gripper_z": -0.00020628541972289582, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3431381419294601, + -0.14892353363419278, + 1.003941048706915 + ], + "finger_b": [ + 0.33305353702871493, + -0.12496306728312855, + 1.003941048706915 + ], + "finger_midpoint": [ + 0.3380958394790875, + -0.13694330045866066, + 1.003941048706915 + ], + "object_minus_finger_midpoint": [ + 0.005042302450372627, + 0.01198023317553211, + 0.0 + ], + "finger_gap": 0.025996215181533933, + "fingertip_max_gap": 0.09390541750071726, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012998107590766972, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003941048706915, + "object_top_z": 1.0539525314438867, + "finger_top_clearance": 0.05001148273697176, + "fingertip_min_top_clearance": 0.015003444821091543, + "object_projection_between_fingers": 0.8495135041716135, + "object_to_finger_line_xy": 0.009294885224666193, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049452708750358634, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4204966627263063, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32721389448706545, + -0.0013958813188149758, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3305799279885526, + -0.0365699102100118, + 1.0443493877704206 + ], + "target_minus_gripper": [ + -0.0033660335014871756, + 0.03517402889119682, + -0.2742029979738092 + ], + "held_position": [ + 0.3344044678418686, + -0.03253691721416643, + 1.0440869818371588 + ], + "held_minus_target": [ + 0.007190573354803165, + -0.031141035895351457, + 0.2739405920405473 + ], + "held_minus_gripper": [ + 0.003824539853315989, + 0.004032992995845364, + -0.0002624059332618778 + ], + "xy_dist": 0.03533472074280314, + "held_xy_dist": 0.03196042023826303, + "held_gripper_dist": 0.0055642604601106775, + "max_held_gripper_dist": 0.005566992538651404, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0440869818371588, + "required_height": 0.8001463897966115, + "gripper_z": 1.0443493877704206, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28575912980244, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.782038867494243, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5847151319707373, + "max_source_tilt_deg": 89.88563990261841, + "source_upright_tilt_deg": 4.069869686989858, + "max_source_upright_tilt_deg": 89.8617386943741, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5847151319707373, + "source_upright_return_tilt_deg": 4.069869686989858, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.387685865163803e-08, + "max_target_xy_drift": 1.852867154727528e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3272, + -0.0014, + 0.7701 + ], + "controller_target_position": [ + 0.3272, + -0.0014, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0016, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3266, + -0.025, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005925120078224099, + 0.0015919240346106093, + 0.000355225212598162 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.069870494611344, + "source_return_step_error_deg": 1.5847243636324213, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.073392422546754, + "source_return_best_wrist_position": -1.5896662473678589, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5896662473678589 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3272, + -0.0014, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3272, + -0.0014, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0016, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3266, + -0.025, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005925120078224099, + 0.0015919240346106093, + 0.000355225212598162 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.069870494611344, + "pour_controller_source_return_step_error_deg": 1.5847243636324213, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.073392422546754, + "pour_controller_source_return_best_wrist_position": -1.5896662473678589, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5896662473678589, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03533472074280314, + "valid_pour_held_xy_dist": 0.03196042023826303, + "valid_pour_held_gripper_dist": 0.0055642604601106775, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0440869818371588, + "valid_pour_source_tilt_deg": 1.5847151319707373, + "valid_pour_source_upright_tilt_deg": 4.069869686989858, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.387685865163803e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3344044678418686, + -0.056238561900668275, + 1.0440869818371588 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3240829641809452, + -0.03253691721416643, + 1.0440869818371588 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3292437160114069, + -0.04438773955741736, + 1.0440869818371588 + ], + "valid_pour_held_grasp_object_position": [ + 0.3344044678418686, + -0.03253691721416643, + 1.0440869818371588 + ], + "valid_pour_held_grasp_finger_gap": 0.02585152604137011, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024356296232418067, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06921677737497653, + -0.9974782477778449, + 0.015690217967361697 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005971458393110285, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825652317495917, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3344044678418686, + -0.056238561900668275, + 1.0440869818371588 + ], + "held_grasp_finger_b": [ + 0.3240829641809452, + -0.03253691721416643, + 1.0440869818371588 + ], + "held_grasp_midpoint": [ + 0.3292437160114069, + -0.04438773955741736, + 1.0440869818371588 + ], + "held_grasp_object_position": [ + 0.3344044678418686, + -0.03253691721416643, + 1.0440869818371588 + ], + "held_grasp_finger_gap": 0.02585152604137011, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024356296232418067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06921677737497653, + -0.9974782477778449, + 0.015690217967361697 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005971458393110285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825652317495917, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31735381091173176, + -0.12972692802371422, + 0.7611063268672917 + ], + "target_position": [ + 0.32004692646646665, + -0.12890710951883566, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002815132993678334, + "xy_threshold": 0.08, + "gripper_dist": 0.21493590816474653, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063268672917, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517019074713217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756828534549803, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1864384739339685, + "release_required_pad_clearance": 0.053784142672749016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.577534701808479, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "494f245bcfcdc505e5aa55a1f85fcb8dd6b75dccf1b10d668da910f6728fccd6", + "visual_seed": 8792983655504769315, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65f2ae104b79df7f52bf9b8140f41c4fbb2a9417 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_18_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34820090768561746, + -0.1187922964396606, + 1.00243518065372 + ], + "current_z": 1.00243518065372, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14132873224359876, + "gripper_z": 1.0030511726387774, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3444034854175174, + -0.12277264424236002, + 1.0030511726387774 + ], + "object_minus_gripper": [ + 0.003797422268100037, + 0.003980347802699416, + -0.0006159919850574624 + ], + "object_to_gripper_xy": 0.005501234817085715, + "object_to_gripper_z": -0.0006159919850574624, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34820090768561746, + -0.1426508817441607, + 1.00243518065372 + ], + "finger_b": [ + 0.3380883653492201, + -0.1187922964396606, + 1.00243518065372 + ], + "finger_midpoint": [ + 0.3431446365174188, + -0.13072158909191067, + 1.00243518065372 + ], + "object_minus_finger_midpoint": [ + 0.005056271168198678, + 0.011929292652250068, + 0.0 + ], + "finger_gap": 0.025913232242187337, + "fingertip_max_gap": 0.09390264673417778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012956616121093681, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00243518065372, + "object_top_z": 1.0523403535025775, + "finger_top_clearance": 0.04990517284885754, + "fingertip_min_top_clearance": 0.014971551854657244, + "object_projection_between_fingers": 0.8477078454307175, + "object_to_finger_line_xy": 0.0093107240240571, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945132336708889, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.522828738217669, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32699073469702633, + -0.001673510906614286, + 0.7701463897966113 + ], + "gripper_position": [ + 0.33167501761708273, + -0.03655094562345901, + 1.0437773391256813 + ], + "target_minus_gripper": [ + -0.004684282920056404, + 0.03487743471684472, + -0.27363094932906995 + ], + "held_position": [ + 0.3353910600842578, + -0.03250546439891491, + 1.0431058843520602 + ], + "held_minus_target": [ + 0.008400325387231455, + -0.030831953492300626, + 0.2729594945554489 + ], + "held_minus_gripper": [ + 0.0037160424671750514, + 0.004045481224544095, + -0.0006714547736210719 + ], + "xy_dist": 0.03519059475062758, + "held_xy_dist": 0.03195582611610524, + "held_gripper_dist": 0.005534052897199823, + "max_held_gripper_dist": 0.005538252913353082, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966113, + "held_z": 1.0431058843520602, + "required_height": 0.8001463897966113, + "gripper_z": 1.0437773391256813, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.24454576835059, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.025826754873122, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.040910924357889, + "max_source_tilt_deg": 89.88360467480251, + "source_upright_tilt_deg": 4.757956684749821, + "max_source_upright_tilt_deg": 89.74124251521182, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.040910924357889, + "source_upright_return_tilt_deg": 4.757956684749821, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2421989437786605e-07, + "max_target_xy_drift": 2.611828532077603e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.327, + -0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.327, + -0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0013, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3275, + -0.0256, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00046874233938915986, + 0.0012869724635485831, + -0.0002731193848610207 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.757952311689243, + "source_return_step_error_deg": 2.0408925677184193, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.765514950319964, + "source_return_best_wrist_position": -1.5926876068115234, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5926876068115234 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.327, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.327, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0013, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3275, + -0.0256, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00046874233938915986, + 0.0012869724635485831, + -0.0002731193848610207 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.757952311689243, + "pour_controller_source_return_step_error_deg": 2.0408925677184193, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.765514950319964, + "pour_controller_source_return_best_wrist_position": -1.5926876068115234, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5926876068115234, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03519059475062758, + "valid_pour_held_xy_dist": 0.03195582611610524, + "valid_pour_held_gripper_dist": 0.005534052897199823, + "valid_pour_required_height": 0.8001463897966113, + "valid_pour_held_z": 1.0431058843520602, + "valid_pour_source_tilt_deg": 2.040910924357889, + "valid_pour_source_upright_tilt_deg": 4.757956684749821, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2421989437786605e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3353910600842578, + -0.05588590141405637, + 1.0431058843520602 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32480359092967, + -0.03250546439891491, + 1.0431058843520602 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3300973255069639, + -0.04419568290648564, + 1.0431058843520602 + ], + "valid_pour_held_grasp_object_position": [ + 0.3353910600842578, + -0.03250546439891491, + 1.0431058843520602 + ], + "valid_pour_held_grasp_finger_gap": 0.02566591783120847, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02416579876922391, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.08178827238179619, + -0.9965539969627317, + 0.013813386203420094 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006234135910396389, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0385032814965324, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3353910600842578, + -0.05588590141405637, + 1.0431058843520602 + ], + "held_grasp_finger_b": [ + 0.32480359092967, + -0.03250546439891491, + 1.0431058843520602 + ], + "held_grasp_midpoint": [ + 0.3300973255069639, + -0.04419568290648564, + 1.0431058843520602 + ], + "held_grasp_object_position": [ + 0.3353910600842578, + -0.03250546439891491, + 1.0431058843520602 + ], + "held_grasp_finger_gap": 0.02566591783120847, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02416579876922391, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.08178827238179619, + -0.9965539969627317, + 0.013813386203420094 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006234135910396389, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0385032814965324, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3302323328637138, + -0.12513733192517051, + 0.7611065431573811 + ], + "target_position": [ + 0.3253942782046775, + -0.12080338858007811, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0064953704899946745, + "xy_threshold": 0.08, + "gripper_dist": 0.21999633874489766, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065431573811, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518569640471709, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08623705878008396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1901405033299289, + "release_required_pad_clearance": 0.05311852939004198, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.262361252783624, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c60f8185e1352812aa952d7da6011b341d80f5b9d7989f450af263911c078530", + "visual_seed": 2242373472676590901, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36b8a6c604deed24f8c0b288de9c2568e685ab4b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_19_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34080800044000353, + -0.12343226621279767, + 1.002381896344835 + ], + "current_z": 1.002381896344835, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14127544793471392, + "gripper_z": 1.0029033476602878, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3376036033519606, + -0.1272736065757085, + 1.0029033476602878 + ], + "object_minus_gripper": [ + 0.0032043970880429318, + 0.003841340362910825, + -0.0005214513154527811 + ], + "object_to_gripper_xy": 0.005002405069722552, + "object_to_gripper_z": -0.0005214513154527811, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34080800044000353, + -0.14655564464142512, + 1.002381896344835 + ], + "finger_b": [ + 0.330522055275272, + -0.12343226621279767, + 1.002381896344835 + ], + "finger_midpoint": [ + 0.33566502785763774, + -0.1349939554271114, + 1.002381896344835 + ], + "object_minus_finger_midpoint": [ + 0.00514297258236579, + 0.011561689214313733, + 0.0 + ], + "finger_gap": 0.025307929545606397, + "fingertip_max_gap": 0.0940529109610799, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012653964772803216, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002381896344835, + "object_top_z": 1.052467885415115, + "finger_top_clearance": 0.05008598907028006, + "fingertip_min_top_clearance": 0.01502579672108405, + "object_projection_between_fingers": 0.8348132624421729, + "object_to_finger_line_xy": 0.009398074311515124, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04952645548053995, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.730096421889113, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3240563682324116, + 0.001167584417060094, + 0.7701463897966118 + ], + "gripper_position": [ + 0.32789081796675856, + -0.035905112828840444, + 1.0429063152508813 + ], + "target_minus_gripper": [ + -0.0038344497343469897, + 0.03707269724590054, + -0.2727599254542695 + ], + "held_position": [ + 0.3311684682818283, + -0.03214599786028441, + 1.0423081340043217 + ], + "held_minus_target": [ + 0.007112100049416703, + -0.0333135822773445, + 0.2721617442077099 + ], + "held_minus_gripper": [ + 0.0032776503150697134, + 0.003759114968556035, + -0.000598181246559637 + ], + "xy_dist": 0.037270469353785106, + "held_xy_dist": 0.0340643028882482, + "held_gripper_dist": 0.005023122309722736, + "max_held_gripper_dist": 0.0050318743921446245, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0423081340043217, + "required_height": 0.8001463897966118, + "gripper_z": 1.0429063152508813, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.94451721487184, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2598243629590162, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5107901359932883, + "max_source_tilt_deg": 89.87422316689, + "source_upright_tilt_deg": 3.2673914804307067, + "max_source_upright_tilt_deg": 89.79397849963993, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5107901359932883, + "source_upright_return_tilt_deg": 3.2673914804307067, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.0873495638370514e-08, + "max_target_xy_drift": 2.1234780169079161e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3241, + 0.0012, + 0.7701 + ], + "controller_target_position": [ + 0.3241, + 0.0012, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0011, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3241, + -0.0251, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.655251838255484e-05, + -0.001106415067564896, + -0.0016541349638553985 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2673964487813114, + "source_return_step_error_deg": 2.510780580975098, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.268238872987193, + "source_return_best_wrist_position": -1.6170547008514404, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6170547008514404 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3241, + 0.0012, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3241, + 0.0012, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0011, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3241, + -0.0251, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.655251838255484e-05, + -0.001106415067564896, + -0.0016541349638553985 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2673964487813114, + "pour_controller_source_return_step_error_deg": 2.510780580975098, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.268238872987193, + "pour_controller_source_return_best_wrist_position": -1.6170547008514404, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6170547008514404, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037270469353785106, + "valid_pour_held_xy_dist": 0.0340643028882482, + "valid_pour_held_gripper_dist": 0.005023122309722736, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0423081340043217, + "valid_pour_source_tilt_deg": 2.5107901359932883, + "valid_pour_source_upright_tilt_deg": 3.2673914804307067, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.0873495638370514e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3311684682818283, + -0.05512817216550042, + 1.0423081340043217 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3214489145647097, + -0.03214599786028441, + 1.0423081340043217 + ], + "valid_pour_held_grasp_midpoint": [ + 0.326308691423269, + -0.043637085012892415, + 1.0423081340043217 + ], + "valid_pour_held_grasp_object_position": [ + 0.3311684682818283, + -0.03214599786028441, + 1.0423081340043217 + ], + "valid_pour_held_grasp_finger_gap": 0.02495295694412357, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023408695574732498, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04772652577727647, + -0.9983744244121097, + 0.031155856865442644 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005414278430493935, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0384797828137525, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3311684682818283, + -0.05512817216550042, + 1.0423081340043217 + ], + "held_grasp_finger_b": [ + 0.3214489145647097, + -0.03214599786028441, + 1.0423081340043217 + ], + "held_grasp_midpoint": [ + 0.326308691423269, + -0.043637085012892415, + 1.0423081340043217 + ], + "held_grasp_object_position": [ + 0.3311684682818283, + -0.03214599786028441, + 1.0423081340043217 + ], + "held_grasp_finger_gap": 0.02495295694412357, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023408695574732498, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04772652577727647, + -0.9983744244121097, + 0.031155856865442644 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005414278430493935, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0384797828137525, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31549267646604784, + -0.1323013046658266, + 0.7611073210157968 + ], + "target_position": [ + 0.31870012758288396, + -0.1272971972275421, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00594380634953626, + "xy_threshold": 0.08, + "gripper_dist": 0.21113152397527463, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073210157968, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566511412836689, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09157758448418622, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18102828971500656, + "release_required_pad_clearance": 0.05578879224209311, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.767700385112805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 210, + "max_placed_release_frames": 210 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4af1772e96b0098ab2aa52c45fb64d6588e38c1f2583994e79f3e2d62cb8fb61", + "visual_seed": 7993622558441478598, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..990e0405bbbe5b41d0fff7afc8f1f85e1bdde352 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_1_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3447498676427696, + -0.12324100433681417, + 1.0038383861669422 + ], + "current_z": 1.0038383861669422, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14273193775682103, + "gripper_z": 1.0039082609427723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3409244772369207, + -0.1273526829147157, + 1.0039082609427723 + ], + "object_minus_gripper": [ + 0.003825390405848894, + 0.004111678577901512, + -6.987477583009216e-05 + ], + "object_to_gripper_xy": 0.00561600502894495, + "object_to_gripper_z": -6.987477583009216e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447498676427696, + -0.14691823295782305, + 1.0038383861669422 + ], + "finger_b": [ + 0.3342007675403464, + -0.12324100433681417, + 1.0038383861669422 + ], + "finger_midpoint": [ + 0.339475317591558, + -0.1350796186473186, + 1.0038383861669422 + ], + "object_minus_finger_midpoint": [ + 0.0052745500512115795, + 0.011838614310504425, + 0.0 + ], + "finger_gap": 0.025920931081704367, + "fingertip_max_gap": 0.09371895927031007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012960465540852159, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038383861669422, + "object_top_z": 1.0536555489978658, + "finger_top_clearance": 0.049817162830923634, + "fingertip_min_top_clearance": 0.014945148849277072, + "object_projection_between_fingers": 0.8343735733480339, + "object_to_finger_line_xy": 0.009635975424018565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04935947963515504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5256785445201486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32531933105055727, + 0.003946545391015786, + 0.7701465090059011 + ], + "gripper_position": [ + 0.33023607255861065, + -0.03230160465951709, + 1.0428803874089445 + ], + "target_minus_gripper": [ + -0.004916741508053379, + 0.036248150050532876, + -0.2727338784030434 + ], + "held_position": [ + 0.3341417892761446, + -0.028274105434043368, + 1.0427312578539059 + ], + "held_minus_target": [ + 0.008822458225587304, + -0.032220650825059156, + 0.27258474884800477 + ], + "held_minus_gripper": [ + 0.0039057167175339247, + 0.004027499225473723, + -0.00014912955503865177 + ], + "xy_dist": 0.03658008651087312, + "held_xy_dist": 0.03340667760691893, + "held_gripper_dist": 0.005612273399701893, + "max_held_gripper_dist": 0.005617765646748684, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0427312578539059, + "required_height": 0.8001465090059011, + "gripper_z": 1.0428803874089445, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55047677146463, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0108773706941236, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4828291654482895, + "max_source_tilt_deg": 89.89656822244702, + "source_upright_tilt_deg": 3.1864260809369673, + "max_source_upright_tilt_deg": 89.75105381512158, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4828291654482895, + "source_upright_return_tilt_deg": 3.1864260809369673, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.024520884654677e-08, + "max_target_xy_drift": 1.544564165173174e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3253, + 0.0039, + 0.7701 + ], + "controller_target_position": [ + 0.3253, + 0.0039, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0001, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3268, + -0.0214, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014550311695145407, + -0.00011921536951241371, + -0.0016960287767043174 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1864291269793217, + "source_return_step_error_deg": 2.4828059759504177, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1845762325936167, + "source_return_best_wrist_position": -1.6159909963607788, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6159909963607788 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3253, + 0.0039, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3253, + 0.0039, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0001, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3268, + -0.0214, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014550311695145407, + -0.00011921536951241371, + -0.0016960287767043174 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1864291269793217, + "pour_controller_source_return_step_error_deg": 2.4828059759504177, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1845762325936167, + "pour_controller_source_return_best_wrist_position": -1.6159909963607788, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6159909963607788, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03658008651087312, + "valid_pour_held_xy_dist": 0.03340667760691893, + "valid_pour_held_gripper_dist": 0.005612273399701893, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0427312578539059, + "valid_pour_source_tilt_deg": 2.4828291654482895, + "valid_pour_source_upright_tilt_deg": 3.1864260809369673, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.024520884654677e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3341417892761446, + -0.051846844589680266, + 1.0427312578539059 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32420465860213016, + -0.028274105434043368, + 1.0427312578539059 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3291732239391374, + -0.040060475011861815, + 1.0427312578539059 + ], + "valid_pour_held_grasp_object_position": [ + 0.3341417892761446, + -0.028274105434043368, + 1.0427312578539059 + ], + "valid_pour_held_grasp_finger_gap": 0.025581645711957923, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023955715392349128, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04220739385589556, + -0.998453970444301, + 0.03616911400496903 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054779262800470204, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816181276207613, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3341417892761446, + -0.051846844589680266, + 1.0427312578539059 + ], + "held_grasp_finger_b": [ + 0.32420465860213016, + -0.028274105434043368, + 1.0427312578539059 + ], + "held_grasp_midpoint": [ + 0.3291732239391374, + -0.040060475011861815, + 1.0427312578539059 + ], + "held_grasp_object_position": [ + 0.3341417892761446, + -0.028274105434043368, + 1.0427312578539059 + ], + "held_grasp_finger_gap": 0.025581645711957923, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023955715392349128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04220739385589556, + -0.998453970444301, + 0.03616911400496903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054779262800470204, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816181276207613, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30524027975444157, + -0.10999575100721194, + 0.7611158873372232 + ], + "target_position": [ + 0.32187203408076964, + -0.128143124643133, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024615897746234135, + "xy_threshold": 0.08, + "gripper_dist": 0.2062922681172884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611158873372232, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08135539038004874, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734055340534295, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1833288019088186, + "release_required_pad_clearance": 0.05367027670267148, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.307212096359406, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07cbfd9d5d3759983d3d14f703c7e5a5089925a58bd1ad45c5eb2e67af50a5cf", + "visual_seed": 8330191375608001740, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbe807d9e84413cf204c1a1665679522965753a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_20_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.348384591744815, + -0.12448951979465332, + 1.0046487682301666 + ], + "current_z": 1.0046487682301666, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1435422602154004, + "gripper_z": 1.0049529207112982, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3447888896098612, + -0.1283917045729963, + 1.0049529207112982 + ], + "object_minus_gripper": [ + 0.0035957021349538043, + 0.0039021847783429903, + -0.000304152481131581 + ], + "object_to_gripper_xy": 0.005306234058882352, + "object_to_gripper_z": -0.000304152481131581, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.348384591744815, + -0.14812184355670763, + 1.0046487682301666 + ], + "finger_b": [ + 0.3382666475177164, + -0.12448951979465332, + 1.0046487682301666 + ], + "finger_midpoint": [ + 0.34332561963126573, + -0.13630568167568047, + 1.0046487682301666 + ], + "object_minus_finger_midpoint": [ + 0.005058972113549276, + 0.011816161881027146, + 0.0 + ], + "finger_gap": 0.02570718813439608, + "fingertip_max_gap": 0.09428743841441548, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012853594067198023, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046487682301666, + "object_top_z": 1.0545287289870444, + "finger_top_clearance": 0.04987996075687784, + "fingertip_min_top_clearance": 0.014963988227063352, + "object_projection_between_fingers": 0.8450914422669297, + "object_to_finger_line_xy": 0.009301310300105307, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04964371920720774, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.196273519713763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32079787170950813, + 0.007007339826457281, + 0.7701464494012566 + ], + "gripper_position": [ + 0.32643715200301504, + -0.02940728342701303, + 1.0438678119643365 + ], + "target_minus_gripper": [ + -0.00563928029350691, + 0.03641462325347031, + -0.2737213625630799 + ], + "held_position": [ + 0.33005139620887164, + -0.025529801989935097, + 1.0435070576354035 + ], + "held_minus_target": [ + 0.009253524499363508, + -0.032537141816392376, + 0.2733606082341469 + ], + "held_minus_gripper": [ + 0.0036142442058565982, + 0.0038774814370779315, + -0.0003607543289330106 + ], + "xy_dist": 0.03684869426344597, + "held_xy_dist": 0.03382740476655503, + "held_gripper_dist": 0.005312981005075761, + "max_held_gripper_dist": 0.005316223856870643, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0435070576354035, + "required_height": 0.8001464494012567, + "gripper_z": 1.0438678119643365, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.3663075506844, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.5972328691203233, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.1631181521298621, + "max_source_tilt_deg": 89.96867333263884, + "source_upright_tilt_deg": 4.033421900485646, + "max_source_upright_tilt_deg": 89.99595634502377, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.1631181521298621, + "source_upright_return_tilt_deg": 4.033421900485646, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.3161667307413752e-07, + "max_target_xy_drift": 1.476263793132214e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3208, + 0.007, + 0.7701 + ], + "controller_target_position": [ + 0.3208, + 0.007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0005, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.322, + -0.0186, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012272058207982183, + -0.00045150132201587033, + -0.0006271600247451561 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.033421769766598, + "source_return_step_error_deg": 1.1631525574188846, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.040180929671107, + "source_return_best_wrist_position": -1.5908058881759644, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5908058881759644 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3208, + 0.007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3208, + 0.007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0005, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.322, + -0.0186, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012272058207982183, + -0.00045150132201587033, + -0.0006271600247451561 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.033421769766598, + "pour_controller_source_return_step_error_deg": 1.1631525574188846, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.040180929671107, + "pour_controller_source_return_best_wrist_position": -1.5908058881759644, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5908058881759644, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03684869426344597, + "valid_pour_held_xy_dist": 0.03382740476655503, + "valid_pour_held_gripper_dist": 0.005312981005075761, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0435070576354035, + "valid_pour_source_tilt_deg": 1.1631181521298621, + "valid_pour_source_upright_tilt_deg": 4.033421900485646, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.3161667307413752e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33005139620887164, + -0.049134165969940795, + 1.0435070576354035 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32004774040781486, + -0.025529801989935097, + 1.0435070576354035 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32504956830834325, + -0.03733198397993795, + 1.0435070576354035 + ], + "valid_pour_held_grasp_object_position": [ + 0.33005139620887164, + -0.025529801989935097, + 1.0435070576354035 + ], + "valid_pour_held_grasp_finger_gap": 0.02563667545308103, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0242282603767758, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06821104465498355, + -0.9975231946161146, + 0.017167690291272072 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005798655718868979, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03828847969426613, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33005139620887164, + -0.049134165969940795, + 1.0435070576354035 + ], + "held_grasp_finger_b": [ + 0.32004774040781486, + -0.025529801989935097, + 1.0435070576354035 + ], + "held_grasp_midpoint": [ + 0.32504956830834325, + -0.03733198397993795, + 1.0435070576354035 + ], + "held_grasp_object_position": [ + 0.33005139620887164, + -0.025529801989935097, + 1.0435070576354035 + ], + "held_grasp_finger_gap": 0.02563667545308103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0242282603767758, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06821104465498355, + -0.9975231946161146, + 0.017167690291272072 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005798655718868979, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03828847969426613, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3265217426649243, + -0.1274392757135156, + 0.7611064551837355 + ], + "target_position": [ + 0.32579013805364526, + -0.12755681951391226, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0007409870796825156, + "xy_threshold": 0.08, + "gripper_dist": 0.21793801169097723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064551837355, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563824439134444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592457164625754, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1884079112845463, + "release_required_pad_clearance": 0.05296228582312877, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9602108208467763, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "acc4c6210ed2edf8dfa030330da26a7c77bf66ee6f488a4d7935e0ba7ac5019b", + "visual_seed": 174604016792572340, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f699db85e1d58b15e0c7dfe8e84b38b50159bab --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_21_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34489301494512165, + -0.12222819589119302, + 1.0027116402556895 + ], + "current_z": 1.0027116402556895, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.1416052514502132, + "gripper_z": 1.0030208317338007, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34116087824121194, + -0.12619707013147985, + 1.0030208317338007 + ], + "object_minus_gripper": [ + 0.0037321367039097053, + 0.003968874240286829, + -0.00030919147811125924 + ], + "object_to_gripper_xy": 0.005448009463270264, + "object_to_gripper_z": -0.00030919147811125924, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34489301494512165, + -0.14603810364614, + 1.0027116402556895 + ], + "finger_b": [ + 0.33480378311448356, + -0.12222819589119302, + 1.0027116402556895 + ], + "finger_midpoint": [ + 0.3398483990298026, + -0.13413314976866653, + 1.0027116402556895 + ], + "object_minus_finger_midpoint": [ + 0.005044615915319073, + 0.011904953877473506, + 0.0 + ], + "finger_gap": 0.025859317590211955, + "fingertip_max_gap": 0.0940414350063298, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012929658795106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027116402556895, + "object_top_z": 1.052678645318288, + "finger_top_clearance": 0.049967005062598435, + "fingertip_min_top_clearance": 0.014990101518779513, + "object_projection_between_fingers": 0.8477763669475618, + "object_to_finger_line_xy": 0.009289637221389608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049520717503164904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.927137434299473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32356668627325946, + 0.004916165346883316, + 0.7701463301919669 + ], + "gripper_position": [ + 0.327585163053854, + -0.030302964305475244, + 1.0425029918992723 + ], + "target_minus_gripper": [ + -0.0040184767805945265, + 0.03521912965235856, + -0.27235666170730544 + ], + "held_position": [ + 0.3313663072258011, + -0.026396121146145674, + 1.0421155259408854 + ], + "held_minus_target": [ + 0.007799620952541664, + -0.03131228649302899, + 0.27196919574891854 + ], + "held_minus_gripper": [ + 0.0037811441719471373, + 0.0039068431593295705, + -0.0003874659583869011 + ], + "xy_dist": 0.03544764095261939, + "held_xy_dist": 0.03226907765066818, + "held_gripper_dist": 0.005450743489613022, + "max_held_gripper_dist": 0.005457979863620643, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0421155259408854, + "required_height": 0.8001463301919669, + "gripper_z": 1.0425029918992723, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.34602188884946, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.455817960262902, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.48621645635348, + "max_source_tilt_deg": 89.92657556304935, + "source_upright_tilt_deg": 3.7838300681632138, + "max_source_upright_tilt_deg": 89.98309498449362, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.48621645635348, + "source_upright_return_tilt_deg": 3.7838300681632138, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.562091689229909e-08, + "max_target_xy_drift": 2.389858836071597e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3236, + 0.0049, + 0.7701 + ], + "controller_target_position": [ + 0.3236, + 0.0049, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0009, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3237, + -0.0194, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00014441039082791797, + 0.0009076086392294609, + -0.0019009276862937098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7838367211942088, + "source_return_step_error_deg": 2.486239022855601, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.778243325298582, + "source_return_best_wrist_position": -1.616567850112915, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.616567850112915 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3236, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3236, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0009, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3237, + -0.0194, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00014441039082791797, + 0.0009076086392294609, + -0.0019009276862937098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7838367211942088, + "pour_controller_source_return_step_error_deg": 2.486239022855601, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.778243325298582, + "pour_controller_source_return_best_wrist_position": -1.616567850112915, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.616567850112915, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03544764095261939, + "valid_pour_held_xy_dist": 0.03226907765066818, + "valid_pour_held_gripper_dist": 0.005450743489613022, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0421155259408854, + "valid_pour_source_tilt_deg": 2.48621645635348, + "valid_pour_source_upright_tilt_deg": 3.7838300681632138, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.562091689229909e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3313663072258011, + -0.04993665013307541, + 1.0421155259408854 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32169814893558824, + -0.026396121146145674, + 1.0421155259408854 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3265322280806947, + -0.03816638563961054, + 1.0421155259408854 + ], + "valid_pour_held_grasp_object_position": [ + 0.3313663072258011, + -0.026396121146145674, + 1.0421155259408854 + ], + "valid_pour_held_grasp_finger_gap": 0.025448571466962375, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024045190315961334, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05750592291116161, + -0.9978201409013882, + 0.03237337241730475 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005515804645860922, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038253631277444286, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3313663072258011, + -0.04993665013307541, + 1.0421155259408854 + ], + "held_grasp_finger_b": [ + 0.32169814893558824, + -0.026396121146145674, + 1.0421155259408854 + ], + "held_grasp_midpoint": [ + 0.3265322280806947, + -0.03816638563961054, + 1.0421155259408854 + ], + "held_grasp_object_position": [ + 0.3313663072258011, + -0.026396121146145674, + 1.0421155259408854 + ], + "held_grasp_finger_gap": 0.025448571466962375, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024045190315961334, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05750592291116161, + -0.9978201409013882, + 0.03237337241730475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005515804645860922, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038253631277444286, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32303626572858385, + -0.12759742100865962, + 0.7611063806786847 + ], + "target_position": [ + 0.3222768834962812, + -0.12678575423146088, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0011115144317304863, + "xy_threshold": 0.08, + "gripper_dist": 0.21649948354457227, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063806786847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554495582938157, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693803334506155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18698628063604023, + "release_required_pad_clearance": 0.053469016672530775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9511682013711047, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a78c4b1e459cbfac495107e492fa32f893706cb61fbd6b99c25e6af67646a58", + "visual_seed": 5599755038456857030, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9cc069ce6c54aa5d006c2ba757576b6d042f3be --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_22_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3426959808432005, + -0.11715356624258377, + 1.0027843867607635 + ], + "current_z": 1.0027843867607635, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14167799795528713, + "gripper_z": 1.003642897522306, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3386520567045997, + -0.12143821487875694, + 1.003642897522306 + ], + "object_minus_gripper": [ + 0.0040439241386008296, + 0.004284648636173172, + -0.0008585107615424192 + ], + "object_to_gripper_xy": 0.005891649715845221, + "object_to_gripper_z": -0.0008585107615424192, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3426959808432005, + -0.14102858255857464, + 1.0027843867607635 + ], + "finger_b": [ + 0.3319559917802183, + -0.11715356624258377, + 1.0027843867607635 + ], + "finger_midpoint": [ + 0.3373259863117094, + -0.1290910744005792, + 1.0027843867607635 + ], + "object_minus_finger_midpoint": [ + 0.005369994531491118, + 0.011937508157995436, + 0.0 + ], + "finger_gap": 0.026179453186837353, + "fingertip_max_gap": 0.09332011889182171, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013089726593418676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027843867607635, + "object_top_z": 1.0527855185021466, + "finger_top_clearance": 0.0500011317413831, + "fingertip_min_top_clearance": 0.015000339522414929, + "object_projection_between_fingers": 0.8316990622161914, + "object_to_finger_line_xy": 0.009794605421368674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049160059445910856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1428051255263254, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32056234395567806, + 0.004517825643204231, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3255376618136605, + -0.0310306379586016, + 1.0442725687230756 + ], + "target_minus_gripper": [ + -0.004975317857982442, + 0.03554846360180583, + -0.2741261193218191 + ], + "held_position": [ + 0.3295639761880613, + -0.026754249070645882, + 1.0433387070650268 + ], + "held_minus_target": [ + 0.009001632232383261, + -0.031272074713850115, + 0.2731922576637703 + ], + "held_minus_gripper": [ + 0.004026314374400819, + 0.004276388887955718, + -0.0009338616580487624 + ], + "xy_dist": 0.03589494466128723, + "held_xy_dist": 0.03254185058898318, + "held_gripper_dist": 0.005947336122913467, + "max_held_gripper_dist": 0.00595720374812251, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0433387070650268, + "required_height": 0.8001464494012566, + "gripper_z": 1.0442725687230756, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49909325833862, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6471934188383366, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6153403281871417, + "max_source_tilt_deg": 89.90286243386576, + "source_upright_tilt_deg": 3.9410443964405144, + "max_source_upright_tilt_deg": 89.6843022402885, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6153403281871417, + "source_upright_return_tilt_deg": 3.9410443964405144, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.313225746154785e-09, + "max_target_xy_drift": 1.554172014973205e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3206, + 0.0045, + 0.7701 + ], + "controller_target_position": [ + 0.3206, + 0.0045, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0007, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3214, + -0.0199, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008364231599222271, + 0.0007365987738103155, + 0.0001490732217812262 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9410389742258682, + "source_return_step_error_deg": 2.6153213067898995, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9362668011476223, + "source_return_best_wrist_position": -1.6168049573898315, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6168049573898315 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3206, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3206, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0007, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3214, + -0.0199, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008364231599222271, + 0.0007365987738103155, + 0.0001490732217812262 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9410389742258682, + "pour_controller_source_return_step_error_deg": 2.6153213067898995, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9362668011476223, + "pour_controller_source_return_best_wrist_position": -1.6168049573898315, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6168049573898315, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03589494466128723, + "valid_pour_held_xy_dist": 0.03254185058898318, + "valid_pour_held_gripper_dist": 0.005947336122913467, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0433387070650268, + "valid_pour_source_tilt_deg": 2.6153403281871417, + "valid_pour_source_upright_tilt_deg": 3.9410443964405144, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.313225746154785e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3295639761880613, + -0.05005257844365611, + 1.0433387070650268 + ], + "valid_pour_held_grasp_finger_b": [ + 0.318819449300783, + -0.026754249070645882, + 1.0433387070650268 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32419171274442216, + -0.038403413757151, + 1.0433387070650268 + ], + "valid_pour_held_grasp_object_position": [ + 0.3295639761880613, + -0.026754249070645882, + 1.0433387070650268 + ], + "valid_pour_held_grasp_finger_gap": 0.025656519826444082, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023905929652354305, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.061677323814101154, + -0.9976353075008146, + 0.03032657176282383 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006090486802132873, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038429978907973894, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3295639761880613, + -0.05005257844365611, + 1.0433387070650268 + ], + "held_grasp_finger_b": [ + 0.318819449300783, + -0.026754249070645882, + 1.0433387070650268 + ], + "held_grasp_midpoint": [ + 0.32419171274442216, + -0.038403413757151, + 1.0433387070650268 + ], + "held_grasp_object_position": [ + 0.3295639761880613, + -0.026754249070645882, + 1.0433387070650268 + ], + "held_grasp_finger_gap": 0.025656519826444082, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023905929652354305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.061677323814101154, + -0.9976353075008146, + 0.03032657176282383 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006090486802132873, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038429978907973894, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32360863595568146, + -0.12115223567863857, + 0.7611063911812601 + ], + "target_position": [ + 0.3195676079121849, + -0.11965996200063517, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004307759090105586, + "xy_threshold": 0.08, + "gripper_dist": 0.21704897441381915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063911812601, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548123163920321, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864214833542896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18739215107080898, + "release_required_pad_clearance": 0.053210741677144804, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4434427853433425, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d98ba31bea6bdf3294cbfcfb93f0e68a207a0c8f26fa5a38f2a719ac2873c844", + "visual_seed": 4926734897748353007, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d63429c12a2f3907fb7511867591c094d3d6ed6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_23_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3500717087882469, + -0.12441065574888432, + 1.0025819429619063 + ], + "current_z": 1.0025819429619063, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14147555415642987, + "gripper_z": 1.0033965510984444, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3463771648162419, + -0.12842686085949057, + 1.0033965510984444 + ], + "object_minus_gripper": [ + 0.003694543972004971, + 0.004016205110606241, + -0.0008146081365381086 + ], + "object_to_gripper_xy": 0.005457065021743644, + "object_to_gripper_z": -0.0008146081365381086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3500717087882469, + -0.1480443016069165, + 1.0025819429619063 + ], + "finger_b": [ + 0.3397305666456174, + -0.12441065574888432, + 1.0025819429619063 + ], + "finger_midpoint": [ + 0.34490113771693215, + -0.13622747867790042, + 1.0025819429619063 + ], + "object_minus_finger_midpoint": [ + 0.005170571071314745, + 0.011816822929016091, + 0.0 + ], + "finger_gap": 0.025797062572257126, + "fingertip_max_gap": 0.09355506877299333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012898531286128563, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025819429619063, + "object_top_z": 1.0523790890352778, + "finger_top_clearance": 0.04979714607337149, + "fingertip_min_top_clearance": 0.014939143822011463, + "object_projection_between_fingers": 0.8393071692743649, + "object_to_finger_line_xy": 0.009473903878859088, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049277534386496666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5609005233463695, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32404203331534304, + -0.00016993042393766145, + 0.770146389796612 + ], + "gripper_position": [ + 0.3288762636832517, + -0.036559234834756454, + 1.0431312249259088 + ], + "target_minus_gripper": [ + -0.004834230367908643, + 0.03638930441081879, + -0.27298483512929683 + ], + "held_position": [ + 0.3325433836590959, + -0.03253348114978376, + 1.0422572068125766 + ], + "held_minus_target": [ + 0.008501350343752878, + -0.032363550725846096, + 0.2721108170159646 + ], + "held_minus_gripper": [ + 0.003667119975844235, + 0.004025753684972697, + -0.0008740181133322089 + ], + "xy_dist": 0.03670900786936697, + "held_xy_dist": 0.033461505842559455, + "held_gripper_dist": 0.005515285061693536, + "max_held_gripper_dist": 0.0055205049991611296, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0422572068125766, + "required_height": 0.800146389796612, + "gripper_z": 1.0431312249259088, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.4989156734202, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1234334390138123, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.492041854558119, + "max_source_tilt_deg": 89.95310272116475, + "source_upright_tilt_deg": 4.033201369864244, + "max_source_upright_tilt_deg": 89.89543406204155, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.492041854558119, + "source_upright_return_tilt_deg": 4.033201369864244, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2322439460455666e-07, + "max_target_xy_drift": 2.2787758051194235e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.324, + -0.0002, + 0.7701 + ], + "controller_target_position": [ + 0.324, + -0.0002, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0006, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3242, + -0.0259, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001618047094198577, + -0.0005595549958460398, + -0.0014807382645758943 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.033201269356225, + "source_return_step_error_deg": 1.4920302799884955, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.032673617322805, + "source_return_best_wrist_position": -1.5938737392425537, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5938737392425537 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.324, + -0.0002, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.324, + -0.0002, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0006, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3242, + -0.0259, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001618047094198577, + -0.0005595549958460398, + -0.0014807382645758943 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.033201269356225, + "pour_controller_source_return_step_error_deg": 1.4920302799884955, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.032673617322805, + "pour_controller_source_return_best_wrist_position": -1.5938737392425537, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5938737392425537, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03670900786936697, + "valid_pour_held_xy_dist": 0.033461505842559455, + "valid_pour_held_gripper_dist": 0.005515285061693536, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0422572068125766, + "valid_pour_source_tilt_deg": 1.492041854558119, + "valid_pour_source_upright_tilt_deg": 4.033201369864244, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2322439460455666e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3325433836590959, + -0.05590710730459809, + 1.0422572068125766 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32204871340992824, + -0.03253348114978376, + 1.0422572068125766 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3272960485345121, + -0.044220294227190926, + 1.0422572068125766 + ], + "valid_pour_held_grasp_object_position": [ + 0.3325433836590959, + -0.03253348114978376, + 1.0422572068125766 + ], + "valid_pour_held_grasp_finger_gap": 0.025621563247854053, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02403994459386059, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06900684245937969, + -0.9975234643902581, + 0.0136012383496531 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060433224037366, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842448182971222, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3325433836590959, + -0.05590710730459809, + 1.0422572068125766 + ], + "held_grasp_finger_b": [ + 0.32204871340992824, + -0.03253348114978376, + 1.0422572068125766 + ], + "held_grasp_midpoint": [ + 0.3272960485345121, + -0.044220294227190926, + 1.0422572068125766 + ], + "held_grasp_object_position": [ + 0.3325433836590959, + -0.03253348114978376, + 1.0422572068125766 + ], + "held_grasp_finger_gap": 0.025621563247854053, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02403994459386059, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06900684245937969, + -0.9975234643902581, + 0.0136012383496531 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060433224037366, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842448182971222, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30770175269205186, + -0.10976498602244524, + 0.7611103190162571 + ], + "target_position": [ + 0.3274694058124121, + -0.12789215184494354, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.026820780201985882, + "xy_threshold": 0.08, + "gripper_dist": 0.2045246032399297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103190162571, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08119590768726523, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09002021011526827, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1817232306703603, + "release_required_pad_clearance": 0.05501010505763414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.091209851330355, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbf25a7a34521d4a1c73e17f65d30da8f125e7bb3ab142c3f614a46bf20d6f80", + "visual_seed": 5728646042731783143, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b63e9636f435fc2af42585934738d1641de56b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_25_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3462278881409452, + -0.12436185448757126, + 1.004579581639345 + ], + "current_z": 1.004579581639345, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14347307362457906, + "gripper_z": 1.004644659932525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34267598229041724, + -0.12838563307756598, + 1.004644659932525 + ], + "object_minus_gripper": [ + 0.0035519058505279477, + 0.004023778589994725, + -6.507829317992098e-05 + ], + "object_to_gripper_xy": 0.005367199391890952, + "object_to_gripper_z": -6.507829317992098e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3462278881409452, + -0.14769302868319997, + 1.004579581639345 + ], + "finger_b": [ + 0.3356184122035962, + -0.12436185448757126, + 1.004579581639345 + ], + "finger_midpoint": [ + 0.3409231501722707, + -0.1360274415853856, + 1.004579581639345 + ], + "object_minus_finger_midpoint": [ + 0.005304737968674478, + 0.011665587097814345, + 0.0 + ], + "finger_gap": 0.025630151560456272, + "fingertip_max_gap": 0.0938790800540941, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012815075780228112, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004579581639345, + "object_top_z": 1.0544730473854194, + "finger_top_clearance": 0.04989346574607434, + "fingertip_min_top_clearance": 0.014968039723822301, + "object_projection_between_fingers": 0.8286494449270866, + "object_to_finger_line_xy": 0.00965782549645657, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943954002704705, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.700706353592737, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32130147135321535, + -0.001965287982813937, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3251333739980606, + -0.03933430004492665, + 1.04527067784785 + ], + "target_minus_gripper": [ + -0.003831902644845231, + 0.03736901206211271, + -0.27512428805123823 + ], + "held_position": [ + 0.328773019760906, + -0.03539719555396667, + 1.045128878914057 + ], + "held_minus_target": [ + 0.0074715484076906535, + -0.03343190757115273, + 0.27498248911744516 + ], + "held_minus_gripper": [ + 0.0036396457628454226, + 0.003937104490959978, + -0.00014179893379306918 + ], + "xy_dist": 0.03756496426695888, + "held_xy_dist": 0.03425662679620637, + "held_gripper_dist": 0.005363573434694515, + "max_held_gripper_dist": 0.00536859876143674, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.045128878914057, + "required_height": 0.8001463897966118, + "gripper_z": 1.04527067784785, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.76988293817294, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.202228251320784, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.552996955485298, + "max_source_tilt_deg": 89.96594350438426, + "source_upright_tilt_deg": 3.1655431112405314, + "max_source_upright_tilt_deg": 89.85358893204256, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.552996955485298, + "source_upright_return_tilt_deg": 3.1655431112405314, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2014061212539673e-07, + "max_target_xy_drift": 1.5124048493531687e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3213, + -0.002, + 0.7701 + ], + "controller_target_position": [ + 0.3213, + -0.002, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0015, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3199, + -0.0286, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013524914266123927, + -0.0014694352073625471, + 0.0009952645230484661 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1655453858843896, + "source_return_step_error_deg": 2.553011628334627, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.168191185717855, + "source_return_best_wrist_position": -1.6171340942382812, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6171340942382812 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3213, + -0.002, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3213, + -0.002, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0015, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3199, + -0.0286, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013524914266123927, + -0.0014694352073625471, + 0.0009952645230484661 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1655453858843896, + "pour_controller_source_return_step_error_deg": 2.553011628334627, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.168191185717855, + "pour_controller_source_return_best_wrist_position": -1.6171340942382812, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6171340942382812, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03756496426695888, + "valid_pour_held_xy_dist": 0.03425662679620637, + "valid_pour_held_gripper_dist": 0.005363573434694515, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.045128878914057, + "valid_pour_source_tilt_deg": 2.552996955485298, + "valid_pour_source_upright_tilt_deg": 3.1655431112405314, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2014061212539673e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.328773019760906, + -0.058668530307606985, + 1.045128878914057 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31883848657489733, + -0.03539719555396667, + 1.045128878914057 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32380575316790167, + -0.04703286293078683, + 1.045128878914057 + ], + "valid_pour_held_grasp_object_position": [ + 0.328773019760906, + -0.03539719555396667, + 1.045128878914057 + ], + "valid_pour_held_grasp_finger_gap": 0.02530316128154534, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023663758896054304, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.043075240216136075, + -0.9984741631116386, + 0.0345524135023193 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005478365131480983, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03831630302549041, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.328773019760906, + -0.058668530307606985, + 1.045128878914057 + ], + "held_grasp_finger_b": [ + 0.31883848657489733, + -0.03539719555396667, + 1.045128878914057 + ], + "held_grasp_midpoint": [ + 0.32380575316790167, + -0.04703286293078683, + 1.045128878914057 + ], + "held_grasp_object_position": [ + 0.328773019760906, + -0.03539719555396667, + 1.045128878914057 + ], + "held_grasp_finger_gap": 0.02530316128154534, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023663758896054304, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.043075240216136075, + -0.9984741631116386, + 0.0345524135023193 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005478365131480983, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03831630302549041, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3269285261581603, + -0.13866944107446758, + 0.7611066224113396 + ], + "target_position": [ + 0.3236561824551254, + -0.1269334221413089, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012183692942217939, + "xy_threshold": 0.08, + "gripper_dist": 0.21845696571914938, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066224113396, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518325814251317, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550136551133246, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18748626467680451, + "release_required_pad_clearance": 0.05275068275566623, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5510724011721825, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "012eacb8473aae2a1f524b9c8e26cf7a8afec5137921b5b60d5b3bf298b559af", + "visual_seed": 2714487377816277779, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6362a38e0fe1cf7c65ce63751f977cdd9e6766ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_26_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3496487454895538, + -0.12233164203782841, + 1.0042689898179005 + ], + "current_z": 1.0042689898179005, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14316242219848963, + "gripper_z": 1.0041477412670792, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34661290440867004, + -0.12603599107149666, + 1.0041477412670792 + ], + "object_minus_gripper": [ + 0.0030358410808837832, + 0.0037043490336682444, + 0.00012124855082129571 + ], + "object_to_gripper_xy": 0.004789418840696695, + "object_to_gripper_z": 0.00012124855082129571, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3496487454895538, + -0.1454342136073562, + 1.0042689898179005 + ], + "finger_b": [ + 0.3396354752790725, + -0.12233164203782841, + 1.0042689898179005 + ], + "finger_midpoint": [ + 0.34464211038431314, + -0.1338829278225923, + 1.0042689898179005 + ], + "object_minus_finger_midpoint": [ + 0.0050066351052406866, + 0.011551285784763901, + 0.0 + ], + "finger_gap": 0.02517924529117714, + "fingertip_max_gap": 0.09542149395139807, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012589622645588588, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0042689898179005, + "object_top_z": 1.0545295550313891, + "finger_top_clearance": 0.05026056521348865, + "fingertip_min_top_clearance": 0.015078169564046595, + "object_projection_between_fingers": 0.8418509984526125, + "object_to_finger_line_xy": 0.009187419599257188, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050210746975699036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.182861905509303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3209858051544849, + -0.00041989722834147666, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3256281800880174, + -0.03625412920283719, + 1.044279823625353 + ], + "target_minus_gripper": [ + -0.004642374933532534, + 0.03583423197449571, + -0.27413337422409645 + ], + "held_position": [ + 0.32868774856083105, + -0.0325718329238656, + 1.0443327985430946 + ], + "held_minus_target": [ + 0.007701943406346168, + -0.03215193569552412, + 0.27418634914183804 + ], + "held_minus_gripper": [ + 0.003059568472813634, + 0.0036822962789715905, + 5.2974917741588357e-05 + ], + "xy_dist": 0.03613369378053483, + "held_xy_dist": 0.03306156229224017, + "held_gripper_dist": 0.004787804451716142, + "max_held_gripper_dist": 0.004791572600497315, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0443327985430946, + "required_height": 0.8001464494012566, + "gripper_z": 1.044279823625353, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49573963545615, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.53467675004661, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3782444863688434, + "max_source_tilt_deg": 89.79825920339124, + "source_upright_tilt_deg": 4.306596898706281, + "max_source_upright_tilt_deg": 89.8446671032409, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3782444863688434, + "source_upright_return_tilt_deg": 4.306596898706281, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.338130069369892e-08, + "max_target_xy_drift": 9.848944354589182e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.321, + -0.0004, + 0.7701 + ], + "controller_target_position": [ + 0.321, + -0.0004, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0001, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.32, + -0.0255, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009559461085543667, + 0.00011586116152718191, + 0.00013364764198953378 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.306586100006272, + "source_return_step_error_deg": 2.3782225476238383, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.305516651992998, + "source_return_best_wrist_position": -1.615618348121643, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.615618348121643 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.321, + -0.0004, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.321, + -0.0004, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0001, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.32, + -0.0255, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009559461085543667, + 0.00011586116152718191, + 0.00013364764198953378 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.306586100006272, + "pour_controller_source_return_step_error_deg": 2.3782225476238383, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.305516651992998, + "pour_controller_source_return_best_wrist_position": -1.615618348121643, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.615618348121643, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03613369378053483, + "valid_pour_held_xy_dist": 0.03306156229224017, + "valid_pour_held_gripper_dist": 0.004787804451716142, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0443327985430946, + "valid_pour_source_tilt_deg": 2.3782444863688434, + "valid_pour_source_upright_tilt_deg": 4.306596898706281, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.338130069369892e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32868774856083105, + -0.055377807941223496, + 1.0443327985430946 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3189879597351481, + -0.0325718329238656, + 1.0443327985430946 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3238378541479896, + -0.04397482043254455, + 1.0443327985430946 + ], + "valid_pour_held_grasp_object_position": [ + 0.32868774856083105, + -0.0325718329238656, + 1.0443327985430946 + ], + "valid_pour_held_grasp_finger_gap": 0.024783026444629326, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023388740412415416, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.066718771270097, + -0.997176503222403, + 0.03446196427003989 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00561326128322026, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03867303785591634, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32868774856083105, + -0.055377807941223496, + 1.0443327985430946 + ], + "held_grasp_finger_b": [ + 0.3189879597351481, + -0.0325718329238656, + 1.0443327985430946 + ], + "held_grasp_midpoint": [ + 0.3238378541479896, + -0.04397482043254455, + 1.0443327985430946 + ], + "held_grasp_object_position": [ + 0.32868774856083105, + -0.0325718329238656, + 1.0443327985430946 + ], + "held_grasp_finger_gap": 0.024783026444629326, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023388740412415416, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.066718771270097, + -0.997176503222403, + 0.03446196427003989 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00561326128322026, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03867303785591634, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3093853362546629, + -0.10037084128216098, + 0.7611064018412416 + ], + "target_position": [ + 0.32734593424390734, + -0.12465092101363695, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.030201081965685956, + "xy_threshold": 0.08, + "gripper_dist": 0.20625626801983638, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064018412416, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08624084612110103, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596984548715157, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18452407758736533, + "release_required_pad_clearance": 0.05298492274357579, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0040422784285101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "494fdb98601edf2f3fbb3402b674d1d1efe8388ce9ca1ac47f75fb22a1cf77c0", + "visual_seed": 2667319284670203528, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4facddf3980c39d7aa30dd07031564ed3f7cb23b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_27_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34516933618853374, + -0.11738809075127707, + 1.0034940331045554 + ], + "current_z": 1.0034940331045554, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14238758469443424, + "gripper_z": 1.0036511200098528, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3413707245641435, + -0.12152229632962387, + 1.0036511200098528 + ], + "object_minus_gripper": [ + 0.0037986116243902135, + 0.004134205578346803, + -0.00015708690529736558 + ], + "object_to_gripper_xy": 0.005614366040523746, + "object_to_gripper_z": -0.00015708690529736558, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34516933618853374, + -0.14096222425238877, + 1.0034940331045554 + ], + "finger_b": [ + 0.33447927116011167, + -0.11738809075127707, + 1.0034940331045554 + ], + "finger_midpoint": [ + 0.3398243036743227, + -0.12917515750183292, + 1.0034940331045554 + ], + "object_minus_finger_midpoint": [ + 0.005345032514211034, + 0.011787066750555852, + 0.0 + ], + "finger_gap": 0.025884691627294495, + "fingertip_max_gap": 0.0934026968818166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012942345813647248, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034940331045554, + "object_top_z": 1.0533642602953543, + "finger_top_clearance": 0.04987022719079892, + "fingertip_min_top_clearance": 0.014961068157239642, + "object_projection_between_fingers": 0.8294409755911173, + "object_to_finger_line_xy": 0.009735832427296604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492013484409083, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.248924548962372, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32302756226126605, + -0.0019927128714992827, + 0.7701464494012564 + ], + "gripper_position": [ + 0.32767893054608155, + -0.03826399843437919, + 1.0433562091568396 + ], + "target_minus_gripper": [ + -0.004651368284815494, + 0.03627128556287991, + -0.27320975975558315 + ], + "held_position": [ + 0.33154190012280954, + -0.03419921163572508, + 1.043122817618245 + ], + "held_minus_target": [ + 0.008514337861543486, + -0.032206498764225794, + 0.27297636821698856 + ], + "held_minus_gripper": [ + 0.0038629695767279926, + 0.004064786798654116, + -0.00023339153859458506 + ], + "xy_dist": 0.03656831119022272, + "held_xy_dist": 0.033312948111366404, + "held_gripper_dist": 0.005612441294082849, + "max_held_gripper_dist": 0.005618031563870502, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.043122817618245, + "required_height": 0.8001464494012565, + "gripper_z": 1.0433562091568396, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.53786141206761, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7544502221206737, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.438573454607182, + "max_source_tilt_deg": 89.7116453162988, + "source_upright_tilt_deg": 3.099567775078275, + "max_source_upright_tilt_deg": 89.9323653947515, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.438573454607182, + "source_upright_return_tilt_deg": 3.099567775078275, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.228781230931777e-07, + "max_target_xy_drift": 1.7462375884082307e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.323, + -0.002, + 0.7701 + ], + "controller_target_position": [ + 0.323, + -0.002, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0003, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3232, + -0.0275, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00015786584199727408, + -0.0002847783524521344, + -0.0012870533795727823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0995665133792043, + "source_return_step_error_deg": 2.4385649919066554, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1035188411481043, + "source_return_best_wrist_position": -1.617043137550354, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.617043137550354 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.323, + -0.002, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.323, + -0.002, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0003, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3232, + -0.0275, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00015786584199727408, + -0.0002847783524521344, + -0.0012870533795727823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0995665133792043, + "pour_controller_source_return_step_error_deg": 2.4385649919066554, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1035188411481043, + "pour_controller_source_return_best_wrist_position": -1.617043137550354, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.617043137550354, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03656831119022272, + "valid_pour_held_xy_dist": 0.033312948111366404, + "valid_pour_held_gripper_dist": 0.005612441294082849, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.043122817618245, + "valid_pour_source_tilt_deg": 2.438573454607182, + "valid_pour_source_upright_tilt_deg": 3.099567775078275, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.228781230931777e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33154190012280954, + -0.05759209415022405, + 1.043122817618245 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32136737671270676, + -0.03419921163572508, + 1.043122817618245 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3264546384177581, + -0.045895652892974564, + 1.043122817618245 + ], + "valid_pour_held_grasp_object_position": [ + 0.33154190012280954, + -0.03419921163572508, + 1.043122817618245 + ], + "valid_pour_held_grasp_finger_gap": 0.025509760464572796, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02378373404820752, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.041778200240170954, + -0.9985370873963128, + 0.0343258951635722 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005585661186200991, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825345632236688, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33154190012280954, + -0.05759209415022405, + 1.043122817618245 + ], + "held_grasp_finger_b": [ + 0.32136737671270676, + -0.03419921163572508, + 1.043122817618245 + ], + "held_grasp_midpoint": [ + 0.3264546384177581, + -0.045895652892974564, + 1.043122817618245 + ], + "held_grasp_object_position": [ + 0.33154190012280954, + -0.03419921163572508, + 1.043122817618245 + ], + "held_grasp_finger_gap": 0.025509760464572796, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02378373404820752, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.041778200240170954, + -0.9985370873963128, + 0.0343258951635722 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005585661186200991, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825345632236688, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32296010460020136, + -0.1235829106322954, + 0.761106407695443 + ], + "target_position": [ + 0.3222519192766615, + -0.12060404876862839, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030618857678376774, + "xy_threshold": 0.08, + "gripper_dist": 0.21509913299588954, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106407695443, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551225913631301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08896517739204411, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1854250053524474, + "release_required_pad_clearance": 0.05448258869602206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9954517151570377, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57b99315e595f1fc31b418a0ab0d05850c1f815b26e422f685df61141c8fae78", + "visual_seed": 6155582803775037859, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eba6e24e2babaf12db567e0057adc5ec64df556b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_28_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3460757893584449, + -0.12267976561405615, + 1.0018495350546028 + ], + "current_z": 1.0018495350546028, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.1407427290166129, + "gripper_z": 1.0024009607418556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3422715695057018, + -0.1268680884380448, + 1.0024009607418556 + ], + "object_minus_gripper": [ + 0.003804219852743096, + 0.004188322823988663, + -0.000551425687252749 + ], + "object_to_gripper_xy": 0.0056581036369042475, + "object_to_gripper_z": -0.000551425687252749, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3460757893584449, + -0.14627887793917985, + 1.0018495350546028 + ], + "finger_b": [ + 0.33533910710165676, + -0.12267976561405615, + 1.0018495350546028 + ], + "finger_midpoint": [ + 0.34070744823005084, + -0.134479321776618, + 1.0018495350546028 + ], + "object_minus_finger_midpoint": [ + 0.005368341128394072, + 0.011799556162561856, + 0.0 + ], + "finger_gap": 0.02592671302762914, + "fingertip_max_gap": 0.09389152313931312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012963356513814576, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018495350546028, + "object_top_z": 1.0519572913599384, + "finger_top_clearance": 0.05010775630533559, + "fingertip_min_top_clearance": 0.015032326891600677, + "object_projection_between_fingers": 0.8285074413293712, + "object_to_finger_line_xy": 0.009772784166935966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04944576156965656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.351019730314915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3219863883263294, + -0.001744145204640848, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3253934773442006, + -0.037739294406486754, + 1.0450501444753197 + ], + "target_minus_gripper": [ + -0.003407089017871179, + 0.035995149201845905, + -0.2749036950740634 + ], + "held_position": [ + 0.32925977877173457, + -0.03362613204197107, + 1.0444230400878993 + ], + "held_minus_target": [ + 0.007273390445405148, + -0.03188198683733022, + 0.274276590686643 + ], + "held_minus_gripper": [ + 0.003866301427533969, + 0.004113162364515685, + -0.0006271043874204185 + ], + "xy_dist": 0.03615603713958219, + "held_xy_dist": 0.03270112067295261, + "held_gripper_dist": 0.005679758029893651, + "max_held_gripper_dist": 0.005687172700434291, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0444230400878993, + "required_height": 0.8001464494012563, + "gripper_z": 1.0450501444753197, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.6365098342501, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8352426835882727, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4220030283521945, + "max_source_tilt_deg": 89.65572586293652, + "source_upright_tilt_deg": 3.1672812167211166, + "max_source_upright_tilt_deg": 89.83996992507977, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4220030283521945, + "source_upright_return_tilt_deg": 3.1672812167211166, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.3050233721733093e-08, + "max_target_xy_drift": 8.786357242381174e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.322, + -0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.322, + -0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0001, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3202, + -0.0268, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018211554880310575, + 0.00014492004654031564, + 0.0009275127801915144 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1672824371054955, + "source_return_step_error_deg": 2.421993464089183, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1628178977528174, + "source_return_best_wrist_position": -1.6165945529937744, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6165945529937744 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.322, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.322, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0001, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3202, + -0.0268, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018211554880310575, + 0.00014492004654031564, + 0.0009275127801915144 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1672824371054955, + "pour_controller_source_return_step_error_deg": 2.421993464089183, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1628178977528174, + "pour_controller_source_return_best_wrist_position": -1.6165945529937744, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6165945529937744, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03615603713958219, + "valid_pour_held_xy_dist": 0.03270112067295261, + "valid_pour_held_gripper_dist": 0.005679758029893651, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0444230400878993, + "valid_pour_source_tilt_deg": 2.4220030283521945, + "valid_pour_source_upright_tilt_deg": 3.1672812167211166, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.3050233721733093e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32925977877173457, + -0.05700102279153402, + 1.0444230400878993 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31898578752262413, + -0.03362613204197107, + 1.0444230400878993 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32412278314717935, + -0.04531357741675254, + 1.0444230400878993 + ], + "valid_pour_held_grasp_object_position": [ + 0.32925977877173457, + -0.03362613204197107, + 1.0444230400878993 + ], + "valid_pour_held_grasp_finger_gap": 0.025533123853943164, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023806523675195035, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04548752011895542, + -0.9984724866354951, + 0.03136206219875492 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005674923628610281, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03828432661614343, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32925977877173457, + -0.05700102279153402, + 1.0444230400878993 + ], + "held_grasp_finger_b": [ + 0.31898578752262413, + -0.03362613204197107, + 1.0444230400878993 + ], + "held_grasp_midpoint": [ + 0.32412278314717935, + -0.04531357741675254, + 1.0444230400878993 + ], + "held_grasp_object_position": [ + 0.32925977877173457, + -0.03362613204197107, + 1.0444230400878993 + ], + "held_grasp_finger_gap": 0.025533123853943164, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023806523675195035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04548752011895542, + -0.9984724866354951, + 0.03136206219875492 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005674923628610281, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03828432661614343, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32871709936727567, + -0.12650891571616704, + 0.7611163588614206 + ], + "target_position": [ + 0.32313971913313605, + -0.12472683307342156, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00585516770227344, + "xy_threshold": 0.08, + "gripper_dist": 0.22034948045444824, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611163588614206, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586973052859038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565571183595443, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18983173471453577, + "release_required_pad_clearance": 0.052827855917977215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6852071401928594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69804f407b3fcc0657ce744f985f36f5931f4d747e7564454511ec09235a9492", + "visual_seed": 6790147503168375611, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a243b8b122147248cee89a470a2beea6da1384ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_29_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3461312405177769, + -0.12296538040245185, + 1.002092298772924 + ], + "current_z": 1.002092298772924, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.1409857907581582, + "gripper_z": 1.0022413432199562, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34245902875114076, + -0.1269865017239149, + 1.0022413432199562 + ], + "object_minus_gripper": [ + 0.0036722117666361243, + 0.004021121321463053, + -0.00014904444703223163 + ], + "object_to_gripper_xy": 0.005445599686071827, + "object_to_gripper_z": -0.00014904444703223163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3461312405177769, + -0.14654910492318038, + 1.002092298772924 + ], + "finger_b": [ + 0.3357218424015387, + -0.12296538040245185, + 1.002092298772924 + ], + "finger_midpoint": [ + 0.3409265414596578, + -0.1347572426628161, + 1.002092298772924 + ], + "object_minus_finger_midpoint": [ + 0.0052046990581191, + 0.011791862260364258, + 0.0 + ], + "finger_gap": 0.0257788213735996, + "fingertip_max_gap": 0.09412173649034286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012889410686799793, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002092298772924, + "object_top_z": 1.0519882477130156, + "finger_top_clearance": 0.04989594894009164, + "fingertip_min_top_clearance": 0.014968784682027458, + "object_projection_between_fingers": 0.8369483780837172, + "object_to_finger_line_xy": 0.009523025666773278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04956086824517143, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.762441075273929, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3253054729706471, + 0.005929778652869243, + 0.7701463301919669 + ], + "gripper_position": [ + 0.33082526324946127, + -0.03223029208608623, + 1.0454149159706556 + ], + "target_minus_gripper": [ + -0.005519790278814163, + 0.03816007073895547, + -0.27526858577868873 + ], + "held_position": [ + 0.3346055330550265, + -0.02831939288758345, + 1.0451895859417757 + ], + "held_minus_target": [ + 0.009300060084379391, + -0.03424917154045269, + 0.2750432557498088 + ], + "held_minus_gripper": [ + 0.0037802698055652284, + 0.003910899198502779, + -0.00022533002887992204 + ], + "xy_dist": 0.038557218306358366, + "held_xy_dist": 0.03548939093279034, + "held_gripper_dist": 0.00544392743941659, + "max_held_gripper_dist": 0.005448677095446176, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0451895859417757, + "required_height": 0.8001463301919669, + "gripper_z": 1.0454149159706556, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.46337819916863, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2018729833378106, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.545576768905067, + "max_source_tilt_deg": 89.74746896515146, + "source_upright_tilt_deg": 3.0671726093445795, + "max_source_upright_tilt_deg": 89.8781941136824, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.545576768905067, + "source_upright_return_tilt_deg": 3.0671726093445795, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.87304071391938e-08, + "max_target_xy_drift": 1.8875831720356625e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3253, + 0.0059, + 0.7701 + ], + "controller_target_position": [ + 0.3253, + 0.0059, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0019, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3271, + -0.0212, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018029534011298515, + -0.001933429762418172, + 0.001074420577227456 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0671664340147666, + "source_return_step_error_deg": 2.5455971815855403, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.062625528908217, + "source_return_best_wrist_position": -1.6148649454116821, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6148649454116821 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3253, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3253, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0019, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3271, + -0.0212, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018029534011298515, + -0.001933429762418172, + 0.001074420577227456 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0671664340147666, + "pour_controller_source_return_step_error_deg": 2.5455971815855403, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.062625528908217, + "pour_controller_source_return_best_wrist_position": -1.6148649454116821, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6148649454116821, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038557218306358366, + "valid_pour_held_xy_dist": 0.03548939093279034, + "valid_pour_held_gripper_dist": 0.00544392743941659, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0451895859417757, + "valid_pour_source_tilt_deg": 2.545576768905067, + "valid_pour_source_upright_tilt_deg": 3.0671726093445795, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.87304071391938e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3346055330550265, + -0.05192734835821722, + 1.0451895859417757 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3249723422634838, + -0.02831939288758345, + 1.0451895859417757 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32978893765925515, + -0.040123370622900334, + 1.0451895859417757 + ], + "valid_pour_held_grasp_object_position": [ + 0.3346055330550265, + -0.02831939288758345, + 1.0451895859417757 + ], + "valid_pour_held_grasp_finger_gap": 0.02549772394410312, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023951608360903452, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03918444944708305, + -0.9985675003768245, + 0.036435231750459145 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005292651080196833, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038121917167228646, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3346055330550265, + -0.05192734835821722, + 1.0451895859417757 + ], + "held_grasp_finger_b": [ + 0.3249723422634838, + -0.02831939288758345, + 1.0451895859417757 + ], + "held_grasp_midpoint": [ + 0.32978893765925515, + -0.040123370622900334, + 1.0451895859417757 + ], + "held_grasp_object_position": [ + 0.3346055330550265, + -0.02831939288758345, + 1.0451895859417757 + ], + "held_grasp_finger_gap": 0.02549772394410312, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023951608360903452, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03918444944708305, + -0.9985675003768245, + 0.036435231750459145 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005292651080196833, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038121917167228646, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30799360850919655, + -0.10980152887779152, + 0.7611065729537615 + ], + "target_position": [ + 0.32330938456230923, + -0.12565184514747657, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022040996392135786, + "xy_threshold": 0.08, + "gripper_dist": 0.20658249940887286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065729537615, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08154445587268389, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08748196548277208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18184606994785668, + "release_required_pad_clearance": 0.05374098274138604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4910534800273503, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe047d9d73d57a0eee2376268cb43ebfbb069179ad8077b32d77caf42751feff", + "visual_seed": 8297970843878820087, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7aefe990762e54ae6c7b7404df07a5446b663007 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_2_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3494624300680322, + -0.11518336335674415, + 1.0035814925950626 + ], + "current_z": 1.0035814925950626, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1424750441849415, + "gripper_z": 1.0037324111065236, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3453334809043498, + -0.11935816379580083, + 1.0037324111065236 + ], + "object_minus_gripper": [ + 0.004128949163682394, + 0.004174800439056686, + -0.00015091851146098456 + ], + "object_to_gripper_xy": 0.005871727165172223, + "object_to_gripper_z": -0.00015091851146098456, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3494624300680322, + -0.1392631900706951, + 1.0035814925950626 + ], + "finger_b": [ + 0.3390365149020947, + -0.11518336335674415, + 1.0035814925950626 + ], + "finger_midpoint": [ + 0.34424947248506343, + -0.12722327671371964, + 1.0035814925950626 + ], + "object_minus_finger_midpoint": [ + 0.005212957582968747, + 0.01203991335697549, + 0.0 + ], + "finger_gap": 0.026240003079672673, + "fingertip_max_gap": 0.09346761466528855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120001539836348, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035814925950626, + "object_top_z": 1.0534765894173332, + "finger_top_clearance": 0.04989509682227067, + "fingertip_min_top_clearance": 0.0149685290466812, + "object_projection_between_fingers": 0.8421296360109849, + "object_to_finger_line_xy": 0.009567614369855475, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04923380733264428, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.267781540446604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32074118769232685, + 0.0013962805705592803, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3265109194003345, + -0.03294438819578284, + 1.0449165872656667 + ], + "target_minus_gripper": [ + -0.005769731708007653, + 0.03434066876634212, + -0.2747701974690552 + ], + "held_position": [ + 0.3305863606240235, + -0.028722067232617297, + 1.0447095868841223 + ], + "held_minus_target": [ + 0.009845172931696677, + -0.030118347803176578, + 0.27456319708751076 + ], + "held_minus_gripper": [ + 0.004075441223689025, + 0.004222320963165542, + -0.0002070003815444199 + ], + "xy_dist": 0.03482199499313637, + "held_xy_dist": 0.03168662658674988, + "held_gripper_dist": 0.005871972806620499, + "max_held_gripper_dist": 0.005874350221654311, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0447095868841223, + "required_height": 0.8001463897966116, + "gripper_z": 1.0449165872656667, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.12273617469258, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.67282893587898, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7100375557388316, + "max_source_tilt_deg": 89.82677690495456, + "source_upright_tilt_deg": 4.099255288969953, + "max_source_upright_tilt_deg": 89.80579776945144, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7100375557388316, + "source_upright_return_tilt_deg": 4.099255288969953, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2103700506480913e-07, + "max_target_xy_drift": 2.1503671541306096e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3207, + 0.0014, + 0.7701 + ], + "controller_target_position": [ + 0.3207, + 0.0014, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0019, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3216, + -0.0219, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008185536468029281, + 0.0018738921087940708, + 0.0008998228349331766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.0992543876383705, + "source_return_step_error_deg": 1.7100251692713393, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.100859748645379, + "source_return_best_wrist_position": -1.5909056663513184, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5909056663513184 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3207, + 0.0014, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3207, + 0.0014, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0019, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3216, + -0.0219, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008185536468029281, + 0.0018738921087940708, + 0.0008998228349331766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.0992543876383705, + "pour_controller_source_return_step_error_deg": 1.7100251692713393, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.100859748645379, + "pour_controller_source_return_best_wrist_position": -1.5909056663513184, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5909056663513184, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03482199499313637, + "valid_pour_held_xy_dist": 0.03168662658674988, + "valid_pour_held_gripper_dist": 0.005871972806620499, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0447095868841223, + "valid_pour_source_tilt_deg": 1.7100375557388316, + "valid_pour_source_upright_tilt_deg": 4.099255288969953, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2103700506480913e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3305863606240235, + -0.05248002698169363, + 1.0447095868841223 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31986810568185753, + -0.028722067232617297, + 1.0447095868841223 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32522723315294055, + -0.040601047107155466, + 1.0447095868841223 + ], + "valid_pour_held_grasp_object_position": [ + 0.3305863606240235, + -0.028722067232617297, + 1.0447095868841223 + ], + "valid_pour_held_grasp_finger_gap": 0.026063799424565805, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024442879114929636, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06957279574309694, + -0.9974417165193316, + 0.01642096950423222 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006175579964045918, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038244509474443994, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3305863606240235, + -0.05248002698169363, + 1.0447095868841223 + ], + "held_grasp_finger_b": [ + 0.31986810568185753, + -0.028722067232617297, + 1.0447095868841223 + ], + "held_grasp_midpoint": [ + 0.32522723315294055, + -0.040601047107155466, + 1.0447095868841223 + ], + "held_grasp_object_position": [ + 0.3305863606240235, + -0.028722067232617297, + 1.0447095868841223 + ], + "held_grasp_finger_gap": 0.026063799424565805, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024442879114929636, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06957279574309694, + -0.9974417165193316, + 0.01642096950423222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006175579964045918, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038244509474443994, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3279197818989065, + -0.11873777354442216, + 0.7611072614991051 + ], + "target_position": [ + 0.32620146528534444, + -0.12067203419604074, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002587271971178017, + "xy_threshold": 0.08, + "gripper_dist": 0.21747088738726653, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072614991051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524124747694472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523268543683114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1891025337534066, + "release_required_pad_clearance": 0.052616342718415574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29341862000184615, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b5590a3de09dc23687fed2f33492e92cdd3a512af2b85f7998ea9d0be112ae7", + "visual_seed": 5928703669645473370, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d7b269e12407a0236eb1c236a7925dc3865d42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_30_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34908167323264205, + -0.11834591330474334, + 1.0027339526288128 + ], + "current_z": 1.0027339526288128, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14162744461404697, + "gripper_z": 1.0028405684767276, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34534844489191063, + -0.12234971464333974, + 1.0028405684767276 + ], + "object_minus_gripper": [ + 0.0037332283407314204, + 0.004003801338596402, + -0.00010661584791482603 + ], + "object_to_gripper_xy": 0.005474250542584493, + "object_to_gripper_z": -0.00010661584791482603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34908167323264205, + -0.14205050057564358, + 1.0027339526288128 + ], + "finger_b": [ + 0.3387806430927758, + -0.11834591330474334, + 1.0027339526288128 + ], + "finger_midpoint": [ + 0.3439311581627089, + -0.13019820694019346, + 1.0027339526288128 + ], + "object_minus_finger_midpoint": [ + 0.005150515069933137, + 0.011852293635450123, + 0.0 + ], + "finger_gap": 0.025846057332331352, + "fingertip_max_gap": 0.0944891898879294, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012923028666165676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027339526288128, + "object_top_z": 1.0527503691225877, + "finger_top_clearance": 0.05001641649377486, + "fingertip_min_top_clearance": 0.015004924948132442, + "object_projection_between_fingers": 0.8411553072111456, + "object_to_finger_line_xy": 0.009447540287902335, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0497445949439647, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.8103520918220237, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3281092456585591, + 0.002608598765589373, + 0.7701462705873221 + ], + "gripper_position": [ + 0.3317223048117377, + -0.031833665180087886, + 1.042267421560143 + ], + "target_minus_gripper": [ + -0.0036130591531786105, + 0.03444226394567726, + -0.27212115097282097 + ], + "held_position": [ + 0.33541659829295895, + -0.02779796952679156, + 1.0421058625268773 + ], + "held_minus_target": [ + 0.007307352634399855, + -0.030406568292380934, + 0.2719595919395552 + ], + "held_minus_gripper": [ + 0.0036942934812212447, + 0.004035695653296326, + -0.00016155903326575682 + ], + "xy_dist": 0.03463125383447829, + "held_xy_dist": 0.031272300808266346, + "held_gripper_dist": 0.005473640932017591, + "max_held_gripper_dist": 0.005476272550584841, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701462705873221, + "held_z": 1.0421058625268773, + "required_height": 0.8001462705873221, + "gripper_z": 1.042267421560143, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.27318475154046, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2242070964984286, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5752598684247752, + "max_source_tilt_deg": 89.85088185925002, + "source_upright_tilt_deg": 4.435691365630738, + "max_source_upright_tilt_deg": 89.81798469531122, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5752598684247752, + "source_upright_return_tilt_deg": 4.435691365630738, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.7953416788000185e-07, + "max_target_xy_drift": 2.1041759460128458e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3281, + 0.0026, + 0.7701 + ], + "controller_target_position": [ + 0.3281, + 0.0026, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0017, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3272, + -0.0209, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009120788563317165, + 0.0016507685282837175, + -0.0017772972877610604 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.4356923975137, + "source_return_step_error_deg": 1.575275191640581, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.439732487736495, + "source_return_best_wrist_position": -1.5910191535949707, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5910191535949707 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3281, + 0.0026, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3281, + 0.0026, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0017, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3272, + -0.0209, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009120788563317165, + 0.0016507685282837175, + -0.0017772972877610604 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.4356923975137, + "pour_controller_source_return_step_error_deg": 1.575275191640581, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.439732487736495, + "pour_controller_source_return_best_wrist_position": -1.5910191535949707, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5910191535949707, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03463125383447829, + "valid_pour_held_xy_dist": 0.031272300808266346, + "valid_pour_held_gripper_dist": 0.005473640932017591, + "valid_pour_required_height": 0.8001462705873221, + "valid_pour_held_z": 1.0421058625268773, + "valid_pour_source_tilt_deg": 1.5752598684247752, + "valid_pour_source_upright_tilt_deg": 4.435691365630738, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.7953416788000185e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33541659829295895, + -0.05122946158915376, + 1.0421058625268773 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3248847283955393, + -0.02779796952679156, + 1.0421058625268773 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33015066334424914, + -0.03951371555797266, + 1.0421058625268773 + ], + "valid_pour_held_grasp_object_position": [ + 0.33541659829295895, + -0.02779796952679156, + 1.0421058625268773 + ], + "valid_pour_held_grasp_finger_gap": 0.025689591351454332, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024162692603918023, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07609125602084622, + -0.9970047717405196, + 0.013842177711781308 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061442012147112784, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03844028697687885, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33541659829295895, + -0.05122946158915376, + 1.0421058625268773 + ], + "held_grasp_finger_b": [ + 0.3248847283955393, + -0.02779796952679156, + 1.0421058625268773 + ], + "held_grasp_midpoint": [ + 0.33015066334424914, + -0.03951371555797266, + 1.0421058625268773 + ], + "held_grasp_object_position": [ + 0.33541659829295895, + -0.02779796952679156, + 1.0421058625268773 + ], + "held_grasp_finger_gap": 0.025689591351454332, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024162692603918023, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07609125602084622, + -0.9970047717405196, + 0.013842177711781308 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061442012147112784, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03844028697687885, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3242081328988496, + -0.115868629125209, + 0.7611162198270566 + ], + "target_position": [ + 0.32620993170615387, + -0.12100133364732972, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005509251689324364, + "xy_threshold": 0.08, + "gripper_dist": 0.2156639436759896, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611162198270566, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519329983404717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709026904604832, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18847815929832148, + "release_required_pad_clearance": 0.05354513452302416, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0800411915929153, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3a1280a2c4b1fc026ec2eaa3132caab04e8fee2de51a367c6fe1851f9745f6f", + "visual_seed": 6910030229231907526, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69ed3d81e0c7102ba75d174532ed4113b75945f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_31_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34154527854823125, + -0.12239671563087595, + 1.0046772369120127 + ], + "current_z": 1.0046772369120127, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14357066929260176, + "gripper_z": 1.0058330482905147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3379651821729982, + -0.12638581308773267, + 1.0058330482905147 + ], + "object_minus_gripper": [ + 0.003580096375233044, + 0.003989097456856716, + -0.0011558113785019586 + ], + "object_to_gripper_xy": 0.005360036247662649, + "object_to_gripper_z": -0.0011558113785019586, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34154527854823125, + -0.14586924053549094, + 1.0046772369120127 + ], + "finger_b": [ + 0.33115196616224635, + -0.12239671563087595, + 1.0046772369120127 + ], + "finger_midpoint": [ + 0.33634862235523877, + -0.13413297808318345, + 1.0046772369120127 + ], + "object_minus_finger_midpoint": [ + 0.005196656192992477, + 0.011736262452307494, + 0.0 + ], + "finger_gap": 0.025670612921206964, + "fingertip_max_gap": 0.09424926366603129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012835306460603494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046772369120127, + "object_top_z": 1.0546868752528644, + "finger_top_clearance": 0.0500096383408517, + "fingertip_min_top_clearance": 0.01500289150225551, + "object_projection_between_fingers": 0.8360786638888527, + "object_to_finger_line_xy": 0.009503368095271962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049624631833015645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.9346416327614935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3217258862263387, + 0.007181546508006829, + 0.7701463301919668 + ], + "gripper_position": [ + 0.3262442225726021, + -0.0302996150673875, + 1.0441325646221258 + ], + "target_minus_gripper": [ + -0.0045183363462634185, + 0.03748116157539433, + -0.273986234430159 + ], + "held_position": [ + 0.3298806358976053, + -0.026398351324161348, + 1.042898035284948 + ], + "held_minus_target": [ + 0.008154749671266615, + -0.03357989783216818, + 0.2727517050929812 + ], + "held_minus_gripper": [ + 0.003636413325003196, + 0.003901263743226153, + -0.0012345293371778254 + ], + "xy_dist": 0.0377525209274663, + "held_xy_dist": 0.034555889232081353, + "held_gripper_dist": 0.005474250939518982, + "max_held_gripper_dist": 0.005494708870663567, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.042898035284948, + "required_height": 0.8001463301919668, + "gripper_z": 1.0441325646221258, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.74573821945695, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.5081261293313437, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5047507949483903, + "max_source_tilt_deg": 89.83677148305506, + "source_upright_tilt_deg": 3.862170156804819, + "max_source_upright_tilt_deg": 89.88451936408234, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5047507949483903, + "source_upright_return_tilt_deg": 3.862170156804819, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2128666487410446e-07, + "max_target_xy_drift": 1.9861641222580418e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3217, + 0.0072, + 0.7701 + ], + "controller_target_position": [ + 0.3217, + 0.0072, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0015, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3226, + -0.0195, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000862568926946279, + -0.0014861489394479314, + -0.0005980505109722664 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.862173021022213, + "source_return_step_error_deg": 2.504766533960423, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8572766081542587, + "source_return_best_wrist_position": -1.6177045106887817, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6177045106887817 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3217, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3217, + 0.0072, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0015, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3226, + -0.0195, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000862568926946279, + -0.0014861489394479314, + -0.0005980505109722664 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.862173021022213, + "pour_controller_source_return_step_error_deg": 2.504766533960423, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8572766081542587, + "pour_controller_source_return_best_wrist_position": -1.6177045106887817, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6177045106887817, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0377525209274663, + "valid_pour_held_xy_dist": 0.034555889232081353, + "valid_pour_held_gripper_dist": 0.005474250939518982, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.042898035284948, + "valid_pour_source_tilt_deg": 2.5047507949483903, + "valid_pour_source_upright_tilt_deg": 3.862170156804819, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2128666487410446e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3298806358976053, + -0.049569144144587594, + 1.042898035284948 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31988476199022214, + -0.026398351324161348, + 1.042898035284948 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32488269894391375, + -0.03798374773437447, + 1.042898035284948 + ], + "valid_pour_held_grasp_object_position": [ + 0.3298806358976053, + -0.026398351324161348, + 1.042898035284948 + ], + "valid_pour_held_grasp_finger_gap": 0.025234958591196854, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023700734622914044, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.058280365711991765, + -0.9977289778190472, + 0.03376811799072732 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005677796578446605, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03845244594557129, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3298806358976053, + -0.049569144144587594, + 1.042898035284948 + ], + "held_grasp_finger_b": [ + 0.31988476199022214, + -0.026398351324161348, + 1.042898035284948 + ], + "held_grasp_midpoint": [ + 0.32488269894391375, + -0.03798374773437447, + 1.042898035284948 + ], + "held_grasp_object_position": [ + 0.3298806358976053, + -0.026398351324161348, + 1.042898035284948 + ], + "held_grasp_finger_gap": 0.025234958591196854, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023700734622914044, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.058280365711991765, + -0.9977289778190472, + 0.03376811799072732 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005677796578446605, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03845244594557129, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30061851704606257, + -0.11055701383555605, + 0.7611069762923314 + ], + "target_position": [ + 0.3190288683882627, + -0.12702516289094024, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02470103175686396, + "xy_threshold": 0.08, + "gripper_dist": 0.20254817684354343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069762923314, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0806876647164783, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09047978973249064, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1791145762962702, + "release_required_pad_clearance": 0.05523989486624532, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.5832395887542186, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 177, + "max_placed_release_frames": 177 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af3cdee0c6082ca30379f5c167867fb573ab97afc67a1138a15b5e52262c4e25", + "visual_seed": 6822899441941437068, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13de196bc5f850ce37a5b4dabe847e5a192c94f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_32_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3501896515385386, + -0.11523975546060863, + 1.0046359679452042 + ], + "current_z": 1.0046359679452042, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14352951953508286, + "gripper_z": 1.0055992221218164, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3461073173604837, + -0.11945031299716459, + 1.0055992221218164 + ], + "object_minus_gripper": [ + 0.004082334178054869, + 0.004210557536555956, + -0.0009632541766122493 + ], + "object_to_gripper_xy": 0.005864660869134983, + "object_to_gripper_z": -0.0009632541766122493, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3501896515385386, + -0.13916270047940577, + 1.0046359679452042 + ], + "finger_b": [ + 0.3395804702134212, + -0.11523975546060863, + 1.0046359679452042 + ], + "finger_midpoint": [ + 0.3448850608759799, + -0.1272012279700072, + 1.0046359679452042 + ], + "object_minus_finger_midpoint": [ + 0.0053045906625586725, + 0.01196147250939858, + 0.0 + ], + "finger_gap": 0.026169868680633653, + "fingertip_max_gap": 0.09347361789804007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308493434031683, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046359679452042, + "object_top_z": 1.0544328906378864, + "finger_top_clearance": 0.04979692269268221, + "fingertip_min_top_clearance": 0.014939076807804645, + "object_projection_between_fingers": 0.8356534250826578, + "object_to_finger_line_xy": 0.009698285636528739, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049236808949020036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.43386310694645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32319990909163393, + 0.005854082150988358, + 0.7701463301919671 + ], + "gripper_position": [ + 0.32686727953561645, + -0.029444361698742857, + 1.0445700752827973 + ], + "target_minus_gripper": [ + -0.0036673704439825205, + 0.035298443849731215, + -0.27442374509083023 + ], + "held_position": [ + 0.3308988092150384, + -0.02520249708098862, + 1.043547809851937 + ], + "held_minus_target": [ + 0.007698900123404462, + -0.031056579231976977, + 0.27340147965996997 + ], + "held_minus_gripper": [ + 0.004031529679421941, + 0.004241864617754238, + -0.0010222654308602586 + ], + "xy_dist": 0.03548844522074789, + "held_xy_dist": 0.03199662758326603, + "held_gripper_dist": 0.005940679557302111, + "max_held_gripper_dist": 0.005946754429274942, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.043547809851937, + "required_height": 0.8001463301919671, + "gripper_z": 1.0445700752827973, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.27470788372536, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.000872465147312, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.664571559510063, + "max_source_tilt_deg": 89.92534948898239, + "source_upright_tilt_deg": 4.2053166424355375, + "max_source_upright_tilt_deg": 89.9544678721735, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.664571559510063, + "source_upright_return_tilt_deg": 4.2053166424355375, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.132778600562893e-08, + "max_target_xy_drift": 2.1801702511905927e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3232, + 0.0059, + 0.7701 + ], + "controller_target_position": [ + 0.3232, + 0.0059, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0008, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3216, + -0.0185, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015769562975072558, + 0.0008158368584195025, + 0.0005162665951783723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.205316422676994, + "source_return_step_error_deg": 1.6645651905198835, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.205468840465777, + "source_return_best_wrist_position": -1.5932453870773315, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5932453870773315 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3232, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3232, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0008, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3216, + -0.0185, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015769562975072558, + 0.0008158368584195025, + 0.0005162665951783723 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.205316422676994, + "pour_controller_source_return_step_error_deg": 1.6645651905198835, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.205468840465777, + "pour_controller_source_return_best_wrist_position": -1.5932453870773315, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5932453870773315, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03548844522074789, + "valid_pour_held_xy_dist": 0.03199662758326603, + "valid_pour_held_gripper_dist": 0.005940679557302111, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.043547809851937, + "valid_pour_source_tilt_deg": 1.664571559510063, + "valid_pour_source_upright_tilt_deg": 4.2053166424355375, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.132778600562893e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3308988092150384, + -0.048776414235901414, + 1.043547809851937 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3200177061575239, + -0.02520249708098862, + 1.043547809851937 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3254582576862811, + -0.03698945565844502, + 1.043547809851937 + ], + "valid_pour_held_grasp_object_position": [ + 0.3308988092150384, + -0.02520249708098862, + 1.043547809851937 + ], + "valid_pour_held_grasp_finger_gap": 0.02596397453732658, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024294435049321578, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07205026965210694, + -0.997307680578479, + 0.013643639625598222 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006277656574315579, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038357018954840554, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3308988092150384, + -0.048776414235901414, + 1.043547809851937 + ], + "held_grasp_finger_b": [ + 0.3200177061575239, + -0.02520249708098862, + 1.043547809851937 + ], + "held_grasp_midpoint": [ + 0.3254582576862811, + -0.03698945565844502, + 1.043547809851937 + ], + "held_grasp_object_position": [ + 0.3308988092150384, + -0.02520249708098862, + 1.043547809851937 + ], + "held_grasp_finger_gap": 0.02596397453732658, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024294435049321578, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07205026965210694, + -0.997307680578479, + 0.013643639625598222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006277656574315579, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038357018954840554, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31315104511903796, + -0.10559999191286173, + 0.761106430533689 + ], + "target_position": [ + 0.3271453822073678, + -0.12025893408562896, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02026637748011067, + "xy_threshold": 0.08, + "gripper_dist": 0.20618035387096145, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106430533689, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07947264702009882, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09042686855136027, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18152732006032715, + "release_required_pad_clearance": 0.05521343427568014, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.526859273829021, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ca86d5949c24aee107b7a611f7a1cfa9b926882d2dbf93d25c41b7a7cd53675", + "visual_seed": 7722646876710826925, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa7dd67ce67742ac7690c81684220e94012e80c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_33_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3453331733715808, + -0.11637605661174803, + 1.0044465103190794 + ], + "current_z": 1.0044465103190794, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1433400619089582, + "gripper_z": 1.0046588485348307, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3415828286928581, + -0.12050632715001072, + 1.0046588485348307 + ], + "object_minus_gripper": [ + 0.0037503446787227057, + 0.00413027053826269, + -0.0002123382157512843 + ], + "object_to_gripper_xy": 0.005578908488984605, + "object_to_gripper_z": -0.0002123382157512843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3453331733715808, + -0.13987820836760365, + 1.0044465103190794 + ], + "finger_b": [ + 0.33458126166175794, + -0.11637605661174803, + 1.0044465103190794 + ], + "finger_midpoint": [ + 0.3399572175166694, + -0.12812713248967583, + 1.0044465103190794 + ], + "object_minus_finger_midpoint": [ + 0.005375955854911407, + 0.0117510758779278, + 0.0 + ], + "finger_gap": 0.0258448204205619, + "fingertip_max_gap": 0.09385098189670396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01292241021028093, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044465103190794, + "object_top_z": 1.0543223181229775, + "finger_top_clearance": 0.04987580780389811, + "fingertip_min_top_clearance": 0.014962742341169415, + "object_projection_between_fingers": 0.8269289847829443, + "object_to_finger_line_xy": 0.009777319267762345, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04942549094835198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.617827736000887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32050986206595355, + 0.004933280261837018, + 0.7701463897966115 + ], + "gripper_position": [ + 0.32609700428428745, + -0.03307310444321633, + 1.0461942021040722 + ], + "target_minus_gripper": [ + -0.005587142218333896, + 0.038006384705053346, + -0.27604781230746067 + ], + "held_position": [ + 0.32989348466704843, + -0.028994873741308016, + 1.0459084364259572 + ], + "held_minus_target": [ + 0.009383622601094876, + -0.033928154003145035, + 0.27576204662934567 + ], + "held_minus_gripper": [ + 0.0037964803827609805, + 0.004078230701908315, + -0.000285765678115002 + ], + "xy_dist": 0.03841485957954814, + "held_xy_dist": 0.03520187505206086, + "held_gripper_dist": 0.005579147871984132, + "max_held_gripper_dist": 0.005583940723800484, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0459084364259572, + "required_height": 0.8001463897966116, + "gripper_z": 1.0461942021040722, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.5098234855247, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0002297928179233, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.361883064318895, + "max_source_tilt_deg": 89.7036731069441, + "source_upright_tilt_deg": 3.712960309773195, + "max_source_upright_tilt_deg": 89.88809707090145, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.361883064318895, + "source_upright_return_tilt_deg": 3.712960309773195, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993507385254e-08, + "max_target_xy_drift": 1.6699590246055136e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3205, + 0.0049, + 0.7701 + ], + "controller_target_position": [ + 0.3205, + 0.0049, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0019, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3213, + -0.0222, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007872093572043469, + -0.0019097806924362076, + 0.0019534371406662856 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7129641863914666, + "source_return_step_error_deg": 2.361906430650261, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7196735143464497, + "source_return_best_wrist_position": -1.6155575513839722, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6155575513839722 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3205, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3205, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0019, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3213, + -0.0222, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007872093572043469, + -0.0019097806924362076, + 0.0019534371406662856 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7129641863914666, + "pour_controller_source_return_step_error_deg": 2.361906430650261, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7196735143464497, + "pour_controller_source_return_best_wrist_position": -1.6155575513839722, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6155575513839722, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03841485957954814, + "valid_pour_held_xy_dist": 0.03520187505206086, + "valid_pour_held_gripper_dist": 0.005579147871984132, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0459084364259572, + "valid_pour_source_tilt_deg": 2.361883064318895, + "valid_pour_source_upright_tilt_deg": 3.712960309773195, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993507385254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32989348466704843, + -0.052250453565524005, + 1.0459084364259572 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3195445739607661, + -0.028994873741308016, + 1.0459084364259572 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3247190293139073, + -0.04062266365341601, + 1.0459084364259572 + ], + "valid_pour_held_grasp_object_position": [ + 0.32989348466704843, + -0.028994873741308016, + 1.0459084364259572 + ], + "valid_pour_held_grasp_finger_gap": 0.025454310946617417, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023753617197620612, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.052841378488813956, + -0.9979010054988113, + 0.03743490274948469 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005797632329206958, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03839029217886236, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32989348466704843, + -0.052250453565524005, + 1.0459084364259572 + ], + "held_grasp_finger_b": [ + 0.3195445739607661, + -0.028994873741308016, + 1.0459084364259572 + ], + "held_grasp_midpoint": [ + 0.3247190293139073, + -0.04062266365341601, + 1.0459084364259572 + ], + "held_grasp_object_position": [ + 0.32989348466704843, + -0.028994873741308016, + 1.0459084364259572 + ], + "held_grasp_finger_gap": 0.025454310946617417, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023753617197620612, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.052841378488813956, + -0.9979010054988113, + 0.03743490274948469 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005797632329206958, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03839029217886236, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3058477761348553, + -0.10706222050226392, + 0.7611124178042022 + ], + "target_position": [ + 0.32236262782135555, + -0.12117115769569582, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02172101367237049, + "xy_threshold": 0.08, + "gripper_dist": 0.20554239997307192, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611124178042022, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07922816112608759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08989131429437751, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18116405233729851, + "release_required_pad_clearance": 0.054945657147188756, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.930875874849475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bbcb62350319f72e24e2939db0cb624fa0f7c81bec35be8ffefe83bd70c26b68", + "visual_seed": 5956443596652290341, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..230c9926a2f41b8416ebdc229932f86f420d11c7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_34_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34759129557898727, + -0.12671257168113462, + 1.0015266895659956 + ], + "current_z": 1.0015266895659956, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14042012194658482, + "gripper_z": 1.0020946423427326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34363616811640196, + -0.1307495451531578, + 1.0020946423427326 + ], + "object_minus_gripper": [ + 0.003955127462585306, + 0.00403697347202317, + -0.0005679527767370462 + ], + "object_to_gripper_xy": 0.00565156509819318, + "object_to_gripper_z": -0.0005679527767370462, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34759129557898727, + -0.15071040462230822, + 1.0015266895659956 + ], + "finger_b": [ + 0.3374366731202522, + -0.12671257168113462, + 1.0015266895659956 + ], + "finger_midpoint": [ + 0.34251398434961977, + -0.1387114881517214, + 1.0015266895659956 + ], + "object_minus_finger_midpoint": [ + 0.005077311229367498, + 0.01199891647058679, + 0.0 + ], + "finger_gap": 0.02605786528386244, + "fingertip_max_gap": 0.09368711344656047, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013028932641931197, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0015266895659956, + "object_top_z": 1.051309003524874, + "finger_top_clearance": 0.049782313958878444, + "fingertip_min_top_clearance": 0.01493469418766355, + "object_projection_between_fingers": 0.8481377278050823, + "object_to_finger_line_xy": 0.009351837945694235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04934355672328024, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5548237948770485, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32461739695136005, + 0.00443795309089877, + 0.7701464494012565 + ], + "gripper_position": [ + 0.327884103770517, + -0.030627613680064336, + 1.0425112126519895 + ], + "target_minus_gripper": [ + -0.0032667068191569726, + 0.035065566770963105, + -0.272364763250733 + ], + "held_position": [ + 0.3318229792889268, + -0.026586898970886202, + 1.0418807080280668 + ], + "held_minus_target": [ + 0.0072055823375667405, + -0.03102485206178497, + 0.2717342586268102 + ], + "held_minus_gripper": [ + 0.003938875518409768, + 0.004040714709178134, + -0.0006305046239227785 + ], + "xy_dist": 0.03521740118764016, + "held_xy_dist": 0.03185061792617369, + "held_gripper_dist": 0.0056779971637263395, + "max_held_gripper_dist": 0.005682094025697528, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0418807080280668, + "required_height": 0.8001464494012566, + "gripper_z": 1.0425112126519895, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.30613358409659, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.046073450515523, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.3798304024672932, + "max_source_tilt_deg": 89.82626389444395, + "source_upright_tilt_deg": 3.8726948654908173, + "max_source_upright_tilt_deg": 89.95041971067576, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.3798304024672932, + "source_upright_return_tilt_deg": 3.8726948654908173, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0710209608078003e-08, + "max_target_xy_drift": 1.2386590242385864e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3246, + 0.0044, + 0.7701 + ], + "controller_target_position": [ + 0.3246, + 0.0044, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0009, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3235, + -0.0198, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010745905578565145, + 0.000929406630063234, + -0.0018289967355228378 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.872694861726602, + "source_return_step_error_deg": 1.3798233970952243, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8723530788096654, + "source_return_best_wrist_position": -1.5916115045547485, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5916115045547485 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3246, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3246, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0009, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3235, + -0.0198, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010745905578565145, + 0.000929406630063234, + -0.0018289967355228378 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.872694861726602, + "pour_controller_source_return_step_error_deg": 1.3798233970952243, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8723530788096654, + "pour_controller_source_return_best_wrist_position": -1.5916115045547485, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5916115045547485, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03521740118764016, + "valid_pour_held_xy_dist": 0.03185061792617369, + "valid_pour_held_gripper_dist": 0.0056779971637263395, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0418807080280668, + "valid_pour_source_tilt_deg": 1.3798304024672932, + "valid_pour_source_upright_tilt_deg": 3.8726948654908173, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0710209608078003e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3318229792889268, + -0.05039602517737472, + 1.0418807080280668 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3215787011754636, + -0.026586898970886202, + 1.0418807080280668 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3267008402321952, + -0.03849146207413046, + 1.0418807080280668 + ], + "valid_pour_held_grasp_object_position": [ + 0.3318229792889268, + -0.026586898970886202, + 1.0418807080280668 + ], + "valid_pour_held_grasp_finger_gap": 0.02591948542665304, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02443007943028836, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0659216175925031, + -0.9977165831271745, + 0.014695580526939419 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005898286690360354, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03818052973925785, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3318229792889268, + -0.05039602517737472, + 1.0418807080280668 + ], + "held_grasp_finger_b": [ + 0.3215787011754636, + -0.026586898970886202, + 1.0418807080280668 + ], + "held_grasp_midpoint": [ + 0.3267008402321952, + -0.03849146207413046, + 1.0418807080280668 + ], + "held_grasp_object_position": [ + 0.3318229792889268, + -0.026586898970886202, + 1.0418807080280668 + ], + "held_grasp_finger_gap": 0.02591948542665304, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02443007943028836, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0659216175925031, + -0.9977165831271745, + 0.014695580526939419 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005898286690360354, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03818052973925785, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3247723470275245, + -0.12930095622432256, + 0.7611064570342985 + ], + "target_position": [ + 0.3245975240078737, + -0.12860003163959727, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0007223976478866403, + "xy_threshold": 0.08, + "gripper_dist": 0.21740685375772514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064570342985, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543544248472045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0921998758202912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18828833381695173, + "release_required_pad_clearance": 0.0560999379101456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.460913007026854, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46e052cbe56c31b1b008e835ab853e85e50897e3daca7118a56742f5632a9424", + "visual_seed": 7855780681134195137, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b823146629bd8b870bebcffbe9acdf4bf6efc64 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_35_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3484902866036606, + -0.1255363886658672, + 1.0045552262268624 + ], + "current_z": 1.0045552262268624, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14344865860745148, + "gripper_z": 1.005294415113634, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34477862778446644, + -0.12962439934415926, + 1.005294415113634 + ], + "object_minus_gripper": [ + 0.0037116588191941635, + 0.0040880106782920644, + -0.0007391888867716023 + ], + "object_to_gripper_xy": 0.005521615931584862, + "object_to_gripper_z": -0.0007391888867716023, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3484902866036606, + -0.14913521494337473, + 1.0045552262268624 + ], + "finger_b": [ + 0.33798814435545244, + -0.1255363886658672, + 1.0045552262268624 + ], + "finger_midpoint": [ + 0.3432392154795565, + -0.13733580180462096, + 1.0045552262268624 + ], + "object_minus_finger_midpoint": [ + 0.005251071124104112, + 0.011799413138753767, + 0.0 + ], + "finger_gap": 0.025830206996413696, + "fingertip_max_gap": 0.09331450278842326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012915103498206858, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045552262268624, + "object_top_z": 1.0544531383773088, + "finger_top_clearance": 0.049897912150446366, + "fingertip_min_top_clearance": 0.014969373645133876, + "object_projection_between_fingers": 0.8346896597662491, + "object_to_finger_line_xy": 0.009594899123013124, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049157251394211635, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3319750304230356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3205661884552663, + 0.0013190527415350842, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3255538615788959, + -0.035402357728540085, + 1.0444453782895786 + ], + "target_minus_gripper": [ + -0.004987673123629577, + 0.03672141047007517, + -0.27429898849296697 + ], + "held_position": [ + 0.3292980048768664, + -0.03136919575171712, + 1.0436298586556956 + ], + "held_minus_target": [ + 0.008731816421600092, + -0.032688248493252206, + 0.2734834688590839 + ], + "held_minus_gripper": [ + 0.0037441432979705147, + 0.004033161976822963, + -0.0008155196338830439 + ], + "xy_dist": 0.03705858699545792, + "held_xy_dist": 0.033834393855618726, + "held_gripper_dist": 0.00556327932430835, + "max_held_gripper_dist": 0.00557360399225415, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0436298586556956, + "required_height": 0.8001463897966117, + "gripper_z": 1.0444453782895786, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.60391617153081, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8659924489976163, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5119600328388776, + "max_source_tilt_deg": 89.75982156311773, + "source_upright_tilt_deg": 3.556869359817873, + "max_source_upright_tilt_deg": 89.92970444512842, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5119600328388776, + "source_upright_return_tilt_deg": 3.556869359817873, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.1330708860305336e-08, + "max_target_xy_drift": 1.5308508585359103e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3206, + 0.0013, + 0.7701 + ], + "controller_target_position": [ + 0.3206, + 0.0013, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0008, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3207, + -0.0247, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00013759648086343178, + -0.000775895475080429, + 6.1003794540975126e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5568600415615452, + "source_return_step_error_deg": 2.511955420862437, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.550709555379895, + "source_return_best_wrist_position": -1.6178346872329712, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6178346872329712 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3206, + 0.0013, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3206, + 0.0013, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0008, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3207, + -0.0247, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00013759648086343178, + -0.000775895475080429, + 6.1003794540975126e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5568600415615452, + "pour_controller_source_return_step_error_deg": 2.511955420862437, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.550709555379895, + "pour_controller_source_return_best_wrist_position": -1.6178346872329712, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6178346872329712, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03705858699545792, + "valid_pour_held_xy_dist": 0.033834393855618726, + "valid_pour_held_gripper_dist": 0.00556327932430835, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0436298586556956, + "valid_pour_source_tilt_deg": 2.5119600328388776, + "valid_pour_source_upright_tilt_deg": 3.556869359817873, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.1330708860305336e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3292980048768664, + -0.05459308354358667, + 1.0436298586556956 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31908552432767767, + -0.03136919575171712, + 1.0436298586556956 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32419176460227206, + -0.04298113964765189, + 1.0436298586556956 + ], + "valid_pour_held_grasp_object_position": [ + 0.3292980048768664, + -0.03136919575171712, + 1.0436298586556956 + ], + "valid_pour_held_grasp_finger_gap": 0.02537013447218807, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023718093039176193, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.052772774056729206, + -0.9980737212616876, + 0.032617192478882055 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005724171572610131, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038400144479088044, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3292980048768664, + -0.05459308354358667, + 1.0436298586556956 + ], + "held_grasp_finger_b": [ + 0.31908552432767767, + -0.03136919575171712, + 1.0436298586556956 + ], + "held_grasp_midpoint": [ + 0.32419176460227206, + -0.04298113964765189, + 1.0436298586556956 + ], + "held_grasp_object_position": [ + 0.3292980048768664, + -0.03136919575171712, + 1.0436298586556956 + ], + "held_grasp_finger_gap": 0.02537013447218807, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023718093039176193, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.052772774056729206, + -0.9980737212616876, + 0.032617192478882055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005724171572610131, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038400144479088044, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3254433098403621, + -0.12638928992660622, + 0.7611063747985096 + ], + "target_position": [ + 0.32574743202534584, + -0.12789578607970886, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0015368867761524638, + "xy_threshold": 0.08, + "gripper_dist": 0.21528846788545758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063747985096, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567470650774065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601085069200985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1861872825478996, + "release_required_pad_clearance": 0.05300542534600493, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0437916030138361, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f4019d2e80abce2c328669381f51e7d7ce545c7da650f0de0ab4e9ee169a036", + "visual_seed": 417598658991141363, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eef696b7a7336d3ab2bbf2e76e5f6b9f37efce7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_36_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34268208055498506, + -0.12066777840387878, + 1.0040067005782762 + ], + "current_z": 1.0040067005782762, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14290031177279994, + "gripper_z": 1.0043063619597252, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389077678968184, + -0.12477186330604081, + 1.0043063619597252 + ], + "object_minus_gripper": [ + 0.003774312658166634, + 0.0041040849021620335, + -0.00029966138144899013 + ], + "object_to_gripper_xy": 0.005575746490448721, + "object_to_gripper_z": -0.00029966138144899013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34268208055498506, + -0.14426841109422472, + 1.0040067005782762 + ], + "finger_b": [ + 0.3320807399718875, + -0.12066777840387878, + 1.0040067005782762 + ], + "finger_midpoint": [ + 0.33738141026343627, + -0.13246809474905175, + 1.0040067005782762 + ], + "object_minus_finger_midpoint": [ + 0.0053006702915487924, + 0.011800316345172965, + 0.0 + ], + "finger_gap": 0.025872345961343697, + "fingertip_max_gap": 0.0942338343700562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012936172980671842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040067005782762, + "object_top_z": 1.0540084187775864, + "finger_top_clearance": 0.05000171819931021, + "fingertip_min_top_clearance": 0.015000515459793045, + "object_projection_between_fingers": 0.8321002868092958, + "object_to_finger_line_xy": 0.009670493178344517, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0496169171850281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5896909200183105, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3253851047760669, + 0.0043128196584508605, + 0.7701465090059011 + ], + "gripper_position": [ + 0.32966167937503454, + -0.031746889380750876, + 1.0427946131172412 + ], + "target_minus_gripper": [ + -0.004276574598967631, + 0.036059709039201734, + -0.2726481041113401 + ], + "held_position": [ + 0.3335504582663475, + -0.027764214567234304, + 1.0424171941009495 + ], + "held_minus_target": [ + 0.00816535349028058, + -0.03207703422568516, + 0.27227068509504837 + ], + "held_minus_gripper": [ + 0.0038887788913129495, + 0.003982674813516572, + -0.0003774190162917357 + ], + "xy_dist": 0.036312418072780864, + "held_xy_dist": 0.03309998674224832, + "held_gripper_dist": 0.005579134793997995, + "max_held_gripper_dist": 0.005586136203120237, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0424171941009495, + "required_height": 0.8001465090059011, + "gripper_z": 1.0427946131172412, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55939016833149, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0075737253380086, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5403862653198255, + "max_source_tilt_deg": 89.87491894785558, + "source_upright_tilt_deg": 2.851985698281197, + "max_source_upright_tilt_deg": 89.8081948368116, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5403862653198255, + "source_upright_return_tilt_deg": 2.851985698281197, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.514570951461792e-08, + "max_target_xy_drift": 1.0037998460953899e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3254, + 0.0043, + 0.7701 + ], + "controller_target_position": [ + 0.3254, + 0.0043, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0002, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3261, + -0.0206, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007138029544441677, + 0.0002444857089372531, + -0.0017838851509848147 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8519766356086227, + "source_return_step_error_deg": 2.5404168509993053, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.855986726379501, + "source_return_best_wrist_position": -1.6145236492156982, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6145236492156982 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3254, + 0.0043, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3254, + 0.0043, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0002, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3261, + -0.0206, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007138029544441677, + 0.0002444857089372531, + -0.0017838851509848147 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8519766356086227, + "pour_controller_source_return_step_error_deg": 2.5404168509993053, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.855986726379501, + "pour_controller_source_return_best_wrist_position": -1.6145236492156982, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6145236492156982, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036312418072780864, + "valid_pour_held_xy_dist": 0.03309998674224832, + "valid_pour_held_gripper_dist": 0.005579134793997995, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0424171941009495, + "valid_pour_source_tilt_deg": 2.5403862653198255, + "valid_pour_source_upright_tilt_deg": 2.851985698281197, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.514570951461792e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3335504582663475, + -0.051399729629856505, + 1.0424171941009495 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3237388606134814, + -0.027764214567234304, + 1.0424171941009495 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32864465943991444, + -0.0395819720985454, + 1.0424171941009495 + ], + "valid_pour_held_grasp_object_position": [ + 0.3335504582663475, + -0.027764214567234304, + 1.0424171941009495 + ], + "valid_pour_held_grasp_finger_gap": 0.02559111214420289, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023953678365228003, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.035410944751449396, + -0.9987614130800312, + 0.03495289307324145 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005336973111100775, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03809084882989015, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3335504582663475, + -0.051399729629856505, + 1.0424171941009495 + ], + "held_grasp_finger_b": [ + 0.3237388606134814, + -0.027764214567234304, + 1.0424171941009495 + ], + "held_grasp_midpoint": [ + 0.32864465943991444, + -0.0395819720985454, + 1.0424171941009495 + ], + "held_grasp_object_position": [ + 0.3335504582663475, + -0.027764214567234304, + 1.0424171941009495 + ], + "held_grasp_finger_gap": 0.02559111214420289, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023953678365228003, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.035410944751449396, + -0.9987614130800312, + 0.03495289307324145 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005336973111100775, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03809084882989015, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32190027863054815, + -0.12128263695317029, + 0.7611065930165785 + ], + "target_position": [ + 0.3196334402729376, + -0.12450133947016766, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003936826390947365, + "xy_threshold": 0.08, + "gripper_dist": 0.21589942217941008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065930165785, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577104795370787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08614672357235369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1867250912511829, + "release_required_pad_clearance": 0.053073361786176845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1756821708529728, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d717c71a0bda2b0aaa0e96ca03f0a8ecb2c05e56c1105f9e32243d08117560af", + "visual_seed": 3754395702022506956, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d847dc2bc61249d557cd9797f933f49c4eab2d4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_37_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3418341357633671, + -0.1225257813716466, + 1.0048025048818126 + ], + "current_z": 1.0048025048818126, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14369605647169115, + "gripper_z": 1.0053700492346151, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33814352545355164, + -0.12661193930102482, + 1.0053700492346151 + ], + "object_minus_gripper": [ + 0.003690610309815434, + 0.00408615792937822, + -0.0005675443528025959 + ], + "object_to_gripper_xy": 0.005506113972915606, + "object_to_gripper_z": -0.0005675443528025959, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3418341357633671, + -0.14600153003286928, + 1.0048025048818126 + ], + "finger_b": [ + 0.3311785185988303, + -0.1225257813716466, + 1.0048025048818126 + ], + "finger_midpoint": [ + 0.3365063271810987, + -0.13426365570225796, + 1.0048025048818126 + ], + "object_minus_finger_midpoint": [ + 0.00532780858226839, + 0.011737874330611353, + 0.0 + ], + "finger_gap": 0.025780864073224337, + "fingertip_max_gap": 0.09401133167949008, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289043203661218, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0048025048818126, + "object_top_z": 1.0546853900014925, + "finger_top_clearance": 0.049882885119679976, + "fingertip_min_top_clearance": 0.014964865535904025, + "object_projection_between_fingers": 0.8291707322540879, + "object_to_finger_line_xy": 0.009702878447921254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04950566583974504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.6818905075775077, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32171384608809395, + 0.004579692936174644, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3266324399137031, + -0.03248679024405973, + 1.043756987934763 + ], + "target_minus_gripper": [ + -0.004918593825609163, + 0.03706648318023437, + -0.27361059813815125 + ], + "held_position": [ + 0.33034059635408874, + -0.028435118009052456, + 1.0431126395899408 + ], + "held_minus_target": [ + 0.008626750265994798, + -0.0330148109452271, + 0.27296624979332906 + ], + "held_minus_gripper": [ + 0.003708156440385635, + 0.004051672235007277, + -0.0006443483448221876 + ], + "xy_dist": 0.03739139928609143, + "held_xy_dist": 0.034123284746649586, + "held_gripper_dist": 0.005530068433191168, + "max_held_gripper_dist": 0.005537817358934162, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0431126395899408, + "required_height": 0.8001463897966118, + "gripper_z": 1.043756987934763, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.77852312747301, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.084598154182991, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4484226906366904, + "max_source_tilt_deg": 89.66809284178646, + "source_upright_tilt_deg": 4.13904463864933, + "max_source_upright_tilt_deg": 89.94247016979087, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4484226906366904, + "source_upright_return_tilt_deg": 4.13904463864933, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.22009348817282e-08, + "max_target_xy_drift": 2.1920383756110676e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3217, + 0.0046, + 0.7701 + ], + "controller_target_position": [ + 0.3217, + 0.0046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0009, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3226, + -0.0215, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009035414752775485, + -0.0009058742631452286, + -0.0005183201481901488 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.139066829097164, + "source_return_step_error_deg": 2.4484742010399625, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.145526743808057, + "source_return_best_wrist_position": -1.6162655353546143, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6162655353546143 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3217, + 0.0046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3217, + 0.0046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0009, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3226, + -0.0215, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009035414752775485, + -0.0009058742631452286, + -0.0005183201481901488 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.139066829097164, + "pour_controller_source_return_step_error_deg": 2.4484742010399625, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.145526743808057, + "pour_controller_source_return_best_wrist_position": -1.6162655353546143, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6162655353546143, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03739139928609143, + "valid_pour_held_xy_dist": 0.034123284746649586, + "valid_pour_held_gripper_dist": 0.005530068433191168, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0431126395899408, + "valid_pour_source_tilt_deg": 2.4484226906366904, + "valid_pour_source_upright_tilt_deg": 4.13904463864933, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.22009348817282e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33034059635408874, + -0.0515152815464585, + 1.0431126395899408 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3198922019162742, + -0.028435118009052456, + 1.0431126395899408 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3251163991351815, + -0.039975199777755474, + 1.0431126395899408 + ], + "valid_pour_held_grasp_object_position": [ + 0.33034059635408874, + -0.028435118009052456, + 1.0431126395899408 + ], + "valid_pour_held_grasp_finger_gap": 0.02533501322757818, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02366758711113476, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06198276362447596, + -0.9973918387160442, + 0.03698184792706983 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005944346314729572, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03853407687722203, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33034059635408874, + -0.0515152815464585, + 1.0431126395899408 + ], + "held_grasp_finger_b": [ + 0.3198922019162742, + -0.028435118009052456, + 1.0431126395899408 + ], + "held_grasp_midpoint": [ + 0.3251163991351815, + -0.039975199777755474, + 1.0431126395899408 + ], + "held_grasp_object_position": [ + 0.33034059635408874, + -0.028435118009052456, + 1.0431126395899408 + ], + "held_grasp_finger_gap": 0.02533501322757818, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02366758711113476, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06198276362447596, + -0.9973918387160442, + 0.03698184792706983 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005944346314729572, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03853407687722203, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31496490389806264, + -0.1343986566688247, + 0.7611064157002091 + ], + "target_position": [ + 0.3189831679219784, + -0.1268454089559528, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008555582784235098, + "xy_threshold": 0.08, + "gripper_dist": 0.21296585198006782, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064157002091, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574336141748932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09063297801925972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18223029642410685, + "release_required_pad_clearance": 0.05531648900962986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.747704500418191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "352c984fa10b913e3672df3b1c5faeca685c21e0e3e88753db14e87ca7783d64", + "visual_seed": 2857452552373103494, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34f2c0309bd122f4366a14cd2569efb4858bb9d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_38_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3482486889691521, + -0.12087053562937118, + 1.0041598558730342 + ], + "current_z": 1.0041598558730342, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.14305322864897874, + "gripper_z": 1.0042616860889493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3444462252841955, + -0.12487977331423558, + 1.0042616860889493 + ], + "object_minus_gripper": [ + 0.003802463684956625, + 0.0040092376848644, + -0.00010183021591503305 + ], + "object_to_gripper_xy": 0.005525641762650812, + "object_to_gripper_z": -0.00010183021591503305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3482486889691521, + -0.14469573490597742, + 1.0041598558730342 + ], + "finger_b": [ + 0.3380300104825368, + -0.12087053562937118, + 1.0041598558730342 + ], + "finger_midpoint": [ + 0.3431393497258445, + -0.1327831352676743, + 1.0041598558730342 + ], + "object_minus_finger_midpoint": [ + 0.005109339243307642, + 0.011912599638303115, + 0.0 + ], + "finger_gap": 0.02592414917760685, + "fingertip_max_gap": 0.09449677334649206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012962074588803408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041598558730342, + "object_top_z": 1.0541741896347934, + "finger_top_clearance": 0.05001433376175912, + "fingertip_min_top_clearance": 0.015004300128527753, + "object_projection_between_fingers": 0.8446252487778081, + "object_to_finger_line_xy": 0.009391322724584568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049748386673246034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.959677973519194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32626534617011005, + 0.000703318134553807, + 0.7701463301919668 + ], + "gripper_position": [ + 0.33164365161853016, + -0.03622723256285046, + 1.0448334265278487 + ], + "target_minus_gripper": [ + -0.0053783054484201065, + 0.036930550697404266, + -0.27468709633588195 + ], + "held_position": [ + 0.3354380683784312, + -0.03221471307175265, + 1.044674196170423 + ], + "held_minus_target": [ + 0.00917272220832116, + -0.03291803120630646, + 0.27452786597845613 + ], + "held_minus_gripper": [ + 0.0037944167599010536, + 0.004012519491097807, + -0.00015923035742582137 + ], + "xy_dist": 0.037320125191510976, + "held_xy_dist": 0.034172146716447215, + "held_gripper_dist": 0.005524786468360906, + "max_held_gripper_dist": 0.005527380770282456, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.044674196170423, + "required_height": 0.8001463301919668, + "gripper_z": 1.0448334265278487, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.236889126291, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.354404287874715, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.2891829213316248, + "max_source_tilt_deg": 89.79992869673744, + "source_upright_tilt_deg": 4.1608546036758876, + "max_source_upright_tilt_deg": 89.82828788242236, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.2891829213316248, + "source_upright_return_tilt_deg": 4.1608546036758876, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.096647560596466e-08, + "max_target_xy_drift": 1.352612286126486e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3263, + 0.0007, + 0.7701 + ], + "controller_target_position": [ + 0.3263, + 0.0007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0005, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3274, + -0.025, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011050660956768363, + -0.0004811610306350888, + 0.0006500765939600394 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.160854518956566, + "source_return_step_error_deg": 1.2891751182957667, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.167309893739801, + "source_return_best_wrist_position": -1.5903704166412354, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5903704166412354 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3263, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3263, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0005, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3274, + -0.025, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011050660956768363, + -0.0004811610306350888, + 0.0006500765939600394 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.160854518956566, + "pour_controller_source_return_step_error_deg": 1.2891751182957667, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.167309893739801, + "pour_controller_source_return_best_wrist_position": -1.5903704166412354, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5903704166412354, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037320125191510976, + "valid_pour_held_xy_dist": 0.034172146716447215, + "valid_pour_held_gripper_dist": 0.005524786468360906, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.044674196170423, + "valid_pour_source_tilt_deg": 1.2891829213316248, + "valid_pour_source_upright_tilt_deg": 4.1608546036758876, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.096647560596466e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3354380683784312, + -0.05590592848439581, + 1.044674196170423 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32517162743280265, + -0.03221471307175265, + 1.044674196170423 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3303048479056169, + -0.04406032077807423, + 1.044674196170423 + ], + "valid_pour_held_grasp_object_position": [ + 0.3354380683784312, + -0.03221471307175265, + 1.044674196170423 + ], + "valid_pour_held_grasp_finger_gap": 0.025820021251314634, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024356646182677626, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0708983804859163, + -0.9973642860749317, + 0.01542402368762319 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00596285089490096, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826980101515562, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3354380683784312, + -0.05590592848439581, + 1.044674196170423 + ], + "held_grasp_finger_b": [ + 0.32517162743280265, + -0.03221471307175265, + 1.044674196170423 + ], + "held_grasp_midpoint": [ + 0.3303048479056169, + -0.04406032077807423, + 1.044674196170423 + ], + "held_grasp_object_position": [ + 0.3354380683784312, + -0.03221471307175265, + 1.044674196170423 + ], + "held_grasp_finger_gap": 0.025820021251314634, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024356646182677626, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0708983804859163, + -0.9973642860749317, + 0.01542402368762319 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00596285089490096, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826980101515562, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31017866070734645, + -0.10940380581831169, + 0.7611109922555128 + ], + "target_position": [ + 0.3252873636496349, + -0.12310815673153322, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020398091541882817, + "xy_threshold": 0.08, + "gripper_dist": 0.20783327947987423, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611109922555128, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0788393231330839, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08881281883669899, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18308507140732447, + "release_required_pad_clearance": 0.0544064094183495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8291683706212836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84e9be0fdf835fadafe55f8587e3ff44291fa6c35269b044b28e60c945cc4dea", + "visual_seed": 3167755870012851088, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2499f3c25a0cd492e9f8bb8c804b9b6d9e8cafd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_39_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3425488897323261, + -0.11987372376326394, + 1.001745436501789 + ], + "current_z": 1.001745436501789, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14063898809166797, + "gripper_z": 1.0020594627825192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33861785248206855, + -0.12390038521465434, + 1.0020594627825192 + ], + "object_minus_gripper": [ + 0.003931037250257563, + 0.004026661451390398, + -0.0003140262807301841 + ], + "object_to_gripper_xy": 0.005627348959059316, + "object_to_gripper_z": -0.0003140262807301841, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3425488897323261, + -0.1438852600100795, + 1.001745436501789 + ], + "finger_b": [ + 0.3324367469311986, + -0.11987372376326394, + 1.001745436501789 + ], + "finger_midpoint": [ + 0.33749281833176237, + -0.13187949188667172, + 1.001745436501789 + ], + "object_minus_finger_midpoint": [ + 0.005056071400563744, + 0.012005768123407784, + 0.0 + ], + "finger_gap": 0.0260539690827047, + "fingertip_max_gap": 0.09405064007062755, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01302698454135235, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001745436501789, + "object_top_z": 1.0517392224001723, + "finger_top_clearance": 0.049993785898383214, + "fingertip_min_top_clearance": 0.014998135769514963, + "object_projection_between_fingers": 0.8493605917260686, + "object_to_finger_line_xy": 0.009319427785896575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04952532003531378, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4689518091499485, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32482574498717237, + 0.0038457888612971496, + 0.7701464494012564 + ], + "gripper_position": [ + 0.328599509897503, + -0.03358159588537844, + 1.043044255008372 + ], + "target_minus_gripper": [ + -0.0037737649103306015, + 0.03742738474667559, + -0.27289780560711563 + ], + "held_position": [ + 0.3325024421613819, + -0.029535205801189138, + 1.042670495534562 + ], + "held_minus_target": [ + 0.007676697174209546, + -0.033380994662486285, + 0.2725240461333056 + ], + "held_minus_gripper": [ + 0.0039029322638789443, + 0.004046390084189305, + -0.0003737594738100203 + ], + "xy_dist": 0.037617156067067684, + "held_xy_dist": 0.03425233545557813, + "held_gripper_dist": 0.00563434549119199, + "max_held_gripper_dist": 0.005637553559361698, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.042670495534562, + "required_height": 0.8001464494012565, + "gripper_z": 1.043044255008372, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.24795403274642, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8913533597313394, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.461168951482737, + "max_source_tilt_deg": 89.66617560090195, + "source_upright_tilt_deg": 3.950330316927071, + "max_source_upright_tilt_deg": 89.87909700052815, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.461168951482737, + "source_upright_return_tilt_deg": 3.950330316927071, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.27144800745174e-08, + "max_target_xy_drift": 1.3034544845841559e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3248, + 0.0038, + 0.7701 + ], + "controller_target_position": [ + 0.3248, + 0.0038, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0015, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3246, + -0.0229, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00021542784678118252, + -0.001509255769056762, + -0.0017165806623140676 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.950330287143041, + "source_return_step_error_deg": 1.4611696006082695, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.954491765339562, + "source_return_best_wrist_position": -1.590643048286438, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.590643048286438 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3248, + 0.0038, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3248, + 0.0038, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0015, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3246, + -0.0229, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00021542784678118252, + -0.001509255769056762, + -0.0017165806623140676 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.950330287143041, + "pour_controller_source_return_step_error_deg": 1.4611696006082695, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.954491765339562, + "pour_controller_source_return_best_wrist_position": -1.590643048286438, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.590643048286438, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037617156067067684, + "valid_pour_held_xy_dist": 0.03425233545557813, + "valid_pour_held_gripper_dist": 0.00563434549119199, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.042670495534562, + "valid_pour_source_tilt_deg": 1.461168951482737, + "valid_pour_source_upright_tilt_deg": 3.950330316927071, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.27144800745174e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3325024421613819, + -0.05332529184002512, + 1.042670495534562 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32222512923069957, + -0.029535205801189138, + 1.042670495534562 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32736378569604074, + -0.04143024882060713, + 1.042670495534562 + ], + "valid_pour_held_grasp_object_position": [ + 0.3325024421613819, + -0.029535205801189138, + 1.042670495534562 + ], + "valid_pour_held_grasp_finger_gap": 0.025915079679800126, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024425316261824353, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06730863170684791, + -0.9976241511734474, + 0.014683361100593536 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005930139766702103, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038199343810170205, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3325024421613819, + -0.05332529184002512, + 1.042670495534562 + ], + "held_grasp_finger_b": [ + 0.32222512923069957, + -0.029535205801189138, + 1.042670495534562 + ], + "held_grasp_midpoint": [ + 0.32736378569604074, + -0.04143024882060713, + 1.042670495534562 + ], + "held_grasp_object_position": [ + 0.3325024421613819, + -0.029535205801189138, + 1.042670495534562 + ], + "held_grasp_finger_gap": 0.025915079679800126, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024425316261824353, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06730863170684791, + -0.9976241511734474, + 0.014683361100593536 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005930139766702103, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038199343810170205, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32166804695518025, + -0.126916634998538, + 0.7611078838466677 + ], + "target_position": [ + 0.31951564236928764, + -0.12434639422103157, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003352459269809019, + "xy_threshold": 0.08, + "gripper_dist": 0.21858267962657843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078838466677, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538819912158506, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854445086323247, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18898843694883408, + "release_required_pad_clearance": 0.054272225431616236, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5629425100138254, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d81e1891ca34afbbf872c4a2b08c7dd37870b38aa03241c499f3b42bcf2365b1", + "visual_seed": 7624266150780894713, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1d15f260b6fea7ade3e6f7dd305c91bef813118 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_3_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34705441481434585, + -0.12072326629355382, + 1.0053359635728747 + ], + "current_z": 1.0053359635728747, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14422945555810873, + "gripper_z": 1.0054935972982828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34318489102554406, + -0.12473373184308383, + 1.0054935972982828 + ], + "object_minus_gripper": [ + 0.0038695237888017875, + 0.0040104655495300096, + -0.00015763372540811282 + ], + "object_to_gripper_xy": 0.005572885094461394, + "object_to_gripper_z": -0.00015763372540811282, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34705441481434585, + -0.14465644872013758, + 1.0053359635728747 + ], + "finger_b": [ + 0.3369185264592312, + -0.12072326629355382, + 1.0053359635728747 + ], + "finger_midpoint": [ + 0.34198647063678855, + -0.1326898575068457, + 1.0053359635728747 + ], + "object_minus_finger_midpoint": [ + 0.005067944177557293, + 0.011966591213291883, + 0.0 + ], + "finger_gap": 0.025991026409349183, + "fingertip_max_gap": 0.09386465325297913, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01299551320467458, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0053359635728747, + "object_top_z": 1.0553266186192842, + "finger_top_clearance": 0.04999065504640954, + "fingertip_min_top_clearance": 0.014997196513922877, + "object_projection_between_fingers": 0.8479183641199537, + "object_to_finger_line_xy": 0.009333377652649565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943232662648957, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.295794376925435, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3248573354489032, + 0.0011199115278647115, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3294289107166747, + -0.03403335714894999, + 1.0429391188496622 + ], + "target_minus_gripper": [ + -0.004571575267771466, + 0.0351532686768147, + -0.27279260984376097 + ], + "held_position": [ + 0.33329803784022555, + -0.03003151142047044, + 1.0427094785980162 + ], + "held_minus_target": [ + 0.00844070239132233, + -0.03115142294833515, + 0.272562969592115 + ], + "held_minus_gripper": [ + 0.003869127123550864, + 0.004001845728479551, + -0.00022964025164595725 + ], + "xy_dist": 0.03544928206738779, + "held_xy_dist": 0.03227470539857702, + "held_gripper_dist": 0.0055711442790438515, + "max_held_gripper_dist": 0.005576431691444169, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0427094785980162, + "required_height": 0.8001465090059012, + "gripper_z": 1.0429391188496622, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.20941127526004, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7148800536560427, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4383171732588718, + "max_source_tilt_deg": 89.8118973527969, + "source_upright_tilt_deg": 3.954245845829022, + "max_source_upright_tilt_deg": 89.87293378830316, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4383171732588718, + "source_upright_return_tilt_deg": 3.954245845829022, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.587198488594995e-08, + "max_target_xy_drift": 1.36936537806079e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3249, + 0.0011, + 0.7701 + ], + "controller_target_position": [ + 0.3249, + 0.0011, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0011, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3252, + -0.0229, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003409067618359747, + 0.0011469608941968444, + -0.0014822703494145313 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9542407957268697, + "source_return_step_error_deg": 2.438322703852151, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9586873201170367, + "source_return_best_wrist_position": -1.6153819561004639, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6153819561004639 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3249, + 0.0011, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3249, + 0.0011, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0011, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3252, + -0.0229, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003409067618359747, + 0.0011469608941968444, + -0.0014822703494145313 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9542407957268697, + "pour_controller_source_return_step_error_deg": 2.438322703852151, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9586873201170367, + "pour_controller_source_return_best_wrist_position": -1.6153819561004639, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6153819561004639, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03544928206738779, + "valid_pour_held_xy_dist": 0.03227470539857702, + "valid_pour_held_gripper_dist": 0.0055711442790438515, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0427094785980162, + "valid_pour_source_tilt_deg": 2.4383171732588718, + "valid_pour_source_upright_tilt_deg": 3.954245845829022, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.587198488594995e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33329803784022555, + -0.05352373547255045, + 1.0427094785980162 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3232983880631231, + -0.03003151142047044, + 1.0427094785980162 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32829821295167433, + -0.041777623446510447, + 1.0427094785980162 + ], + "valid_pour_held_grasp_object_position": [ + 0.33329803784022555, + -0.03003151142047044, + 1.0427094785980162 + ], + "valid_pour_held_grasp_finger_gap": 0.025531893517282096, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024018897024900693, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05826178670426552, + -0.9976194467800819, + 0.036891782502753045 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005691789852509257, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038293399020075614, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33329803784022555, + -0.05352373547255045, + 1.0427094785980162 + ], + "held_grasp_finger_b": [ + 0.3232983880631231, + -0.03003151142047044, + 1.0427094785980162 + ], + "held_grasp_midpoint": [ + 0.32829821295167433, + -0.041777623446510447, + 1.0427094785980162 + ], + "held_grasp_object_position": [ + 0.33329803784022555, + -0.03003151142047044, + 1.0427094785980162 + ], + "held_grasp_finger_gap": 0.025531893517282096, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024018897024900693, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05826178670426552, + -0.9976194467800819, + 0.036891782502753045 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005691789852509257, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038293399020075614, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3329261613478446, + -0.12683534177506672, + 0.7611153549760648 + ], + "target_position": [ + 0.3240816643058855, + -0.12551393885850906, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008942663674381953, + "xy_threshold": 0.08, + "gripper_dist": 0.22231436866414722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611153549760648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580213574254684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510148728532867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19171974671679567, + "release_required_pad_clearance": 0.052550743642664335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16781001356072933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc1c8e4a60f145e71585ad652a58e5eb40ac70003c4419c6dd66d30e227d79a5", + "visual_seed": 3064608251770586246, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b58a0c429db0c465b534f30cb87e1b5217bc3f0d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_40_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35009320714672126, + -0.12416065228066578, + 1.003025102471184 + ], + "current_z": 1.003025102471184, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14191853485177341, + "gripper_z": 1.0034794422335587, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34615786418457334, + -0.128392167909739, + 1.0034794422335587 + ], + "object_minus_gripper": [ + 0.003935342962147925, + 0.004231515629073229, + -0.0004543397623746337 + ], + "object_to_gripper_xy": 0.005778637274376911, + "object_to_gripper_z": -0.0004543397623746337, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35009320714672126, + -0.14777397637852532, + 1.003025102471184 + ], + "finger_b": [ + 0.3391868929867841, + -0.12416065228066578, + 1.003025102471184 + ], + "finger_midpoint": [ + 0.3446400500667527, + -0.13596731432959555, + 1.003025102471184 + ], + "object_minus_finger_midpoint": [ + 0.005453157079968574, + 0.011806662048929772, + 0.0 + ], + "finger_gap": 0.02601032032685872, + "fingertip_max_gap": 0.09407941878302942, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01300516016342936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003025102471184, + "object_top_z": 1.0529578067523653, + "finger_top_clearance": 0.04993270428118124, + "fingertip_min_top_clearance": 0.014979811284354388, + "object_projection_between_fingers": 0.8241814858088996, + "object_to_finger_line_xy": 0.009901236422134191, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953970939151471, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.717858722423968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32415376222197445, + 0.004443502842120904, + 0.770146330191967 + ], + "gripper_position": [ + 0.3300144566725583, + -0.031244162059062067, + 1.0443121887957272 + ], + "target_minus_gripper": [ + -0.005860694450583848, + 0.03568766490118297, + -0.2741658586037602 + ], + "held_position": [ + 0.3340928309196789, + -0.027166859966052587, + 1.043778450153804 + ], + "held_minus_target": [ + 0.009939068697704445, + -0.03161036280817349, + 0.2736321199618371 + ], + "held_minus_gripper": [ + 0.0040783742471205975, + 0.00407730209300948, + -0.0005337386419230761 + ], + "xy_dist": 0.03616569044747012, + "held_xy_dist": 0.033136084914214686, + "held_gripper_dist": 0.005791580595581648, + "max_held_gripper_dist": 0.005798674903514579, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.043778450153804, + "required_height": 0.800146330191967, + "gripper_z": 1.0443121887957272, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55679469644689, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1917971712540227, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.742836741709836, + "max_source_tilt_deg": 89.81847705649781, + "source_upright_tilt_deg": 2.7049277589075396, + "max_source_upright_tilt_deg": 89.67306664857776, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.742836741709836, + "source_upright_return_tilt_deg": 2.7049277589075396, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.5660695177352312e-07, + "max_target_xy_drift": 2.2323978897051418e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3242, + 0.0044, + 0.7701 + ], + "controller_target_position": [ + 0.3242, + 0.0044, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0006, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.326, + -0.0201, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018329167035156893, + 0.0006374091696556695, + -2.679714561039468e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7049120106935174, + "source_return_step_error_deg": 2.7427993927747125, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7371682655297827, + "source_return_best_wrist_position": -1.6154729127883911, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6154729127883911 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3242, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3242, + 0.0044, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0006, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.326, + -0.0201, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018329167035156893, + 0.0006374091696556695, + -2.679714561039468e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7049120106935174, + "pour_controller_source_return_step_error_deg": 2.7427993927747125, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7371682655297827, + "pour_controller_source_return_best_wrist_position": -1.6154729127883911, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6154729127883911, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03616569044747012, + "valid_pour_held_xy_dist": 0.033136084914214686, + "valid_pour_held_gripper_dist": 0.005791580595581648, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.043778450153804, + "valid_pour_source_tilt_deg": 2.742836741709836, + "valid_pour_source_upright_tilt_deg": 2.7049277589075396, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.5660695177352312e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3340928309196789, + -0.05088851765926143, + 1.043778450153804 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3241088073275226, + -0.027166859966052587, + 1.043778450153804 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3291008191236008, + -0.03902768881265701, + 1.043778450153804 + ], + "valid_pour_held_grasp_object_position": [ + 0.3340928309196789, + -0.027166859966052587, + 1.043778450153804 + ], + "valid_pour_held_grasp_finger_gap": 0.025737089400367466, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024015873472632936, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03211588576337468, + -0.9988858290570476, + 0.03457846715296764 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053857842847900485, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03803295909492312, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3340928309196789, + -0.05088851765926143, + 1.043778450153804 + ], + "held_grasp_finger_b": [ + 0.3241088073275226, + -0.027166859966052587, + 1.043778450153804 + ], + "held_grasp_midpoint": [ + 0.3291008191236008, + -0.03902768881265701, + 1.043778450153804 + ], + "held_grasp_object_position": [ + 0.3340928309196789, + -0.027166859966052587, + 1.043778450153804 + ], + "held_grasp_finger_gap": 0.025737089400367466, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024015873472632936, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03211588576337468, + -0.9988858290570476, + 0.03457846715296764 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0053857842847900485, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03803295909492312, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3289316316647028, + -0.1255497016457674, + 0.7611067209919036 + ], + "target_position": [ + 0.3270956411736994, + -0.126182736067872, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0019420591295386117, + "xy_threshold": 0.08, + "gripper_dist": 0.21674668272478387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067209919036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538509220407917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544005145617632, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18780376005630997, + "release_required_pad_clearance": 0.05272002572808816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4925765363863573, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba7f795ffcd624d941d33cfd995fcaa9272929cec451d6176e6e917f29b8baac", + "visual_seed": 5562599183595949034, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c69459a056506a6671afab5c2da304a813e73b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_41_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3435969864858687, + -0.11843952244521684, + 1.0024542842460635 + ], + "current_z": 1.0024542842460635, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14134783583594224, + "gripper_z": 1.003101786136931, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3401528253316794, + -0.12240548009450562, + 1.003101786136931 + ], + "object_minus_gripper": [ + 0.003444161154189329, + 0.003965957649288782, + -0.0006475018908673746 + ], + "object_to_gripper_xy": 0.005252719879450928, + "object_to_gripper_z": -0.0006475018908673746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3435969864858687, + -0.1416953959763342, + 1.0024542842460635 + ], + "finger_b": [ + 0.3330648431994728, + -0.11843952244521684, + 1.0024542842460635 + ], + "finger_midpoint": [ + 0.33833091484267075, + -0.13006745921077553, + 1.0024542842460635 + ], + "object_minus_finger_midpoint": [ + 0.005266071643197978, + 0.011627936765558691, + 0.0 + ], + "finger_gap": 0.025529623888739524, + "fingertip_max_gap": 0.09438193798425357, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012764811944369778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024542842460635, + "object_top_z": 1.0524216528379684, + "finger_top_clearance": 0.04996736859190487, + "fingertip_min_top_clearance": 0.014990210577571477, + "object_projection_between_fingers": 0.829805827953859, + "object_to_finger_line_xy": 0.009594116754225416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049690968992126786, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.979251149155308, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32755396878783166, + 0.0029805210387782023, + 0.7701464494012564 + ], + "gripper_position": [ + 0.33266415249931025, + -0.03487559230075131, + 1.0437599078019264 + ], + "target_minus_gripper": [ + -0.005110183711478589, + 0.03785611333952951, + -0.27361345840067 + ], + "held_position": [ + 0.3361769701863647, + -0.030991621291302104, + 1.0430371089141501 + ], + "held_minus_target": [ + 0.008623001398533059, + -0.03397214233008031, + 0.2728906595128937 + ], + "held_minus_gripper": [ + 0.0035128176870544703, + 0.0038839710094492053, + -0.0007227988877762659 + ], + "xy_dist": 0.038199467204927944, + "held_xy_dist": 0.03504943091712528, + "held_gripper_dist": 0.005286544914865966, + "max_held_gripper_dist": 0.0052954075684276975, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0430371089141501, + "required_height": 0.8001464494012565, + "gripper_z": 1.0437599078019264, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.69778346129429, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.449371555325044, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.423984431052687, + "max_source_tilt_deg": 89.96192792669417, + "source_upright_tilt_deg": 3.683371612765181, + "max_source_upright_tilt_deg": 89.944565124776, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.423984431052687, + "source_upright_return_tilt_deg": 3.683371612765181, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1620779437287065e-07, + "max_target_xy_drift": 2.5542540355230593e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3276, + 0.003, + 0.7701 + ], + "controller_target_position": [ + 0.3276, + 0.003, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0018, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3292, + -0.024, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016821109809789002, + -0.0017791235382705053, + -0.0009039946554684226 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6833796749398737, + "source_return_step_error_deg": 2.423991283986766, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6878937899258064, + "source_return_best_wrist_position": -1.6163041591644287, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6163041591644287 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3276, + 0.003, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3276, + 0.003, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0018, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3292, + -0.024, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016821109809789002, + -0.0017791235382705053, + -0.0009039946554684226 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6833796749398737, + "pour_controller_source_return_step_error_deg": 2.423991283986766, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6878937899258064, + "pour_controller_source_return_best_wrist_position": -1.6163041591644287, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6163041591644287, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038199467204927944, + "valid_pour_held_xy_dist": 0.03504943091712528, + "valid_pour_held_gripper_dist": 0.005286544914865966, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0430371089141501, + "valid_pour_source_tilt_deg": 2.423984431052687, + "valid_pour_source_upright_tilt_deg": 3.683371612765181, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1620779437287065e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3361769701863647, + -0.05406921971413614, + 1.0430371089141501 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3261547521031296, + -0.030991621291302104, + 1.0430371089141501 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33116586114474716, + -0.04253042050271912, + 1.0430371089141501 + ], + "valid_pour_held_grasp_object_position": [ + 0.3361769701863647, + -0.030991621291302104, + 1.0430371089141501 + ], + "valid_pour_held_grasp_finger_gap": 0.025159896746082183, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02357470070937856, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05435656612341314, + -0.9979343139382759, + 0.03424133151344489 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056444276579311154, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03847767307535042, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3361769701863647, + -0.05406921971413614, + 1.0430371089141501 + ], + "held_grasp_finger_b": [ + 0.3261547521031296, + -0.030991621291302104, + 1.0430371089141501 + ], + "held_grasp_midpoint": [ + 0.33116586114474716, + -0.04253042050271912, + 1.0430371089141501 + ], + "held_grasp_object_position": [ + 0.3361769701863647, + -0.030991621291302104, + 1.0430371089141501 + ], + "held_grasp_finger_gap": 0.025159896746082183, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02357470070937856, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05435656612341314, + -0.9979343139382759, + 0.03424133151344489 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056444276579311154, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03847767307535042, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3217871473017116, + -0.12410382791463284, + 0.7611063284176733 + ], + "target_position": [ + 0.3211001558931885, + -0.12247157854219881, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017709306054150748, + "xy_threshold": 0.08, + "gripper_dist": 0.215064123848395, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063284176733, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521131085772252, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585379672845388, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18622498862214973, + "release_required_pad_clearance": 0.05292689836422694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8917448910697009, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5bdc0a5b0273d907298ede783b6ade4da93c4e5457532128973a735f1961d10", + "visual_seed": 3592337776614054685, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea3f805636a0a8752c1c337f5d50bf938783a81 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_42_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34125314249050837, + -0.11549965499697046, + 1.0050889370942162 + ], + "current_z": 1.0050889370942162, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.14398219066087092, + "gripper_z": 1.005234438423529, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3376178330489832, + -0.11935256741705759, + 1.005234438423529 + ], + "object_minus_gripper": [ + 0.0036353094415251808, + 0.0038529124200871318, + -0.00014550132931279158 + ], + "object_to_gripper_xy": 0.0052972076467233, + "object_to_gripper_z": -0.00014550132931279158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34125314249050837, + -0.13938216138478754, + 1.0050889370942162 + ], + "finger_b": [ + 0.33148936545710617, + -0.11549965499697046, + 1.0050889370942162 + ], + "finger_midpoint": [ + 0.3363712539738073, + -0.127440908190879, + 1.0050889370942162 + ], + "object_minus_finger_midpoint": [ + 0.004881888516701072, + 0.011941253193908541, + 0.0 + ], + "finger_gap": 0.025801268444053598, + "fingertip_max_gap": 0.09363994347675034, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012900634222026789, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050889370942162, + "object_top_z": 1.0551169063965349, + "finger_top_clearance": 0.050027969302318676, + "fingertip_min_top_clearance": 0.015008390790695618, + "object_projection_between_fingers": 0.8567965134095661, + "object_to_finger_line_xy": 0.009037674557554212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04931997173837517, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.019897032342947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32274399316374697, + 0.006373309853158969, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3255928575353907, + -0.030564344382005296, + 1.0455306991476727 + ], + "target_minus_gripper": [ + -0.0028488643716437223, + 0.03693765423516426, + -0.2753843093510613 + ], + "held_position": [ + 0.32921360959681806, + -0.02670723572490253, + 1.0453165570952052 + ], + "held_minus_target": [ + 0.00646961643307109, + -0.0330805455780615, + 0.2751701672985938 + ], + "held_minus_gripper": [ + 0.003620752061427368, + 0.003857108657102766, + -0.00021414205246750306 + ], + "xy_dist": 0.03704735251815667, + "held_xy_dist": 0.03370724599449305, + "held_gripper_dist": 0.005294618919399453, + "max_held_gripper_dist": 0.005300274857618418, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0453165570952052, + "required_height": 0.8001463897966115, + "gripper_z": 1.0455306991476727, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.1386983267829, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4046089311799217, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4752853904681387, + "max_source_tilt_deg": 89.9496482135487, + "source_upright_tilt_deg": 3.893957143190685, + "max_source_upright_tilt_deg": 89.80207695038102, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4752853904681387, + "source_upright_return_tilt_deg": 3.893957143190685, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.561137080192566e-08, + "max_target_xy_drift": 1.5876250220358397e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3227, + 0.0064, + 0.7701 + ], + "controller_target_position": [ + 0.3227, + 0.0064, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0007, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3209, + -0.0195, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00181201141302143, + -0.0006720500843416845, + 0.0011737386315630333 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8939660014133013, + "source_return_step_error_deg": 2.4752952349628865, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8946953604074883, + "source_return_best_wrist_position": -1.6145689487457275, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6145689487457275 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3227, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3227, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0007, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3209, + -0.0195, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00181201141302143, + -0.0006720500843416845, + 0.0011737386315630333 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8939660014133013, + "pour_controller_source_return_step_error_deg": 2.4752952349628865, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8946953604074883, + "pour_controller_source_return_best_wrist_position": -1.6145689487457275, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6145689487457275, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03704735251815667, + "valid_pour_held_xy_dist": 0.03370724599449305, + "valid_pour_held_gripper_dist": 0.005294618919399453, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0453165570952052, + "valid_pour_source_tilt_deg": 2.4752853904681387, + "valid_pour_source_upright_tilt_deg": 3.893957143190685, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.561137080192566e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32921360959681806, + -0.05009521681913253, + 1.0453165570952052 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31949896190560495, + -0.02670723572490253, + 1.0453165570952052 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3243562857512115, + -0.03840122627201753, + 1.0453165570952052 + ], + "valid_pour_held_grasp_object_position": [ + 0.32921360959681806, + -0.02670723572490253, + 1.0453165570952052 + ], + "valid_pour_held_grasp_finger_gap": 0.0253253240735129, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02388735107517708, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05696162835994667, + -0.9976914565532577, + 0.03697472670923075 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055320674997976615, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832993668394122, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32921360959681806, + -0.05009521681913253, + 1.0453165570952052 + ], + "held_grasp_finger_b": [ + 0.31949896190560495, + -0.02670723572490253, + 1.0453165570952052 + ], + "held_grasp_midpoint": [ + 0.3243562857512115, + -0.03840122627201753, + 1.0453165570952052 + ], + "held_grasp_object_position": [ + 0.32921360959681806, + -0.02670723572490253, + 1.0453165570952052 + ], + "held_grasp_finger_gap": 0.0253253240735129, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02388735107517708, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05696162835994667, + -0.9976914565532577, + 0.03697472670923075 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055320674997976615, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832993668394122, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3189195986763322, + -0.11874175490862425, + 0.7611063285817656 + ], + "target_position": [ + 0.31844107254866955, + -0.11913880353669132, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0006217997007925779, + "xy_threshold": 0.08, + "gripper_dist": 0.21451920485190126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063285817656, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592009018844158, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08716814649348291, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.184662641264944, + "release_required_pad_clearance": 0.05358407324674146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1789658610146705, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce885873cb2ab6456e474dcd8cde1032e6e02d515947b9bb2e3baf60cc681125", + "visual_seed": 282305198264427727, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01f6b49bb3302726ee4f9993e521ec846b2b72bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_43_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3427353903546572, + -0.11674624594080982, + 1.0024204279156401 + ], + "current_z": 1.0024204279156401, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14131397950551872, + "gripper_z": 1.0034942307811334, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33869983477874765, + -0.12098984659949161, + 1.0034942307811334 + ], + "object_minus_gripper": [ + 0.004035555575909566, + 0.00424360065868179, + -0.0010738028654933007 + ], + "object_to_gripper_xy": 0.005856095572701944, + "object_to_gripper_z": -0.0010738028654933007, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3427353903546572, + -0.14069316660148273, + 1.0024204279156401 + ], + "finger_b": [ + 0.33216182312855264, + -0.11674624594080982, + 1.0024204279156401 + ], + "finger_midpoint": [ + 0.33744860674160493, + -0.12871970627114626, + 1.0024204279156401 + ], + "object_minus_finger_midpoint": [ + 0.005286783613052293, + 0.011973460330336444, + 0.0 + ], + "finger_gap": 0.02617738208861834, + "fingertip_max_gap": 0.09307141254834542, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013088691044309158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024204279156401, + "object_top_z": 1.0523604235583819, + "finger_top_clearance": 0.049939995642741764, + "fingertip_min_top_clearance": 0.014981998692822495, + "object_projection_between_fingers": 0.8368486628286513, + "object_to_finger_line_xy": 0.009672639326829728, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903570627417271, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.086418838970137, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3271394780880634, + -0.00029232285763315663, + 0.770146330191967 + ], + "gripper_position": [ + 0.33176873670037543, + -0.0374309842595001, + 1.0444595970384984 + ], + "target_minus_gripper": [ + -0.004629258612312059, + 0.037138661401866946, + -0.27431326684653146 + ], + "held_position": [ + 0.3358461070216346, + -0.033268509544143704, + 1.0433073283853926 + ], + "held_minus_target": [ + 0.008706628933571214, + -0.03297618668651055, + 0.27316099819342565 + ], + "held_minus_gripper": [ + 0.004077370321259155, + 0.0041624747153563985, + -0.0011522686531058035 + ], + "xy_dist": 0.03742606319160736, + "held_xy_dist": 0.03410622048498624, + "held_gripper_dist": 0.005939601631557169, + "max_held_gripper_dist": 0.005957563281513022, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0433073283853926, + "required_height": 0.800146330191967, + "gripper_z": 1.0444595970384984, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.40293102501401, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6470389127452107, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4768495941814126, + "max_source_tilt_deg": 89.9651150530356, + "source_upright_tilt_deg": 3.2638803029585177, + "max_source_upright_tilt_deg": 89.96981953308466, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4768495941814126, + "source_upright_return_tilt_deg": 3.2638803029585177, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.474997356534004e-08, + "max_target_xy_drift": 1.810147076234081e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3271, + -0.0003, + 0.7701 + ], + "controller_target_position": [ + 0.3271, + -0.0003, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.001, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3285, + -0.0265, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013783230669911252, + -0.0010116937410162268, + -7.891622574054047e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.263878570255166, + "source_return_step_error_deg": 2.4768503737484617, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2593141117896187, + "source_return_best_wrist_position": -1.6168442964553833, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6168442964553833 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3271, + -0.0003, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3271, + -0.0003, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.001, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3285, + -0.0265, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013783230669911252, + -0.0010116937410162268, + -7.891622574054047e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.263878570255166, + "pour_controller_source_return_step_error_deg": 2.4768503737484617, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2593141117896187, + "pour_controller_source_return_best_wrist_position": -1.6168442964553833, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6168442964553833, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03742606319160736, + "valid_pour_held_xy_dist": 0.03410622048498624, + "valid_pour_held_gripper_dist": 0.005939601631557169, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0433073283853926, + "valid_pour_source_tilt_deg": 2.4768495941814126, + "valid_pour_source_upright_tilt_deg": 3.2638803029585177, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.474997356534004e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3358461070216346, + -0.05683678422224946, + 1.0433073283853926 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32557256877361346, + -0.033268509544143704, + 1.0433073283853926 + ], + "valid_pour_held_grasp_midpoint": [ + 0.330709337897624, + -0.04505264688319659, + 1.0433073283853926 + ], + "valid_pour_held_grasp_object_position": [ + 0.3358461070216346, + -0.033268509544143704, + 1.0433073283853926 + ], + "valid_pour_held_grasp_finger_gap": 0.025710098394136773, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024017810802570698, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.047477884247586394, + -0.9983779154049289, + 0.03142273920398408 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005702248111366377, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819911052856241, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3358461070216346, + -0.05683678422224946, + 1.0433073283853926 + ], + "held_grasp_finger_b": [ + 0.32557256877361346, + -0.033268509544143704, + 1.0433073283853926 + ], + "held_grasp_midpoint": [ + 0.330709337897624, + -0.04505264688319659, + 1.0433073283853926 + ], + "held_grasp_object_position": [ + 0.3358461070216346, + -0.033268509544143704, + 1.0433073283853926 + ], + "held_grasp_finger_gap": 0.025710098394136773, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024017810802570698, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.047477884247586394, + -0.9983779154049289, + 0.03142273920398408 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005702248111366377, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819911052856241, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.320300923233435, + -0.11619169783322104, + 0.7611066265815075 + ], + "target_position": [ + 0.3196495261248759, + -0.11925493134094799, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0031317275928631257, + "xy_threshold": 0.08, + "gripper_dist": 0.21689554757529642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066265815075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516708207335061, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507998170962348, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18894117659935405, + "release_required_pad_clearance": 0.052539990854811744, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803667945399765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7221dcc932df6bfa9a94220186e310ab7e71a3f71d1c08fa1cd3d979f70ba2f6", + "visual_seed": 76214558513453198, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35a62f9a456588e85f08cebdda02e7f578c8c9dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_44_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34327057248715737, + -0.12364863612771171, + 1.0017944280942586 + ], + "current_z": 1.0017944280942586, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14068774126555839, + "gripper_z": 1.0024551984631198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3391698218996908, + -0.12785919819516442, + 1.0024551984631198 + ], + "object_minus_gripper": [ + 0.004100750587466562, + 0.004210562067452711, + -0.0006607703688612521 + ], + "object_to_gripper_xy": 0.005877498473371048, + "object_to_gripper_z": -0.0006607703688612521, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34327057248715737, + -0.14772600489591872, + 1.0017944280942586 + ], + "finger_b": [ + 0.3328573231959514, + -0.12364863612771171, + 1.0017944280942586 + ], + "finger_midpoint": [ + 0.33806394784155436, + -0.1356873205118152, + 1.0017944280942586 + ], + "object_minus_finger_midpoint": [ + 0.0052066246456030085, + 0.012038684384103493, + 0.0 + ], + "finger_gap": 0.02623271712196493, + "fingertip_max_gap": 0.0934547143587666, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116358560982463, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017944280942586, + "object_top_z": 1.0517576769357198, + "finger_top_clearance": 0.049963248841461194, + "fingertip_min_top_clearance": 0.014988974652438357, + "object_projection_between_fingers": 0.8424254851446462, + "object_to_finger_line_xy": 0.009557669611345848, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492273571793833, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.156817648974649, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32414947068755073, + 0.005486716839157124, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3275279219145031, + -0.02919718853813852, + 1.046102265835013 + ], + "target_minus_gripper": [ + -0.0033784512269523503, + 0.03468390537729564, + -0.27595587603840144 + ], + "held_position": [ + 0.33159196381946604, + -0.024974524209743477, + 1.0453611360592823 + ], + "held_minus_target": [ + 0.0074424931319153065, + -0.030461241048900602, + 0.27521474626267073 + ], + "held_minus_gripper": [ + 0.004064041904962956, + 0.004222664328395041, + -0.0007411297757307089 + ], + "xy_dist": 0.03484805912693121, + "held_xy_dist": 0.03135726248029049, + "held_gripper_dist": 0.005907334761131244, + "max_held_gripper_dist": 0.005916623077098917, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0453611360592823, + "required_height": 0.8001463897966116, + "gripper_z": 1.046102265835013, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.40904404432118, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7300381611156985, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.73771593977212, + "max_source_tilt_deg": 89.88366338418291, + "source_upright_tilt_deg": 4.276942840517622, + "max_source_upright_tilt_deg": 89.80841989511899, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.73771593977212, + "source_upright_return_tilt_deg": 4.276942840517622, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.381903171539307e-09, + "max_target_xy_drift": 1.3317912817001343e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3241, + 0.0055, + 0.7701 + ], + "controller_target_position": [ + 0.3241, + 0.0055, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.0019, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3237, + -0.0178, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00047503123913840363, + 0.0019419580527164568, + 0.0019954555022411377 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.276944143313163, + "source_return_step_error_deg": 2.737720470308086, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.272766687313777, + "source_return_best_wrist_position": -1.6172404289245605, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172404289245605 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3241, + 0.0055, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3241, + 0.0055, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.0019, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3237, + -0.0178, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00047503123913840363, + 0.0019419580527164568, + 0.0019954555022411377 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.276944143313163, + "pour_controller_source_return_step_error_deg": 2.737720470308086, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.272766687313777, + "pour_controller_source_return_best_wrist_position": -1.6172404289245605, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172404289245605, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03484805912693121, + "valid_pour_held_xy_dist": 0.03135726248029049, + "valid_pour_held_gripper_dist": 0.005907334761131244, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0453611360592823, + "valid_pour_source_tilt_deg": 2.73771593977212, + "valid_pour_source_upright_tilt_deg": 4.276942840517622, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.381903171539307e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33159196381946604, + -0.048399586265919614, + 1.0453611360592823 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32108278740700397, + -0.024974524209743477, + 1.0453611360592823 + ], + "valid_pour_held_grasp_midpoint": [ + 0.326337375613235, + -0.03668705523783154, + 1.0453611360592823 + ], + "valid_pour_held_grasp_object_position": [ + 0.33159196381946604, + -0.024974524209743477, + 1.0453611360592823 + ], + "valid_pour_held_grasp_finger_gap": 0.025674429325769875, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02405572059522187, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06621754190465098, + -0.9972152351070231, + 0.03430760869764338 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006031630868859107, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0383882816019597, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33159196381946604, + -0.048399586265919614, + 1.0453611360592823 + ], + "held_grasp_finger_b": [ + 0.32108278740700397, + -0.024974524209743477, + 1.0453611360592823 + ], + "held_grasp_midpoint": [ + 0.326337375613235, + -0.03668705523783154, + 1.0453611360592823 + ], + "held_grasp_object_position": [ + 0.33159196381946604, + -0.024974524209743477, + 1.0453611360592823 + ], + "held_grasp_finger_gap": 0.025674429325769875, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02405572059522187, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06621754190465098, + -0.9972152351070231, + 0.03430760869764338 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006031630868859107, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0383882816019597, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32755047896779377, + -0.1286576141138033, + 0.7611095245756965 + ], + "target_position": [ + 0.3202537674383716, + -0.1287963568438394, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0072980304664162984, + "xy_threshold": 0.08, + "gripper_dist": 0.22297984677746802, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611095245756965, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567387154768346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08953232759174133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19289068523999414, + "release_required_pad_clearance": 0.05476616379587067, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5713446383863205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f11b7f46944530b86e6f07bcfbab4a9315087a62579dfde54bb85ced2e7aab0b", + "visual_seed": 3646991893626794544, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1ae78bc6abbf3428fa717ddc5a35a0b90765a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_45_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.344612465144025, + -0.12447681316233494, + 1.001618138535784 + ], + "current_z": 1.001618138535784, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14051157091637323, + "gripper_z": 1.0026230836895096, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3408414297312553, + -0.12856821383759082, + 1.0026230836895096 + ], + "object_minus_gripper": [ + 0.0037710354127696855, + 0.004091400675255874, + -0.0010049451537255116 + ], + "object_to_gripper_xy": 0.005564195141244352, + "object_to_gripper_z": -0.0010049451537255116, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.344612465144025, + -0.14812563749517446, + 1.001618138535784 + ], + "finger_b": [ + 0.33411674569343364, + -0.12447681316233494, + 1.001618138535784 + ], + "finger_midpoint": [ + 0.3393646054187293, + -0.13630122532875472, + 1.001618138535784 + ], + "object_minus_finger_midpoint": [ + 0.005247859725295678, + 0.011824412166419773, + 0.0 + ], + "finger_gap": 0.02587328775225569, + "fingertip_max_gap": 0.09336844360101906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012936643876127857, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001618138535784, + "object_top_z": 1.051557326275679, + "finger_top_clearance": 0.04993918773989492, + "fingertip_min_top_clearance": 0.014981756321968475, + "object_projection_between_fingers": 0.8354411703731192, + "object_to_finger_line_xy": 0.00959334692639371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049184221800509534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2319758847020212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3221107832199757, + 0.0007431242001690734, + 0.7701463897966117 + ], + "gripper_position": [ + 0.32548295398063204, + -0.03442315766706679, + 1.04431533013737 + ], + "target_minus_gripper": [ + -0.0033721707606563234, + 0.03516628186723586, + -0.27416894034075834 + ], + "held_position": [ + 0.32933424141853407, + -0.030439201794834975, + 1.0432325939444795 + ], + "held_minus_target": [ + 0.007223458198558352, + -0.031182325995004048, + 0.2730862041478679 + ], + "held_minus_gripper": [ + 0.003851287437902029, + 0.003983955872231812, + -0.0010827361928904544 + ], + "xy_dist": 0.035327594257250336, + "held_xy_dist": 0.03200805840417417, + "held_gripper_dist": 0.00564593986725215, + "max_held_gripper_dist": 0.005658215929566014, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0432325939444795, + "required_height": 0.8001463897966117, + "gripper_z": 1.04431533013737, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.60216081291411, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7797448429299894, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.51419735765921, + "max_source_tilt_deg": 89.88726064964571, + "source_upright_tilt_deg": 2.973546211037492, + "max_source_upright_tilt_deg": 89.91338060763049, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.51419735765921, + "source_upright_return_tilt_deg": 2.973546211037492, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.7890817744309254e-08, + "max_target_xy_drift": 2.0399466676218796e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3221, + 0.0007, + 0.7701 + ], + "controller_target_position": [ + 0.3221, + 0.0007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.001, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.321, + -0.0234, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010899955288172182, + 0.0010296509682847835, + 0.0003653959842958416 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9735444942244067, + "source_return_step_error_deg": 2.5141874539301114, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9690906437530615, + "source_return_best_wrist_position": -1.6169391870498657, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6169391870498657 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3221, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3221, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.001, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.321, + -0.0234, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010899955288172182, + 0.0010296509682847835, + 0.0003653959842958416 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9735444942244067, + "pour_controller_source_return_step_error_deg": 2.5141874539301114, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9690906437530615, + "pour_controller_source_return_best_wrist_position": -1.6169391870498657, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6169391870498657, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035327594257250336, + "valid_pour_held_xy_dist": 0.03200805840417417, + "valid_pour_held_gripper_dist": 0.00564593986725215, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0432325939444795, + "valid_pour_source_tilt_deg": 2.51419735765921, + "valid_pour_source_upright_tilt_deg": 2.973546211037492, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.7890817744309254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32933424141853407, + -0.05389231246757317, + 1.0432325939444795 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31938302394000034, + -0.030439201794834975, + 1.0432325939444795 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32435863267926723, + -0.042165757131204074, + 1.0432325939444795 + ], + "valid_pour_held_grasp_object_position": [ + 0.32933424141853407, + -0.030439201794834975, + 1.0432325939444795 + ], + "valid_pour_held_grasp_finger_gap": 0.025476952909105545, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023818287828742155, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039869935764526326, + -0.9986536009621649, + 0.03318694784751408 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00545285889149338, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820786055737196, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32933424141853407, + -0.05389231246757317, + 1.0432325939444795 + ], + "held_grasp_finger_b": [ + 0.31938302394000034, + -0.030439201794834975, + 1.0432325939444795 + ], + "held_grasp_midpoint": [ + 0.32435863267926723, + -0.042165757131204074, + 1.0432325939444795 + ], + "held_grasp_object_position": [ + 0.32933424141853407, + -0.030439201794834975, + 1.0432325939444795 + ], + "held_grasp_finger_gap": 0.025476952909105545, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023818287828742155, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039869935764526326, + -0.9986536009621649, + 0.03318694784751408 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00545285889149338, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820786055737196, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3067580560019245, + -0.11706228712599273, + 0.7611073938053793 + ], + "target_position": [ + 0.321848005214307, + -0.12866847666961068, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019037074432660853, + "xy_threshold": 0.08, + "gripper_dist": 0.20671769412966703, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073938053793, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07778055397273426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881899120795621, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18153579807237022, + "release_required_pad_clearance": 0.05409495603978105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.199219947440399, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "deedf8025da6b72e749dfdbbe83ebcdf6cca4a6ea92f32b63541f9f3363b1af2", + "visual_seed": 7390284728437151285, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..caef9bdc1d0272c809d8a9014a0925ca2f26b527 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_46_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35009265201201256, + -0.11932467306622732, + 1.0040301681937518 + ], + "current_z": 1.0040301681937518, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1429237197836306, + "gripper_z": 1.0041201731737244, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3463762134728231, + -0.1233975212434311, + 1.0041201731737244 + ], + "object_minus_gripper": [ + 0.0037164385391894594, + 0.004072848177203783, + -9.000497997257995e-05 + ], + "object_to_gripper_xy": 0.005513620198211413, + "object_to_gripper_z": -9.000497997257995e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35009265201201256, + -0.14291535850342552, + 1.0040301681937518 + ], + "finger_b": [ + 0.3395595768630899, + -0.11932467306622732, + 1.0040301681937518 + ], + "finger_midpoint": [ + 0.34482611443755123, + -0.1311200157848264, + 1.0040301681937518 + ], + "object_minus_finger_midpoint": [ + 0.005266537574461327, + 0.011795342718599083, + 0.0 + ], + "finger_gap": 0.02583536551879394, + "fingertip_max_gap": 0.09420695206436011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012917682759396958, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040301681937518, + "object_top_z": 1.053983114854513, + "finger_top_clearance": 0.04995294666076111, + "fingertip_min_top_clearance": 0.014985883998228349, + "object_projection_between_fingers": 0.8337808164593744, + "object_to_finger_line_xy": 0.00961791937272364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04960347603218006, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.839750224860581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.326287101865453, + 0.005798383473090906, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3311155202124225, + -0.029225470706517626, + 1.0440039270466506 + ], + "target_minus_gripper": [ + -0.00482841834696951, + 0.03502385417960853, + -0.2738575372500388 + ], + "held_position": [ + 0.3348611036885198, + -0.025187819787998826, + 1.0438404361164566 + ], + "held_minus_target": [ + 0.00857400182306678, + -0.03098620326108973, + 0.27369404631984484 + ], + "held_minus_gripper": [ + 0.0037455834760972695, + 0.0040376509185187995, + -0.00016349093019396577 + ], + "xy_dist": 0.03535511257693622, + "held_xy_dist": 0.0321505567572246, + "held_gripper_dist": 0.005509877475995659, + "max_held_gripper_dist": 0.005515469521679946, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0438404361164566, + "required_height": 0.8001463897966118, + "gripper_z": 1.0440039270466506, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.32992996316491, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.205612729559177, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3415514021016697, + "max_source_tilt_deg": 89.79581723280852, + "source_upright_tilt_deg": 4.0601525070008675, + "max_source_upright_tilt_deg": 89.81915152879921, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3415514021016697, + "source_upright_return_tilt_deg": 4.0601525070008675, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.645485390636448e-08, + "max_target_xy_drift": 2.1427908979620974e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3263, + 0.0058, + 0.7701 + ], + "controller_target_position": [ + 0.3263, + 0.0058, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0015, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.3266, + -0.0179, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002935518569688075, + 0.0015053084434823272, + -4.396572522319137e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.060151616843563, + "source_return_step_error_deg": 2.3415498627415587, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.057088078742503, + "source_return_best_wrist_position": -1.6145001649856567, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6145001649856567 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3263, + 0.0058, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3263, + 0.0058, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0015, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3266, + -0.0179, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002935518569688075, + 0.0015053084434823272, + -4.396572522319137e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.060151616843563, + "pour_controller_source_return_step_error_deg": 2.3415498627415587, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.057088078742503, + "pour_controller_source_return_best_wrist_position": -1.6145001649856567, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6145001649856567, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03535511257693622, + "valid_pour_held_xy_dist": 0.0321505567572246, + "valid_pour_held_gripper_dist": 0.005509877475995659, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0438404361164566, + "valid_pour_source_tilt_deg": 2.3415514021016697, + "valid_pour_source_upright_tilt_deg": 4.0601525070008675, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.645485390636448e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3348611036885198, + -0.04848553632740223, + 1.0438404361164566 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3246478178244926, + -0.025187819787998826, + 1.0438404361164566 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32975446075650616, + -0.03683667805770053, + 1.0438404361164566 + ], + "valid_pour_held_grasp_object_position": [ + 0.3348611036885198, + -0.025187819787998826, + 1.0438404361164566 + ], + "valid_pour_held_grasp_finger_gap": 0.025438058182391376, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023852305047886452, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0600256718808881, + -0.9974902760312208, + 0.037550871340183645 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005812712256091384, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038407156892251645, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3348611036885198, + -0.04848553632740223, + 1.0438404361164566 + ], + "held_grasp_finger_b": [ + 0.3246478178244926, + -0.025187819787998826, + 1.0438404361164566 + ], + "held_grasp_midpoint": [ + 0.32975446075650616, + -0.03683667805770053, + 1.0438404361164566 + ], + "held_grasp_object_position": [ + 0.3348611036885198, + -0.025187819787998826, + 1.0438404361164566 + ], + "held_grasp_finger_gap": 0.025438058182391376, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023852305047886452, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0600256718808881, + -0.9974902760312208, + 0.037550871340183645 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005812712256091384, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038407156892251645, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3103660631941053, + -0.10517252279067735, + 0.7611167075469876 + ], + "target_position": [ + 0.3271316080718671, + -0.1219083867251272, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023689082647512197, + "xy_threshold": 0.08, + "gripper_dist": 0.2078944936733397, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611167075469876, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08099072365107937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573244242056687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838999518784186, + "release_required_pad_clearance": 0.052866221210283434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.773275092353473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f52bab481cc36c06ce3b9d7e25c608eca6a267e40730574dc7eebf6b3e4024d7", + "visual_seed": 8120675346560013337, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2875994135a9af8ded28dc716d3dd8caef555e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_47_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3417871422765518, + -0.1156239238880128, + 1.0016078128166241 + ], + "current_z": 1.0016078128166241, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14050136440650274, + "gripper_z": 1.0019453400793072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33790381525702184, + -0.11978482021882271, + 1.0019453400793072 + ], + "object_minus_gripper": [ + 0.0038833270195299807, + 0.0041608963308099045, + -0.0003375272626831016 + ], + "object_to_gripper_xy": 0.005691510082250485, + "object_to_gripper_z": -0.0003375272626831016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3417871422765518, + -0.13930051797936813, + 1.0016078128166241 + ], + "finger_b": [ + 0.33110705278125624, + -0.1156239238880128, + 1.0016078128166241 + ], + "finger_midpoint": [ + 0.336447097528904, + -0.12746222093369047, + 1.0016078128166241 + ], + "object_minus_finger_midpoint": [ + 0.005340044747647821, + 0.011838297045677668, + 0.0 + ], + "finger_gap": 0.02597393731020241, + "fingertip_max_gap": 0.09399031060650023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012986968655101223, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016078128166241, + "object_top_z": 1.0514610197078018, + "finger_top_clearance": 0.04985320689117767, + "fingertip_min_top_clearance": 0.0149559620673533, + "object_projection_between_fingers": 0.830927019811494, + "object_to_finger_line_xy": 0.00973545677035791, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04949515530325012, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.6762338145926203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3192564359909718, + 0.005945468178622501, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3235542903092963, + -0.030634308516312395, + 1.0439290328817532 + ], + "target_minus_gripper": [ + -0.004297854318324468, + 0.036579776694934896, + -0.27378258348049667 + ], + "held_position": [ + 0.3274340777595594, + -0.02647824433794765, + 1.0435298697286002 + ], + "held_minus_target": [ + 0.008177641768587596, + -0.032423712516570155, + 0.27338342032734364 + ], + "held_minus_gripper": [ + 0.003879787450263128, + 0.004156064178364744, + -0.000399163153153026 + ], + "xy_dist": 0.03683139441825197, + "held_xy_dist": 0.033439063357883346, + "held_gripper_dist": 0.005699557117596151, + "max_held_gripper_dist": 0.005703813467259651, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0435298697286002, + "required_height": 0.8001464494012566, + "gripper_z": 1.0439290328817532, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.54369439361881, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1331757897093633, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.295339649190369, + "max_source_tilt_deg": 89.90383575552364, + "source_upright_tilt_deg": 3.8094358879609964, + "max_source_upright_tilt_deg": 89.86284248484246, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.295339649190369, + "source_upright_return_tilt_deg": 3.8094358879609964, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.839941346661803e-08, + "max_target_xy_drift": 1.1057274102908246e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3193, + 0.0059, + 0.7701 + ], + "controller_target_position": [ + 0.3193, + 0.0059, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0007, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.319, + -0.02, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00026651137850581554, + -0.0007460797486815688, + -0.0004109746159239526 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.809434933728763, + "source_return_step_error_deg": 1.2953248394000607, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8139106871546584, + "source_return_best_wrist_position": -1.5921101570129395, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5921101570129395 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3193, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3193, + 0.0059, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0007, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.319, + -0.02, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00026651137850581554, + -0.0007460797486815688, + -0.0004109746159239526 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.809434933728763, + "pour_controller_source_return_step_error_deg": 1.2953248394000607, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8139106871546584, + "pour_controller_source_return_best_wrist_position": -1.5921101570129395, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5921101570129395, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03683139441825197, + "valid_pour_held_xy_dist": 0.033439063357883346, + "valid_pour_held_gripper_dist": 0.005699557117596151, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0435298697286002, + "valid_pour_source_tilt_deg": 1.295339649190369, + "valid_pour_source_upright_tilt_deg": 3.8094358879609964, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.839941346661803e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3274340777595594, + -0.05002314963549072, + 1.0435298697286002 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3167390520817073, + -0.02647824433794765, + 1.0435298697286002 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32208656492063337, + -0.038250696986719186, + 1.0435298697286002 + ], + "valid_pour_held_grasp_object_position": [ + 0.3274340777595594, + -0.02647824433794765, + 1.0435298697286002 + ], + "valid_pour_held_grasp_finger_gap": 0.02586012644439675, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02418623105745765, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06482894097550473, + -0.997790544161083, + 0.014534042614651629 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006101787993441437, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832048172976722, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3274340777595594, + -0.05002314963549072, + 1.0435298697286002 + ], + "held_grasp_finger_b": [ + 0.3167390520817073, + -0.02647824433794765, + 1.0435298697286002 + ], + "held_grasp_midpoint": [ + 0.32208656492063337, + -0.038250696986719186, + 1.0435298697286002 + ], + "held_grasp_object_position": [ + 0.3274340777595594, + -0.02647824433794765, + 1.0435298697286002 + ], + "held_grasp_finger_gap": 0.02586012644439675, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02418623105745765, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06482894097550473, + -0.997790544161083, + 0.014534042614651629 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006101787993441437, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832048172976722, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3170578340913861, + -0.12588858433056754, + 0.7611064015534582 + ], + "target_position": [ + 0.31885879458494515, + -0.11987321408126493, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0062791829034959164, + "xy_threshold": 0.08, + "gripper_dist": 0.21534737410172256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064015534582, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560431239005555, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0902600269666378, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18497147597553357, + "release_required_pad_clearance": 0.055130013483318904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.349917627449161, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5106c9aa29692550818ac3c50bce1213774d86db0730dcca29d01f55b77295c", + "visual_seed": 8922231704018049785, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3321d39e6d8a9f3b137ab6482ebc0add278d05e0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_48_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34496401190370407, + -0.12491681693831573, + 1.0018455629575538 + ], + "current_z": 1.0018455629575538, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1407390549427876, + "gripper_z": 1.0024114044660322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34112323590316324, + -0.12893770052692302, + 1.0024114044660322 + ], + "object_minus_gripper": [ + 0.0038407760005408353, + 0.004020883588607291, + -0.0005658415084783819 + ], + "object_to_gripper_xy": 0.0055604914458581714, + "object_to_gripper_z": -0.0005658415084783819, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34496401190370407, + -0.14884224664632736, + 1.0018455629575538 + ], + "finger_b": [ + 0.3348567015023058, + -0.12491681693831573, + 1.0018455629575538 + ], + "finger_midpoint": [ + 0.33991035670300496, + -0.13687953179232154, + 1.0018455629575538 + ], + "object_minus_finger_midpoint": [ + 0.005053655200699114, + 0.01196271485400581, + 0.0 + ], + "finger_gap": 0.025972753228397247, + "fingertip_max_gap": 0.09356831620499975, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012986376614198606, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018455629575538, + "object_top_z": 1.0517666197632636, + "finger_top_clearance": 0.049921056805709796, + "fingertip_min_top_clearance": 0.014976317041712905, + "object_projection_between_fingers": 0.8485618734808654, + "object_to_finger_line_xy": 0.009310593390665783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928415810249988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5013425771720192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3206606916195576, + 0.0009676894141808916, + 0.7701463897966115 + ], + "gripper_position": [ + 0.32545419821493626, + -0.03523419612586624, + 1.0437602268274921 + ], + "target_minus_gripper": [ + -0.004793506595378638, + 0.036201885540047135, + -0.2736138370308806 + ], + "held_position": [ + 0.32933530157862956, + -0.0312748698375091, + 1.0431150711469086 + ], + "held_minus_target": [ + 0.008674609959071933, + -0.03224255925168999, + 0.27296868135029706 + ], + "held_minus_gripper": [ + 0.0038811033636932946, + 0.003959326288357143, + -0.0006451556805835423 + ], + "xy_dist": 0.03651786168622983, + "held_xy_dist": 0.03338909230633216, + "held_gripper_dist": 0.005581707071276364, + "max_held_gripper_dist": 0.0055908732005229686, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0431150711469086, + "required_height": 0.8001463897966116, + "gripper_z": 1.0437602268274921, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.37705143824883, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0594353029812176, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.485152550768285, + "max_source_tilt_deg": 89.96586515432175, + "source_upright_tilt_deg": 3.5897862568598673, + "max_source_upright_tilt_deg": 89.90450450638137, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.485152550768285, + "source_upright_return_tilt_deg": 3.5897862568598673, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.127425405791977e-07, + "max_target_xy_drift": 4.5536913780083394e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3207, + 0.001, + 0.7701 + ], + "controller_target_position": [ + 0.3207, + 0.001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0003, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3213, + -0.0246, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006439228423671425, + -0.0003483061363130787, + -0.0007357634326291475 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.589788199121628, + "source_return_step_error_deg": 2.4851418826671257, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5860656106147415, + "source_return_best_wrist_position": -1.6172828674316406, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172828674316406 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3207, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3207, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0003, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3213, + -0.0246, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006439228423671425, + -0.0003483061363130787, + -0.0007357634326291475 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.589788199121628, + "pour_controller_source_return_step_error_deg": 2.4851418826671257, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5860656106147415, + "pour_controller_source_return_best_wrist_position": -1.6172828674316406, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172828674316406, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03651786168622983, + "valid_pour_held_xy_dist": 0.03338909230633216, + "valid_pour_held_gripper_dist": 0.005581707071276364, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0431150711469086, + "valid_pour_source_tilt_deg": 2.485152550768285, + "valid_pour_source_upright_tilt_deg": 3.5897862568598673, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.127425405791977e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32933530157862956, + -0.05486711523859516, + 1.0431150711469086 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31957455841911564, + -0.0312748698375091, + 1.0431150711469086 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3244549299988726, + -0.04307099253805213, + 1.0431150711469086 + ], + "valid_pour_held_grasp_object_position": [ + 0.32933530157862956, + -0.0312748698375091, + 1.0431150711469086 + ], + "valid_pour_held_grasp_finger_gap": 0.02553166955157974, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024064062416445976, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.053080693295800965, + -0.9980379146688938, + 0.03320784369095975 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005513264656463075, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820632587586132, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32933530157862956, + -0.05486711523859516, + 1.0431150711469086 + ], + "held_grasp_finger_b": [ + 0.31957455841911564, + -0.0312748698375091, + 1.0431150711469086 + ], + "held_grasp_midpoint": [ + 0.3244549299988726, + -0.04307099253805213, + 1.0431150711469086 + ], + "held_grasp_object_position": [ + 0.32933530157862956, + -0.0312748698375091, + 1.0431150711469086 + ], + "held_grasp_finger_gap": 0.02553166955157974, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024064062416445976, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.053080693295800965, + -0.9980379146688938, + 0.03320784369095975 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005513264656463075, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820632587586132, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32256577476304715, + -0.1278261684447785, + 0.7611098675722269 + ], + "target_position": [ + 0.3222067024471905, + -0.1286633247610962, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0009109136215719179, + "xy_threshold": 0.08, + "gripper_dist": 0.21484090057132255, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098675722269, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756192200244632, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874204963566436, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1856537219291216, + "release_required_pad_clearance": 0.053710248178321804, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4286852113895048, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "310c45a512d2717ac30ad821d087ab2aed1ad0a2b00a849715407c941c711c1b", + "visual_seed": 5939081261471107978, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a0cf5a9f51bc398fb3224edb9f7af18618f476 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_49_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3502907287080852, + -0.12106782111103756, + 1.002305516485766 + ], + "current_z": 1.002305516485766, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14119912768028964, + "gripper_z": 1.00243258088506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3464586008865437, + -0.12508490139658668, + 1.00243258088506 + ], + "object_minus_gripper": [ + 0.00383212782154152, + 0.004017080285549118, + -0.00012706439929410784 + ], + "object_to_gripper_xy": 0.0055517688767797195, + "object_to_gripper_z": -0.00012706439929410784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3502907287080852, + -0.14496972232048602, + 1.002305516485766 + ], + "finger_b": [ + 0.34016130958866264, + -0.12106782111103756, + 1.002305516485766 + ], + "finger_midpoint": [ + 0.3452260191483739, + -0.1330187717157618, + 1.002305516485766 + ], + "object_minus_finger_midpoint": [ + 0.005064709559711278, + 0.011950950604724231, + 0.0 + ], + "finger_gap": 0.02595969978877177, + "fingertip_max_gap": 0.09528091473241476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012979849894385885, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002305516485766, + "object_top_z": 1.0528770160047614, + "finger_top_clearance": 0.05057149951899542, + "fingertip_min_top_clearance": 0.015171449855698627, + "object_projection_between_fingers": 0.8477456355947784, + "object_to_finger_line_xy": 0.00932647053207663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05014045736620738, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.583746417181727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3240630141503041, + 0.006159594605349082, + 0.7701463301919672 + ], + "gripper_position": [ + 0.32891817924481404, + -0.029443824466418148, + 1.0442819057108592 + ], + "target_minus_gripper": [ + -0.00485516509450995, + 0.03560341907176723, + -0.274135575518892 + ], + "held_position": [ + 0.33275651511321036, + -0.025440789117798582, + 1.0440960592377464 + ], + "held_minus_target": [ + 0.008693500962906275, + -0.03160038372314766, + 0.2739497290457792 + ], + "held_minus_gripper": [ + 0.0038383358683963253, + 0.004003035348619566, + -0.0001858464731128162 + ], + "xy_dist": 0.035932938617580755, + "held_xy_dist": 0.03277439870451063, + "held_gripper_dist": 0.005549022720487276, + "max_held_gripper_dist": 0.005554282872185187, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0440960592377464, + "required_height": 0.8001463301919672, + "gripper_z": 1.0442819057108592, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23178014479183, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0898771409502768, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.2479591221668533, + "max_source_tilt_deg": 89.82559116892202, + "source_upright_tilt_deg": 3.6447390843273966, + "max_source_upright_tilt_deg": 89.82880605560395, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.2479591221668533, + "source_upright_return_tilt_deg": 3.6447390843273966, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.983504623107863e-08, + "max_target_xy_drift": 1.200358828914804e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3241, + 0.0062, + 0.7701 + ], + "controller_target_position": [ + 0.3241, + 0.0062, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0005, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3245, + -0.0186, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004689067680780112, + 0.00048597422597509987, + -0.00024615634858015365 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6447317353814186, + "source_return_step_error_deg": 1.247945576445919, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.641408610601311, + "source_return_best_wrist_position": -1.5921251773834229, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5921251773834229 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3241, + 0.0062, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3241, + 0.0062, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0005, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3245, + -0.0186, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004689067680780112, + 0.00048597422597509987, + -0.00024615634858015365 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6447317353814186, + "pour_controller_source_return_step_error_deg": 1.247945576445919, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.641408610601311, + "pour_controller_source_return_best_wrist_position": -1.5921251773834229, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5921251773834229, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035932938617580755, + "valid_pour_held_xy_dist": 0.03277439870451063, + "valid_pour_held_gripper_dist": 0.005549022720487276, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0440960592377464, + "valid_pour_source_tilt_deg": 1.2479591221668533, + "valid_pour_source_upright_tilt_deg": 3.6447390843273966, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.983504623107863e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33275651511321036, + -0.049246718770193265, + 1.0440960592377464 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3226831832697814, + -0.025440789117798582, + 1.0440960592377464 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3277198491914959, + -0.03734375394399592, + 1.0440960592377464 + ], + "valid_pour_held_grasp_object_position": [ + 0.33275651511321036, + -0.025440789117798582, + 1.0440960592377464 + ], + "valid_pour_held_grasp_finger_gap": 0.025849454559866526, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02436603399747196, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06038262527807267, + -0.9979773998483051, + 0.019875813355533452 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057509513928582345, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03814548729336253, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33275651511321036, + -0.049246718770193265, + 1.0440960592377464 + ], + "held_grasp_finger_b": [ + 0.3226831832697814, + -0.025440789117798582, + 1.0440960592377464 + ], + "held_grasp_midpoint": [ + 0.3277198491914959, + -0.03734375394399592, + 1.0440960592377464 + ], + "held_grasp_object_position": [ + 0.33275651511321036, + -0.025440789117798582, + 1.0440960592377464 + ], + "held_grasp_finger_gap": 0.025849454559866526, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02436603399747196, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06038262527807267, + -0.9979773998483051, + 0.019875813355533452 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057509513928582345, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03814548729336253, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33012725368330775, + -0.12808979958430933, + 0.7611064614143049 + ], + "target_position": [ + 0.3274992321670279, + -0.12458952284069236, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004377034883563937, + "xy_threshold": 0.08, + "gripper_dist": 0.21553643356803556, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064614143049, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580757837850251, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08803527678434413, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18488610284388124, + "release_required_pad_clearance": 0.054017638392172065, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.046827153400188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a2d3883f645a40ef76e77529994ab1765261a3455d157aa3110cc40f8ccc3b85", + "visual_seed": 4331486029505995973, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a105fbaf4b998232a28a4dc6550d8cafb3219c96 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_4_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3502606613788036, + -0.12538921774773762, + 1.0018192276711695 + ], + "current_z": 1.0018192276711695, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.14071260044711398, + "gripper_z": 1.0018373416480757, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3464423865321281, + -0.12943372550611382, + 1.0018373416480757 + ], + "object_minus_gripper": [ + 0.0038182748466754624, + 0.004044507758376198, + -1.8113976906208862e-05 + ], + "object_to_gripper_xy": 0.005562127813375003, + "object_to_gripper_z": -1.8113976906208862e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3502606613788036, + -0.14917395126632252, + 1.0018192276711695 + ], + "finger_b": [ + 0.33993485361227627, + -0.12538921774773762, + 1.0018192276711695 + ], + "finger_midpoint": [ + 0.34509775749553995, + -0.13728158450703007, + 1.0018192276711695 + ], + "object_minus_finger_midpoint": [ + 0.005162903883263625, + 0.01189236675929245, + 0.0 + ], + "finger_gap": 0.025929439920317824, + "fingertip_max_gap": 0.09431228939992162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012964719960158902, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018192276711695, + "object_top_z": 1.0518492487320428, + "finger_top_clearance": 0.050030021060873286, + "fingertip_min_top_clearance": 0.015009006318261985, + "object_projection_between_fingers": 0.8414151122467449, + "object_to_finger_line_xy": 0.009471727381914685, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04965614469996081, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5817100445264214, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32082511103217043, + 0.001013904899962319, + 0.770146330191967 + ], + "gripper_position": [ + 0.32536549096769607, + -0.034474587234307325, + 1.0452864054451023 + ], + "target_minus_gripper": [ + -0.00454037993552564, + 0.03548849213426964, + -0.27514007525313533 + ], + "held_position": [ + 0.3292227640738027, + -0.03047319624590354, + 1.0451950800228973 + ], + "held_minus_target": [ + 0.008397653041632258, + -0.03148710114586586, + 0.2750487498309303 + ], + "held_minus_gripper": [ + 0.003857273106106618, + 0.004001390988403783, + -9.132542220502415e-05 + ], + "xy_dist": 0.03577776018594571, + "held_xy_dist": 0.03258769883219161, + "held_gripper_dist": 0.0055585992830850224, + "max_held_gripper_dist": 0.005563079936714648, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0451950800228973, + "required_height": 0.800146330191967, + "gripper_z": 1.0452864054451023, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.33511407674496, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0165421820533593, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.382590852505615, + "max_source_tilt_deg": 89.71223654703299, + "source_upright_tilt_deg": 3.6659010904780147, + "max_source_upright_tilt_deg": 89.98314317502295, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.382590852505615, + "source_upright_return_tilt_deg": 3.6659010904780147, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.23786157450342e-08, + "max_target_xy_drift": 1.0764760577752621e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3208, + 0.001, + 0.7701 + ], + "controller_target_position": [ + 0.3208, + 0.001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0006, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3201, + -0.0236, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006895138296992788, + 0.0006255864762152686, + 0.0015037534369723624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6659079434104025, + "source_return_step_error_deg": 2.382609869108451, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6692005270867805, + "source_return_best_wrist_position": -1.6157420873641968, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6157420873641968 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3208, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3208, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0006, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3201, + -0.0236, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006895138296992788, + 0.0006255864762152686, + 0.0015037534369723624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6659079434104025, + "pour_controller_source_return_step_error_deg": 2.382609869108451, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6692005270867805, + "pour_controller_source_return_best_wrist_position": -1.6157420873641968, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6157420873641968, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03577776018594571, + "valid_pour_held_xy_dist": 0.03258769883219161, + "valid_pour_held_gripper_dist": 0.0055585992830850224, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0451950800228973, + "valid_pour_source_tilt_deg": 2.382590852505615, + "valid_pour_source_upright_tilt_deg": 3.6659010904780147, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.23786157450342e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3292227640738027, + -0.053990061175560315, + 1.0451950800228973 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31927852729921463, + -0.03047319624590354, + 1.0451950800228973 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32425064568650863, + -0.042231628710731925, + 1.0451950800228973 + ], + "valid_pour_held_grasp_object_position": [ + 0.3292227640738027, + -0.03047319624590354, + 1.0451950800228973 + ], + "valid_pour_held_grasp_finger_gap": 0.025532935223917953, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023996709943689427, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.053092449642535997, + -0.9979538566769189, + 0.03562712077362307 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005604714419223684, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824985898843862, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3292227640738027, + -0.053990061175560315, + 1.0451950800228973 + ], + "held_grasp_finger_b": [ + 0.31927852729921463, + -0.03047319624590354, + 1.0451950800228973 + ], + "held_grasp_midpoint": [ + 0.32425064568650863, + -0.042231628710731925, + 1.0451950800228973 + ], + "held_grasp_object_position": [ + 0.3292227640738027, + -0.03047319624590354, + 1.0451950800228973 + ], + "held_grasp_finger_gap": 0.025532935223917953, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023996709943689427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.053092449642535997, + -0.9979538566769189, + 0.03562712077362307 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005604714419223684, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824985898843862, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33079487750577435, + -0.13500022727793604, + 0.7611064281261751 + ], + "target_position": [ + 0.32727465642395254, + -0.12893215105601247, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007015233816486588, + "xy_threshold": 0.08, + "gripper_dist": 0.21960442419685922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064281261751, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547050007849615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08918339527407092, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18882260076526924, + "release_required_pad_clearance": 0.05459169763703546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.220883452263081, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d9d600fd9828b24e3984cb7a339e8a99bf9811e7c079bfc377a544da5c6a1b25", + "visual_seed": 4112475615538451985, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d6db280536c24732179aaf960eb3ed6d8f58ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_50_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3478600079314268, + -0.12248077783837566, + 1.0048279647295244 + ], + "current_z": 1.0048279647295244, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14372139711011345, + "gripper_z": 1.0049411995817352, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3439904934530654, + -0.1265758770783426, + 1.0049411995817352 + ], + "object_minus_gripper": [ + 0.003869514478361369, + 0.004095099239966954, + -0.00011323485221081953 + ], + "object_to_gripper_xy": 0.005634090883490093, + "object_to_gripper_z": -0.00011323485221081953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3478600079314268, + -0.14628967947542731, + 1.0048279647295244 + ], + "finger_b": [ + 0.3374374918787344, + -0.12248077783837566, + 1.0048279647295244 + ], + "finger_midpoint": [ + 0.3426487499050806, + -0.1343852286569015, + 1.0048279647295244 + ], + "object_minus_finger_midpoint": [ + 0.005211258026346199, + 0.011904450818525841, + 0.0 + ], + "finger_gap": 0.025990241207642373, + "fingertip_max_gap": 0.09392345624646489, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012995120603821199, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0048279647295244, + "object_top_z": 1.0547920665206785, + "finger_top_clearance": 0.04996410179115407, + "fingertip_min_top_clearance": 0.01498923053734622, + "object_projection_between_fingers": 0.8391857516238748, + "object_to_finger_line_xy": 0.009547762851703643, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946172812323245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5408877753186054, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32597042238776125, + 0.005243830240003844, + 0.7701463897966118 + ], + "gripper_position": [ + 0.33027401622597985, + -0.030567097001133373, + 1.043447031975293 + ], + "target_minus_gripper": [ + -0.0043035938382186, + 0.035810927241137214, + -0.27330064217868133 + ], + "held_position": [ + 0.3342009507402818, + -0.026536568299855116, + 1.0432589040024385 + ], + "held_minus_target": [ + 0.008230528352520528, + -0.03178039853985896, + 0.2731125142058267 + ], + "held_minus_gripper": [ + 0.003926934514301927, + 0.004030528701278256, + -0.00018812797285461258 + ], + "xy_dist": 0.03606859339916621, + "held_xy_dist": 0.032828879486115785, + "held_gripper_dist": 0.005630396826655639, + "max_held_gripper_dist": 0.005636457219259893, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0432589040024385, + "required_height": 0.8001463897966118, + "gripper_z": 1.043447031975293, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28912641306326, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9138477254208013, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3332772724877184, + "max_source_tilt_deg": 89.78361509687262, + "source_upright_tilt_deg": 3.4883048443829905, + "max_source_upright_tilt_deg": 89.84981529039321, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3332772724877184, + "source_upright_return_tilt_deg": 3.4883048443829905, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.5679149526596145e-08, + "max_target_xy_drift": 1.3788056938403006e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.326, + 0.0052, + 0.7701 + ], + "controller_target_position": [ + 0.326, + 0.0052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0004, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3261, + -0.0195, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010375985824582178, + 0.00044736300458079114, + -0.0009471941108952075 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.488303845304114, + "source_return_step_error_deg": 2.3332665191556603, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.482883867959824, + "source_return_best_wrist_position": -1.6140552759170532, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6140552759170532 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.326, + 0.0052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.326, + 0.0052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0004, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3261, + -0.0195, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010375985824582178, + 0.00044736300458079114, + -0.0009471941108952075 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.488303845304114, + "pour_controller_source_return_step_error_deg": 2.3332665191556603, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.482883867959824, + "pour_controller_source_return_best_wrist_position": -1.6140552759170532, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6140552759170532, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03606859339916621, + "valid_pour_held_xy_dist": 0.032828879486115785, + "valid_pour_held_gripper_dist": 0.005630396826655639, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0432589040024385, + "valid_pour_source_tilt_deg": 2.3332772724877184, + "valid_pour_source_upright_tilt_deg": 3.4883048443829905, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.5679149526596145e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3342009507402818, + -0.050165542507507876, + 1.0432589040024385 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3242605557435301, + -0.026536568299855116, + 1.0432589040024385 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3292307532419059, + -0.0383510554036815, + 1.0432589040024385 + ], + "valid_pour_held_grasp_object_position": [ + 0.3342009507402818, + -0.026536568299855116, + 1.0432589040024385 + ], + "valid_pour_held_grasp_finger_gap": 0.025634739608534463, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024059349711437066, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.047699725514151, + -0.9981472488531131, + 0.03777308291411152 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005545710870611088, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038164729327223826, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3342009507402818, + -0.050165542507507876, + 1.0432589040024385 + ], + "held_grasp_finger_b": [ + 0.3242605557435301, + -0.026536568299855116, + 1.0432589040024385 + ], + "held_grasp_midpoint": [ + 0.3292307532419059, + -0.0383510554036815, + 1.0432589040024385 + ], + "held_grasp_object_position": [ + 0.3342009507402818, + -0.026536568299855116, + 1.0432589040024385 + ], + "held_grasp_finger_gap": 0.025634739608534463, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024059349711437066, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.047699725514151, + -0.9981472488531131, + 0.03777308291411152 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005545710870611088, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038164729327223826, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3250767267856658, + -0.13277071147105557, + 0.7611078107584474 + ], + "target_position": [ + 0.32473429218212596, + -0.12771367672135875, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005068615384633427, + "xy_threshold": 0.08, + "gripper_dist": 0.2164672044221719, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078107584474, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533073484759824, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08938434644571384, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18640908136103734, + "release_required_pad_clearance": 0.054692173222856924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.4246242385673105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "acfc247d038c3be69a6f38bdf14749d09248f9f375e55b131a0d3d86c6c4a43b", + "visual_seed": 6868715130127918215, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..17febad468fe7f3cb28698553f1648afb798a4b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_51_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3476981755841928, + -0.1255980542629729, + 1.0039200672155189 + ], + "current_z": 1.0039200672155189, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1428136188053979, + "gripper_z": 1.00442199042929, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3440144616929556, + -0.12965924686353159, + 1.00442199042929 + ], + "object_minus_gripper": [ + 0.003683713891237228, + 0.004061192600558677, + -0.0005019232137710716 + ], + "object_to_gripper_xy": 0.005482976688927892, + "object_to_gripper_z": -0.0005019232137710716, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3476981755841928, + -0.1491168099105304, + 1.0039200672155189 + ], + "finger_b": [ + 0.33714432193413313, + -0.1255980542629729, + 1.0039200672155189 + ], + "finger_midpoint": [ + 0.34242124875916297, + -0.13735743208675166, + 1.0039200672155189 + ], + "object_minus_finger_midpoint": [ + 0.005276926825029837, + 0.011759377823778755, + 0.0 + ], + "finger_gap": 0.025778201917053774, + "fingertip_max_gap": 0.09373546959211412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012889100958526899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039200672155189, + "object_top_z": 1.0538441786534802, + "finger_top_clearance": 0.04992411143796138, + "fingertip_min_top_clearance": 0.014977233431388447, + "object_projection_between_fingers": 0.8323834517983968, + "object_to_finger_line_xy": 0.009628813752584847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049367734796057064, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4005689210523777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3202851525551503, + -0.0019255540364905423, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3250377401294663, + -0.03840127811722979, + 1.043434381104302 + ], + "target_minus_gripper": [ + -0.004752587574316014, + 0.03647572408073925, + -0.27328799130769055 + ], + "held_position": [ + 0.32876530348524546, + -0.034397327396610396, + 1.0428577961846694 + ], + "held_minus_target": [ + 0.008480150930095187, + -0.03247177336011985, + 0.2727114063880579 + ], + "held_minus_gripper": [ + 0.003727563355779173, + 0.004003950720619397, + -0.0005765849196326389 + ], + "xy_dist": 0.03678403914560994, + "held_xy_dist": 0.0335608257489023, + "held_gripper_dist": 0.005500799952192777, + "max_held_gripper_dist": 0.005508309116777985, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0428577961846694, + "required_height": 0.8001463897966116, + "gripper_z": 1.043434381104302, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.64267066488146, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8756569449321616, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4346448673438035, + "max_source_tilt_deg": 89.74711914197329, + "source_upright_tilt_deg": 3.525232988497531, + "max_source_upright_tilt_deg": 89.93954921034323, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4346448673438035, + "source_upright_return_tilt_deg": 3.525232988497531, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.781903629050954e-08, + "max_target_xy_drift": 1.0304064748785329e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3203, + -0.0019, + 0.7701 + ], + "controller_target_position": [ + 0.3203, + -0.0019, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0006, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.32, + -0.0278, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024793079271941826, + -0.0006261784098516054, + -0.0009095353071280404 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.525225238845543, + "source_return_step_error_deg": 2.4347034563233225, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.530749188523589, + "source_return_best_wrist_position": -1.6173255443572998, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6173255443572998 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3203, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3203, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0006, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.32, + -0.0278, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024793079271941826, + -0.0006261784098516054, + -0.0009095353071280404 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.525225238845543, + "pour_controller_source_return_step_error_deg": 2.4347034563233225, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.530749188523589, + "pour_controller_source_return_best_wrist_position": -1.6173255443572998, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6173255443572998, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03678403914560994, + "valid_pour_held_xy_dist": 0.0335608257489023, + "valid_pour_held_gripper_dist": 0.005500799952192777, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0428577961846694, + "valid_pour_source_tilt_deg": 2.4346448673438035, + "valid_pour_source_upright_tilt_deg": 3.525232988497531, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.781903629050954e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32876530348524546, + -0.05761874317149217, + 1.0428577961846694 + ], + "valid_pour_held_grasp_finger_b": [ + 0.318579509124706, + -0.034397327396610396, + 1.0428577961846694 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32367240630497573, + -0.046008035284051285, + 1.0428577961846694 + ], + "valid_pour_held_grasp_object_position": [ + 0.32876530348524546, + -0.034397327396610396, + 1.0428577961846694 + ], + "valid_pour_held_grasp_finger_gap": 0.02535714016495404, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023692384872074288, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05055158739015811, + -0.9981078252511201, + 0.035004373795496924 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005687542003131167, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03838896570781291, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32876530348524546, + -0.05761874317149217, + 1.0428577961846694 + ], + "held_grasp_finger_b": [ + 0.318579509124706, + -0.034397327396610396, + 1.0428577961846694 + ], + "held_grasp_midpoint": [ + 0.32367240630497573, + -0.046008035284051285, + 1.0428577961846694 + ], + "held_grasp_object_position": [ + 0.32876530348524546, + -0.034397327396610396, + 1.0428577961846694 + ], + "held_grasp_finger_gap": 0.02535714016495404, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023692384872074288, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05055158739015811, + -0.9981078252511201, + 0.035004373795496924 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005687542003131167, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03838896570781291, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3089642134677066, + -0.11539370167341167, + 0.761118498314166 + ], + "target_position": [ + 0.3248371188235303, + -0.12812224183415666, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020346126389527677, + "xy_threshold": 0.08, + "gripper_dist": 0.2045618164800959, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761118498314166, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07950814963458343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538494729182976, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926538138766096, + "release_required_pad_clearance": 0.05269247364591488, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4259847892322307, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 178, + "max_placed_release_frames": 178 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2b9bf6ff2c3c1e3973229a971ebd852d95e2a731a0f35d996d9617c5b7bc551d", + "visual_seed": 4243851850748256575, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03a7a2d8f3d95c9c10b655abc4fc49445e33cbfb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_52_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3500260797131406, + -0.11741386248419172, + 1.0023114644063567 + ], + "current_z": 1.0023114644063567, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14120477757765648, + "gripper_z": 1.0032313181119232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3461337558397832, + -0.12150309229921503, + 1.0032313181119232 + ], + "object_minus_gripper": [ + 0.0038923238733574173, + 0.0040892298150233125, + -0.0009198537055665756 + ], + "object_to_gripper_xy": 0.005645527930599908, + "object_to_gripper_z": -0.0009198537055665756, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3500260797131406, + -0.1412636976840785, + 1.0023114644063567 + ], + "finger_b": [ + 0.3396729789418457, + -0.11741386248419172, + 1.0023114644063567 + ], + "finger_midpoint": [ + 0.34484952932749313, + -0.12933878008413513, + 1.0023114644063567 + ], + "object_minus_finger_midpoint": [ + 0.00517655038564746, + 0.011924917599943408, + 0.0 + ], + "finger_gap": 0.026000025666186276, + "fingertip_max_gap": 0.09363928463591678, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013000012833093162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023114644063567, + "object_top_z": 1.0522376263228428, + "finger_top_clearance": 0.049926161916486134, + "fingertip_min_top_clearance": 0.014977848574945872, + "object_projection_between_fingers": 0.8414401124854347, + "object_to_finger_line_xy": 0.00949690397899602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04931964231795839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4652150685084404, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32138038790289797, + 8.000980866894324e-05, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3254060719373758, + -0.034577991865507876, + 1.0435208722813785 + ], + "target_minus_gripper": [ + -0.004025684034477839, + 0.03465800167417682, + -0.2733744228801219 + ], + "held_position": [ + 0.3292209731114013, + -0.030433608290746067, + 1.0425495736405692 + ], + "held_minus_target": [ + 0.007840585208503337, + -0.03051361809941501, + 0.2724031242393127 + ], + "held_minus_gripper": [ + 0.003814901174025498, + 0.004144383574761809, + -0.0009712986408092483 + ], + "xy_dist": 0.034891019073576696, + "held_xy_dist": 0.031504851466540015, + "held_gripper_dist": 0.005716013228813811, + "max_held_gripper_dist": 0.005723518670933346, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0425495736405692, + "required_height": 0.8001464494012566, + "gripper_z": 1.0435208722813785, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.32706811390268, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0503902542022403, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.135499562377064, + "max_source_tilt_deg": 89.95574567051312, + "source_upright_tilt_deg": 4.691202346953016, + "max_source_upright_tilt_deg": 89.97093943482183, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.135499562377064, + "source_upright_return_tilt_deg": 4.691202346953016, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.487787812948227e-07, + "max_target_xy_drift": 2.4590366295531096e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3214, + 0.0001, + 0.7701 + ], + "controller_target_position": [ + 0.3214, + 0.0001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0016, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3213, + -0.0268, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -5.409130825800011e-05, + -0.0016439310018516592, + -0.0006797797486140374 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.691368391928289, + "source_return_step_error_deg": 2.135651269342015, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.692395268676407, + "source_return_best_wrist_position": -1.5944161415100098, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5944161415100098 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3214, + 0.0001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3214, + 0.0001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0016, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3213, + -0.0268, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -5.409130825800011e-05, + -0.0016439310018516592, + -0.0006797797486140374 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.691368391928289, + "pour_controller_source_return_step_error_deg": 2.135651269342015, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.692395268676407, + "pour_controller_source_return_best_wrist_position": -1.5944161415100098, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5944161415100098, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034891019073576696, + "valid_pour_held_xy_dist": 0.031504851466540015, + "valid_pour_held_gripper_dist": 0.005716013228813811, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0425495736405692, + "valid_pour_source_tilt_deg": 2.135499562377064, + "valid_pour_source_upright_tilt_deg": 4.691202346953016, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.487787812948227e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3292209731114013, + -0.05374691012529733, + 1.0425495736405692 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31845694145377, + -0.030433608290746067, + 1.0425495736405692 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32383895728258566, + -0.0420902592080217, + 1.0425495736405692 + ], + "valid_pour_held_grasp_object_position": [ + 0.3292209731114013, + -0.030433608290746067, + 1.0425495736405692 + ], + "valid_pour_held_grasp_finger_gap": 0.025678286935763062, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024099369690188093, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.08028296088442866, + -0.9966499607200303, + 0.015604550246366533 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006303001295887973, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038534733557529385, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3292209731114013, + -0.05374691012529733, + 1.0425495736405692 + ], + "held_grasp_finger_b": [ + 0.31845694145377, + -0.030433608290746067, + 1.0425495736405692 + ], + "held_grasp_midpoint": [ + 0.32383895728258566, + -0.0420902592080217, + 1.0425495736405692 + ], + "held_grasp_object_position": [ + 0.3292209731114013, + -0.030433608290746067, + 1.0425495736405692 + ], + "held_grasp_finger_gap": 0.025678286935763062, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024099369690188093, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.08028296088442866, + -0.9966499607200303, + 0.015604550246366533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006303001295887973, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038534733557529385, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30580834567601045, + -0.09448260076963706, + 0.7611108211632847 + ], + "target_position": [ + 0.32720987047198985, + -0.1227281811863186, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.035437805754139816, + "xy_threshold": 0.08, + "gripper_dist": 0.20516021603438092, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611108211632847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08938477088384747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673929956679625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1844233408983697, + "release_required_pad_clearance": 0.05336964978339813, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.753851701155807, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 179, + "max_placed_release_frames": 179 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "370b25e642290deb37e8a6f71d5dc1f52a4b46986c3884c326a6fe2d4e1a6a64", + "visual_seed": 5034489592330336365, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f045a4799c7be34bac01f1574af3f58773797a1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_53_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35015229143458687, + -0.1220341358531068, + 1.0023289170918457 + ], + "current_z": 1.0023289170918457, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.14122211105385585, + "gripper_z": 1.002794177534457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34641186784531075, + -0.1261271753006578, + 1.002794177534457 + ], + "object_minus_gripper": [ + 0.0037404235892761206, + 0.004093039447551017, + -0.00046526044261141486 + ], + "object_to_gripper_xy": 0.0055447038285576615, + "object_to_gripper_z": -0.00046526044261141486, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35015229143458687, + -0.1455986961434386, + 1.0023289170918457 + ], + "finger_b": [ + 0.3395436195689513, + -0.1220341358531068, + 1.0023289170918457 + ], + "finger_midpoint": [ + 0.34484795550176905, + -0.1338164159982727, + 1.0023289170918457 + ], + "object_minus_finger_midpoint": [ + 0.005304335932817816, + 0.011782280145165913, + 0.0 + ], + "finger_gap": 0.0258424538391657, + "fingertip_max_gap": 0.09379162390979143, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012921226919582874, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023289170918457, + "object_top_z": 1.0522028864299102, + "finger_top_clearance": 0.04987396933806454, + "fingertip_min_top_clearance": 0.014962190801419362, + "object_projection_between_fingers": 0.8314788031998159, + "object_to_finger_line_xy": 0.009673566192048086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049395811954895716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4428406224594212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3236876240975087, + 0.0005163846971914937, + 0.7701464494012565 + ], + "gripper_position": [ + 0.32929633387920904, + -0.03643618189755486, + 1.0458153154654726 + ], + "target_minus_gripper": [ + -0.005608709781700361, + 0.036952566594746356, + -0.27566886606421603 + ], + "held_position": [ + 0.3331365391478544, + -0.032452191924342996, + 1.0452774266850862 + ], + "held_minus_target": [ + 0.00944891505034573, + -0.03296857662153449, + 0.2751309772838296 + ], + "held_minus_gripper": [ + 0.003840205268645369, + 0.0039839899732118655, + -0.0005378887803864085 + ], + "xy_dist": 0.0373757916752877, + "held_xy_dist": 0.034295904129773874, + "held_gripper_dist": 0.0055595572622332, + "max_held_gripper_dist": 0.00556649365140103, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0452774266850862, + "required_height": 0.8001464494012566, + "gripper_z": 1.0458153154654726, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.41510925230415, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8568542747701273, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4566197266018293, + "max_source_tilt_deg": 89.82556625645793, + "source_upright_tilt_deg": 2.9556669536121447, + "max_source_upright_tilt_deg": 89.7566744284221, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4566197266018293, + "source_upright_return_tilt_deg": 2.9556669536121447, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0774238035082817e-07, + "max_target_xy_drift": 1.1926931529949604e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3237, + 0.0005, + 0.7701 + ], + "controller_target_position": [ + 0.3237, + 0.0005, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0008, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3245, + -0.0255, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008571620052604985, + -0.0007673441530608453, + 0.0019051840964231927 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9556708164453953, + "source_return_step_error_deg": 2.4566198670841612, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9600671285189586, + "source_return_best_wrist_position": -1.615097165107727, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.615097165107727 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3237, + 0.0005, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3237, + 0.0005, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0008, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3245, + -0.0255, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008571620052604985, + -0.0007673441530608453, + 0.0019051840964231927 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9556708164453953, + "pour_controller_source_return_step_error_deg": 2.4566198670841612, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9600671285189586, + "pour_controller_source_return_best_wrist_position": -1.615097165107727, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.615097165107727, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0373757916752877, + "valid_pour_held_xy_dist": 0.034295904129773874, + "valid_pour_held_gripper_dist": 0.0055595572622332, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0452774266850862, + "valid_pour_source_tilt_deg": 2.4566197266018293, + "valid_pour_source_upright_tilt_deg": 2.9556669536121447, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0774238035082817e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3331365391478544, + -0.05597168958015699, + 1.0452774266850862 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3232227705381502, + -0.032452191924342996, + 1.0452774266850862 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32817965484300227, + -0.04421194075224999, + 1.0452774266850862 + ], + "valid_pour_held_grasp_object_position": [ + 0.3331365391478544, + -0.032452191924342996, + 1.0452774266850862 + ], + "valid_pour_held_grasp_finger_gap": 0.025523510299890112, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02385656974537911, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03715631613963118, + -0.9986697406768604, + 0.03575132483341136 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054065248647596174, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816032431800283, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3331365391478544, + -0.05597168958015699, + 1.0452774266850862 + ], + "held_grasp_finger_b": [ + 0.3232227705381502, + -0.032452191924342996, + 1.0452774266850862 + ], + "held_grasp_midpoint": [ + 0.32817965484300227, + -0.04421194075224999, + 1.0452774266850862 + ], + "held_grasp_object_position": [ + 0.3331365391478544, + -0.032452191924342996, + 1.0452774266850862 + ], + "held_grasp_finger_gap": 0.025523510299890112, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02385656974537911, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03715631613963118, + -0.9986697406768604, + 0.03575132483341136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054065248647596174, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816032431800283, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3311110619773879, + -0.12198583929820943, + 0.7611075923716344 + ], + "target_position": [ + 0.32728383440044234, + -0.12370048373568204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004193766382702806, + "xy_threshold": 0.08, + "gripper_dist": 0.21699447723276977, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611075923716344, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565338199505946, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526836753606674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18770412466971745, + "release_required_pad_clearance": 0.052634183768033374, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.32625485605383664, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0700eeb5dca28a9120cfacb472bebae9d41529bdeee1ff1e90313e629a75447", + "visual_seed": 326012578770996434, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a9bacd12b025f7f772479523547033e827b1ce67 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_54_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34541636413110816, + -0.11983604498812146, + 1.0028369027321562 + ], + "current_z": 1.0028369027321562, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14173021590345591, + "gripper_z": 1.0029987508672364, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.341449443720114, + -0.1238789283591884, + 1.0029987508672364 + ], + "object_minus_gripper": [ + 0.003966920410994168, + 0.004042883371066938, + -0.00016184813508024476 + ], + "object_to_gripper_xy": 0.005664041269200968, + "object_to_gripper_z": -0.00016184813508024476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34541636413110816, + -0.14386115045704811, + 1.0028369027321562 + ], + "finger_b": [ + 0.33527351803092165, + -0.11983604498812146, + 1.0028369027321562 + ], + "finger_midpoint": [ + 0.3403449410810149, + -0.13184859772258478, + 1.0028369027321562 + ], + "object_minus_finger_midpoint": [ + 0.005071423050093282, + 0.01201255273446332, + 0.0 + ], + "finger_gap": 0.02607840140432534, + "fingertip_max_gap": 0.09361011350574297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013039200702162676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028369027321562, + "object_top_z": 1.0526757865550715, + "finger_top_clearance": 0.04983888382291535, + "fingertip_min_top_clearance": 0.014951665146874604, + "object_projection_between_fingers": 0.8487282816713337, + "object_to_finger_line_xy": 0.009344244055989393, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930505675287149, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5004699669072927, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32693965351645393, + 0.0009556056783982384, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3321879405229402, + -0.03363483425281025, + 1.0427892746331038 + ], + "target_minus_gripper": [ + -0.005248287006486274, + 0.034590439931208486, + -0.27264282523184735 + ], + "held_position": [ + 0.3361160684273541, + -0.02955996294143544, + 1.0425678451762266 + ], + "held_minus_target": [ + 0.009176414910900155, + -0.030515568619833677, + 0.27242139577497015 + ], + "held_minus_gripper": [ + 0.003928127904413881, + 0.004074871311374809, + -0.00022142945687719795 + ], + "xy_dist": 0.0349863266310854, + "held_xy_dist": 0.03186544396064126, + "held_gripper_dist": 0.005664256000753618, + "max_held_gripper_dist": 0.005666980323421378, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0425678451762266, + "required_height": 0.8001464494012565, + "gripper_z": 1.0427892746331038, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.21059972817562, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9736030432901246, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5566637199067659, + "max_source_tilt_deg": 89.65023265394852, + "source_upright_tilt_deg": 4.144556267905812, + "max_source_upright_tilt_deg": 89.88729419418637, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5566637199067659, + "source_upright_return_tilt_deg": 4.144556267905812, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.205236193736299e-08, + "max_target_xy_drift": 1.0742152461368955e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3269, + 0.001, + 0.7701 + ], + "controller_target_position": [ + 0.3269, + 0.001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0018, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3289, + -0.0225, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001976644971551633, + 0.0017507258639699766, + -0.0015735235444255045 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.144556347231187, + "source_return_step_error_deg": 1.5566644129159215, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.145892120508569, + "source_return_best_wrist_position": -1.591294765472412, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.591294765472412 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3269, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3269, + 0.001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0018, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3289, + -0.0225, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001976644971551633, + 0.0017507258639699766, + -0.0015735235444255045 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.144556347231187, + "pour_controller_source_return_step_error_deg": 1.5566644129159215, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.145892120508569, + "pour_controller_source_return_best_wrist_position": -1.591294765472412, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.591294765472412, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0349863266310854, + "valid_pour_held_xy_dist": 0.03186544396064126, + "valid_pour_held_gripper_dist": 0.005664256000753618, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0425678451762266, + "valid_pour_source_tilt_deg": 1.5566637199067659, + "valid_pour_source_upright_tilt_deg": 4.144556267905812, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.205236193736299e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3361160684273541, + -0.05331271383305174, + 1.0425678451762266 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32575277819264564, + -0.02955996294143544, + 1.0425678451762266 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3309344233099999, + -0.04143633838724359, + 1.0425678451762266 + ], + "valid_pour_held_grasp_object_position": [ + 0.3361160684273541, + -0.02955996294143544, + 1.0425678451762266 + ], + "valid_pour_held_grasp_finger_gap": 0.025915072050989606, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024420817274773125, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0704585640982274, + -0.9973848853803353, + 0.01609289160069116 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006008506371615207, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824002398197924, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3361160684273541, + -0.05331271383305174, + 1.0425678451762266 + ], + "held_grasp_finger_b": [ + 0.32575277819264564, + -0.02955996294143544, + 1.0425678451762266 + ], + "held_grasp_midpoint": [ + 0.3309344233099999, + -0.04143633838724359, + 1.0425678451762266 + ], + "held_grasp_object_position": [ + 0.3361160684273541, + -0.02955996294143544, + 1.0425678451762266 + ], + "held_grasp_finger_gap": 0.025915072050989606, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024420817274773125, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0704585640982274, + -0.9973848853803353, + 0.01609289160069116 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006008506371615207, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824002398197924, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32576982611055366, + -0.12384171635426784, + 0.7611109181275268 + ], + "target_position": [ + 0.32245375495197326, + -0.12189397354629843, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003845780801705339, + "xy_threshold": 0.08, + "gripper_dist": 0.21792324311346756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611109181275268, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516191792520223, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562257373137626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18877820935227013, + "release_required_pad_clearance": 0.05281128686568813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6499993032876624, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2843fd3b878fa4313ec627998c802b7918638111fda5dc76e84a919d86bcba6d", + "visual_seed": 1079941869935538735, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8481f8c097a0d96b5de446b0c11b3e3c10a8744f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_55_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3446737996230662, + -0.11886970922880122, + 1.0019781187978722 + ], + "current_z": 1.0019781187978722, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.1408713723645273, + "gripper_z": 1.0020939469555088, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34056350493436227, + -0.12308130257997461, + 1.0020939469555088 + ], + "object_minus_gripper": [ + 0.0041102946887039415, + 0.0042115933511733955, + -0.00011582815763655496 + ], + "object_to_gripper_xy": 0.005884899403017505, + "object_to_gripper_z": -0.00011582815763655496, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3446737996230662, + -0.14286154249193597, + 1.0019781187978722 + ], + "finger_b": [ + 0.3341097175742814, + -0.11886970922880122, + 1.0019781187978722 + ], + "finger_midpoint": [ + 0.33939175859867377, + -0.1308656258603686, + 1.0019781187978722 + ], + "object_minus_finger_midpoint": [ + 0.005282041024392448, + 0.011995916631567377, + 0.0 + ], + "finger_gap": 0.026214650347840183, + "fingertip_max_gap": 0.09344978346502367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013107325173920102, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019781187978722, + "object_top_z": 1.051812242138794, + "finger_top_clearance": 0.049834123340921854, + "fingertip_min_top_clearance": 0.014950237002276556, + "object_projection_between_fingers": 0.837603975895731, + "object_to_finger_line_xy": 0.009668322549776174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049224891732511836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3634131361632194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32813776648108406, + 0.0007038019566313197, + 0.7701464494012565 + ], + "gripper_position": [ + 0.33338880876269283, + -0.034243635604709624, + 1.0446945857354797 + ], + "target_minus_gripper": [ + -0.005251042281608775, + 0.034947437561340944, + -0.27454813633422315 + ], + "held_position": [ + 0.3374446469591592, + -0.029983942500181954, + 1.0445190600361665 + ], + "held_minus_target": [ + 0.009306880478075152, + -0.030687744456813274, + 0.2743726106349099 + ], + "held_minus_gripper": [ + 0.004055838196466377, + 0.00425969310452767, + -0.00017552569931322815 + ], + "xy_dist": 0.03533973453702032, + "held_xy_dist": 0.03206798534488642, + "held_gripper_dist": 0.005884353668143648, + "max_held_gripper_dist": 0.005886869902850758, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0445190600361665, + "required_height": 0.8001464494012566, + "gripper_z": 1.0446945857354797, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.30394109337301, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7855148941717887, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7105114878963394, + "max_source_tilt_deg": 89.9365000648683, + "source_upright_tilt_deg": 4.19452193541562, + "max_source_upright_tilt_deg": 89.82064537800737, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7105114878963394, + "source_upright_return_tilt_deg": 4.19452193541562, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.60770320892334e-08, + "max_target_xy_drift": 2.1546035675635782e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3281, + 0.0007, + 0.7701 + ], + "controller_target_position": [ + 0.3281, + 0.0007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0018, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3301, + -0.0227, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019441463090723596, + 0.0017616818101282624, + 0.000703395797873652 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.194521912972491, + "source_return_step_error_deg": 1.7105156741880438, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.198268391417255, + "source_return_best_wrist_position": -1.59076988697052, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.59076988697052 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3281, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3281, + 0.0007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0018, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3301, + -0.0227, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019441463090723596, + 0.0017616818101282624, + 0.000703395797873652 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.194521912972491, + "pour_controller_source_return_step_error_deg": 1.7105156741880438, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.198268391417255, + "pour_controller_source_return_best_wrist_position": -1.59076988697052, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.59076988697052, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03533973453702032, + "valid_pour_held_xy_dist": 0.03206798534488642, + "valid_pour_held_gripper_dist": 0.005884353668143648, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0445190600361665, + "valid_pour_source_tilt_deg": 1.7105114878963394, + "valid_pour_source_upright_tilt_deg": 4.19452193541562, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.60770320892334e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3374446469591592, + -0.053655744274047436, + 1.0445190600361665 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3265814552420548, + -0.029983942500181954, + 1.0445190600361665 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33201305110060697, + -0.0418198433871147, + 1.0445190600361665 + ], + "valid_pour_held_grasp_object_position": [ + 0.3374446469591592, + -0.029983942500181954, + 1.0445190600361665 + ], + "valid_pour_held_grasp_finger_gap": 0.0260454052282499, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024383685729516668, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07136846959807566, + -0.9973214792538923, + 0.016012762599152405 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00626522861729966, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03830369657313696, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3374446469591592, + -0.053655744274047436, + 1.0445190600361665 + ], + "held_grasp_finger_b": [ + 0.3265814552420548, + -0.029983942500181954, + 1.0445190600361665 + ], + "held_grasp_midpoint": [ + 0.33201305110060697, + -0.0418198433871147, + 1.0445190600361665 + ], + "held_grasp_object_position": [ + 0.3374446469591592, + -0.029983942500181954, + 1.0445190600361665 + ], + "held_grasp_finger_gap": 0.0260454052282499, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024383685729516668, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07136846959807566, + -0.9973214792538923, + 0.016012762599152405 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00626522861729966, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03830369657313696, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31654820094576896, + -0.12727104570481382, + 0.7611073360156025 + ], + "target_position": [ + 0.3214446202981374, + -0.12391263292736258, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005937496009093059, + "xy_threshold": 0.08, + "gripper_dist": 0.2113495089646494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073360156025, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563149642952054, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09008629907485337, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18174395039542698, + "release_required_pad_clearance": 0.055043149537426686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.164196289222592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "025643a30ca05e13b0f728cb79b38560fdc67911e5f11e5be36228d0fbf749d0", + "visual_seed": 4594590743197330409, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e12f4ba460e11b84e816919b213265461d908aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_56_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34779918813062094, + -0.12446249945176824, + 1.0024373050400417 + ], + "current_z": 1.0024373050400417, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14133079702527573, + "gripper_z": 1.0024846102938543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3442720471286997, + -0.1283344152613094, + 1.0024846102938543 + ], + "object_minus_gripper": [ + 0.0035271410019212524, + 0.00387191580954116, + -4.730525381257955e-05 + ], + "object_to_gripper_xy": 0.005237600183634565, + "object_to_gripper_z": -4.730525381257955e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34779918813062094, + -0.14819155316376997, + 1.0024373050400417 + ], + "finger_b": [ + 0.33789198862504977, + -0.12446249945176824, + 1.0024373050400417 + ], + "finger_midpoint": [ + 0.34284558837783535, + -0.1363270263077691, + 1.0024373050400417 + ], + "object_minus_finger_midpoint": [ + 0.004953599752785587, + 0.011864526856000868, + 0.0 + ], + "finger_gap": 0.025714209925841645, + "fingertip_max_gap": 0.09258005073620815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012857104962920822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024373050400417, + "object_top_z": 1.0524957283272436, + "finger_top_clearance": 0.05005842328720189, + "fingertip_min_top_clearance": 0.015017526986160584, + "object_projection_between_fingers": 0.8515584614055343, + "object_to_finger_line_xy": 0.009142356303429033, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048790025368104076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.871744266920022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32162390267912794, + 0.001692912864171045, + 0.7701464494012565 + ], + "gripper_position": [ + 0.32545257118429005, + -0.03363240792827915, + 1.0431543801860448 + ], + "target_minus_gripper": [ + -0.003828668505162114, + 0.035325320792450196, + -0.27300793078478824 + ], + "held_position": [ + 0.32896541414178737, + -0.02975348433316151, + 1.0430410814249491 + ], + "held_minus_target": [ + 0.0073415114626594336, + -0.031446397197332554, + 0.2728946320236926 + ], + "held_minus_gripper": [ + 0.0035128429574973197, + 0.003878923595117642, + -0.00011329876109567039 + ], + "xy_dist": 0.03553219654921343, + "held_xy_dist": 0.03229200655346094, + "held_gripper_dist": 0.0052344006829879485, + "max_held_gripper_dist": 0.005238244668405117, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0430410814249491, + "required_height": 0.8001464494012566, + "gripper_z": 1.0431543801860448, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23075561641633, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1674643654944452, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.447920545470717, + "max_source_tilt_deg": 89.82566308734016, + "source_upright_tilt_deg": 2.934021996085889, + "max_source_upright_tilt_deg": 89.90382676703835, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.447920545470717, + "source_upright_return_tilt_deg": 2.934021996085889, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.8044374883174896e-08, + "max_target_xy_drift": 1.4671527003610372e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3216, + 0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.3216, + 0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0009, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3202, + -0.0226, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014134547181079609, + 0.0008964128593824451, + -0.0010317056227920518 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9340293216444957, + "source_return_step_error_deg": 2.4479254674153506, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.932479836900508, + "source_return_best_wrist_position": -1.6139012575149536, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6139012575149536 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3216, + 0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3216, + 0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0009, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3202, + -0.0226, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014134547181079609, + 0.0008964128593824451, + -0.0010317056227920518 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9340293216444957, + "pour_controller_source_return_step_error_deg": 2.4479254674153506, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.932479836900508, + "pour_controller_source_return_best_wrist_position": -1.6139012575149536, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6139012575149536, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03553219654921343, + "valid_pour_held_xy_dist": 0.03229200655346094, + "valid_pour_held_gripper_dist": 0.0052344006829879485, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0430410814249491, + "valid_pour_source_tilt_deg": 2.447920545470717, + "valid_pour_source_upright_tilt_deg": 2.934021996085889, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.8044374883174896e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32896541414178737, + -0.053006837691370386, + 1.0430410814249491 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3191099927300475, + -0.02975348433316151, + 1.0430410814249491 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3240377034359174, + -0.04138016101226595, + 1.0430410814249491 + ], + "valid_pour_held_grasp_object_position": [ + 0.32896541414178737, + -0.02975348433316151, + 1.0430410814249491 + ], + "valid_pour_held_grasp_finger_gap": 0.02525564835051172, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023585331764042042, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03677773671447822, + -0.998689148718102, + 0.035600313409762774 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005367712645268921, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038290044281965245, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32896541414178737, + -0.053006837691370386, + 1.0430410814249491 + ], + "held_grasp_finger_b": [ + 0.3191099927300475, + -0.02975348433316151, + 1.0430410814249491 + ], + "held_grasp_midpoint": [ + 0.3240377034359174, + -0.04138016101226595, + 1.0430410814249491 + ], + "held_grasp_object_position": [ + 0.32896541414178737, + -0.02975348433316151, + 1.0430410814249491 + ], + "held_grasp_finger_gap": 0.02525564835051172, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023585331764042042, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03677773671447822, + -0.998689148718102, + 0.035600313409762774 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005367712645268921, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038290044281965245, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3273021952712796, + -0.1289444904394059, + 0.7611064829781587 + ], + "target_position": [ + 0.32483076333970984, + -0.12699246518368068, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003149345708456218, + "xy_threshold": 0.08, + "gripper_dist": 0.21748256254506967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064829781587, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528323834111939, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640463508183614, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18804647244752798, + "release_required_pad_clearance": 0.05320231754091807, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4270826684753932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b0f849c660b99752bd8e96d2541b7985e63365fd283403ca900834b2a60e863", + "visual_seed": 7481989924686324095, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7e16b3cba394df9e11150aaa4ee32b640e207a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_57_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34824382743644006, + -0.12110172383525168, + 1.0043250337934078 + ], + "current_z": 1.0043250337934078, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14321858538328647, + "gripper_z": 1.0043605972356062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3446046914658642, + -0.12514969078398885, + 1.0043605972356062 + ], + "object_minus_gripper": [ + 0.0036391359705758575, + 0.004047966948737172, + -3.556344219846075e-05 + ], + "object_to_gripper_xy": 0.005443284581060191, + "object_to_gripper_z": -3.556344219846075e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34824382743644006, + -0.14456274506866276, + 1.0043250337934078 + ], + "finger_b": [ + 0.3376737570221984, + -0.12110172383525168, + 1.0043250337934078 + ], + "finger_midpoint": [ + 0.34295879222931924, + -0.13283223445195722, + 1.0043250337934078 + ], + "object_minus_finger_midpoint": [ + 0.005285035207120814, + 0.011730510616705533, + 0.0 + ], + "finger_gap": 0.02573219590078921, + "fingertip_max_gap": 0.09400391795994353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012866097950394586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043250337934078, + "object_top_z": 1.0541547118123544, + "finger_top_clearance": 0.049829678018946666, + "fingertip_min_top_clearance": 0.014948903405684, + "object_projection_between_fingers": 0.8312662095008855, + "object_to_finger_line_xy": 0.009637135026613416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04950195897997177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.802827015062878, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3223421982533161, + 0.00492741572358467, + 0.7701463897966115 + ], + "gripper_position": [ + 0.32691081510168585, + -0.030698311527292785, + 1.0429106328823348 + ], + "target_minus_gripper": [ + -0.004568616848369733, + 0.035625727250877454, + -0.2727642430857232 + ], + "held_position": [ + 0.330636935324767, + -0.02673536899912949, + 1.0427999692266114 + ], + "held_minus_target": [ + 0.008294737071450897, + -0.03166278472271416, + 0.2726535794299999 + ], + "held_minus_gripper": [ + 0.003726120223081164, + 0.003962942528163295, + -0.00011066365572331982 + ], + "xy_dist": 0.03591747070801506, + "held_xy_dist": 0.032731248058719714, + "held_gripper_dist": 0.005440692220947419, + "max_held_gripper_dist": 0.00544384714209786, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0427999692266114, + "required_height": 0.8001463897966116, + "gripper_z": 1.0429106328823348, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.52219978830077, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2757107192333734, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.494982597323123, + "max_source_tilt_deg": 89.98110309035764, + "source_upright_tilt_deg": 3.310901603429205, + "max_source_upright_tilt_deg": 89.75824399192553, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.494982597323123, + "source_upright_return_tilt_deg": 3.310901603429205, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.72664291786511e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3223, + 0.0049, + 0.7701 + ], + "controller_target_position": [ + 0.3223, + 0.0049, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0005, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3223, + -0.0197, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.278596413498023e-05, + 0.0005285917442891465, + -0.001334695378607617 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3109038172374006, + "source_return_step_error_deg": 2.495087073464451, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.300912008268723, + "source_return_best_wrist_position": -1.6162140369415283, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6162140369415283 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3223, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3223, + 0.0049, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0005, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3223, + -0.0197, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.278596413498023e-05, + 0.0005285917442891465, + -0.001334695378607617 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3109038172374006, + "pour_controller_source_return_step_error_deg": 2.495087073464451, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.300912008268723, + "pour_controller_source_return_best_wrist_position": -1.6162140369415283, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6162140369415283, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03591747070801506, + "valid_pour_held_xy_dist": 0.032731248058719714, + "valid_pour_held_gripper_dist": 0.005440692220947419, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0427999692266114, + "valid_pour_source_tilt_deg": 2.494982597323123, + "valid_pour_source_upright_tilt_deg": 3.310901603429205, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.330636935324767, + -0.05012885879913362, + 1.0427999692266114 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32072678957337464, + -0.02673536899912949, + 1.0427999692266114 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3256818624490708, + -0.03843211389913155, + 1.0427999692266114 + ], + "valid_pour_held_grasp_object_position": [ + 0.330636935324767, + -0.02673536899912949, + 1.0427999692266114 + ], + "valid_pour_held_grasp_finger_gap": 0.025406029871602086, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02380337465759431, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04530023927658286, + -0.9983308554410854, + 0.03582445248367905 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005495542124109085, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826749471510179, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.330636935324767, + -0.05012885879913362, + 1.0427999692266114 + ], + "held_grasp_finger_b": [ + 0.32072678957337464, + -0.02673536899912949, + 1.0427999692266114 + ], + "held_grasp_midpoint": [ + 0.3256818624490708, + -0.03843211389913155, + 1.0427999692266114 + ], + "held_grasp_object_position": [ + 0.330636935324767, + -0.02673536899912949, + 1.0427999692266114 + ], + "held_grasp_finger_gap": 0.025406029871602086, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02380337465759431, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04530023927658286, + -0.9983308554410854, + 0.03582445248367905 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005495542124109085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826749471510179, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3258525600115693, + -0.12559197034714614, + 0.7611064201526857 + ], + "target_position": [ + 0.3255517447952479, + -0.1259529990548808, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00046992714560776296, + "xy_threshold": 0.08, + "gripper_dist": 0.21580753906064332, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064201526857, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520924280906609, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504881898452547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18714513930131194, + "release_required_pad_clearance": 0.05252440949226274, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869378311895704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ce84ea29cf7f940abc90507d5c72278bdb4fda8f525cb0710d7c464afeeb10f", + "visual_seed": 8367271303216814572, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41fa14fee75a66ced2ec60b9a4b301d654e722fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34064543882865705, + -0.12263598119045069, + 1.002856667342236 + ], + "current_z": 1.002856667342236, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14175021893211492, + "gripper_z": 1.0030840663939986, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3369832749514184, + -0.12671573052849133, + 1.0030840663939986 + ], + "object_minus_gripper": [ + 0.0036621638772386667, + 0.004079749338040645, + -0.0002273990517625002 + ], + "object_to_gripper_xy": 0.0054823169303675635, + "object_to_gripper_z": -0.0002273990517625002, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34064543882865705, + -0.14607236092364806, + 1.002856667342236 + ], + "finger_b": [ + 0.32998868449077945, + -0.12263598119045069, + 1.002856667342236 + ], + "finger_midpoint": [ + 0.33531706165971825, + -0.1343541710570494, + 1.002856667342236 + ], + "object_minus_finger_midpoint": [ + 0.005328377168938803, + 0.0117181898665987, + 0.0 + ], + "finger_gap": 0.02574549102302183, + "fingertip_max_gap": 0.09338034826660721, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012872745511510927, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002856667342236, + "object_top_z": 1.0528908112034014, + "finger_top_clearance": 0.05003414386116534, + "fingertip_min_top_clearance": 0.015010243158349567, + "object_projection_between_fingers": 0.8286644233910824, + "object_to_finger_line_xy": 0.009700950786394555, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919017413330361, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.954194452757934, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32114670789305605, + 0.007033859702430742, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3260190401335868, + -0.031055408401783974, + 1.0457036544763136 + ], + "target_minus_gripper": [ + -0.004872332240530741, + 0.038089268104214716, + -0.2755572646797021 + ], + "held_position": [ + 0.32975914732922096, + -0.02705838883704912, + 1.045397769086465 + ], + "held_minus_target": [ + 0.00861243943616491, + -0.03409224853947986, + 0.27525137928985355 + ], + "held_minus_gripper": [ + 0.003740107195634168, + 0.003997019564734854, + -0.00030588538984854807 + ], + "xy_dist": 0.0383996349745263, + "held_xy_dist": 0.03516326952260377, + "held_gripper_dist": 0.005482529809078148, + "max_held_gripper_dist": 0.005488015017928309, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.045397769086465, + "required_height": 0.8001463897966116, + "gripper_z": 1.0457036544763136, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.84025437719158, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.443401871900175, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.464569024713514, + "max_source_tilt_deg": 89.98481129075743, + "source_upright_tilt_deg": 2.672653608976629, + "max_source_upright_tilt_deg": 89.7097561094154, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.464569024713514, + "source_upright_return_tilt_deg": 2.672653608976629, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.6166026888317614e-08, + "max_target_xy_drift": 1.2212849498328835e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3211, + 0.007, + 0.7701 + ], + "controller_target_position": [ + 0.3211, + 0.007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0018, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3222, + -0.0199, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010303676510205729, + -0.0017505788098839594, + 0.0014874795282557056 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6726563784266006, + "source_return_step_error_deg": 2.4646413483034717, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6705168860165682, + "source_return_best_wrist_position": -1.6161245107650757, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6161245107650757 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3211, + 0.007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3211, + 0.007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0018, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3222, + -0.0199, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010303676510205729, + -0.0017505788098839594, + 0.0014874795282557056 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6726563784266006, + "pour_controller_source_return_step_error_deg": 2.4646413483034717, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6705168860165682, + "pour_controller_source_return_best_wrist_position": -1.6161245107650757, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6161245107650757, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0383996349745263, + "valid_pour_held_xy_dist": 0.03516326952260377, + "valid_pour_held_gripper_dist": 0.005482529809078148, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.045397769086465, + "valid_pour_source_tilt_deg": 2.464569024713514, + "valid_pour_source_upright_tilt_deg": 2.672653608976629, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.6166026888317614e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32975914732922096, + -0.05037875679992178, + 1.045397769086465 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3196877943091564, + -0.02705838883704912, + 1.045397769086465 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3247234708191887, + -0.03871857281848545, + 1.045397769086465 + ], + "valid_pour_held_grasp_object_position": [ + 0.32975914732922096, + -0.02705838883704912, + 1.045397769086465 + ], + "valid_pour_held_grasp_finger_gap": 0.025402198991003537, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023630121588914046, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03327460412347594, + -0.9989122530686729, + 0.03266667093068454 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005434049529381696, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824030956036846, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32975914732922096, + -0.05037875679992178, + 1.045397769086465 + ], + "held_grasp_finger_b": [ + 0.3196877943091564, + -0.02705838883704912, + 1.045397769086465 + ], + "held_grasp_midpoint": [ + 0.3247234708191887, + -0.03871857281848545, + 1.045397769086465 + ], + "held_grasp_object_position": [ + 0.32975914732922096, + -0.02705838883704912, + 1.045397769086465 + ], + "held_grasp_finger_gap": 0.025402198991003537, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023630121588914046, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03327460412347594, + -0.9989122530686729, + 0.03266667093068454 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005434049529381696, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824030956036846, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2932958595896864, + -0.1046986932606819, + 0.7611147392399522 + ], + "target_position": [ + 0.31800368614366276, + -0.12807915786813023, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.034016508025979435, + "xy_threshold": 0.08, + "gripper_dist": 0.20141173090708805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611147392399522, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08598297524315945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09137680649691353, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801172852050542, + "release_required_pad_clearance": 0.055688403248456766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.510753990369854, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad2785295f29b476a53a8a1987f942bb94225b4c03d9e942020ec706e7431a4c", + "visual_seed": 1532909780333745057, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c47ff233842c12406f46fe369280c3841614c47 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34263866381852176, + -0.12193763416397138, + 1.0026524614229573 + ], + "current_z": 1.0026524614229573, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1415460130128361, + "gripper_z": 1.0037208761131866, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338805749243392, + -0.12595339584040222, + 1.0037208761131866 + ], + "object_minus_gripper": [ + 0.003832914575129742, + 0.004015761676430835, + -0.0010684146902293357 + ], + "object_to_gripper_xy": 0.005551358030440173, + "object_to_gripper_z": -0.0010684146902293357, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34263866381852176, + -0.14579709792356982, + 1.0026524614229573 + ], + "finger_b": [ + 0.33246434432817207, + -0.12193763416397138, + 1.0026524614229573 + ], + "finger_midpoint": [ + 0.3375515040733469, + -0.13386736604377059, + 1.0026524614229573 + ], + "object_minus_finger_midpoint": [ + 0.005087159745174874, + 0.011929731879799205, + 0.0 + ], + "finger_gap": 0.02593821096350519, + "fingertip_max_gap": 0.09353705253160907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012969105481752593, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026524614229573, + "object_top_z": 1.052528628686179, + "finger_top_clearance": 0.04987616726322175, + "fingertip_min_top_clearance": 0.014962850178966541, + "object_projection_between_fingers": 0.8461382365216578, + "object_to_finger_line_xy": 0.009358926392422601, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926852626580454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.403612406954012, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.321184914470357, + 0.0021606933759973214, + 0.7701463897966117 + ], + "gripper_position": [ + 0.32383084002461504, + -0.03456464955410997, + 1.0438736554113526 + ], + "target_minus_gripper": [ + -0.002645925554258022, + 0.03672534293010729, + -0.2737272656147409 + ], + "held_position": [ + 0.32769225696246135, + -0.03061052880188683, + 1.042728428321058 + ], + "held_minus_target": [ + 0.006507342492104329, + -0.03277122217788415, + 0.2725820385244464 + ], + "held_minus_gripper": [ + 0.003861416937846307, + 0.00395412075222314, + -0.0011452270902945205 + ], + "xy_dist": 0.03682053415382044, + "held_xy_dist": 0.033411053699962716, + "held_gripper_dist": 0.005644214451931508, + "max_held_gripper_dist": 0.0056569613396983305, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.042728428321058, + "required_height": 0.8001463897966117, + "gripper_z": 1.0438736554113526, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.42586680024691, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9777930677797912, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5109371930282074, + "max_source_tilt_deg": 89.60729449840383, + "source_upright_tilt_deg": 3.787344325823748, + "max_source_upright_tilt_deg": 89.95471111372431, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5109371930282074, + "source_upright_return_tilt_deg": 3.787344325823748, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.734426651028118e-08, + "max_target_xy_drift": 1.6705821776239972e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3212, + 0.0022, + 0.7701 + ], + "controller_target_position": [ + 0.3212, + 0.0022, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + -0.0009, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3192, + -0.0239, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001997198914447008, + -0.0009037349938059731, + -0.000506281283439913 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7873499187745736, + "source_return_step_error_deg": 2.5109453298222797, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7831541560636173, + "source_return_best_wrist_position": -1.617796778678894, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.617796778678894 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3212, + 0.0022, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3212, + 0.0022, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + -0.0009, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3192, + -0.0239, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001997198914447008, + -0.0009037349938059731, + -0.000506281283439913 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7873499187745736, + "pour_controller_source_return_step_error_deg": 2.5109453298222797, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7831541560636173, + "pour_controller_source_return_best_wrist_position": -1.617796778678894, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.617796778678894, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03682053415382044, + "valid_pour_held_xy_dist": 0.033411053699962716, + "valid_pour_held_gripper_dist": 0.005644214451931508, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.042728428321058, + "valid_pour_source_tilt_deg": 2.5109371930282074, + "valid_pour_source_upright_tilt_deg": 3.787344325823748, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.734426651028118e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32769225696246135, + -0.05404504130651781, + 1.042728428321058 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3177598447853358, + -0.03061052880188683, + 1.042728428321058 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3227260508738986, + -0.04232778505420232, + 1.042728428321058 + ], + "valid_pour_held_grasp_object_position": [ + 0.32769225696246135, + -0.03061052880188683, + 1.042728428321058 + ], + "valid_pour_held_grasp_finger_gap": 0.025452488836772282, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023937418773800234, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.055785550867295676, + -0.9978160921605422, + 0.035369740455600256 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005627046208899066, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038305625767936925, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32769225696246135, + -0.05404504130651781, + 1.042728428321058 + ], + "held_grasp_finger_b": [ + 0.3177598447853358, + -0.03061052880188683, + 1.042728428321058 + ], + "held_grasp_midpoint": [ + 0.3227260508738986, + -0.04232778505420232, + 1.042728428321058 + ], + "held_grasp_object_position": [ + 0.32769225696246135, + -0.03061052880188683, + 1.042728428321058 + ], + "held_grasp_finger_gap": 0.025452488836772282, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023937418773800234, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.055785550867295676, + -0.9978160921605422, + 0.035369740455600256 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005627046208899066, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038305625767936925, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3039959814615478, + -0.1119256128078599, + 0.7611063820387757 + ], + "target_position": [ + 0.31990366832625194, + -0.12430516207117503, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020157076706415696, + "xy_threshold": 0.08, + "gripper_dist": 0.20541682705481623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063820387757, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07833160357203509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09106332931552973, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18046844503172543, + "release_required_pad_clearance": 0.055531664657764865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.211533412922463, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c474dea6db48d3a30a3b2e04d21c992ca1d69aeb8c3c621e40f660eb663675a6", + "visual_seed": 1025983889934562950, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4185fc1a059e545acd60e8652161ba4d8bfb97b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_5_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3504527348660574, + -0.1188599265049303, + 1.0038053650827758 + ], + "current_z": 1.0038053650827758, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14269891667265444, + "gripper_z": 1.003828285798868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3470400661070453, + -0.1227708429414021, + 1.003828285798868 + ], + "object_minus_gripper": [ + 0.003412668759012083, + 0.0039109164364718035, + -2.2920716092222904e-05 + ], + "object_to_gripper_xy": 0.005190527471442799, + "object_to_gripper_z": -2.2920716092222904e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3504527348660574, + -0.1422234418588483, + 1.0038053650827758 + ], + "finger_b": [ + 0.34013478683502224, + -0.1188599265049303, + 1.0038053650827758 + ], + "finger_midpoint": [ + 0.3452937608505398, + -0.1305416841818893, + 1.0038053650827758 + ], + "object_minus_finger_midpoint": [ + 0.00515897401551757, + 0.011681757676959004, + 0.0 + ], + "finger_gap": 0.025540436591098132, + "fingertip_max_gap": 0.09458390638826122, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012770218295549066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038053650827758, + "object_top_z": 1.0538789078072857, + "finger_top_clearance": 0.05007354272450981, + "fingertip_min_top_clearance": 0.015022062817352959, + "object_projection_between_fingers": 0.8367962857071296, + "object_to_finger_line_xy": 0.009438504952105544, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049791953194130614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.738742256685243, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32536471998755384, + -0.0018212617406173776, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3295975107327461, + -0.03903231984877671, + 1.0456016935020396 + ], + "target_minus_gripper": [ + -0.004232790745192283, + 0.037211058108159334, + -0.27545518449613837 + ], + "held_position": [ + 0.3331035085888958, + -0.035210498791822566, + 1.0455095439168236 + ], + "held_minus_target": [ + 0.007738788601341973, + -0.03338923705120519, + 0.2753630349109224 + ], + "held_minus_gripper": [ + 0.0035059978561496896, + 0.003821821056954146, + -9.214958521597261e-05 + ], + "xy_dist": 0.03745102619450361, + "held_xy_dist": 0.03427433441918069, + "held_gripper_dist": 0.0051871792628325275, + "max_held_gripper_dist": 0.005191232240172003, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0455095439168236, + "required_height": 0.8001465090059012, + "gripper_z": 1.0456016935020396, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.3350594352316, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1143853783496636, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.415911104577862, + "max_source_tilt_deg": 89.96707725091824, + "source_upright_tilt_deg": 3.098674374860355, + "max_source_upright_tilt_deg": 89.70611080011722, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.415911104577862, + "source_upright_return_tilt_deg": 3.098674374860355, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2340024117124537e-08, + "max_target_xy_drift": 1.2423385853718391e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3254, + -0.0018, + 0.7701 + ], + "controller_target_position": [ + 0.3254, + -0.0018, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0012, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3241, + -0.0282, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012203890954421328, + -0.001209454602610011, + 0.0016136279379395722 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.098672375306472, + "source_return_step_error_deg": 2.415896615463953, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.103050966627102, + "source_return_best_wrist_position": -1.6144648790359497, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6144648790359497 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3254, + -0.0018, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3254, + -0.0018, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0012, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3241, + -0.0282, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012203890954421328, + -0.001209454602610011, + 0.0016136279379395722 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.098672375306472, + "pour_controller_source_return_step_error_deg": 2.415896615463953, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.103050966627102, + "pour_controller_source_return_best_wrist_position": -1.6144648790359497, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6144648790359497, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03745102619450361, + "valid_pour_held_xy_dist": 0.03427433441918069, + "valid_pour_held_gripper_dist": 0.0051871792628325275, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0455095439168236, + "valid_pour_source_tilt_deg": 2.415911104577862, + "valid_pour_source_upright_tilt_deg": 3.098674374860355, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2340024117124537e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3331035085888958, + -0.05857135011242193, + 1.0455095439168236 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3235036746771357, + -0.035210498791822566, + 1.0455095439168236 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32830359163301576, + -0.04689092445212224, + 1.0455095439168236 + ], + "valid_pour_held_grasp_object_position": [ + 0.3331035085888958, + -0.035210498791822566, + 1.0455095439168236 + ], + "valid_pour_held_grasp_finger_gap": 0.025256408801659202, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023726345901323387, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04163090466694367, + -0.9985379304372852, + 0.034479983390876434 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005297091908274908, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825672688983235, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3331035085888958, + -0.05857135011242193, + 1.0455095439168236 + ], + "held_grasp_finger_b": [ + 0.3235036746771357, + -0.035210498791822566, + 1.0455095439168236 + ], + "held_grasp_midpoint": [ + 0.32830359163301576, + -0.04689092445212224, + 1.0455095439168236 + ], + "held_grasp_object_position": [ + 0.3331035085888958, + -0.035210498791822566, + 1.0455095439168236 + ], + "held_grasp_finger_gap": 0.025256408801659202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023726345901323387, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04163090466694367, + -0.9985379304372852, + 0.034479983390876434 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005297091908274908, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825672688983235, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31245392387591914, + -0.10788929156278447, + 0.7611063474328807 + ], + "target_position": [ + 0.32786018882740137, + -0.12164859707107736, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020656027881124892, + "xy_threshold": 0.08, + "gripper_dist": 0.20534264545688008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063474328807, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08002867850464705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08649601267175826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801003812919924, + "release_required_pad_clearance": 0.05324800633587913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5164278209321755, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f719ca61b16809c230ad5a0c578ec343868a148e2192059465e38f6c70df61d", + "visual_seed": 9075614241197707461, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d3cbdcd8e0f6be035bc19db5faf142a6287e82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_60_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.346201602772537, + -0.12393397245415486, + 1.00205635604256 + ], + "current_z": 1.00205635604256, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14094990763243875, + "gripper_z": 1.0026947435731475, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3423258900657104, + -0.12807297812167345, + 1.0026947435731475 + ], + "object_minus_gripper": [ + 0.003875712706826573, + 0.004139005667518597, + -0.0006383875305875364 + ], + "object_to_gripper_xy": 0.0056703189417887274, + "object_to_gripper_z": -0.0006383875305875364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.346201602772537, + -0.14763420459113755, + 1.00205635604256 + ], + "finger_b": [ + 0.3356010602276952, + -0.12393397245415486, + 1.00205635604256 + ], + "finger_midpoint": [ + 0.3409013315001161, + -0.1357840885226462, + 1.00205635604256 + ], + "object_minus_finger_midpoint": [ + 0.005300271272420887, + 0.011850116068491345, + 0.0 + ], + "finger_gap": 0.02596290633946569, + "fingertip_max_gap": 0.09392473717342867, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012981453169732845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00205635604256, + "object_top_z": 1.052027086114561, + "finger_top_clearance": 0.049970730072001146, + "fingertip_min_top_clearance": 0.014991219021600326, + "object_projection_between_fingers": 0.8332946362404546, + "object_to_finger_line_xy": 0.009676702438694776, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049462368586714336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5445151439776916, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3188091925388997, + 0.004501976861290712, + 0.770146330191967 + ], + "gripper_position": [ + 0.32238926928644784, + -0.03154999624538542, + 1.0456181406961607 + ], + "target_minus_gripper": [ + -0.003580076747548122, + 0.03605197310667613, + -0.27547181050419367 + ], + "held_position": [ + 0.32635019383445285, + -0.0275142595927492, + 1.0449019447318646 + ], + "held_minus_target": [ + 0.007541001295553129, + -0.03201623645403991, + 0.2747556145398976 + ], + "held_minus_gripper": [ + 0.003960924548005007, + 0.0040357366526362175, + -0.0007161959642960625 + ], + "xy_dist": 0.03622929359513974, + "held_xy_dist": 0.0328923410115566, + "held_gripper_dist": 0.0056999149347770105, + "max_held_gripper_dist": 0.005709076305104207, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0449019447318646, + "required_height": 0.800146330191967, + "gripper_z": 1.0456181406961607, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55133054511087, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0685145519863966, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5165642933219057, + "max_source_tilt_deg": 89.84578727495362, + "source_upright_tilt_deg": 3.1745120206199573, + "max_source_upright_tilt_deg": 89.65231296513694, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5165642933219057, + "source_upright_return_tilt_deg": 3.1745120206199573, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.734426651028118e-08, + "max_target_xy_drift": 1.6960877407303517e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3188, + 0.0045, + 0.7701 + ], + "controller_target_position": [ + 0.3188, + 0.0045, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0001, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3173, + -0.0206, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015549741774313049, + 0.00010798042927866007, + 0.001649342359521157 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1745079232188904, + "source_return_step_error_deg": 2.516552222433417, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.175195608828702, + "source_return_best_wrist_position": -1.6165986061096191, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6165986061096191 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3188, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3188, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0001, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3173, + -0.0206, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015549741774313049, + 0.00010798042927866007, + 0.001649342359521157 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1745079232188904, + "pour_controller_source_return_step_error_deg": 2.516552222433417, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.175195608828702, + "pour_controller_source_return_best_wrist_position": -1.6165986061096191, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6165986061096191, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03622929359513974, + "valid_pour_held_xy_dist": 0.0328923410115566, + "valid_pour_held_gripper_dist": 0.0056999149347770105, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0449019447318646, + "valid_pour_source_tilt_deg": 2.5165642933219057, + "valid_pour_source_upright_tilt_deg": 3.1745120206199573, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.734426651028118e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32635019383445285, + -0.051069344814939674, + 1.0449019447318646 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31634579095274107, + -0.0275142595927492, + 1.0449019447318646 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32134799239359696, + -0.039291802203844435, + 1.0449019447318646 + ], + "valid_pour_held_grasp_object_position": [ + 0.32635019383445285, + -0.0275142595927492, + 1.0449019447318646 + ], + "valid_pour_held_grasp_finger_gap": 0.0255916024672989, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023951312265678402, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.043218187794584695, + -0.9984655067606155, + 0.034623980895031825 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005521333570027236, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038176966099770365, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32635019383445285, + -0.051069344814939674, + 1.0449019447318646 + ], + "held_grasp_finger_b": [ + 0.31634579095274107, + -0.0275142595927492, + 1.0449019447318646 + ], + "held_grasp_midpoint": [ + 0.32134799239359696, + -0.039291802203844435, + 1.0449019447318646 + ], + "held_grasp_object_position": [ + 0.32635019383445285, + -0.0275142595927492, + 1.0449019447318646 + ], + "held_grasp_finger_gap": 0.0255916024672989, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023951312265678402, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.043218187794584695, + -0.9984655067606155, + 0.034623980895031825 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005521333570027236, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038176966099770365, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3227600932383152, + -0.1235723679652502, + 0.7611073862605398 + ], + "target_position": [ + 0.32334741866996164, + -0.12677070002984686, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0032518116732193725, + "xy_threshold": 0.08, + "gripper_dist": 0.21409886069630563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073862605398, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523870326885182, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09001192019668873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18618573260647953, + "release_required_pad_clearance": 0.05500596009834437, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.087057304211696, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc94d08620beec78f7df2ef04e17d6d3a4a91c946d4a19bb444b9109fd3aa2f9", + "visual_seed": 4134378934086585994, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e1798e0b3adc547cc8ddb63b69125d25998be7d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3463526952852472, + -0.11489374160843245, + 1.0042677112337648 + ], + "current_z": 1.0042677112337648, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1431612628236434, + "gripper_z": 1.004268100870902, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34246404459666524, + -0.11891046211791122, + 1.004268100870902 + ], + "object_minus_gripper": [ + 0.0038886506885819627, + 0.004016720509478766, + -3.8963713722139914e-07 + ], + "object_to_gripper_xy": 0.005590675078116804, + "object_to_gripper_z": -3.8963713722139914e-07, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3463526952852472, + -0.13889758939122937, + 1.0042677112337648 + ], + "finger_b": [ + 0.33629547005479743, + -0.11489374160843245, + 1.0042677112337648 + ], + "finger_midpoint": [ + 0.34132408267002234, + -0.12689566549983092, + 1.0042677112337648 + ], + "object_minus_finger_midpoint": [ + 0.005028612615224859, + 0.012001923891398467, + 0.0 + ], + "finger_gap": 0.0260256121487215, + "fingertip_max_gap": 0.09281335849818492, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012806074360745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0042677112337648, + "object_top_z": 1.0540435179376535, + "finger_top_clearance": 0.0497758067038887, + "fingertip_min_top_clearance": 0.014932742011166627, + "object_projection_between_fingers": 0.8506674621837218, + "object_to_finger_line_xy": 0.009275943334953627, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890667924909246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.689125976843992, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3260397723919575, + 0.0005831658808962275, + 0.7701463301919668 + ], + "gripper_position": [ + 0.331246743092552, + -0.03503835704115116, + 1.0459495519989601 + ], + "target_minus_gripper": [ + -0.005206970700594449, + 0.035621522922047386, + -0.27580322180699335 + ], + "held_position": [ + 0.33515808441057016, + -0.03105020374688279, + 1.0458774851438357 + ], + "held_minus_target": [ + 0.009118312018612629, + -0.03163336962777902, + 0.27573115495186895 + ], + "held_minus_gripper": [ + 0.00391134131801818, + 0.003988153294268368, + -7.206685512439748e-05 + ], + "xy_dist": 0.036000075543848466, + "held_xy_dist": 0.032921325733883615, + "held_gripper_dist": 0.005586515124496429, + "max_held_gripper_dist": 0.005591441377103261, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.0458774851438357, + "required_height": 0.8001463301919668, + "gripper_z": 1.0459495519989601, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.10962904167532, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.191293558760836, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3788912097339017, + "max_source_tilt_deg": 89.98349608470849, + "source_upright_tilt_deg": 3.1480563401747634, + "max_source_upright_tilt_deg": 89.89067988724078, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3788912097339017, + "source_upright_return_tilt_deg": 3.1480563401747634, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.547190085053444e-08, + "max_target_xy_drift": 1.0797847433963415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.326, + 0.0006, + 0.7701 + ], + "controller_target_position": [ + 0.326, + 0.0006, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0009, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3274, + -0.0238, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013899015096637633, + 0.0008512035893243728, + 0.0019075582362004968 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1480509069960543, + "source_return_step_error_deg": 2.3788853741484686, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.148761227110818, + "source_return_best_wrist_position": -1.6156129837036133, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156129837036133 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.326, + 0.0006, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.326, + 0.0006, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0009, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3274, + -0.0238, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013899015096637633, + 0.0008512035893243728, + 0.0019075582362004968 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1480509069960543, + "pour_controller_source_return_step_error_deg": 2.3788853741484686, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.148761227110818, + "pour_controller_source_return_best_wrist_position": -1.6156129837036133, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156129837036133, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036000075543848466, + "valid_pour_held_xy_dist": 0.032921325733883615, + "valid_pour_held_gripper_dist": 0.005586515124496429, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.0458774851438357, + "valid_pour_source_tilt_deg": 2.3788912097339017, + "valid_pour_source_upright_tilt_deg": 3.1480563401747634, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.547190085053444e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33515808441057016, + -0.054715278059350066, + 1.0458774851438357 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3253943193274421, + -0.03105020374688279, + 1.0458774851438357 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33027620186900614, + -0.04288274090311643, + 1.0458774851438357 + ], + "valid_pour_held_grasp_object_position": [ + 0.33515808441057016, + -0.03105020374688279, + 1.0458774851438357 + ], + "valid_pour_held_grasp_finger_gap": 0.02560013380459385, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024033023610557487, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04134271848381175, + -0.9984909705918478, + 0.03614638674775228 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00538362325783847, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038107398855990154, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33515808441057016, + -0.054715278059350066, + 1.0458774851438357 + ], + "held_grasp_finger_b": [ + 0.3253943193274421, + -0.03105020374688279, + 1.0458774851438357 + ], + "held_grasp_midpoint": [ + 0.33027620186900614, + -0.04288274090311643, + 1.0458774851438357 + ], + "held_grasp_object_position": [ + 0.33515808441057016, + -0.03105020374688279, + 1.0458774851438357 + ], + "held_grasp_finger_gap": 0.02560013380459385, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024033023610557487, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04134271848381175, + -0.9984909705918478, + 0.03614638674775228 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00538362325783847, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038107398855990154, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32049780800940897, + -0.12314523221868146, + 0.7611065796991147 + ], + "target_position": [ + 0.32353675216763106, + -0.1200788675375648, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0043171488223585465, + "xy_threshold": 0.08, + "gripper_dist": 0.21323819982296272, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065796991147, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570135158889613, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707450407041316, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18317939713688522, + "release_required_pad_clearance": 0.05353725203520658, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.085729299045701, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "74c60f5bea95ecc5993c3118b83c7b115ab558c87f0e8d3a271d53a7edd5fcda", + "visual_seed": 1896866757737258869, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9966d4b6dc089dcaf1bf2ed507c99d57c953b097 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3474000648159088, + -0.11860388150580103, + 1.002709034480111 + ], + "current_z": 1.002709034480111, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1416025264653451, + "gripper_z": 1.0033289920075183, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3436931954531217, + -0.12268638484739273, + 1.0033289920075183 + ], + "object_minus_gripper": [ + 0.0037068693627870797, + 0.004082503341591701, + -0.0006199575274072888 + ], + "object_to_gripper_xy": 0.005514318997562336, + "object_to_gripper_z": -0.0006199575274072888, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3474000648159088, + -0.1421114509743766, + 1.002709034480111 + ], + "finger_b": [ + 0.3367800703277941, + -0.11860388150580103, + 1.002709034480111 + ], + "finger_midpoint": [ + 0.34209006757185145, + -0.13035766624008882, + 1.002709034480111 + ], + "object_minus_finger_midpoint": [ + 0.005309997244057341, + 0.011753784734287787, + 0.0 + ], + "finger_gap": 0.025795156623821702, + "fingertip_max_gap": 0.09384778272111718, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012897578311910851, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002709034480111, + "object_top_z": 1.0526171820389183, + "finger_top_clearance": 0.049908147558807237, + "fingertip_min_top_clearance": 0.014972444267642203, + "object_projection_between_fingers": 0.8304990079682114, + "object_to_finger_line_xy": 0.009678183460018036, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049423891360558594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5882078192944005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3225390127903644, + 0.0019279282741696407, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3262469758146497, + -0.03413712708482142, + 1.0428915771837204 + ], + "target_minus_gripper": [ + -0.003707963024285277, + 0.03606505535899106, + -0.27274512778246396 + ], + "held_position": [ + 0.33007239051993387, + -0.030186347469614714, + 1.0421958111127152 + ], + "held_minus_target": [ + 0.007533377729569468, + -0.03211427574378435, + 0.27204936171145877 + ], + "held_minus_gripper": [ + 0.0038254147052841914, + 0.003950779615206703, + -0.0006957660710051883 + ], + "xy_dist": 0.03625516801556099, + "held_xy_dist": 0.03298603472022955, + "held_gripper_dist": 0.005543153223653425, + "max_held_gripper_dist": 0.005551861234800794, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0421958111127152, + "required_height": 0.8001464494012565, + "gripper_z": 1.0428915771837204, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49201718235848, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0870503797304947, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.62634950062339, + "max_source_tilt_deg": 89.97238770324498, + "source_upright_tilt_deg": 2.8262548493542465, + "max_source_upright_tilt_deg": 89.72664533876505, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.62634950062339, + "source_upright_return_tilt_deg": 2.8262548493542465, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.174789047560718e-08, + "max_target_xy_drift": 1.590862547319505e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3225, + 0.0019, + 0.7701 + ], + "controller_target_position": [ + 0.3225, + 0.0019, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0002, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3213, + -0.0235, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012321005032442218, + -0.0002274696970650538, + -0.0015846828247837177 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.82626542513606, + "source_return_step_error_deg": 2.6263527722665074, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.826531476535036, + "source_return_best_wrist_position": -1.6162543296813965, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6162543296813965 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3225, + 0.0019, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3225, + 0.0019, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0002, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3213, + -0.0235, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012321005032442218, + -0.0002274696970650538, + -0.0015846828247837177 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.82626542513606, + "pour_controller_source_return_step_error_deg": 2.6263527722665074, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.826531476535036, + "pour_controller_source_return_best_wrist_position": -1.6162543296813965, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6162543296813965, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03625516801556099, + "valid_pour_held_xy_dist": 0.03298603472022955, + "valid_pour_held_gripper_dist": 0.005543153223653425, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0421958111127152, + "valid_pour_source_tilt_deg": 2.62634950062339, + "valid_pour_source_upright_tilt_deg": 2.8262548493542465, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.174789047560718e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33007239051993387, + -0.05370648892127814, + 1.0421958111127152 + ], + "valid_pour_held_grasp_finger_b": [ + 0.320253812633175, + -0.030186347469614714, + 1.0421958111127152 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3251631015765544, + -0.04194641819544643, + 1.0421958111127152 + ], + "valid_pour_held_grasp_object_position": [ + 0.33007239051993387, + -0.030186347469614714, + 1.0421958111127152 + ], + "valid_pour_held_grasp_finger_gap": 0.025487281644471362, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023838072962350913, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.035294323990985615, + -0.9987836570440147, + 0.03443133915204999 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005336450899040047, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381477536579856, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33007239051993387, + -0.05370648892127814, + 1.0421958111127152 + ], + "held_grasp_finger_b": [ + 0.320253812633175, + -0.030186347469614714, + 1.0421958111127152 + ], + "held_grasp_midpoint": [ + 0.3251631015765544, + -0.04194641819544643, + 1.0421958111127152 + ], + "held_grasp_object_position": [ + 0.33007239051993387, + -0.030186347469614714, + 1.0421958111127152 + ], + "held_grasp_finger_gap": 0.025487281644471362, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023838072962350913, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.035294323990985615, + -0.9987836570440147, + 0.03443133915204999 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005336450899040047, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381477536579856, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32567568269810626, + -0.11958372549457924, + 0.7611071460388117 + ], + "target_position": [ + 0.3246284794642845, + -0.1228472385173768, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003427411831527691, + "xy_threshold": 0.08, + "gripper_dist": 0.21909004172401172, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071460388117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549380873667305, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871241849037978, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19045399823331768, + "release_required_pad_clearance": 0.0535620924518989, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.132856464607901, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43ccd61e7df1c82a90aa593266084a308296f6536107e78128e028f0340a8d96", + "visual_seed": 2544605929601984733, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d1b87a6e2535b24f3a9cd5078f203da0ab05143 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_63_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3454340587716811, + -0.118960020592149, + 1.00202647303416 + ], + "current_z": 1.00202647303416, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14092002462403874, + "gripper_z": 1.0024459697415582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3417201500543746, + -0.12307276248264142, + 1.0024459697415582 + ], + "object_minus_gripper": [ + 0.00371390871730648, + 0.004112741890492419, + -0.0004194967073982703 + ], + "object_to_gripper_xy": 0.005541458636342621, + "object_to_gripper_z": -0.0004194967073982703, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3454340587716811, + -0.14242669726382276, + 1.00202647303416 + ], + "finger_b": [ + 0.33469896784330033, + -0.118960020592149, + 1.00202647303416 + ], + "finger_midpoint": [ + 0.3400665133074907, + -0.1306933589279859, + 1.00202647303416 + ], + "object_minus_finger_midpoint": [ + 0.005367545464190382, + 0.011733338335836896, + 0.0 + ], + "finger_gap": 0.025805563184195007, + "fingertip_max_gap": 0.09391084570228356, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012902781592097515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00202647303416, + "object_top_z": 1.051885916020599, + "finger_top_clearance": 0.049859442986439184, + "fingertip_min_top_clearance": 0.014957832895931738, + "object_projection_between_fingers": 0.8269447530304231, + "object_to_finger_line_xy": 0.009762116256064475, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945542285114178, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7326473550135715, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3221780470616048, + 0.001456662054777222, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3264937953692225, + -0.03316192421470773, + 1.0444537080924685 + ], + "target_minus_gripper": [ + -0.004315748307617717, + 0.034618586269484955, + -0.2743072586912122 + ], + "held_position": [ + 0.33031364576070044, + -0.029162247753566364, + 1.0439596675449117 + ], + "held_minus_target": [ + 0.008135598699095636, + -0.030618909808343586, + 0.27381321814365533 + ], + "held_minus_gripper": [ + 0.003819850391477919, + 0.003999676461141369, + -0.0004940405475568621 + ], + "xy_dist": 0.03488656186488542, + "held_xy_dist": 0.031681313167926065, + "held_gripper_dist": 0.0055527240945064645, + "max_held_gripper_dist": 0.005559095199292131, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0439596675449117, + "required_height": 0.8001464494012563, + "gripper_z": 1.0444537080924685, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55091390357151, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.11975561790386, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.487707692138846, + "max_source_tilt_deg": 89.80704933188088, + "source_upright_tilt_deg": 3.1694907851965888, + "max_source_upright_tilt_deg": 89.81051313244285, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.487707692138846, + "source_upright_return_tilt_deg": 3.1694907851965888, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.261465705110397e-07, + "max_target_xy_drift": 1.556077059747869e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3222, + 0.0015, + 0.7701 + ], + "controller_target_position": [ + 0.3222, + 0.0015, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0018, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3219, + -0.0219, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00029369453327401603, + 0.0018182748857157038, + 0.0005929364947413812 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1694821823055883, + "source_return_step_error_deg": 2.4876679837354057, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1722816364904496, + "source_return_best_wrist_position": -1.6148375272750854, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6148375272750854 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3222, + 0.0015, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3222, + 0.0015, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0018, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3219, + -0.0219, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00029369453327401603, + 0.0018182748857157038, + 0.0005929364947413812 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1694821823055883, + "pour_controller_source_return_step_error_deg": 2.4876679837354057, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1722816364904496, + "pour_controller_source_return_best_wrist_position": -1.6148375272750854, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6148375272750854, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03488656186488542, + "valid_pour_held_xy_dist": 0.031681313167926065, + "valid_pour_held_gripper_dist": 0.0055527240945064645, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0439596675449117, + "valid_pour_source_tilt_deg": 2.487707692138846, + "valid_pour_source_upright_tilt_deg": 3.1694907851965888, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.261465705110397e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33031364576070044, + -0.0526178846594829, + 1.0439596675449117 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3203104158770697, + -0.029162247753566364, + 1.0439596675449117 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32531203081888505, + -0.04089006620652463, + 1.0439596675449117 + ], + "valid_pour_held_grasp_object_position": [ + 0.33031364576070044, + -0.029162247753566364, + 1.0439596675449117 + ], + "valid_pour_held_grasp_finger_gap": 0.025499637463441648, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023825979958520795, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.040609064537513194, + -0.9984703568072955, + 0.03752133332519447 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005491098609836608, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03821348189876261, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33031364576070044, + -0.0526178846594829, + 1.0439596675449117 + ], + "held_grasp_finger_b": [ + 0.3203104158770697, + -0.029162247753566364, + 1.0439596675449117 + ], + "held_grasp_midpoint": [ + 0.32531203081888505, + -0.04089006620652463, + 1.0439596675449117 + ], + "held_grasp_object_position": [ + 0.33031364576070044, + -0.029162247753566364, + 1.0439596675449117 + ], + "held_grasp_finger_gap": 0.025499637463441648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023825979958520795, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.040609064537513194, + -0.9984703568072955, + 0.03752133332519447 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005491098609836608, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03821348189876261, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.312651194495438, + -0.10281172058787219, + 0.7611067182600839 + ], + "target_position": [ + 0.3224843362599209, + -0.12076399811023074, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020468877477775815, + "xy_threshold": 0.08, + "gripper_dist": 0.20842043063877055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067182600839, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.082298470178052, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767966496640249, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838189105819011, + "release_required_pad_clearance": 0.05383983248320125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6887139645581337, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "561664849a4720f31ebcbc7665bcbcd7e10f5aaea0bec6e9d5fb5e028ebbd986", + "visual_seed": 3580125670325806153, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2b7babee42dbb40b94fb9c14a0f393bf9b77f9ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3435821812025854, + -0.12504941022915436, + 1.0048293926307656 + ], + "current_z": 1.0048293926307656, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14372300382528935, + "gripper_z": 1.0054731457319215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33988341714640213, + -0.12909464946347476, + 1.0054731457319215 + ], + "object_minus_gripper": [ + 0.0036987640561832458, + 0.0040452392343204024, + -0.0006437531011558306 + ], + "object_to_gripper_xy": 0.005481315171215595, + "object_to_gripper_z": -0.0006437531011558306, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3435821812025854, + -0.14862737581271454, + 1.0048293926307656 + ], + "finger_b": [ + 0.3331238012118054, + -0.12504941022915436, + 1.0048293926307656 + ], + "finger_midpoint": [ + 0.3383529912071954, + -0.13683839302093445, + 1.0048293926307656 + ], + "object_minus_finger_midpoint": [ + 0.00522918999538996, + 0.01178898279178009, + 0.0 + ], + "finger_gap": 0.0257933745968048, + "fingertip_max_gap": 0.09363081376876062, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289668729840239, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0048293926307656, + "object_top_z": 1.054812775028577, + "finger_top_clearance": 0.049983382397811305, + "fingertip_min_top_clearance": 0.014995014719343357, + "object_projection_between_fingers": 0.8355959531297699, + "object_to_finger_line_xy": 0.0095601032178609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04931540688438031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.284494054713502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3264371267563525, + 0.005295284415267486, + 0.7701463301919669 + ], + "gripper_position": [ + 0.32874345370300667, + -0.02854946964933587, + 1.0454708898138834 + ], + "target_minus_gripper": [ + -0.002306326946654169, + 0.033844754064603355, + -0.2753245596219165 + ], + "held_position": [ + 0.3324403502732419, + -0.02452385465535098, + 1.0447586951367325 + ], + "held_minus_target": [ + 0.006003223516889422, + -0.029819139070618464, + 0.2746123649447656 + ], + "held_minus_gripper": [ + 0.003696896570235253, + 0.004025614993984891, + -0.0007121946771508902 + ], + "xy_dist": 0.03392324456295931, + "held_xy_dist": 0.03041742506371338, + "held_gripper_dist": 0.005511791141632202, + "max_held_gripper_dist": 0.005521715246684179, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0447586951367325, + "required_height": 0.8001463301919669, + "gripper_z": 1.0454708898138834, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.66111900582966, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.804245602608138, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.729682764843377, + "max_source_tilt_deg": 89.66347298754786, + "source_upright_tilt_deg": 4.076903477803892, + "max_source_upright_tilt_deg": 89.93385300042974, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.729682764843377, + "source_upright_return_tilt_deg": 4.076903477803892, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.50610295173694e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3264, + 0.0053, + 0.7701 + ], + "controller_target_position": [ + 0.3264, + 0.0053, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3258, + -0.0197, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006600804409632414, + 0.0001839772041343059, + 0.0017398664994032393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.0769042229257915, + "source_return_step_error_deg": 2.729680884525125, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.081000456643605, + "source_return_best_wrist_position": -1.6166247129440308, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6166247129440308 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3264, + 0.0053, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3264, + 0.0053, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3258, + -0.0197, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006600804409632414, + 0.0001839772041343059, + 0.0017398664994032393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.0769042229257915, + "pour_controller_source_return_step_error_deg": 2.729680884525125, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.081000456643605, + "pour_controller_source_return_best_wrist_position": -1.6166247129440308, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6166247129440308, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03392324456295931, + "valid_pour_held_xy_dist": 0.03041742506371338, + "valid_pour_held_gripper_dist": 0.005511791141632202, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0447586951367325, + "valid_pour_source_tilt_deg": 2.729682764843377, + "valid_pour_source_upright_tilt_deg": 4.076903477803892, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3324403502732419, + -0.04754567209280813, + 1.0447586951367325 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3221036754454878, + -0.02452385465535098, + 1.0447586951367325 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32727201285936486, + -0.036034763374079556, + 1.0447586951367325 + ], + "valid_pour_held_grasp_object_position": [ + 0.3324403502732419, + -0.02452385465535098, + 1.0447586951367325 + ], + "valid_pour_held_grasp_finger_gap": 0.02523590546460206, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023591629974533204, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06076117271759722, + -0.9974695330802175, + 0.03691355397025952 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00587317369105536, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03855250356736327, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3324403502732419, + -0.04754567209280813, + 1.0447586951367325 + ], + "held_grasp_finger_b": [ + 0.3221036754454878, + -0.02452385465535098, + 1.0447586951367325 + ], + "held_grasp_midpoint": [ + 0.32727201285936486, + -0.036034763374079556, + 1.0447586951367325 + ], + "held_grasp_object_position": [ + 0.3324403502732419, + -0.02452385465535098, + 1.0447586951367325 + ], + "held_grasp_finger_gap": 0.02523590546460206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023591629974533204, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06076117271759722, + -0.9974695330802175, + 0.03691355397025952 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00587317369105536, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03855250356736327, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3206994876476217, + -0.13228088173460031, + 0.7611064286986226 + ], + "target_position": [ + 0.3207867154882086, + -0.12847037926304783, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038115007256828703, + "xy_threshold": 0.08, + "gripper_dist": 0.21587249337848838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064286986226, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560256177196692, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685418048019343, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18559277836696053, + "release_required_pad_clearance": 0.05342709024009672, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.868378752805204, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5764f94c956c35edafc8cd3f539272324e19f8083253854c30b6cbf5fc16beeb", + "visual_seed": 2360434522691094986, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..715e2ddc5c27e2c78de53272f2998f1d6aab63b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3494895868750151, + -0.12188037070759729, + 1.0052763145060668 + ], + "current_z": 1.0052763145060668, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.14416950846807675, + "gripper_z": 1.0052935656514574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34547848957814975, + -0.12600123660470158, + 1.0052935656514574 + ], + "object_minus_gripper": [ + 0.004011097296865329, + 0.004120865897104295, + -1.7251145390639877e-05 + ], + "object_to_gripper_xy": 0.005750690155697622, + "object_to_gripper_z": -1.7251145390639877e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3494895868750151, + -0.14586816587083332, + 1.0052763145060668 + ], + "finger_b": [ + 0.33913119091352606, + -0.12188037070759729, + 1.0052763145060668 + ], + "finger_midpoint": [ + 0.34431038889427057, + -0.1338742682892153, + 1.0052763145060668 + ], + "object_minus_finger_midpoint": [ + 0.00517919798074451, + 0.011993897581618021, + 0.0 + ], + "finger_gap": 0.026128732913946705, + "fingertip_max_gap": 0.09374501855666992, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064366456973358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0052763145060668, + "object_top_z": 1.055240671514108, + "finger_top_clearance": 0.04996435700804125, + "fingertip_min_top_clearance": 0.014989307102412357, + "object_projection_between_fingers": 0.8428377210748765, + "object_to_finger_line_xy": 0.009509649065732623, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04937250927833496, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3419398190013645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32223642981116224, + 0.0014296507897303275, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3258214140778854, + -0.03628862453341715, + 1.045151291768468 + ], + "target_minus_gripper": [ + -0.003584984266723157, + 0.03771827532314748, + -0.27500484236721146 + ], + "held_position": [ + 0.329849486485392, + -0.03218984955389481, + 1.0450597265659964 + ], + "held_minus_target": [ + 0.0076130566742297345, + -0.03361950034362514, + 0.2749132771647399 + ], + "held_minus_gripper": [ + 0.004028072407506578, + 0.004098774979522338, + -9.15652024715552e-05 + ], + "xy_dist": 0.03788826210774794, + "held_xy_dist": 0.03447070401485941, + "held_gripper_dist": 0.005747495788530674, + "max_held_gripper_dist": 0.005751235954440047, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0450597265659964, + "required_height": 0.8001464494012566, + "gripper_z": 1.045151291768468, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.22132312517255, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.730880934128867, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.39795316704169, + "max_source_tilt_deg": 89.81263516886229, + "source_upright_tilt_deg": 3.8149267230779955, + "max_source_upright_tilt_deg": 89.81642694051635, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.39795316704169, + "source_upright_return_tilt_deg": 3.8149267230779955, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.9447448181851005e-08, + "max_target_xy_drift": 1.749678911550984e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3222, + 0.0014, + 0.7701 + ], + "controller_target_position": [ + 0.3222, + 0.0014, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + -0.0019, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3202, + -0.0257, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001995930065331131, + -0.0018864002018339893, + 0.0011523529637651676 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8149130118338634, + "source_return_step_error_deg": 2.3979570424084784, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.812306232806866, + "source_return_best_wrist_position": -1.6155353784561157, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6155353784561157 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3222, + 0.0014, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3222, + 0.0014, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + -0.0019, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3202, + -0.0257, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001995930065331131, + -0.0018864002018339893, + 0.0011523529637651676 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8149130118338634, + "pour_controller_source_return_step_error_deg": 2.3979570424084784, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.812306232806866, + "pour_controller_source_return_best_wrist_position": -1.6155353784561157, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6155353784561157, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03788826210774794, + "valid_pour_held_xy_dist": 0.03447070401485941, + "valid_pour_held_gripper_dist": 0.005747495788530674, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0450597265659964, + "valid_pour_source_tilt_deg": 2.39795316704169, + "valid_pour_source_upright_tilt_deg": 3.8149267230779955, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.9447448181851005e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.329849486485392, + -0.05581935378356233, + 1.0450597265659964 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31974044789878087, + -0.03218984955389481, + 1.0450597265659964 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32479496719208645, + -0.04400460166872857, + 1.0450597265659964 + ], + "valid_pour_held_grasp_object_position": [ + 0.329849486485392, + -0.03218984955389481, + 1.0450597265659964 + ], + "valid_pour_held_grasp_finger_gap": 0.025701092025154637, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02412725308072841, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05441740081909957, + -0.9977841789191358, + 0.03828157241754149 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005707487585498976, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820673113439422, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.329849486485392, + -0.05581935378356233, + 1.0450597265659964 + ], + "held_grasp_finger_b": [ + 0.31974044789878087, + -0.03218984955389481, + 1.0450597265659964 + ], + "held_grasp_midpoint": [ + 0.32479496719208645, + -0.04400460166872857, + 1.0450597265659964 + ], + "held_grasp_object_position": [ + 0.329849486485392, + -0.03218984955389481, + 1.0450597265659964 + ], + "held_grasp_finger_gap": 0.025701092025154637, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02412725308072841, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05441740081909957, + -0.9977841789191358, + 0.03828157241754149 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005707487585498976, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820673113439422, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34113133195587964, + -0.14803631745176238, + 0.7611064674968254 + ], + "target_position": [ + 0.32634073200347824, + -0.12444586939145114, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027843690248209173, + "xy_threshold": 0.08, + "gripper_dist": 0.22586010725800224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064674968254, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549747173224546, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855431724595792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19100483064828955, + "release_required_pad_clearance": 0.0527715862297896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5921505929243641, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e71eb7db199478fc733c0319e7e627603181f2f49f096403d0ee029f10c597f2", + "visual_seed": 5930539646275328979, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03d294e178ca8907f09607d66f7e02a203046b43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34416193198859457, + -0.12544305710974446, + 1.0041471020996435 + ], + "current_z": 1.0041471020996435, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14304065368952246, + "gripper_z": 1.0044268742332245, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34044554888999856, + -0.129424787195884, + 1.0044268742332245 + ], + "object_minus_gripper": [ + 0.00371638309859601, + 0.003981730086139529, + -0.00027977213358099107 + ], + "object_to_gripper_xy": 0.005446620770202271, + "object_to_gripper_z": -0.00027977213358099107, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34416193198859457, + -0.14916306804876336, + 1.0041471020996435 + ], + "finger_b": [ + 0.33394250454825547, + -0.12544305710974446, + 1.0041471020996435 + ], + "finger_midpoint": [ + 0.339052218268425, + -0.1373030625792539, + 1.0041471020996435 + ], + "object_minus_finger_midpoint": [ + 0.005109713720169551, + 0.011860005469509438, + 0.0 + ], + "finger_gap": 0.02582780703341908, + "fingertip_max_gap": 0.09444845381391773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012913903516709528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041471020996435, + "object_top_z": 1.0541197572419825, + "finger_top_clearance": 0.04997265514233895, + "fingertip_min_top_clearance": 0.014991796542701668, + "object_projection_between_fingers": 0.8434409912773579, + "object_to_finger_line_xy": 0.009385424413373611, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049724226906958865, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.875585889103337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31977273142401624, + -0.0013555188461690374, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3257808513487991, + -0.03718621021162084, + 1.043704936449637 + ], + "target_minus_gripper": [ + -0.00600811992478284, + 0.035830691365451806, + -0.27355854665302515 + ], + "held_position": [ + 0.32944175769023226, + -0.03316185809475485, + 1.0433665085010082 + ], + "held_minus_target": [ + 0.009669026266216019, + -0.031806339248585815, + 0.27322011870439644 + ], + "held_minus_gripper": [ + 0.003660906341433179, + 0.004024352116865991, + -0.0003384279486287056 + ], + "xy_dist": 0.03633092276225358, + "held_xy_dist": 0.033243545017535445, + "held_gripper_dist": 0.0054508878797570656, + "max_held_gripper_dist": 0.005455233306314299, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0433665085010082, + "required_height": 0.8001463897966118, + "gripper_z": 1.043704936449637, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.52199488262568, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.302382413762482, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.805186543406691, + "max_source_tilt_deg": 89.99826671316966, + "source_upright_tilt_deg": 4.720851010435182, + "max_source_upright_tilt_deg": 89.76129968938258, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.805186543406691, + "source_upright_return_tilt_deg": 4.720851010435182, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.7890817744309254e-08, + "max_target_xy_drift": 1.2128666487410446e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3198, + -0.0014, + 0.7701 + ], + "controller_target_position": [ + 0.3198, + -0.0014, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0004, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3217, + -0.0262, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018772978857728535, + 0.0003756467003156222, + -0.00044979446719919523 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.720853054900304, + "source_return_step_error_deg": 1.8051872798799984, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.72098682282631, + "source_return_best_wrist_position": -1.5924835205078125, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5924835205078125 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3198, + -0.0014, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3198, + -0.0014, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0004, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3217, + -0.0262, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018772978857728535, + 0.0003756467003156222, + -0.00044979446719919523 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.720853054900304, + "pour_controller_source_return_step_error_deg": 1.8051872798799984, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.72098682282631, + "pour_controller_source_return_best_wrist_position": -1.5924835205078125, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5924835205078125, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03633092276225358, + "valid_pour_held_xy_dist": 0.033243545017535445, + "valid_pour_held_gripper_dist": 0.0054508878797570656, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0433665085010082, + "valid_pour_source_tilt_deg": 1.805186543406691, + "valid_pour_source_upright_tilt_deg": 4.720851010435182, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.7890817744309254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32944175769023226, + -0.05652985341909722, + 1.0433665085010082 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31890842427737176, + -0.03316185809475485, + 1.0433665085010082 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32417509098380204, + -0.04484585575692604, + 1.0433665085010082 + ], + "valid_pour_held_grasp_object_position": [ + 0.32944175769023226, + -0.03316185809475485, + 1.0433665085010082 + ], + "valid_pour_held_grasp_finger_gap": 0.025632290538790525, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024142370758741392, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.08104283728433453, + -0.9966075056785683, + 0.01433660176079865 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061984277910303335, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03850271591656446, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32944175769023226, + -0.05652985341909722, + 1.0433665085010082 + ], + "held_grasp_finger_b": [ + 0.31890842427737176, + -0.03316185809475485, + 1.0433665085010082 + ], + "held_grasp_midpoint": [ + 0.32417509098380204, + -0.04484585575692604, + 1.0433665085010082 + ], + "held_grasp_object_position": [ + 0.32944175769023226, + -0.03316185809475485, + 1.0433665085010082 + ], + "held_grasp_finger_gap": 0.025632290538790525, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024142370758741392, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.08104283728433453, + -0.9966075056785683, + 0.01433660176079865 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061984277910303335, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03850271591656446, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31618500043477854, + -0.13003017590409202, + 0.7611080389458963 + ], + "target_position": [ + 0.3212643032834231, + -0.12689517029366526, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0059688841172916, + "xy_threshold": 0.08, + "gripper_dist": 0.21254034625196253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080389458963, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524142973476663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544879329779785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18385057207477531, + "release_required_pad_clearance": 0.05272439664889893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49888864119318205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "555602bec5a0c2cbc0a1b6119430ddb3d9289e33fce81e44d25058bfbb11de54", + "visual_seed": 7620403698402700096, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c44c12c9a3f79787c4edce701617cec87d2d04b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34734684115382636, + -0.12171617525352718, + 1.0049165254681105 + ], + "current_z": 1.0049165254681105, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1438100770579891, + "gripper_z": 1.0054990376683501, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34355079160136703, + -0.12584213575918407, + 1.0054990376683501 + ], + "object_minus_gripper": [ + 0.003796049552459324, + 0.004125960505656889, + -0.0005825122002396377 + ], + "object_to_gripper_xy": 0.00560656243155885, + "object_to_gripper_z": -0.0005825122002396377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34734684115382636, + -0.14530402461991052, + 1.0049165254681105 + ], + "finger_b": [ + 0.3366834433679011, + -0.12171617525352718, + 1.0049165254681105 + ], + "finger_midpoint": [ + 0.3420151422608637, + -0.13351009993671886, + 1.0049165254681105 + ], + "object_minus_finger_midpoint": [ + 0.005331698892962644, + 0.011793924683191681, + 0.0 + ], + "finger_gap": 0.025886187244784926, + "fingertip_max_gap": 0.09360552949748166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012943093622392488, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049165254681105, + "object_top_z": 1.0548629079098653, + "finger_top_clearance": 0.049946382441754755, + "fingertip_min_top_clearance": 0.014983914732526443, + "object_projection_between_fingers": 0.8303104710042601, + "object_to_finger_line_xy": 0.009716634525190743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930276474874083, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2526993512765823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3207721523052875, + 0.002898099223755377, + 0.7701464494012568 + ], + "gripper_position": [ + 0.32562938405446984, + -0.034489562818011535, + 1.0444492021906684 + ], + "target_minus_gripper": [ + -0.004857231749182345, + 0.03738766204176691, + -0.27430275278941163 + ], + "held_position": [ + 0.32951972994179446, + -0.030471508479411262, + 1.043790932950487 + ], + "held_minus_target": [ + 0.008747577636506965, + -0.03336960770316664, + 0.2736444835492303 + ], + "held_minus_gripper": [ + 0.00389034588732462, + 0.004018054338600273, + -0.0006582692401813084 + ], + "xy_dist": 0.037701856362978244, + "held_xy_dist": 0.03449711339764466, + "held_gripper_dist": 0.005631418132543253, + "max_held_gripper_dist": 0.00563970875384002, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.043790932950487, + "required_height": 0.8001464494012568, + "gripper_z": 1.0444492021906684, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55473880950672, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7169016734771496, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5001108254981337, + "max_source_tilt_deg": 89.94320016323448, + "source_upright_tilt_deg": 2.833866088102029, + "max_source_upright_tilt_deg": 89.98184768588405, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5001108254981337, + "source_upright_return_tilt_deg": 2.833866088102029, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.313225746154785e-09, + "max_target_xy_drift": 2.1413331893649095e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3208, + 0.0029, + 0.7701 + ], + "controller_target_position": [ + 0.3208, + 0.0029, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0016, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3208, + -0.0239, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.3620711241792722e-06, + -0.0015538257631073802, + -0.00022256025371522408 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8338544186002568, + "source_return_step_error_deg": 2.5000987255616858, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8339475674725114, + "source_return_best_wrist_position": -1.61653733253479, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61653733253479 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3208, + 0.0029, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3208, + 0.0029, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0016, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3208, + -0.0239, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.3620711241792722e-06, + -0.0015538257631073802, + -0.00022256025371522408 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8338544186002568, + "pour_controller_source_return_step_error_deg": 2.5000987255616858, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8339475674725114, + "pour_controller_source_return_best_wrist_position": -1.61653733253479, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61653733253479, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037701856362978244, + "valid_pour_held_xy_dist": 0.03449711339764466, + "valid_pour_held_gripper_dist": 0.005631418132543253, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.043790932950487, + "valid_pour_source_tilt_deg": 2.5001108254981337, + "valid_pour_source_upright_tilt_deg": 2.833866088102029, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.313225746154785e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32951972994179446, + -0.05396573003116708, + 1.043790932950487 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3195062669094301, + -0.030471508479411262, + 1.043790932950487 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3245129984256123, + -0.04221861925528917, + 1.043790932950487 + ], + "valid_pour_held_grasp_object_position": [ + 0.32951972994179446, + -0.030471508479411262, + 1.043790932950487 + ], + "valid_pour_held_grasp_finger_gap": 0.02553914423436139, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02382336690431898, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0357395318272385, + -0.9987770980996494, + 0.03416129646856669 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005437969889875923, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038166443098681634, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32951972994179446, + -0.05396573003116708, + 1.043790932950487 + ], + "held_grasp_finger_b": [ + 0.3195062669094301, + -0.030471508479411262, + 1.043790932950487 + ], + "held_grasp_midpoint": [ + 0.3245129984256123, + -0.04221861925528917, + 1.043790932950487 + ], + "held_grasp_object_position": [ + 0.32951972994179446, + -0.030471508479411262, + 1.043790932950487 + ], + "held_grasp_finger_gap": 0.02553914423436139, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02382336690431898, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0357395318272385, + -0.9987770980996494, + 0.03416129646856669 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005437969889875923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038166443098681634, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3289349564671117, + -0.12356865856145664, + 0.7611069110228368 + ], + "target_position": [ + 0.32437191146823546, + -0.12415515394460945, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0046005821910089645, + "xy_threshold": 0.08, + "gripper_dist": 0.21874507674250884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069110228368, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537778223172188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511163976280404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18975393499014873, + "release_required_pad_clearance": 0.052555819881402024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1769335248661663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29954f3c173631d8c79d1fade5d4f100503bc8ecd2e9c993ea225a82c3645a64", + "visual_seed": 7710390900016073723, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4bd3f7a736e80d8b26c441e833e5460aced8b83 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_69_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3425204175925144, + -0.12613861278861485, + 1.003549005718429 + ], + "current_z": 1.003549005718429, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14244249770366313, + "gripper_z": 1.0043403864580456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389980174396388, + -0.13008568154191233, + 1.0043403864580456 + ], + "object_minus_gripper": [ + 0.003522400152875582, + 0.003947068753297478, + -0.0007913807396164874 + ], + "object_to_gripper_xy": 0.005290241448198299, + "object_to_gripper_z": -0.0007913807396164874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3425204175925144, + -0.149720296407635, + 1.003549005718429 + ], + "finger_b": [ + 0.3323780884034467, + -0.12613861278861485, + 1.003549005718429 + ], + "finger_midpoint": [ + 0.33744925299798056, + -0.13792945459812495, + 1.003549005718429 + ], + "object_minus_finger_midpoint": [ + 0.005071164594533828, + 0.011790841809510094, + 0.0 + ], + "finger_gap": 0.02567026769799993, + "fingertip_max_gap": 0.09316780663151628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012835133848999968, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003549005718429, + "object_top_z": 1.0534744795733988, + "finger_top_clearance": 0.049925473854969704, + "fingertip_min_top_clearance": 0.01497764215649091, + "object_projection_between_fingers": 0.8438957923261597, + "object_to_finger_line_xy": 0.00931712909698965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908390331575814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0370063658427418, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32852176940504946, + -0.001947422654695732, + 0.7701463897966118 + ], + "gripper_position": [ + 0.33344123957784455, + -0.03953448207397009, + 1.0435058501103276 + ], + "target_minus_gripper": [ + -0.004919470172795093, + 0.03758705941927436, + -0.27335946031371583 + ], + "held_position": [ + 0.3369398423368165, + -0.035592408951743836, + 1.0426382173744262 + ], + "held_minus_target": [ + 0.008418072931767051, + -0.0336449862970481, + 0.2724918275778144 + ], + "held_minus_gripper": [ + 0.003498602758971958, + 0.003942073122226254, + -0.0008676327359014024 + ], + "xy_dist": 0.0379076274985534, + "held_xy_dist": 0.03468211433596723, + "held_gripper_dist": 0.005341624128528007, + "max_held_gripper_dist": 0.0053522843261541615, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0426382173744262, + "required_height": 0.8001463897966118, + "gripper_z": 1.0435058501103276, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.66865270448419, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5869011392299837, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6819667175789417, + "max_source_tilt_deg": 89.837423271385, + "source_upright_tilt_deg": 4.021521939068273, + "max_source_upright_tilt_deg": 89.73099653267701, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6819667175789417, + "source_upright_return_tilt_deg": 4.021521939068273, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1187588572502136e-08, + "max_target_xy_drift": 2.2457236752400265e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3285, + -0.0019, + 0.7701 + ], + "controller_target_position": [ + 0.3285, + -0.0019, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + -0.0015, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3305, + -0.0287, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019632271534993145, + -0.0015293973899850643, + -0.001197505519523646 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.021522160919757, + "source_return_step_error_deg": 2.681968538884639, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.02064770668511, + "source_return_best_wrist_position": -1.6178370714187622, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6178370714187622 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3285, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3285, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + -0.0015, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3305, + -0.0287, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019632271534993145, + -0.0015293973899850643, + -0.001197505519523646 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.021522160919757, + "pour_controller_source_return_step_error_deg": 2.681968538884639, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.02064770668511, + "pour_controller_source_return_best_wrist_position": -1.6178370714187622, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6178370714187622, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0379076274985534, + "valid_pour_held_xy_dist": 0.03468211433596723, + "valid_pour_held_gripper_dist": 0.005341624128528007, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0426382173744262, + "valid_pour_source_tilt_deg": 2.6819667175789417, + "valid_pour_source_upright_tilt_deg": 4.021521939068273, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1187588572502136e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3369398423368165, + -0.05855688840099795, + 1.0426382173744262 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3267448541490728, + -0.035592408951743836, + 1.0426382173744262 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3318423482429447, + -0.047074648676370894, + 1.0426382173744262 + ], + "valid_pour_held_grasp_object_position": [ + 0.3369398423368165, + -0.035592408951743836, + 1.0426382173744262 + ], + "valid_pour_held_grasp_finger_gap": 0.025125785570275186, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023538936771577406, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.061893233267848034, + -0.9975377861332048, + 0.03297867359547091 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005810405714896665, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03858178246637334, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3369398423368165, + -0.05855688840099795, + 1.0426382173744262 + ], + "held_grasp_finger_b": [ + 0.3267448541490728, + -0.035592408951743836, + 1.0426382173744262 + ], + "held_grasp_midpoint": [ + 0.3318423482429447, + -0.047074648676370894, + 1.0426382173744262 + ], + "held_grasp_object_position": [ + 0.3369398423368165, + -0.035592408951743836, + 1.0426382173744262 + ], + "held_grasp_finger_gap": 0.025125785570275186, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023538936771577406, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.061893233267848034, + -0.9975377861332048, + 0.03297867359547091 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005810405714896665, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03858178246637334, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3026813425789895, + -0.11785972963346464, + 0.7611063457026624 + ], + "target_position": [ + 0.32003882935651234, + -0.12886302856776832, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020551275743114574, + "xy_threshold": 0.08, + "gripper_dist": 0.20544932141044556, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063457026624, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07660465336841951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09220294610168671, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18058505395973015, + "release_required_pad_clearance": 0.056101473050843356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.464586352925609, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76fcfa519d30ed1a13c69509b171fd5077b68fa596ab2df277f517600aa08d14", + "visual_seed": 5130198747982315638, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27eaa411834a0cb9f51136b0f6fb361afbe63ed3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3418127383213049, + -0.12549642449205137, + 1.0052317219493854 + ], + "current_z": 1.0052317219493854, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14412515432997453, + "gripper_z": 1.0054279170904215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33807485499459733, + -0.12953554374233686, + 1.0054279170904215 + ], + "object_minus_gripper": [ + 0.0037378833267075473, + 0.0040391192502854945, + -0.00019619514103608182 + ], + "object_to_gripper_xy": 0.00550329502044958, + "object_to_gripper_z": -0.00019619514103608182, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3418127383213049, + -0.1491384337617154, + 1.0052317219493854 + ], + "finger_b": [ + 0.33138776492299526, + -0.12549642449205137, + 1.0052317219493854 + ], + "finger_midpoint": [ + 0.33660025162215007, + -0.13731742912688338, + 1.0052317219493854 + ], + "object_minus_finger_midpoint": [ + 0.005212486699154806, + 0.011821004634832016, + 0.0 + ], + "finger_gap": 0.025838434021092357, + "fingertip_max_gap": 0.09449070773982174, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012919217010546179, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0052317219493854, + "object_top_z": 1.0552448492811566, + "finger_top_clearance": 0.05001312733177121, + "fingertip_min_top_clearance": 0.01500393819953133, + "object_projection_between_fingers": 0.8372138196719568, + "object_to_finger_line_xy": 0.009538786968190166, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974535386991087, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.9623493885621204, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3215355387932484, + 0.0067339389088080116, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3256082055703794, + -0.03135690292559273, + 1.0461651524483149 + ], + "target_minus_gripper": [ + -0.004072666777130973, + 0.03809084183440074, + -0.2760187030470582 + ], + "held_position": [ + 0.32935220862262826, + -0.027329096268179122, + 1.0459090348250015 + ], + "held_minus_target": [ + 0.007816669829379841, + -0.03406303517698713, + 0.2757625854237449 + ], + "held_minus_gripper": [ + 0.0037440030522488676, + 0.0040278066574136115, + -0.00025611762331334553 + ], + "xy_dist": 0.03830794756092892, + "held_xy_dist": 0.03494840043106694, + "held_gripper_dist": 0.005505123210403735, + "max_held_gripper_dist": 0.005508210961890908, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0459090348250015, + "required_height": 0.8001464494012567, + "gripper_z": 1.0461651524483149, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.63230243772138, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.3414295163666696, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.225879810401388, + "max_source_tilt_deg": 89.93947689969264, + "source_upright_tilt_deg": 3.971126596440176, + "max_source_upright_tilt_deg": 89.72854420602356, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.225879810401388, + "source_upright_return_tilt_deg": 3.971126596440176, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.958120942115784e-08, + "max_target_xy_drift": 9.872129116088484e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3215, + 0.0067, + 0.7701 + ], + "controller_target_position": [ + 0.3215, + 0.0067, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0018, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3213, + -0.0203, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002534805040487252, + -0.0018142110203723206, + 0.0019330947172512573 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9711301000868664, + "source_return_step_error_deg": 1.2258823251446127, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9740274191842033, + "source_return_best_wrist_position": -1.59059739112854, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.59059739112854 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3215, + 0.0067, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3215, + 0.0067, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0018, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3213, + -0.0203, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002534805040487252, + -0.0018142110203723206, + 0.0019330947172512573 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9711301000868664, + "pour_controller_source_return_step_error_deg": 1.2258823251446127, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9740274191842033, + "pour_controller_source_return_best_wrist_position": -1.59059739112854, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.59059739112854, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03830794756092892, + "valid_pour_held_xy_dist": 0.03494840043106694, + "valid_pour_held_gripper_dist": 0.005505123210403735, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0459090348250015, + "valid_pour_source_tilt_deg": 1.225879810401388, + "valid_pour_source_upright_tilt_deg": 3.971126596440176, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.958120942115784e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32935220862262826, + -0.050896705319480616, + 1.0459090348250015 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31895873496650207, + -0.027329096268179122, + 1.0459090348250015 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32415547179456516, + -0.03911290079382987, + 1.0459090348250015 + ], + "valid_pour_held_grasp_object_position": [ + 0.32935220862262826, + -0.027329096268179122, + 1.0459090348250015 + ], + "valid_pour_held_grasp_finger_gap": 0.025757649175256216, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024211409082324713, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06738689903077984, + -0.9975990806408043, + 0.015971228620169534 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005981871379113766, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038314929488777155, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32935220862262826, + -0.050896705319480616, + 1.0459090348250015 + ], + "held_grasp_finger_b": [ + 0.31895873496650207, + -0.027329096268179122, + 1.0459090348250015 + ], + "held_grasp_midpoint": [ + 0.32415547179456516, + -0.03911290079382987, + 1.0459090348250015 + ], + "held_grasp_object_position": [ + 0.32935220862262826, + -0.027329096268179122, + 1.0459090348250015 + ], + "held_grasp_finger_gap": 0.025757649175256216, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024211409082324713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06738689903077984, + -0.9975990806408043, + 0.015971228620169534 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005981871379113766, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038314929488777155, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3215208157933618, + -0.12975446095448046, + 0.7611063772886351 + ], + "target_position": [ + 0.31889108846380804, + -0.12863808225324921, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028568806822064897, + "xy_threshold": 0.08, + "gripper_dist": 0.21736960504156919, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063772886351, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545497432052721, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510487310945418, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18806059215376886, + "release_required_pad_clearance": 0.05255243655472709, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17245846240494914, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2227699f61bb3e72ae95e58f432f7159ce156788c180306dc665655558ec94ef", + "visual_seed": 1869828801518683794, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a801a1a964a19d0fb922455466fb628c7c1e9dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_70_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34752430120093347, + -0.11912839599236436, + 1.0045671577499076 + ], + "current_z": 1.0045671577499076, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1434607093397866, + "gripper_z": 1.0046992347285435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34387037835876766, + -0.12318541529332526, + 1.0046992347285435 + ], + "object_minus_gripper": [ + 0.003653922842165813, + 0.004057019300960904, + -0.00013207697863593104 + ], + "object_to_gripper_xy": 0.005459904554556828, + "object_to_gripper_z": -0.00013207697863593104, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34752430120093347, + -0.1426046988812946, + 1.0045671577499076 + ], + "finger_b": [ + 0.33693349703133574, + -0.11912839599236436, + 1.0045671577499076 + ], + "finger_midpoint": [ + 0.34222889911613463, + -0.13086654743682946, + 1.0045671577499076 + ], + "object_minus_finger_midpoint": [ + 0.005295402084798839, + 0.011738151444465106, + 0.0 + ], + "finger_gap": 0.025754648712253154, + "fingertip_max_gap": 0.09440081726380226, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012877324356126553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045671577499076, + "object_top_z": 1.0545847405240996, + "finger_top_clearance": 0.05001758277419199, + "fingertip_min_top_clearance": 0.015005274832257581, + "object_projection_between_fingers": 0.8308988292715128, + "object_to_finger_line_xy": 0.009653904788246265, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04970040863190113, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.721914580997193, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3196373096710865, + 0.002650739482276219, + 0.7701463897966114 + ], + "gripper_position": [ + 0.32396664805255737, + -0.03513630523275174, + 1.0458747212513948 + ], + "target_minus_gripper": [ + -0.004329338381470871, + 0.03778704471502796, + -0.27572833145478337 + ], + "held_position": [ + 0.3277128828622386, + -0.031172844173604983, + 1.0456690649714102 + ], + "held_minus_target": [ + 0.008075573191152097, + -0.0338235836558812, + 0.2755226751747988 + ], + "held_minus_gripper": [ + 0.003746234809681226, + 0.003963461059146758, + -0.00020565627998458957 + ], + "xy_dist": 0.03803424666161799, + "held_xy_dist": 0.03477426769454748, + "held_gripper_dist": 0.005457617916466595, + "max_held_gripper_dist": 0.005463156097077819, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0456690649714102, + "required_height": 0.8001463897966115, + "gripper_z": 1.0458747212513948, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.48498891770255, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1309040217657347, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.457791277754445, + "max_source_tilt_deg": 89.89289310484273, + "source_upright_tilt_deg": 3.1752505795770607, + "max_source_upright_tilt_deg": 89.81284490488979, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.457791277754445, + "source_upright_return_tilt_deg": 3.1752505795770607, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.521401728025607e-07, + "max_target_xy_drift": 2.4419839108843184e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3196, + 0.0027, + 0.7701 + ], + "controller_target_position": [ + 0.3196, + 0.0027, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0019, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3184, + -0.0245, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012818979882519865, + -0.001945661024108059, + 0.0015654186737439689 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1752482787025142, + "source_return_step_error_deg": 2.4577708485746608, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.177971489216737, + "source_return_best_wrist_position": -1.6156307458877563, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156307458877563 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3196, + 0.0027, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3196, + 0.0027, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0019, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3184, + -0.0245, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012818979882519865, + -0.001945661024108059, + 0.0015654186737439689 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1752482787025142, + "pour_controller_source_return_step_error_deg": 2.4577708485746608, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.177971489216737, + "pour_controller_source_return_best_wrist_position": -1.6156307458877563, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156307458877563, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03803424666161799, + "valid_pour_held_xy_dist": 0.03477426769454748, + "valid_pour_held_gripper_dist": 0.005457617916466595, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0456690649714102, + "valid_pour_source_tilt_deg": 2.457791277754445, + "valid_pour_source_upright_tilt_deg": 3.1752505795770607, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.521401728025607e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3277128828622386, + -0.054603434075416915, + 1.0456690649714102 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3178042021792603, + -0.031172844173604983, + 1.0456690649714102 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3227585425207494, + -0.04288813912451095, + 1.0456690649714102 + ], + "valid_pour_held_grasp_object_position": [ + 0.3277128828622386, + -0.031172844173604983, + 1.0456690649714102 + ], + "valid_pour_held_grasp_finger_gap": 0.025439624526005063, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02381842070264401, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04277074012381144, + -0.9984647930000842, + 0.03519546744341572 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054661695884331415, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03823484132523455, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3277128828622386, + -0.054603434075416915, + 1.0456690649714102 + ], + "held_grasp_finger_b": [ + 0.3178042021792603, + -0.031172844173604983, + 1.0456690649714102 + ], + "held_grasp_midpoint": [ + 0.3227585425207494, + -0.04288813912451095, + 1.0456690649714102 + ], + "held_grasp_object_position": [ + 0.3277128828622386, + -0.031172844173604983, + 1.0456690649714102 + ], + "held_grasp_finger_gap": 0.025439624526005063, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02381842070264401, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04277074012381144, + -0.9984647930000842, + 0.03519546744341572 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054661695884331415, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03823484132523455, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32869060523789656, + -0.12518746403756564, + 0.7611064388143786 + ], + "target_position": [ + 0.3246940526944696, + -0.12452535839899607, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004051026550023844, + "xy_threshold": 0.08, + "gripper_dist": 0.21847132372638767, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064388143786, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566703592463425, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578325782188621, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18853150841287497, + "release_required_pad_clearance": 0.05289162891094311, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8232894466712751, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d342f79140968737bff07dea16f9ee6838ecc4b144eee9572768bcf117ea3b18", + "visual_seed": 7080644331118176972, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..160b4ab9ed0b6a1c0a56afe00f22839fd437e984 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_71_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34953568284915987, + -0.12110603518904191, + 1.00226864527508 + ], + "current_z": 1.00226864527508, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.14116195844637947, + "gripper_z": 1.002253577270816, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3456331546071122, + -0.12514605056418932, + 1.002253577270816 + ], + "object_minus_gripper": [ + 0.003902528242047676, + 0.004040015375147407, + 1.5068004263874002e-05 + ], + "object_to_gripper_xy": 0.005617067821506802, + "object_to_gripper_z": 1.5068004263874002e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34953568284915987, + -0.1450538531480911, + 1.00226864527508 + ], + "finger_b": [ + 0.3393323895677659, + -0.12110603518904191, + 1.00226864527508 + ], + "finger_midpoint": [ + 0.3444340362084629, + -0.1330799441685665, + 1.00226864527508 + ], + "object_minus_finger_midpoint": [ + 0.005101646640696955, + 0.011973908979524592, + 0.0 + ], + "finger_gap": 0.026030850519833164, + "fingertip_max_gap": 0.09379218574838902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013015425259916565, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00226864527508, + "object_top_z": 1.0523206425939864, + "finger_top_clearance": 0.050051997318906416, + "fingertip_min_top_clearance": 0.015015599195671907, + "object_projection_between_fingers": 0.8463600972284868, + "object_to_finger_line_xy": 0.009386808544708967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04939609287419451, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.294234121347879, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32491398966376217, + 0.006361848066233176, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3283676784000106, + -0.030652323795501465, + 1.044520145448615 + ], + "target_minus_gripper": [ + -0.003453688736248406, + 0.03701417186173464, + -0.2743736960473586 + ], + "held_position": [ + 0.3322829255448415, + -0.026629416681343644, + 1.0444639087321743 + ], + "held_minus_target": [ + 0.0073689358810793415, + -0.03299126474757682, + 0.2743174593309179 + ], + "held_minus_gripper": [ + 0.003915247144830936, + 0.004022907114157821, + -5.6236716440727363e-05 + ], + "xy_dist": 0.03717494969057682, + "held_xy_dist": 0.03380421224735408, + "held_gripper_dist": 0.005613920592823204, + "max_held_gripper_dist": 0.0056179449668246045, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0444639087321743, + "required_height": 0.8001464494012565, + "gripper_z": 1.044520145448615, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.13478462838849, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.641548071614461, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3408355047094425, + "max_source_tilt_deg": 89.85035593006806, + "source_upright_tilt_deg": 3.8204248543568093, + "max_source_upright_tilt_deg": 89.88253588075614, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3408355047094425, + "source_upright_return_tilt_deg": 3.8204248543568093, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.149072527885437e-08, + "max_target_xy_drift": 2.0401332603422265e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3249, + 0.0064, + 0.7701 + ], + "controller_target_position": [ + 0.3249, + 0.0064, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0008, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3232, + -0.0196, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017135899068900513, + -0.0007953375270709291, + 0.00032617228909888546 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8204248543568093, + "source_return_step_error_deg": 2.3408355047091307, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8221347461711486, + "source_return_best_wrist_position": -1.6140615940093994, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6140615940093994 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3249, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3249, + 0.0064, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0008, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3232, + -0.0196, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017135899068900513, + -0.0007953375270709291, + 0.00032617228909888546 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8204248543568093, + "pour_controller_source_return_step_error_deg": 2.3408355047091307, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8221347461711486, + "pour_controller_source_return_best_wrist_position": -1.6140615940093994, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6140615940093994, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03717494969057682, + "valid_pour_held_xy_dist": 0.03380421224735408, + "valid_pour_held_gripper_dist": 0.005613920592823204, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0444639087321743, + "valid_pour_source_tilt_deg": 2.3408355047094425, + "valid_pour_source_upright_tilt_deg": 3.8204248543568093, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.149072527885437e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3322829255448415, + -0.05021810552119245, + 1.0444639087321743 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3223018503246621, + -0.026629416681343644, + 1.0444639087321743 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3272923879347518, + -0.03842376110126805, + 1.0444639087321743 + ], + "valid_pour_held_grasp_object_position": [ + 0.3322829255448415, + -0.026629416681343644, + 1.0444639087321743 + ], + "valid_pour_held_grasp_finger_gap": 0.025613436000156004, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024078158415994866, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05429160578714934, + -0.9977777897959613, + 0.03862516965579776 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005641509911731589, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822305946328349, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3322829255448415, + -0.05021810552119245, + 1.0444639087321743 + ], + "held_grasp_finger_b": [ + 0.3223018503246621, + -0.026629416681343644, + 1.0444639087321743 + ], + "held_grasp_midpoint": [ + 0.3272923879347518, + -0.03842376110126805, + 1.0444639087321743 + ], + "held_grasp_object_position": [ + 0.3322829255448415, + -0.026629416681343644, + 1.0444639087321743 + ], + "held_grasp_finger_gap": 0.025613436000156004, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024078158415994866, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05429160578714934, + -0.9977777897959613, + 0.03862516965579776 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005641509911731589, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822305946328349, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.327731466388067, + -0.13302038102243835, + 0.7611068020828987 + ], + "target_position": [ + 0.32642223777412493, + -0.12449563668886705, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008624693937544715, + "xy_threshold": 0.08, + "gripper_dist": 0.2184149613373337, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068020828987, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528065567271777, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579019770060618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187919608137192, + "release_required_pad_clearance": 0.05289509885030309, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8280279253262681, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8b8c1814de3b705a92884c08322fd7a4af65c648a9b4f660cffeabe392fcb1c", + "visual_seed": 8516457147880721785, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c683673e89c6ce50eb859f2653ebbfd76b6ea5b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3458118788465969, + -0.12341240033255402, + 1.004575096588555 + ], + "current_z": 1.004575096588555, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14346852896914397, + "gripper_z": 1.0047128192254726, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3418732904336018, + -0.1275080962936789, + 1.0047128192254726 + ], + "object_minus_gripper": [ + 0.003938588412995103, + 0.004095695961124884, + -0.00013772263691769204 + ], + "object_to_gripper_xy": 0.0056821830393743895, + "object_to_gripper_z": -0.00013772263691769204, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3458118788465969, + -0.14729280653292093, + 1.004575096588555 + ], + "finger_b": [ + 0.33541813997315717, + -0.12341240033255402, + 1.004575096588555 + ], + "finger_midpoint": [ + 0.34061500940987705, + -0.13535260343273747, + 1.004575096588555 + ], + "object_minus_finger_midpoint": [ + 0.005196869436719875, + 0.011940203100183455, + 0.0 + ], + "finger_gap": 0.026044262478783595, + "fingertip_max_gap": 0.0942123296898951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013022131239391797, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004575096588555, + "object_top_z": 1.0546313165998566, + "finger_top_clearance": 0.05005622001130172, + "fingertip_min_top_clearance": 0.015016866003390516, + "object_projection_between_fingers": 0.8407353189855132, + "object_to_finger_line_xy": 0.00953018755821869, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04960616484494755, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5800694521905085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3240298143631641, + 0.004545105012737293, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3280011643495306, + -0.030032500127190317, + 1.0422567905381852 + ], + "target_minus_gripper": [ + -0.003971349986366501, + 0.03457760513992761, + -0.2721103411369289 + ], + "held_position": [ + 0.33192235233946654, + -0.025924447366087105, + 1.0420616325857734 + ], + "held_minus_target": [ + 0.00789253797630246, + -0.0304695523788244, + 0.27191518318451713 + ], + "held_minus_gripper": [ + 0.003921187989935959, + 0.004108052761103213, + -0.00019515795241176193 + ], + "xy_dist": 0.0348049191627701, + "held_xy_dist": 0.03147516128430957, + "held_gripper_dist": 0.005682420203295008, + "max_held_gripper_dist": 0.005684702992895548, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0420616325857734, + "required_height": 0.8001464494012563, + "gripper_z": 1.0422567905381852, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.3446490208263, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.954131844610915, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.3737364845768276, + "max_source_tilt_deg": 89.97630387144845, + "source_upright_tilt_deg": 3.9187248674011377, + "max_source_upright_tilt_deg": 89.86280024200467, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.3737364845768276, + "source_upright_return_tilt_deg": 3.9187248674011377, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3551048040390015e-08, + "max_target_xy_drift": 9.43271623060905e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.324, + 0.0045, + 0.7701 + ], + "controller_target_position": [ + 0.324, + 0.0045, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0019, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3238, + -0.0187, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002750814832167411, + 0.0019151386178953836, + -0.001986193199958465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.918729108255061, + "source_return_step_error_deg": 1.3737550692487017, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9256081497824344, + "source_return_best_wrist_position": -1.5899913311004639, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5899913311004639 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.324, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.324, + 0.0045, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0019, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3238, + -0.0187, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002750814832167411, + 0.0019151386178953836, + -0.001986193199958465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.918729108255061, + "pour_controller_source_return_step_error_deg": 1.3737550692487017, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9256081497824344, + "pour_controller_source_return_best_wrist_position": -1.5899913311004639, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5899913311004639, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0348049191627701, + "valid_pour_held_xy_dist": 0.03147516128430957, + "valid_pour_held_gripper_dist": 0.005682420203295008, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0420616325857734, + "valid_pour_source_tilt_deg": 1.3737364845768276, + "valid_pour_source_upright_tilt_deg": 3.9187248674011377, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3551048040390015e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33192235233946654, + -0.04963359188259199, + 1.0420616325857734 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32142376655034444, + -0.025924447366087105, + 1.0420616325857734 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3266730594449055, + -0.03777901962433955, + 1.0420616325857734 + ], + "valid_pour_held_grasp_object_position": [ + 0.33192235233946654, + -0.025924447366087105, + 1.0420616325857734 + ], + "valid_pour_held_grasp_finger_gap": 0.02592959385096632, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024352394400897117, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06655008977921445, + -0.9976620015795997, + 0.015544007030543261 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060293117490437895, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824273469646736, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33192235233946654, + -0.04963359188259199, + 1.0420616325857734 + ], + "held_grasp_finger_b": [ + 0.32142376655034444, + -0.025924447366087105, + 1.0420616325857734 + ], + "held_grasp_midpoint": [ + 0.3266730594449055, + -0.03777901962433955, + 1.0420616325857734 + ], + "held_grasp_object_position": [ + 0.33192235233946654, + -0.025924447366087105, + 1.0420616325857734 + ], + "held_grasp_finger_gap": 0.02592959385096632, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024352394400897117, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06655008977921445, + -0.9976620015795997, + 0.015544007030543261 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060293117490437895, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824273469646736, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32500281678152426, + -0.12133030983141002, + 0.7611063034278518 + ], + "target_position": [ + 0.3226455057610986, + -0.12587432810081067, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005119083636713415, + "xy_threshold": 0.08, + "gripper_dist": 0.21837744138114068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063034278518, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576294737903254, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09347212503816792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1895075678437378, + "release_required_pad_clearance": 0.05673606251908396, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.907196553303068, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1e77e078c2fa4392a605617ed958bbf31a8044ddccb00582ddacc5dedecf36f", + "visual_seed": 5130234798675614904, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec1329018864f74c480013276bbee247cf1775f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_74_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3483071107635194, + -0.11899535644369728, + 1.0041383562894128 + ], + "current_z": 1.0041383562894128, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.143031788670002, + "gripper_z": 1.005045387091454, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3444185009589598, + -0.12309114368653251, + 1.005045387091454 + ], + "object_minus_gripper": [ + 0.003888609804559573, + 0.004095787242835228, + -0.0009070308020411311 + ], + "object_to_gripper_xy": 0.005647721607045503, + "object_to_gripper_z": -0.0009070308020411311, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3483071107635194, + -0.14290060845904812, + 1.0041383562894128 + ], + "finger_b": [ + 0.33801253263430897, + -0.11899535644369728, + 1.0041383562894128 + ], + "finger_midpoint": [ + 0.3431598216989142, + -0.1309479824513727, + 1.0041383562894128 + ], + "object_minus_finger_midpoint": [ + 0.005147289064605209, + 0.011952626007675424, + 0.0 + ], + "finger_gap": 0.026027666295230015, + "fingertip_max_gap": 0.0939275277847488, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013013833147615015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041383562894128, + "object_top_z": 1.054149802593035, + "finger_top_clearance": 0.05001144630362209, + "fingertip_min_top_clearance": 0.015003433891086625, + "object_projection_between_fingers": 0.843560417566843, + "object_to_finger_line_xy": 0.009455111410260971, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049463763892374404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.9067454448452295, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3191577306992237, + 0.006765936824165362, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3238266689292489, + -0.02976770370743749, + 1.044435903145649 + ], + "target_minus_gripper": [ + -0.004668938230025177, + 0.03653364053160285, + -0.27428957295368184 + ], + "held_position": [ + 0.3277308130505343, + -0.025717249711631224, + 1.0434503931818786 + ], + "held_minus_target": [ + 0.008573082351310601, + -0.032483186535796585, + 0.2733040629899115 + ], + "held_minus_gripper": [ + 0.0039041441212854244, + 0.004050453995806266, + -0.0009855099637703368 + ], + "xy_dist": 0.03683077347393298, + "held_xy_dist": 0.033595463213382096, + "held_gripper_dist": 0.005711370131641014, + "max_held_gripper_dist": 0.005722894598311821, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0434503931818786, + "required_height": 0.8001463301919671, + "gripper_z": 1.044435903145649, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28626456380103, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.442993128287588, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5381393436210233, + "max_source_tilt_deg": 89.87010644109628, + "source_upright_tilt_deg": 4.230241976382858, + "max_source_upright_tilt_deg": 89.79336852484941, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5381393436210233, + "source_upright_return_tilt_deg": 4.230241976382858, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0321666218526114e-08, + "max_target_xy_drift": 1.6530975699424744e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3192, + 0.0068, + 0.7701 + ], + "controller_target_position": [ + 0.3192, + 0.0068, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0008, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3188, + -0.0192, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003570904219882664, + -0.0008097276597737501, + 0.0002979891949606928 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.230246492411866, + "source_return_step_error_deg": 2.5381493177261008, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.225423560949455, + "source_return_best_wrist_position": -1.6173642873764038, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6173642873764038 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3192, + 0.0068, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3192, + 0.0068, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0008, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3188, + -0.0192, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003570904219882664, + -0.0008097276597737501, + 0.0002979891949606928 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.230246492411866, + "pour_controller_source_return_step_error_deg": 2.5381493177261008, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.225423560949455, + "pour_controller_source_return_best_wrist_position": -1.6173642873764038, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6173642873764038, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03683077347393298, + "valid_pour_held_xy_dist": 0.033595463213382096, + "valid_pour_held_gripper_dist": 0.005711370131641014, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0434503931818786, + "valid_pour_source_tilt_deg": 2.5381393436210233, + "valid_pour_source_upright_tilt_deg": 4.230241976382858, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0321666218526114e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3277308130505343, + -0.04915756027631564, + 1.0434503931818786 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3176131019017018, + -0.025717249711631224, + 1.0434503931818786 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32267195747611804, + -0.03743740499397343, + 1.0434503931818786 + ], + "valid_pour_held_grasp_object_position": [ + 0.3277308130505343, + -0.025717249711631224, + 1.0434503931818786 + ], + "valid_pour_held_grasp_finger_gap": 0.025530692083452534, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024056839364743673, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06724717388856749, + -0.9972756896396759, + 0.030315284226108963 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005846043510031962, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03837221786870307, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3277308130505343, + -0.04915756027631564, + 1.0434503931818786 + ], + "held_grasp_finger_b": [ + 0.3176131019017018, + -0.025717249711631224, + 1.0434503931818786 + ], + "held_grasp_midpoint": [ + 0.32267195747611804, + -0.03743740499397343, + 1.0434503931818786 + ], + "held_grasp_object_position": [ + 0.3277308130505343, + -0.025717249711631224, + 1.0434503931818786 + ], + "held_grasp_finger_gap": 0.025530692083452534, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024056839364743673, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06724717388856749, + -0.9972756896396759, + 0.030315284226108963 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005846043510031962, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03837221786870307, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33134426503294234, + -0.12053317402854534, + 0.7611072963871581 + ], + "target_position": [ + 0.32541962328656565, + -0.12169288683089059, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006037078234281293, + "xy_threshold": 0.08, + "gripper_dist": 0.21906670218664445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072963871581, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526523439761804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700195589152214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1902921050628266, + "release_required_pad_clearance": 0.05350097794576107, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0119972425184716, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "665d89a83047fa9095cb97e297e4b228fcdf0dca770cec69bf69f78594106f71", + "visual_seed": 1390751493112120951, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cef80122b230d5dab7e0837fff327bd96cebd435 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3415985726468913, + -0.1191450007486803, + 1.0017379459168234 + ], + "current_z": 1.0017379459168234, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14063143790205723, + "gripper_z": 1.0019610771650915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33788690686806805, + -0.12322795851331847, + 1.0019610771650915 + ], + "object_minus_gripper": [ + 0.0037116657788232588, + 0.00408295776463817, + -0.0002231312482681158 + ], + "object_to_gripper_xy": 0.005517880658505292, + "object_to_gripper_z": -0.0002231312482681158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3415985726468913, + -0.14268067439323556, + 1.0017379459168234 + ], + "finger_b": [ + 0.33100519814663615, + -0.1191450007486803, + 1.0017379459168234 + ], + "finger_midpoint": [ + 0.33630188539676376, + -0.13091283757095792, + 1.0017379459168234 + ], + "object_minus_finger_midpoint": [ + 0.005296687250127552, + 0.011767836822277625, + 0.0 + ], + "finger_gap": 0.025809833730686245, + "fingertip_max_gap": 0.09340039110560241, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012904916865343105, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017379459168234, + "object_top_z": 1.0516085638138677, + "finger_top_clearance": 0.04987061789704428, + "fingertip_min_top_clearance": 0.014961185369113283, + "object_projection_between_fingers": 0.8315394407332016, + "object_to_finger_line_xy": 0.009659969437777916, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920019555280121, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1072515413747386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3215473703152364, + 0.0047699793676362215, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3258887687549229, + -0.03157964507620614, + 1.0445171321206979 + ], + "target_minus_gripper": [ + -0.004341398439686506, + 0.03634962444384236, + -0.2743707423240864 + ], + "held_position": [ + 0.3297016480678103, + -0.027602027458824882, + 1.0442179909287042 + ], + "held_minus_target": [ + 0.008154277752573935, + -0.0323720068264611, + 0.2740716011320927 + ], + "held_minus_gripper": [ + 0.0038128793128874294, + 0.00397761761738126, + -0.0002991411919937015 + ], + "xy_dist": 0.036607962762498746, + "held_xy_dist": 0.033383215417909735, + "held_gripper_dist": 0.005518059080645486, + "max_held_gripper_dist": 0.005524410784012691, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0442179909287042, + "required_height": 0.8001463897966115, + "gripper_z": 1.0445171321206979, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.60724930384578, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.54103222667147, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.498464494904357, + "max_source_tilt_deg": 89.84743020428762, + "source_upright_tilt_deg": 2.6452333419946585, + "max_source_upright_tilt_deg": 89.9812878743513, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.498464494904357, + "source_upright_return_tilt_deg": 2.6452333419946585, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.465971735213318e-08, + "max_target_xy_drift": 1.2559049806939662e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3215, + 0.0048, + 0.7701 + ], + "controller_target_position": [ + 0.3215, + 0.0048, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0002, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3218, + -0.0206, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027084365038506806, + -0.0002048007717510268, + 5.8298797029436404e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6452350975593104, + "source_return_step_error_deg": 2.498461740154265, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.643027574109168, + "source_return_best_wrist_position": -1.6151201725006104, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6151201725006104 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3215, + 0.0048, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3215, + 0.0048, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0002, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3218, + -0.0206, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027084365038506806, + -0.0002048007717510268, + 5.8298797029436404e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6452350975593104, + "pour_controller_source_return_step_error_deg": 2.498461740154265, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.643027574109168, + "pour_controller_source_return_best_wrist_position": -1.6151201725006104, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6151201725006104, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036607962762498746, + "valid_pour_held_xy_dist": 0.033383215417909735, + "valid_pour_held_gripper_dist": 0.005518059080645486, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0442179909287042, + "valid_pour_source_tilt_deg": 2.498464494904357, + "valid_pour_source_upright_tilt_deg": 2.6452333419946585, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.465971735213318e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3297016480678103, + -0.051123463230897274, + 1.0442179909287042 + ], + "valid_pour_held_grasp_finger_b": [ + 0.319832065719542, + -0.027602027458824882, + 1.0442179909287042 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3247668568936761, + -0.039362745344861075, + 1.0442179909287042 + ], + "valid_pour_held_grasp_object_position": [ + 0.3297016480678103, + -0.027602027458824882, + 1.0442179909287042 + ], + "valid_pour_held_grasp_finger_gap": 0.02550816725107817, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023793162636849646, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0300711824774671, + -0.9989344550546667, + 0.035009691358867556 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005302027043435984, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381204587634414, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3297016480678103, + -0.051123463230897274, + 1.0442179909287042 + ], + "held_grasp_finger_b": [ + 0.319832065719542, + -0.027602027458824882, + 1.0442179909287042 + ], + "held_grasp_midpoint": [ + 0.3247668568936761, + -0.039362745344861075, + 1.0442179909287042 + ], + "held_grasp_object_position": [ + 0.3297016480678103, + -0.027602027458824882, + 1.0442179909287042 + ], + "held_grasp_finger_gap": 0.02550816725107817, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023793162636849646, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0300711824774671, + -0.9989344550546667, + 0.035009691358867556 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005302027043435984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381204587634414, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3217579794673794, + -0.12089643433203037, + 0.7611064168143891 + ], + "target_position": [ + 0.3188584339125027, + -0.12203471330513803, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0031149708578772084, + "xy_threshold": 0.08, + "gripper_dist": 0.2177617292014253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064168143891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547580813745808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560347952041379, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18852377003057055, + "release_required_pad_clearance": 0.0528017397602069, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6501149281373969, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "54f11fe96861b918d95b8973c01be2f933f2ac628bc5da9525d1b933685f4fe0", + "visual_seed": 6798908114462893841, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2614aa3f6f490b3de13e6fe891577477ca3bcc9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3446060830516518, + -0.11972348460234786, + 1.0025136364893434 + ], + "current_z": 1.0025136364893434, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14140712847457737, + "gripper_z": 1.0024924930889536, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34094233733533325, + -0.12362004865469799, + 1.0024924930889536 + ], + "object_minus_gripper": [ + 0.003663745716318556, + 0.0038965640523501294, + 2.1143400389833644e-05 + ], + "object_to_gripper_xy": 0.005348480540107613, + "object_to_gripper_z": 2.1143400389833644e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3446060830516518, + -0.14358180990557987, + 1.0025136364893434 + ], + "finger_b": [ + 0.3347246521170368, + -0.11972348460234786, + 1.0025136364893434 + ], + "finger_midpoint": [ + 0.3396653675843443, + -0.13165264725396386, + 1.0025136364893434 + ], + "object_minus_finger_midpoint": [ + 0.00494071546730751, + 0.011929162651616004, + 0.0 + ], + "finger_gap": 0.025823678351280775, + "fingertip_max_gap": 0.09339069183796497, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012911839175640387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025136364893434, + "object_top_z": 1.052478123035689, + "finger_top_clearance": 0.049964486546345555, + "fingertip_min_top_clearance": 0.014989345963903666, + "object_projection_between_fingers": 0.8535789652457585, + "object_to_finger_line_xy": 0.009129388559309282, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919534591898249, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9667906464948772, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3258656076199236, + 0.0007602415598445405, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3292123071928234, + -0.036271010057653943, + 1.0432842471261545 + ], + "target_minus_gripper": [ + -0.0033466995728997917, + 0.037031251617498484, + -0.2731378573295429 + ], + "held_position": [ + 0.3329078138207508, + -0.032409960303716255, + 1.043234779504043 + ], + "held_minus_target": [ + 0.0070422062008271835, + -0.033170201863560796, + 0.27308838970743143 + ], + "held_minus_gripper": [ + 0.003695506627927392, + 0.0038610497539376884, + -4.946762211144318e-05 + ], + "xy_dist": 0.037182173072451426, + "held_xy_dist": 0.033909511347767034, + "held_gripper_dist": 0.005344803222296863, + "max_held_gripper_dist": 0.005349341813017235, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.043234779504043, + "required_height": 0.8001463897966117, + "gripper_z": 1.0432842471261545, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.18449474516784, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3624930417746333, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3284409443817777, + "max_source_tilt_deg": 89.82186055345004, + "source_upright_tilt_deg": 3.293873541867495, + "max_source_upright_tilt_deg": 89.96315552995756, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3284409443817777, + "source_upright_return_tilt_deg": 3.293873541867495, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.818422555923462e-08, + "max_target_xy_drift": 9.546626027055286e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3259, + 0.0008, + 0.7701 + ], + "controller_target_position": [ + 0.3259, + 0.0008, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + -0.0011, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3248, + -0.0255, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010753245017612735, + -0.0010976569205998655, + -0.0012840364267607152 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2938966208842153, + "source_return_step_error_deg": 2.3284734713823543, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.290959609851161, + "source_return_best_wrist_position": -1.614872694015503, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.614872694015503 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3259, + 0.0008, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3259, + 0.0008, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + -0.0011, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3248, + -0.0255, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010753245017612735, + -0.0010976569205998655, + -0.0012840364267607152 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2938966208842153, + "pour_controller_source_return_step_error_deg": 2.3284734713823543, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.290959609851161, + "pour_controller_source_return_best_wrist_position": -1.614872694015503, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.614872694015503, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037182173072451426, + "valid_pour_held_xy_dist": 0.033909511347767034, + "valid_pour_held_gripper_dist": 0.005344803222296863, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.043234779504043, + "valid_pour_source_tilt_deg": 2.3284409443817777, + "valid_pour_source_upright_tilt_deg": 3.293873541867495, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.818422555923462e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3329078138207508, + -0.05598684972104135, + 1.043234779504043 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3233716177618261, + -0.032409960303716255, + 1.043234779504043 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3281397157912884, + -0.0441984050123788, + 1.043234779504043 + ], + "valid_pour_held_grasp_object_position": [ + 0.3329078138207508, + -0.032409960303716255, + 1.043234779504043 + ], + "valid_pour_held_grasp_finger_gap": 0.02543243499688984, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023953436761126736, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04357051049045452, + -0.9983479760229037, + 0.037455698986577746 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005295313593037112, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038159028619956105, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3329078138207508, + -0.05598684972104135, + 1.043234779504043 + ], + "held_grasp_finger_b": [ + 0.3233716177618261, + -0.032409960303716255, + 1.043234779504043 + ], + "held_grasp_midpoint": [ + 0.3281397157912884, + -0.0441984050123788, + 1.043234779504043 + ], + "held_grasp_object_position": [ + 0.3329078138207508, + -0.032409960303716255, + 1.043234779504043 + ], + "held_grasp_finger_gap": 0.02543243499688984, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023953436761126736, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04357051049045452, + -0.9983479760229037, + 0.037455698986577746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005295313593037112, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038159028619956105, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3090888791352398, + -0.10850103449709073, + 0.7611101735898425 + ], + "target_position": [ + 0.3219085885043501, + -0.12330589722854732, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019583894117507043, + "xy_threshold": 0.08, + "gripper_dist": 0.20679086969449836, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611101735898425, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07985994431564794, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08861496227350395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18207543164921106, + "release_required_pad_clearance": 0.054307481136751976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.618301545977792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d8073e46eb90e9fec975d90c3828cf7b49fa3b30c849f89c7b960237dedb8137", + "visual_seed": 2824478833016019673, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f480e2a420ebf89b4a8b9131536385df0f5b341e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34820748795438283, + -0.12602736941629702, + 1.0047126711204994 + ], + "current_z": 1.0047126711204994, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.14360592468715438, + "gripper_z": 1.0048047674058926, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34440983491582133, + -0.1301270706105871, + 1.0048047674058926 + ], + "object_minus_gripper": [ + 0.0037976530385614993, + 0.004099701194290067, + -9.209628539319503e-05 + ], + "object_to_gripper_xy": 0.005588355615362966, + "object_to_gripper_z": -9.209628539319503e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34820748795438283, + -0.14967452299082903, + 1.0047126711204994 + ], + "finger_b": [ + 0.3376572265776997, + -0.12602736941629702, + 1.0047126711204994 + ], + "finger_midpoint": [ + 0.34293235726604127, + -0.13785094620356303, + 1.0047126711204994 + ], + "object_minus_finger_midpoint": [ + 0.005275130688341567, + 0.011823576787266005, + 0.0 + ], + "finger_gap": 0.025893935338102508, + "fingertip_max_gap": 0.09395978514957312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012946967669051254, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0047126711204994, + "object_top_z": 1.0545598505479443, + "finger_top_clearance": 0.049847179427444877, + "fingertip_min_top_clearance": 0.01495415382823348, + "object_projection_between_fingers": 0.8339915020723268, + "object_to_finger_line_xy": 0.009634829459806682, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947989257478656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.661455445979646, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3247464708096211, + 0.0024564607037679126, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3282241261559165, + -0.034374981351304026, + 1.0457735802148171 + ], + "target_minus_gripper": [ + -0.003477655346295405, + 0.03683144205507194, + -0.2756271308135607 + ], + "held_position": [ + 0.332130680715376, + -0.030385873370094327, + 1.0456044963589315 + ], + "held_minus_target": [ + 0.0073842099057548904, + -0.03284233407386224, + 0.27545804695767506 + ], + "held_minus_gripper": [ + 0.003906554559459485, + 0.003989107981209699, + -0.00016908385588565444 + ], + "xy_dist": 0.0369952592985066, + "held_xy_dist": 0.033662226060547765, + "held_gripper_dist": 0.005585941313879494, + "max_held_gripper_dist": 0.005590046687772699, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0456044963589315, + "required_height": 0.8001464494012565, + "gripper_z": 1.0457735802148171, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.51498027834808, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.12002100375527, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.577282551575815, + "max_source_tilt_deg": 89.63317935035856, + "source_upright_tilt_deg": 2.99444302753092, + "max_source_upright_tilt_deg": 89.9995846767597, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.577282551575815, + "source_upright_return_tilt_deg": 2.99444302753092, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.4166690488827884e-08, + "max_target_xy_drift": 1.422137881348121e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3247, + 0.0025, + 0.7701 + ], + "controller_target_position": [ + 0.3247, + 0.0025, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0007, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3235, + -0.0234, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012641608800242183, + -0.000682024687622011, + 0.0015755177472561326 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.994433290912847, + "source_return_step_error_deg": 2.5772449800237442, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9920066509365655, + "source_return_best_wrist_position": -1.6155966520309448, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6155966520309448 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3247, + 0.0025, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3247, + 0.0025, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0007, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3235, + -0.0234, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012641608800242183, + -0.000682024687622011, + 0.0015755177472561326 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.994433290912847, + "pour_controller_source_return_step_error_deg": 2.5772449800237442, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9920066509365655, + "pour_controller_source_return_best_wrist_position": -1.6155966520309448, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6155966520309448, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0369952592985066, + "valid_pour_held_xy_dist": 0.033662226060547765, + "valid_pour_held_gripper_dist": 0.005585941313879494, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0456044963589315, + "valid_pour_source_tilt_deg": 2.577282551575815, + "valid_pour_source_upright_tilt_deg": 2.99444302753092, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.4166690488827884e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.332130680715376, + -0.054044433673901195, + 1.0456044963589315 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3223551057177372, + -0.030385873370094327, + 1.0456044963589315 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3272428932165566, + -0.04221515352199776, + 1.0456044963589315 + ], + "valid_pour_held_grasp_object_position": [ + 0.332130680715376, + -0.030385873370094327, + 1.0456044963589315 + ], + "valid_pour_held_grasp_finger_gap": 0.02559861992731888, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023994393128909493, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03765874167176658, + -0.9986346156312293, + 0.036203917450545735 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005346707634370555, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03809118935916937, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.332130680715376, + -0.054044433673901195, + 1.0456044963589315 + ], + "held_grasp_finger_b": [ + 0.3223551057177372, + -0.030385873370094327, + 1.0456044963589315 + ], + "held_grasp_midpoint": [ + 0.3272428932165566, + -0.04221515352199776, + 1.0456044963589315 + ], + "held_grasp_object_position": [ + 0.332130680715376, + -0.030385873370094327, + 1.0456044963589315 + ], + "held_grasp_finger_gap": 0.02559861992731888, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023994393128909493, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03765874167176658, + -0.9986346156312293, + 0.036203917450545735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005346707634370555, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03809118935916937, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3118473596605291, + -0.11535221718630799, + 0.7611073467875072 + ], + "target_position": [ + 0.32532151923833075, + -0.12885201224195164, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019073474850494446, + "xy_threshold": 0.08, + "gripper_dist": 0.21003670761834542, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073467875072, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07842820064060871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0945116437105558, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18528017189814106, + "release_required_pad_clearance": 0.0572558218552779, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.127216284590762, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95e428e402083a61c03ae81c3d12f203701f8e9ece36c4dacc5c4bb93e943047", + "visual_seed": 5108906766123473264, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa58718d9ccdbc8380ef9de703064cfc9c59e803 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35063264623624796, + -0.11982577846620122, + 1.005352782870903 + ], + "current_z": 1.005352782870903, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14424633446078183, + "gripper_z": 1.0060424922636857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.346549568454423, + -0.12394938376517749, + 1.0060424922636857 + ], + "object_minus_gripper": [ + 0.004083077781824984, + 0.004123605298976263, + -0.0006897093927826781 + ], + "object_to_gripper_xy": 0.005803072016973247, + "object_to_gripper_z": -0.0006897093927826781, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35063264623624796, + -0.14391864768504106, + 1.005352782870903 + ], + "finger_b": [ + 0.34036294426189845, + -0.11982577846620122, + 1.005352782870903 + ], + "finger_midpoint": [ + 0.3454977952490732, + -0.13187221307562114, + 1.005352782870903 + ], + "object_minus_finger_midpoint": [ + 0.005134850987174755, + 0.012046434609419912, + 0.0 + ], + "finger_gap": 0.02619032504261981, + "fingertip_max_gap": 0.09415733917648636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095162521309898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005352782870903, + "object_top_z": 1.0553810176677407, + "finger_top_clearance": 0.05002823479683771, + "fingertip_min_top_clearance": 0.015008470439051312, + "object_projection_between_fingers": 0.8462433513280203, + "object_to_finger_line_xy": 0.009447251463348563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957866958824318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4485720996431133, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32735551512305183, + 0.001563779517680483, + 0.7701463897966117 + ], + "gripper_position": [ + 0.33092998268304785, + -0.03387486006524587, + 1.0453434568584261 + ], + "target_minus_gripper": [ + -0.0035744675599960196, + 0.035438639582926354, + -0.27519706706181446 + ], + "held_position": [ + 0.33495269181192155, + -0.029706491597507236, + 1.0445941166195023 + ], + "held_minus_target": [ + 0.007597176688869722, + -0.03127027111518772, + 0.27444772682289065 + ], + "held_minus_gripper": [ + 0.004022709128873703, + 0.004168368467738635, + -0.0007493402389238124 + ], + "xy_dist": 0.0356184501884349, + "held_xy_dist": 0.03217991530845364, + "held_gripper_dist": 0.0058411467377589435, + "max_held_gripper_dist": 0.005846063856088752, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0445941166195023, + "required_height": 0.8001463897966117, + "gripper_z": 1.0453434568584261, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.18694678307988, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9700587134466847, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.7962011545991774, + "max_source_tilt_deg": 89.73557854617592, + "source_upright_tilt_deg": 4.390839875117317, + "max_source_upright_tilt_deg": 89.96137170169952, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.7962011545991774, + "source_upright_return_tilt_deg": 4.390839875117317, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.832328720165988e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3274, + 0.0016, + 0.7701 + ], + "controller_target_position": [ + 0.3274, + 0.0016, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0007, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3262, + -0.023, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011327759853551208, + 0.0006825392002703001, + 0.0011410292963101266 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.390839277509886, + "source_return_step_error_deg": 1.7961967150559615, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.38917946576764, + "source_return_best_wrist_position": -1.5924804210662842, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5924804210662842 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3274, + 0.0016, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3274, + 0.0016, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0007, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3262, + -0.023, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011327759853551208, + 0.0006825392002703001, + 0.0011410292963101266 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.390839277509886, + "pour_controller_source_return_step_error_deg": 1.7961967150559615, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.38917946576764, + "pour_controller_source_return_best_wrist_position": -1.5924804210662842, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5924804210662842, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0356184501884349, + "valid_pour_held_xy_dist": 0.03217991530845364, + "valid_pour_held_gripper_dist": 0.0058411467377589435, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0445941166195023, + "valid_pour_source_tilt_deg": 1.7962011545991774, + "valid_pour_source_upright_tilt_deg": 4.390839875117317, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33495269181192155, + -0.05341720884401057, + 1.0445941166195023 + ], + "valid_pour_held_grasp_finger_b": [ + 0.324346823867394, + -0.029706491597507236, + 1.0445941166195023 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3296497578396578, + -0.0415618502207589, + 1.0445941166195023 + ], + "valid_pour_held_grasp_object_position": [ + 0.33495269181192155, + -0.029706491597507236, + 1.0445941166195023 + ], + "valid_pour_held_grasp_finger_gap": 0.0259746520130759, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02443583632496834, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0749311440279386, + -0.997065009071459, + 0.01570641079292101 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006179073387641588, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038297041726103584, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33495269181192155, + -0.05341720884401057, + 1.0445941166195023 + ], + "held_grasp_finger_b": [ + 0.324346823867394, + -0.029706491597507236, + 1.0445941166195023 + ], + "held_grasp_midpoint": [ + 0.3296497578396578, + -0.0415618502207589, + 1.0445941166195023 + ], + "held_grasp_object_position": [ + 0.33495269181192155, + -0.029706491597507236, + 1.0445941166195023 + ], + "held_grasp_finger_gap": 0.0259746520130759, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02443583632496834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0749311440279386, + -0.997065009071459, + 0.01570641079292101 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006179073387641588, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038297041726103584, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32588975572318807, + -0.12321267692362847, + 0.7611063512001529 + ], + "target_position": [ + 0.3276427626956615, + -0.12301338778853872, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017642986155708745, + "xy_threshold": 0.08, + "gripper_dist": 0.21382870615222507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063512001529, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568346913123908, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08752678653208605, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18441596907678026, + "release_required_pad_clearance": 0.05376339326604303, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.535897859230303, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a368935df23480094c94db3349edbfe355f4d4ced5381184cdbb9b0952e84fad", + "visual_seed": 4404289594391753004, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..46ffae042d2bedb7af9810b37addb3bf8b9f99d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_79_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3447433443617124, + -0.12290070278884178, + 1.004294055948359 + ], + "current_z": 1.004294055948359, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14318754793359323, + "gripper_z": 1.0045166949612452, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.340858721143663, + -0.1269982757054898, + 1.0045166949612452 + ], + "object_minus_gripper": [ + 0.003884623218049388, + 0.004097572916648015, + -0.00022263901288610555 + ], + "object_to_gripper_xy": 0.00564627322695738, + "object_to_gripper_z": -0.00022263901288610555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447433443617124, + -0.14670301258620683, + 1.004294055948359 + ], + "finger_b": [ + 0.3343076718219624, + -0.12290070278884178, + 1.004294055948359 + ], + "finger_midpoint": [ + 0.3395255080918374, + -0.1348018576875243, + 1.004294055948359 + ], + "object_minus_finger_midpoint": [ + 0.005217836269874987, + 0.011901154898682528, + 0.0 + ], + "finger_gap": 0.025989482739112595, + "fingertip_max_gap": 0.09391311618326961, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012994741369556305, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004294055948359, + "object_top_z": 1.054213449438304, + "finger_top_clearance": 0.0499193934899449, + "fingertip_min_top_clearance": 0.014975818046983452, + "object_projection_between_fingers": 0.8387700890996084, + "object_to_finger_line_xy": 0.009557447265434327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945655809163481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.523030315411783, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32823459422652174, + -0.0012232163253723808, + 0.7701465090059014 + ], + "gripper_position": [ + 0.3307563989902672, + -0.03610135286890016, + 1.0444557729363955 + ], + "target_minus_gripper": [ + -0.002521804763745472, + 0.03487813654352778, + -0.27430926393049404 + ], + "held_position": [ + 0.33466053869263823, + -0.032032676557344396, + 1.0441585898567194 + ], + "held_minus_target": [ + 0.0064259444661164955, + -0.030809460231972015, + 0.27401208085081796 + ], + "held_minus_gripper": [ + 0.0039041397023710234, + 0.0040686763115557675, + -0.0002971830796760777 + ], + "xy_dist": 0.03496918512083771, + "held_xy_dist": 0.031472457833271905, + "held_gripper_dist": 0.00564665843899651, + "max_held_gripper_dist": 0.00565231861283804, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.0441585898567194, + "required_height": 0.8001465090059015, + "gripper_z": 1.0444557729363955, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.41054668593857, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.951492748564298, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.40323740569508, + "max_source_tilt_deg": 89.97484996681587, + "source_upright_tilt_deg": 3.9326516683953483, + "max_source_upright_tilt_deg": 89.7680013805442, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.40323740569508, + "source_upright_return_tilt_deg": 3.9326516683953483, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.1615460749081816e-08, + "max_target_xy_drift": 1.5049187457587074e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3282, + -0.0012, + 0.7701 + ], + "controller_target_position": [ + 0.3282, + -0.0012, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0017, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3265, + -0.0247, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017224146672787759, + 0.0016784108055283836, + 0.00045098527218199883 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.932645332406146, + "source_return_step_error_deg": 2.4032182071986616, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.935536248517481, + "source_return_best_wrist_position": -1.6154571771621704, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6154571771621704 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3282, + -0.0012, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3282, + -0.0012, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0017, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3265, + -0.0247, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017224146672787759, + 0.0016784108055283836, + 0.00045098527218199883 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.932645332406146, + "pour_controller_source_return_step_error_deg": 2.4032182071986616, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.935536248517481, + "pour_controller_source_return_best_wrist_position": -1.6154571771621704, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6154571771621704, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03496918512083771, + "valid_pour_held_xy_dist": 0.031472457833271905, + "valid_pour_held_gripper_dist": 0.00564665843899651, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.0441585898567194, + "valid_pour_source_tilt_deg": 2.40323740569508, + "valid_pour_source_upright_tilt_deg": 3.9326516683953483, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.1615460749081816e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33466053869263823, + -0.05547047594583152, + 1.0441585898567194 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32447050128299837, + -0.032032676557344396, + 1.0441585898567194 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3295655199878183, + -0.04375157625158796, + 1.0441585898567194 + ], + "valid_pour_held_grasp_object_position": [ + 0.33466053869263823, + -0.032032676557344396, + 1.0441585898567194 + ], + "valid_pour_held_grasp_finger_gap": 0.025557137996748136, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023970430237661235, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05768558639797679, + -0.9976453662178969, + 0.037095773153826284 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005778509411755742, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832285323465684, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33466053869263823, + -0.05547047594583152, + 1.0441585898567194 + ], + "held_grasp_finger_b": [ + 0.32447050128299837, + -0.032032676557344396, + 1.0441585898567194 + ], + "held_grasp_midpoint": [ + 0.3295655199878183, + -0.04375157625158796, + 1.0441585898567194 + ], + "held_grasp_object_position": [ + 0.33466053869263823, + -0.032032676557344396, + 1.0441585898567194 + ], + "held_grasp_finger_gap": 0.025557137996748136, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023970430237661235, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05768558639797679, + -0.9976453662178969, + 0.037095773153826284 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005778509411755742, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832285323465684, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32515459596170215, + -0.13391493653602815, + 0.7611065536341332 + ], + "target_position": [ + 0.3217417096455467, + -0.12804589588613338, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006789214325466406, + "xy_threshold": 0.08, + "gripper_dist": 0.21641233962123516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065536341332, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755275356747148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506827095730989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18569131016869006, + "release_required_pad_clearance": 0.052534135478654945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1370555842354704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49890cc543728647cab0402e6f60d064f044dc2d91d9233c7dbd3ba1b57d924a", + "visual_seed": 74073728232407557, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2088edc4586ead8ab5c6dc9932e356cb380cf971 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_7_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3449731680654431, + -0.12093781861767171, + 1.0055615453835673 + ], + "current_z": 1.0055615453835673, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14445515657809105, + "gripper_z": 1.0054858428856068, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34131298659061726, + -0.12486621688566556, + 1.0054858428856068 + ], + "object_minus_gripper": [ + 0.00366018147482583, + 0.003928398267993849, + 7.570249796051698e-05 + ], + "object_to_gripper_xy": 0.005369286859596464, + "object_to_gripper_z": 7.570249796051698e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3449731680654431, + -0.14473558954237348, + 1.0055615453835673 + ], + "finger_b": [ + 0.3349859812435573, + -0.12093781861767171, + 1.0055615453835673 + ], + "finger_midpoint": [ + 0.3399795746545002, + -0.1328367040800226, + 1.0055615453835673 + ], + "object_minus_finger_midpoint": [ + 0.004993593410942909, + 0.011898885462350892, + 0.0 + ], + "finger_gap": 0.025808483132486314, + "fingertip_max_gap": 0.09296733045482666, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012904241566243166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0055615453835673, + "object_top_z": 1.055352073889177, + "finger_top_clearance": 0.04979052850560972, + "fingertip_min_top_clearance": 0.014937158551682882, + "object_projection_between_fingers": 0.8502518769193658, + "object_to_finger_line_xy": 0.009209095433829235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048983665227413334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.886645673834419, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32860819613997394, + 0.006566886181615371, + 0.7701464494012563 + ], + "gripper_position": [ + 0.33279247256069633, + -0.029156628743965837, + 1.044775494903324 + ], + "target_minus_gripper": [ + -0.004184276420722388, + 0.03572351492558121, + -0.2746290455020678 + ], + "held_position": [ + 0.33642025740976705, + -0.02520237423748938, + 1.0447790611428749 + ], + "held_minus_target": [ + 0.0078120612697931135, + -0.03176926041910475, + 0.27463261174161857 + ], + "held_minus_gripper": [ + 0.0036277848490707254, + 0.003954254506476459, + 3.566239550778505e-06 + ], + "xy_dist": 0.03596773120177636, + "held_xy_dist": 0.032715656937617764, + "held_gripper_dist": 0.0053662803068048005, + "max_held_gripper_dist": 0.005370434266449072, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0447790611428749, + "required_height": 0.8001464494012563, + "gripper_z": 1.044775494903324, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.27654520461209, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.356046172072029, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5952780269057896, + "max_source_tilt_deg": 89.84840041342024, + "source_upright_tilt_deg": 3.9800792995281826, + "max_source_upright_tilt_deg": 89.73090585976104, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5952780269057896, + "source_upright_return_tilt_deg": 3.9800792995281826, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4572743322006353e-07, + "max_target_xy_drift": 2.1741944420950025e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3286, + 0.0066, + 0.7701 + ], + "controller_target_position": [ + 0.3286, + 0.0066, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0009, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3293, + -0.0178, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007259127043352819, + 0.0008526606202177932, + 0.0006161032533755755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.980075587666901, + "source_return_step_error_deg": 2.5952737620623387, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9810795867999307, + "source_return_best_wrist_position": -1.6159145832061768, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6159145832061768 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3286, + 0.0066, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3286, + 0.0066, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0009, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3293, + -0.0178, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007259127043352819, + 0.0008526606202177932, + 0.0006161032533755755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.980075587666901, + "pour_controller_source_return_step_error_deg": 2.5952737620623387, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9810795867999307, + "pour_controller_source_return_best_wrist_position": -1.6159145832061768, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6159145832061768, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03596773120177636, + "valid_pour_held_xy_dist": 0.032715656937617764, + "valid_pour_held_gripper_dist": 0.0053662803068048005, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0447790611428749, + "valid_pour_source_tilt_deg": 2.5952780269057896, + "valid_pour_source_upright_tilt_deg": 3.9800792995281826, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4572743322006353e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33642025740976705, + -0.0484370074076844, + 1.0447790611428749 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3264033527664859, + -0.02520237423748938, + 1.0447790611428749 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3314118050881265, + -0.03681969082258689, + 1.0447790611428749 + ], + "valid_pour_held_grasp_object_position": [ + 0.33642025740976705, + -0.02520237423748938, + 1.0447790611428749 + ], + "valid_pour_held_grasp_finger_gap": 0.025301908172825897, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023764681137380145, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.058509494266930306, + -0.9975882529669028, + 0.03734054931399655 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005695720094168438, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842399352620343, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33642025740976705, + -0.0484370074076844, + 1.0447790611428749 + ], + "held_grasp_finger_b": [ + 0.3264033527664859, + -0.02520237423748938, + 1.0447790611428749 + ], + "held_grasp_midpoint": [ + 0.3314118050881265, + -0.03681969082258689, + 1.0447790611428749 + ], + "held_grasp_object_position": [ + 0.33642025740976705, + -0.02520237423748938, + 1.0447790611428749 + ], + "held_grasp_finger_gap": 0.025301908172825897, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023764681137380145, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.058509494266930306, + -0.9975882529669028, + 0.03734054931399655 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005695720094168438, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842399352620343, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3069746797104236, + -0.10441775065320455, + 0.7611148957542888 + ], + "target_position": [ + 0.3223098275918324, + -0.124324836884813, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02512884483571364, + "xy_threshold": 0.08, + "gripper_dist": 0.20800997535062138, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611148957542888, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08322975476683118, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0907158437822989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18479125814256378, + "release_required_pad_clearance": 0.05535792189114945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.810687603502048, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f106154463b83e32d9200a111614ffb58939e053c2302b07fc8089aab07b5b54", + "visual_seed": 8643884250653140191, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b318f880b790f3f4970d45c6c7624c6f2f449ce --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_80_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34113960719366915, + -0.12538094039268405, + 1.0026650091141744 + ], + "current_z": 1.0026650091141744, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14155850109940848, + "gripper_z": 1.0027128128106177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33736306571868685, + -0.12942545116765258, + 1.0027128128106177 + ], + "object_minus_gripper": [ + 0.003776541474982298, + 0.004044510774968535, + -4.7803696443304844e-05 + ], + "object_to_gripper_xy": 0.0055335642149611, + "object_to_gripper_z": -4.7803696443304844e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34113960719366915, + -0.14911182792620112, + 1.0026650091141744 + ], + "finger_b": [ + 0.33080653677320127, + -0.12538094039268405, + 1.0026650091141744 + ], + "finger_midpoint": [ + 0.3359730719834352, + -0.13724638415944257, + 1.0026650091141744 + ], + "object_minus_finger_midpoint": [ + 0.005166535210233969, + 0.011865443766758521, + 0.0 + ], + "finger_gap": 0.025882955152817928, + "fingertip_max_gap": 0.09358476664404516, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012941477576408964, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026650091141744, + "object_top_z": 1.0525050590265381, + "finger_top_clearance": 0.04984004991236368, + "fingertip_min_top_clearance": 0.014952014973709087, + "object_projection_between_fingers": 0.8406210143020209, + "object_to_finger_line_xy": 0.009473915577887121, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049292383322022584, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.363875351492803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3207654169804281, + -0.002080017377950174, + 0.7701463897966118 + ], + "gripper_position": [ + 0.32543034806553406, + -0.03971954883769137, + 1.0434853914579154 + ], + "target_minus_gripper": [ + -0.004664931085105961, + 0.03763953145974119, + -0.27333900166130365 + ], + "held_position": [ + 0.32920956633376536, + -0.03568532282171837, + 1.0433585412350028 + ], + "held_minus_target": [ + 0.00844414935333726, + -0.0336053054437682, + 0.27321215143839106 + ], + "held_minus_gripper": [ + 0.003779218268231299, + 0.004034226015972996, + -0.00012685022291258896 + ], + "xy_dist": 0.0379275086255034, + "held_xy_dist": 0.03464996698801346, + "held_gripper_dist": 0.005529336420036269, + "max_held_gripper_dist": 0.0055344631724101425, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0433585412350028, + "required_height": 0.8001463897966118, + "gripper_z": 1.0434853914579154, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.65179579761259, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8658146148210073, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.519394298845705, + "max_source_tilt_deg": 89.89646130977872, + "source_upright_tilt_deg": 3.955727335325798, + "max_source_upright_tilt_deg": 89.79701635852952, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.519394298845705, + "source_upright_return_tilt_deg": 3.955727335325798, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.959292709827423e-08, + "max_target_xy_drift": 2.0326115190982819e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3208, + -0.0021, + 0.7701 + ], + "controller_target_position": [ + 0.3208, + -0.0021, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0017, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3214, + -0.029, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005882037285013381, + -0.0017279781239524482, + -0.0014030595723427757 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9557204884815858, + "source_return_step_error_deg": 2.5193955367901304, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.95374938124351, + "source_return_best_wrist_position": -1.618026614189148, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.618026614189148 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3208, + -0.0021, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3208, + -0.0021, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0017, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3214, + -0.029, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005882037285013381, + -0.0017279781239524482, + -0.0014030595723427757 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9557204884815858, + "pour_controller_source_return_step_error_deg": 2.5193955367901304, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.95374938124351, + "pour_controller_source_return_best_wrist_position": -1.618026614189148, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.618026614189148, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0379275086255034, + "valid_pour_held_xy_dist": 0.03464996698801346, + "valid_pour_held_gripper_dist": 0.005529336420036269, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0433585412350028, + "valid_pour_source_tilt_deg": 2.519394298845705, + "valid_pour_source_upright_tilt_deg": 3.955727335325798, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.959292709827423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32920956633376536, + -0.05898469847381481, + 1.0433585412350028 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31904765445472455, + -0.03568532282171837, + 1.0433585412350028 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32412861039424495, + -0.04733501064776659, + 1.0433585412350028 + ], + "valid_pour_held_grasp_object_position": [ + 0.32920956633376536, + -0.03568532282171837, + 1.0433585412350028 + ], + "valid_pour_held_grasp_finger_gap": 0.025418996022952892, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02383723383647034, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05839109300372365, + -0.997617663319411, + 0.036735243172585474 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005768016288127617, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03839499829348461, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32920956633376536, + -0.05898469847381481, + 1.0433585412350028 + ], + "held_grasp_finger_b": [ + 0.31904765445472455, + -0.03568532282171837, + 1.0433585412350028 + ], + "held_grasp_midpoint": [ + 0.32412861039424495, + -0.04733501064776659, + 1.0433585412350028 + ], + "held_grasp_object_position": [ + 0.32920956633376536, + -0.03568532282171837, + 1.0433585412350028 + ], + "held_grasp_finger_gap": 0.025418996022952892, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02383723383647034, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05839109300372365, + -0.997617663319411, + 0.036735243172585474 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005768016288127617, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03839499829348461, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3243436499043298, + -0.1249188808612209, + 0.7611062761300845 + ], + "target_position": [ + 0.31845512897109846, + -0.1275970484132896, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006468945835146344, + "xy_threshold": 0.08, + "gripper_dist": 0.2197122457716952, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062761300845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540111779478877, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08859175769080478, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19073679478012606, + "release_required_pad_clearance": 0.05429587884540239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6122555051217056, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "583fcd1f9c034e23be096af7aaf64362896ac7e89d94576f37d2ef000a9fb04b", + "visual_seed": 755412613260461929, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e42427d3af93167b4b1d17e4293c07969af1e9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_81_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34351525183238313, + -0.11893849082205851, + 1.00421800522335 + ], + "current_z": 1.00421800522335, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14311149720858418, + "gripper_z": 1.0042501769331322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3397806896963147, + -0.12286316288713582, + 1.0042501769331322 + ], + "object_minus_gripper": [ + 0.003734562136068431, + 0.003924672065077309, + -3.217170978220274e-05 + ], + "object_to_gripper_xy": 0.005417564505066293, + "object_to_gripper_z": -3.217170978220274e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34351525183238313, + -0.1428480188431066, + 1.00421800522335 + ], + "finger_b": [ + 0.33359837069216297, + -0.11893849082205851, + 1.00421800522335 + ], + "finger_midpoint": [ + 0.33855681126227305, + -0.13089325483258257, + 1.00421800522335 + ], + "object_minus_finger_midpoint": [ + 0.004958440570110079, + 0.01195476401052406, + 0.0 + ], + "finger_gap": 0.025884552569796104, + "fingertip_max_gap": 0.09330673275617693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012942276284898066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00421800522335, + "object_top_z": 1.0541384400292646, + "finger_top_clearance": 0.04992043480591457, + "fingertip_min_top_clearance": 0.014976130441774371, + "object_projection_between_fingers": 0.8532193213724725, + "object_to_finger_line_xy": 0.009160210394371336, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915336637808847, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.006252386432695, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32155577457014983, + 0.0039003594747260974, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3261324365997045, + -0.03070199999663291, + 1.0437381584882561 + ], + "target_minus_gripper": [ + -0.004576662029554646, + 0.03460235947135901, + -0.2735917686916446 + ], + "held_position": [ + 0.3297652082316103, + -0.026685908307210945, + 1.0436521289620075 + ], + "held_minus_target": [ + 0.008209433661460486, + -0.030586267781937043, + 0.273505739165396 + ], + "held_minus_gripper": [ + 0.00363277163190584, + 0.004016091689421963, + -8.602952624858773e-05 + ], + "xy_dist": 0.03490371207075138, + "held_xy_dist": 0.031668826594464794, + "held_gripper_dist": 0.005416033905618625, + "max_held_gripper_dist": 0.005418434496591606, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0436521289620075, + "required_height": 0.8001463897966116, + "gripper_z": 1.0437381584882561, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.24128093792731, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4160998750002824, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.330510168985869, + "max_source_tilt_deg": 89.78154883335817, + "source_upright_tilt_deg": 4.563259295834627, + "max_source_upright_tilt_deg": 89.79666375717684, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.330510168985869, + "source_upright_return_tilt_deg": 4.563259295834627, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.468468340576493e-08, + "max_target_xy_drift": 1.6525727978903723e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3216, + 0.0039, + 0.7701 + ], + "controller_target_position": [ + 0.3216, + 0.0039, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0016, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3219, + -0.0197, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002982116760697467, + 0.0016304341364883398, + -0.0003577237909628691 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.563427358792382, + "source_return_step_error_deg": 2.3307004267669233, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.567110834264722, + "source_return_best_wrist_position": -1.5914052724838257, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5914052724838257 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3216, + 0.0039, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3216, + 0.0039, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0016, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3219, + -0.0197, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002982116760697467, + 0.0016304341364883398, + -0.0003577237909628691 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.563427358792382, + "pour_controller_source_return_step_error_deg": 2.3307004267669233, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.567110834264722, + "pour_controller_source_return_best_wrist_position": -1.5914052724838257, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5914052724838257, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03490371207075138, + "valid_pour_held_xy_dist": 0.031668826594464794, + "valid_pour_held_gripper_dist": 0.005416033905618625, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0436521289620075, + "valid_pour_source_tilt_deg": 2.330510168985869, + "valid_pour_source_upright_tilt_deg": 4.563259295834627, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.468468340576493e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3297652082316103, + -0.050048873683180166, + 1.0436521289620075 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31924096798410406, + -0.026685908307210945, + 1.0436521289620075 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3245030881078572, + -0.03836739099519555, + 1.0436521289620075 + ], + "valid_pour_held_grasp_object_position": [ + 0.3297652082316103, + -0.026685908307210945, + 1.0436521289620075 + ], + "valid_pour_held_grasp_finger_gap": 0.025623968934299916, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024108980997747203, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07792237238810547, + -0.9968301050530913, + 0.016057569593565187 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006159125481438171, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038485833338889525, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3297652082316103, + -0.050048873683180166, + 1.0436521289620075 + ], + "held_grasp_finger_b": [ + 0.31924096798410406, + -0.026685908307210945, + 1.0436521289620075 + ], + "held_grasp_midpoint": [ + 0.3245030881078572, + -0.03836739099519555, + 1.0436521289620075 + ], + "held_grasp_object_position": [ + 0.3297652082316103, + -0.026685908307210945, + 1.0436521289620075 + ], + "held_grasp_finger_gap": 0.025623968934299916, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024108980997747203, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07792237238810547, + -0.9968301050530913, + 0.016057569593565187 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006159125481438171, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038485833338889525, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3243194041046749, + -0.12775823717234083, + 0.7611063837657269 + ], + "target_position": [ + 0.3207112129077191, + -0.12351349327800122, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005571076596343197, + "xy_threshold": 0.08, + "gripper_dist": 0.21653717626498278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063837657269, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553552812326848, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08794712522970587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18611437486547147, + "release_required_pad_clearance": 0.053973562614852935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9579224926933225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a995b1e561dc0fff869001f022b27737425e5f9c524eff641f723497c93213b", + "visual_seed": 3166868088482550000, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b643fde58c8a6af6669f4e670ea5241fbdf333 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_82_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34731667636096425, + -0.12241351598838002, + 1.0020209713810453 + ], + "current_z": 1.0020209713810453, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14091452297092388, + "gripper_z": 1.0026910747063407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34326009326623497, + -0.1265696832634236, + 1.0026910747063407 + ], + "object_minus_gripper": [ + 0.0040565830947292825, + 0.004156167275043587, + -0.0006701033252953792 + ], + "object_to_gripper_xy": 0.00580771838354673, + "object_to_gripper_z": -0.0006701033252953792, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34731667636096425, + -0.14652804883444145, + 1.0020209713810453 + ], + "finger_b": [ + 0.337058243107859, + -0.12241351598838002, + 1.0020209713810453 + ], + "finger_midpoint": [ + 0.3421874597344116, + -0.13447078241141075, + 1.0020209713810453 + ], + "object_minus_finger_midpoint": [ + 0.005129216626552635, + 0.012057266423030732, + 0.0 + ], + "finger_gap": 0.026205841852384594, + "fingertip_max_gap": 0.09330573746928492, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01310292092619231, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020209713810453, + "object_top_z": 1.0520606176422653, + "finger_top_clearance": 0.05003964626122004, + "fingertip_min_top_clearance": 0.015011893878365995, + "object_projection_between_fingers": 0.846762223219339, + "object_to_finger_line_xy": 0.009439777856578431, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915286873464246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.243945977670419, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3264892510182086, + 0.003355071271441953, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3297229968180839, + -0.032504664541837494, + 1.0444425411863547 + ], + "target_minus_gripper": [ + -0.0032337457998753427, + 0.03585973581327945, + -0.2742960917850982 + ], + "held_position": [ + 0.33372112403576815, + -0.028315399793939905, + 1.0436941455904214 + ], + "held_minus_target": [ + 0.007231873017559565, + -0.03167047106538186, + 0.27354769618916486 + ], + "held_minus_gripper": [ + 0.003998127217684222, + 0.004189264747897589, + -0.0007483955959333155 + ], + "xy_dist": 0.03600524634683685, + "held_xy_dist": 0.032485669530506765, + "held_gripper_dist": 0.00583909722001417, + "max_held_gripper_dist": 0.0058484707702236086, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0436941455904214, + "required_height": 0.8001464494012566, + "gripper_z": 1.0444425411863547, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.269551090902, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8049661138650297, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8866488955168594, + "max_source_tilt_deg": 89.94193595943628, + "source_upright_tilt_deg": 4.501540630432602, + "max_source_upright_tilt_deg": 89.88392265246117, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8866488955168594, + "source_upright_return_tilt_deg": 4.501540630432602, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2351741790771484e-08, + "max_target_xy_drift": 1.1372817696983924e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3265, + 0.0034, + 0.7701 + ], + "controller_target_position": [ + 0.3265, + 0.0034, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0004, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3253, + -0.0215, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011582924410630832, + 0.0003557319811180672, + 0.0004228318498484037 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.501531615827051, + "source_return_step_error_deg": 2.8866356341689996, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.49882408572698, + "source_return_best_wrist_position": -1.6172899007797241, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172899007797241 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3265, + 0.0034, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3265, + 0.0034, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0004, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3253, + -0.0215, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011582924410630832, + 0.0003557319811180672, + 0.0004228318498484037 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.501531615827051, + "pour_controller_source_return_step_error_deg": 2.8866356341689996, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.49882408572698, + "pour_controller_source_return_best_wrist_position": -1.6172899007797241, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172899007797241, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03600524634683685, + "valid_pour_held_xy_dist": 0.032485669530506765, + "valid_pour_held_gripper_dist": 0.00583909722001417, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0436941455904214, + "valid_pour_source_tilt_deg": 2.8866488955168594, + "valid_pour_source_upright_tilt_deg": 4.501540630432602, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2351741790771484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33372112403576815, + -0.05169181658848589, + 1.0436941455904214 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32324330482032515, + -0.028315399793939905, + 1.0436941455904214 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32848221442804665, + -0.040003608191212896, + 1.0436941455904214 + ], + "valid_pour_held_grasp_object_position": [ + 0.33372112403576815, + -0.028315399793939905, + 1.0436941455904214 + ], + "valid_pour_held_grasp_finger_gap": 0.025617212136839516, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024065126643926096, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07261250315963573, + -0.9969152316139334, + 0.029790021165308826 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00608343712462926, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038448507429019466, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33372112403576815, + -0.05169181658848589, + 1.0436941455904214 + ], + "held_grasp_finger_b": [ + 0.32324330482032515, + -0.028315399793939905, + 1.0436941455904214 + ], + "held_grasp_midpoint": [ + 0.32848221442804665, + -0.040003608191212896, + 1.0436941455904214 + ], + "held_grasp_object_position": [ + 0.33372112403576815, + -0.028315399793939905, + 1.0436941455904214 + ], + "held_grasp_finger_gap": 0.025617212136839516, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024065126643926096, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07261250315963573, + -0.9969152316139334, + 0.029790021165308826 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00608343712462926, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038448507429019466, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3204442038836179, + -0.13279529496489517, + 0.761115516884962 + ], + "target_position": [ + 0.3242608068394942, + -0.12508690407816192, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008601496857261307, + "xy_threshold": 0.08, + "gripper_dist": 0.21364849875789663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761115516884962, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549271205861549, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08957131500199499, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18309876576708567, + "release_required_pad_clearance": 0.054785657500997495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.606143072049219, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9307090ad667f23755ef058bf5ff82e54d359339d90d2c74a949551d17e4505", + "visual_seed": 2814533768131508241, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8756d8f44f6c54652557b678af1882fe8e29a6c5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_83_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3420170488398075, + -0.12217930102442755, + 1.0049969529899148 + ], + "current_z": 1.0049969529899148, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14389044497514858, + "gripper_z": 1.005673446167285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3382963138298578, + -0.12625721954101057, + 1.005673446167285 + ], + "object_minus_gripper": [ + 0.0037207350099496828, + 0.004077918516583026, + -0.0006764931773701743 + ], + "object_to_gripper_xy": 0.005520261628053146, + "object_to_gripper_z": -0.0006764931773701743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3420170488398075, + -0.14572305054995582, + 1.0049969529899148 + ], + "finger_b": [ + 0.3314352563066555, + -0.12217930102442755, + 1.0049969529899148 + ], + "finger_midpoint": [ + 0.33672615257323146, + -0.13395117578719168, + 1.0049969529899148 + ], + "object_minus_finger_midpoint": [ + 0.005290896266576028, + 0.011771874762764131, + 0.0 + ], + "finger_gap": 0.025812448061652046, + "fingertip_max_gap": 0.09414564506045467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012906224030826028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0049969529899148, + "object_top_z": 1.0548869623031287, + "finger_top_clearance": 0.04989000931321397, + "fingertip_min_top_clearance": 0.01496700279396419, + "object_projection_between_fingers": 0.8319416502354893, + "object_to_finger_line_xy": 0.009651741374416978, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957282253022734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.798506465739487, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31871507680479927, + 0.000807850595235901, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3238937751746417, + -0.03533099327065817, + 1.0444908848515784 + ], + "target_minus_gripper": [ + -0.005178698369842416, + 0.03613884386589407, + -0.2743444354503217 + ], + "held_position": [ + 0.32771901790980323, + -0.0313732020187564, + 1.0437369966147076 + ], + "held_minus_target": [ + 0.009003941105003965, + -0.0321810526139923, + 0.273590547213451 + ], + "held_minus_gripper": [ + 0.0038252427351615492, + 0.0039577912519017655, + -0.0007538882368707256 + ], + "xy_dist": 0.0365080121722517, + "held_xy_dist": 0.03341692838617758, + "held_gripper_dist": 0.005555622471895332, + "max_held_gripper_dist": 0.0055645839900901545, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0437369966147076, + "required_height": 0.8001464494012567, + "gripper_z": 1.0444908848515784, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.6751618747632, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.227660294640635, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.522980714894956, + "max_source_tilt_deg": 89.80875902487116, + "source_upright_tilt_deg": 3.2333926264420105, + "max_source_upright_tilt_deg": 89.80561419676536, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.522980714894956, + "source_upright_return_tilt_deg": 3.2333926264420105, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.000626091569203e-08, + "max_target_xy_drift": 1.79558208935607e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3187, + 0.0008, + 0.7701 + ], + "controller_target_position": [ + 0.3187, + 0.0008, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.0002, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3197, + -0.0242, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009629560896003441, + 0.00017242523081481987, + 0.00047129712964499946 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2333944925988996, + "source_return_step_error_deg": 2.5229872520350396, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.235067713361945, + "source_return_best_wrist_position": -1.6156303882598877, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156303882598877 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3187, + 0.0008, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3187, + 0.0008, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.0002, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3197, + -0.0242, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009629560896003441, + 0.00017242523081481987, + 0.00047129712964499946 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2333944925988996, + "pour_controller_source_return_step_error_deg": 2.5229872520350396, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.235067713361945, + "pour_controller_source_return_best_wrist_position": -1.6156303882598877, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156303882598877, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0365080121722517, + "valid_pour_held_xy_dist": 0.03341692838617758, + "valid_pour_held_gripper_dist": 0.005555622471895332, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0437369966147076, + "valid_pour_source_tilt_deg": 2.522980714894956, + "valid_pour_source_upright_tilt_deg": 3.2333926264420105, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.000626091569203e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32771901790980323, + -0.05487509851423414, + 1.0437369966147076 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31784533371116475, + -0.0313732020187564, + 1.0437369966147076 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32278217581048396, + -0.04312415026649527, + 1.0437369966147076 + ], + "valid_pour_held_grasp_object_position": [ + 0.32771901790980323, + -0.0313732020187564, + 1.0437369966147076 + ], + "valid_pour_held_grasp_finger_gap": 0.025491739417673954, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023884849334053018, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.042574400719382385, + -0.9984080710643336, + 0.036996540878603594 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00544971219721406, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819819159071802, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32771901790980323, + -0.05487509851423414, + 1.0437369966147076 + ], + "held_grasp_finger_b": [ + 0.31784533371116475, + -0.0313732020187564, + 1.0437369966147076 + ], + "held_grasp_midpoint": [ + 0.32278217581048396, + -0.04312415026649527, + 1.0437369966147076 + ], + "held_grasp_object_position": [ + 0.32771901790980323, + -0.0313732020187564, + 1.0437369966147076 + ], + "held_grasp_finger_gap": 0.025491739417673954, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023884849334053018, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.042574400719382385, + -0.9984080710643336, + 0.036996540878603594 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00544971219721406, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819819159071802, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32103076287097293, + -0.12343284314659012, + 0.76110825476193 + ], + "target_position": [ + 0.3191864389462789, + -0.12534585890408198, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0026572843332264887, + "xy_threshold": 0.08, + "gripper_dist": 0.2169727449469322, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110825476193, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581743891757949, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515445766283623, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1875894117052258, + "release_required_pad_clearance": 0.05257722883141812, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21669468542613693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a375449237e8668ffa42a229cbeede593535106bc83bec337c6b34091d8d761f", + "visual_seed": 4750427755473010004, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60f102b0ae49584181b0698138afd29266914fec --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_84_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34454739723990424, + -0.11733461935025015, + 1.0033213280914324 + ], + "current_z": 1.0033213280914324, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.14221470086737698, + "gripper_z": 1.0044907478817577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34074491445072613, + -0.12135578385489451, + 1.0044907478817577 + ], + "object_minus_gripper": [ + 0.0038024827891781077, + 0.004021164504644362, + -0.0011694197903253656 + ], + "object_to_gripper_xy": 0.005534314712356667, + "object_to_gripper_z": -0.0011694197903253656, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34454739723990424, + -0.14113986569802292, + 1.0033213280914324 + ], + "finger_b": [ + 0.3343146212630626, + -0.11733461935025015, + 1.0033213280914324 + ], + "finger_midpoint": [ + 0.3394310092514834, + -0.12923724252413654, + 1.0033213280914324 + ], + "object_minus_finger_midpoint": [ + 0.005116387988420845, + 0.011902623173886392, + 0.0 + ], + "finger_gap": 0.02591137699680154, + "fingertip_max_gap": 0.0938120163326254, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01295568849840079, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033213280914324, + "object_top_z": 1.0532689638959742, + "finger_top_clearance": 0.04994763580454187, + "fingertip_min_top_clearance": 0.014984290741362526, + "object_projection_between_fingers": 0.8440426143262644, + "object_to_finger_line_xy": 0.009401034649002063, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494060081663127, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.497117305540399, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32446373617712904, + 0.0025912358860001733, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3281370726026661, + -0.03352068992107875, + 1.043838020059175 + ], + "target_minus_gripper": [ + -0.003673336425537077, + 0.03611192580707892, + -0.2736915706579185 + ], + "held_position": [ + 0.3319526050325588, + -0.02954712745043786, + 1.04259389227263 + ], + "held_minus_target": [ + 0.0074888688554297644, + -0.03213836333643803, + 0.27244744287137357 + ], + "held_minus_gripper": [ + 0.0038155324298926874, + 0.003973562470640887, + -0.001244127786544924 + ], + "xy_dist": 0.03629827249320758, + "held_xy_dist": 0.03299935688280501, + "held_gripper_dist": 0.00564759598244259, + "max_held_gripper_dist": 0.005667553434054904, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.04259389227263, + "required_height": 0.8001464494012566, + "gripper_z": 1.043838020059175, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.34106317151203, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.038803240916372, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.541937350072793, + "max_source_tilt_deg": 89.79507770785479, + "source_upright_tilt_deg": 4.066642383087036, + "max_source_upright_tilt_deg": 89.699286169898, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.541937350072793, + "source_upright_return_tilt_deg": 4.066642383087036, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.297791329456247e-08, + "max_target_xy_drift": 9.164688538035175e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3245, + 0.0026, + 0.7701 + ], + "controller_target_position": [ + 0.3245, + 0.0026, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0002, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.324, + -0.0228, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005074467722961952, + -0.00015206341549954864, + -0.00047867109036446066 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.066647022778715, + "source_return_step_error_deg": 2.541951207916038, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.067171609770622, + "source_return_best_wrist_position": -1.617388129234314, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.617388129234314 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3245, + 0.0026, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3245, + 0.0026, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0002, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.324, + -0.0228, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005074467722961952, + -0.00015206341549954864, + -0.00047867109036446066 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.066647022778715, + "pour_controller_source_return_step_error_deg": 2.541951207916038, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.067171609770622, + "pour_controller_source_return_best_wrist_position": -1.617388129234314, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.617388129234314, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03629827249320758, + "valid_pour_held_xy_dist": 0.03299935688280501, + "valid_pour_held_gripper_dist": 0.00564759598244259, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.04259389227263, + "valid_pour_source_tilt_deg": 2.541937350072793, + "valid_pour_source_upright_tilt_deg": 4.066642383087036, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.297791329456247e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3319526050325588, + -0.052856610081097176, + 1.04259389227263 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32186290732349754, + -0.02954712745043786, + 1.04259389227263 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32690775617802814, + -0.04120186876576752, + 1.04259389227263 + ], + "valid_pour_held_grasp_object_position": [ + 0.3319526050325588, + -0.02954712745043786, + 1.04259389227263 + ], + "valid_pour_held_grasp_finger_gap": 0.025399487797379782, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02387314170334846, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.061681386605504214, + -0.9974822490328918, + 0.03499384818373675 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00576817331859992, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03840602576354611, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3319526050325588, + -0.052856610081097176, + 1.04259389227263 + ], + "held_grasp_finger_b": [ + 0.32186290732349754, + -0.02954712745043786, + 1.04259389227263 + ], + "held_grasp_midpoint": [ + 0.32690775617802814, + -0.04120186876576752, + 1.04259389227263 + ], + "held_grasp_object_position": [ + 0.3319526050325588, + -0.02954712745043786, + 1.04259389227263 + ], + "held_grasp_finger_gap": 0.025399487797379782, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02387314170334846, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.061681386605504214, + -0.9974822490328918, + 0.03499384818373675 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00576817331859992, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03840602576354611, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3077269466563647, + -0.10313671704698918, + 0.7611067236617485 + ], + "target_position": [ + 0.32181305063310095, + -0.12200660080337732, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023547629142294264, + "xy_threshold": 0.08, + "gripper_dist": 0.2098423928663096, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067236617485, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08234796616324523, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08893378466917194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18613985199977115, + "release_required_pad_clearance": 0.05446689233458597, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.962595853762018, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "acd719f8bea097daa7152d532deb2818959519644667a682f3e9cf831e868522", + "visual_seed": 7444300832462606186, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41e18cd9f464041d557fd2dfc6a69eccc3beda1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_85_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3444213008284371, + -0.11982912814030541, + 1.0043411595243485 + ], + "current_z": 1.0043411595243485, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1432345919049376, + "gripper_z": 1.0045186499288896, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3405221553110882, + -0.12388903561562283, + 1.0045186499288896 + ], + "object_minus_gripper": [ + 0.0038991455173488787, + 0.004059907475317412, + -0.00017749040454106968 + ], + "object_to_gripper_xy": 0.005629048274228963, + "object_to_gripper_z": -0.00017749040454106968, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3444213008284371, + -0.14372261274816348, + 1.0043411595243485 + ], + "finger_b": [ + 0.33413259860165895, + -0.11982912814030541, + 1.0043411595243485 + ], + "finger_midpoint": [ + 0.339276949715048, + -0.13177587044423444, + 1.0043411595243485 + ], + "object_minus_finger_midpoint": [ + 0.005144351113389067, + 0.011946742303929031, + 0.0 + ], + "finger_gap": 0.026014534403238115, + "fingertip_max_gap": 0.0940133447969744, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013007267201619058, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043411595243485, + "object_top_z": 1.0543837433500134, + "finger_top_clearance": 0.050042583825664844, + "fingertip_min_top_clearance": 0.015012775147699452, + "object_projection_between_fingers": 0.8435811526202562, + "object_to_finger_line_xy": 0.009449830793810364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495066723984872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.364188645300976, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32128525888983644, + -0.0006102542656957339, + 0.7701464494012564 + ], + "gripper_position": [ + 0.32469252270793847, + -0.0378071523678941, + 1.0443485359144895 + ], + "target_minus_gripper": [ + -0.0034072638181020243, + 0.03719689810219837, + -0.2742020865132331 + ], + "held_position": [ + 0.3285382170318336, + -0.03370118405158509, + 1.0441151080596596 + ], + "held_minus_target": [ + 0.007252958141997168, + -0.03309092978588936, + 0.27396865865840314 + ], + "held_minus_gripper": [ + 0.0038456943238951435, + 0.004105968316309008, + -0.00023342785482993733 + ], + "xy_dist": 0.037352626081059895, + "held_xy_dist": 0.033876467287841903, + "held_gripper_dist": 0.0056305265482708864, + "max_held_gripper_dist": 0.00563311349342321, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0441151080596596, + "required_height": 0.8001464494012565, + "gripper_z": 1.0443485359144895, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.33082471794619, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.752060963422865, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.744579259622455, + "max_source_tilt_deg": 89.9496578650856, + "source_upright_tilt_deg": 4.203392363482651, + "max_source_upright_tilt_deg": 89.71532795332884, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.744579259622455, + "source_upright_return_tilt_deg": 4.203392363482651, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0850997340283114e-08, + "max_target_xy_drift": 1.477413176760414e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3213, + -0.0006, + 0.7701 + ], + "controller_target_position": [ + 0.3213, + -0.0006, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0013, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3194, + -0.0271, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018920703377081486, + -0.0013372706439021488, + -6.901052233959822e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.203386014770346, + "source_return_step_error_deg": 1.7445722970971953, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.2080911088237745, + "source_return_best_wrist_position": -1.5916000604629517, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5916000604629517 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3213, + -0.0006, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3213, + -0.0006, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0013, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3194, + -0.0271, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018920703377081486, + -0.0013372706439021488, + -6.901052233959822e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.203386014770346, + "pour_controller_source_return_step_error_deg": 1.7445722970971953, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.2080911088237745, + "pour_controller_source_return_best_wrist_position": -1.5916000604629517, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5916000604629517, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037352626081059895, + "valid_pour_held_xy_dist": 0.033876467287841903, + "valid_pour_held_gripper_dist": 0.0056305265482708864, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0441151080596596, + "valid_pour_source_tilt_deg": 1.744579259622455, + "valid_pour_source_upright_tilt_deg": 4.203392363482651, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0850997340283114e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3285382170318336, + -0.05726370644442626, + 1.0441151080596596 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3179407661266422, + -0.03370118405158509, + 1.0441151080596596 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3232394915792379, + -0.045482445248005675, + 1.0441151080596596 + ], + "valid_pour_held_grasp_object_position": [ + 0.3285382170318336, + -0.03370118405158509, + 1.0441151080596596 + ], + "valid_pour_held_grasp_finger_gap": 0.025835990927407525, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024258505543656935, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07165524674159003, + -0.9973101433042303, + 0.015427367789016985 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061319012104316195, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03835036025770997, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3285382170318336, + -0.05726370644442626, + 1.0441151080596596 + ], + "held_grasp_finger_b": [ + 0.3179407661266422, + -0.03370118405158509, + 1.0441151080596596 + ], + "held_grasp_midpoint": [ + 0.3232394915792379, + -0.045482445248005675, + 1.0441151080596596 + ], + "held_grasp_object_position": [ + 0.3285382170318336, + -0.03370118405158509, + 1.0441151080596596 + ], + "held_grasp_finger_gap": 0.025835990927407525, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024258505543656935, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07165524674159003, + -0.9973101433042303, + 0.015427367789016985 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061319012104316195, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03835036025770997, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3230455841625962, + -0.11931064825793009, + 0.761107301369783 + ], + "target_position": [ + 0.32136723851919585, + -0.12256125112504784, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003658314242712776, + "xy_threshold": 0.08, + "gripper_dist": 0.2151262903827424, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107301369783, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548253209450183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856813607012407, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18664688565357807, + "release_required_pad_clearance": 0.05284068035062035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7252337373379877, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33f850ca398c1b7a1e5f17cbbc151f8b12a778e7981c693d8bf71d144f1c93c5", + "visual_seed": 5368524181079498081, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca45f8678af095a8157377fcda1c3b329ce93f2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_86_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34885234330511333, + -0.11682356868360856, + 1.0045985465345235 + ], + "current_z": 1.0045985465345235, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1434920981244021, + "gripper_z": 1.0044491127378625, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3451685710438602, + -0.12080422107511024, + 1.0044491127378625 + ], + "object_minus_gripper": [ + 0.00368377226125316, + 0.0039806523915016795, + 0.00014943379666099155 + ], + "object_to_gripper_xy": 0.005423630844254268, + "object_to_gripper_z": 0.00014943379666099155, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34885234330511333, + -0.14056688571414191, + 1.0045985465345235 + ], + "finger_b": [ + 0.3386711470515296, + -0.11682356868360856, + 1.0045985465345235 + ], + "finger_midpoint": [ + 0.3437617451783215, + -0.12869522719887524, + 1.0045985465345235 + ], + "object_minus_finger_midpoint": [ + 0.0050905981267918565, + 0.011871658515266684, + 0.0 + ], + "finger_gap": 0.025834122024299612, + "fingertip_max_gap": 0.09334503376306849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012917061012149811, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045985465345235, + "object_top_z": 1.05457961029333, + "finger_top_clearance": 0.04998106375880651, + "fingertip_min_top_clearance": 0.014994319127641919, + "object_projection_between_fingers": 0.8446861430159122, + "object_to_finger_line_xy": 0.009357212533545335, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917251688153425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9127494070816633, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32837064182822157, + 0.002538948409862893, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3326298776484022, + -0.03384014064683001, + 1.044114790362741 + ], + "target_minus_gripper": [ + -0.004259235820180618, + 0.036379089056692904, + -0.2739683409614845 + ], + "held_position": [ + 0.3362844549948395, + -0.029833926643866797, + 1.0441966436781995 + ], + "held_minus_target": [ + 0.007913813166617933, + -0.03237287505372969, + 0.274050194276943 + ], + "held_minus_gripper": [ + 0.0036545773464373155, + 0.004006214002963214, + 8.185331545851326e-05 + ], + "xy_dist": 0.03662757445377325, + "held_xy_dist": 0.033326138061295515, + "held_gripper_dist": 0.0054233187426042835, + "max_held_gripper_dist": 0.005427536682890038, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0441966436781995, + "required_height": 0.8001464494012566, + "gripper_z": 1.044114790362741, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.1682867062674, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.270615471852666, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5240473008742734, + "max_source_tilt_deg": 89.82186758394923, + "source_upright_tilt_deg": 3.950837234998072, + "max_source_upright_tilt_deg": 89.95976972870193, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5240473008742734, + "source_upright_return_tilt_deg": 3.950837234998072, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.213062882423401e-08, + "max_target_xy_drift": 1.297518614296671e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3284, + 0.0025, + 0.7701 + ], + "controller_target_position": [ + 0.3284, + 0.0025, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0001, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3281, + -0.0227, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00030803987557195367, + -7.493538887830904e-05, + -0.0001321935778286706 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9508655686850522, + "source_return_step_error_deg": 2.5240914630953295, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.957399351226045, + "source_return_best_wrist_position": -1.6145961284637451, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6145961284637451 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3284, + 0.0025, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3284, + 0.0025, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0001, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3281, + -0.0227, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00030803987557195367, + -7.493538887830904e-05, + -0.0001321935778286706 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9508655686850522, + "pour_controller_source_return_step_error_deg": 2.5240914630953295, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.957399351226045, + "pour_controller_source_return_best_wrist_position": -1.6145961284637451, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6145961284637451, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03662757445377325, + "valid_pour_held_xy_dist": 0.033326138061295515, + "valid_pour_held_gripper_dist": 0.0054233187426042835, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0441966436781995, + "valid_pour_source_tilt_deg": 2.5240473008742734, + "valid_pour_source_upright_tilt_deg": 3.950837234998072, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.213062882423401e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3362844549948395, + -0.05304913444085822, + 1.0441966436781995 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32609455549080923, + -0.029833926643866797, + 1.0441966436781995 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33118950524282437, + -0.041441530542362506, + 1.0441966436781995 + ], + "valid_pour_held_grasp_object_position": [ + 0.3362844549948395, + -0.029833926643866797, + 1.0441966436781995 + ], + "valid_pour_held_grasp_finger_gap": 0.025353104838652954, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02375027493051853, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05792372814264499, + -0.9976235476491248, + 0.03731084150795183 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005774599728298377, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03843534957350812, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362844549948395, + -0.05304913444085822, + 1.0441966436781995 + ], + "held_grasp_finger_b": [ + 0.32609455549080923, + -0.029833926643866797, + 1.0441966436781995 + ], + "held_grasp_midpoint": [ + 0.33118950524282437, + -0.041441530542362506, + 1.0441966436781995 + ], + "held_grasp_object_position": [ + 0.3362844549948395, + -0.029833926643866797, + 1.0441966436781995 + ], + "held_grasp_finger_gap": 0.025353104838652954, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02375027493051853, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05792372814264499, + -0.9976235476491248, + 0.03731084150795183 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005774599728298377, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03843534957350812, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3270464271609392, + -0.11976988401699683, + 0.761106454056592 + ], + "target_position": [ + 0.32599694118334804, + -0.12096764559463598, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001592499172379392, + "xy_threshold": 0.08, + "gripper_dist": 0.21521925996677496, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106454056592, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570491313684549, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640170129632001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18578618258316157, + "release_required_pad_clearance": 0.053200850648160006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4243377159359316, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d1778d4dbe993090cf45b4f14c7eb676f4dd4ae629ba38894c8c22702da8d18f", + "visual_seed": 7014542671988496523, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0166c767ffce8bee83f375352f04e663ed2d82ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_87_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3417528230823865, + -0.12123600679571175, + 1.0039803390545337 + ], + "current_z": 1.0039803390545337, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14287389064441247, + "gripper_z": 1.004348039788143, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3379929897330347, + -0.1252589115978423, + 1.004348039788143 + ], + "object_minus_gripper": [ + 0.0037598333493518155, + 0.00402290480213055, + -0.0003677007336093663 + ], + "object_to_gripper_xy": 0.0055063699350754785, + "object_to_gripper_z": -0.0003677007336093663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3417528230823865, + -0.14494025692374668, + 1.0039803390545337 + ], + "finger_b": [ + 0.3314196499582473, + -0.12123600679571175, + 1.0039803390545337 + ], + "finger_midpoint": [ + 0.33658623652031694, + -0.13308813185972923, + 1.0039803390545337 + ], + "object_minus_finger_midpoint": [ + 0.005166586562069586, + 0.011852125064017477, + 0.0 + ], + "finger_gap": 0.02585857577179913, + "fingertip_max_gap": 0.09424169545113006, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012929287885899568, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039803390545337, + "object_top_z": 1.0538816243195346, + "finger_top_clearance": 0.04990128526500093, + "fingertip_min_top_clearance": 0.014970385579500261, + "object_projection_between_fingers": 0.8403171744288442, + "object_to_finger_line_xy": 0.009472297411600371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049620847725565034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.810981752118479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3243960849053089, + 0.003149107887081878, + 0.7701464494012564 + ], + "gripper_position": [ + 0.32715626206261533, + -0.03289199837720125, + 1.0455098886020442 + ], + "target_minus_gripper": [ + -0.0027601771573064204, + 0.036041106264283126, + -0.27536343920078776 + ], + "held_position": [ + 0.33090889017311376, + -0.028871518988580404, + 1.0450824140269876 + ], + "held_minus_target": [ + 0.006512805267804844, + -0.03202062687566228, + 0.2749359646257312 + ], + "held_minus_gripper": [ + 0.003752628110498424, + 0.004020479388620844, + -0.0004274745750565412 + ], + "xy_dist": 0.03614664463948299, + "held_xy_dist": 0.03267624791751238, + "held_gripper_dist": 0.005516267466534575, + "max_held_gripper_dist": 0.005520251331621158, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0450824140269876, + "required_height": 0.8001464494012565, + "gripper_z": 1.0455098886020442, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49968748479641, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2728851089494815, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.3104137046089699, + "max_source_tilt_deg": 89.8817888108455, + "source_upright_tilt_deg": 3.987004649201567, + "max_source_upright_tilt_deg": 89.66694763168778, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.3104137046089699, + "source_upright_return_tilt_deg": 3.987004649201567, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.241033017635345e-08, + "max_target_xy_drift": 1.4011066417618444e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3244, + 0.0031, + 0.7701 + ], + "controller_target_position": [ + 0.3244, + 0.0031, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0004, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3228, + -0.0217, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015503198650508847, + 0.0003898308916533994, + 0.0012497128372929026 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.98700389208862, + "source_return_step_error_deg": 1.3104201815375565, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9904015380415383, + "source_return_best_wrist_position": -1.591436743736267, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.591436743736267 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3244, + 0.0031, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3244, + 0.0031, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0004, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3228, + -0.0217, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015503198650508847, + 0.0003898308916533994, + 0.0012497128372929026 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.98700389208862, + "pour_controller_source_return_step_error_deg": 1.3104201815375565, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9904015380415383, + "pour_controller_source_return_best_wrist_position": -1.591436743736267, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.591436743736267, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03614664463948299, + "valid_pour_held_xy_dist": 0.03267624791751238, + "valid_pour_held_gripper_dist": 0.005516267466534575, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0450824140269876, + "valid_pour_source_tilt_deg": 1.3104137046089699, + "valid_pour_source_upright_tilt_deg": 3.987004649201567, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.241033017635345e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33090889017311376, + -0.05243085210419284, + 1.0450824140269876 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3205388665021418, + -0.028871518988580404, + 1.0450824140269876 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3257238783376278, + -0.04065118554638662, + 1.0450824140269876 + ], + "valid_pour_held_grasp_object_position": [ + 0.33090889017311376, + -0.028871518988580404, + 1.0450824140269876 + ], + "valid_pour_held_grasp_finger_gap": 0.02574062096743028, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024207849687427303, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06803588055630853, + -0.9975798500004361, + 0.014337427594761528 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005976752554373925, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038321858918225746, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33090889017311376, + -0.05243085210419284, + 1.0450824140269876 + ], + "held_grasp_finger_b": [ + 0.3205388665021418, + -0.028871518988580404, + 1.0450824140269876 + ], + "held_grasp_midpoint": [ + 0.3257238783376278, + -0.04065118554638662, + 1.0450824140269876 + ], + "held_grasp_object_position": [ + 0.33090889017311376, + -0.028871518988580404, + 1.0450824140269876 + ], + "held_grasp_finger_gap": 0.02574062096743028, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024207849687427303, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06803588055630853, + -0.9975798500004361, + 0.014337427594761528 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005976752554373925, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038321858918225746, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32216648549118554, + -0.1256709858691956, + 0.761106324208916 + ], + "target_position": [ + 0.31892659246231575, + -0.12347182014246415, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003915767706612496, + "xy_threshold": 0.08, + "gripper_dist": 0.2179649908508649, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106324208916, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543074072940155, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537206949611646, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.188242418654913, + "release_required_pad_clearance": 0.05268603474805823, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42795771581244507, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10cd2642ff85e793822c9c1afab6befda57df8d192b840d5ccbcfd17f14eb21a", + "visual_seed": 7822140153687932023, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e42b049f95cc66545d7c146ed5006942573c3835 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_88_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3420261581974898, + -0.1165675305220236, + 1.0019438159122305 + ], + "current_z": 1.0019438159122305, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14083730789746451, + "gripper_z": 1.0030760828983818, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3380584729843832, + -0.12080691782985059, + 1.0030760828983818 + ], + "object_minus_gripper": [ + 0.003967685213106642, + 0.004239387307826997, + -0.0011322669861513202 + ], + "object_to_gripper_xy": 0.0058064559497226645, + "object_to_gripper_z": -0.0011322669861513202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3420261581974898, + -0.14040720664458717, + 1.0019438159122305 + ], + "finger_b": [ + 0.3313859647914893, + -0.1165675305220236, + 1.0019438159122305 + ], + "finger_midpoint": [ + 0.33670606149448956, + -0.1284873685833054, + 1.0019438159122305 + ], + "object_minus_finger_midpoint": [ + 0.0053200967030002655, + 0.011919838061281801, + 0.0 + ], + "finger_gap": 0.026106395257595887, + "fingertip_max_gap": 0.09362791749233892, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013053197628797955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019438159122305, + "object_top_z": 1.0518967269849988, + "finger_top_clearance": 0.049952911072768336, + "fingertip_min_top_clearance": 0.0149858733218305, + "object_projection_between_fingers": 0.8338863862698815, + "object_to_finger_line_xy": 0.00971634582934944, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049313958746169465, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5824550437437757, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3275899997955981, + 0.0035002388494537054, + 0.7701465090059013 + ], + "gripper_position": [ + 0.33186013819361654, + -0.03252147516957604, + 1.044897122821943 + ], + "target_minus_gripper": [ + -0.00427013839801843, + 0.036021714019029746, + -0.2747506138160417 + ], + "held_position": [ + 0.33581486859077203, + -0.02830813790395815, + 1.0436845126365104 + ], + "held_minus_target": [ + 0.008224868795173923, + -0.03180837675341185, + 0.2735380036306091 + ], + "held_minus_gripper": [ + 0.003954730397155493, + 0.004213337265617893, + -0.0012126101854326166 + ], + "xy_dist": 0.03627392951979418, + "held_xy_dist": 0.032854547605846246, + "held_gripper_dist": 0.00590444975335086, + "max_held_gripper_dist": 0.0059207217855039, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0436845126365104, + "required_height": 0.8001465090059013, + "gripper_z": 1.044897122821943, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.48633446496903, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.145665873376392, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6164046566443706, + "max_source_tilt_deg": 89.90995240012045, + "source_upright_tilt_deg": 4.315531002796914, + "max_source_upright_tilt_deg": 89.91707103069092, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6164046566443706, + "source_upright_return_tilt_deg": 4.315531002796914, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1590408190270855e-08, + "max_target_xy_drift": 1.1345710887152861e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3276, + 0.0035, + 0.7701 + ], + "controller_target_position": [ + 0.3276, + 0.0035, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0003, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3287, + -0.0214, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011131920790309058, + 0.00028696026082101296, + 0.0004905917310896327 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.315524491328526, + "source_return_step_error_deg": 2.6163755292226187, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.312139889207896, + "source_return_best_wrist_position": -1.6171058416366577, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6171058416366577 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3276, + 0.0035, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3276, + 0.0035, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0003, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3287, + -0.0214, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011131920790309058, + 0.00028696026082101296, + 0.0004905917310896327 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.315524491328526, + "pour_controller_source_return_step_error_deg": 2.6163755292226187, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.312139889207896, + "pour_controller_source_return_best_wrist_position": -1.6171058416366577, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6171058416366577, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03627392951979418, + "valid_pour_held_xy_dist": 0.032854547605846246, + "valid_pour_held_gripper_dist": 0.00590444975335086, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0436845126365104, + "valid_pour_source_tilt_deg": 2.6164046566443706, + "valid_pour_source_upright_tilt_deg": 4.315531002796914, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1590408190270855e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33581486859077203, + -0.0515658389053706, + 1.0436845126365104 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32519083165856383, + -0.02830813790395815, + 1.0436845126365104 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33050285012466796, + -0.03993698840466438, + 1.0436845126365104 + ], + "valid_pour_held_grasp_object_position": [ + 0.33581486859077203, + -0.02830813790395815, + 1.0436845126365104 + ], + "valid_pour_held_grasp_finger_gap": 0.02556933351904241, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02391928535735037, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06847915138235844, + -0.9971647809286683, + 0.031193036104764427 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061063276487661085, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03848813242479233, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33581486859077203, + -0.0515658389053706, + 1.0436845126365104 + ], + "held_grasp_finger_b": [ + 0.32519083165856383, + -0.02830813790395815, + 1.0436845126365104 + ], + "held_grasp_midpoint": [ + 0.33050285012466796, + -0.03993698840466438, + 1.0436845126365104 + ], + "held_grasp_object_position": [ + 0.33581486859077203, + -0.02830813790395815, + 1.0436845126365104 + ], + "held_grasp_finger_gap": 0.02556933351904241, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02391928535735037, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06847915138235844, + -0.9971647809286683, + 0.031193036104764427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061063276487661085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03848813242479233, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2988511976198338, + -0.10107129284392552, + 0.7611062859663287 + ], + "target_position": [ + 0.3191006039369728, + -0.12027335689594836, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027906230846436012, + "xy_threshold": 0.08, + "gripper_dist": 0.2052441158780148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062859663287, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0830516596272648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08910829089384124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18227912189446424, + "release_required_pad_clearance": 0.054554145446920624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.143197653594718, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "24fd15d485a485eef318035e02ae1eda2f96945d75a3659337a87f87cf9702dc", + "visual_seed": 7332697012015711313, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04fd50dec5f1ee83e35045400fd8a4bb073b2e33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_89_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3433261505890313, + -0.12612718547336657, + 1.004849441333731 + ], + "current_z": 1.004849441333731, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.14374305252825448, + "gripper_z": 1.0055772922821764, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33963636950978215, + -0.130221234106619, + 1.0055772922821764 + ], + "object_minus_gripper": [ + 0.003689781079249166, + 0.0040940486332524395, + -0.0007278509484454077 + ], + "object_to_gripper_xy": 0.00551141711578985, + "object_to_gripper_z": -0.0007278509484454077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3433261505890313, + -0.14956545716839292, + 1.004849441333731 + ], + "finger_b": [ + 0.33263181579165413, + -0.12612718547336657, + 1.004849441333731 + ], + "finger_midpoint": [ + 0.3379789831903427, + -0.13784632132087976, + 1.004849441333731 + ], + "object_minus_finger_midpoint": [ + 0.005347167398688624, + 0.01171913584751319, + 0.0 + ], + "finger_gap": 0.02576279054776998, + "fingertip_max_gap": 0.0939220168340176, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012881395273885014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004849441333731, + "object_top_z": 1.0548579417097614, + "finger_top_clearance": 0.05000850037603044, + "fingertip_min_top_clearance": 0.015002550112809147, + "object_projection_between_fingers": 0.8276855307744123, + "object_to_finger_line_xy": 0.009729408936261291, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494610084170088, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5412850444187467, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3222662917381947, + -0.0009687658430560657, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3277962754195969, + -0.037235573379324274, + 1.0456509860572951 + ], + "target_minus_gripper": [ + -0.005529983681402173, + 0.03626680753626821, + -0.27550459626068347 + ], + "held_position": [ + 0.33164303085909635, + -0.0333133580300919, + 1.0448435722235434 + ], + "held_minus_target": [ + 0.009376739120901645, + -0.03234459218703584, + 0.27469718242693175 + ], + "held_minus_gripper": [ + 0.003846755439499472, + 0.003922215349232372, + -0.0008074138337517134 + ], + "xy_dist": 0.036685992536515825, + "held_xy_dist": 0.03367634006668639, + "held_gripper_dist": 0.005552766675811836, + "max_held_gripper_dist": 0.005562361255875248, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0448435722235434, + "required_height": 0.8001463897966117, + "gripper_z": 1.0456509860572951, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.84581415117597, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0434800618067084, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8890383767603534, + "max_source_tilt_deg": 89.94077034272317, + "source_upright_tilt_deg": 2.376061740231173, + "max_source_upright_tilt_deg": 89.75271051169717, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8890383767603534, + "source_upright_return_tilt_deg": 2.376061740231173, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.4193619619631464e-08, + "max_target_xy_drift": 1.7382086276516677e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3223, + -0.001, + 0.7701 + ], + "controller_target_position": [ + 0.3223, + -0.001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0003, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3242, + -0.0259, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019259011752950786, + 0.0002928225177416324, + 0.0016757123052202477 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.37605478197922, + "source_return_step_error_deg": 2.888998855052611, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8836877856336036, + "source_return_best_wrist_position": -1.6156420707702637, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6156420707702637 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3223, + -0.001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3223, + -0.001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0003, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3242, + -0.0259, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019259011752950786, + 0.0002928225177416324, + 0.0016757123052202477 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.37605478197922, + "pour_controller_source_return_step_error_deg": 2.888998855052611, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8836877856336036, + "pour_controller_source_return_best_wrist_position": -1.6156420707702637, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6156420707702637, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036685992536515825, + "valid_pour_held_xy_dist": 0.03367634006668639, + "valid_pour_held_gripper_dist": 0.005552766675811836, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0448435722235434, + "valid_pour_source_tilt_deg": 2.8890383767603534, + "valid_pour_source_upright_tilt_deg": 2.376061740231173, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.4193619619631464e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33164303085909635, + -0.05692573699286415, + 1.0448435722235434 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3219638334295296, + -0.0333133580300919, + 1.0448435722235434 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32680343214431296, + -0.04511954751147802, + 1.0448435722235434 + ], + "valid_pour_held_grasp_object_position": [ + 0.33164303085909635, + -0.0333133580300919, + 1.0448435722235434 + ], + "valid_pour_held_grasp_finger_gap": 0.025519233984626202, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023834205464833943, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0250152254676333, + -0.99914024740935, + 0.03306061859049636 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005148084554877406, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03804527464372444, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33164303085909635, + -0.05692573699286415, + 1.0448435722235434 + ], + "held_grasp_finger_b": [ + 0.3219638334295296, + -0.0333133580300919, + 1.0448435722235434 + ], + "held_grasp_midpoint": [ + 0.32680343214431296, + -0.04511954751147802, + 1.0448435722235434 + ], + "held_grasp_object_position": [ + 0.33164303085909635, + -0.0333133580300919, + 1.0448435722235434 + ], + "held_grasp_finger_gap": 0.025519233984626202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023834205464833943, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0250152254676333, + -0.99914024740935, + 0.03306061859049636 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005148084554877406, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03804527464372444, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3270104967013991, + -0.12790662572667413, + 0.7611065119399498 + ], + "target_position": [ + 0.32059094180124853, + -0.12852757386346425, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006449516393081746, + "xy_threshold": 0.08, + "gripper_dist": 0.2192434138082331, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065119399498, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754240483003477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08898315940610028, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.189895148635914, + "release_required_pad_clearance": 0.054491579703050144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.013827171003497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb97e5689f13fed6721f9e8d1f64cb57c2e0040f84a346c1f5bd46fcf7e373ca", + "visual_seed": 8077101274930163824, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4393dd6976b63c4d4c0b18845240ba5b033c5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_90_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34319934628922033, + -0.11949860059818705, + 1.0021077247982373 + ], + "current_z": 1.0021077247982373, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1410012763881161, + "gripper_z": 1.0023082178799139, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3391019346266513, + -0.12369233986803636, + 1.0023082178799139 + ], + "object_minus_gripper": [ + 0.00409741166256905, + 0.0041937392698493114, + -0.0002004930816765782 + ], + "object_to_gripper_xy": 0.005863124712645391, + "object_to_gripper_z": -0.0002004930816765782, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34319934628922033, + -0.14349568025633352, + 1.0021077247982373 + ], + "finger_b": [ + 0.33266973385109466, + -0.11949860059818705, + 1.0021077247982373 + ], + "finger_midpoint": [ + 0.3379345400701575, + -0.1314971404272603, + 1.0021077247982373 + ], + "object_minus_finger_midpoint": [ + 0.005264806219062834, + 0.011998539829073243, + 0.0 + ], + "finger_gap": 0.026205582806275423, + "fingertip_max_gap": 0.09349343813939662, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102791403137717, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021077247982373, + "object_top_z": 1.052120930282181, + "finger_top_clearance": 0.05001320548394372, + "fingertip_min_top_clearance": 0.0150039616451831, + "object_projection_between_fingers": 0.8385503427306972, + "object_to_finger_line_xy": 0.009642218237046883, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924671906969831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9591641849281616, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3243501595265096, + 0.004846013473950405, + 0.7701463897966117 + ], + "gripper_position": [ + 0.32903908389687564, + -0.03187301327937553, + 1.0457458282793362 + ], + "target_minus_gripper": [ + -0.004688924370366054, + 0.03671902675332593, + -0.2755994384827245 + ], + "held_position": [ + 0.3331439796133796, + -0.027695979692845048, + 1.0454712410975153 + ], + "held_minus_target": [ + 0.008793820086870019, + -0.03254199316679545, + 0.2753248513009037 + ], + "held_minus_gripper": [ + 0.0041048957165039646, + 0.004177033586530481, + -0.000274587181820829 + ], + "xy_dist": 0.03701719786075761, + "held_xy_dist": 0.03370923598938428, + "held_gripper_dist": 0.005862864193105328, + "max_held_gripper_dist": 0.0058677123281412735, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0454712410975153, + "required_height": 0.8001463897966117, + "gripper_z": 1.0457458282793362, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.29760950801241, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3267865271105133, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3815937881600404, + "max_source_tilt_deg": 89.93912785761805, + "source_upright_tilt_deg": 3.6071239092536573, + "max_source_upright_tilt_deg": 89.70388620303892, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3815937881600404, + "source_upright_return_tilt_deg": 3.6071239092536573, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.818422555923462e-08, + "max_target_xy_drift": 1.1492026219534103e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3244, + 0.0048, + 0.7701 + ], + "controller_target_position": [ + 0.3244, + 0.0048, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0003, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3251, + -0.0206, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007611652358123651, + -0.00026412268911974357, + 0.0016371608952468783 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6071273801694135, + "source_return_step_error_deg": 2.381617715762839, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6128652199088926, + "source_return_best_wrist_position": -1.6142170429229736, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6142170429229736 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3244, + 0.0048, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3244, + 0.0048, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0003, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3251, + -0.0206, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007611652358123651, + -0.00026412268911974357, + 0.0016371608952468783 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6071273801694135, + "pour_controller_source_return_step_error_deg": 2.381617715762839, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6128652199088926, + "pour_controller_source_return_best_wrist_position": -1.6142170429229736, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6142170429229736, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03701719786075761, + "valid_pour_held_xy_dist": 0.03370923598938428, + "valid_pour_held_gripper_dist": 0.005862864193105328, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0454712410975153, + "valid_pour_source_tilt_deg": 2.3815937881600404, + "valid_pour_source_upright_tilt_deg": 3.6071239092536573, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.818422555923462e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3331439796133796, + -0.051293061147776584, + 1.0454712410975153 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3227862948536302, + -0.027695979692845048, + 1.0454712410975153 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3279651372335049, + -0.03949452042031082, + 1.0454712410975153 + ], + "valid_pour_held_grasp_object_position": [ + 0.3331439796133796, + -0.027695979692845048, + 1.0454712410975153 + ], + "valid_pour_held_grasp_finger_gap": 0.02577021316894796, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024074956158682787, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.050650539985469895, + -0.9980189235512615, + 0.03731957975060262 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005786201180210045, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038207394316834245, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3331439796133796, + -0.051293061147776584, + 1.0454712410975153 + ], + "held_grasp_finger_b": [ + 0.3227862948536302, + -0.027695979692845048, + 1.0454712410975153 + ], + "held_grasp_midpoint": [ + 0.3279651372335049, + -0.03949452042031082, + 1.0454712410975153 + ], + "held_grasp_object_position": [ + 0.3331439796133796, + -0.027695979692845048, + 1.0454712410975153 + ], + "held_grasp_finger_gap": 0.02577021316894796, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024074956158682787, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.050650539985469895, + -0.9980189235512615, + 0.03731957975060262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005786201180210045, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038207394316834245, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32606214311101855, + -0.12673511809622023, + 0.7611067148852098 + ], + "target_position": [ + 0.3198523275611759, + -0.12135026868959328, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008219392452920018, + "xy_threshold": 0.08, + "gripper_dist": 0.22029674094685098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067148852098, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582443873489485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08582917510513398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18914558467811798, + "release_required_pad_clearance": 0.05291458755256699, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8668205009695171, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05548c6d08ea4efa682cbf9d6b22e470611718b450f0a9d2d48a42f9cd2d0026", + "visual_seed": 1260661045749855261, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c03fa88e6efd6f47e78084d1e6422d977afa775b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_91_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3423515884258315, + -0.11479437496570302, + 1.0012472873434195 + ], + "current_z": 1.0012472873434195, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14014077932865365, + "gripper_z": 1.0019332622245567, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33835937414235795, + -0.11905283240453869, + 1.0019332622245567 + ], + "object_minus_gripper": [ + 0.003992214283473572, + 0.004258457438835669, + -0.0006859748811371968 + ], + "object_to_gripper_xy": 0.005837142678018523, + "object_to_gripper_z": -0.0006859748811371968, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3423515884258315, + -0.1384072591889977, + 1.0012472873434195 + ], + "finger_b": [ + 0.33135132518329863, + -0.11479437496570302, + 1.0012472873434195 + ], + "finger_midpoint": [ + 0.3368514568045651, + -0.12660081707735038, + 1.0012472873434195 + ], + "object_minus_finger_midpoint": [ + 0.005500131621266446, + 0.011806442111647358, + 0.0 + ], + "finger_gap": 0.026049454749528626, + "fingertip_max_gap": 0.09525513199179167, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013024727374764325, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012472873434195, + "object_top_z": 1.0511591375549962, + "finger_top_clearance": 0.049911850211576736, + "fingertip_min_top_clearance": 0.014973555063473037, + "object_projection_between_fingers": 0.821676375950291, + "object_to_finger_line_xy": 0.009971338934700494, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05012756599589584, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.838500567548448, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32096503293578077, + 0.005674082177363415, + 0.7701465090059011 + ], + "gripper_position": [ + 0.3263125872107707, + -0.03146437237888913, + 1.0451167158365757 + ], + "target_minus_gripper": [ + -0.005347554274989952, + 0.037138454556252545, + -0.27497020683067463 + ], + "held_position": [ + 0.3304274080788857, + -0.027347440146778562, + 1.044349226045195 + ], + "held_minus_target": [ + 0.00946237514310494, + -0.033021522324141975, + 0.2742027170392939 + ], + "held_minus_gripper": [ + 0.004114820868114988, + 0.004116932232110571, + -0.0007674897913807488 + ], + "xy_dist": 0.037521475764564466, + "held_xy_dist": 0.034350509165842896, + "held_gripper_dist": 0.005871109125228313, + "max_held_gripper_dist": 0.00587952951468426, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.044349226045195, + "required_height": 0.8001465090059011, + "gripper_z": 1.0451167158365757, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.58644454763392, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 4.284783774435542, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6151933741598485, + "max_source_tilt_deg": 89.89731107422291, + "source_upright_tilt_deg": 3.9000869552767936, + "max_source_upright_tilt_deg": 89.87968225036708, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6151933741598485, + "source_upright_return_tilt_deg": 3.9000869552767936, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.6166026888317614e-08, + "max_target_xy_drift": 1.3840171047414986e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.321, + 0.0057, + 0.7701 + ], + "controller_target_position": [ + 0.321, + 0.0057, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0009, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3223, + -0.0205, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013308501870020239, + -0.0009365723227864615, + 0.0004895106163319983 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.900283514543342, + "source_return_step_error_deg": 2.6152256604105633, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8995581886652104, + "source_return_best_wrist_position": -1.6155298948287964, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6155298948287964 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.321, + 0.0057, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.321, + 0.0057, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0009, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3223, + -0.0205, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013308501870020239, + -0.0009365723227864615, + 0.0004895106163319983 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.900283514543342, + "pour_controller_source_return_step_error_deg": 2.6152256604105633, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8995581886652104, + "pour_controller_source_return_best_wrist_position": -1.6155298948287964, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6155298948287964, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037521475764564466, + "valid_pour_held_xy_dist": 0.034350509165842896, + "valid_pour_held_gripper_dist": 0.005871109125228313, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.044349226045195, + "valid_pour_source_tilt_deg": 2.6151933741598485, + "valid_pour_source_upright_tilt_deg": 3.9000869552767936, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.6166026888317614e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3304274080788857, + -0.05097097830871066, + 1.044349226045195 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3202168503681968, + -0.027347440146778562, + 1.044349226045195 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32532212922354126, + -0.039159209227744615, + 1.044349226045195 + ], + "valid_pour_held_grasp_object_position": [ + 0.3304274080788857, + -0.027347440146778562, + 1.044349226045195 + ], + "valid_pour_held_grasp_finger_gap": 0.025735715339806873, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02415357759742518, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05726887668988227, + -0.9976841853832275, + 0.036695258534111264 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00578919167307446, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822820844185084, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3304274080788857, + -0.05097097830871066, + 1.044349226045195 + ], + "held_grasp_finger_b": [ + 0.3202168503681968, + -0.027347440146778562, + 1.044349226045195 + ], + "held_grasp_midpoint": [ + 0.32532212922354126, + -0.039159209227744615, + 1.044349226045195 + ], + "held_grasp_object_position": [ + 0.3304274080788857, + -0.027347440146778562, + 1.044349226045195 + ], + "held_grasp_finger_gap": 0.025735715339806873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02415357759742518, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05726887668988227, + -0.9976841853832275, + 0.036695258534111264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00578919167307446, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822820844185084, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32119365098712926, + -0.11661012637696738, + 0.7611069204228674 + ], + "target_position": [ + 0.3192849471765594, + -0.12041420813870497, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004256076630709134, + "xy_threshold": 0.08, + "gripper_dist": 0.21722807234926705, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069204228674, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546866770085404, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553060692757801, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18858413933453594, + "release_required_pad_clearance": 0.05276530346378901, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5801327342113309, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ad7b00f16eb6eace8f0a02e257aec6f7909d7b68f091ed580859460381a5419", + "visual_seed": 5080495490882652536, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e3dae2a012ce3a8dc82c7a80a2ff6519dadd775 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_92_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3502927822328154, + -0.11795391071390283, + 1.002293054589558 + ], + "current_z": 1.002293054589558, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14118654657479213, + "gripper_z": 1.0031940962552435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3467144574579833, + -0.121951839800935, + 1.0031940962552435 + ], + "object_minus_gripper": [ + 0.003578324774832109, + 0.00399792908703217, + -0.000901041665685387 + ], + "object_to_gripper_xy": 0.0053654305679148575, + "object_to_gripper_z": -0.000901041665685387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3502927822328154, + -0.14138540929462018, + 1.002293054589558 + ], + "finger_b": [ + 0.33982182593803595, + -0.11795391071390283, + 1.002293054589558 + ], + "finger_midpoint": [ + 0.3450573040854257, + -0.1296696600042615, + 1.002293054589558 + ], + "object_minus_finger_midpoint": [ + 0.005235478147389727, + 0.011715749290358665, + 0.0 + ], + "finger_gap": 0.025664684908748448, + "fingertip_max_gap": 0.09433967141276353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012832342454374219, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002293054589558, + "object_top_z": 1.052199106232162, + "finger_top_clearance": 0.04990605164260398, + "fingertip_min_top_clearance": 0.014971815492781159, + "object_projection_between_fingers": 0.833543476367076, + "object_to_finger_line_xy": 0.009559836734104779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04966983570638177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.188122983413967, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3216800502545063, + -0.0002329591925739477, + 0.7701463897966118 + ], + "gripper_position": [ + 0.32722721684993084, + -0.03681137199396589, + 1.0453933291499944 + ], + "target_minus_gripper": [ + -0.005547166595424535, + 0.036578412801391944, + -0.2752469393533826 + ], + "held_position": [ + 0.3309188686055572, + -0.03294683474187543, + 1.0444175780605505 + ], + "held_minus_target": [ + 0.009238818351050893, + -0.03271387554930148, + 0.2742711882639387 + ], + "held_minus_gripper": [ + 0.0036916517556263573, + 0.003864537252090461, + -0.0009757510894439214 + ], + "xy_dist": 0.03699663958127046, + "held_xy_dist": 0.03399343198294194, + "held_gripper_dist": 0.005432773789342334, + "max_held_gripper_dist": 0.005443963674607231, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0444175780605505, + "required_height": 0.8001463897966118, + "gripper_z": 1.0453933291499944, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.43856412191397, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.7524923889162536, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6682583246451026, + "max_source_tilt_deg": 89.86625769302908, + "source_upright_tilt_deg": 3.363335185099211, + "max_source_upright_tilt_deg": 89.79802896076475, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6682583246451026, + "source_upright_return_tilt_deg": 3.363335185099211, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.5099219530820847e-08, + "max_target_xy_drift": 1.4426015748794927e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3217, + -0.0002, + 0.7701 + ], + "controller_target_position": [ + 0.3217, + -0.0002, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.001, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3222, + -0.0264, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005516976800711208, + -0.0009658470998512602, + 0.0010517725028213946 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.363337037660598, + "source_return_step_error_deg": 2.6682816742789233, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.357535685205208, + "source_return_best_wrist_position": -1.617421269416809, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.617421269416809 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3217, + -0.0002, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3217, + -0.0002, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.001, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3222, + -0.0264, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005516976800711208, + -0.0009658470998512602, + 0.0010517725028213946 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.363337037660598, + "pour_controller_source_return_step_error_deg": 2.6682816742789233, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.357535685205208, + "pour_controller_source_return_best_wrist_position": -1.617421269416809, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.617421269416809, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03699663958127046, + "valid_pour_held_xy_dist": 0.03399343198294194, + "valid_pour_held_gripper_dist": 0.005432773789342334, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0444175780605505, + "valid_pour_source_tilt_deg": 2.6682583246451026, + "valid_pour_source_upright_tilt_deg": 3.363335185099211, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.5099219530820847e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3309188686055572, + -0.05634211969138059, + 1.0444175780605505 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32121645816528255, + -0.03294683474187543, + 1.0444175780605505 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32606766338541987, + -0.04464447721662801, + 1.0444175780605505 + ], + "valid_pour_held_grasp_object_position": [ + 0.3309188686055572, + -0.03294683474187543, + 1.0444175780605505 + ], + "valid_pour_held_grasp_finger_gap": 0.025327378984413153, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023815377825923138, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0474510214436726, + -0.9982775841574156, + 0.03450022511210648 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005415566711094037, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038272950442990276, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3309188686055572, + -0.05634211969138059, + 1.0444175780605505 + ], + "held_grasp_finger_b": [ + 0.32121645816528255, + -0.03294683474187543, + 1.0444175780605505 + ], + "held_grasp_midpoint": [ + 0.32606766338541987, + -0.04464447721662801, + 1.0444175780605505 + ], + "held_grasp_object_position": [ + 0.3309188686055572, + -0.03294683474187543, + 1.0444175780605505 + ], + "held_grasp_finger_gap": 0.025327378984413153, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023815377825923138, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0474510214436726, + -0.9982775841574156, + 0.03450022511210648 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005415566711094037, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038272950442990276, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3252737739503177, + -0.11858191931946002, + 0.7611070068173291 + ], + "target_position": [ + 0.3278459295514165, + -0.12151342382792397, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038999619381999647, + "xy_threshold": 0.08, + "gripper_dist": 0.21291990933253707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070068173291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566240660268396, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08657534323184456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18437883320068035, + "release_required_pad_clearance": 0.05328767161592228, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5929517278222758, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ccfe0ccc2ebdd4f5f841f620b2b6df164a7e62f126d2530597ba489d746b435", + "visual_seed": 1432480369805560810, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae99ca3fb7a9fb5516dbdc87af64af88f1b8819f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_93_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34329963361998744, + -0.1213370226374863, + 1.0016526775462988 + ], + "current_z": 1.0016526775462988, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14054616953153287, + "gripper_z": 1.0022672484369737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33946240414592027, + -0.12530864674699937, + 1.0022672484369737 + ], + "object_minus_gripper": [ + 0.003837229474067172, + 0.003971624109513072, + -0.0006145708906748482 + ], + "object_to_gripper_xy": 0.005522511032484709, + "object_to_gripper_z": -0.0006145708906748482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34329963361998744, + -0.14526629941829178, + 1.0016526775462988 + ], + "finger_b": [ + 0.33326403518395764, + -0.1213370226374863, + 1.0016526775462988 + ], + "finger_midpoint": [ + 0.33828183440197257, + -0.13330166102788904, + 1.0016526775462988 + ], + "object_minus_finger_midpoint": [ + 0.005017799218014873, + 0.011964638390402738, + 0.0 + ], + "finger_gap": 0.025948478244815047, + "fingertip_max_gap": 0.09377373401347286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012974239122407513, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016526775462988, + "object_top_z": 1.0515183591501898, + "finger_top_clearance": 0.04986568160389093, + "fingertip_min_top_clearance": 0.014959704481167279, + "object_projection_between_fingers": 0.8504237079266697, + "object_to_finger_line_xy": 0.00925467036529436, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938686700673643, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.72293461371732, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3239184728867237, + -0.0015082781001477662, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3284704823674075, + -0.03694907777263916, + 1.0453597442862885 + ], + "target_minus_gripper": [ + -0.004552009480683794, + 0.03544079967249139, + -0.2752132948850319 + ], + "held_position": [ + 0.3322354085620971, + -0.032921848415174926, + 1.0446858701690642 + ], + "held_minus_target": [ + 0.008316935675373394, + -0.03141357031502716, + 0.2745394207678076 + ], + "held_minus_gripper": [ + 0.0037649261946895995, + 0.004027229357464232, + -0.0006738741172243046 + ], + "xy_dist": 0.03573193350125208, + "held_xy_dist": 0.03249590464913162, + "held_gripper_dist": 0.005554039239593696, + "max_held_gripper_dist": 0.005558959953958472, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0446858701690642, + "required_height": 0.8001464494012567, + "gripper_z": 1.0453597442862885, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.31462350923492, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.262217073133648, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9469573646970004, + "max_source_tilt_deg": 89.61256292728623, + "source_upright_tilt_deg": 4.818839159919121, + "max_source_upright_tilt_deg": 89.7972431696881, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9469573646970004, + "source_upright_return_tilt_deg": 4.818839159919121, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.903273380924235e-07, + "max_target_xy_drift": 2.0642941339985902e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3239, + -0.0015, + 0.7701 + ], + "controller_target_position": [ + 0.3239, + -0.0015, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0009, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3246, + -0.0258, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006757992925495279, + 0.0009445877063232275, + 0.0014674631301997412 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.818839391981903, + "source_return_step_error_deg": 1.9469396267080776, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.8182457929188836, + "source_return_best_wrist_position": -1.59257972240448, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.59257972240448 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3239, + -0.0015, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3239, + -0.0015, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0009, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3246, + -0.0258, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006757992925495279, + 0.0009445877063232275, + 0.0014674631301997412 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.818839391981903, + "pour_controller_source_return_step_error_deg": 1.9469396267080776, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.8182457929188836, + "pour_controller_source_return_best_wrist_position": -1.59257972240448, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.59257972240448, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03573193350125208, + "valid_pour_held_xy_dist": 0.03249590464913162, + "valid_pour_held_gripper_dist": 0.005554039239593696, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0446858701690642, + "valid_pour_source_tilt_deg": 1.9469573646970004, + "valid_pour_source_upright_tilt_deg": 4.818839159919121, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.903273380924235e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3322354085620971, + -0.05640904532632266, + 1.0446858701690642 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3217745127795677, + -0.032921848415174926, + 1.0446858701690642 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3270049606708324, + -0.04466544687074879, + 1.0446858701690642 + ], + "valid_pour_held_grasp_object_position": [ + 0.3322354085620971, + -0.032921848415174926, + 1.0446858701690642 + ], + "valid_pour_held_grasp_finger_gap": 0.025711451909916895, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02427403863209076, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.08315368542218343, + -0.9964652948367684, + 0.01193234204089133 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006190384211119876, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038453092791184376, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3322354085620971, + -0.05640904532632266, + 1.0446858701690642 + ], + "held_grasp_finger_b": [ + 0.3217745127795677, + -0.032921848415174926, + 1.0446858701690642 + ], + "held_grasp_midpoint": [ + 0.3270049606708324, + -0.04466544687074879, + 1.0446858701690642 + ], + "held_grasp_object_position": [ + 0.3322354085620971, + -0.032921848415174926, + 1.0446858701690642 + ], + "held_grasp_finger_gap": 0.025711451909916895, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02427403863209076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.08315368542218343, + -0.9964652948367684, + 0.01193234204089133 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006190384211119876, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038453092791184376, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31776321667746255, + -0.12485888669919044, + 0.7611078181737653 + ], + "target_position": [ + 0.3205276333966036, + -0.12697772938479843, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003483029446246634, + "xy_threshold": 0.08, + "gripper_dist": 0.21354758579692745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078181737653, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570007010755568, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08764364860322953, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1847452954064176, + "release_required_pad_clearance": 0.053821824301614765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6482322745587004, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e34459e991d5afc1c3353536fbc495836eaceeb8a5bdf695090215028d639cb", + "visual_seed": 103155069258058913, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef345bb78d03c4571413f443dd902f6cc258704d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_94_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34995416347152103, + -0.1189026371428347, + 1.0058486261520576 + ], + "current_z": 1.0058486261520576, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.14474199892800177, + "gripper_z": 1.0059443240631079, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34604634339531715, + -0.12302842777099822, + 1.0059443240631079 + ], + "object_minus_gripper": [ + 0.003907820076203883, + 0.004125790628163525, + -9.569791105024095e-05 + ], + "object_to_gripper_xy": 0.005682711153615332, + "object_to_gripper_z": -9.569791105024095e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34995416347152103, + -0.14270656632692993, + 1.0058486261520576 + ], + "finger_b": [ + 0.3394416961356717, + -0.1189026371428347, + 1.0058486261520576 + ], + "finger_midpoint": [ + 0.34469792980359637, + -0.13080460173488231, + 1.0058486261520576 + ], + "object_minus_finger_midpoint": [ + 0.005256233667924659, + 0.01190196459204762, + 0.0 + ], + "finger_gap": 0.026021894898118392, + "fingertip_max_gap": 0.09387794810479341, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013010947449059196, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0058486261520576, + "object_top_z": 1.0558464306135642, + "finger_top_clearance": 0.04999780446150659, + "fingertip_min_top_clearance": 0.014999341338451976, + "object_projection_between_fingers": 0.836795743284673, + "object_to_finger_line_xy": 0.00961644142336329, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943897405239671, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3958998119213057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3279834202534381, + -0.00029565856405712465, + 0.7701464494012564 + ], + "gripper_position": [ + 0.33281927976114956, + -0.03741087192776614, + 1.0435655785566489 + ], + "target_minus_gripper": [ + -0.004835859507711482, + 0.037115213363709015, + -0.27341912915539246 + ], + "held_position": [ + 0.33671578282274106, + -0.0332775736619817, + 1.0434147176751276 + ], + "held_minus_target": [ + 0.008732362569302987, + -0.03298191509792458, + 0.2732682682738712 + ], + "held_minus_gripper": [ + 0.0038965030615915053, + 0.004133298265784437, + -0.0001508608815212753 + ], + "xy_dist": 0.03742892731847879, + "held_xy_dist": 0.03411833641267507, + "held_gripper_dist": 0.00568239823212893, + "max_held_gripper_dist": 0.005684656819909588, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0434147176751276, + "required_height": 0.8001464494012565, + "gripper_z": 1.0435655785566489, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.25799441082634, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7697053979735196, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.3095923163530165, + "max_source_tilt_deg": 89.92556020503045, + "source_upright_tilt_deg": 3.6589082527011216, + "max_source_upright_tilt_deg": 89.8610409188232, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.3095923163530165, + "source_upright_return_tilt_deg": 3.6589082527011216, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.225198672787635e-07, + "max_target_xy_drift": 1.6969929180960572e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.328, + -0.0003, + 0.7701 + ], + "controller_target_position": [ + 0.328, + -0.0003, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0011, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3283, + -0.0266, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00029374477242164083, + -0.0011164712604483623, + -0.0006618329691400464 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.658909380425737, + "source_return_step_error_deg": 1.3096044148646915, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6629134660558256, + "source_return_best_wrist_position": -1.590549111366272, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.590549111366272 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.328, + -0.0003, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.328, + -0.0003, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0011, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3283, + -0.0266, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00029374477242164083, + -0.0011164712604483623, + -0.0006618329691400464 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.658909380425737, + "pour_controller_source_return_step_error_deg": 1.3096044148646915, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6629134660558256, + "pour_controller_source_return_best_wrist_position": -1.590549111366272, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.590549111366272, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03742892731847879, + "valid_pour_held_xy_dist": 0.03411833641267507, + "valid_pour_held_gripper_dist": 0.00568239823212893, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0434147176751276, + "valid_pour_source_tilt_deg": 1.3095923163530165, + "valid_pour_source_upright_tilt_deg": 3.6589082527011216, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.225198672787635e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33671578282274106, + -0.05693214178648074, + 1.0434147176751276 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32613379467280906, + -0.0332775736619817, + 1.0434147176751276 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33142478874777503, + -0.04510485772423122, + 1.0434147176751276 + ], + "valid_pour_held_grasp_object_position": [ + 0.33671578282274106, + -0.0332775736619817, + 1.0434147176751276 + ], + "valid_pour_held_grasp_finger_gap": 0.025913646334737746, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024261877008285453, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.061947265960946955, + -0.9979616473960025, + 0.01533253294861914 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060161579830677716, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03824483680027176, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33671578282274106, + -0.05693214178648074, + 1.0434147176751276 + ], + "held_grasp_finger_b": [ + 0.32613379467280906, + -0.0332775736619817, + 1.0434147176751276 + ], + "held_grasp_midpoint": [ + 0.33142478874777503, + -0.04510485772423122, + 1.0434147176751276 + ], + "held_grasp_object_position": [ + 0.33671578282274106, + -0.0332775736619817, + 1.0434147176751276 + ], + "held_grasp_finger_gap": 0.025913646334737746, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024261877008285453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.061947265960946955, + -0.9979616473960025, + 0.01533253294861914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060161579830677716, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03824483680027176, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3082236623090593, + -0.11084320509389285, + 0.7611113990899508 + ], + "target_position": [ + 0.3268670241175264, + -0.12222671739819252, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02184397610105705, + "xy_threshold": 0.08, + "gripper_dist": 0.2030280108038137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611113990899508, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07680412157865023, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09298113036476661, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17865534313917167, + "release_required_pad_clearance": 0.05649056518238331, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.339950309639967, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a25f384890898de088fb484e241ece204c713f623c486baa76dfe7dc338004ec", + "visual_seed": 2751664941991085128, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f623c4ab3ed107da525e8b78df2587df866fe84 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_95_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3421451953908266, + -0.12274681854640854, + 1.002948625690344 + ], + "current_z": 1.002948625690344, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14184211767557786, + "gripper_z": 1.0031445781880022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3383846796697835, + -0.12681649309450516, + 1.0031445781880022 + ], + "object_minus_gripper": [ + 0.003760515721043134, + 0.004069674548096619, + -0.00019595249765824718 + ], + "object_to_gripper_xy": 0.005541094604465618, + "object_to_gripper_z": -0.00019595249765824718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3421451953908266, + -0.14638871718897822, + 1.002948625690344 + ], + "finger_b": [ + 0.3316770279003259, + -0.12274681854640854, + 1.002948625690344 + ], + "finger_midpoint": [ + 0.33691111164557624, + -0.13456776786769337, + 1.002948625690344 + ], + "object_minus_finger_midpoint": [ + 0.005234083745250362, + 0.01182094932128483, + 0.0 + ], + "finger_gap": 0.025855790493324985, + "fingertip_max_gap": 0.09408051823529026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012927895246662479, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002948625690344, + "object_top_z": 1.0530623281408071, + "finger_top_clearance": 0.050113702450463204, + "fingertip_min_top_clearance": 0.015034110735138995, + "object_projection_between_fingers": 0.8360823627832527, + "object_to_finger_line_xy": 0.009571834782918488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04954025911764513, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4650322418146917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3283632508522693, + 0.005448855782531274, + 0.7701462705873224 + ], + "gripper_position": [ + 0.3305168641518512, + -0.03145183996264908, + 1.043435086278995 + ], + "target_minus_gripper": [ + -0.0021536132995819135, + 0.03690069574518035, + -0.2732888156916725 + ], + "held_position": [ + 0.3342937457177212, + -0.027398387674784225, + 1.0431535291617147 + ], + "held_minus_target": [ + 0.005930494865451885, + -0.032847243457315496, + 0.27300725857439223 + ], + "held_minus_gripper": [ + 0.0037768815658699717, + 0.004053452287864856, + -0.00028155711728028443 + ], + "xy_dist": 0.036963487345250685, + "held_xy_dist": 0.033378318892558184, + "held_gripper_dist": 0.005547484495056875, + "max_held_gripper_dist": 0.005549186411453352, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701462705873224, + "held_z": 1.0431535291617147, + "required_height": 0.8001462705873225, + "gripper_z": 1.043435086278995, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.63387338123049, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9905845409956684, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4683097471271735, + "max_source_tilt_deg": 89.90922297127574, + "source_upright_tilt_deg": 3.89736793517869, + "max_source_upright_tilt_deg": 89.9041385797508, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4683097471271735, + "source_upright_return_tilt_deg": 3.89736793517869, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.6597999993663628e-07, + "max_target_xy_drift": 2.151662542945707e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3284, + 0.0054, + 0.7701 + ], + "controller_target_position": [ + 0.3284, + 0.0054, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + -0.0009, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3267, + -0.0207, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016373324206727183, + -0.0009483938727914167, + -0.0010118244970507605 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.897371316225209, + "source_return_step_error_deg": 2.468327361804497, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.894703207660983, + "source_return_best_wrist_position": -1.6170616149902344, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6170616149902344 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3284, + 0.0054, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3284, + 0.0054, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + -0.0009, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3267, + -0.0207, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016373324206727183, + -0.0009483938727914167, + -0.0010118244970507605 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.897371316225209, + "pour_controller_source_return_step_error_deg": 2.468327361804497, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.894703207660983, + "pour_controller_source_return_best_wrist_position": -1.6170616149902344, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6170616149902344, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036963487345250685, + "valid_pour_held_xy_dist": 0.033378318892558184, + "valid_pour_held_gripper_dist": 0.005547484495056875, + "valid_pour_required_height": 0.8001462705873225, + "valid_pour_held_z": 1.0431535291617147, + "valid_pour_source_tilt_deg": 2.4683097471271735, + "valid_pour_source_upright_tilt_deg": 3.89736793517869, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.6597999993663628e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3342937457177212, + -0.05062251971483325, + 1.0431535291617147 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3240086234594315, + -0.027398387674784225, + 1.0431535291617147 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32915118458857634, + -0.03901045369480874, + 1.0431535291617147 + ], + "valid_pour_held_grasp_object_position": [ + 0.3342937457177212, + -0.027398387674784225, + 1.0431535291617147 + ], + "valid_pour_held_grasp_finger_gap": 0.025399685999665394, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023783001986798148, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.059559604986314185, + -0.9976874110042974, + 0.032748791999348104 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058371143765599135, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038441326895635675, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3342937457177212, + -0.05062251971483325, + 1.0431535291617147 + ], + "held_grasp_finger_b": [ + 0.3240086234594315, + -0.027398387674784225, + 1.0431535291617147 + ], + "held_grasp_midpoint": [ + 0.32915118458857634, + -0.03901045369480874, + 1.0431535291617147 + ], + "held_grasp_object_position": [ + 0.3342937457177212, + -0.027398387674784225, + 1.0431535291617147 + ], + "held_grasp_finger_gap": 0.025399685999665394, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023783001986798148, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.059559604986314185, + -0.9976874110042974, + 0.032748791999348104 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058371143765599135, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038441326895635675, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30500335518383404, + -0.10110355970800912, + 0.7611064949388584 + ], + "target_position": [ + 0.3194626944931823, + -0.12507758952177145, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02799690337830292, + "xy_threshold": 0.08, + "gripper_dist": 0.207661171669696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064949388584, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08572019291532344, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609356417353424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18574495270576508, + "release_required_pad_clearance": 0.05304678208676712, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1239479081850057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d4750fe9e17ce00118f5a5bdcc3e80b82e4f932c592640b15d4125b024d175c", + "visual_seed": 789823157133171456, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72587ad2d5444b4de9ea8a4e83a4b96f388f5fcf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_96_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34785550083989697, + -0.11991384080817756, + 1.005381005767238 + ], + "current_z": 1.005381005767238, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.14427431893853804, + "gripper_z": 1.0055164855393697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.344222305567507, + -0.12395619261511802, + 1.0055164855393697 + ], + "object_minus_gripper": [ + 0.0036331952723899774, + 0.0040423518069404585, + -0.0001354797721315748 + ], + "object_to_gripper_xy": 0.005435137166474428, + "object_to_gripper_z": -0.0001354797721315748, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34785550083989697, + -0.14338415461783094, + 1.005381005767238 + ], + "finger_b": [ + 0.3372958273043108, + -0.11991384080817756, + 1.005381005767238 + ], + "finger_midpoint": [ + 0.3425756640721039, + -0.13164899771300426, + 1.005381005767238 + ], + "object_minus_finger_midpoint": [ + 0.005279836767793089, + 0.011735156904826696, + 0.0 + ], + "finger_gap": 0.025736400981912082, + "fingertip_max_gap": 0.09444347681157275, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012868200490956046, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005381005767238, + "object_top_z": 1.0553893013562892, + "finger_top_clearance": 0.050008295589051066, + "fingertip_min_top_clearance": 0.015002488676715286, + "object_projection_between_fingers": 0.8316530104422553, + "object_to_finger_line_xy": 0.009629895484682724, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04972173840578638, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7650136093961155, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3275626412636463, + 0.00625512827806927, + 0.7701464494012563 + ], + "gripper_position": [ + 0.332186736206876, + -0.028791832110452692, + 1.0433971192865794 + ], + "target_minus_gripper": [ + -0.004624094943229684, + 0.03504696038852196, + -0.2732506698853231 + ], + "held_position": [ + 0.3359226458533027, + -0.02485248954294845, + 1.0431880297387304 + ], + "held_minus_target": [ + 0.008360004589656411, + -0.03110761782101772, + 0.27304158033747405 + ], + "held_minus_gripper": [ + 0.003735909646426727, + 0.0039393425675042434, + -0.00020908954784903955 + ], + "xy_dist": 0.03535069570063126, + "held_xy_dist": 0.03221138871948205, + "held_gripper_dist": 0.005433153705669932, + "max_held_gripper_dist": 0.0054385892438936325, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0431880297387304, + "required_height": 0.8001464494012563, + "gripper_z": 1.0433971192865794, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.42594193232779, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1699701960176085, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4640779573490517, + "max_source_tilt_deg": 89.98883304346958, + "source_upright_tilt_deg": 3.067382957717296, + "max_source_upright_tilt_deg": 89.6939436883855, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4640779573490517, + "source_upright_return_tilt_deg": 3.067382957717296, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.670167269857111e-08, + "max_target_xy_drift": 1.5465634202063203e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3276, + 0.0063, + 0.7701 + ], + "controller_target_position": [ + 0.3276, + 0.0063, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0015, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3283, + -0.0174, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007456063467213081, + 0.001524083876614137, + -0.0005204824519625792 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0673654059595155, + "source_return_step_error_deg": 2.4641450510163887, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.070248935344121, + "source_return_best_wrist_position": -1.6140798330307007, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6140798330307007 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3276, + 0.0063, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3276, + 0.0063, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0015, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3283, + -0.0174, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007456063467213081, + 0.001524083876614137, + -0.0005204824519625792 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0673654059595155, + "pour_controller_source_return_step_error_deg": 2.4641450510163887, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.070248935344121, + "pour_controller_source_return_best_wrist_position": -1.6140798330307007, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6140798330307007, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03535069570063126, + "valid_pour_held_xy_dist": 0.03221138871948205, + "valid_pour_held_gripper_dist": 0.005433153705669932, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0431880297387304, + "valid_pour_source_tilt_deg": 2.4640779573490517, + "valid_pour_source_upright_tilt_deg": 3.067382957717296, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.670167269857111e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3359226458533027, + -0.04833473888198071, + 1.0431880297387304 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32610432758434943, + -0.02485248954294845, + 1.0431880297387304 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3310134867188261, + -0.036593614212464584, + 1.0431880297387304 + ], + "valid_pour_held_grasp_object_position": [ + 0.3359226458533027, + -0.02485248954294845, + 1.0431880297387304 + ], + "valid_pour_held_grasp_finger_gap": 0.025452218128307467, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023848595118635175, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.040739025342216975, + -0.9985673034687521, + 0.03469398013072677 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005398532913160108, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819594122755431, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3359226458533027, + -0.04833473888198071, + 1.0431880297387304 + ], + "held_grasp_finger_b": [ + 0.32610432758434943, + -0.02485248954294845, + 1.0431880297387304 + ], + "held_grasp_midpoint": [ + 0.3310134867188261, + -0.036593614212464584, + 1.0431880297387304 + ], + "held_grasp_object_position": [ + 0.3359226458533027, + -0.02485248954294845, + 1.0431880297387304 + ], + "held_grasp_finger_gap": 0.025452218128307467, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023848595118635175, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.040739025342216975, + -0.9985673034687521, + 0.03469398013072677 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005398532913160108, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819594122755431, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3285723390068491, + -0.12470407973065906, + 0.7611067464333449 + ], + "target_position": [ + 0.324985322598932, + -0.12409804557374256, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036378515788877772, + "xy_threshold": 0.08, + "gripper_dist": 0.21880147254402083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067464333449, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755771470171188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18894629420613693, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac6c2b903f3fbebe943f9fe1c2dd18b259a60de0fb86a71fb0ff8f31f61969d3", + "visual_seed": 2454615795717037868, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8270246a8d8c14c2db39a4fcd7b7951a0bcfdd39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_97_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34254400206529867, + -0.12074148266083104, + 1.0027209997979836 + ], + "current_z": 1.0027209997979836, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.14161431296928306, + "gripper_z": 1.0030166351969512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3387032407955025, + -0.1248172539347187, + 1.0030166351969512 + ], + "object_minus_gripper": [ + 0.0038407612697961557, + 0.0040757712738876545, + -0.0002956353989675975 + ], + "object_to_gripper_xy": 0.0056002998677404745, + "object_to_gripper_z": -0.0002956353989675975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34254400206529867, + -0.14448773734491926, + 1.0027209997979836 + ], + "finger_b": [ + 0.3321132691019464, + -0.12074148266083104, + 1.0027209997979836 + ], + "finger_midpoint": [ + 0.3373286355836225, + -0.13261461000287517, + 1.0027209997979836 + ], + "object_minus_finger_midpoint": [ + 0.0052153664816761425, + 0.011873127342044126, + 0.0 + ], + "finger_gap": 0.02593616782939118, + "fingertip_max_gap": 0.09412176651581514, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012968083914695602, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027209997979836, + "object_top_z": 1.0526062929927766, + "finger_top_clearance": 0.04988529319479307, + "fingertip_min_top_clearance": 0.01496558795843792, + "object_projection_between_fingers": 0.8382597765224442, + "object_to_finger_line_xy": 0.009550016915328242, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04956088325790757, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.786169099755263, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3236137143379872, + 0.005245906623683942, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3276252454245526, + -0.032121706520732166, + 1.0447931976214797 + ], + "target_minus_gripper": [ + -0.004011531086565434, + 0.037367613144416105, + -0.2746466886155785 + ], + "held_position": [ + 0.3314634336165532, + -0.02805137129620229, + 1.04443657097125 + ], + "held_minus_target": [ + 0.007849719278566036, + -0.03329727791988623, + 0.2742900619653488 + ], + "held_minus_gripper": [ + 0.0038381881920006022, + 0.004070335224529875, + -0.00035662665022972995 + ], + "xy_dist": 0.03758232155906844, + "held_xy_dist": 0.034210039602818855, + "held_gripper_dist": 0.005605934356101184, + "max_held_gripper_dist": 0.0056098777648144055, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.04443657097125, + "required_height": 0.8001465090059012, + "gripper_z": 1.0447931976214797, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49425065421708, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.2372087527571374, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.2736260320255417, + "max_source_tilt_deg": 89.92004297022265, + "source_upright_tilt_deg": 3.9029986548699527, + "max_source_upright_tilt_deg": 89.69212049563887, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.2736260320255417, + "source_upright_return_tilt_deg": 3.9029986548699527, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.252969904887137e-08, + "max_target_xy_drift": 1.3510999954902833e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3236, + 0.0052, + 0.7701 + ], + "controller_target_position": [ + 0.3236, + 0.0052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0013, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3235, + -0.0212, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00010277829161170265, + -0.001284835215342066, + 8.071599598947956e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9029993830306173, + "source_return_step_error_deg": 1.273604795182501, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.905346602687325, + "source_return_best_wrist_position": -1.5915682315826416, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5915682315826416 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3236, + 0.0052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3236, + 0.0052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0013, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3235, + -0.0212, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00010277829161170265, + -0.001284835215342066, + 8.071599598947956e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9029993830306173, + "pour_controller_source_return_step_error_deg": 1.273604795182501, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.905346602687325, + "pour_controller_source_return_best_wrist_position": -1.5915682315826416, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5915682315826416, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03758232155906844, + "valid_pour_held_xy_dist": 0.034210039602818855, + "valid_pour_held_gripper_dist": 0.005605934356101184, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.04443657097125, + "valid_pour_source_tilt_deg": 1.2736260320255417, + "valid_pour_source_upright_tilt_deg": 3.9029986548699527, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.252969904887137e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3314634336165532, + -0.051675757538660355, + 1.04443657097125 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3210213988968728, + -0.02805137129620229, + 1.04443657097125 + ], + "valid_pour_held_grasp_midpoint": [ + 0.326242416256713, + -0.03986356441743132, + 1.04443657097125 + ], + "valid_pour_held_grasp_object_position": [ + 0.3314634336165532, + -0.02805137129620229, + 1.04443657097125 + ], + "valid_pour_held_grasp_finger_gap": 0.025829202744565172, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02426302932807151, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06640799699373988, + -0.9976807217721005, + 0.014938384771452814 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005996436715973862, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03828217001633237, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3314634336165532, + -0.051675757538660355, + 1.04443657097125 + ], + "held_grasp_finger_b": [ + 0.3210213988968728, + -0.02805137129620229, + 1.04443657097125 + ], + "held_grasp_midpoint": [ + 0.326242416256713, + -0.03986356441743132, + 1.04443657097125 + ], + "held_grasp_object_position": [ + 0.3314634336165532, + -0.02805137129620229, + 1.04443657097125 + ], + "held_grasp_finger_gap": 0.025829202744565172, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02426302932807151, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06640799699373988, + -0.9976807217721005, + 0.014938384771452814 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005996436715973862, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03828217001633237, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29878633606766913, + -0.10054884824828281, + 0.7611264847458242 + ], + "target_position": [ + 0.31960221614260087, + -0.12468381961411792, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.03187158148137022, + "xy_threshold": 0.08, + "gripper_dist": 0.20421206531682323, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611264847458242, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.085366467655771, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0903317784021808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18316382152580746, + "release_required_pad_clearance": 0.055165889201090404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.396519709204263, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61357fa5165a1814d01120b9af15b45ed85b24190737e5ee8507d4397c8748ea", + "visual_seed": 8453455371857493502, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b3e855373ac8b4db87ce5d8e198b3139720767 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3429207970722835, + -0.12408866544226864, + 1.001417202256981 + ], + "current_z": 1.001417202256981, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14031063463757032, + "gripper_z": 1.0020006526478336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33935431373716596, + -0.1281214641730335, + 1.0020006526478336 + ], + "object_minus_gripper": [ + 0.003566483335117554, + 0.0040327987307648555, + -0.0005834503908526134 + ], + "object_to_gripper_xy": 0.005383611147039676, + "object_to_gripper_z": -0.0005834503908526134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3429207970722835, + -0.1474292478941846, + 1.001417202256981 + ], + "finger_b": [ + 0.3322952042762863, + -0.12408866544226864, + 1.001417202256981 + ], + "finger_midpoint": [ + 0.33760800067428487, + -0.13575895666822663, + 1.001417202256981 + ], + "object_minus_finger_midpoint": [ + 0.0053127963979986426, + 0.011670291225957988, + 0.0 + ], + "finger_gap": 0.025645389672629963, + "fingertip_max_gap": 0.09361385677346543, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012822694836314999, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001417202256981, + "object_top_z": 1.0514233279652214, + "finger_top_clearance": 0.05000612570824048, + "fingertip_min_top_clearance": 0.015001837712472127, + "object_projection_between_fingers": 0.8283326385252803, + "object_to_finger_line_xy": 0.009670647548013037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049306928386732715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2162078778112977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.32308967030112196, + 0.0018155127499700319, + 0.7701464494012562 + ], + "gripper_position": [ + 0.3269275454977706, + -0.033729863581436564, + 1.045195689348726 + ], + "target_minus_gripper": [ + -0.0038378751966486324, + 0.03554537633140659, + -0.27504923994746977 + ], + "held_position": [ + 0.3305420524127687, + -0.029759979170410483, + 1.0445358613159366 + ], + "held_minus_target": [ + 0.007452382111646727, + -0.03157549192038051, + 0.27438941191468036 + ], + "held_minus_gripper": [ + 0.0036145069149980946, + 0.003969884411026081, + -0.0006598280327894113 + ], + "xy_dist": 0.03575196588393946, + "held_xy_dist": 0.03244302219510395, + "held_gripper_dist": 0.005409252768019968, + "max_held_gripper_dist": 0.005417614115984993, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012562, + "held_z": 1.0445358613159366, + "required_height": 0.8001464494012562, + "gripper_z": 1.045195689348726, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.85890762381489, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6876266928056887, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4374703832615876, + "max_source_tilt_deg": 89.908299338846, + "source_upright_tilt_deg": 3.2755161069949548, + "max_source_upright_tilt_deg": 89.8048738947785, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4374703832615876, + "source_upright_return_tilt_deg": 3.2755161069949548, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9846854357057556e-08, + "max_target_xy_drift": 1.8396453648620848e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3231, + 0.0018, + 0.7701 + ], + "controller_target_position": [ + 0.3231, + 0.0018, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0009, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3227, + -0.0225, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00043665307595083824, + 0.0008784836383840702, + 0.0013127017699667478 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.275729704871239, + "source_return_step_error_deg": 2.4375952084275925, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2792721181047026, + "source_return_best_wrist_position": -1.6164255142211914, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6164255142211914 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3231, + 0.0018, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3231, + 0.0018, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0009, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3227, + -0.0225, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00043665307595083824, + 0.0008784836383840702, + 0.0013127017699667478 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.275729704871239, + "pour_controller_source_return_step_error_deg": 2.4375952084275925, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2792721181047026, + "pour_controller_source_return_best_wrist_position": -1.6164255142211914, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6164255142211914, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03575196588393946, + "valid_pour_held_xy_dist": 0.03244302219510395, + "valid_pour_held_gripper_dist": 0.005409252768019968, + "valid_pour_required_height": 0.8001464494012562, + "valid_pour_held_z": 1.0445358613159366, + "valid_pour_source_tilt_deg": 2.4374703832615876, + "valid_pour_source_upright_tilt_deg": 3.2755161069949548, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9846854357057556e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3305420524127687, + -0.052827733403807475, + 1.0445358613159366 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32030566457272164, + -0.029759979170410483, + 1.0445358613159366 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32542385849274513, + -0.04129385628710898, + 1.0445358613159366 + ], + "valid_pour_held_grasp_object_position": [ + 0.3305420524127687, + -0.029759979170410483, + 1.0445358613159366 + ], + "valid_pour_held_grasp_finger_gap": 0.02523697528199978, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02350428319070562, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.046326301436429455, + -0.9983663328901331, + 0.033444568269440755 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005659909826589581, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038442322463440474, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3305420524127687, + -0.052827733403807475, + 1.0445358613159366 + ], + "held_grasp_finger_b": [ + 0.32030566457272164, + -0.029759979170410483, + 1.0445358613159366 + ], + "held_grasp_midpoint": [ + 0.32542385849274513, + -0.04129385628710898, + 1.0445358613159366 + ], + "held_grasp_object_position": [ + 0.3305420524127687, + -0.029759979170410483, + 1.0445358613159366 + ], + "held_grasp_finger_gap": 0.02523697528199978, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02350428319070562, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.046326301436429455, + -0.9983663328901331, + 0.033444568269440755 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005659909826589581, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038442322463440474, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3239469294591728, + -0.12834598990269572, + 0.7611065391437265 + ], + "target_position": [ + 0.32016837488209937, + -0.12874109144872217, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003799155159189355, + "xy_threshold": 0.08, + "gripper_dist": 0.21693767114607335, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065391437265, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075309065820842, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528094473845886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1879427501480313, + "release_required_pad_clearance": 0.05264047236922943, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3403483019947084, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6fa1b902e21b542996fa0e03a5e4e583357692ceb2d4bfa5987be3e105f53ccd", + "visual_seed": 4315377970909741735, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..822b64fce07d7ad6cce8db34f829b2deae79b473 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34810031685679793, + -0.11975052487621077, + 1.0042137697512494 + ], + "current_z": 1.0042137697512494, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14310726173648347, + "gripper_z": 1.0042907846548577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3445928641551538, + -0.12375247126624138, + 1.0042907846548577 + ], + "object_minus_gripper": [ + 0.0035074527016441537, + 0.004001946390030611, + -7.701490360823016e-05 + ], + "object_to_gripper_xy": 0.0053214471117309725, + "object_to_gripper_z": -7.701490360823016e-05, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34810031685679793, + -0.14307564401360323, + 1.0042137697512494 + ], + "finger_b": [ + 0.33752464657884484, + -0.11975052487621077, + 1.0042137697512494 + ], + "finger_midpoint": [ + 0.3428124817178214, + -0.131413084444907, + 1.0042137697512494 + ], + "object_minus_finger_midpoint": [ + 0.0052878351389765155, + 0.011662559568696246, + 0.0 + ], + "finger_gap": 0.025610661541661365, + "fingertip_max_gap": 0.09453163545947382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012805330770830684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0042137697512494, + "object_top_z": 1.0542466683031633, + "finger_top_clearance": 0.05003289855191384, + "fingertip_min_top_clearance": 0.015009869565574135, + "object_projection_between_fingers": 0.8294804370539066, + "object_to_finger_line_xy": 0.009631878067255666, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049765817729736914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.812074594370116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3251870683438008, + 0.0041657805877254196, + 0.7701464494012565 + ], + "gripper_position": [ + 0.32928638014374345, + -0.032750440699521224, + 1.043018741706891 + ], + "target_minus_gripper": [ + -0.004099311799942662, + 0.03691622128724664, + -0.2728722923056345 + ], + "held_position": [ + 0.3329462714685598, + -0.02889452792700238, + 1.042867919183485 + ], + "held_minus_target": [ + 0.007759203124759029, + -0.0330603085147278, + 0.27272146978222855 + ], + "held_minus_gripper": [ + 0.0036598913248163667, + 0.0038559127725188436, + -0.0001508225234059246 + ], + "xy_dist": 0.03714312522341263, + "held_xy_dist": 0.03395864002312598, + "held_gripper_dist": 0.0053184222521633785, + "max_held_gripper_dist": 0.005323400018263273, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.042867919183485, + "required_height": 0.8001464494012566, + "gripper_z": 1.043018741706891, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.4929255975181, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.191315488915373, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.773797132429688, + "max_source_tilt_deg": 89.8806102776457, + "source_upright_tilt_deg": 2.542837439330867, + "max_source_upright_tilt_deg": 89.72994505716237, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.773797132429688, + "source_upright_return_tilt_deg": 2.542837439330867, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.958120942115784e-08, + "max_target_xy_drift": 1.1222437024116516e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3252, + 0.0042, + 0.7701 + ], + "controller_target_position": [ + 0.3252, + 0.0042, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + -0.0009, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3246, + -0.0219, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005625529651329319, + -0.0008542430221262526, + -0.001123848945342607 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.542849590007299, + "source_return_step_error_deg": 2.773835673135907, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7669505273189174, + "source_return_best_wrist_position": -1.6139142513275146, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6139142513275146 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3252, + 0.0042, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3252, + 0.0042, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + -0.0009, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3246, + -0.0219, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005625529651329319, + -0.0008542430221262526, + -0.001123848945342607 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.542849590007299, + "pour_controller_source_return_step_error_deg": 2.773835673135907, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7669505273189174, + "pour_controller_source_return_best_wrist_position": -1.6139142513275146, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6139142513275146, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03714312522341263, + "valid_pour_held_xy_dist": 0.03395864002312598, + "valid_pour_held_gripper_dist": 0.0053184222521633785, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.042867919183485, + "valid_pour_source_tilt_deg": 2.773797132429688, + "valid_pour_source_upright_tilt_deg": 2.542837439330867, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.958120942115784e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3329462714685598, + -0.052466080723396764, + 1.042867919183485 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3234224482969895, + -0.02889452792700238, + 1.042867919183485 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32818435988277467, + -0.040680304325199576, + 1.042867919183485 + ], + "valid_pour_held_grasp_object_position": [ + 0.3329462714685598, + -0.02889452792700238, + 1.042867919183485 + ], + "valid_pour_held_grasp_finger_gap": 0.025422850135980963, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02381868139627332, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028385510601949715, + -0.9990153392129382, + 0.0340971377849335 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005110181702946315, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038081247955566104, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3329462714685598, + -0.052466080723396764, + 1.042867919183485 + ], + "held_grasp_finger_b": [ + 0.3234224482969895, + -0.02889452792700238, + 1.042867919183485 + ], + "held_grasp_midpoint": [ + 0.32818435988277467, + -0.040680304325199576, + 1.042867919183485 + ], + "held_grasp_object_position": [ + 0.3329462714685598, + -0.02889452792700238, + 1.042867919183485 + ], + "held_grasp_finger_gap": 0.025422850135980963, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02381868139627332, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028385510601949715, + -0.9990153392129382, + 0.0340971377849335 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005110181702946315, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038081247955566104, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31002421861535323, + -0.11231487775779632, + 0.7611151923869685 + ], + "target_position": [ + 0.3253807712178569, + -0.12404840831539735, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0193261337876881, + "xy_threshold": 0.08, + "gripper_dist": 0.20683290826790723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611151923869685, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07771081264911199, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0891688127633347, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18187671047372256, + "release_required_pad_clearance": 0.05458440638166735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.191651306232639, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 183, + "max_placed_release_frames": 183 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 7341333033982970114, + "physical_seed": 8543775924677074192, + "layout_id": "layout_00012", + "step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "workflow_spec_digest": "e6acd1d4a83fb797c0d4b594b01b289da6e39d72ca12c2bcdba8d25e4e62e0a5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40772915a2cad6036d5c2a779cb369af64e3f4d0bfc466e45ead3f807df70924", + "visual_seed": 5132724069994232187, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3829379865525735683, + 1742170454347048747, + 3967963344366819069 + ], + "runtime_workflow_digest": "c11f54adcfb893ba779264eb6d3e6df4c78c7c1668e1933ce9541e9ac4118936" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..475996022052c228085216d1d405acba415e0a3f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00012/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00012", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b1b3f5584e8f20e9978ca55c3545922edb07b6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2cddb0f39f91f9f4d5ff89a7b4a75d4a6d0cd0e6c1ffb8ff16cdb65aa63b0c7 +size 6115374 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3868929e550ef3de657aed11f0ddd470824d6e3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e567d5b68a0aced5a29c70c5ff7153bb2012115a4ad24ce5bca5605de41ddcf +size 5582670 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7e9fc77243fdf3bd0ec8606227f47bdacb19c3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07085358f999c752363757138750d31686e827eb32128051e7b56702f53db33e +size 4232474 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..497bb856d931b582bad5fcf3933dc115d64d19f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59f4e6779b66dd6c25b2ead356016bc8d8a2fe09b4627c4db816e326322d9b7b +size 3858374 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c89a96a00cb0063da9817a5859a0e20295b0966 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59ecd80d29958fbced77875a7eeed58cf14b5af8710a130ae435ef3251191158 +size 5550382 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3aa89dc3b7f5c95399962b4554d890c453531c6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b21789332851959e7ea72ce23576da7ccda7e6c19cc3b8244b596b387181f3b4 +size 3714775 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f529567bd60fecc32b4d77209162dcd6fdbbd9c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e9305b4842fd1a4daedcd2a9014e057b8b6d37f5cb805b1a037261650655e09 +size 5137181 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9be4e41fd6915fd48a8763ccc67a0860d54b996c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29b276ad4cb6713469a0c92264d598519ba07a4477baf62987f6b76d524e384c +size 5238742 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9e7789e7da13d8520bc3b1e0cfe88a06eafb7ee6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9b93599b1292b124566473ad0801c59b5a21af6d5619c413a5221755e096a0f +size 4518238 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35f288b3beb99fb76c3768c236b2d0ce699bd289 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3710c9890181480338048419f2bd1dfcfcb7d9ceda3454413570152605db8e93 +size 3910251 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37bce9d2ceceba87985bc30566f17d9028ea76ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c998e0836e79b0ad14d3b2b20043bb3f29a23be706b5b404f825a11ccc354cf9 +size 3651925 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0e32be5f75ebbc328eee154ff919ec375f75110 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7683998c4122478854cc940b4df3a4af635a43ed7728e87952f22eee9637b80 +size 4658893 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4343a02de8eb4bb4080a3da36b58088530bd9ad --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a8007423fccf0d1b4bd53f495a523453a920445e959a3f04c6a71cb5d020167 +size 4011747 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0337e8e06c11e8a608203956a72262d97ecbc8ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4fab9e1b4669fac609c965cda5194f0f4a639c1c3832fbb16545635f6374dd3 +size 4528228 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..961bd390195ba11182f57a75edfc15c3bce89ed3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5d22612dac07b5b69eedf2a7895e3c25f88228d207c29db631235f93cc3e332 +size 4286197 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e5ce8ca4f168dc68bd2e8cc9b6e003b248bed74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edb8ee5d65c2a1c4f00f43f81f23b08fc9face203a4eed395087397709d4ecad +size 4966431 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d014c36947ac109be6e93d2b0faa58e14f65d157 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e5cec6621c3a5dbd5d5cdcbdb3895fefbc3a9acbaccd5ca3af6ac1f297ce7ee +size 5932759 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a9a4907572c4c1ce5e377acaf011124aa89243b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ed412113274f568b96d354e9c68d9e84dd9c34b34d6c09bf111ee7197dbe829 +size 4907665 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3146e15348926c02f706a072ec68f323153eea43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b606f3bb9d1d0e914e0d67bd97a3159853f977c0aee0c238e9c31da987d25ba5 +size 4318698 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..919fca831f857b2184cd4d3728f9d8282f9bc10a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b38ec68c7868b2f0e3d91e17e2a480a16873c7c8fe1c0a4af8daa69b8a993bc6 +size 3807583 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c941f99b3ff928b2dde933caa6f6bf602b5c4b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:666ac1a60678215b2be2a2a8a8c3e7d97bec0ef715a7cccb424c7819c1740a5d +size 4952592 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ffe517d0b20ee14caf40a382c882efd2819e4773 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6a21ce9c7c919fe2e529c3a283d7469b91b755a0d1a2e73724350a821fef97 +size 4535190 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..002db6a85d6b3e34a333dad3b172e89093c15ac1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7d6d80669171fa3a724f6f55b18bdbbd61f32a0dc837b7915409be895dfcd16 +size 5623459 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc205d8fbe91155051bfc8955a7d6a69244dd20b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d76b2e922dcde29b834e812d638388589c763258621e250d69dbcd39770a94b5 +size 4001101 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb4a92a1ad957d07945cdc36ae1b46d655217b3f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0b899c2cf589b7750f84030bf9a2711d26435b6203504336103772273eac60c +size 3486974 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8733c01d37ad6d3e0aa9df31c7eaf6e921393dbb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:911056063953e9e1b5cef7e5962de951f3c455517c586f3daa1e57eba0841c9a +size 3949366 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..142bdc67b39ce40a603e85bf51d5cf4e8798da66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecab6fe5c617becf0cb29259a381501d8a22bd08b166009236dc45e7aff74759 +size 3968938 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93961bb1c8a6e6d0cb8fa01ea89600c02260a2e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4e4ce6a80b64797c29033495925b50bc1e371cea189c4f5e740ed7c9bc3b9e4 +size 4980511 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7efe80e62b65ec54c88052a67c108cda0a4cfbe2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d18beffbe1131d0e0ec936660b25019bb6277aa5828eea56ccf50074b89c7039 +size 4407865 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f63ea90ae42d7e167226e9ed04e439b9eeccdea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44fd281fe65055acb874e62178fe10a266b7b4b28cc0636129094adf9a6b740c +size 4354913 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..403b94ce612ef027492399909abb3b00d520e8e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c0ccdc20614a23558144bd97d53ba7d1b10fcc2f916b4d3515c926c5bf0deee +size 4880821 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b95759509dabdeb9ac7aa50059fe6018a45d67b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aa48f388f9e4bfd70598c1608fa101eebfc47ee7ba30ccc4094f9fb745e6c99 +size 5623236 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5eced62b30615e2e01acf9a53f3124c070c4f01 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4caf1a45924272e4c01a34f6736edcaeeba1282ff0c4cd554dd796d38b47f34 +size 4595367 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1eba83e80f608fe7bc11489885b19ae061f51831 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcee7af78ce5d312ffd2b99bdf902e4dd2f87b60c8c04a2240f9041daa0a73fa +size 3933305 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..484d1900b784e93ca52f9f37149462d6938cc04a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d53e2abd87c10cce99f1358322a645f270c84005c184d426c31ae022af17a436 +size 4353669 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4883e1f1438fc69bd107f35a0481a895f110a7b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c05282152a5bd0b3387ff07fe856a84a1db52bbd4e60057994cad31f8acc82 +size 4539254 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b8062387f7af07b9cd2e54d0c81216bb658bbce --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71710b063c8b470bab7b681e1c1bae2cffe18d5bdd8f29431a3eb28fbc798801 +size 4716916 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cb315a2b23d86c75df6aec4e16bd85145cf5e0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed855d770c0828f7e1f652664452f6d5ec428f472195b53615bf3bd9bf1abc9a +size 5119333 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dee8cbdf82d2896f4807abdd5953852558d6475a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11ba4c8ef06eb7ee9e68b9631f9867fa0a951ceaf2e22fbc406ef6d326f18907 +size 5288342 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c0333963c43f770a2776f1755545810c6dd6c33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c29692d7a071b18a68d1ae883fdf224f3cf2ce8bf0efba0aeffeca2528903d1 +size 4100984 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4cf7c2b24d3e6a107093010ef79da266ef9e0df6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82468e43325e0d13faeaf14d72c3efa7b6036994f8007238294e871889bac04c +size 4266853 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f68aa149a92d3b6c7315cd9687e66430e9142b9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a65f54706542e046588aec51a7c44e6021869ec6e048fa5bc3eb3d779e48990 +size 3518319 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3648b7de550705fdedf706fc0854585eced23b1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7e4227ae30f56596964f0855882707a71bb72dbbbc21764ab6db35e58470293 +size 6301069 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62c81d86036c506abc8e5edec0f6ebfac6089b54 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c9a4a242b4fc5acf135541099bff9f10a4743e4453ab273b502894899cc8ebc +size 3406851 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3288cca8cff241fe07b6a5816a02082b78330e64 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:794f78ea63b5193df98f4e479125d527fef50dcf90b294c80b8d26658f71eb58 +size 5552966 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fe69d1c4b143a554b2c8cb830ec57af1f0abd76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e97e4ed14a99cf351836b0316282b3738c7ad505fecc47759bc042b15c466fa5 +size 4365351 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..24fa72c0c27ca3d25a20ebc5f09da7d8c10783b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f9aee790f3772765dcd4ed6239b5d59c0cf5a1382f78b20d3e9016484bdcba +size 4893226 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fb76a341e97836c96d3b412c18ff02c83753aa8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b8d4ae32c92afdab2ee643fa8a738ed1ca9c222c185819b9ffb8580ce2a7a07 +size 3705794 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7becaf9d10992dd684f5269eb6241cb25799f5c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c88f133b1f675d43bca29d62b1fa30dd6da52d766b173f2c2262b65883d30bd +size 4700462 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..359914b68cf6043b0074992abbc4a962f2f5d913 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78aa27d9d3f7c5fa52f3527b83e7d7caca2bbd978eb08ec3445c0b25d936dfaa +size 3597401 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..155d99281b6b684277ce1dc085666f764affff86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13aea278b2cdf26a0f9087a46e0f91d79f6b11c6416c8f8d1d86b962f71f6711 +size 6207267 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a94a1ffe561abe9b1469c042b56d2018f47dc47 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:123d37ceb7ae167f17a5a5bce0ca7a4d1039e9f60778d50c93789559610ec6b2 +size 3727281 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e74088b762356ac32940937e678a0445ec144ef --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37871bc1205a132538610ec5325868dcb3453ef41df9f9d5b5f8c12f4d638026 +size 4171648 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aedee8595260044a41eba2e6ff6575c6bad65480 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33e23a8c50d27f3c06ee60a8668c27d81cddd9d0e36d9268507dafe4ce39bdc6 +size 3597464 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbf9d00d9139a3d4416e7d782026e9f406184b00 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9245a36f2d71529562c70cf45f069ae774fe7d2b1c479d8bdd9fff21fda4ce6e +size 7144206 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce3616f24eca4b6f2217726ad01542ec015d98af --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:303bbd71ca63943e00e3c55370265bc862facb414515006e9468c1b21cd742ab +size 3865626 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf05ac547bd20ec5dad794b63043be1cc0e9b66f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e02591bbd392b0a2a65efa6af23151bc00a62517e71648113ff77c0b95830a52 +size 4515524 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae98300dd1232c60f7355628e289e67a67f2a0ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33dc2810e1c6007fa6216d86dd804b66e6665eea3a4442fee5f97182f390d7e5 +size 3302922 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2cd678cf28f203ba28422f65ce65b4adbe0cd697 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1ea0f39991fb38218a07e244533c5a428f0559c5ed21e6fe253fd913bdf1ab4 +size 4052389 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbc61d8c63aa7adabd81610cc06d567d8f9f27b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:740cf0102c0ce4441b8e0bb9a5b8b6552bc1fb77eab1966b65e9ab91848ab276 +size 3963949 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d73f2e0bbed9bdeabec581134bea90f3f5acab7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24d19dec55f7edfb391c39fe8d630810a946e908c5a381a93cc18a43772c75a1 +size 5386825 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a58de27610362cf290fd1862de285cf103ccbe76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d721db5a77b13b2d60131ede50d97a770a1b70d3b4120082763b6c1f7d07cdb6 +size 5485667 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abafaed1e1ad6e06f64c0920a7359b8c44798e39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9a95e5947d9dc06b802fbdb5dabcbf5b94b6d8cbd897bf76b52558c46643741 +size 5141129 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..229f779e4885193c145419de8e75fde8380f7510 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0504ff7476a6ad9c9dbedb2356abdbc94001be5f954b079f317cee963abc03cb +size 5094599 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bef46d37f4b81470ac4d8888adacbc35701bf2d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b071322b19b3d2a166e7888cd6d7e12e9eb9ed32fc6c673f718eaf27f9de4f8b +size 4585591 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c9bd7ba5942ab42a0599e3cad1131d37f64c047a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05cc1682c61e8e04895742f2be61b21cc678c373a199584c95da9c446ab51279 +size 4121121 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..205e5d3071684e414a2a8458c6a83ab672d67622 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5a71f05d55951a2ddacc9e1b58c9cd239baf793087aaddfdfb9dca391a76e7 +size 4839274 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19ababde05ed2a6090c67ae841612dabd1d4c43d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:404b55936e6cbd893742fd6395749b4ec9ec8727b30b23e5c9ddfb6488290d15 +size 4533009 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..326a9eae9edeb57403c3b38f2d36975282f40061 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3513ba67f68477f98a1b1a1917130d1cc18682c65975532409a94277fc34494d +size 4505805 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef09979ccdc490b48357765bd3cdd8295cc8ac16 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c317d888b16f99d3567de8b74954a18a73ac853466139436285207ddd689524 +size 4260232 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..851d64aeab615baa9450aa9491e279eb04782fdc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32a38f678147e3fcdd14f38bb95e623a24861943b4e0308f6f94325051d84dbe +size 4415245 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea3c791f8769cbbe201d2b78ea515151e4fdcd98 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbee6f33dd70774cde5696f2d4613cc7d838f52efc7faf3d4865c45b91ad4189 +size 5318751 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b27d8afeb8ca0266f9a92dd51a1c724fb24f3e00 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a0a60f60a1598924dd1eadc2451398505b27e134d211e4c48dd103a91ff5fb1 +size 4215666 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab0cdc48b925df1ef39fe65b16bcf8efd0275570 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98690cdd2df13466df9d626a9d5ddb613ada5b82e8fa205cd6d5c66c34621386 +size 4189753 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..506ed011ef279138f5f199307ab8d2f1c9d702f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efa46f622f0102bfab00b76eeefc55dceb1becccdbf724177a0e5e866ee24da5 +size 4433419 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e3c1bbee5b2b277accce7b83edcd79d239226f74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:535a84b83bf7f21a5324c4006b2549e9708112c5196f7577d4e10efa853addfe +size 4024732 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e96a925dbee0164a66f7db8349ef6467e9be43d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7ef88984a54ba5dbc4265f86b61c3e901daf4c7f9f3ab27267dd2d963c10b18 +size 5905294 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e18b3075abbbbc1b23ea44e4e4f4a3a3ee053ad4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f4f762d39e847f089b27823061ce5a4e9d8688f52d7e06fb919790d6ea89887 +size 4853975 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7da4f43b6c99314b180720f069c5da532608ffc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a6408c5099f6ce98da0e097870440598a43f8e66368ab335603a92fb0ade949 +size 3956815 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15449ad3bee91f05e5981e61bfdf66ee8cd568a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9321a8cc4997dd98fe87c6af85f6dc3649a9e4134ee6ee3f98d1acfc87653c3 +size 4053491 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fde9f5eecabd85ca22d0181c902315540765dab4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9927f6d1b024b268d87fb090c53166c6cabedc20e882e8c9ab8d9d0931b8bf4 +size 3935199 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6cf7541eaa1633ac5682ecaeeb3c3aab26655b3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0514cb76fd414c8ae846d4cbab38213c77ef93f41ef32e003b609a3ac488e0e3 +size 3818323 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f46a123dcf753de7ae1957f2bb577b3c449eb87f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec4d4f8e7f777e239a2837123d390f2b5ddf872ae48da4ec6cb9710e9068772b +size 4698139 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65b69534128b89aa4204eca5118c5a0e9cf8c780 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73e9481e2f45e8b54e3fdc32f75f186f88930e74a92cdf3e9750848ace61a395 +size 4034285 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b79f620c31a678f4491ef2edc3f59853409768ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a0c6d0f43a7a9ae4be1f8fe0a84ba8bec3a5faab3314d0c1009e1715ec46c5d +size 4151099 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9fb86248bebee49b1ebf91b5c97c820bd7072ad7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e390af24163d026fa1a5b3ff0a16bada61940247f2a09ba64f5c904e1f759821 +size 5826007 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa97d33b65f9f0e5c8446c4ce939a1bb441e3a63 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8dad8abd1d2757fe8dbad11bed291c85eb0bb72911fe4749be02ac535722f6d +size 4006682 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e1d49589d177d48c8f37939fb592df3e76c9f5ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39817dcb6d10be31cd039d3775cdf57cf76f58d99951a173dd75ac937f0290a4 +size 3934521 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e09a91dce246ca61936008652301852d18cf78d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5973009683b700c2e50ff20f6f1c91dd44d407ac4fe336182c7b7b7f4244ad33 +size 3800102 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cd6551b555e4f8d7fcf383a5141349292a29b4e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea068814f7eed83fae5ae7999aea3c426b1620d5ea8a9a3df2b47e8bf21bd1ce +size 4036169 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d47f491b5d734d64a4794952983614510f9b6a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51c0512f51a1c2a53d8c19d2e543acdfc8a44bbe354f9b33277cb11bb6b05b3a +size 5116748 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7355d52d0bdcb5d7753eeb5b1656b11f1b221f0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8be16e046af53d98f859f537cc49667f5265db7521122f89c57a061a446b96d9 +size 4776130 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1165105dd14edd5227ede061a2eb623f64a969b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:987afee29b88636a54c395b3a6e7ee0cdc6026a073951f859400c07af6e8b20d +size 4260115 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9254b9ab4708f73a94add9a12dfc7419920ba69e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c94201b8cc201571be3ce03e534ee6b2909d454a9d454273018417a16101150 +size 5388250 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38a36c8f4a5b458a9de0a0e53ef04d018b7701f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf5aa1bb72032c916d429128964c8d71c5e57d1944f2a978e23ed93011320df +size 4505045 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21a67e68c0e28b0f89971ebafeeff4e12bcae18a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db791b695dabe363c24c0241fb1e891d28c5d11fd7aca96181b88f06ae682bc4 +size 5652700 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0d98a98d6f8f37f0b685613e7599aedfdcfa54d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b265944da7a41a42965fae9f138fe96ef935dfaf90703c310230795405316f +size 5095276 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..447174f491dd89bc34f443c3949616a4436ca2cf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b28374a627aaf8bd9526557422182a0127922b8489b77133f69f956a1ddc07c8 +size 5137820 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81f04d305db70d045481f1266741b6ea3e5d51d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1e0d4b0531f4176ef7eb688b1c75dcc0f60ab69ad01dcbe309b9c243d8928db +size 4372208 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f09d7cb664fc1af3a47e71b63eaccc67fc48ab2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6e12645e3e91ed2a9c5d803c6a662be774f226c3252733449c366369e3de667 +size 4416242 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee60fd03b52d64c87233e50e7a6c9d027eb8c67e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":789,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":785,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":777,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":785,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":777,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":785,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":787,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":785,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":785,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":778,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":783,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":786,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":784,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":779,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":780,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":781,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":782,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0442582d3108f6468cbbd4fcba3abe3598ddafc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T17:07:44","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.5364006645779423,0.804386010819774,0.71338606911949],"aabb_xy":[[-0.5451146336278766,0.7818860101605857],[-0.5276866955280076,0.8268860114789621]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.208736477493477,1.3153113296335097,0.71338606911949],"aabb_xy":[[0.11873647777030284,1.2922379770983297],[0.2987364772166512,1.3383846821686893]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.5544940716815487,1.165953558395938,0.71338606911949],"aabb_xy":[[-0.6144940721894016,1.1091068247100166],[-0.49449407117369576,1.2228002920818593]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.27716773743259915,0.5529129470243328,0.71338606911949],"aabb_xy":[[0.19716773526983666,0.4729577633981892],[0.35716773959536163,0.6328681306504764]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.01626861075849717,-2.0257678622038826,0.71338606911949],"aabb_xy":[[-0.03870511127783571,-2.0807678617681162],[0.07124233279483005,-1.9707678626396499]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.26689189623483894,1.6267381407646186,0.71338606911949],"aabb_xy":[[-0.30189189454553433,1.619023125841073],[-0.23189189792414344,1.6344531556881643]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.4103814607060422,1.4519170563994828,0.71338606911949],"aabb_xy":[[-0.4223141950678703,1.4395349035916234],[-0.3984487263442142,1.4642992092073421]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.6664484456499093,-2.214291630064889,0.71338606911949],"aabb_xy":[[0.6203633543951779,-2.2782916273174436],[0.7125335369046408,-2.1502916328123334]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.13779457698710196,-2.082691216024194,0.71338606911949],"aabb_xy":[[-0.17157013617779493,-2.096729711237359],[-0.10401901779640899,-2.0686527208110292]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.37001571600905486,1.1941784894015766,0.71338606911949],"aabb_xy":[[-0.43401571628303315,1.1441123892042886],[-0.3060157157350767,1.2442445895988645]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.237308044603326,-1.8503914814357727,0.71338606911949],"aabb_xy":[[0.20382887734228505,-1.88387059480688],[0.27078721186436694,-1.816912368064666]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.5605785712017793,-0.31952195533825645,0.71338606911949],"aabb_xy":[[-0.5707315867559285,-0.3555914969109968],[-0.5504255556476297,-0.2834524137655161]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.18757099212647055,0.06157650765430711,0.71338606911949],"aabb_xy":[[-0.2154160289070777,0.030792008915995435],[-0.15972595534586345,0.0923610063926188]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[0.5667838256983175,0.9399753934622939,0.71338606911949],"aabb_xy":[[0.5507218982397998,0.854975391649702],[0.5828457531568351,1.0249753952748857]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.1632485864212434,-2.31674045017944,0.71338606911949],"aabb_xy":[[-0.1877948020439941,-2.346989346728477],[-0.13870237079849265,-2.2864915536304027]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.23888249813921963,0.29897591738714446,0.71338606911949],"aabb_xy":[[-0.2888775090986717,0.24897591835155275],[-0.18888748717976767,0.3489759164227362]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.5790572248002048,-1.2236229509852543,0.71338606911949],"aabb_xy":[[-0.5941595262612228,-1.2387244726163158],[-0.5639549233391866,-1.208521429354192]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.45448167719221666,-1.0382011054868514,0.71338606911949],"aabb_xy":[[0.3844816755899373,-1.051633898688509],[0.5244816787944963,-1.0247683122851938]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.38496276452298295,-1.6354169740974136,0.71338606911949],"aabb_xy":[[-0.3936607268136983,-1.647541948404888],[-0.3762648022322677,-1.6232919997899387]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.4728513456170143,-1.1214818389471328,0.71338606911949],"aabb_xy":[[-0.4884071150272796,-1.1370322721915402],[-0.4572955762067491,-1.1059314057027259]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.038263673089921846,-2.335110838220731,0.71338606911949],"aabb_xy":[[-0.05605718002483828,-2.352910583816529],[-0.02047016615500541,-2.3173110926249336]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.17451687799916238,-2.206516926602716,0.71338606911949],"aabb_xy":[[-0.18048341693989814,-2.21247807126208],[-0.16855033905842656,-2.200555781943352]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.19488106916014447,-1.2171354303372672,0.71338606911949],"aabb_xy":[[-0.2124277640762634,-1.2546354319015183],[-0.17733437424402554,-1.1796354287730157]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.16682999607416504,-0.36694068193447515,0.71338606911949],"aabb_xy":[[-0.23082999246973812,-0.4309039703532087],[-0.10282999967859197,-0.3029773935157416]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.5368248086544782,-0.15042590866838212,0.71338606911949],"aabb_xy":[[0.4568248053966353,-0.2304224164603661],[0.6168248119123212,-0.07042940087639815]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[-0.5155232958196283,0.13835121967775033,0.71338606911949],"aabb_xy":[[-0.552854572344871,0.10369816488289804],[-0.4781920192943858,0.17300427447260266]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.26657671715734393,-1.8414211275149017,0.71338606911949],"aabb_xy":[[-0.33057671950014544,-1.8863619787590342],[-0.20257671481454234,-1.7964802762707692]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.312163501230567,-1.7013110661471895,0.71338606911949],"aabb_xy":[[0.26218608436531343,-1.7513110676364378],[0.3621409180958206,-1.6513110646579408]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.3807508745627024,-0.9778275691701341,0.71338606911949],"aabb_xy":[[0.3766349244506297,-0.9819431242029797],[0.384866824674775,-0.9737120141372886]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_29","position":[0.22810301141402356,1.5188313340822162,0.71338606911949],"aabb_xy":[[0.2031030121420613,1.5024859704860536],[0.25310301068598584,1.5351766976783783]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.022026963511350917,1.8087713223491382,0.71338606911949],"aabb_xy":[[0.01707094332646972,1.786271322147017],[0.026982983696232123,1.8312713225512602]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[-0.657975908656007,-0.30569213400689543,0.71338606911949],"aabb_xy":[[-0.6815610321199017,-0.3706921362523272],[-0.634390785192112,-0.24069213176146365]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[0.36212429335871166,0.3489407920201302,0.71338606911949],"aabb_xy":[[0.35127268710983606,0.33808150129247916],[0.37297589960758726,0.3598000827477812]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_33","position":[-0.3164524254304261,1.4004507959296064,0.71338606911949],"aabb_xy":[[-0.34478213537896635,1.3959900537358896],[-0.2881227154818859,1.4049115381233237]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_34","position":[0.7024132545528119,-1.1127804593177681,0.71338606911949],"aabb_xy":[[0.6984527707830777,-1.1204483239032887],[0.7063737383225464,-1.1051125947322475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6531210541437106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1712.png","name":"1712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6941.png","name":"6941"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2290.png","name":"2290"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":760.0340972623283,"rotation_z_degrees":194.79508323586472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015572751097327042,0.019492145229080566,0.014940333990633072]},{"name":"camera_2","offset_m":[-0.012208220659116736,0.0045501740368054065,-0.005202625134413665]},{"name":"camera_3","offset_m":[0.012280773505989818,-0.0005542730604312061,-0.01522458556325227]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002496173361571938,0.0006358432779505845,-0.0012649197899044205],"end_effector_yaw_offset_degrees":-0.5946634226257261},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002906223907435171,0.0011923767110784324,-0.0016397277983297002],"end_effector_yaw_offset_degrees":-0.5435238354975205},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006353536720191579,-0.0006486040891118669,0.001688499079023199],"end_effector_yaw_offset_degrees":-0.062292355070517225}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0044108661615320085,-0.0004443442770884808],"position_m":[0.278810866161532,-0.11824434427708848,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019196363938387964,0.0035746155364781438],"position_m":[0.2744803636061612,0.28367461553647816,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004265420652909702,0.0004134745028707169],"position_m":[0.2885345793470903,0.013113474502870717,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012058337783070793,6.624073585859494e-05],"position_m":[0.05389416622169292,0.4124662407358586,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001171868160085801,-0.001000278073821006],"position_m":[0.1617718681600858,-0.437600278073821,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"734390aa5d2e5acd6bdeea19cf7f3b2ca15243477780b767a946bb8a8b4fe357","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4156/tex_ceiling_textures_2290/tex_floor_textures_6941/tex_table_textures_2480/tex_wall_textures_1712","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8446946175388319787,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8446946175388319787,"visual_seed":8446946175388319787,"scene_id":"lab_003","finished_at":"2026-09-03T17:10:07"} +{"episode_id":"ep_000001","started_at":"2026-09-03T17:10:13","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.34009559717365295,-1.3432515017691182,0.71338606911949],"aabb_xy":[[-0.3650955967253915,-1.353393985634253],[-0.3150955976219145,-1.3331090179039835]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.6351002126001002,-0.368435892320341,0.71338606911949],"aabb_xy":[[0.5890151213453686,-0.4324358895728962],[0.6811853038548316,-0.30443589506778596]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.14635285179738522,1.0965722829245794,0.71338606911949],"aabb_xy":[[-0.18760166282729995,1.0415722834123617],[-0.1051040407674705,1.1515722824367967]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.13141051621323996,0.6589254253262107,0.71338606911949],"aabb_xy":[[0.10891051639933758,0.6544508089557299],[0.15391051602714234,0.6634000416966914]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.1320519419309052,-1.8876230642416623,0.71338606911949],"aabb_xy":[[0.09705194366078529,-1.8946971919366504],[0.1670519402010251,-1.880548936546674]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.4517439714837609,0.21135049866823463,0.71338606911949],"aabb_xy":[[-0.46924397172881016,0.19385071082866775],[-0.4342439712387114,0.22885028650780145]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.588311395263317,1.291714591415166,0.71338606911949],"aabb_xy":[[0.5533113969526215,1.2839995764916203],[0.6233113935740124,1.2994296063387116]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.5309975485310914,-2.388945013082305,0.71338606911949],"aabb_xy":[[0.5232943578570143,-2.3966543837810432],[0.5387007392051683,-2.381235642383567]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.4149103884939475,0.4392551883491431,0.71338606911949],"aabb_xy":[[-0.4435597208543637,0.41060962907206733],[-0.38626105613353123,0.4679007476262189]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.4852349757189105,1.6383520940546563,0.71338606911949],"aabb_xy":[[0.45077262832076864,1.6038582116568332],[0.5196973231170522,1.6728459764524786]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.3076401124904007,1.3574695077000873,0.71338606911949],"aabb_xy":[[0.29020939741139407,1.3401973930362365],[0.3250708275694071,1.3747416223639382]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.28805545516899445,-0.509774002480615,0.71338606911949],"aabb_xy":[[0.25120490723200684,-0.5472740033036487],[0.32490600310598206,-0.47227400165758127]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.1956367927560092,-1.9596414654475156,0.71338606911949],"aabb_xy":[[0.18822433721462076,-1.9654926758691433],[0.2030492482973977,-1.9537902550258874]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.5281937216191748,-0.5744818595426224,0.71338606911949],"aabb_xy":[[0.4982261647093491,-0.6044818598405082],[0.5581612785290004,-0.5444818592447367]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.44676307397384285,-1.7020374682114001,0.71338606911949],"aabb_xy":[[0.4407260609731781,-1.7080641692803484],[0.4528000869745076,-1.6960107671424522]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.35592530191680827,-2.082019008601008,0.71338606911949],"aabb_xy":[[-0.36391879171209035,-2.090017140541484],[-0.3479318121215263,-2.0740208766605326]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.20965231753307756,-1.9473018055296487,0.71338606911949],"aabb_xy":[[-0.2271523168111644,-1.9646399055959947],[-0.19215231825499066,-1.9299637054633028]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.4837972615070929,0.16821733100160108,0.71338606911949],"aabb_xy":[[0.4495003504893522,0.1339204447916597],[0.5180941725248334,0.20251421721154245]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.5577893148704084,0.4449884217648097,0.71338606911949],"aabb_xy":[[-0.5802893151139238,0.43278378710503773],[-0.535289314626893,0.45719305642458163]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.48914787664308834,-0.7874789360585408,0.71338606911949],"aabb_xy":[[0.47830739841657344,-0.8046652173491895],[0.49998835486960325,-0.7702926547678919]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.45135158734306724,1.762641561841852,0.71338606911949],"aabb_xy":[[-0.5063515869648131,1.7076578690543796],[-0.3963515877213214,1.817625254629325]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.1753155705207693,1.5271570764524545,0.71338606911949],"aabb_xy":[[-0.21181139114804803,1.4906731340256967],[-0.13881974989349055,1.5636410188792118]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.07216032412793993,-2.0403310048981202,0.71338606911949],"aabb_xy":[[-0.12216032548882716,-2.0903089094735354],[-0.02216032276705272,-1.9903531003227044]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.5512727776855557,-1.667381043217842,0.71338606911949],"aabb_xy":[[0.5459402630309427,-1.6727053714630773],[0.5566052923401688,-1.6620567149726062]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.1118398162719112,-0.45722155528843755,0.71338606911949],"aabb_xy":[[-0.1234087970188478,-0.4822215554053693],[-0.10027083552497465,-0.4322215551715059]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[0.1654913502424118,-2.2782923139565665,0.71338606911949],"aabb_xy":[[0.143601602653471,-2.368292311245815],[0.1873810978313526,-2.188292316667317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532260348185276,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2844.png","name":"2844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2844.png","name":"2844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2686.png","name":"2686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3849.png","name":"3849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.0671232742386,"rotation_z_degrees":198.03251636863615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014169944426595289,0.007238052785362489,0.019106881454543177]},{"name":"camera_2","offset_m":[0.006001278837639505,0.013534218190002629,-0.015466756085420488]},{"name":"camera_3","offset_m":[0.01956190361347825,0.005513808416457374,-0.014165493152567498]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002129432266039055,0.0006195266624141795,-0.0013226263211163767],"end_effector_yaw_offset_degrees":0.3213340503817612},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-4.511888397474521e-05,-0.0013784349006553587,-0.001313047460644225],"end_effector_yaw_offset_degrees":-0.7313104425321835},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006650247156039391,-0.0013985707725875877,0.0013244191779674948],"end_effector_yaw_offset_degrees":-0.07824500426616199}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003957389681373252,0.003943858813442446],"position_m":[0.2704426103186267,-0.11385614118655756,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005799321175686649,-0.0035818499497845603],"position_m":[0.27697993211756866,0.27651815005021546,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002009772132453036,-0.002042585082660454],"position_m":[0.290790227867547,0.010657414917339545,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002887688430772689,-0.00367061390371426],"position_m":[0.052212311569227315,0.40872938609628573,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002016692193117834,-0.00021945958709760228],"position_m":[0.16261669219311783,-0.4368194595870976,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f604c70398f7e806645c835c122cc1965ee58290de274535352372add71b762a","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2844/tex_ceiling_textures_9492/tex_floor_textures_8433/tex_table_textures_2686/tex_wall_textures_3849","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":186859615720725038,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":186859615720725038,"visual_seed":186859615720725038,"scene_id":"lab_003","finished_at":"2026-09-03T17:12:56"} +{"episode_id":"ep_000002","started_at":"2026-09-03T17:16:06","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.23831139109532606,-1.6590986752518793,0.71338606911949],"aabb_xy":[[0.22130129380527544,-1.6752331637501532],[0.2553214883853767,-1.6429641867536053]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.1328390496006021,-1.8353237009363352,0.71338606911949],"aabb_xy":[[-0.14076232983935044,-1.8578237011743388],[-0.12491576936185378,-1.812823700698332]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.1145096559577955,1.2396718409398906,0.71338606911949],"aabb_xy":[[0.06950965449156664,1.1946719840784101],[0.15950965742402434,1.2846716978013715]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.6759600331545563,-1.1634704741329793,0.71338606911949],"aabb_xy":[[0.6540513510152052,-1.18537114095307],[0.6978687152939073,-1.1415698073128886]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.30936217435998614,1.183960001976787,0.71338606911949],"aabb_xy":[[-0.37936217699657243,1.1638551369809216],[-0.23936217172339974,1.2040648669726526]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.2901178832180848,-1.3365343266997045,0.71338606911949],"aabb_xy":[[-0.37011788023233283,-1.3566688783731156],[-0.21011788620383687,-1.316399775026293]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[0.10004405583181719,1.7855327427884764,0.71338606911949],"aabb_xy":[[0.08487188655018385,1.770363885860273],[0.11521622511345053,1.8007015997166798]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.36769914135611,1.743023461106422,0.71338606911949],"aabb_xy":[[-0.4176820915435893,1.693023461463861],[-0.31771619116863065,1.793023460748982]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.44671226717620893,0.47104292321499264,0.71338606911949],"aabb_xy":[[0.3817122661757084,0.42025655806031764],[0.5117122681767095,0.5218292883696676]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.6650118596326975,0.27535531070099317,0.71338606911949],"aabb_xy":[[0.6100186482955609,0.22035531036219957],[0.7200050709698343,0.33035531103978677]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.04313150299107249,1.6624658339908893,0.71338606911949],"aabb_xy":[[-0.053698982649171494,1.6519208038778805],[-0.03256402333297347,1.6730108641038977]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.3458442399090589,1.0207563569496712,0.71338606911949],"aabb_xy":[[0.34172828979698616,1.0166408019168252],[0.3499601900211315,1.0248719119825163]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.5418395577180313,1.4545984050771499,0.71338606911949],"aabb_xy":[[0.48683955809628543,1.3996147122896772],[0.5968395573397771,1.5095820978646226]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.4878333428136721,1.4054931456267639,0.71338606911949],"aabb_xy":[[-0.5306000496930923,1.3414931422049612],[-0.44506663593425183,1.469493149048566]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.6466446438088456,-1.2460175527106523,0.71338606911949],"aabb_xy":[[-0.6841446441010203,-1.2500590281112556],[-0.6091446435166706,-1.2419760773100486]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.4809851186543831,-0.8569171396947757,0.71338606911949],"aabb_xy":[[-0.5509851220459451,-0.8922329133982063],[-0.41098511526282117,-0.8216013659913446]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.32121925187040945,0.3993785402652943,0.71338606911949],"aabb_xy":[[-0.38521925213088026,0.3543697409123663],[-0.25721925160993864,0.4443873396182223]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.10291274657758198,0.6468174692333895,0.71338606911949],"aabb_xy":[[0.08044797660617686,0.624317468354529],[0.1253775165489871,0.66931747011225]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.6321200552041015,-1.0711898280148398,0.71338606911949],"aabb_xy":[[-0.6496667501202205,-1.108689829579091],[-0.6145733602879826,-1.0336898264505885]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.45767398816838883,1.0746330563314408,0.71338606911949],"aabb_xy":[[-0.480187679991846,1.004633055730433],[-0.4351602963449316,1.144633056932448]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.6299605648803659,-1.7039230384905963,0.71338606911949],"aabb_xy":[[-0.6488449486488761,-1.722808963270949],[-0.6110761811118557,-1.6850371137102433]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.23407148611428308,-2.064408734251849,0.71338606911949],"aabb_xy":[[0.1440714824373649,-2.125841140828953],[0.32407148979120126,-2.002976327674744]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.31638459383032513,1.5498081769275793,0.71338606911949],"aabb_xy":[[0.2563845939837583,1.4929895547345406],[0.37638459367689187,1.606626799120618]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.3272951118994948,1.5572534982051098,0.71338606911949],"aabb_xy":[[-0.3447951121445441,1.539753710365543],[-0.30979511165444534,1.5747532860446767]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.5039740670008608,1.601105342509157,0.71338606911949],"aabb_xy":[[0.466474066336282,1.5854182845089344],[0.5414740676654394,1.6167924005093788]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.3487320897796467,-1.8418896520544845,0.71338606911949],"aabb_xy":[[-0.39873209144114147,-1.8918880943101868],[-0.29873208811815194,-1.7918912097987814]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.404245628907658,-0.529303892702504,0.71338606911949],"aabb_xy":[[-0.46824563095739,-0.5693983757918121],[-0.34024562685792603,-0.48920940961319614]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.6593018258091433,-1.4855150815471543,0.71338606911949],"aabb_xy":[[-0.6674154804825204,-1.4936208980011834],[-0.6511881711357662,-1.4774092650931252]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.4554127339912746,-0.9756163821923298,0.71338606911949],"aabb_xy":[[-0.5354127326481606,-0.9901212411165926],[-0.37541273533438857,-0.961111523268067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6542528468383454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/258.png","name":"258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2487.png","name":"2487"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4490.png","name":"4490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9883.png","name":"9883"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":718.9608824167987,"rotation_z_degrees":146.38405783985925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004935282503982494,0.008715668009591396,-0.004714379052382313]},{"name":"camera_2","offset_m":[0.019045100248532777,-0.012598328881330709,-0.009686969479574002]},{"name":"camera_3","offset_m":[-0.015466091805690984,0.016780247833837438,-0.016436083554768055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008670555614351881,0.0004081918526769833,-0.0019027044024931667],"end_effector_yaw_offset_degrees":0.9581679114815085},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000553824097596748,-0.0017255972236058991,-0.0019524447424623058],"end_effector_yaw_offset_degrees":-0.3577753980272247},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016734272643858057,-0.0015718131608434352,-0.0009171947413405212],"end_effector_yaw_offset_degrees":-0.5281031176620585}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002681749625335045,0.00326653923717781],"position_m":[0.27708174962533505,-0.1145334607628222,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017581310355446501,0.002597349611331538],"position_m":[0.27815813103554465,0.2826973496113315,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0021527022249818043,0.0019370337884466087],"position_m":[0.2949527022249818,0.014637033788446607,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010582120186500834,0.0012350147945220128],"position_m":[0.05615821201865009,0.413635014794522,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00257105239089674,-0.0011384710346338213],"position_m":[0.16317105239089674,-0.4377384710346338,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32178311b2ce198d8d333218d2b69f428c0307b65611b916cd4c04c08f746d6f","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1406/tex_ceiling_textures_9883/tex_floor_textures_4490/tex_table_textures_258/tex_wall_textures_2487","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":771236121696312107,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":771236121696312107,"visual_seed":771236121696312107,"scene_id":"lab_003","finished_at":"2026-09-03T17:18:33"} +{"episode_id":"ep_000003","started_at":"2026-09-03T17:18:37","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.4608556689381229,-0.6542222456682008,0.71338606911949],"aabb_xy":[[0.4512240327176933,-0.6638595584479097],[0.4704873051585525,-0.6445849328884918]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.25591023059556917,0.8448611264159012,0.71338606911949],"aabb_xy":[[0.19591023074900238,0.7880425042228625],[0.31591023044213595,0.9016797486089398]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.363931153550743,0.5098013854761776,0.71338606911949],"aabb_xy":[[-0.44393115680858597,0.4298048776841936],[-0.28393115029290006,0.5897978932681616]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.583620907288539,-1.9304655551455525,0.71338606911949],"aabb_xy":[[0.5573320829680982,-1.9567369888002035],[0.6099097316089795,-1.904194121490901]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.4379703002580859,0.06801204852653697,0.71338606911949],"aabb_xy":[[0.4045301250620663,0.034568422695606886],[0.4714104754541055,0.10145567435746704]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.11360787949610673,0.8455553254589505,0.71338606911949],"aabb_xy":[[-0.19860787791352996,0.7606810299966655],[-0.028607881078683492,0.9304296209212355]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.11971185381993743,-2.251026842049919,0.71338606911949],"aabb_xy":[[0.10537742869377398,-2.2630870576044577],[0.13404627894610088,-2.2389666264953805]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.14897930674033377,-0.9259492708589943,0.71338606911949],"aabb_xy":[[-0.1742001436001734,-0.951173021711881],[-0.12375846988049409,-0.9007255200061075]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.0993614868965137,-0.13073871641138046,0.71338606911949],"aabb_xy":[[-0.10494315853064246,-0.14323871622915596],[-0.09377981526238494,-0.11823871659360498]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.6534085099171854,0.6108516225422815,0.71338606911949],"aabb_xy":[[-0.6571117712463242,0.6071496042335636],[-0.6497052485880465,0.6145536408509993]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.13097338870964814,-1.789665364260531,0.71338606911949],"aabb_xy":[[-0.1559733879816104,-1.8060107278566933],[-0.10597338943768585,-1.7733200006643686]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.27864998002715646,-1.7392213163491652,0.71338606911949],"aabb_xy":[[-0.3286499813880437,-1.789199220924581],[-0.22864997866626927,-1.6892434117737498]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.37125970076214887,-0.9645227312380824,0.71338606911949],"aabb_xy":[[-0.4262596999387383,-1.01951240601304],[-0.3162597015855593,-0.9095330564631248]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.5671005813867909,-2.1799034309963607,0.71338606911949],"aabb_xy":[[-0.6247310502740616,-2.239903429923071],[-0.5094701124995199,-2.1199034320696497]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.5610228390629102,-2.071379064571922,0.71338606911949],"aabb_xy":[[0.5224771462377092,-2.109924835628111],[0.5995685318881113,-2.0328332935157336]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.39222580422800823,1.3873031312006363,0.71338606911949],"aabb_xy":[[-0.4722258028848942,1.3727982722763734],[-0.3122258055711222,1.4018079901248992]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.6342880027441874,-2.42595940080603,0.71338606911949],"aabb_xy":[[-0.654572305467586,-2.446242025948738],[-0.6140037000207885,-2.40567677566332]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.061509997825806684,1.6005411798624993,0.71338606911949],"aabb_xy":[[-0.06564585415850688,1.5630411804181426],[-0.05737414149310649,1.6380411793068566]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.5089408917099851,-1.6780881167374082,0.71338606911949],"aabb_xy":[[0.4289470681314269,-1.7580881193302498],[0.5889347152885434,-1.5980881141445666]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.02556033713649908,-1.9053976955712737,0.71338606911949],"aabb_xy":[[-0.08956033904884142,-1.9613088448292846],[0.038439664775843256,-1.8494865463132637]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.5958330838759767,0.5826686634336076,0.71338606911949],"aabb_xy":[[-0.6074020646229132,0.557668663316676],[-0.5842641031290401,0.6076686635505394]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.5965301352363814,0.07301470408772293,0.71338606911949],"aabb_xy":[[0.5818867296823483,0.05835598443093863],[0.6111735407904143,0.08767342374450719]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.3427049867740302,-1.5102099049620659,0.71338606911949],"aabb_xy":[[-0.4227049837370694,-1.5872855466058393],[-0.26270498981099105,-1.4331342633182924]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.3764155564157139,-0.6094019409802722,0.71338606911949],"aabb_xy":[[0.36699808184585114,-0.6188181181179913],[0.38583303098557664,-0.5999857638425532]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[0.012997484086289202,1.141002039457562,0.71338606911949],"aabb_xy":[[-0.03228113079486006,1.077002040109378],[0.05827609896743846,1.2050020388057454]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.1777007452869811,1.153190413836506,0.71338606911949],"aabb_xy":[[-0.24170074458114932,1.0892042734676517],[-0.11370074599281288,1.21717655420536]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[-0.3152582492528574,1.7798281604160677,0.71338606911949],"aabb_xy":[[-0.3193364071599071,1.7757471801678044],[-0.3111800913458076,1.783909140664331]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[0.5166622479699083,-0.4028176211469723,0.71338606911949],"aabb_xy":[[0.4269751716617929,-0.4928176214014228],[0.6063493242780238,-0.31281762089252174]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[0.31882644184316056,1.2861628583684084,0.71338606911949],"aabb_xy":[[0.2548264401651632,1.237645466889094],[0.3828264435211579,1.3346802498477224]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.2666775185010074,-0.7510176530578692,0.71338606911949],"aabb_xy":[[-0.28656855838134765,-0.763673464342566],[-0.24678647862066716,-0.7383618417731722]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_30","position":[0.1350790437398649,-2.5032529016849008,0.71338606911949],"aabb_xy":[[0.07007904518279207,-2.5330054350987834],[0.20007904229693774,-2.473500368271018]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.5080582203845021,-1.384128459755826,0.71338606911949],"aabb_xy":[[0.4579607564034285,-1.448128460265638],[0.5581556843655757,-1.3201284592460143]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_32","position":[0.25909324230988984,-0.8846853724207835,0.71338606911949],"aabb_xy":[[0.19509324193235617,-0.9344306392715958],[0.3230932426874234,-0.8349401055699712]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_33","position":[0.5411190758714686,1.298424769445012,0.71338606911949],"aabb_xy":[[0.4761190749143413,1.2464765575113064],[0.6061190768285957,1.3503729813787175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497944158286906,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1331.png","name":"1331"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1331.png","name":"1331"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3580.png","name":"3580"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2948.png","name":"2948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6832.png","name":"6832"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":547.134139510591,"rotation_z_degrees":144.85629729146666,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017481843879666958,-0.0034997672062316507,-0.0070590503605197745]},{"name":"camera_2","offset_m":[-0.016145418954927847,-0.0060335011550502055,0.01139666026095586]},{"name":"camera_3","offset_m":[0.016749926091251994,0.013902368344077803,0.002718737266857958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003513050595723608,-0.0016950462347673767,-0.0002184075105956596],"end_effector_yaw_offset_degrees":-0.4773495522315061},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00025765404114264697,-0.0017943006278550136,-0.0008939029140748098],"end_effector_yaw_offset_degrees":-0.8440442599501992},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019655324337752244,0.0014649102323190141,-0.0009694159820216016],"end_effector_yaw_offset_degrees":0.9161229829933308}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037390181804217073,0.0020043196126027438],"position_m":[0.27402609818195783,-0.11579568038739727,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003157951915817833,-0.0018871105217724247],"position_m":[0.2732420480841821,0.2782128894782276,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004820495721606658,-0.0014251234452898765],"position_m":[0.28797950427839336,0.011274876554710123,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008872955862074027,-0.002243348226649409],"position_m":[0.05598729558620741,0.4101566517733506,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022659612898505055,0.00015820144954221613],"position_m":[0.15833403871014948,-0.4364417985504578,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f8341d13bc0add33783175676e6079dda2bcb8d9854f58e6e443f3bca343a39","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1331/tex_ceiling_textures_6832/tex_floor_textures_2948/tex_table_textures_6367/tex_wall_textures_3580","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4989505871460748102,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4989505871460748102,"visual_seed":4989505871460748102,"scene_id":"lab_003","finished_at":"2026-09-03T17:21:31"} +{"episode_id":"ep_000004","started_at":"2026-09-03T17:21:34","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.6326403281933757,-2.165896029076335,0.71338606911949],"aabb_xy":[[-0.655140327717083,-2.188391976526955],[-0.6101403286696682,-2.1434000816257135]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.6746968897955675,-2.561230310399166,0.71338606911949],"aabb_xy":[[-0.6859419453661854,-2.5724721081232613],[-0.6634518342249497,-2.5499885126750708]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.520365642371519,-2.076764939883084,0.71338606911949],"aabb_xy":[[0.4353656439540958,-2.161639235345369],[0.6053656407889423,-1.991890644420799]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.38652157340679716,-1.5401923566782754,0.71338606911949],"aabb_xy":[[-0.4365215744259325,-1.5766585724161035],[-0.3365215723876619,-1.5037261409404477]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[-0.575299573369517,-2.5159105119697407,0.71338606911949],"aabb_xy":[[-0.5904624463464541,-2.53107596926486],[-0.5601367003925799,-2.5007450546746224]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.3034037549287145,-0.9038887303383376,0.71338606911949],"aabb_xy":[[-0.3378662329418023,-0.9105524075212604],[-0.26894127691562675,-0.8972250531554148]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.2651773549475336,0.5508510368020012,0.71338606911949],"aabb_xy":[[-0.3291773513748555,0.5036814129799049],[-0.20117735852021168,0.5980206606240978]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.6040332172630696,1.6809598110674417,0.71338606911949],"aabb_xy":[[0.5740415545291994,1.650959811730641],[0.63402487999694,1.710959810404242]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.030328989177905386,-1.2316643625312174,0.71338606911949],"aabb_xy":[[-0.07980941039186418,-1.2956643604440694],[0.01915143203605341,-1.1676643646183658]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.25970175142416807,1.3694744852491039,0.71338606911949],"aabb_xy":[[0.20970175006328087,1.3194965806736882],[0.3097017527850553,1.4194523898245195]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.5474022630564219,-1.1143250526053876,0.71338606911949],"aabb_xy":[[0.5365617848299069,-1.1315113338960363],[0.5582427412829367,-1.097138771314739]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[0.4536851193634881,-2.4160876366870743,0.71338606911949],"aabb_xy":[[0.4161851207878673,-2.4288239323506318],[0.4911851179391089,-2.403351341023516]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.2971900728556617,-2.345731266459627,0.71338606911949],"aabb_xy":[[0.24709260887458806,-2.4097312669694384],[0.3472875368367353,-2.281731265949815]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.35225456386837073,1.6129097354301645,0.71338606911949],"aabb_xy":[[0.3403218295065426,1.6005275826223053],[0.36418729823019874,1.625291888238024]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.37066554119636624,0.22938687268500368,0.71338606911949],"aabb_xy":[[-0.4506655391771513,0.2217853317231517],[-0.2906655432155812,0.2369884136468556]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.07213294927770231,-2.088523228125512,0.71338606911949],"aabb_xy":[[-0.007867049309617109,-2.167838830063673],[0.15213294786502174,-2.0092076261873513]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.3984247137497392,0.09815603695076325,0.71338606911949],"aabb_xy":[[0.3817475777566437,0.08145611297683297],[0.4151018497428347,0.11485596092469352]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.13867968981712353,-0.4490473749013839,0.71338606911949],"aabb_xy":[[-0.22867968923549442,-0.4824228717455736],[-0.04867969039875264,-0.41567187805719413]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.49744014914960244,1.1815187323567313,0.71338606911949],"aabb_xy":[[-0.5224401484215647,1.165173368760569],[-0.4724401498776402,1.1978640959528937]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.18393315947140199,0.09737526448662992,0.71338606911949],"aabb_xy":[[-0.18883245177796543,0.06969834518406114],[-0.17903386716483843,0.1250521837891987]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.5662251981607314,-1.7212291035394425,0.71338606911949],"aabb_xy":[[0.5312251998500359,-1.7289441184629881],[0.6012251964714268,-1.7135140886158968]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.33346530273903896,-0.2797157263789125,0.71338606911949],"aabb_xy":[[-0.38845755337455,-0.3347157281222253],[-0.2784730521035281,-0.22471572463559975]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.49054511968906084,-0.5868652512187489,0.71338606911949],"aabb_xy":[[-0.5605451218204904,-0.6096272168444444],[-0.4205451175576313,-0.5641032855930531]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.6048214351756436,1.1575288278711149,0.71338606911949],"aabb_xy":[[0.5975391187989797,1.0675288242616054],[0.612103751552307,1.2475288314806234]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.28426720862977606,-0.7850226794571724,0.71338606911949],"aabb_xy":[[0.21926721007270322,-0.814775212871055],[0.3492672071868489,-0.7552701460432898]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.08314702784444783,1.0037345131561883,0.71338606911949],"aabb_xy":[[0.04038032096502764,0.9397345097343861],[0.12591373472386802,1.067734516577991]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.2980575374057375,1.610651732199234,0.71338606911949],"aabb_xy":[[-0.3150676346957881,1.5945172437009603],[-0.2810474401156868,1.6267862206975081]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.035534710984234996,-1.4522721446683133,0.71338606911949],"aabb_xy":[[-0.10553471362082134,-1.4723770096641784],[0.03446529165235135,-1.4321672796724474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6484278724598201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5082.png","name":"5082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4037.png","name":"4037"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.5353314329984,"rotation_z_degrees":192.88927761709218,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013435535124549824,0.017723962198454315,0.010388901214227628]},{"name":"camera_2","offset_m":[0.0043123523622694455,-0.005873484236140652,-0.019798180067345978]},{"name":"camera_3","offset_m":[-0.016946943247120764,0.009704196033453991,0.01279383396837008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014286313775470423,-0.0006875877840148413,8.794168129331236e-05],"end_effector_yaw_offset_degrees":-0.36319279201341903},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004747606992178909,-0.000438539342520441,-0.0003304082269652024],"end_effector_yaw_offset_degrees":-0.25800717540574913},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001764585798780271,0.0010251289818600318,0.0008635008174105174],"end_effector_yaw_offset_degrees":-0.3346526464058657}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004754967587896177,-0.004652984137756849],"position_m":[0.27392450324121037,-0.12245298413775685,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006363700014280528,-0.0007713299880598868],"position_m":[0.27703637000142806,0.2793286700119401,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0005954063031920528,0.003227820379658005],"position_m":[0.29339540630319205,0.015927820379658005,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017368879023139548,0.0007772920204454801],"position_m":[0.05336311209768605,0.41317729202044545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004083739965025221,0.0001893969032706784],"position_m":[0.15651626003497476,-0.4364106030967293,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"80256f58976233e4d0159a61d5e9b55992d4a4da3da6f9cc95b19eff7e2a9f2b","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9366/tex_ceiling_textures_4037/tex_floor_textures_6378/tex_table_textures_8422/tex_wall_textures_5082","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8865849762572772288,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8865849762572772288,"visual_seed":8865849762572772288,"scene_id":"lab_003","finished_at":"2026-09-03T17:23:56"} +{"episode_id":"ep_000005","started_at":"2026-09-03T17:24:00","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.61164903407729,-0.0422572542178159,0.71338606911949],"aabb_xy":[[0.5216490304003717,-0.10368966079492023],[0.7016490377542081,0.019175152359288457]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.5502861520843136,1.1744618271198823,0.71338606911949],"aabb_xy":[[-0.5705704548077123,1.1541792019771733],[-0.5300018493609148,1.194744452262591]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.011769839870312437,-1.3223367835212514,0.71338606911949],"aabb_xy":[[-0.04862038780730005,-1.3598367843442851],[0.025080708066675172,-1.2848367826982177]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.3334871032646825,-0.7115286644147807,0.71338606911949],"aabb_xy":[[-0.35707222672857736,-0.7765286666602126],[-0.30990197980078765,-0.646528662169349]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.47645421011726374,0.306108595798527,0.71338606911949],"aabb_xy":[[0.45895421098289657,0.2962289687609391],[0.4939542092516309,0.3159882228361148]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.5165597649969403,-1.3939079820178495,0.71338606911949],"aabb_xy":[[-0.5665385735072562,-1.4439079820235683],[-0.46658095648662445,-1.3439079820121307]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[0.6465143931255877,0.5022696393862924,0.71338606911949],"aabb_xy":[[0.6240152573993607,0.47976963860802946],[0.6690135288518146,0.5247696401645554]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[0.5760169022594681,1.7705768606038785,0.71338606911949],"aabb_xy":[[0.5719009521473953,1.7664613055710328],[0.5801328523715407,1.7746924156367239]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.38830918080637367,0.09493211699057102,0.71338606911949],"aabb_xy":[[-0.42955799183628834,0.039932117478353575],[-0.3470603697764589,0.14993211650278848]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.32623757251240004,-1.2299659874791242,0.71338606911949],"aabb_xy":[[0.31707769356852344,-1.2364972055226613],[0.33539745145627664,-1.2234347694355872]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.07340760834008542,-2.4859466338124347,0.71338606911949],"aabb_xy":[[0.037778452440125676,-2.5215793005692877],[0.10903676424004516,-2.450313967055582]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.3195626795873677,-1.8437241795296186,0.71338606911949],"aabb_xy":[[-0.3623293864667879,-1.907724182951421],[-0.27679597270794754,-1.7797241761078162]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.5129107643985265,-1.5810346773663395,0.71338606911949],"aabb_xy":[[-0.5236837383198942,-1.6160346755853785],[-0.5021377904771587,-1.5460346791473005]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.4380256346677489,-0.7706202795307173,0.71338606911949],"aabb_xy":[[0.3580256377047097,-0.8476959211744907],[0.5180256316307881,-0.6935446378869438]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.4633592378395126,0.5738650463183563,0.71338606911949],"aabb_xy":[[0.4568576013315081,0.5640972242920466],[0.46986087434751733,0.5836328683446661]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.4600910235588469,1.2968359179800397,0.71338606911949],"aabb_xy":[[-0.46801430379759523,1.2743359177420364],[-0.45216774332009857,1.319335918218043]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.15247686803964655,-1.2231165903868246,0.71338606911949],"aabb_xy":[[-0.16117483033036184,-1.2352415646942994],[-0.14377890574893126,-1.21099161607935]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.12454574965855447,1.3557937742166741,0.71338606911949],"aabb_xy":[[-0.15451330656838014,1.3257937739187886],[-0.09457819274872879,1.38579377451456]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.4680984423665824,-1.0862961989715842,0.71338606911949],"aabb_xy":[[-0.5380984439688619,-1.099728992173242],[-0.39809844076430284,-1.072863405769927]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.29091125455175526,0.9708349475513587,0.71338606911949],"aabb_xy":[[0.2609195918178849,0.9408349482145582],[0.32090291728562553,1.0008349468881592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649257222492405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7595.png","name":"7595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8978.png","name":"8978"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5193.png","name":"5193"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8325.png","name":"8325"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.1879573174973,"rotation_z_degrees":19.252419966744885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016421130691176775,-0.01340221740423821,-0.017806770906328345]},{"name":"camera_2","offset_m":[0.017357480705713076,-0.014869359954719764,0.007049151515329075]},{"name":"camera_3","offset_m":[0.018746850239520604,0.01788375594000571,-0.01277524248364005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00044307273621265516,0.00042457382437743885,-0.00021625852754530734],"end_effector_yaw_offset_degrees":-0.5232907332201107},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017164488150142056,0.0008829171637291708,0.001225439935510993],"end_effector_yaw_offset_degrees":-0.5020959617697336},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001482009262665921,-0.0010899607381484211,-0.0013459026748369096],"end_effector_yaw_offset_degrees":-0.397663446303844}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.3698602431306637e-06,-0.0015977168141025357],"position_m":[0.2744033698602431,-0.11939771681410254,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031158433225277017,0.003697930853388611],"position_m":[0.27951584332252766,0.2837979308533886,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0007102246687045836,0.002651063894336508],"position_m":[0.29208977533129543,0.015351063894336507,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029998987232864845,0.004525821015566963],"position_m":[0.05809989872328649,0.41692582101556697,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004473106683214932,-0.0014681884181232054],"position_m":[0.15612689331678506,-0.43806818841812317,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9533aa22601f428191da5d8e01b9b438a5c88d0982bdceeee5d77a9ab0b6f69e","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8932/tex_ceiling_textures_8325/tex_floor_textures_5193/tex_table_textures_7595/tex_wall_textures_8978","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2866831299293665949,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2866831299293665949,"visual_seed":2866831299293665949,"scene_id":"lab_003","finished_at":"2026-09-03T17:26:26"} +{"episode_id":"ep_000006","started_at":"2026-09-03T17:26:29","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.09700906984219337,0.6881728593507219,0.71338606911949],"aabb_xy":[[-0.1470090694185281,0.6381922803986161],[-0.04700907026585867,0.738153438302828]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.009169963853312812,-1.4974536415187358,0.71338606911949],"aabb_xy":[[-0.04666996367034637,-1.5020918528298774],[0.028330035963720746,-1.4928154302075938]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.47892919655880994,-2.1853126873893336,0.71338606911949],"aabb_xy":[[-0.5052180208792505,-2.2115841210439844],[-0.4526403722383692,-2.159041253734682]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.02123476413006853,1.030801487148449,0.71338606911949],"aabb_xy":[[0.013240775552365133,1.0228014070533584],[0.029228752707771918,1.0388015672435391]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.5095456124066615,-1.2384048599295607,0.71338606911949],"aabb_xy":[[0.49761287804483345,-1.25078701273742],[0.5214783467684896,-1.2260227071217014]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.04992944487512474,1.164283411298252,0.71338606911949],"aabb_xy":[[-0.05589598381586053,1.158322266638888],[-0.04396290593438895,1.1702445559576162]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.6103955970627837,1.3787788521724447,0.71338606911949],"aabb_xy":[[0.5463955950130517,1.3386843690831365],[0.6743955991125157,1.4188733352617524]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.16101337231058943,-0.1089625533801275,0.71338606911949],"aabb_xy":[[-0.1784440873895959,-0.1262346680439783],[-0.1435826572315829,-0.09169043871627668]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.5602683797909154,0.5590078908980449,0.71338606911949],"aabb_xy":[[0.5377546879674582,0.4890078902970374],[0.5827820716143726,0.6290078914990525]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.22216610646555202,-0.24872721205219062,0.71338606911949],"aabb_xy":[[-0.25966610504117277,-0.2614635077157485],[-0.18466610788993118,-0.23599091638863265]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.08342533457184431,-2.0932513150425707,0.71338606911949],"aabb_xy":[[0.03394491335788552,-2.157251312955423],[0.1329057557858031,-2.0292513171297193]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.476607020222646,1.2439184175167708,0.71338606911949],"aabb_xy":[[0.4669753840022164,1.2342811047370619],[0.4862386564430756,1.2535557302964797]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.6085922600806101,-1.5469367899574058,0.71338606911949],"aabb_xy":[[-0.6685922606766262,-1.6017492625026293],[-0.5485922594845939,-1.4921243174121823]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.1574391132092421,-1.0876806268031445,0.71338606911949],"aabb_xy":[[-0.19203019606328728,-1.1526806270881753],[-0.12284803035519685,-1.0226806265181132]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.1719208743021543,1.400580491163855,0.71338606911949],"aabb_xy":[[-0.23692087433645703,1.3538798144835278],[-0.10692087426785157,1.4472811678441824]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.49458743132450506,-1.9229980532653614,0.71338606911949],"aabb_xy":[[-0.544587432608345,-1.972976907655983],[-0.44458743004066503,-1.8730191988747389]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.38135789389064756,-1.2818730037076083,0.71338606911949],"aabb_xy":[[-0.446357894891148,-1.332659368862283],[-0.316357892890147,-1.231086638552933]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.2646927300212332,-0.855044738036961,0.71338606911949],"aabb_xy":[[-0.314692730971766,-0.8865938850404824],[-0.21469272907070036,-0.8234955910334396]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.526006266917187,-2.457515422553231,0.71338606911949],"aabb_xy":[[0.45600626352562496,-2.4928311962566614],[0.5960062703087489,-2.4221996488497997]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.5030479268433512,0.020490979687292743,0.71338606911949],"aabb_xy":[[0.48749215743308605,0.004940546442885549],[0.5186036962536166,0.036041412931699934]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.13469571821991377,-1.3277960858303999,0.71338606911949],"aabb_xy":[[-0.19869571533201946,-1.3768284556248105],[-0.07069572110780808,-1.2787637160359893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524404286381513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9730.png","name":"9730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9730.png","name":"9730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2840.png","name":"2840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7365.png","name":"7365"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":507.3400654282601,"rotation_z_degrees":249.90038085627222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014759448611912918,0.00978129087078353,0.0007512234247979109]},{"name":"camera_2","offset_m":[0.017218330874948885,0.014274742415460399,-0.0070613386094013336]},{"name":"camera_3","offset_m":[-0.013575797484457164,0.013254226951907023,0.008470541638391477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016132652187378018,0.0017576936746722042,-0.0017128897627293493],"end_effector_yaw_offset_degrees":0.7785624398402116},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017217719130797836,4.842211904462074e-05,0.0009376813246773472],"end_effector_yaw_offset_degrees":-0.17602318560983732},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001432678287766272,-0.0014975657588368902,0.001355102602472851],"end_effector_yaw_offset_degrees":0.906530521960798}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003831459833368713,-0.004566751236948614],"position_m":[0.2705685401666313,-0.12236675123694862,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004383585256185375,0.0007052516011947611],"position_m":[0.28078358525618535,0.2808052516011948,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004970908928919634,-0.0010801800451794184],"position_m":[0.28782909107108035,0.01161981995482058,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049374324910476846,-0.003639071851677572],"position_m":[0.06003743249104769,0.40876092814832243,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029886206950544307,0.002042182655409298],"position_m":[0.16358862069505442,-0.4345578173445907,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"200fe1d3353464eef96b46ea9988db13021a642b9dca8985aba7b97b0404dad1","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9730/tex_ceiling_textures_1059/tex_floor_textures_7365/tex_table_textures_2840/tex_wall_textures_9548","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4089932227545524075,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4089932227545524075,"visual_seed":4089932227545524075,"scene_id":"lab_003","finished_at":"2026-09-03T17:29:04"} +{"episode_id":"ep_000007","started_at":"2026-09-03T17:29:08","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.006341882845996238,1.5486086532638148,0.71338606911949],"aabb_xy":[[-0.005019851807289921,1.5372401868575265],[0.017703617499282398,1.5599771196701027]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.31454371057442176,1.21018256573634,0.71338606911949],"aabb_xy":[[0.2807681513837288,1.1961440705231752],[0.34831926976511474,1.224221060949505]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.5520539757402895,1.2487241509924543,0.71338606911949],"aabb_xy":[[-0.6020532509087256,1.198724149716507],[-0.5020547005718533,1.2987241522684014]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.11586111418753531,-1.6242760804836605,0.71338606911949],"aabb_xy":[[0.08086111587683988,-1.631991095407206],[0.15086111249823075,-1.6165610655601148]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.20581630595509026,0.8309069227491612,0.71338606911949],"aabb_xy":[[0.1733546050731628,0.8007740906342584],[0.23827800683701772,0.8610397548640636]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.5401548398646214,-2.246080543752372,0.71338606911949],"aabb_xy":[[0.5328725234879577,-2.3360805473618806],[0.547437156241285,-2.1560805401428627]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.000612063389533013,-1.4929182558221106,0.71338606911949],"aabb_xy":[[-0.033704213785084924,-1.5429182557952883],[0.03492834056415095,-1.4429182558489329]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.23019463782404115,-2.5477262884529996,0.71338606911949],"aabb_xy":[[-0.24720473511409183,-2.5638607769512736],[-0.21318454053399052,-2.5315917999547257]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.24115759309920332,0.6073748611203831,0.71338606911949],"aabb_xy":[[-0.2824621361629393,0.543374861552266],[-0.19985305003546733,0.6713748606885002]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.6384199313155761,-0.28292872986887074,0.71338606911949],"aabb_xy":[[-0.6539757007258413,-0.29847916311327793],[-0.6228641619053108,-0.26737829662446355]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.4633793221277187,-1.179988597453095,0.71338606911949],"aabb_xy":[[-0.5046281331576334,-1.234988596965312],[-0.42213051109780403,-1.1249885979408771]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.5232254258047185,0.6115518808705649,0.71338606911949],"aabb_xy":[[-0.5882254243617913,0.5817993474566822],[-0.4582254272476456,0.6413044142844474]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.2171172629568785,-1.0929820919517015,0.71338606911949],"aabb_xy":[[0.13711725969903552,-1.1729785997436855],[0.29711726621472145,-1.0129855841597175]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.22775431930143997,-1.105678536007535,0.71338606911949],"aabb_xy":[[-0.23710132688373523,-1.119982158225179],[-0.21840731171914476,-1.091374913789891]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.4845318975627664,-2.2018611067285603,0.71338606911949],"aabb_xy":[[0.47690762947258813,-2.209494330265104],[0.4921561656529446,-2.1942278831920166]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.4669418080227161,0.24101039519501954,0.71338606911949],"aabb_xy":[[0.38694798444415796,0.16101039260217795],[0.5469356316012743,0.3210103977878611]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.6027392418933624,-0.5824286465145083,0.71338606911949],"aabb_xy":[[-0.6527392413335579,-0.6323965709988245],[-0.5527392424531666,-0.5324607220301919]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.3633460478011724,-0.21824230734271666,0.71338606911949],"aabb_xy":[[-0.372977684021602,-0.2278796201224256],[-0.35371441158074274,-0.20860499456300777]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.38173196029708845,-0.27252928260312625,0.71338606911949],"aabb_xy":[[-0.41923196079444663,-0.27649796615124467],[-0.34423195979973015,-0.26856059905500784]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.2213557233303558,-0.4748322239591256,0.71338606911949],"aabb_xy":[[-0.23212869725172358,-0.5098322221781646],[-0.21058274940898802,-0.43983222574008657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6489571046687841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6981.png","name":"6981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6981.png","name":"6981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4766.png","name":"4766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/701.png","name":"701"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/892.png","name":"892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6058.png","name":"6058"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":644.7571176723438,"rotation_z_degrees":302.4578035123146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011865248595300953,0.0095640182041867,0.01832198969143373]},{"name":"camera_2","offset_m":[-0.009356807797379338,0.006742769880374082,0.01814156464214065]},{"name":"camera_3","offset_m":[0.006399312535541175,-0.0018313683122588506,-0.015817911867576383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002230473763693585,-4.0472060794408734e-05,0.0013000224677223796],"end_effector_yaw_offset_degrees":0.6720741114960531},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009361998223004178,-0.0017681623375293029,-0.0004962415130999398],"end_effector_yaw_offset_degrees":-0.9786131445672457},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00011546691205471978,-0.0012722040878530897,-0.0012622248629687958],"end_effector_yaw_offset_degrees":0.005728223510778063}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004838236040549228,0.00011167948591653699],"position_m":[0.27391617639594507,-0.11768832051408347,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023154032478048692,0.001647947644850399],"position_m":[0.27616845967521947,0.2817479476448504,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002302304447264577,0.0009255092107142157],"position_m":[0.2904976955527354,0.013625509210714214,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012108727937676037,-0.0024333532736120454],"position_m":[0.056310872793767605,0.40996664672638794,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-6.533235937937216e-05,0.003852451879113347],"position_m":[0.16053466764062063,-0.4327475481208866,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62b4e36880dd1801b41d19b47abbb427f35bbaff4628e8f9f2c08b3d332de3c8","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6981/tex_ceiling_textures_6058/tex_floor_textures_892/tex_table_textures_4766/tex_wall_textures_701","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":107475605896117179,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":107475605896117179,"visual_seed":107475605896117179,"scene_id":"lab_003","finished_at":"2026-09-03T17:31:54"} +{"episode_id":"ep_000008","started_at":"2026-09-03T17:31:57","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.1342798622079172,-0.023396458559046263,0.71338606911949],"aabb_xy":[[-0.19827986412025955,-0.0793076078170567],[-0.07027986029557487,0.03251469069896418]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.6386039433894151,0.9651227100233624,0.71338606911949],"aabb_xy":[[0.5746039431289441,0.9201139106704344],[0.7026039436498858,1.0101315093762904]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.13897542194513202,-2.442666570121307,0.71338606911949],"aabb_xy":[[-0.18610480094696766,-2.5066665711657086],[-0.09184604294329632,-2.3786665690769047]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[0.5361025952612566,-0.7860830948958,0.71338606911949],"aabb_xy":[[0.4811288732249237,-0.8410830944600333],[0.5910763172975895,-0.7310830953315669]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.08351532342964152,1.3151796065422983,0.71338606911949],"aabb_xy":[[-0.153515325031921,1.3017468133406407],[-0.013515321827362037,1.3286123997439558]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.16712001108764996,1.2719153462662658,0.71338606911949],"aabb_xy":[[0.11702254710657634,1.207915345756454],[0.21721747506872358,1.3359153467760776]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.6343200512511027,-2.2448051720425557,0.71338606911949],"aabb_xy":[[0.5703200548237809,-2.291974795864652],[0.6983200476784247,-2.1976355482204593]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.40664260844045097,-2.1850832672693645,0.71338606911949],"aabb_xy":[[-0.41456588867919925,-2.207583267507368],[-0.3987193282017026,-2.162583267031361]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.6335808641246918,1.5447279671417715,0.71338606911949],"aabb_xy":[[0.6146964803561815,1.5258420423614185],[0.6524652478932019,1.563613891922124]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.5162079726243753,-1.29683308706194,0.71338606911949],"aabb_xy":[[0.48120797435425533,-1.303907214756928],[0.5512079708944951,-1.2897589593669516]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[-0.14884793733923396,-1.4525344717372999,0.71338606911949],"aabb_xy":[[-0.19882674584954985,-1.5025344717430185],[-0.09886912882891807,-1.4025344717315809]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.48016001848497053,-0.8569006711049294,0.71338606911949],"aabb_xy":[[-0.5301374353502241,-0.906900672594178],[-0.4301826016197169,-0.8069006696156809]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.25550592329951577,-1.529561283870384,0.71338606911949],"aabb_xy":[[-0.2627882396761793,-1.6195612874798928],[-0.24822360692285203,-1.4395612802608748]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.6728307463736481,1.2661151950638612,0.71338606911949],"aabb_xy":[[-0.6798721973243957,1.259088443326067],[-0.6657892954229006,1.2731419468016558]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.6592476946290946,1.4178473234860838,0.71338606911949],"aabb_xy":[[0.5992476937682817,1.366420893479597],[0.7192476954899073,1.4692737534925697]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.06160911820261039,-2.2411456017816516,0.71338606911949],"aabb_xy":[[-0.07176213375675976,-2.2772151433543915],[-0.051456102648461,-2.205076060208911]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.6269396468047792,-1.319767860850604,0.71338606911949],"aabb_xy":[[0.619695880758534,-1.3997678590542064],[0.6341834128510246,-1.2397678626470017]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.09112689731832091,-2.166963725903595,0.71338606911949],"aabb_xy":[[0.027126894975519355,-2.211904577147727],[0.15512689966112247,-2.122022874659462]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.21408077177994572,-0.7068414954889624,0.71338606911949],"aabb_xy":[[-0.26907624960060506,-0.7618414969228692],[-0.1590852939592863,-0.6518414940550553]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.5760039150740304,-1.720179476816888,0.71338606911949],"aabb_xy":[[0.5535039155503229,-1.7426754242675089],[0.5985039145977377,-1.6976835293662673]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[-0.11601326454804439,-0.5349665684126315,0.71338606911949],"aabb_xy":[[-0.13302336183809504,-0.5511010569109053],[-0.09900316725799375,-0.5188320799143574]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.14219525834540137,-1.1551124174003566,0.71338606911949],"aabb_xy":[[-0.15296823226676917,-1.1901124156193956],[-0.13142228442403361,-1.1201124191813177]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.35306857484670995,1.7888026276627627,0.71338606911949],"aabb_xy":[[-0.3855302757286373,1.7586697955478598],[-0.3206068739647824,1.818935459777665]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.13761982485055302,-2.372158514523968,0.71338606911949],"aabb_xy":[[0.11261982529881454,-2.382300998389103],[0.1626198244022915,-2.3620160306588334]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.18877027358867648,0.9640004617862576,0.71338606911949],"aabb_xy":[[-0.19962187983755209,0.9531411710586066],[-0.17791866733980088,0.9748597525139087]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.06659152298925508,-1.092766225518545,0.71338606911949],"aabb_xy":[[0.0025915222857857416,-1.1387846079914663],[0.13059152369272445,-1.0467478430456243]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.3885584455962372,1.5013798415892752,0.71338606911949],"aabb_xy":[[0.3385754954087578,1.4513798419467145],[0.4385413957837165,1.5513798412318354]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.4904101253273767,-1.0507155503161583,0.71338606911949],"aabb_xy":[[0.44523880747920785,-1.114715547460697],[0.5355814431755458,-0.9867155531716201]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.530024681539615,-0.08655122288147465,0.71338606911949],"aabb_xy":[[0.4660246842372686,-0.1309176498493314],[0.5940246788419614,-0.04218479591361789]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6498374407505475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5157.png","name":"5157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5157.png","name":"5157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6173.png","name":"6173"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4088.png","name":"4088"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.007456285415,"rotation_z_degrees":23.137764647911965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009578698215285338,0.01646010976145951,-0.0006683592674713787]},{"name":"camera_2","offset_m":[-2.044244069175291e-05,0.003269066199458451,-0.005119433937973676]},{"name":"camera_3","offset_m":[0.0025936088087368456,0.0059503672271603615,-0.014631356246573187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00017786467144881432,-0.0008952017695919045,-0.0013291695075916378],"end_effector_yaw_offset_degrees":-0.8970154117733262},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017517677243375422,0.001878751429066221,-0.0003439738958590083],"end_effector_yaw_offset_degrees":-0.5309516948156188},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000715316752508216,-9.110147331194834e-05,0.0001615702268917261],"end_effector_yaw_offset_degrees":-0.04795371892934086}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019914021250064117,-0.0028868288926454113],"position_m":[0.27240859787499355,-0.12068682889264541,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035168491261474534,0.002715056224651514],"position_m":[0.2728831508738525,0.28281505622465153,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0027961071990995445,-0.0047200028932954646],"position_m":[0.29000389280090044,0.007979997106704535,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024079652196875335,-0.002988723014019451],"position_m":[0.05750796521968754,0.40941127698598057,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002990330056557089,-0.0007033752269101669],"position_m":[0.15760966994344291,-0.43730337522691015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c9ea9283a494e3f6129dbb553a39f9853dbf27e25948a8a80d1039effe49a56","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5157/tex_ceiling_textures_4088/tex_floor_textures_61/tex_table_textures_6173/tex_wall_textures_1448","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6265991993410752058,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6265991993410752058,"visual_seed":6265991993410752058,"scene_id":"lab_003","finished_at":"2026-09-03T17:34:21"} +{"episode_id":"ep_000009","started_at":"2026-09-03T17:34:24","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.5828667738983161,0.7206734940670896,0.71338606911949],"aabb_xy":[[-0.617183051072934,0.6706734940939119],[-0.5485504967236982,0.7706734940402673]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.39920141217393273,-1.7753659568641422,0.71338606911949],"aabb_xy":[[-0.42916896908375846,-1.805365957162028],[-0.3692338552641071,-1.7453659565662565]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.639896925158606,-2.048215433553314,0.71338606911949],"aabb_xy":[[0.5758969287630329,-2.1121787219720476],[0.703896921554179,-1.9842521451345805]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.5527480913831392,-1.5957252031276803,0.71338606911949],"aabb_xy":[[-0.5599918574293845,-1.6757252013312829],[-0.5455043253368939,-1.5157252049240781]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.29499695088654,0.9264643813801827,0.71338606911949],"aabb_xy":[[-0.30576992480790777,0.8914643831611437],[-0.2842239769651722,0.9614643795992217]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.04057548070667216,-0.8694542497465638,0.71338606911949],"aabb_xy":[[-0.06308917253012936,-0.9394542503475714],[-0.01806178888321497,-0.7994542491455563]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.44650657339574096,-1.1522699229617697,0.71338606911949],"aabb_xy":[[0.4364248663171674,-1.232269920853884],[0.4565882804743144,-1.0722699250696548]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.49569664944468655,-0.9224040874082398,0.71338606911949],"aabb_xy":[[-0.5596966480312591,-0.9694110508077485],[-0.43169665085811404,-0.875397124008731]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.14959138837410746,0.17332112057467963,0.71338606911949],"aabb_xy":[[-0.18205308925603486,0.143188288459777],[-0.11712968749217996,0.20345395268958222]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.4626507754240847,0.3703327263296545,0.71338606911949],"aabb_xy":[[0.42921060022806506,0.33688910049872445],[0.4960909506201043,0.4037763521605846]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.6309649511308484,-0.5205532662852366,0.71338606911949],"aabb_xy":[[0.6163215455768154,-0.5352119859420208],[0.6456083566848814,-0.5058945466284523]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.11083484054656034,1.7702412449250198,0.71338606911949],"aabb_xy":[[-0.1234375396836368,1.7576458487001545],[-0.09823214140948389,1.7828366411498855]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[-0.4386810283644357,-2.1737889082935316,0.71338606911949],"aabb_xy":[[-0.4886543223676961,-2.223788908848079],[-0.38870773436117523,-2.123788907738984]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.05088793417254267,-1.9837121594657554,0.71338606911949],"aabb_xy":[[-0.0041120650040468235,-2.0387018342407135],[0.10588793334913216,-1.928722484690798]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.4669025080985725,-0.3089996297726145,0.71338606911949],"aabb_xy":[[0.41690250865837675,-0.35896755425693083],[0.516902507538768,-0.2590317052882982]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.22493946464482478,-2.308669708633346,0.71338606911949],"aabb_xy":[[-0.26618827567473946,-2.363669708145563],[-0.18369065361491002,-2.253669709121128]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.4802958593714739,-1.9019376591779256,0.71338606911949],"aabb_xy":[[0.4465203001807808,-1.9159761543910905],[0.5140714185621668,-1.8878991639647602]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.20366744241742207,0.8869573450191766,0.71338606911949],"aabb_xy":[[0.1995514923053494,0.8828417899863309],[0.20778339252949474,0.891072900052022]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.5348292372548336,-0.694803380334915,0.71338606911949],"aabb_xy":[[-0.538789721024568,-0.7024712449204356],[-0.5308687534850993,-0.6871355157493944]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.14200461123354213,0.506096332829705,0.71338606911949],"aabb_xy":[[-0.22200461230666246,0.49631828649232057],[-0.0620046101604218,0.5158743791670894]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.04446862269008556,-2.5132168966784834,0.71338606911949],"aabb_xy":[[-0.09446862364061835,-2.5447660436820043],[0.0055313782604472644,-2.4816677496749615]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.13085480738857846,1.130087673143911,0.71338606911949],"aabb_xy":[[-0.1422165420418646,1.1187192067376224],[-0.11949307273529228,1.1414561395501985]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.2478738442803724,-0.6842374950933632,0.71338606911949],"aabb_xy":[[0.16788002070181415,-0.7642374976862047],[0.3278676678589306,-0.6042374925005216]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.40490501335023227,-1.5501234768951617,0.71338606911949],"aabb_xy":[[-0.41406489229410887,-1.556654694938699],[-0.39574513440635567,-1.5435922588516249]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.2905428914807086,0.17622851184232236,0.71338606911949],"aabb_xy":[[-0.3405428918412746,0.1262485246327194],[-0.24054289112014252,0.2262084990519253]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.3716031611750066,-2.0018664859004645,0.71338606911949],"aabb_xy":[[-0.39993287112354675,-2.006327228094182],[-0.3432734512264663,-1.9974057437067478]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.6837504812441071,-2.5665561897755653,0.71338606911949],"aabb_xy":[[-0.6917439710393892,-2.5745543217160414],[-0.6757569914488252,-2.55855805783509]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.01624118799458074,1.5344091162976548,0.71338606911949],"aabb_xy":[[-0.029843903260150732,1.4704091190450994],[0.06232627924931222,1.5984091135502096]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[-0.14330128718252688,0.05658760541834695,0.71338606911949],"aabb_xy":[[-0.18033539661058662,0.022210398084637505],[-0.1062671777544672,0.0909648127520564]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[0.06452863598077208,1.8127187567845993,0.71338606911949],"aabb_xy":[[0.05368815775425717,1.7955324754939506],[0.07536911420728698,1.829905038075248]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[0.4774194537833123,-2.0340668508572524,0.71338606911949],"aabb_xy":[[0.41978898489604133,-2.0940668497839625],[0.535049922670583,-1.9740668519305413]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[0.20470067404789427,1.7719419251292101,0.71338606911949],"aabb_xy":[[0.17605134168747802,1.7432963658521343],[0.23335000640831047,1.800587484406286]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_32","position":[-0.10384912092574905,-1.8461425083663712,0.71338606911949],"aabb_xy":[[-0.1678491182113977,-1.8876492273192151],[-0.0398491236401004,-1.8046357894135272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6494127214809611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9075.png","name":"9075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8476.png","name":"8476"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2534.png","name":"2534"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":756.4222177102189,"rotation_z_degrees":116.0043808819205,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036621677935148624,0.0027748321872910105,-0.012222355660173233]},{"name":"camera_2","offset_m":[-0.0070196943396477005,0.017713304933883855,0.0014336538663787396]},{"name":"camera_3","offset_m":[-2.0098269887355164e-05,0.0039668088322398175,0.005192376298374487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005087860124963384,0.0005007667161852896,-0.00018061983640596112],"end_effector_yaw_offset_degrees":0.2653375188026119},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006987058602679077,-0.0004876373133149742,-0.0009065797085416687],"end_effector_yaw_offset_degrees":-0.3602747151977339},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010505403158482087,0.0008862563199662265,0.0002212397352465514],"end_effector_yaw_offset_degrees":0.05502397085393307}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004168510554954771,-0.002885879186752437],"position_m":[0.27856851055495474,-0.12068587918675244,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015830022630309104,-0.0011598317261599191],"position_m":[0.2779830022630309,0.2789401682738401,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0023683441113159613,-0.0032020009625690063],"position_m":[0.295168344111316,0.009497999037430992,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003577935208258657,0.0013809443475928307],"position_m":[0.05867793520825866,0.4137809443475928,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011869802280561345,0.0045708251669272235],"position_m":[0.16178698022805613,-0.43202917483307274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"76c44d2ea4dfc81fa212b5f5985e87c2891034bf9eab2e28073c9adcfbb6a69e","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5736/tex_ceiling_textures_2534/tex_floor_textures_8476/tex_table_textures_9075/tex_wall_textures_8416","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":94342099713203501,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":94342099713203501,"visual_seed":94342099713203501,"scene_id":"lab_003","finished_at":"2026-09-03T17:36:45"} +{"episode_id":"ep_000010","started_at":"2026-09-03T17:36:48","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.6518022206746195,1.2594193317698559,0.71338606911949],"aabb_xy":[[-0.6868022189853149,1.2517043168463102],[-0.616802222363924,1.2671343466934015]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[0.12366064576098257,1.555708709455176,0.71338606911949],"aabb_xy":[[0.05966064435299192,1.5039197579312513],[0.18766064716897324,1.6074976609791007]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.28802994238978175,0.9822400204108597,0.71338606911949],"aabb_xy":[[0.27712416630221903,0.9022400240120304],[0.29893571847734446,1.0622400168096888]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.4045318845632997,1.0732371944176315,0.71338606911949],"aabb_xy":[[-0.4124551648020481,1.050737194179628],[-0.3966086043245514,1.0957371946556347]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.1282450312739949,0.9074237204225812,0.71338606911949],"aabb_xy":[[-0.1362713019046209,0.8986722254452286],[-0.1202187606433689,0.9161752153999339]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.5917750942715567,-2.4104623970699977,0.71338606911949],"aabb_xy":[[0.536649888641966,-2.470462398511285],[0.6469002999011476,-2.3504623956287105]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.37969443473563896,-1.220173548035763,0.71338606911949],"aabb_xy":[[-0.3897761418142124,-1.3001735459278774],[-0.36961272765706543,-1.140173550143648]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.0896679557565413,-1.532431609590218,0.71338606911949],"aabb_xy":[[0.019667959346579483,-1.5528695452418992],[0.15966795216650304,-1.5119936739385358]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.6604214142054586,-1.101930441657064,0.71338606911949],"aabb_xy":[[-0.6650565293576919,-1.1057977767342126],[-0.6557862990532252,-1.0980631065799151]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.09969887009047673,0.6707017807644333,0.71338606911949],"aabb_xy":[[-0.17969886725005202,0.6591541798066162],[-0.01969887293090143,0.6822493817222502]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.46810468629526647,-1.441497707576186,0.71338606911949],"aabb_xy":[[0.3781046865720923,-1.4645710601113655],[0.5581046860184407,-1.4184243550410058]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.14123625665125628,-1.1500085507256017,0.71338606911949],"aabb_xy":[[0.07123625325969431,-1.1853243244290323],[0.21123626004281826,-1.1146927770221706]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.4151770598847515,0.29703863822313625,0.71338606911949],"aabb_xy":[[0.3501770620031037,0.24591497451659544],[0.48017705776639935,0.3481623019296772]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.12080562866152267,0.43063432044786154,0.71338606911949],"aabb_xy":[[-0.1858056286958254,0.38393364376753425],[-0.055805628627219925,0.47733499712818883]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.013051832533523933,-2.4485927205046853,0.71338606911949],"aabb_xy":[[-0.021179520726837153,-2.457506328915393],[-0.004924144340210712,-2.4396791120939776]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.3631891184751044,-0.8536297180494905,0.71338606911949],"aabb_xy":[[0.34564242355898545,-0.8911297196137417],[0.3807358133912233,-0.8161297164852391]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.5904509163682179,-1.5702522610273761,0.71338606911949],"aabb_xy":[[-0.6279509175530106,-1.5746704837234364],[-0.552950915183425,-1.5658340383313154]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.4701642761028668,1.567346587916155,0.71338606911949],"aabb_xy":[[0.460746801533004,1.557930410778436],[0.4795817506727295,1.576762765053874]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.13957108939546015,0.6662588111474448,0.71338606911949],"aabb_xy":[[0.11124137944691992,0.6617980689537277],[0.16790079934400037,0.6707195533411618]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.2603004068725025,-0.3153200144035688,0.71338606911949],"aabb_xy":[[-0.31530040604909193,-0.3703096891785264],[-0.20530040769591296,-0.26033033962861113]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.36391638945546095,-0.8224044117311453,0.71338606911949],"aabb_xy":[[-0.4279120868505575,-0.8864044100318539],[-0.2999206920603643,-0.7584044134304365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565404345832049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5256.png","name":"5256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2532.png","name":"2532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":800.494288394768,"rotation_z_degrees":353.2866577166917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007507266009736507,-0.0036455702163809833,-0.018407058339706267]},{"name":"camera_2","offset_m":[0.019246755548765957,-0.019393092688448934,-0.01680956059887636]},{"name":"camera_3","offset_m":[-0.0037126601296245468,-0.0034618439691063325,0.009424034468444628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007379767233266455,0.0015531003443699691,-0.0014354934816964776],"end_effector_yaw_offset_degrees":0.6069913808311345},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001976457363169974,-0.0013963024403853036,-0.0014947911567649483],"end_effector_yaw_offset_degrees":0.3571587234595537},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010053222626624616,2.4524769930272042e-05,0.0013789247758314448],"end_effector_yaw_offset_degrees":-0.6402286253141392}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001336964716375223,0.004364021198227566],"position_m":[0.27306303528362474,-0.11343597880177243,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004352679510153625,-0.0036394224421822784],"position_m":[0.2807526795101536,0.2764605775578177,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.000661034505139475,-0.0006493466312142704],"position_m":[0.2934610345051395,0.012050653368785729,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021240291973767178,0.004113042224838327],"position_m":[0.052975970802623285,0.4165130422248383,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029083258654966507,-0.004178145700229117],"position_m":[0.16350832586549666,-0.4407781457002291,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"afcec038a77e923aaeedc6996a580a6e8920e3aa8d77677ede02aa36d0e5d42b","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7937/tex_ceiling_textures_6042/tex_floor_textures_2532/tex_table_textures_5256/tex_wall_textures_6551","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4502238709564397987,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4502238709564397987,"visual_seed":4502238709564397987,"scene_id":"lab_003","finished_at":"2026-09-03T17:39:07"} +{"episode_id":"ep_000011","started_at":"2026-09-03T17:39:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.06409236747138825,-2.234869774562221,0.71338606911949],"aabb_xy":[[0.054745359889093,-2.2491733967798653],[0.07343937505368346,-2.220566152344577]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.3975446733807919,0.7407830765321557,0.71338606911949],"aabb_xy":[[0.33354467016215406,0.6940599646331475],[0.46154467659942977,0.7875061884311642]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.4471770554473924,-2.120907045338329,0.71338606911949],"aabb_xy":[[-0.4650461632018479,-2.13473995331554],[-0.4293079476929369,-2.107074137361118]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.13908194659302697,-1.6683284159773764,0.71338606911949],"aabb_xy":[[0.08408969595751602,-1.7233284177206893],[0.19407419722853794,-1.6133284142340638]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.29826030022341227,-0.7854484159486275,0.71338606911949],"aabb_xy":[[-0.3632602987804851,-0.8152009493625101],[-0.23326030166633943,-0.7556958825347448]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.046947124472463075,1.6920927077405845,0.71338606911949],"aabb_xy":[[0.041365452838334316,1.6795927079228088],[0.052528796106591835,1.7045927075583598]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[0.5604870330916973,-1.9413679650635547,0.71338606911949],"aabb_xy":[[0.49648703669612426,-2.0053312534822885],[0.6244870294872704,-1.877404676644821]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.2587800822531618,1.0138471719196644,0.71338606911949],"aabb_xy":[[-0.3087533762564222,0.9638471713651169],[-0.2088067882499013,1.0638471724742116]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.5332322216842904,-1.7569004126223473,0.71338606911949],"aabb_xy":[[-0.5475666468104539,-1.7689606281768862],[-0.518897796558127,-1.7448401970678085]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.4994160299734287,-0.7207140080137118,0.71338606911949],"aabb_xy":[[0.4769168942472017,-0.7432140087919746],[0.5219151656996557,-0.6982140072354487]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.17059243929101076,1.5082716134823468,0.71338606911949],"aabb_xy":[[0.1514801319330319,1.489136834605105],[0.18970474664898962,1.527406392359589]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.43607154275314075,-2.179081412558653,0.71338606911949],"aabb_xy":[[0.42729031560590464,-2.1878611598471838],[0.4448527699003771,-2.1703016652701232]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.08393043092647878,1.154955054848752,0.71338606911949],"aabb_xy":[[0.0489304310304599,1.1465808193368117],[0.11893043082249764,1.1633292903606918]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.2869868335859741,-2.021018549442012,0.71338606911949],"aabb_xy":[[0.22298683124317256,-2.065959400686144],[0.35098683592877566,-1.9760776981978794]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.513527437272081,0.003530189198235334,0.71338606911949],"aabb_xy":[[-0.5469676124681006,-0.029913436632694742],[-0.4800872620760614,0.036973815029165406]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.6448358965463227,-1.241961427150571,0.71338606911949],"aabb_xy":[[-0.6513375330543272,-1.2517292491768808],[-0.638334260038318,-1.2321936051242612]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.4916665569323102,0.5240226819987139,0.71338606911949],"aabb_xy":[[0.4541665557475173,0.5196044593026533],[0.5291665581171028,0.5284409046947743]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.16199576852061137,1.6290375649802988,0.71338606911949],"aabb_xy":[[-0.24199577177845433,1.5490410571883149],[-0.08199576526276842,1.7090340727722828]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.45506876499855187,0.061644429897819375,0.71338606911949],"aabb_xy":[[0.43756876572046505,0.044306329831473416],[0.4725687642766388,0.07898252996416533]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.2564090554123475,-0.5229246553294984,0.71338606911949],"aabb_xy":[[-0.3114090545889369,-0.5779143301044559],[-0.20140905623575794,-0.46793498055454064]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.3510134399959299,0.47987905038472967,0.71338606911949],"aabb_xy":[[-0.4310134402695368,0.40692950255901295],[-0.27101343972232284,0.5528285982104464]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.1830856222421604,-0.27538632282182185,0.71338606911949],"aabb_xy":[[-0.24708561935426612,-0.32441869261623246],[-0.11908562513005475,-0.22635395302741124]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.5989257382405938,-1.0583410399073134,0.71338606911949],"aabb_xy":[[-0.6440970560887628,-1.1223410370518518],[-0.5537544203924248,-0.994341042762775]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.6040409709480854,1.1112585780379134,0.71338606911949],"aabb_xy":[[0.5990849507632043,1.088758577835792],[0.6089969911329667,1.1337585782400352]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.474554605755271,1.0021927270314572,0.71338606911949],"aabb_xy":[[0.39456078217671275,0.9221927244386157],[0.5545484293338292,1.0821927296242988]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.5074285525628689,-2.532157176586429,0.71338606911949],"aabb_xy":[[-0.597428552286043,-2.555230529121608],[-0.41742855283969466,-2.5090838240512485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.64973251135142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7965.png","name":"7965"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7965.png","name":"7965"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/174.png","name":"174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6850.png","name":"6850"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/373.png","name":"373"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9296.png","name":"9296"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":523.7512479112493,"rotation_z_degrees":237.9763836810094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004104866038226903,0.002994853210577148,0.008968452110981094]},{"name":"camera_2","offset_m":[0.01902891385531111,0.018252667979169548,-0.015070415271468659]},{"name":"camera_3","offset_m":[0.005893208374936853,0.016268385858296767,-0.0018408007713900804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013870221129237918,0.001828216724016925,0.0015840770013408664],"end_effector_yaw_offset_degrees":-0.9129591091332725},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013392036188585106,-0.0005220230795240557,0.001213137441360868],"end_effector_yaw_offset_degrees":0.7813043465039351},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017749000177988976,-0.0012824969318073914,-0.00018816709557537242],"end_effector_yaw_offset_degrees":0.23812922898000966}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00045842517071483825,-0.004884281536811348],"position_m":[0.2748584251707148,-0.12268428153681135,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004401938373610066,0.0015124351938578529],"position_m":[0.2719980616263899,0.28161243519385787,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0037804092348740744,-0.003369066445702791],"position_m":[0.29658040923487405,0.009330933554297208,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037023492129630063,0.00037843399082557183],"position_m":[0.05880234921296301,0.4127784339908256,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013124559918252722,0.0013046132957339387],"position_m":[0.15928754400817471,-0.43529538670426604,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3abfb8c47f6e09f7798ab14416c52df2d2c52a3e9665accab85b7fd8eb740f01","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7965/tex_ceiling_textures_9296/tex_floor_textures_373/tex_table_textures_174/tex_wall_textures_6850","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1200328824614728072,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1200328824614728072,"visual_seed":1200328824614728072,"scene_id":"lab_003","finished_at":"2026-09-03T17:41:36"} +{"episode_id":"ep_000012","started_at":"2026-09-03T17:41:39","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.26949846111604014,-0.539109860057855,0.71338606911949],"aabb_xy":[[0.23449846122002124,-0.5474840955697949],[0.30449846101205896,-0.530735624545915]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.023935010965508874,1.4070098570166127,0.71338606911949],"aabb_xy":[[-0.029272586631513445,1.3820098560874732],[-0.01859743529950431,1.4320098579457528]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.5371486758146893,0.9833354974840929,0.71338606911949],"aabb_xy":[[-0.6071486792062512,0.9480197237806619],[-0.46714867242312724,1.0186512711875235]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.13661025780701352,-2.177859099395557,0.71338606911949],"aabb_xy":[[-0.19820101703100634,-2.241859097504604],[-0.0750194985830207,-2.1138591012865104]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.10430639892882021,0.9961385723817471,0.71338606911949],"aabb_xy":[[0.09306134335820236,0.9848967746576518],[0.11555145449943803,1.0073803701058424]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.48683963017668197,-0.8372352061680903,0.71338606911949],"aabb_xy":[[0.4218396316196091,-0.866987739581973],[0.5518396287337548,-0.8074826727542077]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.04183882493486757,-0.7987833823733201,0.71338606911949],"aabb_xy":[[-0.1068388249691703,-0.8454840590536473],[0.023161175099435168,-0.7520827056929927]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.473382818784587,-1.3142980411494123,0.71338606911949],"aabb_xy":[[0.4625423405580721,-1.331484322440061],[0.4842232970111019,-1.2971117598587636]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.0843752474962528,-1.118590145651432,0.71338606911949],"aabb_xy":[[0.06187524768235042,-1.1230647620219127],[0.10687524731015519,-1.1141155292809513]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.12596399133335046,-1.1339244194667015,0.71338606911949],"aabb_xy":[[-0.13753297208028703,-1.1589244195836335],[-0.11439501058641388,-1.10892441934977]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.560204620862506,-2.1930786411701195,0.71338606911949],"aabb_xy":[[-0.5679078115365829,-2.200788011868857],[-0.5525014301884289,-2.185369270471381]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.1535403870205282,-0.1565735643238808,0.71338606911949],"aabb_xy":[[-0.18138542380113534,-0.18735806306219246],[-0.1256953502399211,-0.1257890655855691]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.12806862004508868,-0.4808031623475886,0.71338606911949],"aabb_xy":[[-0.19206862333479677,-0.5241380813515062],[-0.06406861675538054,-0.43746824334367096]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.4728806241943442,-0.7028351159708097,0.71338606911949],"aabb_xy":[[0.412880623942943,-0.7571164410072743],[0.5328806244457454,-0.648553790934345]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.13941367433569274,-0.3025165492885895,0.71338606911949],"aabb_xy":[[-0.17318923352638568,-0.31655504450175453],[-0.10563811514499974,-0.2884780540754245]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.3847322707729343,-2.0332801614659015,0.71338606911949],"aabb_xy":[[-0.3998345722339523,-2.0483816830969626],[-0.3696299693119161,-2.0181786398348387]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.12906755605117448,-2.148894017987777,0.71338606911949],"aabb_xy":[[0.06506755746460205,-2.1959009813872856],[0.19306755463774697,-2.101887054588268]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.5164917549346415,-1.2027110093431648,0.71338606911949],"aabb_xy":[[0.43649175446442556,-1.2110217169575133],[0.5964917554048574,-1.1944003017288167]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.035128580936575005,-1.1805116898036399,0.71338606911949],"aabb_xy":[[-0.07012857924727045,-1.1882267047271853],[-0.00012858262587956554,-1.172796674880094]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.42330302750337423,0.030196385364116285,0.71338606911949],"aabb_xy":[[-0.43122630774212256,0.007696385126112926],[-0.4153797472646259,0.052696385602119644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481038100349852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5561.png","name":"5561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5561.png","name":"5561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8793.png","name":"8793"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2022.png","name":"2022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4945.png","name":"4945"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2374.png","name":"2374"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":534.3789438956478,"rotation_z_degrees":80.62396124421326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01508090815043301,0.018265125940743563,-0.017677416700261808]},{"name":"camera_2","offset_m":[-0.01215704672104284,0.01366310831978269,0.010490806927649424]},{"name":"camera_3","offset_m":[-0.014801933058306713,-0.0011479294691216467,-0.019912407963444036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010387000218676796,-0.0009671733270642112,0.0007763480809885983],"end_effector_yaw_offset_degrees":0.9909548509356441},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012343619508105794,-0.0007667922290937686,-0.0004321552467648729],"end_effector_yaw_offset_degrees":0.10786412003575352},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011632464567967408,0.0004587446819482831,0.0008827192073358691],"end_effector_yaw_offset_degrees":-0.22407732827810922}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012375384671841007,-0.0010966680781675097],"position_m":[0.27316246153281587,-0.11889666807816751,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004429518362441931,-0.002275518467683283],"position_m":[0.27197048163755805,0.27782448153231676,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006620796754591507,-0.0009158455039278779],"position_m":[0.2934620796754592,0.011784154496072122,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002670790515793978,0.004530123096451187],"position_m":[0.0553670790515794,0.41693012309645117,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002961956242238394,0.0019083229915150875],"position_m":[0.1576380437577616,-0.4346916770084849,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a4377240ded8cc23f034904f0b4e961f963230ba20f369a093c304a57366a555","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5561/tex_ceiling_textures_2374/tex_floor_textures_4945/tex_table_textures_8793/tex_wall_textures_2022","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":9064693582469993784,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":9064693582469993784,"visual_seed":9064693582469993784,"scene_id":"lab_003","finished_at":"2026-09-03T17:44:27"} +{"episode_id":"ep_000013","started_at":"2026-09-03T17:47:13","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.4579072991711466,-2.476399552091405,0.71338606911949],"aabb_xy":[[-0.46204315550384684,-2.513899551535762],[-0.45377144283844645,-2.438899552647048]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.6738476892289232,-1.1556420029207675,0.71338606911949],"aabb_xy":[[-0.6775509505580619,-1.159344021229485],[-0.6701444278997841,-1.1519399846120495]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.2975864621406339,0.5359832241293767,0.71338606911949],"aabb_xy":[[0.2504570831387982,0.47198322308497453],[0.34471584114246956,0.5999832251737784]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.6831176279177101,0.14540633943307757,0.71338606911949],"aabb_xy":[[-0.6925351024875729,0.13599016229535854],[-0.6737001533478474,0.1548225165707966]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.5117352644126156,0.8908061126299938,0.71338606911949],"aabb_xy":[[0.4752394437853369,0.8543221702032363],[0.5482310850398944,0.9272900550567514]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.05791550618203267,0.2279521204015733,0.71338606911949],"aabb_xy":[[-0.06401013407015099,0.2193827258499046],[-0.05182087829391436,0.23652151495324203]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.1728769659531585,-1.2471017521893832,0.71338606911949],"aabb_xy":[[-0.18988706324320911,-1.263236240687657],[-0.1558668686631078,-1.230967263691109]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.5166245120354964,-0.5027927439935662,0.71338606911949],"aabb_xy":[[0.511989396883263,-0.5066600790707146],[0.5212596271877297,-0.4989254089164174]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.4206264054272518,1.2586435506761204,0.71338606911949],"aabb_xy":[[-0.4324984884387529,1.17364355098247],[-0.40875432241575066,1.3436435503697708]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.13147061065225896,0.9275197847181977,0.71338606911949],"aabb_xy":[[0.08199018943830017,0.863519786805346],[0.18095103186621775,0.9915197826310497]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.13618331866340816,0.5816123995383284,0.71338606911949],"aabb_xy":[[-0.14593930817258205,0.571849865479094],[-0.12642732915423427,0.5913749335975629]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.42138918763136857,-1.836032449230128,0.71338606911949],"aabb_xy":[[-0.47136660449662215,-1.8860324507193766],[-0.371411770766115,-1.7860324477408795]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.454672855668971,0.21268885821944794,0.71338606911949],"aabb_xy":[[0.4260235233085547,0.18404329894237212],[0.48332218802938715,0.2413344174965237]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.5592650916178596,0.2605650402853126,0.71338606911949],"aabb_xy":[[0.5484246133913447,0.24337875899466377],[0.5701055698443745,0.2777513215759614]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.13074891036523584,1.234625877680715,0.71338606911949],"aabb_xy":[[-0.1532489098889432,1.212129930230094],[-0.10824891084152842,1.2571218251313356]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.010277335369788476,-0.8849122278526904,0.71338606911949],"aabb_xy":[[-0.0031691912642548576,-0.8983820795057815],[0.023723862003831808,-0.8714423761995991]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.5547740080632544,-1.844577511937004,0.71338606911949],"aabb_xy":[[-0.5698763095242722,-1.8596790335680653],[-0.539671706602236,-1.8294759903059414]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.5815789779850878,-0.45102133782249565,0.71338606911949],"aabb_xy":[[-0.5993724849200043,-0.46882108341829326],[-0.5637854710501714,-0.4332215922266979]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.20233326930305895,1.682410975144625,0.71338606911949],"aabb_xy":[[0.13733327142141116,1.6312873114380846],[0.26733326718470674,1.7335346388511663]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.2606022944022842,-2.167367800491853,0.71338606911949],"aabb_xy":[[0.24982932048091644,-2.202367798710892],[0.271375268323652,-2.132367802272814]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.5214388084046906,-1.5609232112936147,0.71338606911949],"aabb_xy":[[0.49359377162408347,-1.5917077100319266],[0.5492838451852977,-1.5301387125553032]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.24698955733183153,-1.1736932152493331,0.71338606911949],"aabb_xy":[[-0.2753192672803718,-1.1781539574430504],[-0.21865984738329133,-1.1692324730556163]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[0.5998771878938778,-2.1983135132513176,0.71338606911949],"aabb_xy":[[0.564877186542396,-2.2186732492081385],[0.6348771892453595,-2.177953777294497]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.6505664072640913,-1.896673278700574,0.71338606911949],"aabb_xy":[[0.6280664067520506,-1.9191651370659717],[0.6730664077761318,-1.874181420335175]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.4526297555549421,0.11086887877352014,0.71338606911949],"aabb_xy":[[-0.542629754973313,0.0774933819293304],[-0.36262975613657117,0.14424437561770986]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6463738266890842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9363.png","name":"9363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9363.png","name":"9363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/627.png","name":"627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/501.png","name":"501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8753.png","name":"8753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8204.png","name":"8204"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":540.6696781950841,"rotation_z_degrees":74.65601503971646,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014676800480752313,-0.01141917492284283,0.004827624101953035]},{"name":"camera_2","offset_m":[-0.0015248260125972565,-0.016449665220847114,-0.0020863124695646718]},{"name":"camera_3","offset_m":[-0.0029279910222810013,-0.008517892639069076,0.00599801340247787]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.404386826191054e-05,-0.0013022086112177878,-0.0008924662903396934],"end_effector_yaw_offset_degrees":0.01583515865764351},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007641563246351187,0.00029662783291506097,-0.0012196653093335193],"end_effector_yaw_offset_degrees":0.6966200174380106},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006827456898314309,0.0017658870598019159,-5.5075462156786064e-05],"end_effector_yaw_offset_degrees":-0.03886472747362579}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023247225419763765,-0.0033258304971585054],"position_m":[0.27672472254197633,-0.12112583049715851,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004040734895584374,0.0018083675302767097],"position_m":[0.28044073489558435,0.2819083675302767,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028544814597615343,-0.0013186675548477866],"position_m":[0.2899455185402385,0.011381332445152213,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039607501697372606,0.0011640431238121472],"position_m":[0.05906075016973726,0.4135640431238121,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004238641554454579,0.0030758031089471735],"position_m":[0.1563613584455454,-0.4335241968910528,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6132b5b1b94aa15dd84a9982f51e0cb87daadede2768900ba7634cae6f581328","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9363/tex_ceiling_textures_8204/tex_floor_textures_8753/tex_table_textures_627/tex_wall_textures_501","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6552367761295363582,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6552367761295363582,"visual_seed":6552367761295363582,"scene_id":"lab_003","finished_at":"2026-09-03T17:49:22"} +{"episode_id":"ep_000014","started_at":"2026-09-03T17:49:25","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.5623160166109267,-0.9070722693045947,0.71338606911949],"aabb_xy":[[-0.6124134805920004,-0.9710722698144064],[-0.5122185526298532,-0.8430722687947828]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.40806943905865545,-1.547361967926113,0.71338606911949],"aabb_xy":[[0.3948384935239741,-1.5605893869481124],[0.4213003845933367,-1.5341345489041136]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.29326012781866045,-1.1443300412954958,0.71338606911949],"aabb_xy":[[-0.3582601278529632,-1.191030717975823],[-0.22826012778435772,-1.0976293646151685]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.620838158983571,-0.750768316452572,0.71338606911949],"aabb_xy":[[0.5756668411354021,-0.8147683135971105],[0.66600947683174,-0.6867683193080336]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.4745758136855185,1.5710997454395295,0.71338606911949],"aabb_xy":[[0.46416425500503466,1.565754012103631],[0.4849873723660021,1.5764454787754278]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.40350123908560886,1.2658251808706336,0.71338606911949],"aabb_xy":[[-0.4114952276633122,1.2578251007755432],[-0.3955072505079054,1.273825260965724]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.18236169387281975,1.2774636284699064,0.71338606911949],"aabb_xy":[[0.15781547825006903,1.2472147319208693],[0.20690790949557047,1.3077125250189434]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.3859368669295298,1.564614281229034,0.71338606911949],"aabb_xy":[[-0.4359368682133697,1.514635426838412],[-0.33593686564568975,1.6145931356196561]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.5019425114426002,-0.8236402305987027,0.71338606911949],"aabb_xy":[[0.49401923120385194,-0.8461402308367061],[0.5098657916813486,-0.8011402303606994]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.5430943340113668,0.48287998854046643,0.71338606911949],"aabb_xy":[[0.5205951982851398,0.4603799877622035],[0.5655934697375937,0.5053799893187294]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.5387488761205055,0.3717287391766031,0.71338606911949],"aabb_xy":[[-0.5886315729982017,0.32172873993032836],[-0.4888661792428093,0.4217287384228779]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.012659916250082115,-1.463781315708412,0.71338606911949],"aabb_xy":[[-0.059789295251917784,-1.5277813167528138],[0.034469462751753555,-1.39978131466401]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.21031329691762535,-1.1546158628064167,0.71338606911949],"aabb_xy":[[0.17298202039238275,-1.189268917601269],[0.247644573442868,-1.1199628080115644]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.5106123179863579,-2.0393350811961355,0.71338606911949],"aabb_xy":[[-0.5450746653844996,-2.0738289635939573],[-0.476149970588216,-2.004841198798312]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.6460275779235767,-1.227012315229926,0.71338606911949],"aabb_xy":[[0.5820275806212303,-1.2713787421977825],[0.7100275752259231,-1.182645888262069]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.2945116537566908,-0.20348662539891782,0.71338606911949],"aabb_xy":[[-0.3170116535705932,-0.20796124176939854],[-0.2720116539427884,-0.19901200902843716]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.24819670752525191,0.6156300031358817,0.71338606911949],"aabb_xy":[[0.21373422951216417,0.6089663259529587],[0.2826591855383397,0.6222936803188044]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.6966061837311965,0.5148578320930901,0.71338606911949],"aabb_xy":[[0.6912686080651919,0.4898578311639503],[0.701943759397201,0.5398578330222299]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.6491789658119071,1.7043353086811286,0.71338606911949],"aabb_xy":[[0.6316789665338204,1.6869972086147826],[0.6666789650899941,1.7216734087474745]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.24761722710132406,-1.3176535459093501,0.71338606911949],"aabb_xy":[[0.2119880712013643,-1.353286212666203],[0.2832463830012838,-1.2820208791524972]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.23548865119898343,-1.437009294249938,0.71338606911949],"aabb_xy":[[0.22084524564495042,-1.451668013906722],[0.2501320567530164,-1.4223505745931535]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.6110935447991536,0.7349857017174424,0.71338606911949],"aabb_xy":[[-0.6343753869972849,0.6499857004202142],[-0.5878117026010222,0.8199857030146703]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.6875106981268815,1.252982045944377,0.71338606911949],"aabb_xy":[[0.6762656425562635,1.2417402482202817],[0.6987557536974992,1.2642238436684723]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.7052412706634184,0.7090719975787425,0.71338606911949],"aabb_xy":[[0.7011054143307182,0.6715719981343855],[0.7093771269961185,0.7465719970230995]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.6048109053610151,-2.4242055725132117,0.71338606911949],"aabb_xy":[[0.58892641209569,-2.438558512812036],[0.6206953986263403,-2.4098526322143874]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.2377594910608512,0.5717009988226343,0.71338606911949],"aabb_xy":[[-0.24480094201159883,0.5646742470848397],[-0.23071804011010363,0.5787277505604288]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6470581521202434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6099.png","name":"6099"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6099.png","name":"6099"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9051.png","name":"9051"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4988.png","name":"4988"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":587.0051768765932,"rotation_z_degrees":189.7672239647108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012869805119173228,0.004549035245911624,0.0031200072622963766]},{"name":"camera_2","offset_m":[0.011737972136648681,0.018250244758101494,0.012420826325803002]},{"name":"camera_3","offset_m":[0.01952559959092504,-0.014106357685355075,0.011629512485936109]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010698942347822996,-0.0014092343767976318,-0.0016945505600926775],"end_effector_yaw_offset_degrees":0.3882674984938832},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008098858343038474,-0.0007920915660627297,-0.0013662589267397322],"end_effector_yaw_offset_degrees":-0.6631463813043694},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004970037763311385,0.001473391656846886,-0.0013283949331326125],"end_effector_yaw_offset_degrees":-0.06450624793735282}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00498713171200129,0.0037005309813881076],"position_m":[0.2694128682879987,-0.1140994690186119,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00257493727362039,2.1886677828657393e-05],"position_m":[0.2738250627263796,0.28012188667782867,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006033001935805147,0.0035105110033668797],"position_m":[0.2934033001935805,0.01621051100336688,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029755325176624983,0.0019281449965658408],"position_m":[0.0580755325176625,0.41432814499656584,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004738482374847874,0.0015053476605801867],"position_m":[0.15586151762515213,-0.4350946523394198,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"49c3df724117cb22ae27596ea25c626774c7a437ddb2ce3bf5712fef5b103f5e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6099/tex_ceiling_textures_4988/tex_floor_textures_9051/tex_table_textures_3238/tex_wall_textures_6237","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7840963682238288523,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7840963682238288523,"visual_seed":7840963682238288523,"scene_id":"lab_003","finished_at":"2026-09-03T17:51:38"} +{"episode_id":"ep_000015","started_at":"2026-09-03T17:51:43","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.31394497253338627,-1.4897954819051653,0.71338606911949],"aabb_xy":[[0.26412819306855145,-1.5397954803894687],[0.363761751998221,-1.439795483420862]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.5748620167378033,0.8735705938271576,0.71338606911949],"aabb_xy":[[0.5248620157872704,0.8420214468236361],[0.624862017688336,0.9051197408306789]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.40376922218027034,-1.5985922430256143,0.71338606911949],"aabb_xy":[[-0.46776922409261273,-1.654503392283625],[-0.33976922026792805,-1.542681093767604]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.07824963667132645,-0.7468380682240203,0.71338606911949],"aabb_xy":[[-0.15824963694493344,-0.819787616049737],[0.0017503636022805217,-0.6738885203983036]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.2606097914355927,-2.1944488502103052,0.71338606911949],"aabb_xy":[[-0.3106097910119275,-2.244429429162411],[-0.21060979185925804,-2.1444682712581993]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.5096908978264088,-1.4055640575340007,0.71338606911949],"aabb_xy":[[0.5036538848257441,-1.4115907586029488],[0.5157279108270736,-1.3995373564650526]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.5511604980791359,0.11680867954322949,0.71338606911949],"aabb_xy":[[-0.6311604950933839,0.09667412786981822],[-0.47116050106488794,0.13694323121664076]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.03232227435203483,-2.3806252118604525,0.71338606911949],"aabb_xy":[[-0.09632227461250563,-2.42563401121338],[0.031677725908435976,-2.335616412507524]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.46651758753820466,0.5873888431615519,0.71338606911949],"aabb_xy":[[-0.486575999151445,0.5673237562523944],[-0.4464591759249644,0.6074539300707095]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.25334341257347415,-1.9304941603112495,0.71338606911949],"aabb_xy":[[0.1933434109305523,-1.9824943096031935],[0.313343414216396,-1.8784940110193051]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.46191660548419033,1.5374156636853207,0.71338606911949],"aabb_xy":[[0.45321864319347505,1.5252906893778462],[0.4706145677749056,1.5495406379927956]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.23840453368834602,0.9248386704941978,0.71338606911949],"aabb_xy":[[-0.24437107262908175,0.9188775258348336],[-0.23243799474761018,0.9307998151535617]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[0.6122858086794765,0.3746829934085092,0.71338606911949],"aabb_xy":[[0.5967300392692112,0.3591325601641021],[0.6278415780897417,0.39023342665291655]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.12978666050968224,0.6386382731435987,0.71338606911949],"aabb_xy":[[0.11791457749818113,0.5536382734499483],[0.14165874352118335,0.723638272837249]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.28516554103700403,0.7330267935532087,0.71338606911949],"aabb_xy":[[-0.33297170865077264,0.6680267908461497],[-0.23735937342323532,0.7980267962602675]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.397350012505614,-0.5503470950451259,0.71338606911949],"aabb_xy":[[-0.4341446456305203,-0.5872529701417083],[-0.36055537938070775,-0.5134412199485437]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.005832293381190623,1.5807773893006538,0.71338606911949],"aabb_xy":[[-0.03697921222477374,1.5107773906138466],[0.025314625462392493,1.650777387987461]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.0579272674559016,-0.7881976994760282,0.71338606911949],"aabb_xy":[[0.050683501409656266,-0.8681976976796306],[0.06517103350214692,-0.7081977012724259]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.01976755141516995,1.392663241288258,0.71338606911949],"aabb_xy":[[-0.08476755241567047,1.3418768761335833],[0.04523244958533057,1.4434496064429332]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.2803894355372989,1.5714543325724448,0.71338606911949],"aabb_xy":[[0.26328735757893074,1.554347527041175],[0.29749151349566705,1.5885611381037146]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.17090244470060223,-1.7084804234797604,0.71338606911949],"aabb_xy":[[0.12092915069734178,-1.7584804240343075],[0.22087573870386268,-1.6584804229252128]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.21290966093462782,-0.9129961918045484,0.71338606911949],"aabb_xy":[[0.20166460536400996,-0.9242379895286436],[0.22415471650524563,-0.901754394080453]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.1871728753818821,1.0271926299771623,0.71338606911949],"aabb_xy":[[0.123172872092174,0.9838577109732446],[0.2511728786715902,1.0705275489810797]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.15161647784232413,1.7166890338108725,0.71338606911949],"aabb_xy":[[-0.1597301325157012,1.7085832173568434],[-0.143502823168947,1.7247948502649015]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.04443748457017982,-1.0495473359457497,0.71338606911949],"aabb_xy":[[-0.035562513410605234,-1.0571488769076016],[0.12443748255096485,-1.0419457949838977]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[0.473685510613701,-2.2313257749304736,0.71338606911949],"aabb_xy":[[0.38399843430558556,-2.321325775184924],[0.5633725869218165,-2.141325774676023]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.6018083027635326,0.18435390591242662,0.71338606911949],"aabb_xy":[[0.537812605368436,0.12035390761171791],[0.6658040001586292,0.24835390421313527]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.4993459248265062,0.6387357376961611,0.71338606911949],"aabb_xy":[[0.44435367419099525,0.5837357359528483],[0.5543381754620171,0.6937357394394739]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[-0.5817494309034651,-1.4722159611847407,0.71338606911949],"aabb_xy":[[-0.5987595281935157,-1.4883504496830147],[-0.5647393336134144,-1.4560814726864668]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[0.2843008787435545,-0.5191931844190791,0.71338606911949],"aabb_xy":[[0.27236814438172646,-0.5315753372269386],[0.2962336131053826,-0.5068110316112199]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[0.056755526109764864,-1.8965076210510727,0.71338606911949],"aabb_xy":[[0.04360428013847551,-1.9215076208077595],[0.06990677208105424,-1.8715076212943864]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[0.24198448446932186,1.8171340497514126,0.71338606911949],"aabb_xy":[[0.22609999120399674,1.8027811094525883],[0.257868977734647,1.8314869900502364]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_32","position":[-0.5700304927794217,0.8388490020980841,0.71338606911949],"aabb_xy":[[-0.6070646022074814,0.8044717947643747],[-0.5329963833513619,0.8732262094317935]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[-0.16117020542934957,-0.5289569418389752,0.71338606911949],"aabb_xy":[[-0.2251702047235178,-0.5929430822078294],[-0.09717020613518135,-0.46497080147012104]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_34","position":[-0.6528315103675357,-2.5515874444164774,0.71338606911949],"aabb_xy":[[-0.6567453835629581,-2.5603364598230343],[-0.6489176371721131,-2.5428384290099206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6550554183229974,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3993.png","name":"3993"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4065.png","name":"4065"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":520.4643767922362,"rotation_z_degrees":281.2246612992919,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006275270309991123,-0.01126629417396141,0.018865340217870435]},{"name":"camera_2","offset_m":[-0.017758711624165854,0.01659939383034949,-0.016104829573773738]},{"name":"camera_3","offset_m":[-0.006199772562711252,0.01762266210646749,-0.009024732617472893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006159188531078123,-0.0013597805843623143,-0.00018460649569549043],"end_effector_yaw_offset_degrees":0.8697207705061836},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015714918512379967,-0.0007706117857780575,-0.0012044113713421095],"end_effector_yaw_offset_degrees":0.12165036776530158},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001943131970059831,-0.000617678910632776,0.0018471470099369778],"end_effector_yaw_offset_degrees":0.3008611743308798}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004833216806877303,0.0009677296904141829],"position_m":[0.2792332168068773,-0.11683227030958582,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00443606146268096,-0.004757157910838344],"position_m":[0.2808360614626809,0.27534284208916165,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00021076338885031923,-0.003594770132692016],"position_m":[0.29258923661114966,0.009105229867307984,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006034080599657621,-0.003944506706679676],"position_m":[0.055703408059965764,0.4084554932933203,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023706404359663267,-0.002558985968695924],"position_m":[0.16297064043596632,-0.4391589859686959,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"98af6ca64a4335750b4aaa6b1a3fedc68756c0be7ae600183ea70aff8aabfe1b","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7073/tex_ceiling_textures_4065/tex_floor_textures_950/tex_table_textures_3993/tex_wall_textures_9595","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1432706354844883319,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1432706354844883319,"visual_seed":1432706354844883319,"scene_id":"lab_003","finished_at":"2026-09-03T17:54:38"} +{"episode_id":"ep_000016","started_at":"2026-09-03T17:54:42","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.40812744483545393,1.3533395009328384,0.71338606911949],"aabb_xy":[[0.3531342334983171,1.2983395005940448],[0.46312065617259063,1.408339501271632]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.3321330123123123,-1.0814933679967749,0.71338606911949],"aabb_xy":[[0.2869616944641434,-1.1454933651413137],[0.37730433016048137,-1.017493370852237]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.3877441437044056,-2.262529278059534,0.71338606911949],"aabb_xy":[[0.35659722486082246,-2.332529276746341],[0.4188910625479887,-2.1925292793727267]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.4453926766320111,-2.0410033908927776,0.71338606911949],"aabb_xy":[[0.3553926798964008,-2.0941868542100717],[0.5353926733676212,-1.9878199275754826]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.6055188570205134,-0.7758342491894334,0.71338606911949],"aabb_xy":[[-0.6116134849086318,-0.784403643741102],[-0.5994242291323951,-0.7672648546377646]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.43934646282428225,-0.6174351668639744,0.71338606911949],"aabb_xy":[[0.4352305127122096,-0.6215507218968197],[0.4434624129363549,-0.6133196118311286]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.27987260972053046,0.576382789311769,0.71338606911949],"aabb_xy":[[-0.30315445191866175,0.4913827880145409],[-0.25659076752239907,0.661382790608997]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.17381985362264785,-1.679720806920301,0.71338606911949],"aabb_xy":[[-0.18184612425327384,-1.6884723018976537],[-0.16579358299202185,-1.6709693119429485]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.11313527925792943,1.409740873027744,0.71338606911949],"aabb_xy":[[0.07095086509709869,1.3457408727505331],[0.15531969341876017,1.4737408733049555]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.575457820319389,0.23692495992751716,0.71338606911949],"aabb_xy":[[-0.5955162319326291,0.21685987301835963],[-0.5553994087061486,0.2569900468366747]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[0.4482293225769147,0.07701525078319671,0.71338606911949],"aabb_xy":[[0.4305536919883164,0.05933503450379395],[0.46590495316551306,0.09469546706259944]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.3147092394608602,-2.475348174035998,0.71338606911949],"aabb_xy":[[-0.40470923918403434,-2.4984215265711773],[-0.224709239737686,-2.4522748215008177]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.45715262684547797,-0.001538259323980995,0.71338606911949],"aabb_xy":[[0.44902493865216475,-0.010451867734688647],[0.4652803150387912,0.007375349086726657]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.27032049637930866,1.3754441713915044,0.71338606911949],"aabb_xy":[[0.23282049588195036,1.371475487843386],[0.30782049687666685,1.379412854939623]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.3892219555996972,0.3196387772958431,0.71338606911949],"aabb_xy":[[0.3828081419565122,0.3132289570481747],[0.3956357692428821,0.3260485975435114]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.14684884827543887,1.4346836885203396,0.71338606911949],"aabb_xy":[[-0.23057107377552133,1.3446836849856436],[-0.06312662277535641,1.5246836920550355]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.49286579481504356,0.8961049786813522,0.71338606911949],"aabb_xy":[[-0.5228333517248693,0.8661049783834665],[-0.46289823790521795,0.9261049789792379]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.4497832170111786,-1.8115379880365614,0.71338606911949],"aabb_xy":[[-0.4840801280289192,-1.8458348742465025],[-0.41548630599343794,-1.7772411018266199]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.038388005803916436,-2.3806678084143793,0.71338606911949],"aabb_xy":[[-0.06029668794326747,-2.4025684752344696],[-0.016479323664565386,-2.358767141594288]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.5771182624126697,-0.39157198282317607,0.71338606911949],"aabb_xy":[[-0.5889903454241708,-0.4765719825168265],[-0.5652461794011686,-0.30657198312952577]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.48952587939204717,-1.8819349024492156,0.71338606911949],"aabb_xy":[[0.48355934045131144,-1.88789604710858],[0.495492418332783,-1.8759737577898516]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.6062989524224365,1.28637752142643,0.71338606911949],"aabb_xy":[[0.5564821729576017,1.2363775229421266],[0.6561157318872712,1.3363775199107333]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.10725771729704692,-0.9539541752951624,0.71338606911949],"aabb_xy":[[0.04325772018494123,-1.002986545089573],[0.1712577144091526,-0.9049218055007517]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.5848666706565885,0.6553005302209782,0.71338606911949],"aabb_xy":[[-0.6223666710048162,0.6435091346398946],[-0.5473666703083607,0.6670919258020617]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[0.2778032846351365,-1.3741931348632952,0.71338606911949],"aabb_xy":[[0.21380328546536656,-1.420959821982258],[0.34180328380490643,-1.327426447744333]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.2005977115147599,0.9717785838155129,0.71338606911949],"aabb_xy":[[0.1355977105576327,0.9198303718818074],[0.2655977124718871,1.0237267957492184]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.6619088754350899,1.5953629406688257,0.71338606911949],"aabb_xy":[[0.6119088758587553,1.5453823617167197],[0.7119088750114247,1.6453435196209316]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.4456762850126328,1.6139570513356731,0.71338606911949],"aabb_xy":[[0.3856762844166166,1.5591445787904497],[0.505676285608649,1.6687695238808966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518128985180096,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9702.png","name":"9702"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9702.png","name":"9702"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7715.png","name":"7715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9860.png","name":"9860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9134.png","name":"9134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7014.png","name":"7014"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":548.7296302655502,"rotation_z_degrees":26.917722577838724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006109453429296415,-0.006133131245736166,-0.007054667548639393]},{"name":"camera_2","offset_m":[-0.004998235507471161,-0.012225966068857681,-0.019369630997743775]},{"name":"camera_3","offset_m":[-0.0027797867847109484,0.01120612289139698,-0.009945553978900953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012562394876407174,-0.0005496565770886069,-0.00022155376236786587],"end_effector_yaw_offset_degrees":-0.684887740178471},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018561240168946686,0.0012079875420317088,0.0009328621798812445],"end_effector_yaw_offset_degrees":-0.3107114526152974},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003588449914096938,-0.0015401392510762735,0.001973839494511906],"end_effector_yaw_offset_degrees":-0.02750256270448581}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003832696464654186,0.002030730923062566],"position_m":[0.27823269646465415,-0.11576926907693744,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014471475158594304,0.001422385760944592],"position_m":[0.27495285248414053,0.2815223857609446,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00013039868454429657,-0.0014198190981224968],"position_m":[0.2926696013154557,0.011280180901877502,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028419122895889737,-0.004404727368274234],"position_m":[0.05225808771041103,0.40799527263172575,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032583259975046555,0.0032877808559482807],"position_m":[0.16385832599750466,-0.4333122191440517,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3fee9f97f21afe00d8a2c952b0bdd4e4915f1b71a7b86ffd8cfc2df4fcc9f4fc","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9702/tex_ceiling_textures_7014/tex_floor_textures_9134/tex_table_textures_7715/tex_wall_textures_9860","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":716584611199581622,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":716584611199581622,"visual_seed":716584611199581622,"scene_id":"lab_003","finished_at":"2026-09-03T17:57:08"} +{"episode_id":"ep_000017","started_at":"2026-09-03T17:57:13","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.6025052670640197,-2.1775197276841607,0.71338606911949],"aabb_xy":[[-0.6485903583187512,-2.2415197249367154],[-0.5564201758092883,-2.113519730431605]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.5538067959086962,-2.5664209097995094,0.71338606911949],"aabb_xy":[[-0.5689789651903294,-2.5815897667277126],[-0.5386346266270627,-2.5512520528713063]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.1575174148800088,1.6873500517341316,0.71338606911949],"aabb_xy":[[-0.18001655060623578,1.6648500509558686],[-0.13501827915378184,1.7098500525123945]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.120953696445258,-0.039881621026402136,0.71338606911949],"aabb_xy":[[-0.17092676197777346,-0.08988162083893503],[-0.07098063091274254,0.010118378786130764]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.49017574915252515,1.1608197438618038,0.71338606911949],"aabb_xy":[[0.42617574774453454,1.109030792337879],[0.5541757505605158,1.2126086953857285]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.08272470433714907,-2.401407294255036,0.71338606911949],"aabb_xy":[[-0.1090135286575897,-2.4276787279096874],[-0.056435880016708385,-2.375135860600385]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.3641609156883965,1.4470307804909113,0.71338606911949],"aabb_xy":[[0.3142782188107003,1.3970307812446365],[0.41404361256609273,1.497030779737186]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.25036022139096403,-0.6512974295088105,0.71338606911949],"aabb_xy":[[0.19272975250369312,-0.7112974284355209],[0.30799069027823484,-0.5912974305820997]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.21692273915060123,0.8624827709367628,0.71338606911949],"aabb_xy":[[-0.22135336850544143,0.8570343992020802],[-0.21249210979576108,0.8679311426714454]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.2731325842195347,1.1388198274075756,0.71338606911949],"aabb_xy":[[-0.32813258242127946,1.098297860781138],[-0.21813258601778981,1.1793417940340132]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.07055640771797411,-0.8840617354492868,0.71338606911949],"aabb_xy":[[0.0617751805707379,-0.8928414827378172],[0.07933763486521035,-0.8752819881607569]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.2517985878224197,-1.052942114679415,0.71338606911949],"aabb_xy":[[0.23400508088750321,-1.0707418602752123],[0.2695920947573361,-1.035142369083617]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[-0.002556077186244843,-1.6193661707056581,0.71338606911949],"aabb_xy":[[-0.0675560753421639,-1.6456624152555703],[0.062443920969674216,-1.593069926155746]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.10961006897857473,-0.3003128530964796,0.71338606911949],"aabb_xy":[[-0.12728569956717306,-0.31799306937588234],[-0.09193443838997639,-0.28263263681707684]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.008477641100601119,1.5442221996133871,0.71338606911949],"aabb_xy":[[-0.0584550579658547,1.4942221981241384],[0.04149977576465246,1.5942222011026355]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.5925308033969052,0.8277753030348891,0.71338606911949],"aabb_xy":[[0.5579397205428599,0.7627753027498579],[0.6271218862509503,0.89277530331992]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.28478468688214575,-2.153465862430639,0.71338606911949],"aabb_xy":[[-0.31924716489523347,-2.1601295396135614],[-0.2503222088690579,-2.146802185247716]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.5241276829581516,-0.4197627451629167,0.71338606911949],"aabb_xy":[[0.4441276807953891,-0.4997179287890602],[0.6041276851209141,-0.33980756153677294]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.5105210961866711,-1.7369310875806319,0.71338606911949],"aabb_xy":[[-0.5655210958084169,-1.7919147803681046],[-0.45552109656492523,-1.6819473947931591]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.44043659730514323,-0.20509603012584599,0.71338606911949],"aabb_xy":[[-0.44457245363784337,-0.24259602957020301],[-0.436300740972443,-0.167596030681489]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.2664470308303165,0.14284130787968774,0.71338606911949],"aabb_xy":[[-0.2736907968765618,0.06284130967608537],[-0.25920326478407113,0.2228413060832901]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.009543843107791772,-1.5206637474350504,0.71338606911949],"aabb_xy":[[-0.008661980553455906,-1.5316891480170423],[0.02774966676903945,-1.509638346853059]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.031115982363956185,1.2976556898465756,0.71338606911949],"aabb_xy":[[-0.056115981635918466,1.281310326250413],[-0.00611598309199391,1.3140010534427378]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.32084007049991636,-2.2093654118024,0.71338606911949],"aabb_xy":[[0.2568400681571148,-2.254306263046532],[0.38484007284271793,-2.164424560558267]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.6792569999629923,0.8070410477093044,0.71338606911949],"aabb_xy":[[-0.6833351578700418,0.8029600674610411],[-0.6751788420559425,0.8111220279575677]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.573788537171289,-2.3500574255726323,0.71338606911949],"aabb_xy":[[0.509788540775716,-2.4140207139913654],[0.6377885335668622,-2.2860941371538983]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[-0.1270135562707687,-2.269812700721453,0.71338606911949],"aabb_xy":[[-0.1770135572213015,-2.301361847724974],[-0.07701355532023588,-2.2382635537179314]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.6739452037540066,0.017397853212623104,0.71338606911949],"aabb_xy":[[0.6239622535665271,-0.0326021464299373],[0.7239281539414858,0.0673978528551835]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.40203796134218284,0.8594123794280324,0.71338606911949],"aabb_xy":[[-0.45703343916284217,0.8044123779941252],[-0.3470424835215234,0.9144123808619391]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.5322427880928311,0.43043285614244375,0.71338606911949],"aabb_xy":[[0.48225855238465387,0.3804328573289481],[0.5822270238010083,0.4804328549559393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525010456143588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7676.png","name":"7676"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7676.png","name":"7676"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2768.png","name":"2768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4643.png","name":"4643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/652.png","name":"652"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":845.5352262754316,"rotation_z_degrees":45.39684733077506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006475868360117931,0.00026341240799510404,0.010768481951236551]},{"name":"camera_2","offset_m":[0.01763625301624384,-0.006500117640848372,-0.00738984915993203]},{"name":"camera_3","offset_m":[0.009263686459048296,0.012183230448577432,-0.010830570688775661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004248682841531122,-0.0013004405064744025,-0.0016871009236362196],"end_effector_yaw_offset_degrees":-0.3837829029501487},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019530009381985708,-0.0017126937680593168,0.0016796583350855293],"end_effector_yaw_offset_degrees":-0.27414869894451455},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000994666305699817,-0.0015793870840479416,-0.0002823511664467725],"end_effector_yaw_offset_degrees":0.7046296877359728}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008188684379560633,0.0011087419626997384],"position_m":[0.27521886843795607,-0.11669125803730027,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003332070517983625,0.0016234298734292734],"position_m":[0.27306792948201636,0.2817234298734293,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0037959254990822854,0.004149854311558313],"position_m":[0.2890040745009177,0.01684985431155831,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003229592637041318,0.0020268702572896515],"position_m":[0.05832959263704132,0.41442687025728964,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013701525883308497,-0.0028803104936942136],"position_m":[0.15922984741166915,-0.4394803104936942,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"999f7916b2e344331aab7e678ebbf34cf3d3d2cb49f79c1bb6867b9b30566b0c","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7676/tex_ceiling_textures_652/tex_floor_textures_4643/tex_table_textures_7546/tex_wall_textures_2768","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5911435105943128661,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5911435105943128661,"visual_seed":5911435105943128661,"scene_id":"lab_003","finished_at":"2026-09-03T17:59:39"} +{"episode_id":"ep_000018","started_at":"2026-09-03T17:59:42","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.59890513751211,-1.5041539460095719,0.71338606911949],"aabb_xy":[[-0.6356997706370162,-1.5410598211061544],[-0.5621105043872037,-1.4672480709129898]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.5555223449013003,-0.6024040503798773,0.71338606911949],"aabb_xy":[[-0.6195223412968733,-0.6663673387986108],[-0.4915223485057272,-0.5384407619611437]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.5269514590944475,-2.5108882926828207,0.71338606911949],"aabb_xy":[[0.48962018256920503,-2.545541347477673],[0.5642827356196902,-2.4762352378879684]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.35953286523613204,0.8622070826910888,0.71338606911949],"aabb_xy":[[0.35083490294541675,0.8500821083836142],[0.3682308275268473,0.8743320569985636]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.23952689544237593,1.3566604161762448,0.71338606911949],"aabb_xy":[[0.15952689847933674,1.2795847745324713],[0.3195268924054151,1.4337360578200182]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.07205471221905013,-1.6840330471754186,0.71338606911949],"aabb_xy":[[0.03075016915531413,-1.7480330467435354],[0.1133592552827861,-1.6200330476073013]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[0.3965100098460206,0.6270057921475676,0.71338606911949],"aabb_xy":[[0.35796431702081954,0.588460021091379],[0.4350557026712216,0.6655515632037562]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.33490414324723133,0.9673684209146867,0.71338606911949],"aabb_xy":[[-0.42490414266560217,0.9339929240704968],[-0.2449041438288604,1.0007439177588764]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.2104650983742205,0.8308523138226764,0.71338606911949],"aabb_xy":[[-0.2804650999765,0.8174195206210189],[-0.14046509677194102,0.844285107024334]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.08264243936205107,-0.061013882554461496,0.71338606911949],"aabb_xy":[[-0.09075609403542816,-0.06911969900849058],[-0.07452878468867395,-0.052908066100432416]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.42288462187777415,1.0561893300011609,0.71338606911949],"aabb_xy":[[-0.4603846216948077,1.0515511186900188],[-0.3853846220607406,1.0608275413123025]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.517544526216239,1.269014001799091,0.71338606911949],"aabb_xy":[[0.5122120115616261,1.2636896735538554],[0.5228770408708522,1.2743383300443265]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.15432644272473472,0.7887426279634164,0.71338606911949],"aabb_xy":[[0.06432644598912449,0.7355591646461218],[0.2443264394603449,0.8419260912807108]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.31472967751276526,-2.4447789356453837,0.71338606911949],"aabb_xy":[[0.26472967622892524,-2.4947577900360054],[0.3647296787966052,-2.394800081254761]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.459911778817864,1.502027336778394,0.71338606911949],"aabb_xy":[[-0.5049043655363143,1.457027337503945],[-0.4149191920994136,1.5470273360528426]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.46018806256057987,0.6221958736697859,0.71338606911949],"aabb_xy":[[-0.4733393085318693,0.5971958739130995],[-0.44703681658929056,0.6471958734264726]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.32119307792649743,-2.261560245657448,0.71338606911949],"aabb_xy":[[-0.3861930790324407,-2.2865256187255762],[-0.25619307682055414,-2.2365948725893197]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.366887543334248,-1.3177683963991178,0.71338606911949],"aabb_xy":[[0.3312583874342883,-1.3534010631559705],[0.4025166992342078,-1.2821357296422646]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.2331714301598568,-0.7816386958782702,0.71338606911949],"aabb_xy":[[-0.27067143095185225,-0.7880065368364603],[-0.19567142936786136,-0.7752708549200801]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.48488396231497277,-0.14216343554493527,0.71338606911949],"aabb_xy":[[0.437077794701204,-0.2071634382519942],[0.5326901299287413,-0.07716343283787631]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.10980668269758853,-1.4643735874430217,0.71338606911949],"aabb_xy":[[-0.16479989403472528,-1.5193735877818155],[-0.05481347136045178,-1.409373587104228]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.4479256114585384,-1.5155805379803235,0.71338606911949],"aabb_xy":[[0.3979256104394032,-1.5520467537181517],[0.49792561247767375,-1.4791143222424956]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.6229968442065594,-0.48193227506726277,0.71338606911949],"aabb_xy":[[0.5679968460048145,-0.5224542416937002],[0.6779968424083042,-0.4414103084408251]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.060115962642483645,-1.2666365929500594,0.71338606911949],"aabb_xy":[[0.025115964372363735,-1.2737107206450478],[0.09511596091260355,-1.2595624652550714]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.567215137920337,-0.9458919436967956,0.71338606911949],"aabb_xy":[[-0.582378010897274,-0.9610574009919146],[-0.5520522649433999,-0.9307264864016771]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.3086139095904634,-2.153330269315224,0.71338606911949],"aabb_xy":[[0.3045357516834136,-2.157411249563487],[0.3126920674975131,-2.1492492890669608]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.2103702669825993,-1.4567524649031334,0.71338606911949],"aabb_xy":[[0.20312650093635398,-1.5367524631067357],[0.21761403302884463,-1.376752466699531]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.0014291992482973193,1.5229029984177287,0.71338606911949],"aabb_xy":[[-0.004869875488354492,1.5190415654433644],[0.0020114769917598534,1.5267644313920934]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[0.23319465913179638,1.0589077586103843,0.71338606911949],"aabb_xy":[[0.22773671349477628,0.9789077553027252],[0.23865260476881642,1.1389077619180434]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[-0.5490619708971611,-1.672051182129496,0.71338606911949],"aabb_xy":[[-0.5900799142835319,-1.7220511827604532],[-0.5080440275107901,-1.6220511814985386]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[-0.4625755997618166,-2.0009028289476456,0.71338606911949],"aabb_xy":[[-0.46791317542782124,-2.0259028298767854],[-0.4572380240958121,-1.9759028280185058]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_31","position":[-0.592924977085688,-0.17666041242953368,0.71338606911949],"aabb_xy":[[-0.5977685718469181,-0.18151206490851782],[-0.5880813823244582,-0.1718087599505496]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[-0.4758695169450765,-1.0177558759430727,0.71338606911949],"aabb_xy":[[-0.49836951745711705,-1.040247734308471],[-0.45336951643303586,-0.9952640175776744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518032599989088,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1494.png","name":"1494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1494.png","name":"1494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2225.png","name":"2225"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/630.png","name":"630"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8996.png","name":"8996"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9250.png","name":"9250"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":726.9630133684549,"rotation_z_degrees":306.4753021657695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009705820359223773,-0.00533459182074107,-0.00975527899557736]},{"name":"camera_2","offset_m":[0.01216234982778001,-0.014861833191362996,-0.017420087945089317]},{"name":"camera_3","offset_m":[0.01915807655750833,-0.010237996256236049,-0.00870075549139302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005972369360252613,2.0156887279701875e-05,-0.0014657089890890095],"end_effector_yaw_offset_degrees":-0.6712625619987715},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004614069021804984,0.0014674273331412892,0.0010536542425402667],"end_effector_yaw_offset_degrees":0.3271792710906787},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00027626904970441766,-0.0014663491933368787,-0.001616832689688216],"end_effector_yaw_offset_degrees":-0.1976778080389079}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034030867779105377,-0.004675368031296145],"position_m":[0.27099691322208946,-0.12247536803129615,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015853798164810209,-0.0042254691696791144],"position_m":[0.27481462018351893,0.2758745308303209,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0029644749291621243,0.0010498236729063592],"position_m":[0.2898355250708379,0.013749823672906359,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004832231112010205,0.0041261322881628185],"position_m":[0.05993223111201021,0.4165261322881628,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006602862603948233,-0.0010615291071689563],"position_m":[0.15993971373960517,-0.43766152910716893,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f326365d1bde55790626c62d111b054437f4dde59e53f1dc42c57187b87cead5","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1494/tex_ceiling_textures_9250/tex_floor_textures_8996/tex_table_textures_2225/tex_wall_textures_630","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5586258938468635145,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5586258938468635145,"visual_seed":5586258938468635145,"scene_id":"lab_003","finished_at":"2026-09-03T18:02:06"} +{"episode_id":"ep_000019","started_at":"2026-09-03T18:02:10","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.38503657726627405,1.6124836093972053,0.71338606911949],"aabb_xy":[[0.3250365756233522,1.5604834601052613],[0.4450365789091959,1.6644837586891497]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.4842525636356414,-1.385676629778657,0.71338606911949],"aabb_xy":[[0.47545050832666863,-1.3934879559335858],[0.49305461894461405,-1.3778653036237276]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.5171488242423972,0.03532437849473702,0.71338606911949],"aabb_xy":[[0.4471488216058107,0.01521951349887151],[0.5871488268789834,0.05542924349060251]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.029332846321648565,-1.4216629768859037,0.71338606911949],"aabb_xy":[[0.015886319687605236,-1.4351328285389948],[0.0427793729556919,-1.4081931252328121]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.1774476888570935,-2.3324296447394826,0.71338606911949],"aabb_xy":[[0.15493399703363628,-2.40242964534049],[0.19996138068055067,-2.262429644138475]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.12626722630772103,0.6881916292431498,0.71338606911949],"aabb_xy":[[0.056267229897759195,0.6677536935914679],[0.19626722271768277,0.7086295648948313]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.5759024943021949,-1.7198109644291848,0.71338606911949],"aabb_xy":[[0.5534024942920465,-1.733907184068788],[0.598402494312343,-1.7057147447895815]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.49925909192632956,0.13739396353208866,0.71338606911949],"aabb_xy":[[-0.5792590921999365,0.06444441570637192],[-0.41925909165272257,0.21034351135780535]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.08155437584584935,-1.523384464505153,0.71338606911949],"aabb_xy":[[-0.16155437691896968,-1.5331625108425377],[-0.001554374772729017,-1.5136064181677689]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.47863346768607895,-0.11507161793417664,0.71338606911949],"aabb_xy":[[-0.5110951685680063,-0.1452044500490792],[-0.4461717668041515,-0.08493878581927398]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.5571883391088701,-0.6386870895223904,0.71338606911949],"aabb_xy":[[0.5072041034006929,-0.6886870883358861],[0.6071725748170473,-0.5886870907088949]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.4125996306921814,-1.2036555648141722,0.71338606911949],"aabb_xy":[[-0.43014632560830035,-1.2411555663784235],[-0.3950529357760625,-1.166155563249921]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[0.10074165295923287,-0.8260535878366091,0.71338606911949],"aabb_xy":[[0.09660579662653268,-0.8635535872809662],[0.10487750929193307,-0.7885535883922522]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.08577709736240002,0.6103505450540112,0.71338606911949],"aabb_xy":[[-0.1107770966343623,0.5940051814578489],[-0.06077709809043775,0.6266959086501735]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.3793463209688035,-1.7628977044810723,0.71338606911949],"aabb_xy":[[0.36171348537527587,-1.7805206504966955],[0.396979156562331,-1.7452747584654495]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.10997746674529785,1.1391288827504629,0.71338606911949],"aabb_xy":[[0.06480614889712888,1.0751288856059247],[0.15514878459346682,1.2031288798950015]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[-0.33986333292600873,-2.202922281347714,0.71338606911949],"aabb_xy":[[-0.3898626080944449,-2.2529222826236612],[-0.28986405775757257,-2.152922280071767]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.5389723209237747,-0.44792591194036424,0.71338606911949],"aabb_xy":[[0.4739723223667017,-0.47767844535424686],[0.6039723194808474,-0.4181733785264816]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.45276081207372443,0.41871695849676227,0.71338606911949],"aabb_xy":[[-0.5027382289389779,0.3687169570075136],[-0.4027833952084708,0.4687169599860107]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[0.28172667331434686,-0.9501992194184694,0.71338606911949],"aabb_xy":[[0.2658421800490217,-0.9645521597172935],[0.297611166579672,-0.9358462791196454]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.6413375346345562,1.5413437286244718,0.71338606911949],"aabb_xy":[[0.5963449479161058,1.4963437293500228],[0.6863301213530066,1.5863437278989203]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.36141131552290706,-2.322334061966421,0.71338606911949],"aabb_xy":[[0.3439113820889237,-2.339834061886655],[0.37891124895689043,-2.304834062046186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568793390073271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2635.png","name":"2635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2635.png","name":"2635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3775.png","name":"3775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4639.png","name":"4639"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3695.png","name":"3695"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":836.249105326692,"rotation_z_degrees":314.9334825298128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015193929357440506,0.0018896700176783063,0.001584186804623161]},{"name":"camera_2","offset_m":[0.012929639636694874,-0.0005355261178668219,0.01828831587741579]},{"name":"camera_3","offset_m":[0.01420358729974051,0.012847677754347569,0.013216152477678236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007856443991652879,0.0005897183191516443,-0.001123333858852058],"end_effector_yaw_offset_degrees":0.08110988906078354},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015854872994844253,0.0014502169218584544,0.0005763854641287073],"end_effector_yaw_offset_degrees":-0.5914307272957695},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001025427743735345,0.0004434885584158727,0.0013117926805438248],"end_effector_yaw_offset_degrees":0.7936448098860585}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004296895150301966,0.00042132227001034483],"position_m":[0.27869689515030194,-0.11737867772998965,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038264172968004865,-0.002699859371304597],"position_m":[0.2725735827031995,0.27740014062869545,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001103392016284276,-0.003987600633827151],"position_m":[0.2939033920162843,0.008712399366172848,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001213772734734918,-0.001911524388943586],"position_m":[0.056313772734734924,0.4104884756110564,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003822575257055253,-0.003672610769625677],"position_m":[0.16442257525705525,-0.44027261076962565,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"33b3985bddea1f5960553f28af9ded253f678935210bd75c001cd0bee771df26","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2635/tex_ceiling_textures_3695/tex_floor_textures_4639/tex_table_textures_556/tex_wall_textures_3775","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3938365603134840167,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3938365603134840167,"visual_seed":3938365603134840167,"scene_id":"lab_003","finished_at":"2026-09-03T18:04:36"} +{"episode_id":"ep_000020","started_at":"2026-09-03T18:04:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[0.09922217261677113,-0.6962753405549598,0.71338606911949],"aabb_xy":[[0.06807525377318802,-0.7662753392417669],[0.13036909146035425,-0.6262753418681526]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.5514589565290842,-0.8058297256388425,0.71338606911949],"aabb_xy":[[0.4677367310290016,-0.8958297291735384],[0.6351811820291665,-0.7158297221041465]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.12205892153438924,-0.8921209546668287,0.71338606911949],"aabb_xy":[[0.11029073473973174,-0.9771209545720505],[0.13382710832904676,-0.8071209547616074]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.5457942462543143,0.47115677186533755,0.71338606911949],"aabb_xy":[[-0.580794246150333,0.4627825363533976],[-0.5107942463582953,0.4795310073772775]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.24885155679117654,1.6130774150162108,0.71338606911949],"aabb_xy":[[0.2380110785646616,1.5958911337255621],[0.25969203501769145,1.6302636963068595]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.12820016547211366,-0.8370099986879833,0.71338606911949],"aabb_xy":[[-0.1782001658326797,-0.886989985897586],[-0.07820016511154758,-0.7870300114783801]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.5894393975680412,-1.8943542155920898,0.71338606911949],"aabb_xy":[[0.5344393993662963,-1.9348761822185272],[0.6444393957697859,-1.853832248965652]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.607303649331544,-0.12217177092408704,0.71338606911949],"aabb_xy":[[0.5223036509141208,-0.20704606638637202],[0.6923036477489672,-0.03729747546180205]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.251096772998294,-0.6466006507292636,0.71338606911949],"aabb_xy":[[0.20609677153206524,-0.6916005075907444],[0.2960967744645229,-0.6016007938677831]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.6128620102641874,-2.315071368388124,0.71338606911949],"aabb_xy":[[-0.6628620115480272,-2.3650502227787458],[-0.5628620089803472,-2.2650925139975016]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.5569165297302159,-2.4708087604698594,0.71338606911949],"aabb_xy":[[0.5463490500721169,-2.481353790582868],[0.5674840093883149,-2.460263730356851]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.6707979732373199,0.6236173150053617,0.71338606911949],"aabb_xy":[[0.648298837511093,0.6011173142270987],[0.6932971089635469,0.6461173157836246]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.16807533929063845,1.1987451613283535,0.71338606911949],"aabb_xy":[[-0.24807534072076562,1.119228006315744],[-0.08807533786051122,1.278262316340963]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.136909456673168,-2.0512504786324532,0.71338606911949],"aabb_xy":[[-0.16730756777231157,-2.0816573806341223],[-0.1065113455740244,-2.0208435766307833]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.10671324784753577,-1.9473413519689968,0.71338606911949],"aabb_xy":[[-0.1243888784361341,-1.9650215682483996],[-0.08903761725893743,-1.929661135689594]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.069431236923291,-0.6607620320041732,0.71338606911949],"aabb_xy":[[-0.14943123739350694,-0.6690727396185217],[0.010568763546924946,-0.6524513243898249]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.0732366998625883,1.5617331047175402,0.71338606911949],"aabb_xy":[[0.009236699159118957,1.5157147222446197],[0.13723670056605766,1.6077514871904617]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.5436849161217893,-1.704297115062955,0.71338606911949],"aabb_xy":[[-0.5490174307764022,-1.7096214433081902],[-0.5383524014671763,-1.6989727868177191]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.017726410734438813,0.7032432250942091,0.71338606911949],"aabb_xy":[[-0.02688628967831541,0.696712007050672],[-0.008566531790562215,0.7097744431377462]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.0922228365139438,0.5175012543848116,0.71338606911949],"aabb_xy":[[-0.15722283751444432,0.4667148892301367],[-0.027222835513443303,0.5682876195394866]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.20669557309634168,0.33217192653900485,0.71338606911949],"aabb_xy":[[-0.21077373100339142,0.32809094629074154],[-0.20261741518929194,0.33625290678726816]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.6122041360596673,-2.0009022303321515,0.71338606911949],"aabb_xy":[[-0.6722041377025891,-2.0529023796240957],[-0.5522041344167454,-1.9489020810402073]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[-0.28613469578945305,0.8534702863727608,0.71338606911949],"aabb_xy":[[-0.3020191890547782,0.8391173460739367],[-0.2702502025241279,0.8678232266715848]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.37976078959882753,-2.056501910750602,0.71338606911949],"aabb_xy":[[0.3247607899770817,-2.1114856035380747],[0.4347607892205734,-2.0015182179631292]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[-0.49338998631521463,1.5437349070527158,0.71338606911949],"aabb_xy":[[-0.5010142544053928,1.5361016835161723],[-0.48576571822503645,1.5513681305892597]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.7129932747195589,1.1887469663029382,0.71338606911949],"aabb_xy":[[0.7016315400662726,1.1773784998966499],[0.7243550093728449,1.200115432709226]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_26","position":[0.42137343687382667,-1.8927333580649628,0.71338606911949],"aabb_xy":[[0.3513734352715472,-1.9061661512666206],[0.49137343847610615,-1.8793005648633054]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[-0.3242103983226618,-2.483289252548511,0.71338606911949],"aabb_xy":[[-0.37920264895817285,-2.5382892542918243],[-0.2692181476871509,-2.4282892508051988]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[-0.12132063038554453,-0.10979177643371463,0.71338606911949],"aabb_xy":[[-0.18532063367525264,-0.15312669543763222],[-0.057320627095836414,-0.066456857429797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532302862678631,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2717.png","name":"2717"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2717.png","name":"2717"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5561.png","name":"5561"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2623.png","name":"2623"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2019.png","name":"2019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7777.png","name":"7777"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":586.6217372317838,"rotation_z_degrees":322.0889934841712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01735300904905174,-0.0052012432158980906,0.000668994638565009]},{"name":"camera_2","offset_m":[0.006111674078159258,-0.002448858674107591,0.0005972635370764534]},{"name":"camera_3","offset_m":[0.0007860836704286951,0.005190448922166389,0.01310061060202861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019820059645142213,-0.001844564936449352,0.0008357677817098057],"end_effector_yaw_offset_degrees":-0.6112173972397288},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00032485042172996715,-0.0016254226254355762,0.0004471022084880259],"end_effector_yaw_offset_degrees":-0.10268560817031891},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008429148590872074,-0.0014533135381780628,0.0017903362007482301],"end_effector_yaw_offset_degrees":-0.8050051356936603}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029896120800833982,0.0014441016966168039],"position_m":[0.2773896120800834,-0.11635589830338319,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004547244466512803,-0.0007573578374870573],"position_m":[0.2718527555334872,0.279342642162513,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003441880577859535,-0.002281068146053441],"position_m":[0.28935811942214046,0.010418931853946559,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011212113833090386,0.0021160896624811123],"position_m":[0.056221211383309044,0.4145160896624811,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003499352782803093,0.001428285089727273],"position_m":[0.16409935278280308,-0.43517171491027273,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"60f1b01eeb0e0b6fbb5b13bba551634a33d22998fc0948da8e7ab6dfce8190bf","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2717/tex_ceiling_textures_7777/tex_floor_textures_2019/tex_table_textures_5561/tex_wall_textures_2623","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3992200123591270653,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3992200123591270653,"visual_seed":3992200123591270653,"scene_id":"lab_003","finished_at":"2026-09-03T18:07:13"} +{"episode_id":"ep_000021","started_at":"2026-09-03T18:07:19","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.2913254148165345,1.7895931371563054,0.71338606911949],"aabb_xy":[[0.27382541568216734,1.7797135101187174],[0.3088254139509017,1.799472764193893]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.4576368128576621,-1.5630568918928975,0.71338606911949],"aabb_xy":[[-0.5076156213679779,-1.6130568918986163],[-0.40765800434734617,-1.5130568918871787]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.05405739814087329,1.654611950408437,0.71338606911949],"aabb_xy":[[-0.07115947609924145,1.6375051448771671],[-0.03695532018250514,1.6717187559397066]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.5727358941351195,-1.1841388981823198,0.71338606911949],"aabb_xy":[[0.5686577362280699,-1.188219878430583],[0.5768140520421693,-1.1800579179340565]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.43763893435193213,0.04676176060471349,0.71338606911949],"aabb_xy":[[-0.5273260106600476,-0.043238239649737054],[-0.3479518580438167,0.13676176085916403]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.566198148780189,0.49703302959391316,0.71338606911949],"aabb_xy":[[-0.6006606267932767,0.49036935241099033],[-0.5317356707671012,0.503696706776836]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.21198025007283905,0.857566338781675,0.71338606911949],"aabb_xy":[[-0.26146067128679784,0.7935663408688232],[-0.16249982885888026,0.9215663366945268]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.5503130344923051,0.993601188455469,0.71338606911949],"aabb_xy":[[0.5224679977116979,0.9628166897171574],[0.5781580712729122,1.0243856871937806]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.19848390073722244,-0.3927084653540156,0.71338606911949],"aabb_xy":[[-0.26248389716454434,-0.43987808917611204],[-0.13448390430990056,-0.34553884153191916]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.4838076334183208,-2.1731296729539413,0.71338606911949],"aabb_xy":[[-0.5738076328366917,-2.2065051697981306],[-0.3938076339999499,-2.139754176109751]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.17061725038970665,1.0056778632035033,0.71338606911949],"aabb_xy":[[0.13947033154612354,0.9356778645166961],[0.20176416923328977,1.0756778618903104]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.6300643828803811,0.6408531672066906,0.71338606911949],"aabb_xy":[[-0.6643806600549992,0.5908531672335129],[-0.5957481057057633,0.6908531671798683]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.4792862072575488,-0.5583171402687568,0.71338606911949],"aabb_xy":[[0.4731915793694305,-0.5668865348204255],[0.48538083514566716,-0.5497477457170881]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.5921140686615642,0.9766356556067368,0.71338606911949],"aabb_xy":[[-0.6621140707929938,0.953873689981041],[-0.5221140665301347,0.9993976212324324]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.20448919626247258,0.5937604176318843,0.71338606911949],"aabb_xy":[[-0.2844891976925998,0.5142432626192747],[-0.12448919483234538,0.6732775726444936]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.3599178528604472,1.65111215612369,0.71338606911949],"aabb_xy":[[0.31463923797929794,1.587112156775506],[0.40519646774159646,1.7151121554718733]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.3531640392209505,-1.8364973178583957,0.71338606911949],"aabb_xy":[[0.2955335703336796,-1.896497316785106],[0.41079450810822127,-1.7764973189316848]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.5224525855780544,-1.9290369774560956,0.71338606911949],"aabb_xy":[[0.45845258390005705,-1.9775543689354098],[0.5864525872560518,-1.8805195859767814]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.006260551085806032,-1.482373392599542,0.71338606911949],"aabb_xy":[[-0.004579927140708873,-1.4995596738901906],[0.017101029312320937,-1.4651871113088928]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.11692918612362246,1.668614892920187,0.71338606911949],"aabb_xy":[[0.07942918460799075,1.657388119904042],[0.15442918763925417,1.679841665936332]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.2156654229206571,-0.15304498203474637,0.71338606911949],"aabb_xy":[[-0.23316542219874398,-0.17038308210109232],[-0.19816542364257023,-0.13570688196840042]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.6516290320421665,1.4220966472930257,0.71338606911949],"aabb_xy":[[0.6443467156655026,1.3320966436835162],[0.6589113484188299,1.5120966509025342]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.5633018493854429,-0.5116166466292476,0.71338606911949],"aabb_xy":[[0.5308401485035154,-0.5417494787441499],[0.5957635502673703,-0.48148381451434474]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.4332210925180286,0.9332773839111259,0.71338606911949],"aabb_xy":[[-0.4391876314587644,0.9273162392517618],[-0.4272545535772928,0.9392385285704898]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.4255802222805358,-1.2555428103441417,0.71338606911949],"aabb_xy":[[-0.4384521257814759,-1.3355428107579779],[-0.41270831877959563,-1.1755428099303056]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.25692393913311173,-1.3058341080125695,0.71338606911949],"aabb_xy":[[0.21083884787838028,-1.3698341052651246],[0.3030090303878432,-1.2418341107600144]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497312742926067,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/73.png","name":"73"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8591.png","name":"8591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.6443338015312,"rotation_z_degrees":299.20704733324396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014556805280818569,0.010122391560850316,0.013654274085425352]},{"name":"camera_2","offset_m":[-0.019817570904405894,0.0007556442497568885,-0.008207900238232377]},{"name":"camera_3","offset_m":[0.0058456655765086775,-0.010518503588846172,-0.00777328883408936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018358656863812534,-1.2064696834682836e-05,-5.277263119155321e-05],"end_effector_yaw_offset_degrees":0.08539547633152877},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015018131226895433,0.0015387933893884495,-8.103649982298664e-05],"end_effector_yaw_offset_degrees":-0.7140707506129305},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00117095477003233,0.001439978048778883,-0.001046879696482629],"end_effector_yaw_offset_degrees":0.04139697780923779}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003375540187427529,-0.0019443275796806824],"position_m":[0.2777755401874275,-0.11974432757968069,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006174161552016224,-0.003802094709648788],"position_m":[0.27578258384479837,0.27629790529035125,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001978520379201764,-0.0033961384043393926],"position_m":[0.29082147962079824,0.009303861595660608,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.952848177613902e-05,0.0017010383804373953],"position_m":[0.05514952848177614,0.4141010383804374,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001491209732411384,0.0011084666657070726],"position_m":[0.15910879026758862,-0.4354915333342929,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a41bfeb57832009af8e10067519a2da185db18f49b14ac92d96067d6468eaf8","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1985/tex_ceiling_textures_2590/tex_floor_textures_6144/tex_table_textures_73/tex_wall_textures_8591","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7637709012061497871,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7637709012061497871,"visual_seed":7637709012061497871,"scene_id":"lab_003","finished_at":"2026-09-03T18:09:46"} +{"episode_id":"ep_000022","started_at":"2026-09-03T18:09:49","dimensions":{"distractor":{"count":30,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.4601680937155993,-1.9541308538369648,0.71338606911949],"aabb_xy":[[-0.48266809395911475,-1.9663354884967368],[-0.43766809347208396,-1.9419262191771929]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.15565414393920374,1.0888775473106298,0.71338606911949],"aabb_xy":[[-0.19315414428743147,1.0770861517295462],[-0.11815414359097595,1.1006689428917134]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.46298445253462667,0.5527979147286799,0.71338606911949],"aabb_xy":[[-0.4690214655352915,0.5467712136597317],[-0.45694743953396205,0.5588246157976281]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.512185914225531,1.1815878827780804,0.71338606911949],"aabb_xy":[[-0.5621790263347229,1.1315878821038847],[-0.4621928021163392,1.231587883452276]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.5960945622793212,1.3715922741081141,0.71338606911949],"aabb_xy":[[0.5160945590214783,1.2915957663161302],[0.6760945655371642,1.451588781900098]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.4952314346598996,-1.0858522416484302,0.71338606911949],"aabb_xy":[[-0.5202314339318618,-1.1021976052445923],[-0.47023143538793727,-1.0695068780522676]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.38612293423725363,1.6722197354689077,0.71338606911949],"aabb_xy":[[0.3816923048824135,1.6667713637342254],[0.39055356359209387,1.6776681072035904]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.32238555607314945,-0.7439590543452244,0.71338606911949],"aabb_xy":[[0.310617369278492,-0.8289590542504461],[0.334153742867807,-0.6589590544400029]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.20329733269159656,-1.0125463344870382,0.71338606911949],"aabb_xy":[[0.18586661761259,-1.0298184491508886],[0.220728047770603,-0.9952742198231871]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.08591286965606038,-1.272250670338512,0.71338606911949],"aabb_xy":[[0.08045492401904031,-1.3522506736461708],[0.09137081529308044,-1.1922506670308526]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.009691818545115138,-1.7104594882576103,0.71338606911949],"aabb_xy":[[-0.054308183132882215,-1.7589768797369245],[0.07369182022311249,-1.661942096778296]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.6440650821850216,-2.471893502483749,0.71338606911949],"aabb_xy":[[-0.6853696252487576,-2.535893502051866],[-0.6027605391212856,-2.407893502915632]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.42740437758772987,-1.902049706507344,0.71338606911949],"aabb_xy":[[0.4166314036663621,-1.937049704726383],[0.43817735150909765,-1.867049708288305]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.2352229826272103,1.5390605126031143,0.71338606911949],"aabb_xy":[[0.21772298349284314,1.5291808855655264],[0.2527229817615775,1.548940139640702]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.28465846621365637,-1.362351956401314,0.71338606911949],"aabb_xy":[[-0.33465846787515113,-1.4123503986570165],[-0.23465846455216163,-1.312353514145611]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.709382611703435,-1.0039733507280377,0.71338606911949],"aabb_xy":[[0.6984768356158721,-1.0839733471268667],[0.7202883877909976,-0.9239733543292084]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.038924904571809193,-2.120909881962994,0.71338606911949],"aabb_xy":[[0.03130063648163095,-2.1285431054995376],[0.04654917266198744,-2.11327665842645]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.22742160228420566,0.25266848175282597,0.71338606911949],"aabb_xy":[[-0.2649216021012392,0.2480302704416841],[-0.1899216024671721,0.2573066930639678]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.4069243663252693,1.762149646047979,0.71338606911949],"aabb_xy":[[0.3902472303321738,1.7454497220740486],[0.4236015023183648,1.7788495700219091]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.22863097824230327,-1.6381851777741883,0.71338606911949],"aabb_xy":[[0.1486309808387098,-1.718177748972371],[0.3086309756458966,-1.5581926065760054]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.5768153029699483,-1.9360697306299062,0.71338606911949],"aabb_xy":[[0.5268202920104963,-1.9860697296654979],[0.6268103139294003,-1.8860697315943145]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.01697270734917755,1.1347633051069845,0.71338606911949],"aabb_xy":[[0.008978718771474159,1.1267632250118937],[0.024966695926880944,1.1427633852020744]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.10261326329524745,1.6947318463376804,0.71338606911949],"aabb_xy":[[0.0891667366612041,1.681261994684589],[0.11605978992929077,1.7082016979907717]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.3922040286085282,0.35367798482157653,0.71338606911949],"aabb_xy":[[-0.4266663760066699,0.3191841024237537],[-0.3577416812103863,0.3881718672193991]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.6376294379592088,-1.34046810558099,0.71338606911949],"aabb_xy":[[-0.6425287302657722,-1.3681450248835587],[-0.6327301456526452,-1.3127911862784212]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.6169705044167672,-1.7432325548442233,0.71338606911949],"aabb_xy":[[-0.639143031393418,-1.7654082220003462],[-0.5947979774401163,-1.7210568876881]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[-0.35556808537120294,-1.622226430287852,0.71338606911949],"aabb_xy":[[-0.41956808563167375,-1.66723522964078],[-0.2915680851107321,-1.577217630934924]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_27","position":[0.5738901149159887,0.09788072212573917,0.71338606911949],"aabb_xy":[[0.5677954870278704,0.08931132757407047],[0.5799847428041071,0.1064501166774079]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[-0.5956779926447251,-0.16904582557002223,0.71338606911949],"aabb_xy":[[-0.6181779926548734,-0.18314204520962551],[-0.5731779926345768,-0.15494960593041895]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.1851057513864388,-2.3218951320093404,0.71338606911949],"aabb_xy":[[-0.2006615207967041,-2.337445565253748],[-0.16954998197617355,-2.3063446987649336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6515399952949791,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4333.png","name":"4333"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4333.png","name":"4333"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4689.png","name":"4689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9064.png","name":"9064"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1242.png","name":"1242"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5773.png","name":"5773"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":842.410012703707,"rotation_z_degrees":130.90378558640253,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010832034133316171,0.006200539611560495,-0.004184361148071747]},{"name":"camera_2","offset_m":[0.015570674154129872,0.015270650382502946,-0.005909527345524284]},{"name":"camera_3","offset_m":[-0.016697660553105315,0.003442565229331899,0.012148689076392053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006294001122920366,0.0015238136718099871,0.0007021020602675275],"end_effector_yaw_offset_degrees":-0.4431612004843344},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016569632428853282,-0.0004160418911726693,0.0005683024980160955],"end_effector_yaw_offset_degrees":-0.24678728603101807},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010906837118969904,0.0014878890902692457,0.0014948039077596182],"end_effector_yaw_offset_degrees":0.9106822846897369}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004712642595416242,-0.004810121295978551],"position_m":[0.27392873574045834,-0.12261012129597855,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021317822814710076,-0.003160654290921573],"position_m":[0.27853178228147096,0.27693934570907847,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00053955071706039,0.002595189571430424],"position_m":[0.2933395507170604,0.015295189571430425,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001876289024152278,-0.004503706585583846],"position_m":[0.056976289024152284,0.40789629341441613,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005641401853214547,0.0006869218375009124],"position_m":[0.16116414018532144,-0.4359130781624991,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5100906d9859657d4c2148db29ea5d6b5af9b5de218d6afc427bf69ddd102a64","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4333/tex_ceiling_textures_5773/tex_floor_textures_1242/tex_table_textures_4689/tex_wall_textures_9064","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6388572799624761301,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6388572799624761301,"visual_seed":6388572799624761301,"scene_id":"lab_003","finished_at":"2026-09-03T18:12:15"} +{"episode_id":"ep_000023","started_at":"2026-09-03T18:12:18","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.04913388880586045,-2.0134348843226006,0.71338606911949],"aabb_xy":[[0.037564908058923874,-2.0384348844395324],[0.06070286955279702,-1.988434884205669]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.2029353435851987,-2.4854593354622523,0.71338606911949],"aabb_xy":[[0.1229353464256234,-2.497006936420069],[0.282935340744774,-2.473911734504435]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.6451152002714764,-1.1073201446314607,0.71338606911949],"aabb_xy":[[0.575115198462731,-1.128673913395648],[0.7151152020802218,-1.0859663758672733]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.481300967295766,-1.683690082061112,0.71338606911949],"aabb_xy":[[0.46362533670716755,-1.7013702983405146],[0.4989765978843642,-1.666009865781709]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.44650212990575877,0.1360168615131534,0.71338606911949],"aabb_xy":[[0.4122052188880181,0.101719975303212],[0.48079904092349934,0.17031374772309474]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.1886059377874979,1.0109302213916678,0.71338606911949],"aabb_xy":[[0.15110593627186622,0.9997034483755225],[0.22610593930312964,1.0221569944078126]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.5993939647158054,0.7550807073374339,0.71338606911949],"aabb_xy":[[-0.609805523396289,0.7497349740015353],[-0.5889824060353216,0.7604264406733323]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.456256245443744,0.953398152830816,0.71338606911949],"aabb_xy":[[0.45135695313718044,0.9257212335282471],[0.46115553775030743,0.9810750721333846]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.5374952546997469,-0.8774527064715956,0.71338606911949],"aabb_xy":[[0.5145795418146971,-0.9003570036080193],[0.5604109675847969,-0.8545484093351723]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.1800061641650874,1.4244891261249841,0.71338606911949],"aabb_xy":[[0.13501357744663697,1.3794891268505354],[0.2249987508835378,1.4694891253994329]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.4685910258001039,1.3727650770728967,0.71338606911949],"aabb_xy":[[-0.47800850036996667,1.3633488999351775],[-0.4591735512302412,1.3821812542106156]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.3445556048199113,1.075428049161662,0.71338606911949],"aabb_xy":[[-0.3498881194745243,1.0701037209164266],[-0.33922309016529834,1.0807523774068977]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.3508394400187773,-0.6740776896729166,0.71338606911949],"aabb_xy":[[0.3152102841188176,-0.7097103564297695],[0.38646859591873706,-0.6384450229160636]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.5452226315923012,1.296976884207663,0.71338606911949],"aabb_xy":[[-0.5677226316024495,1.2828806645680597],[-0.5227226315821529,1.3110731038472663]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.5808704067840369,-0.13520905665333327,0.71338606911949],"aabb_xy":[[-0.5901640250211875,-0.17270905514146717],[-0.5715767885468863,-0.09770905816519937]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.5090296559194802,0.4355475425614319,0.71338606911949],"aabb_xy":[[0.49817804967060464,0.4246882518337809],[0.5198812621683558,0.4464068332890829]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.5028297530125538,0.9836282532446323,0.71338606911949],"aabb_xy":[[-0.5728297551439833,0.9608662876189366],[-0.4328297508811242,1.0063902188703278]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.3431156006989,0.9970163139545947,0.71338606911949],"aabb_xy":[[0.31789476383906023,0.9717925631017078],[0.36833643755873957,1.0222400648074812]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.5196541090372538,-1.187898875138953,0.71338606911949],"aabb_xy":[[-0.5399384117606524,-1.2081815002816616],[-0.4993698063138549,-1.167616249996244]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.5384261613138828,0.5334277405785612,0.71338606911949],"aabb_xy":[[0.5334701411290016,0.5109277403764396],[0.5433821814987639,0.5559277407806829]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469552389649568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4446.png","name":"4446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4446.png","name":"4446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5050.png","name":"5050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3408.png","name":"3408"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":673.3186929769388,"rotation_z_degrees":40.94258289098795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016923569109405696,-0.011454836405762166,0.01632851297833687]},{"name":"camera_2","offset_m":[-0.01592960445394296,0.014353738419952997,0.003644206982987258]},{"name":"camera_3","offset_m":[0.012065393974891574,-0.008113137157240815,-0.002894603090530485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[7.068601631329179e-05,0.0019310291679209973,-0.0011948997702326443],"end_effector_yaw_offset_degrees":0.1809186659906823},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015316259895549896,-0.0005047944007457543,0.0006488672007107918],"end_effector_yaw_offset_degrees":-0.7956552864098585},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004406325031555496,-0.0018053577304084404,-0.0018632613882497986],"end_effector_yaw_offset_degrees":-0.749494557387248}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019553366617694823,0.0022835074361204953],"position_m":[0.2763553366617695,-0.11551649256387951,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015170644769395116,-0.0006227963643978939],"position_m":[0.2748829355230605,0.27947720363560213,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0044663705446376266,-0.000993797361525054],"position_m":[0.2883336294553624,0.011706202638474945,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029674621048587637,0.00022495790897406574],"position_m":[0.05213253789514124,0.4126249579089741,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002106335308611751,0.004574424337623772],"position_m":[0.15849366469138823,-0.4320255756623762,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2644f207e71577221d215fe9c531fbd0338db35486c17b96bc0699d71ac48da","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4446/tex_ceiling_textures_881/tex_floor_textures_3408/tex_table_textures_5050/tex_wall_textures_3710","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4692171570525186810,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4692171570525186810,"visual_seed":4692171570525186810,"scene_id":"lab_003","finished_at":"2026-09-03T18:14:48"} +{"episode_id":"ep_000024","started_at":"2026-09-03T18:14:53","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.5600063678838605,0.4984152976192546,0.71338606911949],"aabb_xy":[[0.49600636762338973,0.4534064982663266],[0.6240063681443313,0.5434240969721826]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.24377916385955178,-2.313052487463496,0.71338606911949],"aabb_xy":[[0.22128274242568766,-2.3355524872702436],[0.2662755852934159,-2.2905524876567487]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.45714506255655807,-0.31506116984088983,0.71338606911949],"aabb_xy":[[0.44973260701516965,-0.3209123802625178],[0.4645575180979466,-0.3092099594192619]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.026079763314818316,1.7320942149255223,0.71338606911949],"aabb_xy":[[-0.04496414708332852,1.7132082901451695],[-0.007195379546308115,1.750980139705875]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.4577909817610275,0.09940367009809759,0.71338606911949],"aabb_xy":[[0.37779098129081157,0.0910929624837492],[0.5377909822312434,0.10771437771244598]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.3569111222861373,1.736986643465206,0.71338606911949],"aabb_xy":[[-0.36332493592932225,1.7305768232175374],[-0.35049730864295237,1.743396463712874]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.12681166541796074,-2.35471740450292,0.71338606911949],"aabb_xy":[[0.09303610622726774,-2.368755899716085],[0.16058722460865368,-2.340678909289755]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.5017306415441471,-0.7464160382171734,0.71338606911949],"aabb_xy":[[0.486174872133882,-0.7619664714615807],[0.5172864109544125,-0.7308656049727662]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.5708454985094018,-1.2023476483066842,0.71338606911949],"aabb_xy":[[-0.6508454955236498,-1.2224821999800954],[-0.4908455014951538,-1.182213096633273]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.6203442545731821,-1.6561502433281905,0.71338606911949],"aabb_xy":[[0.5853442553803638,-1.6671172893258532],[0.6553442537660004,-1.6451831973305278]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.5627421648354947,1.3489580169491204,0.71338606911949],"aabb_xy":[[-0.5735151387568626,1.3139580187300814],[-0.551969190914127,1.3839580151681594]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.3596754668912954,-1.6824156051181554,0.71338606911949],"aabb_xy":[[-0.3763526028843909,-1.6991155290920856],[-0.34299833089819987,-1.665715681144225]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.12740820925397678,-1.6941197319389405,0.71338606911949],"aabb_xy":[[-0.16444231868203646,-1.7284969392726495],[-0.09037409982591704,-1.6597425246052306]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.1135433407693236,-2.206791265921753,0.71338606911949],"aabb_xy":[[-0.2035433375049338,-2.259974729239047],[-0.023543344033713373,-2.153607802604458]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.45918814267836217,-1.9929068335013354,0.71338606911949],"aabb_xy":[[0.4498411350960669,-2.0072104557189796],[0.46853515026065734,-1.9786032112836913]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.601929704354085,1.4021383613974678,0.71338606911949],"aabb_xy":[[0.5319297027518056,1.3887055681958103],[0.6719297059563646,1.4155711545991254]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.5638888888454925,1.5266591278931174,0.71338606911949],"aabb_xy":[[0.49988888662508557,1.482286043767829],[0.6278888910658996,1.5710322120184055]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.3681267108635703,-2.13592457649168,0.71338606911949],"aabb_xy":[[-0.38633253452481797,-2.1469499770736715],[-0.3499208872023226,-2.1248991759096882]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.4187786949441754,-1.3880307300127293,0.71338606911949],"aabb_xy":[[0.41173838501063853,-1.4680307294124009],[0.4258190048777125,-1.308030730613058]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5974304314837556,-0.7395127201536682,0.71338606911949],"aabb_xy":[[-0.6347617080089983,-0.7741657749485203],[-0.5600991549585131,-0.7048596653588158]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.48511304774642944,0.46489522387429627,0.71338606911949],"aabb_xy":[[-0.4900123400529928,0.4372183045717275],[-0.48021375543986583,0.49257214317686504]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.3530885591241995,-0.470860015508654,0.71338606911949],"aabb_xy":[[-0.3570490428939339,-0.4785278800941746],[-0.3491280753544651,-0.46319215092313337]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.3378838785278613,-1.6086423238332677,0.71338606911949],"aabb_xy":[[0.28788387686636646,-1.65864076608897],[0.387883880189356,-1.5586438815775645]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[-0.4461847095293413,-1.405375106362987,0.71338606911949],"aabb_xy":[[-0.4811847094253602,-1.4137493418749265],[-0.41118470963332243,-1.3970008708510468]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.038468947614687665,1.1525725285345794,0.71338606911949],"aabb_xy":[[-0.04716690990540296,1.1404475542271044],[-0.029770985323972377,1.1646975028420539]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.12212090726095115,-2.4676764524250503,0.71338606911949],"aabb_xy":[[-0.13676431281498413,-2.4823351720818345],[-0.10747750170691815,-2.453017732768266]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[-0.16966217664902972,-1.4717815008209836,0.71338606911949],"aabb_xy":[[-0.19466217581466283,-1.4787337465263402],[-0.1446621774833966,-1.464829255115627]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.11352493800500163,1.3636012767952645,0.71338606911949],"aabb_xy":[[0.08353327527113129,1.333601277458464],[0.14351660073887196,1.393601276132065]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[-0.518945150280425,-2.022873095924626,0.71338606911949],"aabb_xy":[[-0.5363758653594314,-2.0401452105884768],[-0.5015144352014184,-2.0056009812607747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485958449585859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7541.png","name":"7541"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3829.png","name":"3829"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4846.png","name":"4846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7161.png","name":"7161"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":735.8034712364099,"rotation_z_degrees":195.78042117175443,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005343958409952533,0.002170676057826181,0.015684720692648087]},{"name":"camera_2","offset_m":[0.01360336570535282,-0.0004508751820718644,-0.008762325591068484]},{"name":"camera_3","offset_m":[-0.016352342574810476,0.017645140402136838,0.007330092163216971]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000372097826304238,0.0019746679784306866,0.0005422476167494276],"end_effector_yaw_offset_degrees":-0.9956015358829962},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008881795432498238,-0.001641024064485657,-0.0017559402824513333],"end_effector_yaw_offset_degrees":-0.11089389041785869},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003624083912897053,0.001075746081066831,0.00033353857743900284],"end_effector_yaw_offset_degrees":-0.7862682318787977}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027396888841046173,0.002721489481930655],"position_m":[0.2771396888841046,-0.11507851051806935,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003022341705055064,-0.001000633886218059],"position_m":[0.2733776582949449,0.27909936611378194,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028107546059507695,-0.0036752956399020978],"position_m":[0.28998924539404924,0.0090247043600979,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004978821555710882,0.003583100796080288],"position_m":[0.060078821555710885,0.41598310079608025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003938272488837634,9.967989471212566e-05],"position_m":[0.15666172751116236,-0.4365003201052879,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d9feadf529e6e3b216e7b6cfd455a66821c38c76df1248ada2dd2bb569ebcce","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8264/tex_ceiling_textures_7161/tex_floor_textures_4846/tex_table_textures_7541/tex_wall_textures_3829","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1696434806184255420,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1696434806184255420,"visual_seed":1696434806184255420,"scene_id":"lab_003","finished_at":"2026-09-03T18:17:17"} +{"episode_id":"ep_000025","started_at":"2026-09-03T18:17:20","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.5521543496673278,-0.046124092013059226,0.71338606911949],"aabb_xy":[[0.5171543504745094,-0.05709113801072185],[0.587154348860146,-0.03515704601539659]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.5706278818136554,-1.6391998255762947,0.71338606911949],"aabb_xy":[[0.5066278815396773,-1.6892659257735827],[0.6346278820876338,-1.5891337253790068]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.2642955182336322,1.4041960838112737,0.71338606911949],"aabb_xy":[[0.2298330402205444,1.3975324066283505],[0.29875799624671995,1.410859760994196]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.5205229616425491,1.1332807415876673,0.71338606911949],"aabb_xy":[[0.4605229611346962,1.0764340079017458],[0.580522962150402,1.1901274752735884]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.2928804300140486,0.7458557818391158,0.71338606911949],"aabb_xy":[[-0.30251206623447824,0.7362184690594068],[-0.283248793793619,0.7554930946188246]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.26505111539366055,0.9042332748165198,0.71338606911949],"aabb_xy":[[-0.3450511125532358,0.8926856738587027],[-0.1850511182340852,0.9157808757743368]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.21472168889713256,-0.9326458446921935,0.71338606911949],"aabb_xy":[[-0.2497216887931514,-0.9410200802041335],[-0.17972168900111365,-0.9242716091802536]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.39989684293683203,0.4929669964392178,0.71338606911949],"aabb_xy":[[-0.45989684318823315,0.43868567140275305],[-0.3398968426854308,0.5472483214756824]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.3575463664319518,0.3381860716955356,0.71338606911949],"aabb_xy":[[0.3323255295721121,0.3129623208426488],[0.3827672032917914,0.3634098225484223]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.18804521494949678,-0.3568697491118087,0.71338606911949],"aabb_xy":[[-0.23804521623333671,-0.40684860350243074],[-0.13804521366565678,-0.3068908947211865]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.33726655124722416,1.1733545957262215,0.71338606911949],"aabb_xy":[[0.31737551136688397,1.1606987844415249],[0.35715759112756446,1.1860104070109185]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.4879858346341859,-0.11653052817981324,0.71338606911949],"aabb_xy":[[-0.5254858352987645,-0.1322175861800354],[-0.4504858339696071,-0.10084347017959104]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[-0.4515859204377191,1.629218071825116,0.71338606911949],"aabb_xy":[[-0.4765859199894576,1.6190755879599812],[-0.42658592088598063,1.6393605556902506]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.2558743666956299,1.5948579013211588,0.71338606911949],"aabb_xy":[[0.20587436725543423,1.5448899768368423],[0.30587436613582547,1.6448258258054749]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.3006812359773352,-2.189950386194609,0.71338606911949],"aabb_xy":[[0.22068123381457272,-2.2699055698207524],[0.3806812381400977,-2.109995202568465]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.3887677303404859,-1.4174519130951984,0.71338606911949],"aabb_xy":[[-0.4013704294775623,-1.4300473093200639],[-0.3761650312034094,-1.4048565168703329]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.536616051928821,-0.8612011080859172,0.71338606911949],"aabb_xy":[[0.5054691330852379,-0.9312011067727244],[0.5677629707724041,-0.79120110939911]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.2826126328077949,-0.8948296586797249,0.71338606911949],"aabb_xy":[[0.2452813562825523,-0.9294827134745771],[0.3199439093330375,-0.8601766038848726]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.23843664430678957,1.3915080571031506,0.71338606911949],"aabb_xy":[[-0.24571896068345314,1.3015080534936412],[-0.23115432793012583,1.4815080607126592]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.6814561804080477,0.08423775828594726,0.71338606911949],"aabb_xy":[[0.6589561805941452,0.07976314191546657],[0.70395618022195,0.08871237465642795]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6785452974496443,-2.005111768904834,0.71338606911949],"aabb_xy":[[-0.6826811537823446,-2.0426117683491913],[-0.6744094411169442,-1.9676117694604773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.14831593499559992,-1.7236103787569994,0.71338606911949],"aabb_xy":[[0.14440206180017737,-1.7323593941635562],[0.15222980819102241,-1.7148613633504426]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.05059764453413251,0.8754515372338592,0.71338606911949],"aabb_xy":[[0.03772574103319237,0.795451536820023],[0.06346954803507265,0.9554515376476953]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.27581882179065675,-1.520200066661363,0.71338606911949],"aabb_xy":[[0.2657371147120832,-1.6002000645534777],[0.2859005288692302,-1.4402000687692484]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[-0.5618479018658487,1.080719889846959,0.71338606911949],"aabb_xy":[[-0.5983437224931274,1.0442359474202012],[-0.5253520812385699,1.1172038322737163]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.5142984031653146,0.0838363243031841,0.71338606911949],"aabb_xy":[[0.5062721325346886,0.07508482932583149],[0.5223246737959406,0.09258781928053672]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6536062747017829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1557.png","name":"1557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1557.png","name":"1557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/869.png","name":"869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/874.png","name":"874"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4505.png","name":"4505"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":555.089800699638,"rotation_z_degrees":7.393303838107026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015483112416223773,0.00616867466460283,-0.01805798888053952]},{"name":"camera_2","offset_m":[0.0010520859559679692,0.017062670278057846,-0.001228601419087729]},{"name":"camera_3","offset_m":[-0.012129599611677594,0.010411069928033305,-0.01205715319271215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001915658545963441,0.0012035022055275264,0.0011955669346863616],"end_effector_yaw_offset_degrees":-0.36253084309761685},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005129410235536055,0.00018266408484700044,-5.779265440776678e-05],"end_effector_yaw_offset_degrees":0.8849411230789965},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00011070107098119807,0.0008579188615674476,0.0003397273973034425],"end_effector_yaw_offset_degrees":0.3564380271124976}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016298789239416246,0.0012339800846990368],"position_m":[0.27277012107605836,-0.11656601991530097,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004171993936367988,-0.0019212575991793958],"position_m":[0.272228006063632,0.27817874240082063,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001569315303991371,-0.0031782589500704496],"position_m":[0.29436931530399135,0.00952174104992955,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008130765169399616,0.0024123024548881548],"position_m":[0.054286923483060044,0.41481230245488815,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00025900733215245865,-0.0027317313258928824],"position_m":[0.16085900733215244,-0.43933173132589287,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"863b38bd1fc9c457431591ddf2c488371ebb39e49aaba522b8531c08ee601005","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1557/tex_ceiling_textures_4505/tex_floor_textures_5282/tex_table_textures_869/tex_wall_textures_874","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7568033412465676168,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7568033412465676168,"visual_seed":7568033412465676168,"scene_id":"lab_003","finished_at":"2026-09-03T18:19:47"} +{"episode_id":"ep_000026","started_at":"2026-09-03T18:19:50","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.31489872056044477,-1.5556342628099726,0.71338606911949],"aabb_xy":[[0.30611749341320854,-1.564414010098503],[0.323679947707681,-1.5468545155214428]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.21905705365517125,-0.9382251705196303,0.71338606911949],"aabb_xy":[[-0.2565570538270432,-0.9709259059025375],[-0.18155705348329929,-0.9055244351367231]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.16740149560343154,-1.840765923725586,0.71338606911949],"aabb_xy":[[-0.18295726501369683,-1.8563163569699934],[-0.1518457261931663,-1.825215490481179]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.13872926397428986,1.703979079158668,0.71338606911949],"aabb_xy":[[0.1316889540407529,1.623979079758997],[0.14576957390782688,1.7839790785583398]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.5489522686736534,0.4180097048305922,0.71338606911949],"aabb_xy":[[0.5178053498300702,0.34800970614378496],[0.5800991875172364,0.4880097035173993]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.48211153543459984,0.7954455717257938,0.71338606911949],"aabb_xy":[[-0.4972138368956179,0.7803440500947317],[-0.4670092339735817,0.8105470933568554]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.6264390815366223,-1.4087853838506088,0.71338606911949],"aabb_xy":[[0.5896444484117159,-1.445691258947191],[0.6632337146615285,-1.3718795087540265]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.1943376844156388,-0.3202156510540344,0.71338606911949],"aabb_xy":[[-0.2443164929259547,-0.3702156510597532],[-0.14435887590532293,-0.2702156510483156]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.4680453996643997,-0.8467105747915031,0.71338606911949],"aabb_xy":[[-0.5180454006149324,-0.8782597217950244],[-0.41804539871386687,-0.8151614277879816]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.4193317471270106,-1.0493969058132033,0.71338606911949],"aabb_xy":[[0.3693317458431706,-1.0993757602038252],[0.4693317484108505,-0.9994180514225811]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.6872039485497998,-1.73665245340649,0.71338606911949],"aabb_xy":[[0.6746012494127234,-1.7492478496313557],[0.6998066476868763,-1.7240570571816247]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.5651826023137623,0.5442039593642298,0.71338606911949],"aabb_xy":[[-0.5745296098960575,0.5299003371465858],[-0.555835594731467,0.5585075815818739]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.4619559244382958,-0.5155776220878203,0.71338606911949],"aabb_xy":[[0.440066176849355,-0.6055776193770694],[0.4838456720272366,-0.42557762479857125]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.5287442267278442,-0.5034922200509429,0.71338606911949],"aabb_xy":[[-0.5937442267621469,-0.55019289673127],[-0.46374422669354143,-0.45679154337061545]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.47246007766295933,1.1205902721701944,0.71338606911949],"aabb_xy":[[-0.527453289000096,1.065590271831401],[-0.41746686632582264,1.1755902725089882]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.023375619185119545,-1.3963125359576458,0.71338606911949],"aabb_xy":[[-0.06662438314889951,-1.4737948905427585],[0.1133756215191386,-1.3188301813725332]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.10074793022920447,-2.1038973582246805,0.71338606911949],"aabb_xy":[[-0.13123218035623463,-2.1538973580061764],[-0.07026368010217432,-2.0538973584431846]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5306142308823958,-0.7420831933991783,0.71338606911949],"aabb_xy":[[0.46661423060841745,-0.7921492935964662],[0.5946142311563739,-0.6920170932018903]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.6131074946101157,-1.113717199756236,0.71338606911949],"aabb_xy":[[-0.6212211492834927,-1.1218230162102651],[-0.6049938399367385,-1.105611383302207]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.6497815738723111,-1.9919949321850812,0.71338606911949],"aabb_xy":[[-0.6698399854855513,-2.012060019094239],[-0.6297231622590708,-1.971929845275924]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[0.4113978873143178,-2.3121842414384264,0.71338606911949],"aabb_xy":[[0.3619174661003591,-2.376184239351278],[0.46087830852827666,-2.2481842435255746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6553944822683316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2664.png","name":"2664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2664.png","name":"2664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5556.png","name":"5556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6666.png","name":"6666"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7218.png","name":"7218"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8970.png","name":"8970"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":740.9095731884958,"rotation_z_degrees":268.09336008365335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011159627665140691,0.0014554860865191727,-0.014478345713069137]},{"name":"camera_2","offset_m":[-0.0030888670836126363,0.011116456480394991,-0.012411542122968272]},{"name":"camera_3","offset_m":[-0.018009508297326345,0.016565067019116936,0.00812214896174284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000698127576181085,-0.00011671875644009549,0.0001917767390419811],"end_effector_yaw_offset_degrees":0.4688776781425663},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001583248510237083,0.0011050495731073124,0.0004986327370235465],"end_effector_yaw_offset_degrees":0.8106567915225253},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007912322173169262,-0.0008010408840678611,-0.0006024947684695179],"end_effector_yaw_offset_degrees":-0.22334825013191528}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028411257561052417,-0.002952442816865587],"position_m":[0.27155887424389474,-0.12075244281686559,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002862589545120809,0.0034424127607439086],"position_m":[0.2792625895451208,0.28354241276074393,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002833331360743023,-0.001497732886313322],"position_m":[0.29563333136074305,0.011202267113686677,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033916449571096633,-0.002715603282352802],"position_m":[0.05170835504289034,0.40968439671764717,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042997257554982975,-0.0009226155362127651],"position_m":[0.1648997257554983,-0.43752261553621274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0d4e57ad752b20dfe244c2d4f12426713dba0f332f5b8ab10b7d088631895e19","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2664/tex_ceiling_textures_8970/tex_floor_textures_7218/tex_table_textures_5556/tex_wall_textures_6666","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7094878043446139904,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7094878043446139904,"visual_seed":7094878043446139904,"scene_id":"lab_003","finished_at":"2026-09-03T18:22:20"} +{"episode_id":"ep_000027","started_at":"2026-09-03T18:22:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.21675330170117124,-2.4570600707327666,0.71338606911949],"aabb_xy":[[-0.26673753740934847,-2.507060069546262],[-0.16676906599299401,-2.407060071919271]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.15029946399540828,1.0300450824876473,0.71338606911949],"aabb_xy":[[0.1165239048047153,1.0160065872744821],[0.18407502318610125,1.044083577700812]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.20262447947981954,-1.3658843584813205,0.71338606911949],"aabb_xy":[[0.19384325233258337,-1.3746641057698508],[0.21140570662705582,-1.3571046111927902]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.5040810937902465,0.10117238768565384,0.71338606911949],"aabb_xy":[[0.4795348781674957,0.07092349113661678],[0.5286273094129971,0.1314212842346909]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.5803511344937793,-1.4759752409839044,0.71338606911949],"aabb_xy":[[0.5699395758132955,-1.4813209743198026],[0.5907626931742629,-1.4706295076480058]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.23295596704365357,-0.1576900937485708,0.71338606911949],"aabb_xy":[[-0.2592447913640942,-0.18396152740322197],[-0.20666714272321288,-0.1314186600939195]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.585194955286298,-0.184034928256398,0.71338606911949],"aabb_xy":[[-0.5961007313738607,-0.26403492465522715],[-0.5742891791987352,-0.10403493185756885]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.26502470267703904,-1.961833008932063,0.71338606911949],"aabb_xy":[[0.24143957921314418,-2.0268330111774944],[0.2886098261409339,-1.8968330066866308]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.1474635313927234,-1.363441304972792,0.71338606911949],"aabb_xy":[[-0.15450498234347096,-1.3704680567105867],[-0.14042208044197577,-1.3564145532349974]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.45904200746893903,1.146489550392881,0.71338606911949],"aabb_xy":[[-0.4662857735151844,1.0664895521892785],[-0.45179824142269376,1.2264895485964833]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.40573557070142563,-2.3527219376405433,0.71338606911949],"aabb_xy":[[0.3807355714294633,-2.3690673012367056],[0.43073556997338786,-2.336376574044381]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.5915531641250573,-1.9843093450740867,0.71338606911949],"aabb_xy":[[0.5275531608353491,-2.027644264078004],[0.6555531674147653,-1.940974426070169]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.5044052934029547,1.5454269864191477,0.71338606911949],"aabb_xy":[[-0.541905293900313,1.5414583028710291],[-0.46690529290559646,1.5493956699672662]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.010145935835205844,-2.067245530181964,0.71338606911949],"aabb_xy":[[0.0040513079470875235,-2.0758149247336326],[0.016240563723324164,-2.058676135630295]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.4243474703592728,-0.23767179736974198,0.71338606911949],"aabb_xy":[[-0.4618474710238515,-0.25335885536996405],[-0.3868474696946941,-0.22198473936951973]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.09186290234222982,-0.776878386650655,0.71338606911949],"aabb_xy":[[-0.12632524974037157,-0.8113722690484775],[-0.057400554944088,-0.7423845042528321]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.6267105464267311,1.0202274641660063,0.71338606911949],"aabb_xy":[[0.6140837591395346,1.0106813904644334],[0.6393373337139273,1.0297735378675792]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.4473494608454873,-1.3191000544233622,0.71338606911949],"aabb_xy":[[-0.47234946001112044,-1.326052300128719],[-0.4223494616798542,-1.3121478087180058]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.1575380493649765,0.0388867666766215,0.71338606911949],"aabb_xy":[[-0.16145192256039903,0.030137751270064732],[-0.15362417616955398,0.04763578208317825]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.2730598911631576,1.6114248229043109,0.71338606911949],"aabb_xy":[[-0.3230598898090788,1.5615052792448483],[-0.2230598925172364,1.661344366563773]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.6171809047803462,-0.4530455684654062,0.71338606911949],"aabb_xy":[[-0.681180907998984,-0.4997686803644146],[-0.5531809015617083,-0.40632245656639787]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[0.4576627643833151,0.5603491807243035,0.71338606911949],"aabb_xy":[[0.3776627633101948,0.5505711343869191],[0.5376627654564354,0.570127227061688]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.3061272086526474,-1.455395048508402,0.71338606911949],"aabb_xy":[[0.2561340965434556,-1.505395049182598],[0.35612032076183936,-1.4053950478342065]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.6335897636665839,-1.8921254783313919,0.71338606911949],"aabb_xy":[[-0.6835897632429188,-1.9421060572834978],[-0.5835897640902493,-1.842144899379286]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.21782031836008842,-0.3132764729846138,0.71338606911949],"aabb_xy":[[-0.24032031887212899,-0.33576833135001216],[-0.1953203178480478,-0.29078461461921545]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.6386555317506353,1.505969287305764,0.71338606911949],"aabb_xy":[[0.5736555317163325,1.4592686106254367],[0.703655531784938,1.5526699639860913]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.09348992153592361,1.6377641735938826,0.71338606911949],"aabb_xy":[[-0.17348991849896278,1.5606885319501091],[-0.013489924572884449,1.714839815237656]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[0.0809486518725061,0.667157417578891,0.71338606911949],"aabb_xy":[[-0.00905135180441209,0.6057250110017866],[0.17094865554942423,0.7285898241559953]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[0.19780455776147454,1.5333131634814072,0.71338606911949],"aabb_xy":[[0.1478045564005873,1.4833352589059914],[0.24780455912236174,1.5832910680568226]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[-0.3336978707500875,-0.9300750899799295,0.71338606911949],"aabb_xy":[[-0.3455699537615886,-1.01507508967358],[-0.3218257877385864,-0.8450750902862793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6506348772017477,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9255.png","name":"9255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8404.png","name":"8404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7921.png","name":"7921"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9722.png","name":"9722"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":584.9989148768828,"rotation_z_degrees":331.2726518632093,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012482760569863222,0.01982023479911069,-0.00030766712636328894]},{"name":"camera_2","offset_m":[-0.00965314689822291,0.0039540063045921635,-0.0012447390584192919]},{"name":"camera_3","offset_m":[-0.009203093598116076,-0.0065251132601849456,0.016052538494322702]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001488045714447949,0.0010845512945744907,-0.001583600165897182],"end_effector_yaw_offset_degrees":-0.9531811580130554},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017890837426044796,0.0011715049137912782,0.000815562428519657],"end_effector_yaw_offset_degrees":-0.2765078380013972},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014336619398055135,-0.0016673255812272975,-0.0016254230369873706],"end_effector_yaw_offset_degrees":-0.12388951836550488}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0039034530231821284,0.0027898205970565745],"position_m":[0.2783034530231821,-0.11501017940294343,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[8.998897292913227e-05,0.004376968814098822],"position_m":[0.2764899889729291,0.28447696881409884,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004124112418627227,-0.002470822152273169],"position_m":[0.2969241124186272,0.01022917784772683,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004705142457103686,0.0005481549592981309],"position_m":[0.05039485754289632,0.4129481549592981,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004599246980263642,-0.0036446830229542294],"position_m":[0.15600075301973634,-0.4402446830229542,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af3923a94409b312ebd71dfa58e90544eff157cdc28d088bd9f0d2718f3c4697","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4413/tex_ceiling_textures_9722/tex_floor_textures_7921/tex_table_textures_9255/tex_wall_textures_8404","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4112469612711607086,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4112469612711607086,"visual_seed":4112469612711607086,"scene_id":"lab_003","finished_at":"2026-09-03T18:25:07"} +{"episode_id":"ep_000028","started_at":"2026-09-03T18:25:11","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.21576103027920057,0.25747807658998845,0.71338606911949],"aabb_xy":[[-0.22454225742643685,0.24869832930145835],[-0.2069798031319644,0.26625782387851865]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.02773890952628688,-2.1525031221090907,0.71338606911949],"aabb_xy":[[0.022406394871673896,-2.1578274503543264],[0.03307142418089987,-2.147178793863855]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.3498235290661251,-0.41434789534479144,0.71338606911949],"aabb_xy":[[0.2858235326388032,-0.46151751916688794],[0.41382352549344703,-0.36717827152269505]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.6347770497380654,-0.1486119746797403,0.71338606911949],"aabb_xy":[[-0.6456286559869409,-0.15947126540739132],[-0.6239254434891897,-0.13775268395208928]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.6688173506464883,-2.0138615900418952,0.71338606911949],"aabb_xy":[[-0.6789703662006376,-2.049931131614635],[-0.6586643350923388,-1.9777920484691545]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.5000536206921486,1.6860675342354408,0.71338606911949],"aabb_xy":[[-0.5171556986505168,1.6689607287041712],[-0.4829515427337805,1.7031743397667107]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.5497469840062823,-0.9472806658435886,0.71338606911949],"aabb_xy":[[-0.6137426814013788,-1.011280664144297],[-0.4857512866111856,-0.8832806675428798]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.39964423978223024,-0.1910168812432711,0.71338606911949],"aabb_xy":[[-0.4496442401427962,-0.24099686845287402],[-0.34964423942166406,-0.14103689403366812]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.02645421857099417,-1.176081374193899,0.71338606911949],"aabb_xy":[[-0.07643302708131006,-1.2260813741996177],[0.023524589939321716,-1.12608137418818]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[0.46215042749919144,1.4963009383484853,0.71338606911949],"aabb_xy":[[0.40215042765262465,1.4394823161554469],[0.5221504273457582,1.5531195605415242]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.6319381849462761,-1.319124097778885,0.71338606911949],"aabb_xy":[[-0.653846867085627,-1.3410247645989757],[-0.6100295028069249,-1.2972234309587942]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.29247799713548783,-2.162405014527934,0.71338606911949],"aabb_xy":[[0.2574779979426695,-2.173372060525596],[0.32747799632830604,-2.151437968530271]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.5043563655115559,1.2956170223333232,0.71338606911949],"aabb_xy":[[0.4403563669249835,1.2486100589338143],[0.5683563640981284,1.3426239857328317]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.40555351001513784,-2.3742183072406626,0.71338606911949],"aabb_xy":[[-0.45565097399621146,-2.438218307750475],[-0.3554560460340642,-2.3102183067308513]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[0.627012302359206,-2.041123917387288,0.71338606911949],"aabb_xy":[[0.5820197156407556,-2.086123916661737],[0.6720048890776564,-1.9961239181128394]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.2725033257205194,-1.8086701837230426,0.71338606911949],"aabb_xy":[[0.2500069042866553,-1.8311701835297898],[0.2949997471543835,-1.786170183916295]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.06111944214582221,-0.9460738800668598,0.71338606911949],"aabb_xy":[[-0.09861944249404997,-0.9578652756479433],[-0.023619441797594447,-0.9342824844857762]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.643591378400455,-1.1403632538411304,0.71338606911949],"aabb_xy":[[-0.6935756141086321,-1.190363252654626],[-0.5936071426922777,-1.0903632550276348]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.2662696475707489,-0.5981969440469137,0.71338606911949],"aabb_xy":[[0.23512272872716572,-0.6681969427337209],[0.29741656641433195,-0.5281969453601065]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.1756804710585409,-2.5043653071504233,0.71338606911949],"aabb_xy":[[0.09568046780069797,-2.5843618149424072],[0.25568047431638385,-2.4243687993584393]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[0.7115049667802329,-0.812902480428606,0.71338606911949],"aabb_xy":[[0.7042612007339875,-0.8929024786322082],[0.7187487328264781,-0.7329024822250034]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.3833582546234597,-1.6821097066977342,0.71338606911949],"aabb_xy":[[-0.447358256535802,-1.7380208559557446],[-0.31935825271111734,-1.6261985574397237]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.49327262019211304,0.22737916715242967,0.71338606911949],"aabb_xy":[[-0.5012661099873952,0.21938103521195407],[-0.4852791303968312,0.2353772990929054]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.423735741826188,-0.9765253416862123,0.71338606911949],"aabb_xy":[[0.33404866551807255,-1.0665253419406628],[0.5134228181343035,-0.8865253414317618]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[0.6774578966491671,0.06554706354414996,0.71338606911949],"aabb_xy":[[0.6561798885056949,0.0005470612180769052],[0.6987359047926394,0.13054706587022302]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[0.017820625427217185,-1.5328781719057738,0.71338606911949],"aabb_xy":[[-0.04717937557328333,-1.5836645370604487],[0.0828206264277177,-1.4820918067510989]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[0.6489404631349227,1.1887106665527516,0.71338606911949],"aabb_xy":[[0.6416792155645152,1.1759236562892421],[0.6562017107053302,1.201497676816261]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.4321354334788424,-2.54472223870212,0.71338606911949],"aabb_xy":[[-0.43983862415291936,-2.5524316094008577],[-0.42443224280476527,-2.5370128680033814]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[-0.5408121779667978,1.3585085697309696,0.71338606911949],"aabb_xy":[[-0.5907895948320513,1.3085085682417208],[-0.49083476110154417,1.4085085712202179]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_29","position":[0.3889668650725717,-1.3444060255567796,0.71338606911949],"aabb_xy":[[0.38338519343844296,-1.356906025374555],[0.3945485367067005,-1.331906025739004]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[-0.44607025015514423,-1.1150815225583626,0.71338606911949],"aabb_xy":[[-0.45800298451697224,-1.127463675366222],[-0.4341375157933161,-1.1026993697505032]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_31","position":[0.7130811536720174,1.682551832818827,0.71338606911949],"aabb_xy":[[0.7037341460897222,1.6682482106011831],[0.7224281612543126,1.6968554550364712]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_32","position":[0.4280923297400041,0.7315244390001565,0.71338606911949],"aabb_xy":[[0.4234572145877707,0.7276571039230078],[0.4327274448922374,0.735391774077305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525201748867153,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4874.png","name":"4874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8614.png","name":"8614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9440.png","name":"9440"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6037.png","name":"6037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":797.1429236717643,"rotation_z_degrees":275.55630724660676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004418306699627728,-0.019310067990832173,0.01748960325017403]},{"name":"camera_2","offset_m":[-0.016796451194100743,0.002964661273057466,-0.008491263953952687]},{"name":"camera_3","offset_m":[0.0059280444126504385,0.012749104876199836,-0.0051765141188236195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004405514758779789,0.00010117568607334246,0.0004874169397303821],"end_effector_yaw_offset_degrees":0.7935767983515625},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009039912866399234,-0.001051324748494099,-0.0018710841100455058],"end_effector_yaw_offset_degrees":0.6836701906354021},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019485869161276733,-0.0008893265220012326,0.0012970042427504738],"end_effector_yaw_offset_degrees":0.9614997099848934}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001512809203866321,0.00018390968212071788],"position_m":[0.27288719079613366,-0.11761609031787928,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004323826076167307,0.0046829446802285025],"position_m":[0.2807238260761673,0.2847829446802285,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00266114083184194,0.00466583419504137],"position_m":[0.29546114083184194,0.01736583419504137,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003298116197943908,-0.003473478713841166],"position_m":[0.051801883802056095,0.4089265212861588,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012211642560062252,-4.82360104488537e-05],"position_m":[0.1618211642560062,-0.43664823601044883,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c73c0e605b306e770139880bc86abedeb9295e516762c9221d11d8f3a007f74b","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4874/tex_ceiling_textures_5850/tex_floor_textures_6037/tex_table_textures_8614/tex_wall_textures_9440","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8101981467000195457,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8101981467000195457,"visual_seed":8101981467000195457,"scene_id":"lab_003","finished_at":"2026-09-03T18:27:42"} +{"episode_id":"ep_000029","started_at":"2026-09-03T18:27:47","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.3434793631742554,-2.3653878063892173,0.71338606911949],"aabb_xy":[[0.33977610184511653,-2.369089824697935],[0.3471826245033943,-2.3616857880804996]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.6534666309214945,-2.027177712757761,0.71338606911949],"aabb_xy":[[0.5934666303254783,-2.0819901853029843],[0.7134666315175107,-1.9723652402125373]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.29883451842372655,1.569504757190185,0.71338606911949],"aabb_xy":[[0.29492064522830397,1.560755741783628],[0.302748391619149,1.5782537725967416]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.12358538959256704,1.0201496543102393,0.71338606911949],"aabb_xy":[[-0.15788230061030767,0.985852768100298],[-0.08928847857482641,1.0544465405201806]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.0445679179656393,-0.9763016633586845,0.71338606911949],"aabb_xy":[[-0.01943208532406881,-1.0196365823626021],[0.10856792125534741,-0.932966744354767]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.08299630451548579,-0.8623939869645392,0.71338606911949],"aabb_xy":[[0.07258474583500207,-0.8677397203004377],[0.0934078631959695,-0.8570482536286407]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.075099951122653,0.37511799072919905,0.71338606911949],"aabb_xy":[[-0.09259995136770237,0.35761820288963214],[-0.057599950877603605,0.39261777856876584]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.5774191488801765,1.6284495606641793,0.71338606911949],"aabb_xy":[[0.4974253253016184,1.5484495580713378],[0.6574129724587349,1.708449563257021]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.2727724345528759,-2.2806945065775137,0.71338606911949],"aabb_xy":[[-0.33677243493040954,-2.330439773428326],[-0.2087724341753423,-2.2309492397267014]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.3341343717408394,-0.3957243945597835,0.71338606911949],"aabb_xy":[[0.3292907769796094,-0.4005760470387676],[0.33897796650206935,-0.39087274208079936]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.5335869508744894,1.5326445362618037,0.71338606911949],"aabb_xy":[[-0.5807163298763249,1.4686445352174016],[-0.4864575718726536,1.5966445373062055]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.19398352115629514,-0.9232781236695797,0.71338606911949],"aabb_xy":[[0.18520229400905897,-0.9320578709581101],[0.20276474830353144,-0.9144983763810498]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.14354792093296043,-1.1839002385440938,0.71338606911949],"aabb_xy":[[0.07954791925496307,-1.232417630023408],[0.20754792261095778,-1.1353828470647795]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.5797798704851398,-0.8721094256602253,0.71338606911949],"aabb_xy":[[-0.5862815069931445,-0.8818772476865351],[-0.5732782339771353,-0.8623416036339155]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.31682917110134656,-1.0117256735136266,0.71338606911949],"aabb_xy":[[-0.32146428625357987,-1.015593008590775],[-0.31219405594911315,-1.0078583384364779]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.5081320371184317,-2.282018937205453,0.71338606911949],"aabb_xy":[[0.48028700033782457,-2.3128034359437644],[0.5359770738990388,-2.251234438467141]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.33065500513910573,1.0866159806513047,0.71338606911949],"aabb_xy":[[-0.3414954833656206,1.069429699360656],[-0.31981452691259077,1.1038022619419534]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.010217101994427047,-1.86648332040981,0.71338606911949],"aabb_xy":[[-0.03521710126638932,-1.882828684005972],[0.014782897277535232,-1.8501379568136473]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.25033371656087533,-1.9618700262860878,0.71338606911949],"aabb_xy":[[0.21300244003563276,-1.99652308108094],[0.287664993086118,-1.9272169714912355]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.22303074922584354,-0.7431453587534522,0.71338606911949],"aabb_xy":[[0.2078678762489065,-0.7583108160485711],[0.23819362220278067,-0.7279799014583335]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.49211300670842784,1.3114642971476438,0.71338606911949],"aabb_xy":[[0.4021130081139579,1.295213710834223],[0.5821130053028978,1.327714883461065]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.6788855200006237,0.36226718011564474,0.71338606911949],"aabb_xy":[[-0.692332046634667,0.3487973284625535],[-0.6654389933665803,0.37573703176873596]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.6060162615761291,-1.1974989152430742,0.71338606911949],"aabb_xy":[[0.5420162613156582,-1.242507714596002],[0.6700162618365998,-1.152490115890146]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.43706620184803,-1.5469730146600653,0.71338606911949],"aabb_xy":[[0.41456620160451463,-1.5591776493198373],[0.4595662020915454,-1.5347683800002934]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[-0.37582868501490435,0.4551271481593089,0.71338606911949],"aabb_xy":[[-0.4558286820291524,0.4349925964858976],[-0.2958286880006564,0.47526169983272015]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[-0.16722051635095092,-1.2162465817956603,0.71338606911949],"aabb_xy":[[-0.21710321322864715,-1.266246581041935],[-0.11733781947325472,-1.1662465825493855]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[-0.14385850575614256,1.1552472466163044,0.71338606911949],"aabb_xy":[[-0.19385333868408416,1.1052472477210609],[-0.09386367282820096,1.205247245511548]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[-0.547569109175451,0.06020916204725557,0.71338606911949],"aabb_xy":[[-0.6175691107777305,0.046776368845598],[-0.4775691075731715,0.07364195524891315]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[-0.2852680467336013,0.7564899236863467,0.71338606911949],"aabb_xy":[[-0.3104888835934409,0.73126617283346],[-0.26004720987376156,0.7817136745392335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568685182578985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1960.png","name":"1960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1960.png","name":"1960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/861.png","name":"861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7545.png","name":"7545"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":841.0645351853641,"rotation_z_degrees":256.56108723653875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012481422473595415,-0.013465891080678883,0.009693754574567958]},{"name":"camera_2","offset_m":[0.0069025302925044725,0.01902458915595313,-0.011051818882368409]},{"name":"camera_3","offset_m":[0.0090262004850153,0.0010796661758389475,0.01475627225186488]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018953903427045612,0.0002835721345575246,-0.0006103359502305562],"end_effector_yaw_offset_degrees":-0.9689726881226683},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-7.388011838820323e-05,0.0006830090762272585,0.0005934381913875303],"end_effector_yaw_offset_degrees":-0.8437652684130215},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00045418713987088657,0.001701631509681805,0.0005749011440142411],"end_effector_yaw_offset_degrees":-0.7188942525678079}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002087157575955024,0.0034461576917571317],"position_m":[0.27231284242404497,-0.11435384230824287,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025007364371237074,0.0007367953276747018],"position_m":[0.27389926356287625,0.2808367953276747,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0022039972428873596,0.004616284120023237],"position_m":[0.29500399724288734,0.017316284120023236,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020272227450588917,-0.0035064904525583893],"position_m":[0.057127222745058895,0.4088935095474416,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028110197377203662,-0.004773941245630764],"position_m":[0.16341101973772035,-0.44137394124563073,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"05b9c712834d9b042befb2b1eed07db730d94c68953890cc2e48132f21d547ec","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1960/tex_ceiling_textures_7545/tex_floor_textures_1170/tex_table_textures_4210/tex_wall_textures_861","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5059349867966046944,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5059349867966046944,"visual_seed":5059349867966046944,"scene_id":"lab_003","finished_at":"2026-09-03T18:30:14"} +{"episode_id":"ep_000030","started_at":"2026-09-03T18:30:17","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.010553035769397368,-1.6538510096657992,0.71338606911949],"aabb_xy":[[-0.02145881185696008,-1.7338510060646284],[0.00035274031816534546,-1.57385101326697]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.11582568307520758,0.3087838620693746,0.71338606911949],"aabb_xy":[[-0.13332568332025696,0.2912840742298077],[-0.09832568283015819,0.3262836499089414]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.08178963485733126,1.5930473209390965,0.71338606911949],"aabb_xy":[[0.07249601662018068,1.5555473224509622],[0.09108325309448184,1.63054731942723]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.14253675635754115,-1.0127675080019498,0.71338606911949],"aabb_xy":[[0.13603511984953653,-1.0225353300282596],[0.14903839286554577,-1.00299968597564]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.18615448944919177,1.7452028602409366,0.71338606911949],"aabb_xy":[[0.13902511044735608,1.6812028591965344],[0.23328386845102742,1.8092028612853384]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.0024464598706737117,-2.4629260808603948,0.71338606911949],"aabb_xy":[[-0.014464272565668066,-2.4763982864530085],[0.019357192307015488,-2.4494538752677792]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.0386023386547244,1.1759220117317826,0.71338606911949],"aabb_xy":[[-0.025397662753266267,1.1241330602078579],[0.10260234006271506,1.2277109632557073]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.09061005759774343,-2.560049190464366,0.71338606911949],"aabb_xy":[[-0.09594763326374801,-2.585049191393506],[-0.08527248193173888,-2.5350491895352265]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.005944706826236601,-1.1047347917566144,0.71338606911949],"aabb_xy":[[-0.03942387408727754,-1.1382139051277214],[0.027534460434804335,-1.0712556783855074]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.3954014702151534,0.8001182065798007,0.71338606911949],"aabb_xy":[[-0.4073342045769815,0.7877360537719414],[-0.38346873585332536,0.8125003593876602]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.624007870133918,-0.964215284166813,0.71338606911949],"aabb_xy":[[-0.6940078665438796,-0.9846532198184945],[-0.554007873723956,-0.9437773485151311]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.5434805149372187,-0.5824219602064162,0.71338606911949],"aabb_xy":[[-0.6034805155332349,-0.6372344327516396],[-0.48348051434120254,-0.5276094876611926]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.19205932171564866,-0.17253111898797568,0.71338606911949],"aabb_xy":[[-0.19617527182772126,-0.17664667402082115],[-0.18794337160357594,-0.16841556395513016]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.5074446908921166,-2.2685442380283085,0.71338606911949],"aabb_xy":[[-0.5250775264856442,-2.286167184043931],[-0.4898118552985891,-2.250921292012685]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.2581201181583489,-1.9507227318465992,0.71338606911949],"aabb_xy":[[0.17812011957102944,-2.03003833378476],[0.3381201167456683,-1.8714071299084383]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.6306730975552917,-2.103533670752458,0.71338606911949],"aabb_xy":[[0.6191041168083552,-2.12853367086939],[0.6422420783022283,-2.0785336706355264]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.34772885029230494,-1.178914037827465,0.71338606911949],"aabb_xy":[[-0.3652288495703918,-1.196252137893811],[-0.33022885101421806,-1.161575937761119]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.5395186460626076,1.267827717682815,0.71338606911949],"aabb_xy":[[-0.5895186447085288,1.2179081740233526],[-0.4895186474166864,1.3177472613422774]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.5621913791866804,-2.1579518011027727,0.71338606911949],"aabb_xy":[[-0.63219138078896,-2.1713845943044303],[-0.492191377584401,-2.144519007901115]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.2873169769670959,-1.4521910491019794,0.71338606911949],"aabb_xy":[[0.23234325493076297,-1.5071910486662126],[0.34229069900342873,-1.3971910495377462]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.37018911563841095,-2.3788788280063744,0.71338606911949],"aabb_xy":[[-0.41627420689314243,-2.4428788252589295],[-0.32410402438367947,-2.3148788307538193]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.4400806844314279,-0.8370022467658542,0.71338606911949],"aabb_xy":[[-0.4900806857152678,-0.8869811011564761],[-0.39008068314758787,-0.7870233923752319]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.10592745140866455,1.4133133512930818,0.71338606911949],"aabb_xy":[[-0.15592745307015932,1.3633149090373788],[-0.055927449747169795,1.4633117935487843]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.3438935220874264,0.43296614314766746,0.71338606911949],"aabb_xy":[[0.2939147135771105,0.3829661431419487],[0.3938723305977423,0.4829661431533863]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.4826707018733285,1.3582337312364667,0.71338606911949],"aabb_xy":[[0.4574498650134887,1.3330099803835798],[0.507891538733168,1.3834574820893533]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.5878418394408669,1.2532879907592744,0.71338606911949],"aabb_xy":[[0.5798478508631635,1.2452879106641839],[0.5958358280185703,1.2612880708543646]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.38831748929169924,-0.11198768116131363,0.71338606911949],"aabb_xy":[[-0.4523174916345008,-0.1569285324054461],[-0.32431748694889767,-0.06704682991718112]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[0.45748385402990066,-1.0263917872679256,0.71338606911949],"aabb_xy":[[0.39589309480590784,-1.0903917853769725],[0.5190746132538935,-0.9623917891588787]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.1547150501115936,-2.547845769198967,0.71338606911949],"aabb_xy":[[-0.16548802403296137,-2.582845767418006],[-0.1439420761902258,-2.512845770979928]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.19208775049829752,-1.5504358217061676,0.71338606911949],"aabb_xy":[[-0.2145877500220049,-1.572931769156788],[-0.16958775097459008,-1.5279398742555463]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[-0.5514297249795062,0.24004931834790044,0.71338606911949],"aabb_xy":[[-0.5858922029925938,0.23338564116497762],[-0.5169672469664183,0.24671299553082326]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[-0.24686094518993357,-1.4114146380262722,0.71338606911949],"aabb_xy":[[-0.3118609461470608,-1.4633628499599776],[-0.18186094423280638,-1.3594664260925664]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_32","position":[-0.5395902245238634,-1.8244729558409785,0.71338606911949],"aabb_xy":[[-0.5895852354833154,-1.8744729548765704],[-0.4895952135644114,-1.774472956805387]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_33","position":[0.6808950544144663,-1.9286554307757435,0.71338606911949],"aabb_xy":[[0.6433950559910658,-1.941819644743574],[0.7183950528378665,-1.9154912168079126]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481794712196202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/403.png","name":"403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":521.0868321446463,"rotation_z_degrees":98.14951794832074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0160382362271818,-0.009745924563697122,-0.013777669633338076]},{"name":"camera_2","offset_m":[-0.011998786561354549,0.0114128353389969,0.015119126399800491]},{"name":"camera_3","offset_m":[-0.013070652365283101,0.010119424175982817,-0.01435557606309664]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005322983970978373,3.110930301707679e-05,-0.00015941855281515014],"end_effector_yaw_offset_degrees":-0.7587298322426024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00180676566060048,-0.0013577584068737165,-0.0005516069820979373],"end_effector_yaw_offset_degrees":0.5893660176904529},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013206417119434799,0.000991401701412549,0.00023327527717184474],"end_effector_yaw_offset_degrees":0.8283913089099275}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00013924414218792567,0.004908563120216181],"position_m":[0.2745392441421879,-0.11289143687978383,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004655364724119122,-0.00043919634462510817],"position_m":[0.2810553647241191,0.27966080365537493,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008220873409909013,-0.0032339031434717195],"position_m":[0.2919779126590091,0.009466096856528279,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.064360753030949e-07,0.003917572105039998],"position_m":[0.05510070643607531,0.41631757210504,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004795879497667911,-0.00022339545185005773],"position_m":[0.15580412050233208,-0.43682339545185006,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2861f91cce258c92c605d7a688429eab1baed71d544804e060c07062052a9c44","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1363/tex_ceiling_textures_6206/tex_floor_textures_6076/tex_table_textures_403/tex_wall_textures_8482","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6670665168678846556,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6670665168678846556,"visual_seed":6670665168678846556,"scene_id":"lab_003","finished_at":"2026-09-03T18:32:40"} +{"episode_id":"ep_000031","started_at":"2026-09-03T18:32:43","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.32874774348339386,-1.7615132369183564,0.71338606911949],"aabb_xy":[[0.2387477437602196,-1.784586589453536],[0.41874774320656794,-1.7384398843831763]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.5511001826783839,-0.3039556014522704,0.71338606911949],"aabb_xy":[[0.49610018305663806,-0.3589392942397431],[0.6061001823001297,-0.24897190866479763]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.607341830277061,0.48388725718936554,0.71338606911949],"aabb_xy":[[0.517341827943042,0.4064049026042529],[0.6973418326110801,0.5613696117744782]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[-0.4310959581306545,-0.7915382650787357,0.71338606911949],"aabb_xy":[[-0.49609595628657355,-0.8178345096286479],[-0.36609595997473543,-0.7652420205288235]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.19876316072889466,-2.244976892511603,0.71338606911949],"aabb_xy":[[-0.2067894313595207,-2.2537283874889558],[-0.1907368900982687,-2.2362253975342505]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.563731198180649,0.8742542152917094,0.71338606911949],"aabb_xy":[[-0.5681618275354892,0.8688058435570268],[-0.5593005688258088,0.879702587026392]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.16040877808671272,1.348888317859993,0.71338606911949],"aabb_xy":[[-0.19774005461195535,1.3142352630651408],[-0.1230775015614701,1.3835413726548453]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.6399257554664195,0.7946491750779798,0.71338606911949],"aabb_xy":[[0.6252823499123864,0.7799904554211955],[0.6545691610204524,0.8093078947347639]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.4672117451981567,-1.519787636470913,0.71338606911949],"aabb_xy":[[-0.5082296885845277,-1.5697876371018704],[-0.42619380181178584,-1.4697876358399558]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.32963842864211146,-0.6460156689473051,0.71338606911949],"aabb_xy":[[0.29463842866561557,-0.6554802849949217],[0.36463842861860724,-0.6365510528996885]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.6346905697939738,-0.4631204719777924,0.71338606911949],"aabb_xy":[[0.6212440431599304,-0.47659032363088366],[0.6481370964280171,-0.4496506203247012]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.19780981595871544,-0.14627113732566466,0.71338606911949],"aabb_xy":[[-0.26180981800844744,-0.18636562041497262],[-0.13380981390898344,-0.1061766542363567]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.5923167218682107,-2.4555090946413163,0.71338606911949],"aabb_xy":[[-0.6563167251579187,-2.4988440136452335],[-0.5283167185785025,-2.412174175637398]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.5836261195121845,-1.064510313340972,0.71338606911949],"aabb_xy":[[-0.5906675704629321,-1.0715370650787668],[-0.5765846685614369,-1.0574835616031775]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5148901834493786,-1.3713073748624682,0.71338606911949],"aabb_xy":[[0.4957778760913998,-1.3904421537397103],[0.5340024908073575,-1.3521725959852262]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.18906932915096997,-2.398066327992657,0.71338606911949],"aabb_xy":[[0.15406933084027452,-2.405781342916203],[0.2240693274616654,-2.390351313069112]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.058916112394633346,-1.1197124649118337,0.71338606911949],"aabb_xy":[[-0.07016116796525118,-1.1309542626359288],[-0.047671056824015505,-1.1084706671877382]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.004354083346668869,-0.7063921954606642,0.71338606911949],"aabb_xy":[[-0.06835408475465952,-0.7581811469845889],[0.059645918061321794,-0.6546032439367395]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.10232987567255891,-0.864106258223861,0.71338606911949],"aabb_xy":[[-0.10640803357960865,-0.8681872384721244],[-0.09825171776550917,-0.8600252779755978]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.5717284782611761,1.012327841950066,0.71338606911949],"aabb_xy":[[-0.631728478107743,0.9555092197570272],[-0.5117284784146094,1.0691464641431045]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.1501209196488853,0.6721972384116626,0.71338606911949],"aabb_xy":[[-0.23011474322744352,0.592197235818821],[-0.07012709607032708,0.7521972410045041]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.6220092743752654,-1.7593260642888708,0.71338606911949],"aabb_xy":[[-0.6860092746492436,-1.8093921644861588],[-0.5580092741012871,-1.7092599640915829]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.20650254478988406,-0.7592644407123881,0.71338606911949],"aabb_xy":[[0.15150254561329457,-0.8142541154873455],[0.26150254396647354,-0.7042747659374302]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.360332520155205,0.7576488493665807,0.71338606911949],"aabb_xy":[[0.3542955071545403,0.7516221482976325],[0.36636953315586973,0.7636755504355289]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.029992284310582984,0.6525765712012013,0.71338606911949],"aabb_xy":[[-0.030007716197269933,0.59572983751528],[0.0899922848184359,0.7094233048871226]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.21478214273097435,0.3743179847471563,0.71338606911949],"aabb_xy":[[-0.2647650929184536,0.3243179851045958],[-0.16479919254349498,0.42431798438971663]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.10276791691197606,0.06383792532461996,0.71338606911949],"aabb_xy":[[-0.16676791761544543,0.017819542851698945],[-0.03876791620850673,0.10985630779754098]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.3664557765343197,-2.1173311873645866,0.71338606911949],"aabb_xy":[[0.32128445868615074,-2.181331184509125],[0.41162709438248873,-2.053331190220048]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.255775982980855,-1.1207741024292248,0.71338606911949],"aabb_xy":[[0.20078277164371827,-1.1757741027680184],[0.31076919431799177,-1.0657741020904312]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_29","position":[0.31833166389754886,-0.961186586536118,0.71338606911949],"aabb_xy":[[0.2722465726428174,-1.0251865837886731],[0.36441675515228034,-0.897186589283563]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.16532695877411296,0.599787437714475,0.71338606911949],"aabb_xy":[[0.1476513281855146,0.5821072214350722],[0.18300258936271127,0.6174676539938777]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[0.5741972355430489,-0.5588785942763024,0.71338606911949],"aabb_xy":[[0.539734888144907,-0.593372476674125],[0.6086595829411906,-0.5243847118784796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6536719245605227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1832.png","name":"1832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1832.png","name":"1832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5200.png","name":"5200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4145.png","name":"4145"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/207.png","name":"207"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":685.3223668660943,"rotation_z_degrees":262.8251109727971,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016743149698942791,0.0058767494771760145,-0.006330910099811415]},{"name":"camera_2","offset_m":[-0.01168487292477579,0.001996906948018261,0.0024508710376980984]},{"name":"camera_3","offset_m":[0.012860737713984483,-0.010126901044968757,-0.015389845731204992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00061494580067545,-0.0015549226463870526,0.0002960136813403634],"end_effector_yaw_offset_degrees":0.08681429371428862},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[5.8344511188249387e-05,0.0018203176209387007,-0.0008564298859039909],"end_effector_yaw_offset_degrees":0.4870173446970627},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003255999517860421,0.00011135970515839099,-0.0002791499832847633],"end_effector_yaw_offset_degrees":-0.7419523739693661}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002422597110476963,-0.004048961339222671],"position_m":[0.27682259711047696,-0.12184896133922267,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004634309843869809,-0.0035786780225877824],"position_m":[0.27176569015613017,0.27652132197741225,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0004901711607448742,-0.004209224914751208],"position_m":[0.2923098288392551,0.008490775085248791,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010069717672556624,-0.00028130122707259106],"position_m":[0.05610697176725567,0.4121186987729274,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002253247021667971,-0.0006232038153178776],"position_m":[0.16285324702166795,-0.4372232038153179,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ee365aa06afaa76f5cd62fa1ee1d05682032b179b0df27d05527efa66ad80c0c","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1832/tex_ceiling_textures_207/tex_floor_textures_4145/tex_table_textures_7022/tex_wall_textures_5200","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2780062424053812864,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2780062424053812864,"visual_seed":2780062424053812864,"scene_id":"lab_003","finished_at":"2026-09-03T18:35:33"} +{"episode_id":"ep_000032","started_at":"2026-09-03T18:35:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.15934769101880197,-2.3930333674567597,0.71338606911949],"aabb_xy":[[-0.1632615642142245,-2.4017823828633165],[-0.15543381782337945,-2.384284352050203]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.3083214699862038,-2.1974926855054333,0.71338606911949],"aabb_xy":[[0.23832146659464185,-2.232808459208864],[0.3783214733777658,-2.1621769118020024]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.013715634741128246,-1.8062815539649553,0.71338606911949],"aabb_xy":[[-0.01625192216869742,-1.8362815542628412],[0.04368319165095391,-1.7762815536670697]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.6857182382838594,1.4088363182640742,0.71338606911949],"aabb_xy":[[0.6737855039220313,1.3964541654562148],[0.6976509726456874,1.4212184710719336]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.12792616711663818,-1.2513800304294986,0.71338606911949],"aabb_xy":[[0.10464432491850682,-1.3363800317267265],[0.1512080093147695,-1.1663800291322703]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.37160270055785216,-2.348394986586627,0.71338606911949],"aabb_xy":[[0.3541027002985156,-2.3624865287753996],[0.3891027008171889,-2.3343034443978543]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.5317282330570694,0.14469515210244444,0.71338606911949],"aabb_xy":[[-0.5667282329530883,0.13632091659050447],[-0.4967282331610506,0.15306938761438435]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.37867092117433376,1.5957712922340757,0.71338606911949],"aabb_xy":[[0.3738273264131038,1.5909196397550915],[0.38351451593556374,1.6006229447130598]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.19197476440357997,-1.4574935978033021,0.71338606911949],"aabb_xy":[[-0.20018930951926392,-1.4661701881009432],[-0.18376021928789596,-1.4488170075056606]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.4799202787367749,-1.5191866476046705,0.71338606911949],"aabb_xy":[[-0.5699202754723851,-1.5723701109219648],[-0.38992028200116463,-1.4660031842873757]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.6435017186035712,-1.7291617537595552,0.71338606911949],"aabb_xy":[[0.6256326108491156,-1.7429946617367664],[0.6613708263580266,-1.7153288457823443]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.5930141270926507,-1.1162596166126886,0.71338606911949],"aabb_xy":[[-0.6175277511896565,-1.1405242099147253],[-0.5685005029956448,-1.0919950233106523]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.6500527232086141,0.5656570065760809,0.71338606911949],"aabb_xy":[[-0.6609043294574897,0.5547977158484297],[-0.6392011169597385,0.5765162973037318]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.21562722501568815,-0.327825028122279,0.71338606911949],"aabb_xy":[[-0.22212886152369277,-0.33759285014858875],[-0.20912558850768354,-0.3180572060959692]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.5127614875236037,-1.6477800668854008,0.71338606911949],"aabb_xy":[[-0.5214754565735381,-1.6702800675445888],[-0.5040475184736691,-1.6252800662262123]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.5646891628375827,-2.3283691216062428,0.71338606911949],"aabb_xy":[[0.5095639572079919,-2.3883691230475295],[0.6198143684671734,-2.268369120164955]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.15874253991185305,0.7350258047612237,0.71338606911949],"aabb_xy":[[-0.173385945465886,0.7203670851044395],[-0.14409913435782004,0.7496845244180079]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.16489171627189203,0.7581546458263824,0.71338606911949],"aabb_xy":[[0.12989171707907374,0.7471875998287195],[0.19989171546471027,0.7691216918240448]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.15662099441594346,-0.6591257163553821,0.71338606911949],"aabb_xy":[[0.14783976726870723,-0.6679054636439123],[0.16540222156317969,-0.650345969066852]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.10875625407795197,1.0576610519900544,0.71338606911949],"aabb_xy":[[0.08658372710130113,1.0354853848339312],[0.13092878105460282,1.0798367191461773]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.21494606156085594,0.49813084097117155,0.71338606911949],"aabb_xy":[[-0.23011823084248928,0.48296198404296814],[-0.1997738922792226,0.5132996978993749]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.3425023287688418,-1.4107967571271818,0.71338606911949],"aabb_xy":[[0.2625023255109989,-1.4907932649191658],[0.4225023320266848,-1.3308002493351978]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[0.4861297596245009,0.2122224666065593,0.71338606911949],"aabb_xy":[[0.48169913026966077,0.2067740948718767],[0.4905603889793411,0.2176708383412419]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.465021760081076,-1.161830314200568,0.71338606911949],"aabb_xy":[[-0.4801846330580131,-1.1769957714956867],[-0.44985888710413896,-1.1466648569054492]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_24","position":[0.6356733524580425,0.20478462683997734,0.71338606911949],"aabb_xy":[[0.6185712744996743,0.1876778213087076],[0.6527754304164106,0.22189143237124712]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[-0.1631300402514444,-1.8757199627084136,0.71338606911949],"aabb_xy":[[-0.24313004072166033,-1.884030670322762],[-0.08313003978122842,-1.8674092550940655]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.2788927847766721,-1.7721007303556595,0.71338606911949],"aabb_xy":[[-0.2830286411093723,-1.8096007298000167],[-0.2747569284439719,-1.7346007309113027]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.4075113452596679,0.3071296241443009,0.71338606911949],"aabb_xy":[[0.39488455797247146,0.29758355044272794],[0.42013813254686416,0.31667569784587374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6527980885227131,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7214.png","name":"7214"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7214.png","name":"7214"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4070.png","name":"4070"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6123.png","name":"6123"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4061.png","name":"4061"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9164.png","name":"9164"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":617.6539737065856,"rotation_z_degrees":97.9662263800387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010699337140739326,-0.00013933567613202275,0.01268629034313255]},{"name":"camera_2","offset_m":[-0.003631234789078591,0.0023745221239000434,-0.013750413673646728]},{"name":"camera_3","offset_m":[0.0017836880031134109,-0.001981925774283789,0.013877370475488541]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007330841617723038,-0.0012848265682291406,-0.0003060446109051328],"end_effector_yaw_offset_degrees":0.22050706192789615},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006921312803013285,-0.0002886760927144603,-0.000833868402100982],"end_effector_yaw_offset_degrees":0.48043651981408675},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011089744418070519,-0.0013940210335638868,0.0013062896793631425],"end_effector_yaw_offset_degrees":-0.058735707199063736}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046535865730917125,0.0007451021088842333],"position_m":[0.26974641342690825,-0.11705489789111577,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008923565886692917,0.0022610679980543938],"position_m":[0.2772923565886693,0.2823610679980544,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004714723668366246,0.00440475029828434],"position_m":[0.2880852763316338,0.01710475029828434,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017977132361517946,0.0009984135474173494],"position_m":[0.056897713236151795,0.41339841354741735,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002713862793425337,-0.0015148138770268204],"position_m":[0.16087138627934253,-0.43811481387702683,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1e672048118f969df40e40e1b109c04f84845ca14671402bbf13d00e921429a8","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7214/tex_ceiling_textures_9164/tex_floor_textures_4061/tex_table_textures_4070/tex_wall_textures_6123","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8833304201939211072,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8833304201939211072,"visual_seed":8833304201939211072,"scene_id":"lab_003","finished_at":"2026-09-03T18:38:12"} +{"episode_id":"ep_000033","started_at":"2026-09-03T18:38:15","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.19024104013269416,-1.1926939725707584,0.71338606911949],"aabb_xy":[[0.1838272264895092,-1.1991037928184267],[0.19665485377587907,-1.18628415232309]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.6198454600398253,-0.1889849635881733,0.71338606911949],"aabb_xy":[[0.5839319556148357,-0.22489847180492792],[0.655758964464815,-0.15307145537141867]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.35279457130800856,-1.6969575801101655,0.71338606911949],"aabb_xy":[[-0.359106670844347,-1.7027245193633844],[-0.34648247177167013,-1.6911906408569466]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.12933112286065862,-2.4588901254093005,0.71338606911949],"aabb_xy":[[0.10683112261714323,-2.4710947600690725],[0.15183112310417402,-2.4466854907495286]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.11347623859382372,-1.0077716194039508,0.71338606911949],"aabb_xy":[[-0.1359762384077261,-1.0122462357744315],[-0.09097623877992135,-1.00329700303347]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.2572548822146566,-2.294903331063116,0.71338606911949],"aabb_xy":[[-0.29475488271201483,-2.2988720146112347],[-0.21975488171729834,-2.2909346475149976]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.6141864130313066,1.082013753018054,0.71338606911949],"aabb_xy":[[0.5903501953907017,0.9920137522095678],[0.6380226306719118,1.1720137538265407]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.5040119072586855,-0.6982028533502092,0.71338606911949],"aabb_xy":[[0.4240119067884697,-0.7065135609645575],[0.5840119077289015,-0.6898921457358608]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.11726259947898732,-2.2369233480276116,0.71338606911949],"aabb_xy":[[0.03726260251594814,-2.3139989896713846],[0.19726259644202648,-2.1598477063838377]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.3245111725188612,-1.782732481701385,0.71338606911949],"aabb_xy":[[0.31128022698417984,-1.7959599007233842],[0.33774211805354243,-1.7695050626793853]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.6526904634821424,1.7676772680005413,0.71338606911949],"aabb_xy":[[-0.6701904626165095,1.757797640962953],[-0.6351904643477752,1.7775568950381286]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[-0.5492293083355928,1.6700883864786564,0.71338606911949],"aabb_xy":[[-0.5529325696647317,1.6663863681699385],[-0.5455260470064539,1.673790404787374]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.4967887224689007,-0.022013793314084484,0.71338606911949],"aabb_xy":[[-0.5145822294038171,-0.03981353890988215],[-0.4789952155339843,-0.0042140477182868175]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.12605114634661974,-1.4523986567036455,0.71338606911949],"aabb_xy":[[0.12115185404005624,-1.4800755760062139],[0.13095043865318323,-1.4247217374010763]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.18403936194826065,-1.0858015297340355,0.71338606911949],"aabb_xy":[[0.15903936267629837,-1.1021468933301979],[0.20903936122022293,-1.0694561661378732]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.5235584740702741,-1.7296251068401363,0.71338606911949],"aabb_xy":[[0.4879293181703144,-1.7652577735969892],[0.5591876299702339,-1.6939924400832833]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.5815860101359092,-1.2415699325923748,0.71338606911949],"aabb_xy":[[0.5215860084929873,-1.293570081884319],[0.641586011778831,-1.1895697833004306]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.23351243741018413,-0.8809972422570986,0.71338606911949],"aabb_xy":[[0.1535124363370638,-0.8907752885944829],[0.31351243848330446,-0.871219195919714]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.35814901866710375,0.3626626166798581,0.71338606911949],"aabb_xy":[[-0.3637306903012325,0.3501626168620826],[-0.352567347032975,0.3751626164976336]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.4647027660741514,-0.830690564382174,0.71338606911949],"aabb_xy":[[0.4297027647226696,-0.8510503003389948],[0.4997027674256331,-0.8103308284253531]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.4548088310056917,-0.5573330749346397,0.71338606911949],"aabb_xy":[[0.39080882866289013,-0.6022739261787721],[0.5188088333484933,-0.5123922236905071]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.1390552087517848,-1.8173771785983204,0.71338606911949],"aabb_xy":[[-0.1966856776390556,-1.8773771775250305],[-0.08142473986451391,-1.7573771796716093]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.22323809892355717,1.6753001063686352,0.71338606911949],"aabb_xy":[[-0.2457517907470144,1.6053001057676275],[-0.2007244071001,1.7453001069696426]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.17096442446807114,-1.9424242971882433,0.71338606911949],"aabb_xy":[[0.13346442436247818,-1.9492464590412244],[0.2084644245736641,-1.9356021353352622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6483065868909745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4205.png","name":"4205"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4205.png","name":"4205"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8104.png","name":"8104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8447.png","name":"8447"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":781.4618572007836,"rotation_z_degrees":225.31695564277143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010962100356232754,-0.013433020779315394,-0.011517388247898804]},{"name":"camera_2","offset_m":[-0.0037145540524153205,0.007650285562473463,0.0035389759166188535]},{"name":"camera_3","offset_m":[-0.008439953301201838,0.019930825115698932,-0.01787371446814719]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00130655016860155,-0.0016034269107431313,0.000502091807226354],"end_effector_yaw_offset_degrees":0.7861938110715501},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013261168027956034,0.0014749956638174977,0.0013437130293450549],"end_effector_yaw_offset_degrees":-0.47680840149489745},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011705617776429369,-0.0007492389062593431,0.0013238599524275688],"end_effector_yaw_offset_degrees":-0.4005105191976328}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002196852230403912,-0.00496661033036904],"position_m":[0.27659685223040387,-0.12276661033036904,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001015718074295062,-0.003873227387688858],"position_m":[0.27741571807429505,0.27622677261231116,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002870560436610088,-0.0014432318220965025],"position_m":[0.2899294395633899,0.011256768177903498,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003441717939567125,0.0017926889312893813],"position_m":[0.05165828206043288,0.41419268893128935,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049091043086416505,-0.0005360250697949509],"position_m":[0.15569089569135836,-0.43713602506979493,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"57744b05399f050c612924537ad1116cbe84930a1e11656bd6b621894472d64c","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4205/tex_ceiling_textures_8447/tex_floor_textures_7004/tex_table_textures_4886/tex_wall_textures_8104","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":568786202258962783,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":568786202258962783,"visual_seed":568786202258962783,"scene_id":"lab_003","finished_at":"2026-09-03T18:40:41"} +{"episode_id":"ep_000034","started_at":"2026-09-03T18:40:44","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.40639960160270117,-1.5946363055405648,0.71338606911949],"aabb_xy":[[0.38728729424472225,-1.6137710844178066],[0.42551190896068,-1.5755015266633225]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.20306820601406972,-1.5086103440753136,0.71338606911949],"aabb_xy":[[0.15309491201080927,-1.5586103446298607],[0.25304150001733017,-1.458610343520766]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.5999401387602534,1.7615380128955072,0.71338606911949],"aabb_xy":[[0.5911589116130173,1.7527582656069773],[0.6087213659074898,1.7703177601840379]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.1817928316919717,-1.6686184800140202,0.71338606911949],"aabb_xy":[[0.1316953677108981,-1.7326184805238323],[0.23189029567304534,-1.6046184795042087]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.6280542487679825,-0.628137017943029,0.71338606911949],"aabb_xy":[[0.5580542466365529,-0.6508989835687246],[0.698054250899412,-0.6053750523173332]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.6175916743572751,-1.626347978812495,0.71338606911949],"aabb_xy":[[0.6000916750791881,-1.6436860788788412],[0.6350916736353619,-1.6090098787461493]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.275283396256519,0.5232142505764621,0.71338606911949],"aabb_xy":[[0.22528412108808282,0.47321424930051503],[0.32528267142495515,0.5732142518524094]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.4960695127992184,1.6337819554664637,0.71338606911949],"aabb_xy":[[-0.5335695143148502,1.6225551824503186],[-0.45856951128358675,1.6450087284826087]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.47839222133057197,-0.24804870924634992,0.71338606911949],"aabb_xy":[[-0.5423922177578939,-0.2952183330684464],[-0.41439222490325006,-0.20087908542425353]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.0783288052821608,1.3182318624877687,0.71338606911949],"aabb_xy":[[-0.0853691152156978,1.2382318630880973],[-0.07128849534862382,1.39823186188744]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.027130102635536724,-2.285146377205569,0.71338606911949],"aabb_xy":[[0.023051944728486987,-2.289227357453832],[0.031208260542586467,-2.281065396957306]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.654692418303901,-2.089249813797891,0.71338606911949],"aabb_xy":[[-0.6896924196553827,-2.1096095497547114],[-0.6196924169524193,-2.0688900778410697]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.16802651547358993,0.817985299687809,0.71338606911949],"aabb_xy":[[0.1461178333342389,0.7960846328677184],[0.18993519761294098,0.8398859665078998]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.30355288037156636,0.38464128082373694,0.71338606911949],"aabb_xy":[[-0.3194373736368915,0.37028834052491283],[-0.2876683871062412,0.39899422112256094]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.4550544859741662,-1.1056277057653616,0.71338606911949],"aabb_xy":[[-0.47755448648620674,-1.12811956413076],[-0.43255448546212555,-1.0831358473999633]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.2638502183401039,1.4711524992406528,0.71338606911949],"aabb_xy":[[0.1738502216044937,1.4179690359233583],[0.3538502150757141,1.5243359625579473]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.35911706399140475,-1.2385655045142285,0.71338606911949],"aabb_xy":[[-0.39596761192839236,-1.2760655053372625],[-0.32226651605441714,-1.201065503691195]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.5538717274928235,-0.5275604950162722,0.71338606911949],"aabb_xy":[[-0.6088717271145694,-0.582544187803745],[-0.4988717278710777,-0.4725768022287995]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.44663299093786146,0.022334544425446357,0.71338606911949],"aabb_xy":[[-0.4771172410648917,-0.027665455356049584],[-0.41614874081083136,0.0723345442069423]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.3107862273507276,-0.4777129047436697,0.71338606911949],"aabb_xy":[[0.30257168223504355,-0.48638949504131085],[0.3190007724664115,-0.4690363144460283]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.05783678877894216,0.6610636162760377,0.71338606911949],"aabb_xy":[[0.007852553070764934,0.6110636174625421],[0.10782102448711939,0.7110636150895333]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.6345137729102511,-0.15135578226712854,0.71338606911949],"aabb_xy":[[-0.6595137721822133,-0.16770114586329088],[-0.6095137736382887,-0.1350104186709662]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[0.3056683895259291,-0.8969515417302725,0.71338606911949],"aabb_xy":[[0.2681683893540572,-0.9296522771131797],[0.34316838969780106,-0.8642508063473653]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.15692235363181628,1.654585991697346,0.71338606911949],"aabb_xy":[[-0.23692235688965924,1.5745894839053622],[-0.07692235037397332,1.7345824994893302]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[-0.1955174793668743,1.1711452196311822,0.71338606911949],"aabb_xy":[[-0.23301747971510203,1.1593538240500987],[-0.15801747901864652,1.1829366152122658]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[-0.007185624552130676,-1.409368572324994,0.71338606911949],"aabb_xy":[[-0.014809892642308923,-1.4170017958615377],[0.00043864353804756826,-1.4017353487884503]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.6533520708084282,1.0304572560063177,0.71338606911949],"aabb_xy":[[-0.694656613872164,0.9664572564382006],[-0.6120475277446921,1.0944572555744347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541490774922957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5932.png","name":"5932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5932.png","name":"5932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7002.png","name":"7002"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2783.png","name":"2783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5211.png","name":"5211"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":538.8143087512365,"rotation_z_degrees":295.6750898470611,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01228713123704028,-0.016811254428635004,-0.018889990278336388]},{"name":"camera_2","offset_m":[-0.012644056754293757,-0.016113379768100615,0.00910975882279903]},{"name":"camera_3","offset_m":[-0.015182866191872311,-0.01224628812489994,0.0035325930196720493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015336504809297415,0.0016822204073507763,-0.0018530975819322224],"end_effector_yaw_offset_degrees":0.6444293773186367},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00030373446892836657,0.0006244407006619629,0.0018724009951947055],"end_effector_yaw_offset_degrees":-0.25769106905200334},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019395813549953087,0.0005466533753086451,0.0017170749621172642],"end_effector_yaw_offset_degrees":0.1082971813445428}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004569559714758341,-0.0008985354298237944],"position_m":[0.2698304402852416,-0.1186985354298238,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002579827866575393,-0.0006519593604407204],"position_m":[0.2789798278665754,0.2794480406395593,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001830085370312413,-0.0018987480533385983],"position_m":[0.2909699146296876,0.010801251946661402,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003102584741871985,0.0030104631272948835],"position_m":[0.05820258474187199,0.41541046312729485,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004056063470310219,0.0006723800936130299],"position_m":[0.1646560634703102,-0.43592761990638695,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d37b39c45f3c813da90622555ae5ad1de22d7de0c4eae243e6feda27e1362f5a","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5932/tex_ceiling_textures_3072/tex_floor_textures_5211/tex_table_textures_7002/tex_wall_textures_2783","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7757921970759941592,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7757921970759941592,"visual_seed":7757921970759941592,"scene_id":"lab_003","finished_at":"2026-09-03T18:43:22"} +{"episode_id":"ep_000035","started_at":"2026-09-03T18:43:25","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.454087798341807,0.6718807695220397,0.71338606911949],"aabb_xy":[[-0.5090877979635529,0.6168970767345671],[-0.39908779872006117,0.7268644623095125]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.27180878422692933,-1.7257291178631258,0.71338606911949],"aabb_xy":[[0.18180878772605755,-1.7716407602815836],[0.36180878072780104,-1.679817475444667]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.10502116415880725,-1.4855094516294824,0.71338606911949],"aabb_xy":[[-0.15502116451937328,-1.5354894388390854],[-0.05502116379824117,-1.4355294644198795]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.15053374839080103,-0.14726397019472737,0.71338606911949],"aabb_xy":[[-0.22053374480076274,-0.167701905846409],[-0.08053375198083916,-0.12682603454304556]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.4556078762450037,1.7095782223792777,0.71338606911949],"aabb_xy":[[-0.46737606303966134,1.6245782224740564],[-0.4438396894503463,1.7945782222844995]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.3253339171674343,0.8956267904590423,0.71338606911949],"aabb_xy":[[0.32090328781259414,0.8901784187243598],[0.3297645465222745,0.901075162193725]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.0039014743785186212,-0.8988559415427528,0.71338606911949],"aabb_xy":[[-0.06009852632495073,-0.9448743240156741],[0.06790147508198797,-0.852837559069832]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.16067138307272577,-2.454652665049244,0.71338606911949],"aabb_xy":[[0.13817496163886167,-2.4771526648559914],[0.18316780450658987,-2.4321526652424965]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.05512695592930206,-1.3013630288156852,0.71338606911949],"aabb_xy":[[0.04699926773598884,-1.310276637226393],[0.06325464412261528,-1.2924494204049775]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.41016704242156177,0.598651981496773,0.71338606911949],"aabb_xy":[[0.3201670430031908,0.5652764846525832],[0.5001670418399327,0.6320274783409626]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[0.2716522023493604,1.4730270178379254,0.71338606911949],"aabb_xy":[[0.21165220070643853,1.4210268685459813],[0.33165220399228224,1.5250271671298696]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.11878797062836177,-0.7027284725102161,0.71338606911949],"aabb_xy":[[-0.2087879743052799,-0.7641608790873203],[-0.028787966951443582,-0.6412960659331117]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.47943479648361187,-2.5626468196057264,0.71338606911949],"aabb_xy":[[0.3994347954104916,-2.572424865943111],[0.5594347975567322,-2.552868773268342]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.6386616810439112,-0.4740742269592957,0.71338606911949],"aabb_xy":[[-0.6611616815559518,-0.49656608532469393],[-0.6161616805318706,-0.4515823685938972]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.10075021128004114,-0.3379569678153165,0.71338606911949],"aabb_xy":[[-0.15074504420798274,-0.38795696671056],[-0.050755378352099534,-0.28795696892007294]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.3082596260553852,-2.3075125823817113,0.71338606911949],"aabb_xy":[[-0.3450542591802915,-2.3444184574782936],[-0.27146499293047893,-2.270606707285129]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.4658338366544901,1.017114970000136,0.71338606911949],"aabb_xy":[[0.4082033677672191,0.9571149710734252],[0.5234643055417608,1.0771149689268464]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.43991201970317906,-1.7768904873455376,0.71338606911949],"aabb_xy":[[-0.44387250347291335,-1.7845583519310582],[-0.43595153593344466,-1.769222622760017]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.4329536384415906,-0.21856636033959864,0.71338606911949],"aabb_xy":[[0.396103090504603,-0.25606636116263237],[0.46980418637857824,-0.1810663595165649]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.027657338474560977,0.7719155662148456,0.71338606911949],"aabb_xy":[[-0.03633835892053561,0.7079155679141368],[0.09165303586965756,0.8359155645155542]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.2650963321331784,-2.1616452676209317,0.71338606911949],"aabb_xy":[[-0.27313266683446324,-2.1696833869253487],[-0.25705999743189356,-2.1536071483165147]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.17013274932774558,-2.4660941434525125,0.71338606911949],"aabb_xy":[[-0.22512499996325655,-2.5210941451958258],[-0.11514049869223464,-2.4110941417092002]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5310681326362108,-1.231099715628913,0.71338606911949],"aabb_xy":[[0.4610681299996243,-1.2512045806247785],[0.601068135272797,-1.2109948506330475]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.6746619014213624,1.3052422611537455,0.71338606911949],"aabb_xy":[[0.6361162085961614,1.2666964900975568],[0.7132075942465634,1.3437880322099343]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.5519044096806514,1.5565236799147155,0.71338606911949],"aabb_xy":[[0.4819044075492217,1.5337617142890196],[0.6219044118120808,1.579285645540411]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.604500731141537,-0.024005457669256547,0.71338606911949],"aabb_xy":[[-0.6125440910674922,-0.10900545876462298],[-0.5964573712155818,0.06099454342610988]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.26070845514921326,-1.0230493898001303,0.71338606911949],"aabb_xy":[[-0.3247084573696203,-1.0674224739254188],[-0.19670845292880623,-0.9786763056748422]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.08558768347797407,-2.211859698168622,0.71338606911949],"aabb_xy":[[-0.1355876830543088,-2.261840277120728],[-0.035587683901639355,-2.161879119216516]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[-0.09130805455870106,0.8276200113400134,0.71338606911949],"aabb_xy":[[-0.10393484184589741,0.8180739376384404],[-0.0786812672715047,0.8371660850415862]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[0.055026092191520326,-1.512389564974356,0.71338606911949],"aabb_xy":[[0.0489890791908556,-1.5184162660433043],[0.06106310519218505,-1.506362863905408]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[0.5905405705481379,-0.257088493358975,0.71338606911949],"aabb_xy":[[0.5540447499208592,-0.29357243578573256],[0.6270363911754167,-0.22060455093221742]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.5038225084977028,-0.3622586450538279,0.71338606911949],"aabb_xy":[[0.4238225098408168,-0.37676350397809066],[0.5838225071545888,-0.3477537861295651]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[-0.40333226802739225,-1.581825232130417,0.71338606911949],"aabb_xy":[[-0.4883322664448155,-1.666699527592702],[-0.318332269609969,-1.496950936668132]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_33","position":[0.622813199663296,-2.129628622891145,0.71338606911949],"aabb_xy":[[0.5578131996289932,-2.1763292995714725],[0.6878131996975987,-2.082927946210818]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_34","position":[0.07045350891038504,1.3481986824601644,0.71338606911949],"aabb_xy":[[0.006453512514811979,1.2842353940414308],[0.13445350530595812,1.412161970878898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497521394121305,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7274.png","name":"7274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1538.png","name":"1538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8023.png","name":"8023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":710.4420426770713,"rotation_z_degrees":71.2960746696838,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028227620326689434,-0.0007269304976155501,0.019964782679673058]},{"name":"camera_2","offset_m":[-0.017240068127315187,-0.014288796378990996,0.008172031955736892]},{"name":"camera_3","offset_m":[0.01734094808193853,-0.012387249764394417,0.01574380696907861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009880267912955086,-0.001016000928619587,0.0004408173225264305],"end_effector_yaw_offset_degrees":0.4199853310972481},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005232829313915146,0.00017435240738742155,-0.0010802583906816823],"end_effector_yaw_offset_degrees":0.11553237032657648},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-2.765796647308076e-05,0.0018032330615309726,0.0016200136931142652],"end_effector_yaw_offset_degrees":0.7654341731451859}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006922066163805637,-0.002725154215351059],"position_m":[0.2737077933836194,-0.12052515421535107,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002413953182644463,-0.0026963473913482017],"position_m":[0.2739860468173555,0.2774036526086518,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002599536632973256,0.004948439141135494],"position_m":[0.29539953663297325,0.017648439141135494,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002141132342317811,0.00195674300240956],"position_m":[0.05295886765768219,0.41435674300240954,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005937900216812734,0.003396796191970141],"position_m":[0.16119379002168127,-0.43320320380802985,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fbc48422ac9c49ca9808532354dda476ab68490e9b1576393ceff4189b633246","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8303/tex_ceiling_textures_9573/tex_floor_textures_8023/tex_table_textures_7274/tex_wall_textures_1538","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1693092672292675797,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1693092672292675797,"visual_seed":1693092672292675797,"scene_id":"lab_003","finished_at":"2026-09-03T18:45:58"} +{"episode_id":"ep_000036","started_at":"2026-09-03T18:46:01","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.20036511449395344,-2.3811568537215626,0.71338606911949],"aabb_xy":[[-0.23466202551169407,-2.4154537399315035],[-0.16606820347621282,-2.346859967511621]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.4261172704075852,-2.152392783797517,0.71338606911949],"aabb_xy":[[-0.4961172720098647,-2.165825576999175],[-0.35611726880530575,-2.13895999059586]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.15238038632460293,0.016918576334636892,0.71338606911949],"aabb_xy":[[-0.18988038649647485,-0.015782159048270298],[-0.11488038615273097,0.04961931171754408]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.05739579926597549,1.174889012848746,0.71338606911949],"aabb_xy":[[0.049983343724587015,1.169037802427118],[0.06480825480736396,1.1807402232703739]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.5073803758096406,-0.8669272547919773,0.71338606911949],"aabb_xy":[[-0.5166739940467912,-0.9044272532801112],[-0.49808675757249,-0.8294272563038434]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.03445232622229266,-2.096340050945471,0.71338606911949],"aabb_xy":[[0.0019906253403652037,-2.126472883060373],[0.0669140271042201,-2.0662072188305673]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[0.014084368901302935,0.6263417447714561,0.71338606911949],"aabb_xy":[[-0.07591562969316701,0.6100911584580352],[0.10408436749577288,0.6425923310848772]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.19320007830899188,-1.0227593495226717,0.71338606911949],"aabb_xy":[[0.15873773091085006,-1.057253231920494],[0.22766242570713366,-0.9882654671248486]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.6267529951836897,-2.2258060792426564,0.71338606911949],"aabb_xy":[[0.6042882252122845,-2.2483060801215164],[0.6492177651550948,-2.2033060783637954]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.589238345081347,1.0366235664382266,0.71338606911949],"aabb_xy":[[0.5605890127209305,1.0079780071611508],[0.617887677441763,1.0652691257153024]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.3569152550356646,-0.11294157345602018,0.71338606911949],"aabb_xy":[[-0.4219152559927919,-0.16488978538972573],[-0.29191525407853747,-0.0609933615223146]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.1066635108895515,1.436829730529245,0.71338606911949],"aabb_xy":[[0.094895324094894,1.3518297306240237],[0.11843169768420904,1.521829730434467]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.23114471877555354,-2.484752992755975,0.71338606911949],"aabb_xy":[[0.22236349162831737,-2.4935327400445053],[0.23992594592278982,-2.475973245467445]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.35353038064368625,-1.200005958465512,0.71338606911949],"aabb_xy":[[0.32969416300308124,-1.2900059592739985],[0.3773665982842914,-1.1100059576570256]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.6123314713862462,-1.9369249786710556,0.71338606911949],"aabb_xy":[[0.5323314744232069,-2.014000620314829],[0.6923314683492853,-1.8598493370272824]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.41786817894993233,0.7327568142558678,0.71338606911949],"aabb_xy":[[0.3538681825226105,0.6855871904337714],[0.4818681753772543,0.7799264380779642]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.03558538642185016,-1.688800268159535,0.71338606911949],"aabb_xy":[[0.0012691092472322252,-1.738800268132713],[0.0699016635964681,-1.6388002681863576]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.3820835980327158,-0.25788726020614483,0.71338606911949],"aabb_xy":[[-0.3901098686633418,-0.26663875518349744],[-0.3740573274020898,-0.24913576522879222]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.660566716246998,-2.240110742046802,0.71338606911949],"aabb_xy":[[-0.6692806852969324,-2.262610742705989],[-0.6518527471970634,-2.2176107413876127]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.6435975924006738,-1.752269242197349,0.71338606911949],"aabb_xy":[[-0.6810975909762946,-1.765005537860907],[-0.606097593825053,-1.7395329465337912]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.3762516172031485,-0.9406602561644493,0.71338606911949],"aabb_xy":[[0.3537516166911079,-0.9631521145298476],[0.3987516177151891,-0.9181683977990509]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.39105418637901335,0.433116898072083,0.71338606911949],"aabb_xy":[[-0.4248297455697063,0.41907840285891784],[-0.3572786271883204,0.4471553932852479]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.5531287634850929,-2.4378833830594,0.71338606911949],"aabb_xy":[[-0.6331287620724123,-2.517198984997561],[-0.4731287648977735,-2.358567781121239]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.30058709454063753,-0.5570134811198271,0.71338606911949],"aabb_xy":[[-0.3187929182018852,-0.5680388817018188],[-0.28238127087938986,-0.5459880805378355]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.5731097705714139,0.2434798732165131,0.71338606911949],"aabb_xy":[[0.4831097682373948,0.16599751863140047],[0.6631097729054329,0.32096222780162575]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.452884660301332,0.14538200610470442,0.71338606911949],"aabb_xy":[[-0.5178846588584047,0.1156294726908218],[-0.3878846617442591,0.17513453951858704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6488934294511906,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/981.png","name":"981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3024.png","name":"3024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7323.png","name":"7323"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.5413763472376,"rotation_z_degrees":158.97989791361695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018747605430193857,-0.012761061081477476,0.009008832135939126]},{"name":"camera_2","offset_m":[-0.011742666113899727,0.0003080525827871272,0.006091264351081694]},{"name":"camera_3","offset_m":[0.019605041078393153,-0.010856544578882837,0.012177994423107585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.313771842676169e-05,-0.0007292285710232794,0.0002952292834649639],"end_effector_yaw_offset_degrees":0.17370119521234573},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012927327603787777,0.001037366647095111,0.0018428003210829089],"end_effector_yaw_offset_degrees":-0.7985321157592788},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007207029924170562,-0.0010035139983894594,-0.0013607388962606059],"end_effector_yaw_offset_degrees":0.7302525915843967}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002519954810681735,0.00045119864729580277],"position_m":[0.27188004518931824,-0.1173488013527042,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0048885583183038185,-0.0001868544089067524],"position_m":[0.27151144168169616,0.27991314559109326,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004158482818488257,0.004477301953160497],"position_m":[0.29695848281848825,0.017177301953160497,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004133186721930673,-0.0011137384504138017],"position_m":[0.05096681327806933,0.4112862615495862,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002763964296264368,0.004330210763592191],"position_m":[0.16087639642962642,-0.4322697892364078,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0dd0ed2dac2763d7354b85113c85f3ee2bee210f98367214948d6a277e9fb2e6","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_737/tex_ceiling_textures_7323/tex_floor_textures_3024/tex_table_textures_9649/tex_wall_textures_981","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1529551889109571802,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1529551889109571802,"visual_seed":1529551889109571802,"scene_id":"lab_003","finished_at":"2026-09-03T18:48:29"} +{"episode_id":"ep_000037","started_at":"2026-09-03T18:48:32","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.21415041601826434,1.5325993432463894,0.71338606911949],"aabb_xy":[[0.19628130826380882,1.518766435269178],[0.2320195237727198,1.5464322512236002]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.25673936066715486,1.3888060821771728,0.71338606911949],"aabb_xy":[[0.19173935956121158,1.3638407091090445],[0.32173936177309814,1.4137714552453011]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.10128265005913684,-2.4733015765673376,0.71338606911949],"aabb_xy":[[-0.19128264978231097,-2.496374929102517],[-0.011282650335962636,-2.4502282240321573]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.6104169985400187,-0.3368808380401709,0.71338606911949],"aabb_xy":[[-0.6329169990520593,-0.3593726964055692],[-0.5879169980279781,-0.3143889796747725]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.3367364797479066,-2.228272594902325,0.71338606911949],"aabb_xy":[[-0.3710333907656472,-2.262569481112266],[-0.3024395687301659,-2.1939757086923835]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.2744353902573473,-2.323468096913563,0.71338606911949],"aabb_xy":[[0.23984430740330206,-2.388468097198593],[0.3090264731113925,-2.258468096628531]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.551569549743391,-1.0899164076653645,0.71338606911949],"aabb_xy":[[-0.5596058844446758,-1.0979545269697812],[-0.5435332150421062,-1.0818782883609477]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.16763027873168534,1.0222228607100683,0.71338606911949],"aabb_xy":[[0.1477392388513451,1.0095670494253715],[0.18752131861202562,1.0348786719947651]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.5406308480437483,-1.6924365127769128,0.71338606911949],"aabb_xy":[[-0.5502624842641778,-1.7020738255566215],[-0.5309992118233186,-1.6827991999972036]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.5660130519214962,0.7238005540991224,0.71338606911949],"aabb_xy":[[-0.6310130545592897,0.6723209553996754],[-0.5010130492837027,0.7752801527985693]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.44560650344306985,1.5031034375980288,0.71338606911949],"aabb_xy":[[-0.5096065057858714,1.458162586353896],[-0.3816065011002683,1.548044288842161]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.6346316791962887,0.08444000447134803,0.71338606911949],"aabb_xy":[[-0.6681108464573297,0.05096089110024104],[-0.6011525119352478,0.11791911784245505]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.4803122531923688,-2.3525460278648693,0.71338606911949],"aabb_xy":[[-0.5032279660774188,-2.3754503250012933],[-0.45739654030731897,-2.3296417307284463]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.6997756198071323,-1.8584030984090227,0.71338606911949],"aabb_xy":[[0.6916619651337553,-1.866508914863052],[0.7078892744805095,-1.8502972819549939]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.383733543893211,-0.1272586403845115,0.71338606911949],"aabb_xy":[[-0.4477335424797834,-0.17426560378402023],[-0.3197335453066385,-0.0802516769850028]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.05263970776091087,-1.8765892894626286,0.71338606911949],"aabb_xy":[[0.03014328632704677,-1.899089289269376],[0.07513612919477497,-1.8540892896558812]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.5484106786409153,1.0574499415380498,0.71338606911949],"aabb_xy":[[0.4844149812458186,0.9934499432373409],[0.6124063760360118,1.1214499398387583]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.49606782320866705,0.44536972565203214,0.71338606911949],"aabb_xy":[[-0.5600678246166577,0.3935807741281074],[-0.4320678218006764,0.4971586771759568]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.26411654901350173,-1.4160683461013162,0.71338606911949],"aabb_xy":[[-0.2946007991405319,-1.4660683458828123],[-0.23363229888647158,-1.3660683463198204]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[0.5334839748247742,-0.3157403770232059,0.71338606911949],"aabb_xy":[[0.522122240171488,-0.3271088434294939],[0.5448457094780603,-0.30437191061691776]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.5903766909562611,-0.9688502664173013,0.71338606911949],"aabb_xy":[[0.5769301643222178,-0.9823201180703925],[0.6038232175903044,-0.9553804147642101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6513507732708003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5813.png","name":"5813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5813.png","name":"5813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6539.png","name":"6539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5467.png","name":"5467"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/972.png","name":"972"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":505.122768270787,"rotation_z_degrees":45.44847946126782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013823435101521304,0.008551540185064096,0.013273254374082544]},{"name":"camera_2","offset_m":[-0.004486602120775696,-0.014297804055866458,-0.008940836604441183]},{"name":"camera_3","offset_m":[-0.019182695059941655,0.0001109017140931666,0.0023551699918569514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00042051440979311793,-8.615723658030342e-05,-0.0001463299702588667],"end_effector_yaw_offset_degrees":-0.08252972632530509},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012933607117447074,0.0007808535173842424,0.0006150106479601613],"end_effector_yaw_offset_degrees":-0.8870144716995245},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008969400437490011,0.0013237862310664064,-0.0018992826106452236],"end_effector_yaw_offset_degrees":-0.12243966215211155}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006688282313463186,0.001307742730819286],"position_m":[0.27373117176865364,-0.11649225726918072,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00437180345046903,-0.004023169977303301],"position_m":[0.280771803450469,0.27607683002269673,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0017106255262280589,0.0005120576523338308],"position_m":[0.2945106255262281,0.01321205765233383,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001890219284776221,-0.0018736730964851256],"position_m":[0.056990219284776225,0.41052632690351487,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008718668994905096,-0.0006211167561875229],"position_m":[0.15972813310050948,-0.4372211167561875,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"207e14c20aa259f5bc894071674f41b7db70d61cbd8cb83edea08e7c88e9f8ba","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5813/tex_ceiling_textures_972/tex_floor_textures_5503/tex_table_textures_6539/tex_wall_textures_5467","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3362982312770413763,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3362982312770413763,"visual_seed":3362982312770413763,"scene_id":"lab_003","finished_at":"2026-09-03T18:50:55"} +{"episode_id":"ep_000038","started_at":"2026-09-03T18:50:58","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.566721710333564,1.4419937748833402,0.71338606911949],"aabb_xy":[[0.5613891956789511,1.4366694466381047],[0.5720542249881772,1.4473181031285758]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.34575642382277105,-1.3920338054913914,0.71338606911949],"aabb_xy":[[0.2957633117135792,-1.4420338061655873],[0.39574953593196305,-1.342033804817196]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.40074259435712034,-2.2726825413332987,0.71338606911949],"aabb_xy":[[0.34574259615537545,-2.313204507959736],[0.4557425925588651,-2.2321605747068607]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.3612069424046364,-2.148182994157055,0.71338606911949],"aabb_xy":[[-0.41118435926989,-2.1981829956463037],[-0.3112295255393828,-2.0981829926678066]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.10585889538563675,-1.8333889289544723,0.71338606911949],"aabb_xy":[[-0.12835889490934413,-1.8558848764050926],[-0.08335889586192934,-1.810892981503851]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.6516150175059041,-1.6230384967152702,0.71338606911949],"aabb_xy":[[0.5816150159036246,-1.636471289916928],[0.7216150191081836,-1.6096057035136129]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.17204238097956592,1.6453446375930008,0.71338606911949],"aabb_xy":[[-0.22202533116704526,1.5953446379504401],[-0.1220594307920866,1.695344637235561]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.04450170844557788,1.3277290821330903,0.71338606911949],"aabb_xy":[[0.03679851777150084,1.3200197114343524],[0.052204899119654924,1.3354384528318286]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.2629463155616172,0.6351597286565158,0.71338606911949],"aabb_xy":[[-0.3269463172396145,0.5866423371772015],[-0.19894631388361977,0.6836771201358299]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.5762384907029694,-0.35806433521474146,0.71338606911949],"aabb_xy":[[0.5681108025096562,-0.36697794362544917],[0.5843661788962826,-0.34915072680403386]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.32784740007372803,-2.4809535873627264,0.71338606911949],"aabb_xy":[[-0.3477384399540683,-2.4936093986474233],[-0.3079563601933878,-2.4682977760780296]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.4569884237885295,0.5680593872421067,0.71338606911949],"aabb_xy":[[-0.47948842403204495,0.5558547525823347],[-0.43448842354501416,0.5802640219018786]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[0.6033341540258754,0.5164030918272231,0.71338606911949],"aabb_xy":[[0.5658341540821091,0.5081100017923865],[0.6408341539696419,0.5246961818620597]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.5578471513189069,-0.042901591426205865,0.71338606911949],"aabb_xy":[[-0.6218471527268975,-0.09469054295013057],[-0.4938471499109162,0.008887360097718835]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.10216294074254073,0.7550793355680034,0.71338606911949],"aabb_xy":[[0.05607784948780924,0.6910793383154482],[0.14824803199727218,0.8190793328205584]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.46875894841478405,1.055353474978355,0.71338606911949],"aabb_xy":[[0.39875894628335445,1.032591509352659],[0.5387589505462136,1.0781154406040503]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.5671625662897593,0.6697982897238028,0.71338606911949],"aabb_xy":[[0.5563109600408837,0.6589389989961518],[0.5780141725386349,0.6806575804514539]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.03697145167963256,-1.4794336746857468,0.71338606911949],"aabb_xy":[[-0.08697072684806872,-1.5294336759616942],[0.013027823488803603,-1.4294336734097999]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.5317302918963496,0.35635375876595843,0.71338606911949],"aabb_xy":[[-0.5867040139326825,0.3013537592017253],[-0.4767565698600167,0.41135375833019167]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.12694560638688435,-2.1300372934211684,0.71338606911949],"aabb_xy":[[0.09194560503540262,-2.1503970293779893],[0.16194560773836608,-2.1096775574643476]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.13273459107446928,-0.7367066531809487,0.71338606911949],"aabb_xy":[[-0.16703150209220988,-0.77100353939089],[-0.09843768005672862,-0.7024097669710073]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.1610480248002607,-1.7719727309864783,0.71338606911949],"aabb_xy":[[0.08104802681947564,-1.7795742719483303],[0.24104802278104573,-1.7643711900246264]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.3807552030831157,0.9850264644751543,0.71338606911949],"aabb_xy":[[-0.4447551994786888,0.9210631760564206],[-0.31675520668754265,1.0489897528938879]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.35925480785225744,-1.7640115975872601,0.71338606911949],"aabb_xy":[[-0.37185750698933395,-1.7766069938121258],[-0.34665210871518104,-1.7514162013623948]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.5535318457622069,-1.847143169882218,0.71338606911949],"aabb_xy":[[-0.5840160958892371,-1.897143169663714],[-0.5230475956351768,-1.797143170100722]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.13493245388058472,-0.44300267199263565,0.71338606911949],"aabb_xy":[[-0.15243245412563408,-0.46050245983220245],[-0.11743245363553532,-0.42550288415306875]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[0.6004844605173323,-2.2576174732365732,0.71338606911949],"aabb_xy":[[0.5904027534387587,-2.3376174711286875],[0.6105661675959057,-2.177617475344458]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.2661770537568949,1.5252359227964685,0.71338606911949],"aabb_xy":[[-0.3036770544214735,1.509548864796246],[-0.22867705309231615,1.5409229807966904]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.3508750359602406,-2.097901369803868,0.71338606911949],"aabb_xy":[[0.3382482486730442,-2.1074474435054404],[0.3635018232474369,-2.088355296102295]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[0.1329568617668373,1.1030185619259845,0.71338606911949],"aabb_xy":[[0.05296303818827908,1.023018559333143],[0.21295068534539552,1.183018564518826]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[-0.511909855047711,-0.44239156170870464,0.71338606911949],"aabb_xy":[[-0.5919098572104735,-0.5223467453348483],[-0.43190985288494854,-0.36243637808256096]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_31","position":[0.14111322155235329,-1.476802037655973,0.71338606911949],"aabb_xy":[[0.06111321829451033,-1.5567985454479567],[0.22111322481019624,-1.3968055298639888]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_32","position":[0.5675912492682995,0.059372492869667504,0.71338606911949],"aabb_xy":[[0.5035912470478925,0.01499940874437921],[0.6315912514887065,0.10374557699495579]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_33","position":[0.3608290875743463,-1.9421968665501566,0.71338606911949],"aabb_xy":[[0.3156577697261773,-2.0061968636946954],[0.4060004054225153,-1.8781968694056184]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_34","position":[-0.15248258199793463,-0.14274780002893594,0.71338606911949],"aabb_xy":[[-0.17437232958687543,-0.23274779731818504],[-0.13059283440899383,-0.052747802739686815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6493314217739953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3651.png","name":"3651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3651.png","name":"3651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7988.png","name":"7988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6033.png","name":"6033"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4739.png","name":"4739"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":630.261884298463,"rotation_z_degrees":321.5780321306498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013268171102535562,0.018038545135069913,0.0001382246278270917]},{"name":"camera_2","offset_m":[0.01708537198524131,-0.013781151464467194,-0.017076868005235724]},{"name":"camera_3","offset_m":[-0.010597735096692493,0.005806461488101485,0.01767078425124838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015026455111107032,-0.00042810970663675896,0.00036966251367489796],"end_effector_yaw_offset_degrees":-0.3101866276436571},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010052951405844055,0.0009310751570929107,-0.0017478983351761485],"end_effector_yaw_offset_degrees":-0.7009840480974263},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006088829279998276,0.0006172852895146193,0.0016140113218431266],"end_effector_yaw_offset_degrees":-0.2705663883541669}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00038243924716550685,-0.0023610132568628508],"position_m":[0.27401756075283445,-0.12016101325686285,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010374649207812326,0.00043730508957199807],"position_m":[0.27536253507921876,0.28053730508957203,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002436449839960816,-0.004100216418624433],"position_m":[0.2903635501600392,0.008599783581375565,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033769957929870656,-0.0002744039748154778],"position_m":[0.05172300420701294,0.4121255960251845,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002430792209750008,0.0006657899836702416],"position_m":[0.15816920779024998,-0.43593421001632976,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3923dad2a82f34e590816bf2e0f58118e6c41e6f8bdb55769ce3f10a9bf8d5e2","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3651/tex_ceiling_textures_4739/tex_floor_textures_6033/tex_table_textures_6907/tex_wall_textures_7988","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5807029059186659794,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5807029059186659794,"visual_seed":5807029059186659794,"scene_id":"lab_003","finished_at":"2026-09-03T18:53:28"} +{"episode_id":"ep_000039","started_at":"2026-09-03T18:53:31","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.5120698935018113,-0.9992779321444232,0.71338606911949],"aabb_xy":[[-0.6020698929201822,-1.032653428988613],[-0.4220698940834404,-0.9659024353002335]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.27887806777905433,1.575806998762975,0.71338606911949],"aabb_xy":[[0.24510250858836136,1.5617685035498101],[0.3126536269697473,1.58984549397614]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.08697982384230585,1.4743294639654558,0.71338606911949],"aabb_xy":[[-0.16697982527243305,1.3948123089528461],[-0.006979822412178663,1.553846618978065]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.29050605557196807,0.969260556703599,0.71338606911949],"aabb_xy":[[0.22650605365962578,0.9133494074455886],[0.35450605748431047,1.0251717059616094]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.06163101527403714,-1.6971643963565075,0.71338606911949],"aabb_xy":[[0.030484096430454015,-1.7671643950433142],[0.09277793411762025,-1.6271643976697]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[0.40052113213726215,-1.416508987269131,0.71338606911949],"aabb_xy":[[0.3505211311181269,-1.452975203006959],[0.45052113315639747,-1.380042771531303]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.20296379804978737,-2.4877152418213817,0.71338606911949],"aabb_xy":[[0.180463797806272,-2.4999198764811537],[0.2254637982933028,-2.4755106071616098]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.032980164119385424,-2.4012235572990233,0.71338606911949],"aabb_xy":[[-0.05670691218873002,-2.491223557553474],[0.12266724042750088,-2.3112235570445727]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[-0.30313452113562167,-1.8179808956832673,0.71338606911949],"aabb_xy":[[-0.35812773247275836,-1.872980896022061],[-0.24814130979848487,-1.7629808953444739]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.5199019297772791,-1.9098794566448871,0.71338606911949],"aabb_xy":[[-0.5316701165719367,-1.994879456550109],[-0.5081337429826217,-1.8248794567396658]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.4316670763360652,0.9487030833609276,0.71338606911949],"aabb_xy":[[-0.49666707489313805,0.918950549947045],[-0.3666670777789924,0.9784556167748102]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.3773684826220033,-1.526533227823875,0.71338606911949],"aabb_xy":[[-0.39504411321060157,-1.5442134441032775],[-0.3596928520334049,-1.508853011544472]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.27368087029740473,-0.9287702074740751,0.71338606911949],"aabb_xy":[[0.19368086922428446,-0.9385482538114597],[0.3536808713705251,-0.9189921611366908]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.4758065658557701,-0.3420230128980677,0.71338606911949],"aabb_xy":[[-0.49186849331428767,-0.4270230147106595],[-0.4597446383972524,-0.25702301108547587]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.26606316218705617,-1.6244377401194932,0.71338606911949],"aabb_xy":[[0.24577885946365738,-1.6447203652622018],[0.2863474649104549,-1.604155114976784]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.12117610548549862,-1.2492374965857944,0.71338606911949],"aabb_xy":[[0.041176108471250625,-1.2693720482592057],[0.2011761024997466,-1.2291029449123831]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6227637682018103,-2.2365499448091186,0.71338606911949],"aabb_xy":[[0.5815149571718955,-2.291549944321335],[0.664012579231725,-2.1815499452969003]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.21239027751677275,0.6083331910291658,0.71338606911949],"aabb_xy":[[0.14839458012167617,0.544333192728457],[0.27638597491186934,0.6723331893298744]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.3810090272934972,-1.9440647839313143,0.71338606911949],"aabb_xy":[[-0.41100069002736755,-1.9740647832681149],[-0.3510173645596269,-1.9140647845945138]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.3050207034815129,-2.23768444552396,0.71338606911949],"aabb_xy":[[0.2825242820476488,-2.2601844453307076],[0.327517124915377,-2.2151844457172127]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.174026674382586,1.199985962079006,0.71338606911949],"aabb_xy":[[0.16598331445663084,1.1149859609836394],[0.18207003430854118,1.2849859631743723]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[-0.20129016456420057,1.7780565826935066,0.71338606911949],"aabb_xy":[[-0.2164623338458339,1.7628877257653035],[-0.18611799528256723,1.7932254396217102]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.5169252897768277,0.2186073608011525,0.71338606911949],"aabb_xy":[[-0.5249187795721098,0.21060922886067687],[-0.5089317999815457,0.2266054927416282]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.46995496018527305,-1.0445828510776534,0.71338606911949],"aabb_xy":[[0.45237665799632615,-1.0621573406517586],[0.48753326237421984,-1.0270083615035486]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.6176362704446252,0.0626972094233329,0.71338606911949],"aabb_xy":[[-0.6263342327353405,0.05057223511585818],[-0.6089383081539099,0.07482218373080762]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.5639387373409073,-2.506765495233374,0.71338606911949],"aabb_xy":[[-0.6189342151615667,-2.561765496667281],[-0.5089432595202479,-2.451765493799467]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.07605769276661167,-1.7213635815786437,0.71338606911949],"aabb_xy":[[-0.10105769203857395,-1.7377089451748062],[-0.0510576934946494,-1.7050182179824815]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.43394342797653773,-0.7196954273086817,0.71338606911949],"aabb_xy":[[-0.44265739702647205,-0.7421954279678696],[-0.4252294589266031,-0.6971954266494932]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_28","position":[-0.3881622222764014,-2.443208368299114,0.71338606911949],"aabb_xy":[[-0.4376426434903602,-2.5072083662119655],[-0.3386818010624426,-2.379208370386262]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[-0.40385180159366496,-0.32205715490094633,0.71338606911949],"aabb_xy":[[-0.41901467457060215,-0.3372226121960651],[-0.388688928616728,-0.3068916976058276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6479359880318336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6548.png","name":"6548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6548.png","name":"6548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7094.png","name":"7094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2559.png","name":"2559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6998.png","name":"6998"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":800.8243250967108,"rotation_z_degrees":117.7536005592098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012656392818767431,0.00020046991554171362,-0.008483718525046587]},{"name":"camera_2","offset_m":[-0.013615534334875067,-0.0020339809358454683,0.0016325734001045276]},{"name":"camera_3","offset_m":[0.014978996653852623,-0.004985431521589376,-0.003699779466008298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00108401568606866,-0.0005669360386177313,-0.0009657951336419237],"end_effector_yaw_offset_degrees":-0.28439853672601423},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012906849074509849,-0.0017753249802814244,0.0008202863902288617],"end_effector_yaw_offset_degrees":-0.8594695475719092},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017757358730355378,-0.0006581674737272092,-0.0011895921817142302],"end_effector_yaw_offset_degrees":0.2084948988441373}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004061794602529512,-0.004927220685443616],"position_m":[0.2784617946025295,-0.12272722068544362,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001283234452019303,0.0003435490244147162],"position_m":[0.2751167655479807,0.2804435490244147,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0012672805229135995,0.001438302256792555],"position_m":[0.2915327194770864,0.014138302256792554,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012840270355963905,-0.00012204968938146852],"position_m":[0.05497159729644036,0.41227795031061854,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028614120887315744,0.002269846829699166],"position_m":[0.1577385879112684,-0.4343301531703008,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30458f8c2eb9f2fe68501c18d2e6c5b3c44bb54f23ffe83f836b2643d60fef33","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6548/tex_ceiling_textures_6998/tex_floor_textures_2559/tex_table_textures_7094/tex_wall_textures_3395","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3398130013660316592,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3398130013660316592,"visual_seed":3398130013660316592,"scene_id":"lab_003","finished_at":"2026-09-03T18:56:00"} +{"episode_id":"ep_000040","started_at":"2026-09-03T18:56:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.4356832347834003,-2.3105525095066195,0.71338606911949],"aabb_xy":[[0.41562482317016,-2.330617596415777],[0.45574164639664055,-2.290487422597462]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.017311483907937686,-0.1449609272273813,0.71338606911949],"aabb_xy":[[-0.025347818609222528,-0.15299904653179808],[-0.009275149206652844,-0.13692280792296452]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.13564883640989311,1.409455494283098,0.71338606911949],"aabb_xy":[[0.08065658577438219,1.3544554925397851],[0.1906410870454041,1.4644554960264107]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.5636113946041519,-0.5364308213813542,0.71338606911949],"aabb_xy":[[0.5225934512177809,-0.5864308220123116],[0.6046293379905227,-0.4864308207503969]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.287212850680447,-0.8486452694532436,0.71338606911949],"aabb_xy":[[0.2809007511441085,-0.8544122087064624],[0.2935249502167854,-0.8428783302000248]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.5964285066034203,-0.39782434044889525,0.71338606911949],"aabb_xy":[[-0.6814285050208434,-0.4826986359111802],[-0.5114285081859969,-0.3129500449866102]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.47498967928866964,-1.2966539570835751,0.71338606911949],"aabb_xy":[[0.3949896760308267,-1.376650464875559],[0.5549896825465126,-1.2166574492915911]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.449571053048368,1.671852232288026,0.71338606911949],"aabb_xy":[[-0.539571052771542,1.6487788797528458],[-0.35957105332519373,1.6949255848232054]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.05093719676756836,-2.1697468775252653,0.71338606911949],"aabb_xy":[[-0.09592978348601877,-2.2147468767997136],[-0.005944610049117956,-2.124746878250816]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[0.31285331445790265,-1.2614408434547666,0.71338606911949],"aabb_xy":[[0.29096356686896185,-1.3514408407440157],[0.33474306204684345,-1.1714408461655175]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.030150159800690024,-0.7476431760903373,0.71338606911949],"aabb_xy":[[-0.07515016126691888,-0.7926430329518181],[0.014849841665538824,-0.7026433192288567]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.2978230771798092,0.7763655653316626,0.71338606911949],"aabb_xy":[[-0.308596051101177,0.7413655671126237],[-0.28705010325844144,0.8113655635507017]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.1545932177651681,1.5584145765194015,0.71338606911949],"aabb_xy":[[-0.22459321936744758,1.5449817833177442],[-0.08459321616288862,1.5718473697210593]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.19189684618098501,-1.8456168133928341,0.71338606911949],"aabb_xy":[[-0.23408126034181576,-1.9096168136700455],[-0.14971243202015427,-1.7816168131156231]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.5588799549427053,0.6411611761342004,0.71338606911949],"aabb_xy":[[-0.6388799563728323,0.5616440211215908],[-0.47887995351257795,0.7206783311468098]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.40573256301760496,-0.9699703476207435,0.71338606911949],"aabb_xy":[[0.39703460072688973,-0.9820953219282182],[0.4144305253083203,-0.9578453733132688]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.2661342677562415,1.5456118557210305,0.71338606911949],"aabb_xy":[[0.25179984263007804,1.5335516401664917],[0.28046869288240495,1.5576720712755694]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.1609477248857134,0.905966020661058,0.71338606911949],"aabb_xy":[[0.12361644836047078,0.8713129658662057],[0.19827900141095603,0.9406190754559102]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.5791645059442785,-2.308135835657356,0.71338606911949],"aabb_xy":[[-0.6431645078566209,-2.3640469849153662],[-0.5151645040319363,-2.2522246863993454]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.3410068282717771,0.5416465656571336,0.71338606911949],"aabb_xy":[[0.27700682622204514,0.5015520825678257],[0.40500683032150914,0.5817410487464416]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.4234709927377094,0.8145172954643138,0.71338606911949],"aabb_xy":[[0.3890085147246216,0.807853618281391],[0.45793347075079716,0.8211809726472367]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.6616228656766838,-0.8900478622571493,0.71338606911949],"aabb_xy":[[-0.6767251671377017,-0.9051493838882109],[-0.6465205642156655,-0.8749463406260872]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.5204947170212677,0.09064890065124276,0.71338606911949],"aabb_xy":[[0.4564947167472895,0.04058280045395479],[0.5844947172952459,0.14071500084853072]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.5768957338186214,-1.5149503831859128,0.71338606911949],"aabb_xy":[[-0.5822282484732344,-1.5202747114311483],[-0.5715632191640083,-1.5096260549406773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65490435323311,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6169.png","name":"6169"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6169.png","name":"6169"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/32.png","name":"32"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8412.png","name":"8412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2976.png","name":"2976"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3332.png","name":"3332"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.5304133330492,"rotation_z_degrees":137.48589797073117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00237011491067228,0.009252457624180286,0.010960443920826634]},{"name":"camera_2","offset_m":[0.016176722246783373,-0.014922688223706043,-0.007296503154001415]},{"name":"camera_3","offset_m":[0.011352393993685473,-0.018450708654701158,0.012398048327380905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005167679670980566,0.001730313096959711,-0.0011929287377598946],"end_effector_yaw_offset_degrees":-0.30280736917236806},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001706926488360106,-0.00033852799952120444,-0.001997761054068167],"end_effector_yaw_offset_degrees":0.8339332111734805},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001788612228499992,-0.0010537945192218019,-0.0003668436961341817],"end_effector_yaw_offset_degrees":0.14773602867408586}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004416483233871447,0.0024125339314416882],"position_m":[0.26998351676612853,-0.11538746606855832,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001965658404959299,-0.0029527088297581694],"position_m":[0.27620343415950405,0.27714729117024184,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004206523393726741,-0.004748401703112604],"position_m":[0.28859347660627327,0.007951598296887396,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003865151801270027,0.003889212917845902],"position_m":[0.051234848198729976,0.4162892129178459,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00493323916687734,0.0005206710905385874],"position_m":[0.16553323916687734,-0.4360793289094614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6a0ecd0c18469652d59190b5ff84ea913146c61a0f84696575b20a55c19850e3","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6169/tex_ceiling_textures_3332/tex_floor_textures_2976/tex_table_textures_32/tex_wall_textures_8412","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1013320461730785161,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1013320461730785161,"visual_seed":1013320461730785161,"scene_id":"lab_003","finished_at":"2026-09-03T18:58:35"} +{"episode_id":"ep_000041","started_at":"2026-09-03T18:58:39","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.4665685010585735,1.2602906335021031,0.71338606911949],"aabb_xy":[[-0.5165685014191395,1.2103106462925002],[-0.4165685006980074,1.310270620711706]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.452113327326795,-0.4592155606300916,0.71338606911949],"aabb_xy":[[0.42959963550333774,-0.5292155612310991],[0.4746270191502521,-0.3892155600290841]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.5289950204548799,-1.884179014450467,0.71338606911949],"aabb_xy":[[0.5161231169539396,-1.9641790148643032],[0.5418669239558199,-1.804179014036631]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.2843767522650522,-2.4465868872207723,0.71338606911949],"aabb_xy":[[-0.3293693389835026,-2.491586886495221],[-0.2393841655466018,-2.4015868879463236]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.16425939387145183,1.5825679318713193,0.71338606911949],"aabb_xy":[[0.15623312324082583,1.5738164368939664],[0.17228566450207783,1.5913194268486717]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.4885886778791715,0.5619012244727442,0.71338606911949],"aabb_xy":[[0.4285886762362496,0.5099010751808],[0.5485886795220933,0.6139013737646883]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[-0.23782288094494547,1.170588746182784,0.71338606911949],"aabb_xy":[[-0.26032288118846086,1.158384111523012],[-0.21532288070143007,1.182793380842556]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[0.21494406737522842,-0.838146931382354,0.71338606911949],"aabb_xy":[[0.18994406820959533,-0.8450991770877105],[0.23994406654086156,-0.8311946856769974]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.3484126782352699,1.0813701180541933,0.71338606911949],"aabb_xy":[[-0.4384126768297399,1.0651195317407722],[-0.2584126796408,1.0976207043676143]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.02814888599256804,1.0801621919517959,0.71338606911949],"aabb_xy":[[-0.018980493009267636,1.0161621909073937],[0.07527826499440371,1.1441621929961976]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.6042126172429356,0.05468317168920045,0.71338606911949],"aabb_xy":[[-0.6154576728135535,0.04344137396510517],[-0.5929675616723178,0.06592496941329573]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.6245494825492374,-0.7207196018279594,0.71338606911949],"aabb_xy":[[-0.6885494818434055,-0.7847057421968134],[-0.560549483255069,-0.656733461459105]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.05982000222593642,-2.1430052591955024,0.71338606911949],"aabb_xy":[[0.009820727057500263,-2.1930052604714496],[0.10981927739437258,-2.0930052579195553]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.38898898978732044,-1.2942347819921398,0.71338606911949],"aabb_xy":[[-0.45057974901131337,-1.3582347801011867],[-0.32739823056332773,-1.230234783883093]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.6167619999139766,-1.5675693073215502,0.71338606911949],"aabb_xy":[[0.5517620013569038,-1.5973218407354328],[0.6817619984710495,-1.5378167739076676]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.005892251865915243,-1.9686922675071317,0.71338606911949],"aabb_xy":[[-0.031607748482312514,-1.980483663088215],[0.043392252214143,-1.956900871926048]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.5681031061445676,0.0915386981682258,0.71338606911949],"aabb_xy":[[0.5567413714912813,0.0801702317619377],[0.5794648407978537,0.10290716457451386]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.18738548766136953,0.49720669380314275,0.71338606911949],"aabb_xy":[[-0.2218478350595113,0.46271281140532],[-0.1529231402632277,0.5317005762009653]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.3066913351461591,-2.1426629693867416,0.71338606911949],"aabb_xy":[[-0.37069133748896066,-2.1876038206308737],[-0.24269133280335756,-2.0977221181426087]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.6270124313375202,-0.21794310741240341,0.71338606911949],"aabb_xy":[[-0.6770124323566554,-0.2544093231502314],[-0.5770124303183849,-0.1814768916745755]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.48266726352451816,-1.2421091927169343,0.71338606911949],"aabb_xy":[[0.42766726532277327,-1.2826311593433717],[0.5376672617262629,-1.2015872260904965]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.24735094804910218,-1.7427806248202729,0.71338606911949],"aabb_xy":[[-0.3273509466364216,-1.8220962267584335],[-0.16735094946178275,-1.6634650228821117]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.3155519572632661,-1.7257515290122725,0.71338606911949],"aabb_xy":[[0.27424741419953014,-1.7897515285803893],[0.3568565003270021,-1.6617515294441552]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[-0.31348440556867235,1.7428264770846087,0.71338606911949],"aabb_xy":[[-0.37748440885838047,1.6994915580806909],[-0.24948440227896426,1.786161396088526]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[0.3038840602882832,0.5722966714642634,0.71338606911949],"aabb_xy":[[0.2398840638927101,0.5083333830455299],[0.36788405668385626,0.636259959882997]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.2529229239797742,-0.6250810111804295,0.71338606911949],"aabb_xy":[[-0.2602052403564377,-0.7150810147899382],[-0.24564060760311043,-0.5350810075709203]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[0.32093236297892536,0.3573445352490512,0.71338606911949],"aabb_xy":[[0.2864698849658376,0.3506808580661283],[0.35539484099201313,0.36400821243197395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.646588994112827,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1427.png","name":"1427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1427.png","name":"1427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7761.png","name":"7761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/975.png","name":"975"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/374.png","name":"374"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.5477768807561,"rotation_z_degrees":83.87495707700221,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014930557448213828,-0.015233105245719747,-0.01869043360966795]},{"name":"camera_2","offset_m":[0.012962610163847605,0.005012242787721256,-0.0014808696919896315]},{"name":"camera_3","offset_m":[-0.008160848605292266,0.013297471682709231,-0.002996916140793022]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007433774286921696,0.0018876810557096036,-0.0017828413825345187],"end_effector_yaw_offset_degrees":0.45438053271752743},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016630221298729576,-0.00050063012480655,-0.0009397138278916843],"end_effector_yaw_offset_degrees":-0.5044366156247209},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005707186489304298,-0.0006929305453964604,-0.0007913951322452385],"end_effector_yaw_offset_degrees":0.1970678310017071}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004741842652592455,0.0037117776640260445],"position_m":[0.2696581573474075,-0.11408822233597396,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004142544573920767,-0.0015650402871426519],"position_m":[0.28054254457392075,0.27853495971285736,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002155994869917282,0.002142695131479907],"position_m":[0.2949559948699173,0.014842695131479906,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002329790661371327,1.7010185109257378e-05],"position_m":[0.05277020933862868,0.41241701018510923,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003440444741803054,0.003638740621695671],"position_m":[0.15715955525819694,-0.4329612593783043,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b2b49821cb5f22dfcbdcd0b3c6143924bc77510cd34bcbb1fa46f0c19a704c8","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1427/tex_ceiling_textures_374/tex_floor_textures_975/tex_table_textures_7761/tex_wall_textures_6085","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":850959041288998516,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":850959041288998516,"visual_seed":850959041288998516,"scene_id":"lab_003","finished_at":"2026-09-03T19:01:08"} +{"episode_id":"ep_000042","started_at":"2026-09-03T19:01:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.5014888537451878,1.061832221343118,0.71338606911949],"aabb_xy":[[0.49378566307111077,1.0541228506443798],[0.5091920444192648,1.069541592041856]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.43163858099753716,1.51184782183824,0.71338606911949],"aabb_xy":[[0.3516385838379618,1.5003002208804226],[0.5116385781571124,1.5233954227960567]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.5546798107908477,0.35324143562166554,0.71338606911949],"aabb_xy":[[-0.6046640464990249,0.30324143680816995],[-0.5046955750826705,0.40324143443516114]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.2421410932740352,-1.625784445653214,0.71338606911949],"aabb_xy":[[-0.2684299175944758,-1.652055879307865],[-0.21585226895359452,-1.5995130119985626]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.3737229695326321,-0.8979418730615183,0.71338606911949],"aabb_xy":[[-0.38836637508666505,-0.9126005927183024],[-0.3590795639785991,-0.883283153404734]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.1561686406884375,1.5722072273269228,0.71338606911949],"aabb_xy":[[0.13116864113669902,1.5620647434617878],[0.18116864024017598,1.5823497111920573]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.07205577166718824,-2.5366168399389264,0.71338606911949],"aabb_xy":[[0.06327454451995203,-2.5453965872274567],[0.08083699881442448,-2.527837092650396]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.18432173169449428,0.43651957595376256,0.71338606911949],"aabb_xy":[[-0.204606034417893,0.41623695081105366],[-0.16403742897109547,0.45680220109647135]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.3124520302761564,-2.0031062477803796,0.71338606911949],"aabb_xy":[[0.24245202814472683,-2.0258682134060746],[0.3824520324075859,-1.9803442821546835]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.31220973950284914,0.533720644113695,0.71338606911949],"aabb_xy":[[0.29470973925779975,0.5162208562741281],[0.3297097397478985,0.5512204319532618]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.02839682490202422,-1.6778803821727433,0.71338606911949],"aabb_xy":[[0.012841055491758957,-1.6934308154171507],[0.043952594312289484,-1.6623299489283363]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.3910710609164912,-2.478195575000405,0.71338606911949],"aabb_xy":[[-0.41435290311462253,-2.5631955762976326],[-0.36778921871835984,-2.3931955737031765]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[0.21156859915894133,0.8215317081331541,0.71338606911949],"aabb_xy":[[0.17477396603403506,0.7846258330365719],[0.2483632322838476,0.8584375832297364]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.43805346096599607,0.8478551059894945,0.71338606911949],"aabb_xy":[[0.42748598130789706,0.837310075876486],[0.4486209406240951,0.8584001361025031]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[0.2757568539380979,-2.110245797857193,0.71338606911949],"aabb_xy":[[0.2532568534260573,-2.132737656222591],[0.2982568544501385,-2.0877539394917943]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.3657249124021231,-1.0590843108834975,0.71338606911949],"aabb_xy":[[0.31584221552442693,-1.1090843101297723],[0.4156076092798194,-1.0090843116372228]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.06028450529908902,0.9099293390437144,0.71338606911949],"aabb_xy":[[0.04207868163784135,0.8989039384617227],[0.0784903289603367,0.920954739625706]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.4284579765089111,-0.6369989948192691,0.71338606911949],"aabb_xy":[[-0.43587043205029957,-0.6428502052408972],[-0.4210455209675226,-0.6311477843976413]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.13547071377095754,0.2299513516877152,0.71338606911949],"aabb_xy":[[-0.15314634435955582,0.2122711354083124],[-0.11779508318235916,0.2476315679671179]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.5697176316616959,-0.590131830664419,0.71338606911949],"aabb_xy":[[-0.5863947676547914,-0.6068317546383493],[-0.5530404956686004,-0.5734319066904887]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.02878624133129859,-0.6538342372913732,0.71338606911949],"aabb_xy":[[-0.05927049145832874,-0.7038342370728691],[0.0016980087957315718,-0.6038342375098772]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.5096855726126284,-0.22379630485094726,0.71338606911949],"aabb_xy":[[0.4983238379593421,-0.2351647712572353],[0.5210473072659144,-0.21242783844465915]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.6134666774827953,-0.7302808946014034,0.71338606911949],"aabb_xy":[[0.5834991205729696,-0.7602808948992892],[0.6434342343926209,-0.7002808943035177]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.7019687051265813,-2.13019863473614,0.71338606911949],"aabb_xy":[[0.6959316921259167,-2.1362253358050887],[0.7080057181272461,-2.1241719336671925]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.005082872957595241,-0.9713965557043025,0.71338606911949],"aabb_xy":[[-0.002960486968359932,-1.056396556799669],[0.013126232883550415,-0.8863965546089361]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.19693275512026193,0.3457596230657427,0.71338606911949],"aabb_xy":[[-0.21939752509166704,0.3232596221868822],[-0.1744679851488568,0.3682596239446032]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.06520677748378001,-2.4063492141450404,0.71338606911949],"aabb_xy":[[0.0002067765266528104,-2.4582974260787456],[0.13020677844090722,-2.3544010022113344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560165612855121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4476.png","name":"4476"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4476.png","name":"4476"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7292.png","name":"7292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2139.png","name":"2139"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":726.642653130251,"rotation_z_degrees":46.242837782641246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016230468119099103,-0.0007650577059280031,0.0164747512995292]},{"name":"camera_2","offset_m":[-0.012027286709809704,0.015931352704513273,0.011357904993153017]},{"name":"camera_3","offset_m":[0.01559148996040009,0.0190472400946604,-0.01178010647306177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.694843799795892e-06,0.0015826984845537435,0.001471251448027005],"end_effector_yaw_offset_degrees":0.9555343528982694},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008089438188016349,0.0008917029446041738,-0.0010707237905380929],"end_effector_yaw_offset_degrees":-0.2938358721683092},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008225330427472648,-0.001164810278453806,0.0009450544022703068],"end_effector_yaw_offset_degrees":-0.3147417385177831}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00022795702913038212,0.004566052563030577],"position_m":[0.2741720429708696,-0.11323394743696942,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003398849886191754,-0.004778606888890496],"position_m":[0.2730011501138082,0.27532139311110954,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0034888286468674947,-0.0019530176070680517],"position_m":[0.2893111713531325,0.010746982392931948,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023051149647747315,-0.0037786728883446074],"position_m":[0.052794885035225274,0.4086213271116554,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015336735784963404,-0.004912848975132364],"position_m":[0.16213367357849634,-0.4415128489751324,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1418d96ea79ec1565f8435abfc400fdc788f5f8133a4fa195fe5831f84e6b5b4","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4476/tex_ceiling_textures_2139/tex_floor_textures_7292/tex_table_textures_2590/tex_wall_textures_7219","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7777524871157899371,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7777524871157899371,"visual_seed":7777524871157899371,"scene_id":"lab_003","finished_at":"2026-09-03T19:03:47"} +{"episode_id":"ep_000043","started_at":"2026-09-03T19:06:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.47864317225743624,-1.4666698771920184,0.71338606911949],"aabb_xy":[[0.4713994062111909,-1.5466698753956207],[0.48588693830368157,-1.386669878988416]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.3179567172921356,0.9812267896557025,0.71338606911949],"aabb_xy":[[0.253956716914602,0.9314815228048903],[0.3819567176696692,1.0309720565065148]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.3667355989098269,-0.4172191621163943,0.71338606911949],"aabb_xy":[[0.3491027633162993,-0.4348421081320173],[0.38436843450335445,-0.39959621610077134]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.31878971765962183,-1.5486100173425021,0.71338606911949],"aabb_xy":[[-0.3987897150632152,-1.628602588540685],[-0.23878972025602838,-1.4686174461443193]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.18603226042850596,-1.4688145219047215,0.71338606911949],"aabb_xy":[[0.14853225993114771,-1.4727832054528396],[0.2235322609258642,-1.464845838356603]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.5836218391735686,1.5941700075300393,0.71338606911949],"aabb_xy":[[-0.6336211143420049,1.5441700062540922],[-0.5336225640051325,1.6441700088059865]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.12927530213967175,0.14868597137436357,0.71338606911949],"aabb_xy":[[-0.19327529853524486,0.08472268295563001],[-0.0652753057440987,0.21264925979309712]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.2967928650692113,-2.021206230027012,0.71338606911949],"aabb_xy":[[0.2327928628488043,-2.0655793141523002],[0.36079286728961835,-1.9768331459017237]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.45302012048715534,1.5319025112322913,0.71338606911949],"aabb_xy":[[0.41622548736224907,1.494996636135709],[0.4898147536120616,1.5688083863288735]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.6478496068886045,1.713045216173755,0.71338606911949],"aabb_xy":[[-0.6761793168371447,1.708584473980038],[-0.6195198969400643,1.717505958367472]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.643361524757931,-1.391488921397844,0.71338606911949],"aabb_xy":[[-0.6542673008454937,-1.471488917796673],[-0.6324557486703682,-1.3114889249990147]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.2874028822114232,0.4872580429328157,0.71338606911949],"aabb_xy":[[-0.33257420005959215,0.4232580457882774],[-0.24223156436325421,0.5512580400773542]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.662004406000942,-2.18122515095411,0.71338606911949],"aabb_xy":[[-0.6748763095018822,-2.2612251513679458],[-0.6491325025000019,-2.1012251505402735]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.10151633274016114,0.8619832816057071,0.71338606911949],"aabb_xy":[[0.08263194897165094,0.8430973568253544],[0.12040071650867135,0.8808692063860599]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.10638899940582758,0.6354139752923933,0.71338606911949],"aabb_xy":[[0.09675736318539796,0.6257766625126844],[0.1160206356262572,0.6450512880721022]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.5322567536146439,-2.114983685935689,0.71338606911949],"aabb_xy":[[-0.5535347617581161,-2.1799836882617623],[-0.5109787454711716,-2.049983683609616]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.29917359448377834,0.3588799291797269,0.71338606911949],"aabb_xy":[[-0.31667359361814545,0.349000302142139],[-0.2816735953494111,0.36875955621731465]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.5900682255368863,-1.6194833608257033,0.71338606911949],"aabb_xy":[[0.5200682229003,-1.6395882258215686],[0.6600682281734727,-1.5993784958298376]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.557163261805385,-0.5959599798118185,0.71338606911949],"aabb_xy":[[-0.5642047127561327,-0.602986731549613],[-0.5501218108546375,-0.5889332280740239]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.10962848152412297,-1.6765409405010274,0.71338606911949],"aabb_xy":[[0.07212848123194814,-1.6805824159016307],[0.14712848181629778,-1.6724994651004237]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.3497191580242778,-1.2956389111573812,0.71338606911949],"aabb_xy":[[0.31471915812825885,-1.304013146669321],[0.3847191579202966,-1.2872646756454413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476153642945519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5098.png","name":"5098"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.6704667688481,"rotation_z_degrees":241.54265471000727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019465958811631292,0.0129504644852774,-0.016207297187411686]},{"name":"camera_2","offset_m":[0.006786687922157197,0.0008162129945481697,0.018667541160136743]},{"name":"camera_3","offset_m":[0.0035794763902447166,0.013708335803123906,0.019905263595540793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013035172241507207,0.0008894140967315922,0.0004414855388007004],"end_effector_yaw_offset_degrees":-0.6600365235724448},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017271302003386273,0.0005032485009941762,-0.0013612845443059895],"end_effector_yaw_offset_degrees":-0.87668138178757},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00042606253037335423,-0.0016931288336028759,0.001580565348234914],"end_effector_yaw_offset_degrees":-0.9255549260717979}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023602811227824904,0.0014976387734595429],"position_m":[0.27676028112278245,-0.11630236122654046,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035764177319132376,-0.0012788934858190015],"position_m":[0.27282358226808673,0.278821106514181,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0019521124160065896,-0.0032795340101311144],"position_m":[0.29084788758399344,0.009420465989868884,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015555804000092544,0.004011957714388827],"position_m":[0.05354441959999075,0.4164119577143888,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001181207832081138,0.004617573999168969],"position_m":[0.15941879216791885,-0.43198242600083103,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2ee6c6c8c2992d89bfd39ba3cc15707ec262b91b85549311379e5332678343f","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9184/tex_ceiling_textures_5472/tex_floor_textures_5098/tex_table_textures_2730/tex_wall_textures_4332","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4124138607027200925,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4124138607027200925,"visual_seed":4124138607027200925,"scene_id":"lab_003","finished_at":"2026-09-03T19:09:25"} +{"episode_id":"ep_000044","started_at":"2026-09-03T19:09:28","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.36608481628984185,-0.050510045658274105,0.71338606911949],"aabb_xy":[[-0.3776537970367785,-0.07551004577520581],[-0.35451583554290533,-0.02551004554134239]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.06702805423376257,0.5433972229659934,0.71338606911949],"aabb_xy":[[-0.13102805340353252,0.4966305358470308],[-0.003028055063992632,0.5901639100849557]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.6769151565055813,-0.033744223176538135,0.71338606911949],"aabb_xy":[[-0.6810311066176538,-0.037859778209383625],[-0.6727992063935084,-0.02962866814369263]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[-0.011630517990436351,-1.7378362026270495,0.71338606911949],"aabb_xy":[[-0.061630516636357546,-1.7877557462865115],[0.038369480655484844,-1.6879166589675867]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.48799255473219116,1.1538601212238082,0.71338606911949],"aabb_xy":[[-0.5223088319068091,1.1038601212506305],[-0.4536762775575732,1.203860121196986]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.5482116402161272,-2.4484443274232324,0.71338606911949],"aabb_xy":[[-0.5981958759243045,-2.4984443262367275],[-0.49822740450795,-2.3984443286097363]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.35328108383373724,-1.5368767037524595,0.71338606911949],"aabb_xy":[[0.3182810855230418,-1.5445917186760052],[0.3882810821444327,-1.529161688828914]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.5637498233627207,-2.1285222222190594,0.71338606911949],"aabb_xy":[[0.5415772963860698,-2.150697889375182],[0.5859223503393715,-2.106346555062936]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.57319488750521,0.945364304580071,0.71338606911949],"aabb_xy":[[-0.5813225756985232,0.9364506961693635],[-0.5650671993118968,0.9542779129907788]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.5799378256842571,1.3442920455431522,0.71338606911949],"aabb_xy":[[0.5299378243233699,1.2943141409677366],[0.6299378270451443,1.3942699501185678]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.10623513395403927,-2.473594960375944,0.71338606911949],"aabb_xy":[[0.056235858785603124,-2.523594961651891],[0.15623440912247544,-2.423594959099997]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.055513500529099424,0.8823217428128372,0.71338606911949],"aabb_xy":[[-0.11051350015084527,0.8273380500253646],[-0.0005135009073535882,0.9373054356003101]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.435046898709492,-1.1336453572929017,0.71338606911949],"aabb_xy":[[0.3453598224013765,-1.2236453575473523],[0.5247339750176074,-1.0436453570384512]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.4325255168211639,-2.3064413495086966,0.71338606911949],"aabb_xy":[[0.4100255163091233,-2.3289332078740945],[0.4550255173332045,-2.283949491143298]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.3037681979808607,-1.2343032820468491,0.71338606911949],"aabb_xy":[[-0.36776819656743315,-1.2813102454463579],[-0.23976819939428823,-1.1872963186473404]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.36651534946385134,0.36413012670700784,0.71338606911949],"aabb_xy":[[0.29651534786157185,0.35069733350535026],[0.4365153510661308,0.3775629199086654]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.2806638287530781,1.1047202269683871,0.71338606911949],"aabb_xy":[[-0.3089935387016184,1.1002594847746703],[-0.25233411880453793,1.1091809691621044]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.5334344187263536,0.01576623683050027,0.71338606911949],"aabb_xy":[[0.48343441777582064,-0.015782910173021136],[0.5834344196768863,0.047315383834021674]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.4700566159881958,-2.004795723555789,0.71338606911949],"aabb_xy":[[0.46194296131481866,-2.0129015400098185],[0.47817027066157286,-1.99668990710176]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.2661117059049304,0.533686353184958,0.71338606911949],"aabb_xy":[[0.2374623735445141,0.5050407939078821],[0.29476103826534655,0.5623319124620337]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.12454457616819903,-1.127130385973195,0.71338606911949],"aabb_xy":[[-0.14122171216129453,-1.1438303099471252],[-0.10786744017510351,-1.1104304619992647]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.0054306180317816866,1.3046590704369292,0.71338606911949],"aabb_xy":[[-0.03989309604486946,1.2979953932540063],[0.029031859981306085,1.3113227476198517]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.13395199813261816,0.9851607567410938,0.71338606911949],"aabb_xy":[[0.07395199788121698,0.9308794317046291],[0.19395199838401933,1.0394420817775583]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.42775223800554896,0.5464362258523057,0.71338606911949],"aabb_xy":[[-0.4777522390246843,0.5099700101144778],[-0.37775223698641375,0.5829024415901337]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.07807379561737582,-1.2117280965386132,0.71338606911949],"aabb_xy":[[-0.14807379742612126,-1.2330818653028006],[-0.00807379380863038,-1.1903743277744259]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.514361440362863,0.3296481026663769,0.71338606911949],"aabb_xy":[[-0.5512119882998506,0.2921481018433432],[-0.4775108924258754,0.3671481034894107]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.4898710497694338,-0.12807038692599404,0.71338606911949],"aabb_xy":[[-0.5370004287712695,-0.19207038797039594],[-0.4427416707675981,-0.06407038588159203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543313562604122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4668.png","name":"4668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4668.png","name":"4668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2020.png","name":"2020"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8208.png","name":"8208"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2446.png","name":"2446"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":803.2567440480876,"rotation_z_degrees":230.0188281484461,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034550586448732594,-0.005038343480393599,-0.009319754149982616]},{"name":"camera_2","offset_m":[0.010300567826153496,-0.01484859736371682,-0.011037394837659656]},{"name":"camera_3","offset_m":[-0.019183597883639717,0.004929803214644483,-0.015744749419308757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004944522212961791,0.0006525832371855333,0.001981158815208605],"end_effector_yaw_offset_degrees":-0.7703018503570176},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003196626153209982,0.0011764982206322648,-0.0010832481540991225],"end_effector_yaw_offset_degrees":-0.7263114667756561},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00033586816929057767,0.0011618980209454543,-0.0013879453104889165],"end_effector_yaw_offset_degrees":-0.7490065344900152}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046008715775222656,0.0025437163678415607],"position_m":[0.2697991284224777,-0.11525628363215844,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00019083467185583916,0.0014023381663253983],"position_m":[0.2765908346718558,0.2815023381663254,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0023624968357055876,0.002677805373654133],"position_m":[0.2904375031642944,0.015377805373654133,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027654579728283923,0.0010991158052477802],"position_m":[0.057865457972828396,0.4134991158052478,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013248065726069224,-0.0026357756848062086],"position_m":[0.1619248065726069,-0.4392357756848062,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04a84c3cc8fe3b41eb8b1e7ad8cc83ff9f19c11030583836dacf2e527c7cd785","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4668/tex_ceiling_textures_8606/tex_floor_textures_2446/tex_table_textures_2020/tex_wall_textures_8208","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4048849386228933202,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4048849386228933202,"visual_seed":4048849386228933202,"scene_id":"lab_003","finished_at":"2026-09-03T19:12:04"} +{"episode_id":"ep_000045","started_at":"2026-09-03T19:12:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.10386229680835302,-2.379134580342637,0.71338606911949],"aabb_xy":[[-0.16886229776548023,-2.4310827922763427],[-0.038862295851225824,-2.3271863684089316]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.12708953097536801,-2.33625572084134,0.71338606911949],"aabb_xy":[[0.08958953062714023,-2.3480471164224235],[0.16458953132359574,-2.3244643252602564]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.2394720513929393,-1.0447901602857217,0.71338606911949],"aabb_xy":[[-0.24758570606631639,-1.0528959767397508],[-0.23135839671956218,-1.0366843438316926]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.5120973445172308,-1.3261578300191599,0.71338606911949],"aabb_xy":[[0.5012457382683552,-1.337017120746811],[0.5229489507661064,-1.3152985392915089]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.35114565826149113,-0.911138974868047,0.71338606911949],"aabb_xy":[[0.30401627925965535,-0.9751389759124489],[0.3982750372633267,-0.847138973823645]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.1818359171043764,-0.27936953547475785,0.71338606911949],"aabb_xy":[[-0.24583591901671875,-0.3352806847327683],[-0.11783591519203407,-0.2234583862167474]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.38821392186567905,1.6126206996912953,0.71338606911949],"aabb_xy":[[0.3723294286003539,1.598267759392471],[0.4040984151310042,1.6269736399901191]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.13052477031577658,-1.667142180933073,0.71338606911949],"aabb_xy":[[0.08052549514734039,-1.7171421822090203],[0.18052404548421272,-1.617142179657126]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.7088788854242865,0.9461962322331323,0.71338606911949],"aabb_xy":[[0.7054382091842293,0.9423347992587678],[0.7123195616643436,0.9500576652074968]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.092295577782884,0.8989640074648673,0.71338606911949],"aabb_xy":[[0.042295576121389226,0.8489655652091643],[0.14229557944437873,0.9489624497205698]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.4451350563851601,0.9009608005762906,0.71338606911949],"aabb_xy":[[-0.45391628353239644,0.8921810532877607],[-0.436353829237924,0.909740547864821]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.5610897894570617,1.0069531992805993,0.71338606911949],"aabb_xy":[[-0.578589789702111,0.9894534114410326],[-0.5435897892120122,1.0244529871201662]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.6667139584189822,-1.8139726074613538,0.71338606911949],"aabb_xy":[[-0.6722956300531108,-1.8264726072791295],[-0.6611322867848534,-1.8014726076435785]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[0.5944385702817565,1.1565096393748773,0.71338606911949],"aabb_xy":[[0.5775278378454146,1.1430374337822624],[0.6113493027180982,1.1699818449674917]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.5402736996063102,-0.9495436570103666,0.71338606911949],"aabb_xy":[[-0.5504267151604595,-0.9856131985831068],[-0.5301206840521607,-0.9134741154376261]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.6508068458354013,0.25351145507356554,0.71338606911949],"aabb_xy":[[-0.6578482967861489,0.246484703335771],[-0.6437653948846537,0.2605382068113601]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.6506639081503074,-2.202120281452742,0.71338606911949],"aabb_xy":[[0.6160728252962621,-2.267120281737772],[0.6852549910043525,-2.13712028116771]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.2786100608137572,-1.587572340097765,0.71338606911949],"aabb_xy":[[-0.3426100624917546,-1.636089731577079],[-0.21461005913575987,-1.5390549486184506]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.2741671252158969,1.151784523686183,0.71338606911949],"aabb_xy":[[-0.29607580735524797,1.129883856866092],[-0.2522584430765459,1.1736851905062735]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.41481187320417817,-0.7876398578519468,0.71338606911949],"aabb_xy":[[-0.47881187542458514,-0.8320129419772351],[-0.3508118709837711,-0.7432667737266585]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.3402239487023554,-2.040038128733951,0.71338606911949],"aabb_xy":[[-0.40522394725942823,-2.0697906621478337],[-0.27522395014528256,-2.0102855953200685]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.3964042765037976,0.5766015833052807,0.71338606911949],"aabb_xy":[[0.34640427521995754,0.5266227289146584],[0.44640427778763747,0.6265804376959027]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.6532700399092126,-0.9445910719077946,0.71338606911949],"aabb_xy":[[-0.6650382267038702,-1.0295910718130163],[-0.6415018531145552,-0.8595910720025732]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.5890727840570862,0.06530520985998667,0.71338606911949],"aabb_xy":[[-0.6530727833512544,0.001319069491132474],[-0.525072784762918,0.12929135022884086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563799100432339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9330.png","name":"9330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9330.png","name":"9330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2974.png","name":"2974"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7756.png","name":"7756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4244.png","name":"4244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3527.png","name":"3527"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":678.9782134844796,"rotation_z_degrees":280.2519692069145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001755913068383158,0.00200057881016321,-0.0037250760446474497]},{"name":"camera_2","offset_m":[0.006605267276436698,-0.004843450805036764,-0.0013581909425932452]},{"name":"camera_3","offset_m":[-0.013158831801009319,-0.016699707391103824,-0.016905117523437763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017533022369446058,0.0004964691519222914,1.7657760434468348e-05],"end_effector_yaw_offset_degrees":-0.7333417498667494},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017192023239990415,-0.0013493351083388953,-0.00025791694752391194],"end_effector_yaw_offset_degrees":0.8615579561045843},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019475462309585315,0.0012461617889993758,-0.0016314165999585302],"end_effector_yaw_offset_degrees":0.03920752693476026}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012232303915985778,0.004846420330862261],"position_m":[0.27562323039159853,-0.11295357966913774,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010681048829076448,-0.000486851579425923],"position_m":[0.27746810488290763,0.2796131484205741,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004991491365384264,0.0016753945262978787],"position_m":[0.28780850863461577,0.014375394526297878,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004653928080638486,0.001969795933881786],"position_m":[0.05975392808063849,0.4143697959338818,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030334656166767166,-0.0038007593487950388],"position_m":[0.16363346561667672,-0.440400759348795,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c79b231d534002cf7ffe2d29c99536b7e9ec0a76d76049020b4be6e472718b46","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9330/tex_ceiling_textures_3527/tex_floor_textures_4244/tex_table_textures_2974/tex_wall_textures_7756","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4690933587960893285,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4690933587960893285,"visual_seed":4690933587960893285,"scene_id":"lab_003","finished_at":"2026-09-03T19:14:31"} +{"episode_id":"ep_000046","started_at":"2026-09-03T19:14:34","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.0798372899541776,-1.2127965989909486,0.71338606911949],"aabb_xy":[[-0.11361284914487058,-1.2268350942041137],[-0.04606173076348463,-1.1987581037777835]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.49412854563761877,0.05999590967693402,0.71338606911949],"aabb_xy":[[0.43012854341721174,0.015622825551645736],[0.5581285478580258,0.10436899380222231]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.6693011037404688,-0.6758313561765874,0.71338606911949],"aabb_xy":[[0.622171724738633,-0.7398313572209892],[0.7164304827423044,-0.6118313551321853]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.5613923535997589,-1.7254173407970383,0.71338606911949],"aabb_xy":[[-0.5701735807469953,-1.734197088085569],[-0.5526111264525227,-1.7166375935085085]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.3627275683264606,0.45881033732002496,0.71338606911949],"aabb_xy":[[0.3460504323333651,0.4421104133460947],[0.3794047043195561,0.47551026129395524]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.518363270781955,1.1057882487701591,0.71338606911949],"aabb_xy":[[-0.5823632693685274,1.0587812853706502],[-0.45436327219538253,1.1527952121696676]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.454324372955498,-2.2220348216155394,0.71338606911949],"aabb_xy":[[0.3903243758433923,-2.2710671914099505],[0.5183243700676037,-2.1730024518211293]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.18156458719204827,0.997343918246,0.71338606911949],"aabb_xy":[[0.17071298094317267,0.986484627518349],[0.19241619344092387,1.008203208973651]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.6350396060769978,-2.3294846022530664,0.71338606911949],"aabb_xy":[[0.5850396044155028,-2.379483044508769],[0.6850396077384924,-2.2794861599973637]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.2234124794241119,-1.074572249097005,0.71338606911949],"aabb_xy":[[0.2152847912307987,-1.0834858575077129],[0.23154016761742513,-1.0656586406862973]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.25876310989377016,0.6149536011868517,0.71338606911949],"aabb_xy":[[0.22126310978817723,0.6081314393338705],[0.2962631099993631,0.6217757630398327]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.13785938272098097,-1.6868067196833738,0.71338606911949],"aabb_xy":[[-0.18285196943943138,-1.7318067189578223],[-0.09286679600253056,-1.6418067204089248]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.5128980624487698,1.7344636334393981,0.71338606911949],"aabb_xy":[[-0.5353980626922851,1.7222589987796262],[-0.4903980622052543,1.74666826809917]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.48638866676366765,-0.09225426229970513,0.71338606911949],"aabb_xy":[[-0.556388669400254,-0.11235912729557061],[-0.4163886641270813,-0.07214939730383961]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.048908947572952166,0.9864850988062148,0.71338606911949],"aabb_xy":[[0.02644417760154704,0.9639850979273544],[0.07137371754435728,1.0089850996850753]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.6368813662873535,0.7038637649098245,0.71338606911949],"aabb_xy":[[-0.641780658593917,0.6761868456072556],[-0.63198207398079,0.7315406842123932]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[0.3739478669922389,-1.4761897706871248,0.71338606911949],"aabb_xy":[[0.3239530340642973,-1.5261897695823683],[0.4239426999201805,-1.4261897717918812]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.04783332252060035,-2.3338892324022305,0.71338606911949],"aabb_xy":[[-0.10280704455693324,-2.388889231966464],[0.007140399515732539,-2.2788892328379977]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.03406437666063389,-1.7958483411796249,0.71338606911949],"aabb_xy":[[-0.029935625682167667,-1.8407891924237572],[0.09806437900343545,-1.7509074899354922]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.03183881118563037,1.456999506240828,0.71338606911949],"aabb_xy":[[-0.04816118740168906,1.377683904302667],[0.11183880977294978,1.5363151081789888]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.24083028723184052,0.26311321282171374,0.71338606911949],"aabb_xy":[[-0.27833028772919877,0.2591445292735953],[-0.20333028673448228,0.26708189636983215]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.4198406824765165,-1.6672367118536413,0.71338606911949],"aabb_xy":[[-0.4698337945857084,-1.7172367125278374],[-0.3698475703673246,-1.6172367111794461]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.44948784776360906,0.9383325098825637,0.71338606911949],"aabb_xy":[[-0.509487848271462,0.8814857761966423],[-0.3894878472557562,0.9951792435684849]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.41928393356452776,-0.7941617434566945,0.71338606911949],"aabb_xy":[[0.4073511992026997,-0.8065438962645538],[0.4312166679263558,-0.7817795906488351]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.4368585109287382,-0.5523395737451486,0.71338606911949],"aabb_xy":[[0.4022674280746929,-0.6173395740301797],[0.47144959378278334,-0.48733957346011764]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.009842622287160485,-0.7974278572285609,0.71338606911949],"aabb_xy":[[0.0017289676137833832,-0.80553367368259],[0.017956276960537587,-0.7893220407745318]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.43456231215218266,0.871898062855367,0.71338606911949],"aabb_xy":[[0.3705623157248608,0.8247284390332706],[0.4985623085795046,0.9190676866774635]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.5209042478036444,-0.7820199894204678,0.71338606911949],"aabb_xy":[[-0.5318100238912071,-0.862019985819297],[-0.5099984717160817,-0.7020199930216386]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[-0.19128800392650747,-0.3242963237970904,0.71338606911949],"aabb_xy":[[-0.19613159868773744,-0.3291479762760745],[-0.1864444091652775,-0.3194446713181063]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_29","position":[-0.10803761820385305,-2.5643449123706885,0.71338606911949],"aabb_xy":[[-0.13303761736948616,-2.571297158076045],[-0.08303761903821993,-2.557392666665332]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.2192326547696795,1.7734976772093822,0.71338606911949],"aabb_xy":[[-0.2392910663829198,1.7534325903002248],[-0.19917424315643922,1.7935627641185397]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[-0.40734753940702134,0.4264559631812337,0.71338606911949],"aabb_xy":[[-0.4189165201539579,0.40145596306430203],[-0.39577855866008477,0.45145596329816545]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_32","position":[-0.18758121666413818,-1.0204475315405528,0.71338606911949],"aabb_xy":[[-0.249171975888131,-1.0844475296496],[-0.12599045744014536,-0.9564475334315061]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_33","position":[-0.2959027943603007,-1.5523532145040793,0.71338606911949],"aabb_xy":[[-0.3067432725868156,-1.569539495794728],[-0.2850623161337858,-1.5351669332134301]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509988300929604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7912.png","name":"7912"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7912.png","name":"7912"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9388.png","name":"9388"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1709.png","name":"1709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7923.png","name":"7923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2072.png","name":"2072"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.9890172737107,"rotation_z_degrees":315.04641646182955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012480043849632558,0.015522472306982029,0.0024682469262775515]},{"name":"camera_2","offset_m":[0.0009155992520722758,0.014754951027904379,0.019342386842927]},{"name":"camera_3","offset_m":[-0.003620424891675071,0.005070105998980407,0.008165436456053388]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002790629210050054,-0.0005353575467728019,0.0011606386994445967],"end_effector_yaw_offset_degrees":-0.05714542734452799},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015042866591754942,0.0013476700555707906,-0.00026852585516452896],"end_effector_yaw_offset_degrees":-0.32754662169708326},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014697654639527662,0.001066153447691957,0.000556867353389761],"end_effector_yaw_offset_degrees":-0.21376620898930843}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009611117202842599,-0.00144271354248386],"position_m":[0.27343888827971574,-0.11924271354248386,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038084870520457715,0.001683280848279246],"position_m":[0.2725915129479542,0.28178328084827925,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003809360563738753,0.0014480171489219167],"position_m":[0.28899063943626124,0.014148017148921915,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004421251794181847,0.002233525774255639],"position_m":[0.05952125179418185,0.4146335257742556,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026769670580225665,0.003859054224196562],"position_m":[0.16327696705802255,-0.4327409457758034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cdf481634af6221cab85c57bb82a8685c794b4dfba8170b22ba79cc9674e0770","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7912/tex_ceiling_textures_2072/tex_floor_textures_7923/tex_table_textures_9388/tex_wall_textures_1709","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4492181941732291958,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4492181941732291958,"visual_seed":4492181941732291958,"scene_id":"lab_003","finished_at":"2026-09-03T19:17:06"} +{"episode_id":"ep_000047","started_at":"2026-09-03T19:17:10","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.08849029610740577,1.7015292734513134,0.71338606911949],"aabb_xy":[[-0.10109299524448223,1.688933877226448],[-0.07588759697032932,1.714124669676179]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.284705950031125,-2.1066007659183916,0.71338606911949],"aabb_xy":[[0.26464753841788463,-2.1266658528275486],[0.3047643616443652,-2.0865356790092338]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.6082641227265257,1.3985422957178093,0.71338606911949],"aabb_xy":[[0.5857641227163775,1.384446076078206],[0.630764122736674,1.4126385153574126]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.3350910449439627,-0.9465619277488881,0.71338606911949],"aabb_xy":[[-0.34112805794462747,-0.9525886288178367],[-0.329054031943298,-0.9405352266799403]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[0.6803808100272555,0.2864780457819762,0.71338606911949],"aabb_xy":[[0.6672295640559661,0.2614780460252897],[0.6935320559985448,0.31147804553866276]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.33999133760712663,-1.6039308714381355,0.71338606911949],"aabb_xy":[[0.3167094954089953,-1.6889308727353638],[0.363273179805258,-1.5189308701409077]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.259565567900122,-1.146033508554123,0.71338606911949],"aabb_xy":[[0.22393641200016223,-1.1816661753109758],[0.2951947238000817,-1.11040084179727]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.27576312048323254,0.33842608589133416,0.71338606911949],"aabb_xy":[[-0.36576312281725154,0.2609437313062215],[-0.18576311814921342,0.4159084404764468]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.3407379178359614,-0.32813848747903984,0.71338606911949],"aabb_xy":[[-0.37753255096086774,-0.36504436257562206],[-0.3039432847110552,-0.2912326123824575]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.1000346399292329,0.06525772559647658,0.71338606911949],"aabb_xy":[[-0.13449711794232067,0.05859404841355374],[-0.06557216191614512,0.07192140277939939]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.5351971050116094,-1.5289096528900417,0.71338606911949],"aabb_xy":[[-0.5850138844764442,-1.578909651374345],[-0.4853803255467747,-1.4789096544057383]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.23740410311152732,0.7272446838377604,0.71338606911949],"aabb_xy":[[-0.2724041013816472,0.7201705561427723],[-0.20240410484140742,0.7343188115327486]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3826054806972262,-2.006991764696452,0.71338606911949],"aabb_xy":[[-0.4375986920343631,-2.061991765035246],[-0.3276122693600895,-1.951991764357659]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.19345866122700806,-1.3810530888588042,0.71338606911949],"aabb_xy":[[0.1709938912556029,-1.4035530897376645],[0.21592343119841315,-1.3585530879799435]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.3533989591520419,0.7468430972601592,0.71338606911949],"aabb_xy":[[0.3295627415114369,0.6568430964516729],[0.37723517679264706,0.836843098068646]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.5221795301399526,-2.294581336421575,0.71338606911949],"aabb_xy":[[-0.5837702893639454,-2.3585813345306224],[-0.46058877091595973,-2.2305813383125286]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.4032590775396119,0.457341453386344,0.71338606911949],"aabb_xy":[[0.3532590762557719,0.4073625989957219],[0.45325907882345184,0.5073203077769661]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.21251364349683022,0.6392191712920461,0.71338606911949],"aabb_xy":[[-0.28251364530557566,0.6178654025278587],[-0.14251364168808478,0.6605729400562335]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.6065353208671966,1.2588476653447889,0.71338606911949],"aabb_xy":[[-0.68653531827079,1.178855094146606],[-0.5265353234636031,1.3388402365429717]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.6614942192198308,-0.24693948598222182,0.71338606911949],"aabb_xy":[[0.6533665310265175,-0.25585309439292947],[0.669621907413144,-0.23802587757151417]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.42858341985388365,0.41540268227267996,0.71338606911949],"aabb_xy":[[-0.44015240060082034,0.3904026821557482],[-0.4170144391069472,0.4404026823896116]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.32105497999422494,-2.1432082914246258,0.71338606911949],"aabb_xy":[[-0.3585549802863997,-2.1472497668252295],[-0.28355497970205007,-2.139166816024022]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.5527669285259914,-2.4976955330399075,0.71338606911949],"aabb_xy":[[-0.563618534774867,-2.508554823767558],[-0.5419153222771158,-2.4868362423122563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6494039129775917,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1275.png","name":"1275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1275.png","name":"1275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8570.png","name":"8570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5470.png","name":"5470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/177.png","name":"177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1371.png","name":"1371"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":610.2688957586926,"rotation_z_degrees":239.89678786786135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01266155154922671,0.003554615012452113,0.01873936351136118]},{"name":"camera_2","offset_m":[-0.004342460376437138,-0.019717261435860195,-0.0028757840830922546]},{"name":"camera_3","offset_m":[0.01749324034192923,0.017646305457202343,0.0010662041561936078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00048273593092445924,0.00021081920562617982,-0.0010548715562657956],"end_effector_yaw_offset_degrees":0.986731051230463},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015972683976470622,2.4094235116874432e-05,-0.0018044966058729974],"end_effector_yaw_offset_degrees":-0.5133076978411266},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.446008552977243e-05,-0.0018479590175927109,-0.0006924754564962856],"end_effector_yaw_offset_degrees":-0.31903046865170737}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001453797146760589,-0.001874793394830715],"position_m":[0.2729462028532394,-0.11967479339483071,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034869588788847663,-0.003810629572686016],"position_m":[0.27988695887888476,0.276289370427314,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0045815398907823384,-0.0011439322340481462],"position_m":[0.29738153989078236,0.011556067765951854,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024783338680645518,-0.00275784996143522],"position_m":[0.05262166613193545,0.40964215003856475,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001125999518653783,0.004515638022934224],"position_m":[0.16172599951865377,-0.4320843619770658,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"41c8f9d52133a0b08b21d773f60df9a596ca36bb025f1f5a6ef405cb557ab223","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1275/tex_ceiling_textures_1371/tex_floor_textures_177/tex_table_textures_8570/tex_wall_textures_5470","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3979319714382416374,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3979319714382416374,"visual_seed":3979319714382416374,"scene_id":"lab_003","finished_at":"2026-09-03T19:19:39"} +{"episode_id":"ep_000048","started_at":"2026-09-03T19:19:42","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.2714975727986144,1.7553501645435206,0.71338606911949],"aabb_xy":[[0.2568541672445814,1.7406914448867363],[0.28614097835264735,1.7700088842003048]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.5868089435322,0.9807190453614067,0.71338606911949],"aabb_xy":[[-0.6368089448160399,0.9307401909707845],[-0.53680894224836,1.0306978997520286]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.2726503786646649,0.15902442494759716,0.71338606911949],"aabb_xy":[[-0.28145243397363756,0.15121309879266806],[-0.26384832335569214,0.16683575110252621]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.09610680715522446,0.7052240584995602,0.71338606911949],"aabb_xy":[[-0.17610680858535166,0.6257069034869506],[-0.016106805725097248,0.7847412135121695]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[0.5921263642098584,-0.3065559626830039,0.71338606911949],"aabb_xy":[[0.50212636053294,-0.36798836926010814],[0.6821263678867764,-0.24512355610589942]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.2455927136756294,-2.4477144282681045,0.71338606911949],"aabb_xy":[[-0.2805927128684476,-2.458681474265766],[-0.21059271448281108,-2.436747382270441]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.29303752468012007,-2.355554526587611,0.71338606911949],"aabb_xy":[[-0.32983215780502634,-2.3924604016841933],[-0.2562428915552138,-2.3186486514910287]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.05842196691760915,0.4214191587753233,0.71338606911949],"aabb_xy":[[-0.06653562159098625,0.41331334232129424],[-0.05030831224423204,0.4295249752293524]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.5938501638965386,-1.5390804708389474,0.71338606911949],"aabb_xy":[[0.582998557647663,-1.5499397615665984],[0.6047017701454142,-1.5282211801112964]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.6586119927309992,0.15659210708855253,0.71338606911949],"aabb_xy":[[0.6467399097194981,0.07159210739490218],[0.6704840757425004,0.2415921067822029]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.6793867271869702,0.3704390939178315,0.71338606911949],"aabb_xy":[[0.6716835365128933,0.36272972321909347],[0.6870899178610472,0.3781484646165695]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.3915893270493049,-0.24563344904649176,0.71338606911949],"aabb_xy":[[-0.4715893281224252,-0.2554114953838762],[-0.31158932597618455,-0.2358554027091073]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[0.5903223417594703,0.8293810055794033,0.71338606911949],"aabb_xy":[[0.578960607106184,0.8180125391731152],[0.6016840764127563,0.8407494719856914]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.41668671451966693,-2.1163180511299373,0.71338606911949],"aabb_xy":[[-0.439183135953531,-2.1388180509366848],[-0.3941902930858028,-2.09381805132319]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.5714995687021406,-0.93087810248267,0.71338606911949],"aabb_xy":[[-0.608999568645907,-0.9391711925175068],[-0.5339995687583742,-0.9225850124478336]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.40326356604665414,-0.9590148485442198,0.71338606911949],"aabb_xy":[[0.39079620793691855,-0.9714801731775432],[0.41573092415638985,-0.9465495239108962]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.37324303336435416,1.6021668139003888,0.71338606911949],"aabb_xy":[[0.342758783237324,1.5521668141188927],[0.4037272834913843,1.6521668136818846]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.13661711244964403,0.23930012041764748,0.71338606911949],"aabb_xy":[[-0.1916103237867808,0.18430012007885385],[-0.08162390111250727,0.2943001207564411]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.41238464498841804,-0.5814413968763281,0.71338606911949],"aabb_xy":[[-0.5023846414892896,-0.6273530392947863],[-0.32238464848754617,-0.5355297544578698]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.5194803153163021,0.18374195632145573,0.71338606911949],"aabb_xy":[[0.49656460243125233,0.16083765918503223],[0.5423960282013521,0.20664625345787926]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.5920853595779076,-0.8040895570144775,0.71338606911949],"aabb_xy":[[-0.6220529164877334,-0.8340895573123632],[-0.5621178026680821,-0.7740895567165917]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.2104289396219869,-1.637232014610586,0.71338606911949],"aabb_xy":[[-0.26042894057251964,-1.6687811616141075],[-0.16042893867145405,-1.6056828676070647]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.5504064933886159,-1.4542046751779485,0.71338606911949],"aabb_xy":[[-0.6304064904028639,-1.4743392268513598],[-0.47040649637436793,-1.4340701235045372]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.44557347284100085,-0.4293707761059191,0.71338606911949],"aabb_xy":[[-0.4701196884637516,-0.4596196726549561],[-0.42102725721825013,-0.399121879556882]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.1530475459779579,-1.9135467930396013,0.71338606911949],"aabb_xy":[[0.13113886383860682,-1.9354474598596918],[0.1749562281173089,-1.8916461262195103]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.23167357181846104,-1.0569738534036832,0.71338606911949],"aabb_xy":[[-0.26917357300325373,-1.0613920760997433],[-0.1941735706336682,-1.0525556307076223]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.17245314747665796,1.1230827069654037,0.71338606911949],"aabb_xy":[[0.16831729114395777,1.0855827075210467],[0.17658900380935816,1.1605827064097607]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[-0.43407135008734593,-1.373049710848885,0.71338606911949],"aabb_xy":[[-0.4515713492217131,-1.3829293378864729],[-0.41657135095297876,-1.3631700838112972]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[-0.09960993902655446,1.664555335219966,0.71338606911949],"aabb_xy":[[-0.10976295458070381,1.628485793647225],[-0.08945692347240507,1.7006248767927057]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.5977665197971783,-0.4577372773063879,0.71338606911949],"aabb_xy":[[-0.6390710628609142,-0.521737276874505],[-0.5564619767334422,-0.3937372777382708]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.2382476152184908,-0.892387971276656,0.71338606911949],"aabb_xy":[[-0.288247613864412,-0.9423075149361183],[-0.18824761657256964,-0.8424684276171935]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[0.3125766608045133,-1.5039660237389285,0.71338606911949],"aabb_xy":[[0.30699498917038454,-1.516466023556704],[0.31815833243864206,-1.491466023921153]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.3452603930538163,-0.5744007561230382,0.71338606911949],"aabb_xy":[[0.28126039279334547,-0.6194095554759661],[0.4092603933142871,-0.5293919567701101]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_33","position":[0.4263793153142694,0.676593397193967,0.71338606911949],"aabb_xy":[[0.36237931672769697,0.6295864337944583],[0.4903793139008419,0.7236003605934758]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_34","position":[-0.5015391186768186,0.01354000708447689,0.71338606911949],"aabb_xy":[[-0.5123795969033335,-0.003646274206171916],[-0.49069864045030365,0.0307262883751257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582454475864554,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/431.png","name":"431"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/431.png","name":"431"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7140.png","name":"7140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/708.png","name":"708"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":679.9298324815084,"rotation_z_degrees":62.792827614299306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006041224026740441,0.001958290972958042,-0.0009837981671808604]},{"name":"camera_2","offset_m":[0.019754260432207887,-0.019841659455096798,0.006913139640376636]},{"name":"camera_3","offset_m":[0.00607245770036054,0.002101672427340006,-0.0169869760619183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00119161653533047,-0.0019025207108970715,-0.0017347312668724673],"end_effector_yaw_offset_degrees":-0.8125303140455651},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013282670886094069,0.001984035680305355,-0.0005608857959271552],"end_effector_yaw_offset_degrees":0.4194179847888766},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00035898724490232917,-0.0010744657677475287,0.001928359818092168],"end_effector_yaw_offset_degrees":0.42324304454480477}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011889360132335538,0.00029540125345448465],"position_m":[0.27558893601323353,-0.11750459874654552,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-3.3925393958144506e-05,-0.002508442869314561],"position_m":[0.27636607460604184,0.27759155713068545,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0046626927303804995,0.0041634395592893775],"position_m":[0.2974626927303805,0.016863439559289376,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004273795258976564,-0.0037870067984051205],"position_m":[0.05082620474102344,0.4086129932015949,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004603156963723684,-0.004846373261184949],"position_m":[0.16520315696372367,-0.4414463732611849,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2d70c74da4f45d9d5026082ce958ba40f4d812f33557c1fdca52612af089548","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_431/tex_ceiling_textures_708/tex_floor_textures_7916/tex_table_textures_6676/tex_wall_textures_7140","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8039664942229663135,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8039664942229663135,"visual_seed":8039664942229663135,"scene_id":"lab_003","finished_at":"2026-09-03T19:22:20"} +{"episode_id":"ep_000049","started_at":"2026-09-03T19:22:22","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.5666067582699428,0.5359270766486519,0.71338606911949],"aabb_xy":[[0.5125911619880427,0.47192707375639464],[0.6206223545518427,0.599927079540909]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.5885105663239685,-0.42709432185574236,0.71338606911949],"aabb_xy":[[0.558518903590098,-0.4570943211925429],[0.6185022290578387,-0.39709432251894183]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.2721462564873236,0.8438380047289393,0.71338606911949],"aabb_xy":[[0.2496462564771753,0.829741785089336],[0.2946462564974719,0.8579342243685426]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.4841188324755292,1.1907371585608644,0.71338606911949],"aabb_xy":[[0.4616188326616268,1.1862625421903836],[0.5066188322894316,1.1952117749313451]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.4213186937029792,-2.4846948903808967,0.71338606911949],"aabb_xy":[[-0.47141615768405287,-2.5486948908907086],[-0.37122122972190563,-2.420694889871085]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.19508847904766846,-1.6658572319038942,0.71338606911949],"aabb_xy":[[0.145115413515153,-1.7158572317164271],[0.24506154458018395,-1.6158572320913613]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.5465020201664488,-0.024537511328038164,0.71338606911949],"aabb_xy":[[-0.6365020195848196,-0.05791300817222789],[-0.4565020207480778,0.008837985516151559]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.14157702686633733,-2.044136910304152,0.71338606911949],"aabb_xy":[[-0.2315770265895115,-2.0672102628393314],[-0.05157702714316314,-2.0210635577689717]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.5392619609839275,-1.8431023919829843,0.71338606911949],"aabb_xy":[[-0.5617583824177916,-1.8656023917897318],[-0.5167655395500634,-1.8206023921762369]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.341203025201371,-1.6729525723505088,0.71338606911949],"aabb_xy":[[-0.34531897531344363,-1.6770681273833543],[-0.3370870750892983,-1.6688370173176632]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.4716030646295389,-2.0821201949617842,0.71338606911949],"aabb_xy":[[-0.47573892096223913,-2.1196201944061417],[-0.46746720829683874,-2.0446201955174277]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.13976156859806188,1.5130157333721583,0.71338606911949],"aabb_xy":[[0.089782760087746,1.4630157333664393],[0.18974037710837777,1.563015733377877]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.5386349056019422,1.25743887757486,0.71338606911949],"aabb_xy":[[-0.6002256648259351,1.193438879465813],[-0.47704414637794945,1.3214388756839068]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.4088951511840036,-0.7205040749909699,0.71338606911949],"aabb_xy":[[-0.4788951527862831,-0.7339368681926275],[-0.3388951495817241,-0.7070712817893123]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.41926820956153715,1.4982116469790507,0.71338606911949],"aabb_xy":[[-0.4279661718522525,1.4860866726715758],[-0.4105702472708219,1.5103366212865255]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.5647937455309173,0.04271102882401667,0.71338606911949],"aabb_xy":[[0.5472937452715807,0.02861948663524406],[0.582293745790254,0.05680257101278931]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.14746389518151326,-1.3462242483549283,0.71338606911949],"aabb_xy":[[-0.197463896843008,-1.3962226906106308],[-0.09746389352001848,-1.2962258060992253]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.6282298071867227,1.19705390530694,0.71338606911949],"aabb_xy":[[0.6063211250473716,1.175153238486849],[0.6501384893260737,1.2189545721270305]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.33700480848531167,-1.6545969184340796,0.71338606911949],"aabb_xy":[[0.3293805403951334,-1.6622301419706238],[0.3446290765754899,-1.6469636948975364]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.231626442711223,-2.0089440177786817,0.71338606911949],"aabb_xy":[[0.19459233328316325,-2.0433212251123907],[0.2686605521392827,-1.9745668104449718]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.5872217361194652,1.7349068089600208,0.71338606911949],"aabb_xy":[[0.5372217366792695,1.6849388844757043],[0.6372217355596608,1.784874733444337]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.4876494280774384,1.4386195607453298,0.71338606911949],"aabb_xy":[[0.4454650139166076,1.3746195604681186],[0.5298338422382691,1.502619561022541]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[0.5816998469404979,-2.4562134503823323,0.71338606911949],"aabb_xy":[[0.5016998499774588,-2.5332890920261053],[0.6616998439035371,-2.3791378087385584]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[-0.06318073411516878,-2.139843942001269,0.71338606911949],"aabb_xy":[[-0.0704419816855762,-2.1526309522647784],[-0.055919486544761365,-2.1270569317377594]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[0.31828956425465127,0.7064971099254729,0.71338606911949],"aabb_xy":[[0.23828956685105782,0.62650453872729],[0.39828956165824464,0.7864896811236556]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.46342141825701644,0.6660994030637002,0.71338606911949],"aabb_xy":[[-0.5046702292869312,0.6110994035514825],[-0.4221726072271017,0.7210994025759174]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.2151524106065139,-0.3356809973284318,0.71338606911949],"aabb_xy":[[-0.22243472698317754,-0.4256810009379407],[-0.20787009422985023,-0.24568099371892274]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.20371527838260972,-1.6231308431986409,0.71338606911949],"aabb_xy":[[-0.21496033395322756,-1.634372640922736],[-0.1924702228119919,-1.6118890454745454]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.09347597714923617,-0.8274085732961765,0.71338606911949],"aabb_xy":[[-0.14347597579515736,-0.8773281169556387],[-0.04347597850331496,-0.777489029636714]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_29","position":[-0.05583804797994152,1.5781330851631155,0.71338606911949],"aabb_xy":[[-0.0808380472519038,1.5617877215669531],[-0.03083804870797924,1.5944784487592778]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.30392658149014073,1.4610162852759596,0.71338606911949],"aabb_xy":[[0.25875526364197177,1.3970162881314212],[0.3490978993383097,1.5250162824204982]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[0.5850615959106125,-0.17970524218086492,0.71338606911949],"aabb_xy":[[0.5050615944804853,-0.2592223971934744],[0.6650615973407397,-0.10018808716825545]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_32","position":[0.6287567474934619,-1.0899561331288696,0.71338606911949],"aabb_xy":[[0.5647567472194835,-1.1400222333261576],[0.69275674776744,-1.0398900329315817]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_33","position":[-0.4804832779992531,-0.37180833877984076,0.71338606911949],"aabb_xy":[[-0.5444832753015996,-0.41617476574769746],[-0.41648328069690665,-0.32744191181198395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6498193121637944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7017.png","name":"7017"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7017.png","name":"7017"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/989.png","name":"989"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8478.png","name":"8478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/664.png","name":"664"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4218.png","name":"4218"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":826.8355892875021,"rotation_z_degrees":288.84551295172434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012646015941957987,0.006545870118260334,0.0017738489655034773]},{"name":"camera_2","offset_m":[0.013663387077058105,-0.010182423637839992,-0.014769147772115203]},{"name":"camera_3","offset_m":[-0.010149616455848158,-0.01450386492376822,0.009578246639710807]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013172817509023746,0.0006585946373515636,-0.0009588992198618512],"end_effector_yaw_offset_degrees":-0.15016699168887349},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005245325852874022,-0.0014052192183460206,0.0009792683547090245],"end_effector_yaw_offset_degrees":-0.17726869628664432},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001261294068330233,0.0018188351030812705,0.0010395258356502048],"end_effector_yaw_offset_degrees":0.6865758363527461}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007084722902419979,0.0042668279212519115],"position_m":[0.27369152770975796,-0.11353317207874809,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004099395221417871,-0.0038431091934180085],"position_m":[0.2723006047785821,0.276256890806582,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0014223525616686352,0.003759085179011342],"position_m":[0.2942223525616686,0.016459085179011342,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025618100017576993,0.0034818748167038246],"position_m":[0.0576618100017577,0.4158818748167038,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004965097041303211,-0.0028373525413485155],"position_m":[0.15563490295869678,-0.4394373525413485,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dced7cdcef527fe5ae8a154e8c0fe306383a3c8a8a51fcee1c6ccc1620ba68bc","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7017/tex_ceiling_textures_4218/tex_floor_textures_664/tex_table_textures_989/tex_wall_textures_8478","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8313461868799653221,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8313461868799653221,"visual_seed":8313461868799653221,"scene_id":"lab_003","finished_at":"2026-09-03T19:24:47"} +{"episode_id":"ep_000050","started_at":"2026-09-03T19:24:50","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.07491517666280889,0.9319736865258226,0.71338606911949],"aabb_xy":[[-0.1124151766065753,0.923680596490986],[-0.03741517671904249,0.9402667765606592]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6223267906368342,-1.6912827644755724,0.71338606911949],"aabb_xy":[[0.5878643126237463,-1.6979464416584948],[0.6567892686499218,-1.6846190872926494]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.580791486727926,-0.9101506563027295,0.71338606911949],"aabb_xy":[[-0.6182914872252843,-0.9141193398508481],[-0.5432914862305678,-0.9061819727546113]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.1721384030226224,-1.2972433885210128,0.71338606911949],"aabb_xy":[[0.08213839934570417,-1.358675795098117],[0.26213840669954047,-1.2358109819439083]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.3752560578275139,-1.6188349004001117,0.71338606911949],"aabb_xy":[[0.3252560582511792,-1.6688154793522176],[0.42525605740384864,-1.5688543214480057]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.5256631874608328,1.7665716160508285,0.71338606911949],"aabb_xy":[[0.4456631841968197,1.7530115837419153],[0.605663190724846,1.780131648359742]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.21393501372403428,0.2858271644432291,0.71338606911949],"aabb_xy":[[-0.2779350151320249,0.2340382129193043],[-0.14993501231604361,0.3376161159671537]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.2637726649631519,0.45533287144349766,0.71338606911949],"aabb_xy":[[-0.3287726631190709,0.42903662689358546],[-0.19877266680723277,0.48162911599340985]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.47370470945085263,-1.7341805662831407,0.71338606911949],"aabb_xy":[[-0.5537047108809798,-1.81369772129575],[-0.3937047080207254,-1.654663411270531]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[0.46037980636981013,0.059556653035516494,0.71338606911949],"aabb_xy":[[0.42608289535206945,0.025259766825575118],[0.4946767173875507,0.09385353924545786]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.403190788612255,-0.45103779823957835,0.71338606911949],"aabb_xy":[[0.3381907876117545,-0.5018241633942533],[0.4681907896127555,-0.4002514330849034]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.22537026149390726,0.9768472056848454,0.71338606911949],"aabb_xy":[[0.14537025933114478,0.8968920220587017],[0.30537026365666975,1.056802389310989]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.45799520311379555,-1.9958870729825462,0.71338606911949],"aabb_xy":[[-0.5219952053342025,-2.0402601571078343],[-0.3939952008933885,-1.951513988857258]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.5615870141946541,0.9822779602127536,0.71338606911949],"aabb_xy":[[-0.5707468931385306,0.9757467421692165],[-0.5524271352507774,0.9888091782562907]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.14559078163379202,-1.5878512574983135,0.71338606911949],"aabb_xy":[[0.08159077841515419,-1.6345743693973216],[0.2095907848524299,-1.5411281455993049]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.054281549749308544,-0.8443899890047568,0.71338606911949],"aabb_xy":[[-0.08805710894000152,-0.8584284842179217],[-0.02050599055861558,-0.8303514937915917]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.3606208639819575,0.24974826121937577,0.71338606911949],"aabb_xy":[[-0.39711668460923616,0.2132643187926182],[-0.3241250433546787,0.28623220364613333]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.4458773908796585,1.3210391299249093,0.71338606911949],"aabb_xy":[[0.42581897926641815,1.300974043015752],[0.46593580249289873,1.3411042168340668]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.6666733829310088,-0.35182314332363696,0.71338606911949],"aabb_xy":[[0.6116733837544192,-0.4068128180985946],[0.7216733821075981,-0.2968334685486793]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.5746106990524557,-0.4683845081394802,0.71338606911949],"aabb_xy":[[-0.6197820169006247,-0.5323845052840186],[-0.5294393812042868,-0.4043845109949418]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.688064965682933,1.1972819332610376,0.71338606911949],"aabb_xy":[[-0.693522911319953,1.1172819299533785],[-0.6826070200459129,1.2772819365686967]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.5635598010865226,-1.4784201952474216,0.71338606911949],"aabb_xy":[[-0.6535597996809925,-1.4946707815608429],[-0.47355980249205265,-1.4621696089340008]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.5374514579814669,1.4581155183888046,0.71338606911949],"aabb_xy":[[0.5124514580489491,1.4512328501678813],[0.5624514579139849,1.464998186609728]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.1457860228792135,1.699192803742649,0.71338606911949],"aabb_xy":[[0.13263477690792413,1.674192803985963],[0.15893726885050286,1.7241928034993361]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.14322551569535635,-0.4227823104828601,0.71338606911949],"aabb_xy":[[-0.18931060695008783,-0.48678230773541525],[-0.09714042444062489,-0.358782313230305]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.022874291214347475,-2.5403245308471933,0.71338606911949],"aabb_xy":[[-0.057125705799900506,-2.5604590825206044],[0.10287428822859546,-2.5201899791737823]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.5616684194165714,0.1855607595106501,0.71338606911949],"aabb_xy":[[-0.6416622429951296,0.10556075691780856],[-0.4816745958380132,0.26556076210349167]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.28988573237563586,1.2445289009170506,0.71338606911949],"aabb_xy":[[-0.3538857326496141,1.1944628007197626],[-0.22588573210165763,1.2945950011143386]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.4284730899435652,0.5441978990383736,0.71338606911949],"aabb_xy":[[-0.4784730916050599,0.4941994567826708],[-0.3784730882820704,0.5941963412940762]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_29","position":[-0.28959004774319774,-0.20981145129974532,0.71338606911949],"aabb_xy":[[-0.34471525337278847,-0.26981145274103246],[-0.23446484211360694,-0.14981144985845818]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[0.32983750616355456,-1.8401509838735266,0.71338606911949],"aabb_xy":[[0.3011881738031382,-1.8687965431506022],[0.3584868385239707,-1.8115054245964506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6514830301481713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2277.png","name":"2277"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1981.png","name":"1981"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":702.0094539118185,"rotation_z_degrees":350.67708218533795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072326055744115075,0.00147701213218537,0.017554677560726834]},{"name":"camera_2","offset_m":[-0.011755245545944383,-0.010294202840772138,-0.01905513743881173]},{"name":"camera_3","offset_m":[0.006385765533623532,0.008775546728865644,0.017311267612629747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.834800579247081e-05,0.0007690980086902067,0.00011253676351991124],"end_effector_yaw_offset_degrees":-0.18036050569359485},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006081273737311463,-0.0017623036322591311,-0.0010058777783494338],"end_effector_yaw_offset_degrees":-0.16077069566911018},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017478577723860362,-0.0012279380927013586,0.0007949138127205852],"end_effector_yaw_offset_degrees":-0.1075632076970312}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004866929985737325,0.0032934630760160536],"position_m":[0.2792669299857373,-0.11450653692398395,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004141991408484792,-0.0023085074997096513],"position_m":[0.2768141991408485,0.27779149250029034,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0045994980862237725,-0.0006610190282035988],"position_m":[0.2973994980862238,0.012038980971796402,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001243787995180573,0.0027066457418570148],"position_m":[0.056343787995180576,0.415106645741857,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018496420211720922,0.002204555157626322],"position_m":[0.1624496420211721,-0.4343954448423737,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ee24cbe8f4833a6f6783739d7b3a8ad298d61870d58a44bfef628859fd6fc11b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4095/tex_ceiling_textures_8114/tex_floor_textures_1981/tex_table_textures_2277/tex_wall_textures_3366","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1023785088199875622,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1023785088199875622,"visual_seed":1023785088199875622,"scene_id":"lab_003","finished_at":"2026-09-03T19:27:31"} +{"episode_id":"ep_000051","started_at":"2026-09-03T19:27:33","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.07577271516313422,0.9557084648847627,0.71338606911949],"aabb_xy":[[-0.09331941007925314,0.9182084633205114],[-0.05822602024701527,0.993208466449014]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.024081707747037884,-1.643956348934541,0.71338606911949],"aabb_xy":[[0.0065034055580910355,-1.6615308385086462],[0.04166000993598473,-1.6263818593604362]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.23142063926059014,-0.06831751001297581,0.71338606911949],"aabb_xy":[[-0.24843073655064077,-0.08445199851124974],[-0.21441054197053946,-0.05218302151470189]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.07747860036859344,0.33198344393616797,0.71338606911949],"aabb_xy":[[-0.11497860066076826,0.32794196853556434],[-0.039978600076418624,0.3360249193367716]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[0.12993007634009301,0.8284598571720561,0.71338606911949],"aabb_xy":[[0.0499300741773305,0.7485046735459124],[0.20993007850285547,0.9084150407981997]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.3357718725064256,-2.4268828073626354,0.71338606911949],"aabb_xy":[[0.28577187122258557,-2.476861661753257],[0.3857718737902655,-2.376903952972013]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.555528114292771,-2.030354748475787,0.71338606911949],"aabb_xy":[[0.5449606346346719,-2.0408997785887957],[0.56609559395087,-2.0198097183627786]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.4961685023154587,-1.4506993870145775,0.71338606911949],"aabb_xy":[[0.4885442342252805,-1.4583326105511212],[0.503792770405637,-1.4430661634780337]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.5605319743779293,-0.5212599577624109,0.71338606911949],"aabb_xy":[[0.49653197108822117,-0.5645948767663284],[0.6245319776676374,-0.4779250387584932]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.447731540367585,-1.9263127820312702,0.71338606911949],"aabb_xy":[[-0.48336069626754474,-1.961945448788123],[-0.41210238446762526,-1.890680115274417]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.5934266492596381,0.4185627444760991,0.71338606911949],"aabb_xy":[[-0.6280177321136832,0.353562744191068],[-0.5588355664055927,0.4835627447611301]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.38317781226201153,-1.0040086791993124,0.71338606911949],"aabb_xy":[[0.3131778106597321,-1.01744147240097],[0.45317781386429107,-0.9905758859976548]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.3060119419565166,-0.702203729561949,0.71338606911949],"aabb_xy":[[0.2882184350216002,-0.7200034751577465],[0.3238054488914331,-0.6844039839661512]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.2209071215952393,1.4196683670914356,0.71338606911949],"aabb_xy":[[0.20626371604120627,1.4050096474346514],[0.23555052714927224,1.4343270867482198]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.4742709450992818,1.3902147911001381,0.71338606911949],"aabb_xy":[[-0.5642709416001535,1.3443031486816797],[-0.38427094859840993,1.4361264335185961]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.2713309170383058,-1.2795782964345153,0.71338606911949],"aabb_xy":[[-0.2895367406995535,-1.290603697016507],[-0.25312509337705813,-1.2685528958525236]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.6531256672565772,1.1581731839206508,0.71338606911949],"aabb_xy":[[-0.6756256670704796,1.15369856755017],[-0.6306256674426748,1.1626478002911316]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.02840351995859769,1.6019970695830312,0.71338606911949],"aabb_xy":[[-0.0652540678955853,1.5644970687599975],[0.008447027978389917,1.639497070406065]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.3947635968235524,-2.4129930753594024,0.71338606911949],"aabb_xy":[[-0.41976359637529087,-2.423135559224537],[-0.3697635972718139,-2.4028505914942677]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.4457778667238105,0.04675265939430728,0.71338606911949],"aabb_xy":[[-0.4537713565190925,0.03875452745383162],[-0.43778437692852845,0.05475079133478295]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.45282247310581325,-1.8888594703241375,0.71338606911949],"aabb_xy":[[0.3878224730715105,-1.9355601470044645],[0.517822473140116,-1.84215879364381]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.26523261482061267,-2.4358137077782915,0.71338606911949],"aabb_xy":[[-0.2827326140986995,-2.4531518078446375],[-0.24773261554252574,-2.4184756077119456]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.5422168406253124,-2.498555622940583,0.71338606911949],"aabb_xy":[[-0.6038075998493053,-2.56255562104963],[-0.4806260814013197,-2.4345556248315363]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.47299194879305895,-0.7551872855738013,0.71338606911949],"aabb_xy":[[-0.4830736558716325,-0.835187283465916],[-0.4629102417144855,-0.6751872876816867]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[0.5448190617787187,0.039572336136526776,0.71338606911949],"aabb_xy":[[0.47981906389707085,-0.0115513275700141],[0.6098190596603664,0.09069599984306764]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.19474962852027955,-0.8842903901203152,0.71338606911949],"aabb_xy":[[-0.24083471977501106,-0.9482903873728702],[-0.1486645372655481,-0.82029039286776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6527423788517154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7837.png","name":"7837"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7837.png","name":"7837"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4484.png","name":"4484"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7963.png","name":"7963"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9170.png","name":"9170"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8099.png","name":"8099"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.4500480061545,"rotation_z_degrees":116.36060601356556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014407054238811567,-0.012755559607784232,-0.01511448491578065]},{"name":"camera_2","offset_m":[0.013572645489206118,-0.007901140708564772,0.010161557769175666]},{"name":"camera_3","offset_m":[-0.006055452428152397,-0.013945240821086365,-0.00829689351451962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.076966195358563e-05,-0.0013843872342975245,-0.0014561496997684787],"end_effector_yaw_offset_degrees":-0.23891471333289527},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011030248187581478,-0.00107928415861678,0.0011465343462965052],"end_effector_yaw_offset_degrees":-0.8293001736609444},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007868994607997779,-0.0007846160381139323,-0.0005243792248327552],"end_effector_yaw_offset_degrees":0.6892782629512637}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0044647456711190345,-0.0033086166163166456],"position_m":[0.26993525432888094,-0.12110861661631665,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006708476146546263,0.003987773345457268],"position_m":[0.27572915238534534,0.28408777334545726,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00041340543157071617,0.003975233731232676],"position_m":[0.2923865945684293,0.016675233731232676,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046978847755228025,0.004743273607083795],"position_m":[0.0504021152244772,0.4171432736070838,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013212784283120685,-0.0018771833529236713],"position_m":[0.1604678721571688,-0.4384771833529237,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ddba7c7a8c7bc4766973c5ea4d4d4dde2797da1dfda95363c405eee723b7192","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7837/tex_ceiling_textures_8099/tex_floor_textures_9170/tex_table_textures_4484/tex_wall_textures_7963","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7469179463608691467,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7469179463608691467,"visual_seed":7469179463608691467,"scene_id":"lab_003","finished_at":"2026-09-03T19:30:02"} +{"episode_id":"ep_000052","started_at":"2026-09-03T19:30:04","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.25753969951342004,0.230790186514775,0.71338606911949],"aabb_xy":[[-0.2800044694848251,0.20829018563591448],[-0.23507492954201487,0.2532901873936355]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.40570953037956503,0.456132658511033,0.71338606911949],"aabb_xy":[[0.3646915869931942,0.40613265788007563],[0.44672747376593597,0.5061326591419903]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[0.03404725323036184,1.254844873401817,0.71338606911949],"aabb_xy":[[-0.029952747473107513,1.208826490928896],[0.09804725393383121,1.300863255874738]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.20766420209629255,-1.603975302620836,0.71338606911949],"aabb_xy":[[0.17016420215252612,-1.6122683926556727],[0.24516420204005893,-1.5956822125859995]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.2203205079050693,1.1163434248866744,0.71338606911949],"aabb_xy":[[0.17050372844023454,1.066343426402371],[0.27013728736990406,1.1663434233709777]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.5301709681922266,-1.5881029173167356,0.71338606911949],"aabb_xy":[[0.4801709678316605,-1.6380829045263385],[0.5801709685527926,-1.5381229301071326]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.46496247241523014,1.6673088551394009,0.71338606911949],"aabb_xy":[[0.4099624727934843,1.6123251623519281],[0.519962472036976,1.7222925479268736]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[-0.6774223048180377,-0.6528798968829648,0.71338606911949],"aabb_xy":[[-0.690653250352719,-0.6661073159049642],[-0.6641913592833564,-0.6396524778609654]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.26818986392858507,-0.387689614801193,0.71338606911949],"aabb_xy":[[-0.34818986089162424,-0.4647652564449664],[-0.1881898669655459,-0.3106139731574195]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.45105060113885276,-2.121720804280149,0.71338606911949],"aabb_xy":[[-0.5010506028003474,-2.1717192465358512],[-0.40105059947735794,-2.071722362024446]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.2497020534729668,1.3647189643835484,0.71338606911949],"aabb_xy":[[0.22470205392122836,1.3545764805184137],[0.2747020530247053,1.3748614482486832]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.30431244120050793,0.675465606736616,0.71338606911949],"aabb_xy":[[0.2924403581890068,0.5904656070429657],[0.31618452421200904,0.7604656064302664]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.23728333693563697,-2.090566473943423,0.71338606911949],"aabb_xy":[[-0.3012833361054069,-2.137333161062385],[-0.17328333776586702,-2.04379978682446]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[-0.5811339478617141,-2.53905813063097,0.71338606911949],"aabb_xy":[[-0.5980446802980558,-2.552530336223584],[-0.5642232154253722,-2.5255859250383548]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.15218197430049973,-2.373335640721842,0.71338606911949],"aabb_xy":[[0.09218197265757785,-2.4253357900137864],[0.21218197594342156,-2.321335491429898]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.32802736682905187,-1.7574836469936161,0.71338606911949],"aabb_xy":[[0.31292506536803366,-1.7725851686246774],[0.34312966829006986,-1.7423821253625535]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.1873532673195586,-1.9266289669554348,0.71338606911949],"aabb_xy":[[-0.2062376510880688,-1.9455148917357878],[-0.1684688835510484,-1.9077430421750823]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.3147471901017849,0.3868562400486746,0.71338606911949],"aabb_xy":[[-0.3697209121381178,0.3318562404844414],[-0.25977346806545204,0.44185623961290776]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.11610203202747427,0.7962959134653755,0.71338606911949],"aabb_xy":[[-0.17109750984813366,0.7412959120314686],[-0.06110655420681489,0.8512959148992825]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.6619319007643241,-0.9029481360938081,0.71338606911949],"aabb_xy":[[0.624431899579531,-0.9073663587898685],[0.6994319019491166,-0.8985299133977475]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.12772024857575015,1.5613829390943494,0.71338606911949],"aabb_xy":[[0.09209109267579038,1.5257502723374965],[0.16334940447570986,1.5970156058512024]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.4889709356234187,-1.7418521164052625,0.71338606911949],"aabb_xy":[[-0.5389709369843059,-1.7918300209806781],[-0.43897093426253153,-1.6918742118298469]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.4455110061405163,-0.011395811412085344,0.71338606911949],"aabb_xy":[[0.42333847916386536,-0.03357147856820852],[0.46768353311716704,0.010779855744037834]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.46202783130392144,0.320993590646224,0.71338606911949],"aabb_xy":[[-0.512000896836437,0.2709935908336911],[-0.4120547657714061,0.3709935904587569]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.5259985174509632,1.7172125242840326,0.71338606911949],"aabb_xy":[[-0.5391497634222525,1.6922125245273463],[-0.5128472714796738,1.7422125240407194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6515583706777887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1408.png","name":"1408"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1408.png","name":"1408"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6438.png","name":"6438"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7909.png","name":"7909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2668.png","name":"2668"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":569.1579678266337,"rotation_z_degrees":117.4538980510628,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015851088778929302,0.017382076570835358,0.01414260166718775]},{"name":"camera_2","offset_m":[-0.010973687992192338,-0.0023648475954960654,0.013089893636588423]},{"name":"camera_3","offset_m":[-0.014761408509044706,-0.0018063308028592982,0.005728726559063913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003945465907712344,0.0012050577618517122,8.461079900488021e-05],"end_effector_yaw_offset_degrees":0.8464710151328716},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0004474528173936767,0.0011038987988761218,-0.0013382765519790204],"end_effector_yaw_offset_degrees":-0.7501556874416584},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017861758296394792,0.0004992565166500075,-0.0010152358586158932],"end_effector_yaw_offset_degrees":0.6907841733684352}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015229355460345327,-0.0031577459512449526],"position_m":[0.2728770644539654,-0.12095774595124495,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002732346661019206,0.00021644458938486176],"position_m":[0.2736676533389808,0.28031644458938487,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0006067007388994962,0.0019489224897257847],"position_m":[0.2921932992611005,0.014648922489725784,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024288000093186466,0.0016717724894494837],"position_m":[0.05752880000931865,0.4140717724894495,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021807934900002434,-0.002370300825565227],"position_m":[0.15841920650999974,-0.4389703008255652,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"779a9bcf3fc6ea3c7c72fd07590c652669bc49cce8c9c4fe2650754c00e0cbfa","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1408/tex_ceiling_textures_2668/tex_floor_textures_7909/tex_table_textures_8517/tex_wall_textures_6438","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4761626549920629971,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4761626549920629971,"visual_seed":4761626549920629971,"scene_id":"lab_003","finished_at":"2026-09-03T19:32:26"} +{"episode_id":"ep_000053","started_at":"2026-09-03T19:32:29","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.39808936201654804,-0.16606269408877905,0.71338606911949],"aabb_xy":[[-0.4620893584121211,-0.2300259825075126],[-0.33408936562097497,-0.1020994056700455]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.18088080453643762,0.21179798688231077,0.71338606911949],"aabb_xy":[[-0.18479467773186012,0.203048971475754],[-0.17696693134101507,0.2205470022888675]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.4261459654489017,1.008753142175899,0.71338606911949],"aabb_xy":[[0.40946882945580615,0.9920532182019688],[0.44282310144199716,1.0254530661498293]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.42546344518582657,-1.4318445743573953,0.71338606911949],"aabb_xy":[[0.41421838961520874,-1.4430863720814906],[0.4367085007564444,-1.4206027766333]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[-0.5556469696639793,0.22832338480353487,0.71338606911949],"aabb_xy":[[-0.5924416027888856,0.19141750970695257],[-0.518852336539073,0.26522925990011714]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.052530941725792535,0.061455445134316555,0.71338606911949],"aabb_xy":[[-0.08699341973888029,0.05479176795139373],[-0.01806846371270475,0.06811912231723938]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.34176004821753936,-1.5438477761578187,0.71338606911949],"aabb_xy":[[-0.3510536664546899,-1.5813477746459526],[-0.3324664299803887,-1.5063477776696848]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.3082802616817835,-1.9359084452060382,0.71338606911949],"aabb_xy":[[-0.32856456440518217,-1.956191070348747],[-0.28799595895838465,-1.9156258200633294]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.22082514507166984,-2.422415981656187,0.71338606911949],"aabb_xy":[[0.13082514273765078,-2.4998983362412996],[0.3108251474056889,-2.3449336270710743]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[0.6595406780338771,1.6814046647846177,0.71338606911949],"aabb_xy":[[0.5945406798779581,1.6551084202347055],[0.7245406761897962,1.70770090933453]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.06832110878551934,-2.5046423219923435,0.71338606911949],"aabb_xy":[[-0.09332110795115245,-2.5115945676976996],[-0.04332110961988622,-2.4976900762869865]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.2374450341672738,1.531119652257495,0.71338606911949],"aabb_xy":[[0.15744503369705787,1.522808944643147],[0.31744503463748974,1.5394303598718435]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.23238822285822663,0.07347717057437775,0.71338606911949],"aabb_xy":[[-0.24988822311756326,0.05938562838560513],[-0.21488822259889,0.08756871276315037]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.021594900067831935,-2.0373379479734366,0.71338606911949],"aabb_xy":[[0.002482592709853071,-2.0564727268506786],[0.0407072074258108,-2.0182031690961946]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.20403804083890054,1.4571437148498956,0.71338606911949],"aabb_xy":[[0.19347056118080155,1.446598684736887],[0.21460552049699957,1.4676887449629041]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.6248879065911239,-2.2809015478904784,0.71338606911949],"aabb_xy":[[0.5448879044283614,-2.360856731516622],[0.7048879087538864,-2.2009463642643348]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.6440688173177629,-1.1201709441261296,0.71338606911949],"aabb_xy":[[-0.6494013319723759,-1.1254952723713652],[-0.6387363026631498,-1.114846615880894]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.10613064479441581,-1.7799304680972563,0.71338606911949],"aabb_xy":[[0.08845501420581746,-1.7976106843766588],[0.12380627538301413,-1.7622502518178533]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.28859451619609955,-1.032535500316957,0.71338606911949],"aabb_xy":[[0.22459451451810214,-1.081052891796271],[0.35259451787409685,-0.9840181088376425]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.5512369817849513,-1.3182952637719303,0.71338606911949],"aabb_xy":[[-0.5688152839738981,-1.3358697533460353],[-0.5336586795960044,-1.3007207741978257]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.20836419893304015,-1.9985764049148604,0.71338606911949],"aabb_xy":[[-0.24586419972503556,-2.00494424587305],[-0.17086419814104467,-1.9922085639566702]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.44547856962925525,-2.5198830283813116,0.71338606911949],"aabb_xy":[[-0.4690636930931501,-2.5848830306267434],[-0.4218934461653604,-2.45488302613588]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.27924798724273686,-2.2303592262964074,0.71338606911949],"aabb_xy":[[-0.33924798810354967,-2.281785656302893],[-0.21924798638192408,-2.17893279628992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485879983959816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1350.png","name":"1350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1350.png","name":"1350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6491.png","name":"6491"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6718.png","name":"6718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2217.png","name":"2217"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":584.6878721026193,"rotation_z_degrees":186.41498893441693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016360820662832686,-0.015267903142446727,0.01927292835897101]},{"name":"camera_2","offset_m":[0.009050172902874184,0.0089663078342836,-0.01430557674752536]},{"name":"camera_3","offset_m":[-0.007412209596472756,0.019337282604892574,0.0007515969084863836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007499361050938131,0.00017681200641997885,0.001955764597170731],"end_effector_yaw_offset_degrees":0.14565696286581242},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00027067432146859983,-0.0016781958067725103,-0.001225023638713111],"end_effector_yaw_offset_degrees":0.42868254456632604},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-9.891403551383522e-05,0.0005974323650243304,0.0005065760823937909],"end_effector_yaw_offset_degrees":-0.9104967483531099}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004879152313766271,-0.003344259349772413],"position_m":[0.2695208476862337,-0.12114425934977241,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002839109921463777,-0.0022440107191800686],"position_m":[0.2792391099214638,0.27785598928081995,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0021790321155005345,-0.003570310067086758],"position_m":[0.2906209678844995,0.009129689932913241,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008948077181260864,0.004644096444944154],"position_m":[0.05599480771812609,0.41704409644494417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022712636565085987,0.0019505027853391884],"position_m":[0.1583287363434914,-0.4346494972146608,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"06dd7cc704013f6677149691077695e63f9eb15216e2d2f7c3788f53673de96e","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1350/tex_ceiling_textures_2217/tex_floor_textures_6718/tex_table_textures_9478/tex_wall_textures_6491","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":9214616862618124137,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":9214616862618124137,"visual_seed":9214616862618124137,"scene_id":"lab_003","finished_at":"2026-09-03T19:35:04"} +{"episode_id":"ep_000054","started_at":"2026-09-03T19:35:09","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.6432577835011761,-2.0439592491747516,0.71338606911949],"aabb_xy":[[0.5932577825506432,-2.075508396178273],[0.6932577844517088,-2.01241010217123]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.21091248395876483,-1.49610125722731,0.71338606911949],"aabb_xy":[[-0.21969371110600114,-1.5048810045158407],[-0.2021312568115287,-1.48732150993878]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.471399339978838,-1.3362758308869862,0.71338606911949],"aabb_xy":[[-0.5263925513159748,-1.39127583122578],[-0.4164061286417013,-1.2812758305481928]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.5143129753958884,-1.9650410152690125,0.71338606911949],"aabb_xy":[[-0.5493129745887065,-1.9760080612666748],[-0.47931297620307,-1.9540739692713498]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.16410787528826276,1.5243967463272035,0.71338606911949],"aabb_xy":[[-0.17280583757897802,1.512271772019729],[-0.15540991299754744,1.5365217206346784]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.6784387712138384,-1.0998919871720183,0.71338606911949],"aabb_xy":[[-0.6892117451352062,-1.1348919853910573],[-0.6676657972924707,-1.0648919889529793]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[0.1944152248681411,1.361726414277772,0.71338606911949],"aabb_xy":[[0.1304152275824925,1.3202196953249279],[0.25841522215378976,1.4032331332306158]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.6220441223775415,-0.6879920474100154,0.71338606911949],"aabb_xy":[[0.5845441217129627,-0.7036791054102374],[0.6595441230421201,-0.672304989409793]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.244471477595275,-1.5163717863687043,0.71338606911949],"aabb_xy":[[0.1804714790087025,-1.563378749768213],[0.30847147618184745,-1.4693648229691956]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.5839390625918294,1.0145629291927345,0.71338606911949],"aabb_xy":[[-0.594350621272313,1.009217195856836],[-0.5735275039113455,1.0199086625286327]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.5606207604719851,-0.6482290034907328,0.71338606911949],"aabb_xy":[[-0.6206207621149069,-0.7002291527826771],[-0.5006207588290632,-0.5962288541987887]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.33305897663952716,0.4472021041446852,0.71338606911949],"aabb_xy":[[-0.42305897523399716,0.43095151783126423],[-0.24305897804505727,0.4634526904581063]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.5777137089862572,-2.1874806919937497,0.71338606911949],"aabb_xy":[[0.560611631027889,-2.2045874975250195],[0.5948157869446253,-2.17037388646248]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[0.5908196443919513,0.065141171498444,0.71338606911949],"aabb_xy":[[0.5689298968030104,-0.024858825790805113],[0.612709391980892,0.1551411687876931]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.011496013412735984,0.9400287782344803,0.71338606911949],"aabb_xy":[[-0.02350398656375985,0.9305641621868637],[0.046496013389231816,0.9494933942820969]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[0.1864864494067413,-1.9471028102934502,0.71338606911949],"aabb_xy":[[0.1288559805194704,-2.00710280922016],[0.24411691829401208,-1.887102811366739]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.5314645916091831,0.30026718678624675,0.71338606911949],"aabb_xy":[[-0.5964645927151264,0.2753018137181184],[-0.46646459050323985,0.325232559854375]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.5245383763027105,-0.7995027032292603,0.71338606911949],"aabb_xy":[[-0.5743551557675453,-0.8495027017135635],[-0.47472159683787574,-0.7495027047449567]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.6563432563430235,-1.8395532666227579,0.71338606911949],"aabb_xy":[[-0.6643695269736496,-1.8483047616001105],[-0.6483169857123976,-1.8308017716454053]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.6215982475317546,0.6122369988124681,0.71338606911949],"aabb_xy":[[-0.6715930804596962,0.5622369999172245],[-0.571603414603813,0.6622369977077116]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[0.010232432957566373,-2.405701595876479,0.71338606911949],"aabb_xy":[[-0.0358526582971651,-2.469701593129034],[0.05631752421229785,-2.341701598623924]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.39905121037845354,1.3183613324180952,0.71338606911949],"aabb_xy":[[-0.4043837250330665,1.3130370041728598],[-0.39371869572384055,1.323685660663331]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.5435964049170527,-2.4938212533155872,0.71338606911949],"aabb_xy":[[-0.5612720355056511,-2.5115014695949895],[-0.5259207743284544,-2.476141037036184]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[-0.014126579461853361,-0.6342390761590109,0.71338606911949],"aabb_xy":[[-0.022162914163138203,-0.6422771954634277],[-0.006090244760568518,-0.6262009568545941]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.2710203016705856,-2.158570677136093,0.71338606911949],"aabb_xy":[[-0.3060203015666045,-2.166944912648033],[-0.23602030177456676,-2.150196441624153]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[-0.4152347485629798,-1.9910829457949832,0.71338606911949],"aabb_xy":[[-0.4191952323327142,-1.9987508103805038],[-0.4112742647932455,-1.9834150812094626]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[0.16307078030402689,-1.1444052375208933,0.71338606911949],"aabb_xy":[[0.07307077662710869,-1.2058376440979974],[0.253070783980945,-1.0829728309437887]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.4241364090459523,-0.008886552673184944,0.71338606911949],"aabb_xy":[[0.41709609911241535,-0.08888655207285635],[0.43117671897948934,0.07111344672648647]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[0.422137865181367,-1.766778496492752,0.71338606911949],"aabb_xy":[[0.40207945356812674,-1.7868435834019094],[0.4421962767946073,-1.7467134095835941]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.6013338768906789,1.1868622161978717,0.71338606911949],"aabb_xy":[[0.5788691069192736,1.164362215319011],[0.6237986468620839,1.209362217076732]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.28437122588076896,-1.0300042193464123,0.71338606911949],"aabb_xy":[[-0.30688491770422616,-1.1000042199474196],[-0.26185753405731177,-0.9600042187454045]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6522295014514489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7348.png","name":"7348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7822.png","name":"7822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6500.png","name":"6500"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4070.png","name":"4070"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.9316317283844,"rotation_z_degrees":114.9597907146141,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00863739538608284,0.003624534281800443,-0.01233503291779834]},{"name":"camera_2","offset_m":[-0.012349488947000076,0.009878992216292171,-0.013496700101825826]},{"name":"camera_3","offset_m":[0.004679905879482339,0.0045944177180490715,0.008257306103061957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018903774347124027,7.576578154855091e-05,-0.0007535829461124987],"end_effector_yaw_offset_degrees":-0.40372414466890527},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011037747775332152,0.0007378041266389024,0.00169719534255101],"end_effector_yaw_offset_degrees":0.24372795120004143},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019563423611842854,-1.885605733333625e-05,-0.0018012566212504022],"end_effector_yaw_offset_degrees":-0.2763658216882563}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016874119884175286,-0.004700890077607767],"position_m":[0.27271258801158244,-0.12250089007760777,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004987103679984427,-0.0009583558938043987],"position_m":[0.28138710367998443,0.27914164410619563,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004488228555490603,0.001898544087081705],"position_m":[0.2972882285554906,0.014598544087081704,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004954204583769018,-0.003448986522139378],"position_m":[0.05014579541623099,0.4089510134778606,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046891719953851925,0.004272239887481305],"position_m":[0.16528917199538518,-0.43232776011251867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c57835301871593ebb87ddf6181e8c62a29ac20cbd9a26cdb1f1afc690b27f2","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6195/tex_ceiling_textures_4070/tex_floor_textures_6500/tex_table_textures_7348/tex_wall_textures_7822","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1362073443807553034,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1362073443807553034,"visual_seed":1362073443807553034,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:37"} +{"episode_id":"ep_000055","started_at":"2026-09-03T19:37:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.2067125132468362,0.2582573131010033,0.71338606911949],"aabb_xy":[[-0.2108483695795364,0.2207573136566463],[-0.202576656914136,0.2957573125453603]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.3300045087419313,-2.358832145672262,0.71338606911949],"aabb_xy":[[-0.4000045103442108,-2.3722649388739194],[-0.26000450713965184,-2.3453993524706043]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.3992764771871269,0.5185244717398798,0.71338606911949],"aabb_xy":[[0.35399786230597763,0.45452447239169613],[0.44455509206827615,0.5825244710880635]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.5435905148252886,0.8037491067470532,0.71338606911949],"aabb_xy":[[0.534430635881412,0.7972178887035162],[0.5527503937691652,0.8102803247905903]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.36090901610137305,-2.5773916651613016,0.71338606911949],"aabb_xy":[[0.3259090162053542,-2.5857659006732416],[0.3959090159973919,-2.5690174296493615]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.13147784582384925,-1.2420851321849782,0.71338606911949],"aabb_xy":[[0.08648525910539884,-1.287085131459427],[0.17647043254229966,-1.1970851329105294]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.6739742062726568,-2.2783179919109826,0.71338606911949],"aabb_xy":[[0.6239742049888167,-2.328296846301604],[0.7239742075564967,-2.2283391375203596]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.30959716518567193,1.034465319581455,0.71338606911949],"aabb_xy":[[0.3014835105122948,1.026359503127426],[0.317710819859049,1.0425711360354841]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.40333302111130753,-1.4513306390196095,0.71338606911949],"aabb_xy":[[0.3393330208508367,-1.4963394383725372],[0.46733302137177835,-1.4063218396666812]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.18074399051520484,1.5537870913457161,0.71338606911949],"aabb_xy":[[-0.2111421016143484,1.5233801893440464],[-0.15034587941606123,1.5841939933473854]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[0.7092269225509524,1.421041291860624,0.71338606911949],"aabb_xy":[[0.6959959770162711,1.4078138728386242],[0.7224578680856337,1.434268710882623]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.4940479568273111,-2.178584182297787,0.71338606911949],"aabb_xy":[[-0.5116807924208385,-2.1962071283134095],[-0.4764151212337835,-2.1609612362821635]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.11037942199598749,1.602958134086832,0.71338606911949],"aabb_xy":[[0.09048838211564725,1.5903023228021356],[0.13027046187632774,1.6156139453715292]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.22845862725649912,-1.5037920446970137,0.71338606911949],"aabb_xy":[[0.21078299666790076,-1.5214722609764162],[0.24613425784509743,-1.4861118284176107]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.15973626312524547,-1.304186055280015,0.71338606911949],"aabb_xy":[[-0.22373626503758784,-1.3600972045380255],[-0.09573626121290316,-1.2482749060220046]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.5889338844603523,-1.7707638541037287,0.71338606911949],"aabb_xy":[[-0.6189014413701781,-1.8007638544016142],[-0.5589663275505268,-1.7407638538058428]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.6088734243412808,-2.1443940892880358,0.71338606911949],"aabb_xy":[[0.5942300187872477,-2.1590528089448195],[0.6235168298953137,-2.129735369631251]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.4540839423876988,-2.2661273782020217,0.71338606911949],"aabb_xy":[[0.39008394016729175,-2.31050046232731],[0.5180839446081058,-2.2217542940767334]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.6070204816633533,0.29195491902624227,0.71338606911949],"aabb_xy":[[0.5957754260927354,0.280713121302147],[0.618265537233971,0.30319671675033755]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.43090039987232776,-2.4097903849384297,0.71338606911949],"aabb_xy":[[0.4248057719842094,-2.4183597794900984],[0.436995027760446,-2.401220990386761]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[0.5665788874526192,-1.6559285867638256,0.71338606911949],"aabb_xy":[[0.5114536818230283,-1.7159285882051125],[0.6217040930822099,-1.5959285853225382]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.2834824372858151,-1.0977733779556895,0.71338606911949],"aabb_xy":[[-0.2915257972117703,-1.182773379051056],[-0.27543907735985995,-1.012773376860323]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[0.005406394358479005,-1.6509260783197641,0.71338606911949],"aabb_xy":[[-0.07459360260456016,-1.7280017199635374],[0.08540639132151817,-1.5738504366759904]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[0.0024848121885590047,-2.3307867705975984,0.71338606911949],"aabb_xy":[[-0.06751518422140278,-2.351224706249279],[0.07248480859852079,-2.3103488349459154]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.5794966805513037,-1.4224008206556964,0.71338606911949],"aabb_xy":[[-0.6444966787072227,-1.4486970652056086],[-0.5144966823953846,-1.3961045761057842]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[0.46586393924541114,0.18084146186264105,0.71338606911949],"aabb_xy":[[0.4571659769546959,0.16871648755516633],[0.4745619015361265,0.1929664361701158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6505547076083595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9283.png","name":"9283"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9283.png","name":"9283"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1569.png","name":"1569"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2680.png","name":"2680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9532.png","name":"9532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7678.png","name":"7678"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":658.3363761009449,"rotation_z_degrees":276.42826385303675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01360750501769684,0.017557376515362207,-0.004730707312191638]},{"name":"camera_2","offset_m":[-0.014895449591207113,-0.019097185641586068,-0.01056041127281989]},{"name":"camera_3","offset_m":[-0.0024425979928176626,-0.01738276908286004,-0.017165103180890182]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000253926307367959,0.0004366600815804331,-0.00184256014477058],"end_effector_yaw_offset_degrees":-0.00665876770332563},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018623233789458044,-0.0005305953539523056,-0.0015457147204222476],"end_effector_yaw_offset_degrees":0.43796148397278434},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017417424586313008,0.0017933399285387551,0.0017181827075628746],"end_effector_yaw_offset_degrees":-0.35796862955786213}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00482699723757697,0.002552672761067876],"position_m":[0.269573002762423,-0.11524732723893212,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004440542845096154,-0.002325961090980031],"position_m":[0.2719594571549038,0.27777403890901997,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012351240346699776,0.0005283063276766775],"position_m":[0.29403512403466997,0.013228306327676676,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002161563221737119,-0.0031547471672890336],"position_m":[0.05726156322173712,0.40924525283271096,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00045962519276107876,0.001022562630519576],"position_m":[0.16014037480723892,-0.4355774373694804,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93458bb1fd45c5f8549c1241f429c7b68431d2a0a037d7b17e0020e2e6dade8d","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9283/tex_ceiling_textures_7678/tex_floor_textures_9532/tex_table_textures_1569/tex_wall_textures_2680","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3750631465995863842,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3750631465995863842,"visual_seed":3750631465995863842,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:07"} +{"episode_id":"ep_000056","started_at":"2026-09-03T19:40:11","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.029087380613791902,1.0296987362869752,0.71338606911949],"aabb_xy":[[-0.05905493752361757,0.9996987359890896],[0.0008801762960337668,1.0596987365848611]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.5218242209809991,-1.788153338145293,0.71338606911949],"aabb_xy":[[0.5162425493468702,-1.8006533379630687],[0.5274058926151278,-1.7756533383275177]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.08659872152542447,-2.037961895908966,0.71338606911949],"aabb_xy":[[-0.15159871940707226,-2.089085559615507],[-0.021598723643776675,-1.9868382322024254]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.27381122855791407,0.779674176118891,0.71338606911949],"aabb_xy":[[0.19381123154366608,0.7595396244454796],[0.35381122557216205,0.7998087277923022]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.11365975406017792,-0.6198545792571981,0.71338606911949],"aabb_xy":[[-0.13033689005327342,-0.6365545032311284],[-0.09698261806708242,-0.6031546552832678]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.1355500432027964,-1.8863402248459682,0.71338606911949],"aabb_xy":[[0.1267479878938237,-1.8941515510008968],[0.1443520985117691,-1.8785288986910387]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.6462050065781069,0.8708831688990895,0.71338606911949],"aabb_xy":[[0.609170897150047,0.8365059615653799],[0.6832391160061665,0.9052603762327988]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.4566498692942759,1.4561529130727977,0.71338606911949],"aabb_xy":[[-0.46599687687657115,1.441849290855154],[-0.4473028617119807,1.470456535290442]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.19106044918883003,-0.2765452353287712,0.71338606911949],"aabb_xy":[[-0.22856044761223038,-0.28970944929660175],[-0.15356045076542968,-0.2633810213609405]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.09187273532122342,-1.5259426400946858,0.71338606911949],"aabb_xy":[[0.07486263803117277,-1.5420771285929598],[0.10888283261127407,-1.509808151596412]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.540853121739215,0.6285803578014666,0.71338606911949],"aabb_xy":[[-0.6008531222470679,0.5717336241155453],[-0.4808531212313621,0.6854270914873879]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.37734474490897113,-0.9491938630907002,0.71338606911949],"aabb_xy":[[-0.38458851095521646,-1.0291938612943026],[-0.3701009788627258,-0.8691938648870978]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.17977230105871744,0.5787989149763777,0.71338606911949],"aabb_xy":[[-0.2102565511857476,0.5287989151948816],[-0.1492880509316873,0.6287989147578735]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.6337943117708986,1.4564064368906098,0.71338606911949],"aabb_xy":[[0.5537943148078593,1.3793307952468363],[0.7137943087339377,1.5334820785343832]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.42724881095920275,0.558227548175267,0.71338606911949],"aabb_xy":[[0.3472488087964402,0.47827236454912336],[0.5072488131219652,0.6381827318014106]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.3983034209255416,-1.4081656870204031,0.71338606911949],"aabb_xy":[[0.3827476515152764,-1.4237161202648105],[0.4138591903358069,-1.3926152537759962]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.3462174609531265,-0.3425119128232712,0.71338606911949],"aabb_xy":[[-0.38121746230460823,-0.36287164878009204],[-0.31121745960164476,-0.32215217686645037]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.025178475703192205,0.3604714471495658,0.71338606911949],"aabb_xy":[[-0.04272517061931114,0.3229714455853146],[-0.007631780787073272,0.3979714487138171]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.6481596396663263,1.687900201040272,0.71338606911949],"aabb_xy":[[0.6256596391542857,1.6654083426748734],[0.6706596401783669,1.71039205940567]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.10731199561825444,-1.7330024953896148,0.71338606911949],"aabb_xy":[[-0.12619637938676465,-1.7518884201699674],[-0.08842761184974425,-1.7141165706092618]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.46022752657833177,1.7672371178006094,0.71338606911949],"aabb_xy":[[0.38022752859754666,1.7596355768387575],[0.5402275245591167,1.7748386587624614]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.3347685048055806,-0.871960170809668,0.71338606911949],"aabb_xy":[[0.25104627930549817,-0.9619601743443639],[0.4184907303056631,-0.781960167274972]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.21016207604375442,-1.787855643944327,0.71338606911949],"aabb_xy":[[-0.23800711282436154,-1.8186401426826388],[-0.1823170392631473,-1.7570711452060155]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[0.4825894437379308,-2.1426356786543503,0.71338606911949],"aabb_xy":[[0.4488138845472377,-2.1566741738675153],[0.5163650029286236,-2.1285971834411854]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.2007371611303307,-2.192798659957588,0.71338606911949],"aabb_xy":[[-0.22525078522733658,-2.217063253259624],[-0.17622353703332486,-2.168534066655551]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.28455364979806375,-0.4397505291572803,0.71338606911949],"aabb_xy":[[0.2784590219099454,-0.448319923708949],[0.29064827768618207,-0.4311811346056116]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[-0.21081516796533728,-1.355805107393323,0.71338606911949],"aabb_xy":[[-0.26581064578599667,-1.4108051088272298],[-0.15581969014467786,-1.300805105959416]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[0.5002736290319465,-1.3822434940185706,0.71338606911949],"aabb_xy":[[0.4656825461779012,-1.4472434943036012],[0.5348647118859916,-1.317243493733539]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.5548004577434238,-1.1407111330008812,0.71338606911949],"aabb_xy":[[-0.5724332933369513,-1.158334079016504],[-0.5371676221498961,-1.123088186985258]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[0.25256918834383413,1.4184653648147658,0.71338606911949],"aabb_xy":[[0.1909784291198413,1.3544653667057192],[0.31415994756782695,1.482465362923813]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[-0.3618773698146521,1.1315394454147332,0.71338606911949],"aabb_xy":[[-0.37704953909628547,1.1163705884865298],[-0.3467052005330188,1.1467083023429365]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_31","position":[-0.011944123524602945,-2.171531423937915,0.71338606911949],"aabb_xy":[[-0.07694412463054623,-2.1964967970060436],[0.05305587758134034,-2.146566050869787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6536799486947035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5750.png","name":"5750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7620.png","name":"7620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5383.png","name":"5383"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":798.6104271546542,"rotation_z_degrees":224.16302861776606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01695735503620462,-0.00992167350573061,-0.0023766794107380126]},{"name":"camera_2","offset_m":[0.0047080272515674475,-0.017799676840109947,0.0048382510352765785]},{"name":"camera_3","offset_m":[-0.01687810095007941,0.0010003014529914277,0.008599069061982666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00091488711688159,-0.0017009476096250834,-0.00127359354175585],"end_effector_yaw_offset_degrees":0.6312964765543314},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014097097833642319,-0.0003345563033141574,0.0017273172744089187],"end_effector_yaw_offset_degrees":-0.1638164767660386},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017309926039501228,0.0017513829662875388,-0.0018978498753069047],"end_effector_yaw_offset_degrees":0.818176078722257}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00380375858160289,0.0023409933829210408],"position_m":[0.2705962414183971,-0.11545900661707896,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002636268645147657,0.00038745325463928476],"position_m":[0.2737637313548523,0.2804874532546393,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0034476350269067426,0.004832345073928094],"position_m":[0.29624763502690676,0.017532345073928094,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016746575693586882,0.002327829437193827],"position_m":[0.05677465756935869,0.41472782943719383,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000334166877698756,-0.002758548501510468],"position_m":[0.16093416687769874,-0.43935854850151046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"daecf1457f81054b83a9863774661940f74a562e380d3be40d396ffe0597d8db","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3514/tex_ceiling_textures_5383/tex_floor_textures_3590/tex_table_textures_5750/tex_wall_textures_7620","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4381650118320398932,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4381650118320398932,"visual_seed":4381650118320398932,"scene_id":"lab_003","finished_at":"2026-09-03T19:42:38"} +{"episode_id":"ep_000057","started_at":"2026-09-03T19:42:42","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.18826358033044566,-1.566039832677879,0.71338606911949],"aabb_xy":[[0.1770185247598278,-1.577281630401974],[0.19950863590106346,-1.5547980349537835]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.030108601575132954,-2.1641898138159235,0.71338606911949],"aabb_xy":[[-0.0676085999985333,-2.177354027783754],[0.007391396848267395,-2.1510255998480927]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.5943764810215784,-2.49076201113102,0.71338606911949],"aabb_xy":[[0.571876481207676,-2.4952366275015008],[0.6168764808354807,-2.4862873947605397]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.1966583673861847,-1.7419722698817188,0.71338606911949],"aabb_xy":[[0.17415836714266927,-1.7541769045414908],[0.21915836762970006,-1.7297676352219469]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.48013118686384737,-2.338965066085339,0.71338606911949],"aabb_xy":[[0.47669051062379025,-2.3428264990597034],[0.4835718631039046,-2.3351036331109745]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.04312012051890579,1.4031096668899816,0.71338606911949],"aabb_xy":[[-0.12312011767848108,1.3915620659321644],[0.0368798766406695,1.4146572678477984]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.03718940177598695,-1.3360663889148192,0.71338606911949],"aabb_xy":[[0.002189402646031291,-1.341811609990483],[0.07218940090594261,-1.3303211678391549]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.018767620896627535,1.5384888749045689,0.71338606911949],"aabb_xy":[[0.013309675259607464,1.4584888715969098],[0.0242255665336476,1.618488878212228]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.49325505565760963,-1.1986897599174018,0.71338606911949],"aabb_xy":[[0.4557550553093819,-1.2104811554984853],[0.5307550560058374,-1.1868983643363182]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.44250082231775534,-0.018602897827156184,0.71338606911949],"aabb_xy":[[0.42500082318338817,-0.028482524864744008],[0.4600008214521225,-0.008723270789568362]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.5647683066342133,0.3926450694672807,0.71338606911949],"aabb_xy":[[-0.6100469215153626,0.32864507011909705],[-0.519489691753064,0.4566450688154644]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.6003989592956402,0.705720851018929,0.71338606911949],"aabb_xy":[[-0.6903989590188142,0.682647498483749],[-0.5103989595724658,0.7287942035541086]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.17221633508774914,-0.952307654447957,0.71338606911949],"aabb_xy":[[-0.2522163324913425,-1.0323002256461395],[-0.0922163376841557,-0.872315083249774]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.6347878272852863,-1.9112232275775072,0.71338606911949],"aabb_xy":[[-0.676036638315201,-1.9662232270897246],[-0.5935390162553715,-1.8562232280652897]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.4120209768926048,-2.2859556552098494,0.71338606911949],"aabb_xy":[[-0.4920209801504478,-2.3659521630018334],[-0.3320209736347619,-2.2059591474178655]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.010879355912304933,-1.1759763726043992,0.71338606911949],"aabb_xy":[[-0.05587935737853379,-1.22097622946588],[0.03412064555392392,-1.1309765157429186]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.2934696993695546,-1.453766697842729,0.71338606911949],"aabb_xy":[[0.2860572438281661,-1.4596179082643568],[0.30088215491094306,-1.4479154874211009]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.14112640268088117,-1.9519138557920104,0.71338606911949],"aabb_xy":[[-0.20512639998322757,-1.9962802827598671],[-0.07712640537853477,-1.9075474288241536]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.5326724470806685,-0.9339507224436565,0.71338606911949],"aabb_xy":[[-0.5452992343678649,-0.9434967961452293],[-0.5200456597934722,-0.9244046487420835]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.6890023506308558,0.3495374665647759,0.71338606911949],"aabb_xy":[[0.662713526310415,0.3232660329101246],[0.7152911749512963,0.3758089002194271]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.6697093498676987,-0.3635236500932204,0.71338606911949],"aabb_xy":[[0.663672336867034,-0.3695503511621687],[0.6757463628683634,-0.3574969490242723]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[0.2776319477186292,-1.1876626054968,0.71338606911949],"aabb_xy":[[0.24333503670088852,-1.2219594917067411],[0.3119288587363698,-1.1533657192868585]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.5142965224349185,0.13234389018313397,0.71338606911949],"aabb_xy":[[-0.5614259014367541,0.06834388913873196],[-0.46716714343308274,0.19634389122753587]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.13103813526800945,-0.7102391735229892,0.71338606911949],"aabb_xy":[[-0.1441893812392988,-0.7352391732796757],[-0.11788688929672009,-0.6852391737663026]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[-0.27371620730402035,0.8724753647920434,0.71338606911949],"aabb_xy":[[-0.28243017635395473,0.8499753641328549],[-0.26500223825408575,0.8949753654512314]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.05169892120117148,-0.45243830218829384,0.71338606911949],"aabb_xy":[[-0.0749807633993028,-0.5374383034855219],[-0.028417079003040132,-0.36743830089106577]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.5426194450835233,-0.7415599273138958,0.71338606911949],"aabb_xy":[[0.48261944422271047,-0.792986357320382],[0.602619445944336,-0.6901334973074092]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.5802640901228076,0.8070039245729554,0.71338606911949],"aabb_xy":[[0.5577503982993504,0.7370039239719479],[0.6027777819462647,0.877003925173963]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.23448323736327203,0.9241768182973225,0.71338606911949],"aabb_xy":[[0.223915757705173,0.9136317881843139],[0.24505071702137102,0.934721848410331]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_29","position":[0.6529054591244456,0.1378513473656704,0.71338606911949],"aabb_xy":[[0.6400335556235054,0.05785134695183424],[0.6657773626253857,0.21785134777950652]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.09468239762136366,-0.8001054067603657,0.71338606911949],"aabb_xy":[[0.057182399045742856,-0.8128417024239236],[0.13218239619698446,-0.7873691110968077]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[0.4197055140942785,-1.2721040853912882,0.71338606911949],"aabb_xy":[[0.4022747990152719,-1.2893762000551388],[0.43713622917328493,-1.2548319707274371]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_32","position":[0.17302482788198292,-1.8945769641316899,0.71338606911949],"aabb_xy":[[0.1491886102413779,-1.9845769649401765],[0.19686104552258804,-1.8045769633232036]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_33","position":[-0.2684425166161461,-0.3156760166162189,0.71338606911949],"aabb_xy":[[-0.30594251711350434,-0.3196447001643373],[-0.23094251611878786,-0.3117073330681005]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521696795165302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8040.png","name":"8040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8040.png","name":"8040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1087.png","name":"1087"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3814.png","name":"3814"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":605.4303248698247,"rotation_z_degrees":55.697547886495705,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030652074517955354,0.008975150620143708,-0.004641758400817984]},{"name":"camera_2","offset_m":[0.009843687667093943,0.0014480013888140061,0.00981172441439989]},{"name":"camera_3","offset_m":[-0.014831125259008142,0.011257846484144188,-0.018557965483552458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018189916221770632,0.0018226374299403674,0.000456196430050368],"end_effector_yaw_offset_degrees":-0.5693071725322327},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008573207009369074,0.0015564166852093469,0.0013128770103807371],"end_effector_yaw_offset_degrees":-0.8521989827940128},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015298935702841034,7.878464396334113e-05,-0.0004794247445788855],"end_effector_yaw_offset_degrees":-0.10229013796121644}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001177526716904772,-0.0010133491615374772],"position_m":[0.2732224732830952,-0.11881334916153748,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004653019951805708,0.00014468409884078968],"position_m":[0.2810530199518057,0.2802446840988408,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0008458458994936224,0.0032113744757002174],"position_m":[0.2936458458994936,0.015911374475700218,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003255843225886581,-0.002246508128816793],"position_m":[0.05184415677411342,0.4101534918711832,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00034064098087590623,-0.001254462118200681],"position_m":[0.16025935901912408,-0.43785446211820067,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6dbc9ba122683df3e26de850bbe6022dbbb1a34f57817f467fec4c8157161c1b","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8040/tex_ceiling_textures_631/tex_floor_textures_3814/tex_table_textures_9024/tex_wall_textures_1087","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3986884453254716338,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3986884453254716338,"visual_seed":3986884453254716338,"scene_id":"lab_003","finished_at":"2026-09-03T19:45:09"} +{"episode_id":"ep_000058","started_at":"2026-09-03T19:45:11","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.40467133310871095,0.30635790339981117,0.71338606911949],"aabb_xy":[[-0.4946713325270818,0.27298240655562145],[-0.31467133369034,0.3397334002440009]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.21690891865610185,1.6662986842880172,0.71338606911949],"aabb_xy":[[0.13690891818588594,1.657987976673669],[0.29690891912631784,1.6746093919023655]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.29341627633858963,1.3585576957463292,0.71338606911949],"aabb_xy":[[-0.3734162743193747,1.3509561547844773],[-0.2134162783578046,1.3661592367081812]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.31351337100117305,-2.0136710324156466,0.71338606911949],"aabb_xy":[[0.305810180327096,-2.0213804031143843],[0.3212165616752501,-2.005961661716908]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.18874251851448853,-0.655650183017217,0.71338606911949],"aabb_xy":[[0.18170106756374096,-0.6626769347550115],[0.19578396946523616,-0.6486234312794225]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.2702719443452185,1.0180121610075488,0.71338606911949],"aabb_xy":[[0.2327719459218181,1.004847947039718],[0.3077719427686188,1.0311763749753795]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.6728497704920087,-0.662211449047835,0.71338606911949],"aabb_xy":[[0.6614880358387224,-0.6735799154541231],[0.6842115051452947,-0.6508429826415469]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.4154348928391547,-1.6337357237998336,0.71338606911949],"aabb_xy":[[0.35143488954944657,-1.677070642803751],[0.4794348961288628,-1.5904008047959157]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.6081948568742529,-0.7399813314960506,0.71338606911949],"aabb_xy":[[-0.6242567843327704,-0.8249813333086423],[-0.5921329294157351,-0.6549813296834587]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.15631287078469058,1.2700602272724284,0.71338606911949],"aabb_xy":[[-0.17637128239793087,1.249995140363271],[-0.1362544591714503,1.2901253141815858]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.3753840491556709,1.6312256635070344,0.71338606911949],"aabb_xy":[[-0.3932531569101264,1.6173927555298233],[-0.3575149414012154,1.6450585714842454]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.47349663947916176,-0.24454249084017077,0.71338606911949],"aabb_xy":[[0.4697933781500228,-0.2482445091488886],[0.4771999008083006,-0.24084047253145288]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.32036989729962206,0.8696986311825428,0.71338606911949],"aabb_xy":[[0.23036989362270383,0.8082662246054383],[0.41036990097654014,0.931131037759647]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.4364666663606911,1.2675362969993116,0.71338606911949],"aabb_xy":[[0.4060685552615475,1.2371293949976419],[0.4668647774598347,1.2979431990009809]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.2610518544144521,-2.238193799992622,0.71338606911949],"aabb_xy":[[-0.269266399530136,-2.2468703902902623],[-0.252837309298768,-2.2295172096949796]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.2608219548439592,-1.1972643096373725,0.71338606911949],"aabb_xy":[[0.18082195158611625,-1.2772608174293565],[0.34082195810180216,-1.1172678018453885]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.1700955640092504,0.9913529281078657,0.71338606911949],"aabb_xy":[[-0.20759556552488212,0.9801261550917206],[-0.1325955624936187,1.0025797011240107]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.4845879672609532,-0.5035617502959786,0.71338606911949],"aabb_xy":[[0.4626792851216021,-0.5254624171160693],[0.5064966494003043,-0.4816610834758879]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.4856753161773626,0.9844646111061088,0.71338606911949],"aabb_xy":[[-0.5506753143332817,0.9581683665561966],[-0.42067531802144353,1.010760855656021]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.004398919186501149,-0.8135704976130731,0.71338606911949],"aabb_xy":[[-0.04189891776212195,-0.8263067932766309],[0.03310107938911965,-0.800834201949515]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.45634019222072497,-1.192155035357422,0.71338606911949],"aabb_xy":[[-0.5113401904224697,-1.2326770019838593],[-0.40134019401898013,-1.1516330687309841]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.021725459398041158,-0.41175726018827197,0.71338606911949],"aabb_xy":[[-0.03922539283202453,-0.42925726010850646],[-0.004225525964057786,-0.39425726026803737]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.5101654673540348,0.6196202359388003,0.71338606911949],"aabb_xy":[[0.47968121722700463,0.5696202361573044],[0.5406497174810649,0.6696202357202963]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.3244522071372205,1.7720419611343599,0.71338606911949],"aabb_xy":[[-0.35793137439826145,1.738562847763253],[-0.29097303987617956,1.805521074505467]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.633816436051827,0.21506387864863452,0.71338606911949],"aabb_xy":[[0.5438164363286527,0.19199052611345463],[0.7238164357750011,0.2381372311838143]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[-0.12487175954778262,-0.6820949337594413,0.71338606911949],"aabb_xy":[[-0.17475445642547885,-0.7320949330057162],[-0.07498906267008644,-0.6320949345131667]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.38154122581438865,-0.29959034820051134,0.71338606911949],"aabb_xy":[[0.35904122600048627,-0.304064964570992],[0.40404122562829103,-0.29511573183003065]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.12208275766073351,0.349096174768301,0.71338606911949],"aabb_xy":[[-0.15454445854266094,0.3189633426533984],[-0.08962105677880604,0.37922900688320366]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.6365372105721315,1.1341138318438957,0.71338606911949],"aabb_xy":[[-0.6740372109203592,1.1223224362628121],[-0.5990372102239037,1.1459052274249792]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_29","position":[0.4468068235605487,-1.0415936711182283,0.71338606911949],"aabb_xy":[[0.4412251519264199,-1.0540936709360036],[0.45238849519467744,-1.0290936713004526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6499615838764072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7520.png","name":"7520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7520.png","name":"7520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3033.png","name":"3033"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5139.png","name":"5139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6483.png","name":"6483"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6450.png","name":"6450"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":753.4799935832974,"rotation_z_degrees":341.71146324528235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038383787749978054,-0.007033177202076066,0.004955667400412138]},{"name":"camera_2","offset_m":[0.01852505847089343,0.01977842225789438,0.010344508985616892]},{"name":"camera_3","offset_m":[0.017620504096661948,-0.01987156773628553,-0.013994653269467344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011603311675513431,-0.0006474349361517101,-0.00016735497024280752],"end_effector_yaw_offset_degrees":0.4124967495225009},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013581960844321027,-0.0008273825149967991,0.0007023975257584979],"end_effector_yaw_offset_degrees":-0.12435924158456912},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008224631827766524,0.0010966889778599239,0.0003088139280653045],"end_effector_yaw_offset_degrees":0.05802515514306439}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029009733372343588,0.0011853964382632955],"position_m":[0.27730097333723436,-0.11661460356173671,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003631530902320167,0.0037184007732182266],"position_m":[0.2727684690976798,0.28381840077321824,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003939635794565406,0.0049730652132959725],"position_m":[0.2967396357945654,0.017673065213295973,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020273190026108357,-0.004129933327910507],"position_m":[0.05307268099738917,0.4082700666720895,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004610466661270446,-0.0026612698328044295],"position_m":[0.15598953333872956,-0.4392612698328044,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93429a07cb92275d51e84d43ce1ae077164e8d2805ff2a5e501b15630b8c47ef","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7520/tex_ceiling_textures_6450/tex_floor_textures_6483/tex_table_textures_3033/tex_wall_textures_5139","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4488839955935415268,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4488839955935415268,"visual_seed":4488839955935415268,"scene_id":"lab_003","finished_at":"2026-09-03T19:47:40"} +{"episode_id":"ep_000059","started_at":"2026-09-03T19:47:43","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.5345241212901422,-1.789372551412944,0.71338606911949],"aabb_xy":[[-0.557023257016369,-1.8118725521912067],[-0.5120249855639151,-1.7668725506346807]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.4789817808592627,1.1266896823473984,0.71338606911949],"aabb_xy":[[0.47352383522224256,1.0466896790397393],[0.4844397264962827,1.2066896856550575]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.4475689739728015,-1.40624855530007,0.71338606911949],"aabb_xy":[[0.4107184260358139,-1.443748556123104],[0.4844195219097891,-1.3687485544770366]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.4817062493141644,-0.7936925808819328,0.71338606911949],"aabb_xy":[[0.458424407116033,-0.8786925821791609],[0.5049880915122956,-0.7086925795847048]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.36020505566077604,-0.3255661303558779,0.71338606911949],"aabb_xy":[[-0.44020505431766205,-0.3400709892801407],[-0.28020505700389003,-0.3110612714316151]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.35803127769595955,-0.7309464255590818,0.71338606911949],"aabb_xy":[[0.3405313442619762,-0.7484464254793163],[0.3755312111299429,-0.7134464256388472]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.379984014680389,-2.4870365233859575,0.71338606911949],"aabb_xy":[[0.3465438394843693,-2.520480149216887],[0.4134241898764085,-2.4535928975550263]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.07085281546250422,-1.2499144767104104,0.71338606911949],"aabb_xy":[[-0.07681935440323999,-1.2558756213697744],[-0.06488627652176841,-1.2439533320510465]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.6648735765005429,0.9122400921211926,0.71338606911949],"aabb_xy":[[-0.6740334554444196,0.9057088740776555],[-0.6557136975566664,0.9187713101647297]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.0028703192535933786,-0.8684953061482916,0.71338606911949],"aabb_xy":[[-0.04694646021124138,-0.9184953046325949],[0.05268709871842814,-0.8184953076639881]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[-0.4201296514547997,-2.047760658907561,0.71338606911949],"aabb_xy":[[-0.427373417501045,-2.1277606571111636],[-0.41288588540855437,-1.9677606607039588]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.026112215378050974,-2.0382417593313766,0.71338606911949],"aabb_xy":[[-0.03019037328510071,-2.0423227395796397],[-0.02203405747100123,-2.0341607790831135]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.240949385422638,-2.181954098210772,0.71338606911949],"aabb_xy":[[-0.3109493875540674,-2.204716063836468],[-0.17094938329120837,-2.1591921325850763]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.6757676060902698,-2.076221752242289,0.71338606911949],"aabb_xy":[[0.6708115859053886,-2.098721752444411],[0.6807236262751509,-2.0537217520401674]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.658722454077525,0.6549118063178612,0.71338606911949],"aabb_xy":[[-0.6837224536292635,0.6447693224527264],[-0.6337224545257866,0.6650542901829959]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.07667373486041595,1.2533299650953875,0.71338606911949],"aabb_xy":[[-0.08954563836135608,1.1733299646815516],[-0.0638018313594758,1.333329965509224]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.1885838848305521,-1.101642584607905,0.71338606911949],"aabb_xy":[[-0.26858388281133716,-1.1092441255697567],[-0.10858388684976707,-1.0940410436460528]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.14900058880360412,0.475667725650577,0.71338606911949],"aabb_xy":[[-0.19897939731392,0.42566772564485816],[-0.09902178029328823,0.5256677256562958]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.14943208653901585,-0.7372109883054669,0.71338606911949],"aabb_xy":[[0.11484100368497065,-0.8022109885904978],[0.18402316939306107,-0.6722109880204357]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.2513307014878401,0.573479346133261,0.71338606911949],"aabb_xy":[[0.19620549585824928,0.5134793446919738],[0.3064559071174308,0.633479347574548]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.03947652680134661,0.14677717907462817,0.71338606911949],"aabb_xy":[[-0.05194388491108227,0.1343118544413047],[-0.02700916869161097,0.1592425037079517]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.6013096872086444,-1.2736623305339767,0.71338606911949],"aabb_xy":[[-0.6813096876788605,-1.2819730381483254],[-0.5213096867384286,-1.2653516229196284]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.11453384609366946,-1.6694386561365242,0.71338606911949],"aabb_xy":[[0.1091962704276649,-1.694438657065664],[0.11987142175967404,-1.6444386552073844]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.6002787324770091,0.5277577639565307,0.71338606911949],"aabb_xy":[[0.5362787302566021,0.48338467983124245],[0.6642787346974162,0.572130848081819]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650646243917486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7153.png","name":"7153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8727.png","name":"8727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9894.png","name":"9894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1850.png","name":"1850"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.5962987940859,"rotation_z_degrees":180.99098092311715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01971651823327715,0.008615806895745114,0.0012891754277514003]},{"name":"camera_2","offset_m":[0.005949778028252993,-0.019910225087863706,0.003744901024298225]},{"name":"camera_3","offset_m":[0.011344939599953748,0.015683493495013277,0.0014459322768406654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018361731002364294,-0.0014281730626818398,0.0008391775505951784],"end_effector_yaw_offset_degrees":0.06298322696844028},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011311406845462588,-0.0010359977753476696,-0.0003543469204079076],"end_effector_yaw_offset_degrees":0.39878747207993226},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012502430418369673,-0.0012801061617458052,0.0008444730001308603],"end_effector_yaw_offset_degrees":-0.8778904630322966}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006123058114758991,-0.003105429249544131],"position_m":[0.27378769418852406,-0.12090542924954413,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015464362687730264,-0.001899289980643043],"position_m":[0.277946436268773,0.278200710019357,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0030910498877194815,0.0029103152029945215],"position_m":[0.28970895011228054,0.01561031520299452,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006196667257062586,0.004575365672092988],"position_m":[0.054480333274293746,0.416975365672093,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013430514574572306,-9.184204735755187e-05],"position_m":[0.15925694854254277,-0.43669184204735756,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2ac7c285835f65db9d2ff8bd41364064c4167587d8364f5731c582e349c3d96f","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2922/tex_ceiling_textures_1850/tex_floor_textures_9894/tex_table_textures_7153/tex_wall_textures_8727","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4915120517058373080,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4915120517058373080,"visual_seed":4915120517058373080,"scene_id":"lab_003","finished_at":"2026-09-03T19:50:08"} +{"episode_id":"ep_000060","started_at":"2026-09-03T19:50:12","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.2982544312795959,-0.3003073210984213,0.71338606911949],"aabb_xy":[[-0.30358694593420893,-0.3056316493436569],[-0.29292191662498296,-0.2949829928531857]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.5036249291744237,-0.8595855382259052,0.71338606911949],"aabb_xy":[[0.46712910854714496,-0.8960694806526626],[0.5401207498017024,-0.8231015957991474]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.19521100467614905,-2.005925129655486,0.71338606911949],"aabb_xy":[[-0.24521100562668183,-2.0374742766590073],[-0.1452110037256162,-1.9743759826519645]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.14863538013168864,-1.2621648220097612,0.71338606911949],"aabb_xy":[[0.1143191029570707,-1.3121648219829387],[0.18295165730630658,-1.2121648220365833]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.5185122995903965,-1.931871709470735,0.71338606911949],"aabb_xy":[[-0.582507996985493,-1.9958717077714434],[-0.4545166021952999,-1.867871711170026]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.10813931079570138,0.9100062830605111,0.71338606911949],"aabb_xy":[[0.08564288936183728,0.8875062832537636],[0.13063573222956548,0.9325062828672585]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.4617185486494768,-0.46390601104844054,0.71338606911949],"aabb_xy":[[-0.5116918426527373,-0.5139060116029879],[-0.4117452546462163,-0.41390601049389314]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.2622774310805369,-0.5927947079076596,0.71338606911949],"aabb_xy":[[0.20227742943761506,-0.6447948571996038],[0.32227743272345877,-0.5407945586157155]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.3863364303046575,-1.2120228755710476,0.71338606911949],"aabb_xy":[[-0.4248821231298585,-1.2505686466272363],[-0.34779073747945644,-1.1734771045148589]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.18710763804861186,-0.7937244497922262,0.71338606911949],"aabb_xy":[[-0.19513390867923788,-0.802475944769579],[-0.1790813674179859,-0.7849729548148737]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.5476251343988908,1.1125266390032649,0.71338606911949],"aabb_xy":[[-0.5651251336769777,1.095188538936919],[-0.530125135120804,1.1298647390696108]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.06972347897463638,0.4112903491586919,0.71338606911949],"aabb_xy":[[-0.09472347852637486,0.4011478652935571],[-0.044723479422897894,0.42143283302382656]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.507948428888076,-2.4522706021610885,0.71338606911949],"aabb_xy":[[0.4429484288537733,-2.4989712788414162],[0.5729484289223787,-2.4055699254807617]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.46476855879478957,-0.0045406002197436734,0.71338606911949],"aabb_xy":[[-0.514768559813925,-0.041006815957571614],[-0.4147685577756544,0.03192561551808427]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.49619375811156075,0.7136620701844154,0.71338606911949],"aabb_xy":[[0.47119375894592774,0.7067098244790588],[0.521193757277194,0.720614315889772]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.44752902011359097,-0.7103331231314578,0.71338606911949],"aabb_xy":[[-0.5115290174159373,-0.7546995500993146],[-0.3835290228112445,-0.665966696163601]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.33055144544163984,1.1424835414110825,0.71338606911949],"aabb_xy":[[0.26555144444113926,1.0916971762564076],[0.3955514464421403,1.1932699065657575]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.44202921402088724,-1.4300244077104933,0.71338606911949],"aabb_xy":[[0.37802921690878155,-1.479056777504904],[0.5060292111329929,-1.3809920379160827]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.6073999557444909,0.9026957085247362,0.71338606911949],"aabb_xy":[[-0.6408401309405103,0.869252082693806],[-0.5739597805484711,0.9361393343556662]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[0.36754267728156376,0.4136158069207081,0.71338606911949],"aabb_xy":[[0.3450289854581066,0.3436158063197005],[0.390056369105021,0.48361580752171557]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.27559682990091044,0.09494698320705064,0.71338606911949],"aabb_xy":[[-0.3395968271865591,0.05344026425420666],[-0.2115968326152618,0.1364537021598946]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.18205174573565053,1.2463780472556407,0.71338606911949],"aabb_xy":[[-0.20496745862070048,1.2234737501192172],[-0.15913603285060066,1.2692823443920642]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.17380072949889747,-0.13488373235107876,0.71338606911949],"aabb_xy":[[-0.2388007273805453,-0.18600739605761965],[-0.10880073161724971,-0.0837600686445379]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[0.6365187327775843,0.2045063446785904,0.71338606911949],"aabb_xy":[[0.6126825151369794,0.114506343870104],[0.6603549504181895,0.294506345487077]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.17740761037218622,-0.6850651376696721,0.71338606911949],"aabb_xy":[[-0.21170452138992682,-0.7193620238796133],[-0.14311069935444556,-0.6507682514597307]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.35312440816095025,-0.08650606007555162,0.71338606911949],"aabb_xy":[[-0.3657511954481466,-0.0960521337771245],[-0.3404976208737539,-0.0769599863739787]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.597718419201944,-1.0563331198212718,0.71338606911949],"aabb_xy":[[-0.6827184176193672,-1.1412074152835567],[-0.5127184207845208,-0.9714588243589868]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.47487787733880615,-2.199156731020997,0.71338606911949],"aabb_xy":[[-0.4836591044860425,-2.2079364783095277],[-0.46609665019157004,-2.190376983732467]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.47168480549870606,-0.1779117686558469,0.71338606911949],"aabb_xy":[[-0.4798124936920193,-0.18682537706655458],[-0.46355711730539284,-0.16899816024513928]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[0.09215493954925136,-0.7214301754177246,0.71338606911949],"aabb_xy":[[0.07460824463313243,-0.7589301769819758],[0.10970163446537029,-0.6839301738534733]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_30","position":[-0.5773336376534247,-1.4545950574155622,0.71338606911949],"aabb_xy":[[-0.632329115474084,-1.509595058849469],[-0.5223381598327652,-1.3995950559816552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6508723074764446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9519.png","name":"9519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9519.png","name":"9519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/468.png","name":"468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/864.png","name":"864"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8572.png","name":"8572"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/264.png","name":"264"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":789.1901737620933,"rotation_z_degrees":30.980409609052195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004563924611993252,-0.011908342726397368,-0.017059260279599732]},{"name":"camera_2","offset_m":[-0.013456851981116555,0.0034203447080458638,-0.01721135789183951]},{"name":"camera_3","offset_m":[-0.00673677398964883,0.0011805580460064052,0.0061820718430617635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.093351601177446e-05,-0.0015377756213958227,0.0007514181684163809],"end_effector_yaw_offset_degrees":0.6170473284019071},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00019596945645122214,-0.0005845528788820844,0.0006378230876860182],"end_effector_yaw_offset_degrees":0.024381817460332744},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001805548135028809,-0.0007829066299079401,0.0004421635437653103],"end_effector_yaw_offset_degrees":0.3414705712524986}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00035030126581362623,-7.563280104235046e-05],"position_m":[0.27404969873418633,-0.11787563280104235,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004298080409558439,0.0038273343795227855],"position_m":[0.2806980804095584,0.2839273343795228,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0004927456248268562,-9.458868531247999e-05],"position_m":[0.2932927456248269,0.01260541131468752,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00362109328694191,0.004604770133704659],"position_m":[0.05147890671305809,0.4170047701337046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016656319882569397,0.0029149982472998657],"position_m":[0.16226563198825694,-0.43368500175270014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e4dde5bff336738a693713e79e1729701019da0fad8d58adcce80d3fd5feda60","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9519/tex_ceiling_textures_264/tex_floor_textures_8572/tex_table_textures_468/tex_wall_textures_864","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":938460926862285801,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":938460926862285801,"visual_seed":938460926862285801,"scene_id":"lab_003","finished_at":"2026-09-03T19:52:43"} +{"episode_id":"ep_000061","started_at":"2026-09-03T19:52:46","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.30577209102012043,-1.1149211183921708,0.71338606911949],"aabb_xy":[[-0.3344214233805366,-1.1435666776692466],[-0.27712275865970415,-1.086275559115095]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.006583813822682583,-0.8081605763214845,0.71338606911949],"aabb_xy":[[-0.030168937286577435,-0.8731605785669163],[0.01700130964121227,-0.7431605740760527]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.21152750613329496,-0.622721597310639,0.71338606911949],"aabb_xy":[[0.16154455594581563,-0.6727215969531993],[0.2615104563207743,-0.5727215976680785]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.31125980711495976,0.7664034785114286,0.71338606911949],"aabb_xy":[[-0.3186722626563482,0.7605522680898007],[-0.30384735157357123,0.7722546889330566]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.3455698962384077,-1.1359868479579298,0.71338606911949],"aabb_xy":[[0.3109788133843625,-1.2009868482429606],[0.38016097909245294,-1.0709868476728985]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.49829993651616455,-0.11349345425395896,0.71338606911949],"aabb_xy":[[-0.5482999378770517,-0.16347135882937458],[-0.44829993515527733,-0.06351554967854335]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.5757773468887939,0.5624082033845399,0.71338606911949],"aabb_xy":[[-0.5892238735228372,0.5489383517314487],[-0.5623308202547506,0.5758780550376311]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.06478324383983003,-1.8531757687020312,0.71338606911949],"aabb_xy":[[-0.11978324346157587,-1.9081594614895039],[-0.009783244218084186,-1.7981920759145584]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.21119812969902407,1.8067958958593855,0.71338606911949],"aabb_xy":[[0.13119812922880814,1.7984851882450374],[0.29119813016924,1.815106603473734]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.37816901150705534,-1.2508997174237824,0.71338606911949],"aabb_xy":[[-0.3948461475001509,-1.2675996413977129],[-0.3614918755139599,-1.2341997934498523]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[0.37971106165165036,-2.472391551095994,0.71338606911949],"aabb_xy":[[0.3384065185879143,-2.5363915506641113],[0.4210156047153863,-2.408391551527877]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.13056465195138622,-1.609398118611518,0.71338606911949],"aabb_xy":[[0.0805646523750515,-1.659378697563624],[0.18056465152772094,-1.559417539659412]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.5448054882431141,-1.8460976006777345,0.71338606911949],"aabb_xy":[[-0.6298054866605375,-1.9309718961400197],[-0.459805489825691,-1.7612233052154498]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.59144437173463,-1.4079514944949345,0.71338606911949],"aabb_xy":[[0.5114443684767871,-1.4879480022869183],[0.671444374992473,-1.3279549867029503]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.2423867799576272,-1.5808408172715327,0.71338606911949],"aabb_xy":[[-0.3063867763849491,-1.6280104410936291],[-0.1783867835303053,-1.5336711934494363]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.389799336853793,-0.22240777303851234,0.71338606911949],"aabb_xy":[[-0.3992168114236557,-0.23182395017623134],[-0.3803818622839302,-0.21299159590079328]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.4529142328410671,-1.6335661256010554,0.71338606911949],"aabb_xy":[[-0.4781350697009067,-1.658789876453942],[-0.42769339598122735,-1.6083423747481684]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.5643135192926422,1.026962413294799,0.71338606911949],"aabb_xy":[[-0.6543135229695602,0.9655300067176942],[-0.4743135156157239,1.088394819871903]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.5654698685859589,-2.447115154139126,0.71338606911949],"aabb_xy":[[0.5541081339326728,-2.458483620545414],[0.5768316032392451,-2.4357466877328373]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.41599291560042007,-1.8949560935107248,0.71338606911949],"aabb_xy":[[0.39099291566790223,-1.9018387617316483],[0.440992915532938,-1.8880734252898017]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.4390192453813557,-2.247070029455597,0.71338606911949],"aabb_xy":[[0.3889217814002821,-2.311070029965409],[0.48911670936242935,-2.183070028945785]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.25103634494585897,1.6987506567103945,0.71338606911949],"aabb_xy":[[-0.31603634758365245,1.6472710580109475],[-0.18603634230806548,1.7502302554098415]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.20649648252868785,-1.1375311517630347,0.71338606911949],"aabb_xy":[[-0.22165935550562496,-1.1526966090581534],[-0.1913336095517508,-1.122365694467916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548264647127925,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5142.png","name":"5142"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5142.png","name":"5142"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8122.png","name":"8122"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2756.png","name":"2756"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":744.2470524942175,"rotation_z_degrees":86.46029751162473,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014633696099707324,0.01894068923584451,0.0077017728294504414]},{"name":"camera_2","offset_m":[0.0017022067406164028,0.015476528734094327,0.0023947819722870377]},{"name":"camera_3","offset_m":[-0.016381618782218724,-3.830952973120361e-06,0.002892605163130571]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010332732932723135,-0.00021222940916627397,0.0015456410548542812],"end_effector_yaw_offset_degrees":-0.09973268281176328},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013414367767129102,0.00039484410201903915,0.0017564443311927618],"end_effector_yaw_offset_degrees":0.10357690212358794},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00020586280015647235,-0.0016153539485290322,0.0010132565728585385],"end_effector_yaw_offset_degrees":0.7131451926282828}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009527925526390648,-0.0025268232168815987],"position_m":[0.2734472074473609,-0.1203268232168816,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022709675841392687,0.004138234298802587],"position_m":[0.27867096758413923,0.28423823429880263,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0007515268904587091,-0.0021512223625186023],"position_m":[0.2920484731095413,0.010548777637481396,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003574528997000173,-0.0049768652517840255],"position_m":[0.058674528997000173,0.40742313474821595,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004071226678755739,-0.0003265000482213362],"position_m":[0.16467122667875572,-0.4369265000482213,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"59f9efc330647f0a0da4bb499a5decd986845e344fdd3681a3d32e36a0c704dd","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5142/tex_ceiling_textures_2756/tex_floor_textures_2556/tex_table_textures_6570/tex_wall_textures_8122","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5127630152456120697,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5127630152456120697,"visual_seed":5127630152456120697,"scene_id":"lab_003","finished_at":"2026-09-03T19:55:21"} +{"episode_id":"ep_000062","started_at":"2026-09-03T19:55:24","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.3730286470960338,-0.30505089968186416,0.71338606911949],"aabb_xy":[[0.36294694001746025,-0.38505089757397876],[0.3831103541746072,-0.22505090178974946]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.6312196779746047,-1.3335747632898693,0.71338606911949],"aabb_xy":[[-0.6557333020716105,-1.3578393565919058],[-0.6067060538775988,-1.309310169987833]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.09384752736438362,1.8118995249369738,0.71338606911949],"aabb_xy":[[-0.10110877493479103,1.7991125146734643],[-0.0865862797939762,1.8246865352004833]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.05116019571712638,1.6450756615624518,0.71338606911949],"aabb_xy":[[0.013660195219768134,1.6411069780143333],[0.08866019621448462,1.6490443451105703]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.25769974373046645,-0.7341002714066909,0.71338606911949],"aabb_xy":[[-0.33769974113405987,-0.8140928426048737],[-0.17769974632687305,-0.6541077002085081]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.3217931075216165,-2.4953046088762365,0.71338606911949],"aabb_xy":[[0.3108873314340538,-2.5753046052750657],[0.3326988836091792,-2.4153046124774074]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.38578599211691694,0.04401296325856263,0.71338606911949],"aabb_xy":[[-0.41627024224394715,-0.005987036522933309],[-0.35530174198988684,0.09401296304005857]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.7027578706392905,1.348871298774569,0.71338606911949],"aabb_xy":[[0.6951336025491122,1.3412380752380255],[0.7103821387294686,1.356504522311113]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.49713723144084443,0.8101603823019308,0.71338606911949],"aabb_xy":[[-0.5399039383202646,0.7461603788801282],[-0.4543705245614243,0.8741603857237331]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.700928741452568,-1.1578600522814644,0.71338606911949],"aabb_xy":[[0.6903612617944691,-1.1684050823944727],[0.7114962211106671,-1.1473150221684556]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.06960781540064531,1.3418357872666289,0.71338606911949],"aabb_xy":[[-0.1000059264997889,1.3114288852649592],[-0.03920970430150173,1.3722426892682982]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.06222456561937206,-0.7760903837363258,0.71338606911949],"aabb_xy":[[-0.0781090588846972,-0.7904433240351498],[-0.0463400723540469,-0.7617374434375017]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.3191614640827536,-1.7770372281171012,0.71338606911949],"aabb_xy":[[0.3111679742874716,-1.785035360057577],[0.32715495387803567,-1.7690390961766258]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.07890775931954785,-1.5665698164318327,0.71338606911949],"aabb_xy":[[0.07010570401057514,-1.5743811425867615],[0.08770981462852057,-1.5587584902769034]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.4215447375987408,-0.944419520182425,0.71338606911949],"aabb_xy":[[-0.4665447390649696,-0.9894193770439057],[-0.37654473613251194,-0.8994196633209444]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.6522231966076328,-0.732268149836667,0.71338606911949],"aabb_xy":[[0.5972231974310432,-0.7872578246116245],[0.7072231957842222,-0.6772784750617092]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.1363548703373737,0.9113626751137409,0.71338606911949],"aabb_xy":[[-0.15378558541638018,0.8940905604498899],[-0.11892415525836718,0.9286347897775915]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.14253017943706403,0.1355811791971373,0.71338606911949],"aabb_xy":[[-0.18003017786046435,0.12241696522930665],[-0.10503018101366365,0.1487453931649679]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.5336155772670921,-2.239641386391883,0.71338606911949],"aabb_xy":[[0.48753048601236065,-2.3036413836444383],[0.5797006685218236,-2.175641389139328]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.2122530564982189,1.665789424107356,0.71338606911949],"aabb_xy":[[-0.236089274138824,1.57578942329887],[-0.18841683885761387,1.755789424915843]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.29767879771571915,-2.568170512150512,0.71338606911949],"aabb_xy":[[-0.37767879878883953,-2.577948558487896],[-0.21767879664259887,-2.558392465813127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6548375677350066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8755.png","name":"8755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8755.png","name":"8755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3457.png","name":"3457"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1503.png","name":"1503"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5249.png","name":"5249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7912.png","name":"7912"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.261898977045,"rotation_z_degrees":188.8961281146748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020938984775919385,-0.014486240425202275,0.010130263523556931]},{"name":"camera_2","offset_m":[0.008544564615260642,0.008002070771854445,-0.003951663843560212]},{"name":"camera_3","offset_m":[-0.00935915998010187,-0.016090098353811377,0.005359329568985459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00010788552620447328,0.0017002268945952898,-0.0004617899015910605],"end_effector_yaw_offset_degrees":0.8622471886793242},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001834534258783626,0.001755377600082987,0.0009045610286024827],"end_effector_yaw_offset_degrees":-0.09595924899891672},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005705150475223927,0.0012727005024344945,0.00094114793504672],"end_effector_yaw_offset_degrees":-0.6296134693608095}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004744022380072405,-0.00267609648664053],"position_m":[0.26965597761992754,-0.12047609648664054,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003701712207510601,-0.0023437034290641778],"position_m":[0.28010171220751057,0.2777562965709358,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004385284983471893,0.003113732067106416],"position_m":[0.2971852849834719,0.015813732067106415,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016091823011322162,-0.0012345004922068924],"position_m":[0.053490817698867786,0.4111654995077931,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042853811848579575,-0.00010397719391135648],"position_m":[0.16488538118485796,-0.43670397719391135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a52548448c3125b9e937c2d181fbf3439317e1f16aaa49a18ffeeeba6dc3f493","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8755/tex_ceiling_textures_7912/tex_floor_textures_5249/tex_table_textures_3457/tex_wall_textures_1503","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2953348602353262462,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2953348602353262462,"visual_seed":2953348602353262462,"scene_id":"lab_003","finished_at":"2026-09-03T19:57:48"} +{"episode_id":"ep_000063","started_at":"2026-09-03T19:57:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.1562547935218187,1.7854878585342315,0.71338606911949],"aabb_xy":[[0.08625479171307326,1.7641340897700442],[0.22625479533056414,1.806841627298419]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.19832620276070445,-1.4960620761789976,0.71338606911949],"aabb_xy":[[-0.2060293934347815,-1.5037714468777357],[-0.1906230120866274,-1.4883527054802594]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.19384369868023665,0.99416738532291,0.71338606911949],"aabb_xy":[[-0.2838436951811083,0.9482557429044518],[-0.10384370217936485,1.0400790277413683]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.39452308578008466,-2.0819008995540353,0.71338606911949],"aabb_xy":[[-0.42881999679782523,-2.116197785763976],[-0.360226174762344,-2.0476040133440936]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.2724444003363956,-0.9194255989133182,0.71338606911949],"aabb_xy":[[0.20844439842405332,-0.9753367481713286],[0.336444402248738,-0.8635144496553078]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.20459544957797293,0.6420613393191932,0.71338606911949],"aabb_xy":[[-0.2745954511802524,0.6286285461175356],[-0.13459544797569348,0.6554941325208508]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.6241515753927307,1.4467882303717396,0.71338606911949],"aabb_xy":[[0.5789802575445618,1.3827882332272012],[0.6693228932408998,1.5107882275162783]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.5397178551307147,0.34830318543321415,0.71338606911949],"aabb_xy":[[-0.5897178547070495,0.29832260648110814],[-0.4897178555543801,0.39828376438532004]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.6092098910184778,1.7079220337287633,0.71338606911949],"aabb_xy":[[0.5903255072499676,1.6890361089484107],[0.628094274786988,1.7268079585091163]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.6604891817396532,0.08228381748860691,0.71338606911949],"aabb_xy":[[0.6438120457465576,0.06558389351467662],[0.6771663177327486,0.09898374146253718]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.06593393784751267,-1.4263963782731919,0.71338606911949],"aabb_xy":[[0.02843393633188096,-1.437623151289337],[0.10343393936314438,-1.4151696052570468]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.6745146445040865,0.9642488761668679,0.71338606911949],"aabb_xy":[[-0.6815549544376236,0.8842488767671968],[-0.6674743345705496,1.0442488755665396]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.022740181105976975,-2.141555467171816,0.71338606911949],"aabb_xy":[[0.004871073351521479,-2.1553883751490273],[0.04060928886043247,-2.127722559194605]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.251526096688817,-0.6362122848331964,0.71338606911949],"aabb_xy":[[0.24348976198753208,-0.6442504041376131],[0.25956243139010177,-0.6281741655287796]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.3142605302613315,0.34649730018504155,0.71338606911949],"aabb_xy":[[-0.3782605319393288,0.29797990870572727],[-0.2502605285833341,0.3950146916643557]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.09379764462955409,-0.7220057477043775,0.71338606911949],"aabb_xy":[[-0.09937931626368285,-0.734505747522153],[-0.08821597299542533,-0.709505747886602]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.23674095444132653,-1.3645913837027732,0.71338606911949],"aabb_xy":[[-0.24989220041261592,-1.3895913834594598],[-0.2235897084700372,-1.3395913839460867]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.12083759625010126,-0.9638367882142855,0.71338606911949],"aabb_xy":[[-0.1421156043935735,-1.0288367905403584],[-0.09955958810662902,-0.8988367858882123]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.5362613179744669,-1.7547386003928072,0.71338606911949],"aabb_xy":[[0.4562613147104537,-1.7682986327017203],[0.61626132123848,-1.7411785680838936]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.6559026306125129,-1.0135826947963342,0.71338606911949],"aabb_xy":[[0.6185713540872702,-1.0482357495911865],[0.6932339071377553,-0.978929640001482]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.5364441996500839,-0.7050037537619662,0.71338606911949],"aabb_xy":[[0.4942597854892533,-0.7690037540391774],[0.5786286138109148,-0.641003753484755]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.17409213599896733,-1.9052521980253956,0.71338606911949],"aabb_xy":[[0.14360788587193715,-1.9552521978068913],[0.20457638612599746,-1.8552521982438994]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.12765455453933627,-2.372427035925165,0.71338606911949],"aabb_xy":[[-0.16515455488756403,-2.3842184315062482],[-0.09015455419110852,-2.360635640344081]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[0.6581351072386685,-0.8586519117620683,0.71338606911949],"aabb_xy":[[0.6473621333173007,-0.8936519099811073],[0.6689080811600363,-0.8236519135430294]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.2727552968020629,1.7862889037791967,0.71338606911949],"aabb_xy":[[-0.30274695953593317,1.756288904442396],[-0.2427636340681925,1.816288903115997]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.1703472474310711,-0.10998729298042109,0.71338606911949],"aabb_xy":[[-0.20784724809564978,-0.12567435098064325],[-0.13284724676649237,-0.09430023498019889]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.627178085426549,-2.150606664986259,0.71338606911949],"aabb_xy":[[-0.6921780854608517,-2.1973073416665865],[-0.5621780853922462,-2.103905988305932]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.37016192832658645,-1.1182164936049903,0.71338606911949],"aabb_xy":[[0.3619473832109024,-1.1268930839026314],[0.3783764734422704,-1.1095399033073488]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.5569956008791597,-1.9296261464164268,0.71338606911949],"aabb_xy":[[-0.6369956011527667,-2.002575694242143],[-0.47699560060555274,-1.85667659859071]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[0.031046061017312554,1.3381492370048864,0.71338606911949],"aabb_xy":[[-0.00997188236905833,1.288149236373929],[0.07206400440368343,1.3881492376358437]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[-0.12561468639533424,-1.7996256913969904,0.71338606911949],"aabb_xy":[[-0.13646629264420984,-1.8104849821246414],[-0.11476308014645864,-1.7887664006693393]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[0.15871886812874691,-1.3068348456478358,0.71338606911949],"aabb_xy":[[0.1362188686050395,-1.3293307930984564],[0.18121886765245432,-1.2843388981972148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559855358249799,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4846.png","name":"4846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4232.png","name":"4232"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/145.png","name":"145"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9592.png","name":"9592"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":834.6718984159007,"rotation_z_degrees":205.2262702530516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023745467310862,0.011890883785280335,0.013149394884341883]},{"name":"camera_2","offset_m":[-0.0034606733471659844,0.004446850947964206,0.006444816550483311]},{"name":"camera_3","offset_m":[0.008164465936199038,0.015786243158798178,0.018695470836597988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019067305855196013,0.0006254524477509191,0.0011023420549767225],"end_effector_yaw_offset_degrees":0.025943774021274013},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005765365398916131,0.0015036410115085623,-0.0013973735054968028],"end_effector_yaw_offset_degrees":-0.3958316419989396},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010510783591433943,0.0019002605687154723,0.0009954767765855844],"end_effector_yaw_offset_degrees":0.7545683822179337}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023268917859997173,-0.0048130521140813684],"position_m":[0.27207310821400027,-0.12261305211408137,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002806589754121129,-0.0031798107428822942],"position_m":[0.2792065897541211,0.2769201892571177,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004696221574035282,0.0018706447195347116],"position_m":[0.29749622157403527,0.01457064471953471,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016221438807170487,0.002839649906075727],"position_m":[0.053477856119282956,0.4152396499060757,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016787761274806023,-0.0047072235152551],"position_m":[0.1622787761274806,-0.4413072235152551,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3059e43ee3e03c066bfc265a00a33a38e22be80e0c86752d0351106e99884176","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2571/tex_ceiling_textures_9592/tex_floor_textures_145/tex_table_textures_4846/tex_wall_textures_4232","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3325249248730877809,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3325249248730877809,"visual_seed":3325249248730877809,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:04"} +{"episode_id":"ep_000064","started_at":"2026-09-03T20:00:08","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.37032394754129216,-1.6129896424570782,0.71338606911949],"aabb_xy":[[-0.4403239496727216,-1.6357516080827739],[-0.3003239454098625,-1.5902276768313826]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.32568731730063827,-1.6973384522912647,0.71338606911949],"aabb_xy":[[-0.3540170272491785,-1.7017991944849817],[-0.29735760735209804,-1.6928777100975476]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.6093959669803681,0.06964276802318281,0.71338606911949],"aabb_xy":[[0.5743959686696727,0.06192775309963716],[0.6443959652910636,0.07735778294672846]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.15404886789493288,-0.3570746111656917,0.71338606911949],"aabb_xy":[[-0.21804887118464097,-0.40040953016960934],[-0.09004886460522475,-0.3137396921617741]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.4171385685147375,-1.8748829454450002,0.71338606911949],"aabb_xy":[[0.3671437355867959,-1.9248829443402438],[0.4671334014426791,-1.8248829465497567]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.1153414604451437,-1.4579071024442731,0.71338606911949],"aabb_xy":[[0.07784145892951198,-1.469133875460418],[0.15284146196077542,-1.4466803294281279]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.6510024048655577,1.444992302347266,0.71338606911949],"aabb_xy":[[-0.6760024047980756,1.4381096341263426],[-0.6260024049330398,1.4518749705681893]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.5960741413630848,-0.5446149951736396,0.71338606911949],"aabb_xy":[[-0.6560741412096515,-0.6014336173666783],[-0.5360741415165179,-0.48779637298060097]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.08052201393125058,-1.084240967100187,0.71338606911949],"aabb_xy":[[0.07681875260211171,-1.0879429854089044],[0.08422527526038945,-1.080538948791469]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.49613570063041834,-0.8005346464233531,0.71338606911949],"aabb_xy":[[0.4860539935518448,-0.8805346443154677],[0.5062174077089918,-0.7205346485312384]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.47245142995934186,-0.3969854763437648,0.71338606911949],"aabb_xy":[[0.4413045111157588,-0.466985475030572],[0.503598348802925,-0.3269854776569576]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.6180291547394776,0.6125479046383062,0.71338606911949],"aabb_xy":[[-0.6515083220005187,0.5790687912671992],[-0.5845499874784368,0.6460270180094132]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.23395432866641946,-1.417716676241771,0.71338606911949],"aabb_xy":[[-0.24436588734690315,-1.4230624095776692],[-0.22354276998593572,-1.4123709429058724]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.1266944601042389,1.3812184286244333,0.71338606911949],"aabb_xy":[[0.07669446145831771,1.3312988849649707],[0.1766944587501601,1.4311379722838955]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.5605158391728731,0.8288622495186524,0.71338606911949],"aabb_xy":[[-0.5720848199198096,0.8038622494017208],[-0.5489468584259365,0.8538622496355842]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.4122861121209019,1.403933292900724,0.71338606911949],"aabb_xy":[[-0.46228611314003715,1.367467077162896],[-0.36228611110176656,1.440399508638552]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.4943233655273003,-1.6737600554087446,0.71338606911949],"aabb_xy":[[0.40432336693283033,-1.6900106417221656],[0.5843233641217702,-1.6575094690953236]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.6158647628276103,0.43821027931282597,0.71338606911949],"aabb_xy":[[-0.6508647619575659,0.4324650582371618],[-0.5808647636976546,0.44395550038849]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.1547718404051177,-1.8661104220366092,0.71338606911949],"aabb_xy":[[-0.21977183828676555,-1.9172340857431505],[-0.08977184252346994,-1.8149867583300687]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.6289565804174304,-2.321691250004,0.71338606911949],"aabb_xy":[[0.6229900414766947,-2.3276523946633643],[0.6349231193581661,-2.315730105344636]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[0.6253250957788787,-2.5288095673604576,0.71338606911949],"aabb_xy":[[0.5879938192536361,-2.56346262215531],[0.6626563723041213,-2.4941565125656053]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.17468434565147029,-0.671722248773511,0.71338606911949],"aabb_xy":[[-0.2546843467245906,-0.6815002951108956],[-0.09468434457834998,-0.6619442024361267]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.03442253214581914,-1.6283947510267607,0.71338606911949],"aabb_xy":[[-0.015577468804713668,-1.6599438980302816],[0.08442253309635195,-1.5968456040232388]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[-0.44643214210858423,0.14566695832705934,0.71338606911949],"aabb_xy":[[-0.4820612980085439,0.11003429157020639],[-0.41080298620862443,0.18129962508391229]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.06256234137572037,1.4408625792943446,0.71338606911949],"aabb_xy":[[-0.10386688443945635,1.3768625797262275],[-0.021257798311984377,1.5048625788624617]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.05417084658371285,-1.1084961331022032,0.71338606911949],"aabb_xy":[[-0.07084798257680835,-1.1251960570761335],[-0.037493710590617346,-1.091796209128273]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[0.16651052751666506,-1.7207599008117371,0.71338606911949],"aabb_xy":[[0.15924927994625765,-1.7335469110752466],[0.17377177508707248,-1.7079728905482277]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[-0.6639872632051715,-2.2980246348280096,0.71338606911949],"aabb_xy":[[-0.6800491906636891,-2.3830246366406014],[-0.6479253357466538,-2.2130246330154177]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[0.6287872353535136,-1.0100669683819268,0.71338606911949],"aabb_xy":[[0.611287235094177,-1.0241585105706996],[0.6462872356128503,-0.9959754261931544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511435869387953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9031.png","name":"9031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9031.png","name":"9031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9462.png","name":"9462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6340.png","name":"6340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/611.png","name":"611"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":609.2020831626647,"rotation_z_degrees":175.1329140286911,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006879201135983105,-0.010692690248621193,0.011970678143289535]},{"name":"camera_2","offset_m":[0.014188615727636921,0.002186856440143558,-0.001489338208315965]},{"name":"camera_3","offset_m":[-0.005412602614243119,-0.006803584420128494,0.011008126110105043]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019767354246313486,0.0019459602181996277,0.0006943285213162464],"end_effector_yaw_offset_degrees":-0.9222418611646965},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008624064867174997,0.0017875970956917064,0.0016509625456154866],"end_effector_yaw_offset_degrees":0.5827931816673935},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003350849565345376,-0.0008125487832017608,0.001071899532223578],"end_effector_yaw_offset_degrees":0.2395756802119211}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003120616726202533,0.0044584819859931615],"position_m":[0.27127938327379747,-0.11334151801400684,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013247323723372196,0.004553662931299833],"position_m":[0.27507526762766277,0.28465366293129984,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0033406409591965848,0.001714527114271505],"position_m":[0.29614064095919657,0.014414527114271505,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038426905118716754,-0.004547641407717929],"position_m":[0.058942690511871676,0.4078523585922821,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002684535579741973,0.000355286482012742],"position_m":[0.1603315464420258,-0.43624471351798727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f9c8a324b88362477c04b04c462d9d77eefb505c3349547ac73c0a5805dcb3d","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9031/tex_ceiling_textures_611/tex_floor_textures_6340/tex_table_textures_9462/tex_wall_textures_5964","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6316383572751353870,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6316383572751353870,"visual_seed":6316383572751353870,"scene_id":"lab_003","finished_at":"2026-09-03T20:02:24"} +{"episode_id":"ep_000065","started_at":"2026-09-03T20:02:27","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.026887731069464182,-1.3933199970950148,0.71338606911949],"aabb_xy":[[-0.051887730341426457,-1.409665360691177],[-0.0018877317975019012,-1.3769746334988524]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.3146443124614059,-1.6244828866555059,0.71338606911949],"aabb_xy":[[-0.33714431198511324,-1.6469788341061264],[-0.29214431293769844,-1.6019869392048849]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.2802482597296042,1.5545668000720148,0.71338606911949],"aabb_xy":[[0.21624825946913337,1.509558000719087],[0.34424825999007497,1.599575599424943]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.60014762358892,-1.6908066089545128,0.71338606911949],"aabb_xy":[[-0.6047827387411534,-1.6946739440316614],[-0.5955125084366867,-1.6869392738773639]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.33294219497770533,-0.7757925321132748,0.71338606911949],"aabb_xy":[[-0.33638287121776245,-0.7796539650876394],[-0.3295015187376481,-0.7719310991389104]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.5847752228189133,1.3002039221685138,0.71338606911949],"aabb_xy":[[-0.6647752198331612,1.2800693704951025],[-0.5047752258046653,1.320338473841925]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.4151383641059101,-0.6517194621260005,0.71338606911949],"aabb_xy":[[0.3511383649361401,-0.6984861492449629],[0.47913836327568,-0.6049527750070379]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.5428148450915827,-2.422161329927738,0.71338606911949],"aabb_xy":[[-0.5732129561907263,-2.452568231929407],[-0.5124167339924391,-2.391754427926068]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.5546313699707559,0.19774615551134778,0.71338606911949],"aabb_xy":[[-0.5902605258707155,0.16211348875449483],[-0.519002214070796,0.23337882226820073]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.5959419465038236,0.6998481987935494,0.71338606911949],"aabb_xy":[[0.5584419449881919,0.6886214257774045],[0.6334419480194553,0.7110749718096946]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.5980742795734157,-1.2729652796647972,0.71338606911949],"aabb_xy":[[-0.6243631038938563,-1.299236713319448],[-0.571785455252975,-1.2466938460101455]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[-0.018628515601295192,1.7016186135943436,0.71338606911949],"aabb_xy":[[-0.04112493703515929,1.6791186137875962],[0.0038679058325689075,1.724118613401091]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.3516399462294315,0.8297751209321453,0.71338606911949],"aabb_xy":[[0.32709373060668084,0.7995262243831082],[0.3761861618521823,0.8600240174811823]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.3266804352438634,-1.3657002034000836,0.71338606911949],"aabb_xy":[[-0.4166804389207815,-1.4271326099771877],[-0.23668043156694518,-1.304267796822979]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.4080223927497524,-0.1492188897270177,0.71338606911949],"aabb_xy":[[0.3901532849952969,-0.16305179770422862],[0.4258915005042079,-0.13538598174980676]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.48347214971006713,-0.28513764891607396,0.71338606911949],"aabb_xy":[[0.44597214941789226,-0.2891791243166776],[0.520972150002242,-0.28109617351547034]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.43770120148559727,0.7382132383495752,0.71338606911949],"aabb_xy":[[-0.4453254695757755,0.7305800148130316],[-0.430076933395419,0.745846461886119]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.358225860637352,-0.24245298631029533,0.71338606911949],"aabb_xy":[[-0.3670279159463247,-0.25026431246522435],[-0.3494238053283793,-0.23464166015536622]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.40251997867738765,-0.11611233319079517,0.71338606911949],"aabb_xy":[[-0.4675199768333067,-0.14240857774070736],[-0.3375199805214686,-0.08981608864088297]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.04181818938586157,0.42044973283662124,0.71338606911949],"aabb_xy":[[-0.07931818796148236,0.40771343717306324],[-0.004318190810240762,0.4331860285001791]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.29094217070938566,-1.5556180155412154,0.71338606911949],"aabb_xy":[[0.2534421708923521,-1.5602562268523572],[0.3284421705264192,-1.5509798042300735]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.6127410129278885,-2.269435689658447,0.71338606911949],"aabb_xy":[[0.5327471893493303,-2.3494356922512885],[0.6927348365064467,-2.1894356870656053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6504194819070707,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5747.png","name":"5747"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6240.png","name":"6240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":541.5267468983463,"rotation_z_degrees":347.82253036962896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[1.0134523254032302e-05,0.005552336866665775,-0.007006961219211117]},{"name":"camera_2","offset_m":[-0.012969470843902391,-0.01639980318140924,0.00498781888835239]},{"name":"camera_3","offset_m":[0.0017995014007037118,-0.01269119378330481,0.018413602186159023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014493485402759104,0.0007668448562707401,-0.001069611572744157],"end_effector_yaw_offset_degrees":0.33711777087794625},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004367010133305084,-0.0009298621776525837,-0.0010080323605659966],"end_effector_yaw_offset_degrees":-0.456468509153235},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006561877489225569,-0.0010363814735135102,-0.0019110585545944053],"end_effector_yaw_offset_degrees":-0.816491322003174}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011354138388242952,-0.0004634257576555537],"position_m":[0.27326458616117566,-0.11826342575765555,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023942176712536335,0.0007516662051839131],"position_m":[0.27400578232874634,0.2808516662051839,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002248633413818718,-0.004853338793951151],"position_m":[0.2950486334138187,0.00784666120604885,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025226257784434093,-0.0022123687926807255],"position_m":[0.05762262577844341,0.41018763120731927,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027842817688752187,-0.0013416724084111065],"position_m":[0.15781571823112478,-0.4379416724084111,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f0e7a95d50d4d491c430ca09093e2e0eb374117b35789e302a0d39c024a64dfa","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_164/tex_ceiling_textures_9024/tex_floor_textures_894/tex_table_textures_5747/tex_wall_textures_6240","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7094671145123529411,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7094671145123529411,"visual_seed":7094671145123529411,"scene_id":"lab_003","finished_at":"2026-09-03T20:04:52"} +{"episode_id":"ep_000066","started_at":"2026-09-03T20:04:54","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.18511515019211244,-0.5264745810464171,0.71338606911949],"aabb_xy":[[-0.24911515241251944,-0.5708476651717054],[-0.12111514797170539,-0.4821014969211288]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.5782320677197565,0.7673481732618224,0.71338606911949],"aabb_xy":[[-0.5941165609850817,0.7529952329629983],[-0.5623475744544314,0.7817011135606464]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.3395331822816996,-0.5792442049721691,0.71338606911949],"aabb_xy":[[0.31703318176965894,-0.6017360633375675],[0.36203318279374014,-0.5567523466067708]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.10999305800168502,-1.3062981992234273,0.71338606911949],"aabb_xy":[[-0.14499305797818085,-1.3157628152710439],[-0.07499305802518917,-1.2968335831758107]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.5110945858763911,0.2979495076650216,0.71338606911949],"aabb_xy":[[-0.5160506060612724,0.27544950746290003],[-0.5061385656915101,0.32044950786714327]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.5755125297934975,-2.3105528573792222,0.71338606911949],"aabb_xy":[[-0.5930125290715844,-2.3278909574455686],[-0.5580125305154107,-2.2932147573128767]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.3376674556625791,-0.3187700458646048,0.71338606911949],"aabb_xy":[[-0.3751674554796126,-0.3234082571757466],[-0.3001674558455455,-0.31413183455346294]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.4598603284642834,-0.8955683762050428,0.71338606911949],"aabb_xy":[[-0.4654420000984121,-0.9080683760228182],[-0.45427865683015456,-0.8830683763872672]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.28197733089641286,-1.3458060804719,0.71338606911949],"aabb_xy":[[0.2469773317664572,-1.351551301547564],[0.3169773300263685,-1.3400608593962358]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.31097136386723956,-2.074540394571349,0.71338606911949],"aabb_xy":[[0.2559713642454937,-2.129524087358822],[0.3659713634889854,-2.0195567017838765]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.028023760652268415,-1.8802314680820476,0.71338606911949],"aabb_xy":[[0.01052376151790124,-1.8901110951196354],[0.04552375978663558,-1.8703518410444597]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.3231472270138659,-1.9471402317905326,0.71338606911949],"aabb_xy":[[-0.38714722739139945,-1.9968854986413445],[-0.2591472266363322,-1.89739496493972]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.022851753702213706,-2.162872787715345,0.71338606911949],"aabb_xy":[[-0.0728517523481349,-2.212792331374807],[0.02714824494370749,-2.1129532440558823]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.3181063297532134,-1.5232778711060286,0.71338606911949],"aabb_xy":[[0.31106487880246575,-1.5303046228438233],[0.32514778070396094,-1.516251119368234]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.5741726764099557,0.34712675443900975,0.71338606911949],"aabb_xy":[[0.5615458891227594,0.3375806807374368],[0.5867994636971521,0.3566728281405826]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.16012399384378173,-1.5703812736774136,0.71338606911949],"aabb_xy":[[-0.2438462193438642,-1.6603812772121094],[-0.07640176834369927,-1.4803812701427175]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.08544132320667297,-0.9863401449670797,0.71338606911949],"aabb_xy":[[0.07460084498015805,-1.0035264262577286],[0.09628180143318786,-0.9691538636764307]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.00794259080112314,-2.5166878340986445,0.71338606911949],"aabb_xy":[[-0.029091518626936576,-2.5510650414323535],[0.044976700229182855,-2.4823106267649346]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.004734929296372425,-1.2700017892903261,0.71338606911949],"aabb_xy":[[-0.0013020837042923017,-1.276028490359274],[0.010771942297037151,-1.2639750882213778]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.5384924664299111,-1.4633826744958782,0.71338606911949],"aabb_xy":[[0.5009924662580392,-1.4960834098787854],[0.575992466601783,-1.430681939112971]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.09633776095356594,1.6128066902571532,0.71338606911949],"aabb_xy":[[0.08116559167193262,1.59763783332895],[0.1115099302351993,1.6279755471853568]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.03879950944070831,-0.019377728922821635,0.71338606911949],"aabb_xy":[[-0.05666861719516381,-0.033210636900032564],[-0.020930401686252827,-0.005544820945610707]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.2661506046017029,1.0747328777634269,0.71338606911949],"aabb_xy":[[0.20615060295878107,1.0227327284714827],[0.3261506062446248,1.126733027055371]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.6226189741475798,-2.2228796576807044,0.71338606911949],"aabb_xy":[[0.5626189736397268,-2.2797263913666255],[0.6826189746554326,-2.1660329239947833]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.19695434830776665,-2.5301790846084034,0.71338606911949],"aabb_xy":[[-0.26695435094435294,-2.5502839496042684],[-0.12695434567118027,-2.5100742196125374]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.2124632100025693,-1.764468660811528,0.71338606911949],"aabb_xy":[[0.20761961524133934,-1.7693203132905124],[0.2173068047637993,-1.7596170083325442]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[-0.6796132309474235,0.25561627584996893,0.71338606911949],"aabb_xy":[[-0.6893692204565974,0.2458537417907345],[-0.6698572414382497,0.2653788099092034]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[0.07227894633102383,-0.5902547069481139,0.71338606911949],"aabb_xy":[[0.06428495775332042,-0.5982547870432041],[0.08027293490872721,-0.5822546268530234]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[-0.2036347223338541,1.629977773816187,0.71338606911949],"aabb_xy":[[-0.23863472064454952,1.6222627588926413],[-0.16863472402315863,1.6376927887397326]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_29","position":[-0.2084880526037589,-2.19532122952815,0.71338606911949],"aabb_xy":[[-0.2684880531997751,-2.2501337020733736],[-0.14848805200774273,-2.1405087569829266]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[0.09289165786097009,0.9373942053527053,0.71338606911949],"aabb_xy":[[0.08547920231958163,0.9315429949310774],[0.10030411340235858,0.9432454157743333]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[0.20663145496484836,-1.1053585372351946,0.71338606911949],"aabb_xy":[[0.14663145410403552,-1.1567849672416806],[0.2666314558256611,-1.0539321072287078]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_32","position":[0.10456965325359291,-2.2067185051125087,0.71338606911949],"aabb_xy":[[0.08207323181972881,-2.2292185049192557],[0.127066074687457,-2.184218505305761]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_33","position":[-0.1928111942013423,1.1528621088631228,0.71338606911949],"aabb_xy":[[-0.21101701786258997,1.1418367082811312],[-0.17460537054009462,1.1638875094451144]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_34","position":[0.23744143156176767,-0.7422767799815302,0.71338606911949],"aabb_xy":[[0.18734396758069402,-0.8062767804913421],[0.2875388955428413,-0.6782767794717185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6547598267449334,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1772.png","name":"1772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7570.png","name":"7570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9826.png","name":"9826"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5702.png","name":"5702"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":793.8272281463712,"rotation_z_degrees":210.24280871245648,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019177345438162578,-0.004750457830481159,-0.0033265000010625385]},{"name":"camera_2","offset_m":[-0.0028177936829037395,0.018784877851695633,-0.005736732204591264]},{"name":"camera_3","offset_m":[-0.001577863228540203,-0.0015464724390084374,0.00476879589752547]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.072662145588687e-05,0.001194796843781461,-0.0011119736958427285],"end_effector_yaw_offset_degrees":0.5337124402026865},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007995477600357354,0.0006859265785518604,-0.0016513429979456659],"end_effector_yaw_offset_degrees":-0.5408037803710863},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010748585465855253,-0.0014402981839629855,-0.0011039341835190099],"end_effector_yaw_offset_degrees":-0.18922004166408746}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00030099337860755443,-0.003678152568067934],"position_m":[0.2740990066213924,-0.12147815256806793,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017031519146443854,0.0009999356044984023],"position_m":[0.27810315191464435,0.2810999356044984,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0008248779886216272,0.004280403696016742],"position_m":[0.29362487798862164,0.016980403696016742,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015534694689003925,-0.0017901927166856734],"position_m":[0.056653469468900396,0.4106098072833143,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004363830096150553,0.0001002943082647487],"position_m":[0.16496383009615054,-0.43649970569173524,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fc767356eb20e29a845ac2bdd9b4d293c423aeca974a399c5dffb8a04d09e59f","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7065/tex_ceiling_textures_5702/tex_floor_textures_9826/tex_table_textures_1772/tex_wall_textures_7570","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3526185696459542956,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3526185696459542956,"visual_seed":3526185696459542956,"scene_id":"lab_003","finished_at":"2026-09-03T20:07:22"} +{"episode_id":"ep_000067","started_at":"2026-09-03T20:10:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.4728605775487509,-1.8758445908654693,0.71338606911949],"aabb_xy":[[0.43723142164879114,-1.9114772576223222],[0.5084897334487106,-1.8402119241086163]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.423572145033122,1.711297744278537,0.71338606911949],"aabb_xy":[[0.40801637562285686,1.6957473110341303],[0.4391279144433874,1.7268481775229447]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.21830836425556777,-1.1523652837981067,0.71338606911949],"aabb_xy":[[-0.27830836485158394,-1.2071777563433301],[-0.1583083636595516,-1.0975528112528832]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.049389004298019956,-2.021872340761448,0.71338606911949],"aabb_xy":[[-0.11438900433232269,-2.0685730174417754],[0.015610995736282773,-1.9751716640811208]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.41253941539403605,-1.5044311076953931,0.71338606911949],"aabb_xy":[[0.3790602481329951,-1.5379102210665],[0.446018582655077,-1.4709519943242861]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.4453619689885451,-1.741886791421535,0.71338606911949],"aabb_xy":[[0.4108996215904032,-1.776380673819357],[0.4798243163866868,-1.7073929090237117]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.3449530424579965,1.1354703809402658,0.71338606911949],"aabb_xy":[[0.3323503433209201,1.1228749847154003],[0.35755574159507303,1.1480657771651313]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.40280295448387926,1.6387553454472612,0.71338606911949],"aabb_xy":[[-0.46680295087945234,1.5747920570285279],[-0.3388029580883062,1.702718633865995]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[0.4049812845873686,0.021927820630587735,0.71338606911949],"aabb_xy":[[0.38730565399877026,0.0042476043511849885],[0.42265691517596693,0.039608036909990485]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.49427026544398717,1.405536503835807,0.71338606911949],"aabb_xy":[[-0.5292702646368055,1.3945694578381442],[-0.45927026625116885,1.4165035498334693]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.33749811122935464,0.6172392779547438,0.71338606911949],"aabb_xy":[[-0.3724981095400501,0.6095242630311981],[-0.3024981129186592,0.6249542928782894]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.3277989732444623,1.0423211159860108,0.71338606911949],"aabb_xy":[[-0.37727939445842107,0.978321118073159],[-0.2783185520305035,1.1063211138988627]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.25811403204765065,1.5381947957164823,0.71338606911949],"aabb_xy":[[-0.2931140311776063,1.532449574640818],[-0.223114032917695,1.5439400167921462]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.13264898935019243,-2.0397455331127863,0.71338606911949],"aabb_xy":[[0.12623517570700746,-2.046155353360454],[0.13906280299337734,-2.0333357128651177]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.2942336672977822,1.5643281377381624,0.71338606911949],"aabb_xy":[[0.23023366871120976,1.5173211743386534],[0.3582336658843547,1.6113351011376709]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.38143026268426494,-2.1133849245756684,0.71338606911949],"aabb_xy":[[0.3639302624392155,-2.130884712415235],[0.39893026292931427,-2.095885136736101]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.5419899474524882,0.8853803236865683,0.71338606911949],"aabb_xy":[[-0.5644899474626365,0.871284104046965],[-0.5194899474423399,0.8994765433261716]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.4285013034368035,0.7156184812645985,0.71338606911949],"aabb_xy":[[0.41029547977555586,0.7045930806826068],[0.4467071270980512,0.7266438818465901]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.37242487095100096,0.7487217413616709,0.71338606911949],"aabb_xy":[[-0.4099248712431758,0.7446802659610673],[-0.33492487065882615,0.7527632167622745]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.33296123699998326,-0.8511962735061138,0.71338606911949],"aabb_xy":[[0.28296123604945045,-0.8827454205096352],[0.38296123795051606,-0.8196471265025924]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.23615312355669799,-2.4249722358357255,0.71338606911949],"aabb_xy":[[-0.24699360178321286,-2.442158517126374],[-0.22531264533018305,-2.407785954545077]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.23655319757460364,0.6893928596485086,0.71338606911949],"aabb_xy":[[-0.24139679233583364,0.6845412071695247],[-0.2317096028133737,0.6942445121274929]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.6623608499757672,-0.6400423561909632,0.71338606911949],"aabb_xy":[[0.6210563069120311,-0.7040423557590803],[0.703665393039503,-0.5760423566228461]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.5791788646638514,-2.117743166251829,0.71338606911949],"aabb_xy":[[0.5735971930297226,-2.130243166069604],[0.5847605362979802,-2.1052431664340534]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.041390361345474025,-1.187818907842041,0.71338606911949],"aabb_xy":[[-0.053857719455209674,-1.2002842324753644],[-0.028923003235738376,-1.1753535832087174]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.6987319973341424,-1.1030791626110623,0.71338606911949],"aabb_xy":[[0.6748957796935374,-1.1930791634195488],[0.7225682149747475,-1.0130791618025758]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[0.15711662045470365,-0.9603590678886076,0.71338606911949],"aabb_xy":[[0.09211662189763081,-0.9901116013024902],[0.22211661901177648,-0.930606534474725]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[-0.6147420579564336,1.3447236054954996,0.71338606911949],"aabb_xy":[[-0.6281885845904769,1.331253753842408],[-0.6012955313223902,1.3581934571485907]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[0.5087893715752647,0.8368745653757466,0.71338606911949],"aabb_xy":[[0.483568534715425,0.8116508145228596],[0.5340102084351043,0.8620983162286331]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[-0.49854811980153607,0.41162545340522794,0.71338606911949],"aabb_xy":[[-0.5059605753429246,0.40577424298359993],[-0.49113566426014754,0.41747666382685583]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[0.13685011384318702,1.2504275118604111,0.71338606911949],"aabb_xy":[[0.11935011470881983,1.240547884822823],[0.15435011297755416,1.2603071388979987]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_31","position":[-0.632370771612811,-0.312366098709306,0.71338606911949],"aabb_xy":[[-0.6467051967389744,-0.32442631426384483],[-0.6180363464866475,-0.30030588315476714]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_32","position":[0.20133780806157997,-1.460897319563094,0.71338606911949],"aabb_xy":[[0.17349277128097287,-1.491681818301406],[0.22918284484218712,-1.4301128208247826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525059614455226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/349.png","name":"349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7396.png","name":"7396"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4187.png","name":"4187"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":534.6821427074175,"rotation_z_degrees":11.05907386915614,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00869758774999727,0.008859151637133432,-0.0002480114806375812]},{"name":"camera_2","offset_m":[0.0189247033454898,0.011893978940503484,-0.0031159670050522788]},{"name":"camera_3","offset_m":[0.005340013967079636,-0.016531474688407752,0.00032788103714074743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001912499405056812,0.0016824751425761645,-0.0017555039654645612],"end_effector_yaw_offset_degrees":0.9652418226603634},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011002716743588213,0.0016201028741699092,0.0005339307322988662],"end_effector_yaw_offset_degrees":-0.2278864224281072},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006312638763408763,0.0014805220819400925,0.000305204675548453],"end_effector_yaw_offset_degrees":-0.1186219810522009}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004388398268696525,-0.004084304984529472],"position_m":[0.27001160173130345,-0.12188430498452947,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009092053938650714,0.004353445690488403],"position_m":[0.27730920539386505,0.2844534456904884,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0014807163798136224,-0.0019735664870712266],"position_m":[0.2942807163798136,0.010726433512928773,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019294643294605575,-0.001255192730502952],"position_m":[0.05702946432946056,0.41114480726949704,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00015154367061324774,-0.0015465942408665824],"position_m":[0.16044845632938676,-0.43814659424086655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2ada19c48f048d2b85664d1579fff9ba61404474ad9d46731143120aeef6d07f","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6369/tex_ceiling_textures_4187/tex_floor_textures_2170/tex_table_textures_349/tex_wall_textures_7396","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8928383706851864064,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8928383706851864064,"visual_seed":8928383706851864064,"scene_id":"lab_003","finished_at":"2026-09-03T20:12:31"} +{"episode_id":"ep_000068","started_at":"2026-09-03T20:12:33","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.4808106587501084,0.8151579452484117,0.71338606911949],"aabb_xy":[[0.45831065873996013,0.8010617256088084],[0.5033106587602567,0.829254164888015]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.12893668428594351,-1.8789019885941969,0.71338606911949],"aabb_xy":[[0.05893668215451395,-1.9016639542198923],[0.19893668641737303,-1.856140022968501]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.32073530600200695,-1.0695010912503922,0.71338606911949],"aabb_xy":[[-0.41073530459647695,-1.0857516775638132],[-0.23073530740753706,-1.0532505049369711]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.11052148543043316,-2.3717773793400125,0.71338606911949],"aabb_xy":[[0.09302148518538378,-2.3892771671795794],[0.12802148567548255,-2.3542775915004457]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.39032403641875923,1.118956991456447,0.71338606911949],"aabb_xy":[[0.35352940329385296,1.0820511163598647],[0.4271186695436655,1.1558628665530293]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.3934076607117818,1.5614864292806057,0.71338606911949],"aabb_xy":[[0.36889403661477593,1.5372218359785694],[0.41792128480878765,1.5857510225826423]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.6337462986447491,0.8835003467212998,0.71338606911949],"aabb_xy":[[0.5687463000876761,0.8537478133074171],[0.6987462972018218,0.9132528801351824]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.36651592981922954,-2.5118793343884795,0.71338606911949],"aabb_xy":[[0.3322190188014888,-2.5461762205984204],[0.40081284083697005,-2.477582448178538]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.4711283422910506,0.12049210850605307,0.71338606911949],"aabb_xy":[[0.45362834203171404,0.1064005663172805],[0.4886283425503873,0.13458365069482575]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.2050286385109471,0.04334866831870743,0.71338606911949],"aabb_xy":[[-0.22752863832484949,0.03887405194822674],[-0.18252863869704472,0.04782328468918812]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.3068361473250878,-1.5275514496618086,0.71338606911949],"aabb_xy":[[0.30052404778874936,-1.5333183889150277],[0.3131482468614262,-1.5217845104085899]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.4461625426895144,0.949533117566006,0.71338606911949],"aabb_xy":[[0.428486912100916,0.9318529012866033],[0.46383817327811266,0.9672133338454088]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.17842839743078898,-1.5909555670234594,0.71338606911949],"aabb_xy":[[0.1284283964116537,-1.6274217827612878],[0.22842839844992427,-1.554489351285632]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.656726278962579,0.39223985576664866,0.71338606911949],"aabb_xy":[[0.6280769466021626,0.36359429648957275],[0.6853756113229951,0.42088541504372434]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.36137799980313323,-0.7590582153466467,0.71338606911949],"aabb_xy":[[0.29637800192148545,-0.8101818790531877],[0.4263779976847811,-0.7079345516401059]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.46714295031340425,1.4946427919910898,0.71338606911949],"aabb_xy":[[-0.4772959658675535,1.4585732504183493],[-0.45698993475925476,1.5307123335638297]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.14223667713328592,-1.189500692639684,0.71338606911949],"aabb_xy":[[0.05223667345636772,-1.2509330992167882],[0.23223668081020404,-1.1280682860625795]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.07190898444194205,1.04134228450018,0.71338606911949],"aabb_xy":[[-0.13190898530275483,0.9899158544936933],[-0.011908983581129238,1.092768714506666]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.6512217910558822,-2.483231202638194,0.71338606911949],"aabb_xy":[[-0.6688000932448289,-2.500805692212299],[-0.6336434888669352,-2.465656713064089]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.5383590356905241,-1.9362890293927912,0.71338606911949],"aabb_xy":[[-0.6283590321913958,-1.9822006718112493],[-0.4483590391896523,-1.8903773869743328]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.29514221702943544,-2.2797648151003944,0.71338606911949],"aabb_xy":[[0.23114221991732975,-2.328797184894805],[0.3591422141415411,-2.230732445305984]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.26995480149934536,-0.3200799662583109,0.71338606911949],"aabb_xy":[[-0.2743854308541856,-0.3255283379929935],[-0.26552417214450524,-0.3146315945236283]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.04835046284551836,0.6895901836776068,0.71338606911949],"aabb_xy":[[0.02829205123227807,0.6695250967684493],[0.06840887445875865,0.7096552705867644]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.20655443649643423,-2.4584106630728475,0.71338606911949],"aabb_xy":[[0.2016551441898707,-2.4860875823754163],[0.2114537288029977,-2.4307337437702787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6521587794681963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1300.png","name":"1300"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1300.png","name":"1300"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":613.1872873444945,"rotation_z_degrees":276.7199625676668,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01182151445991742,0.012605081826044275,-0.0014273504313283558]},{"name":"camera_2","offset_m":[0.0016387774944925243,-0.00906063245076317,0.007538466928416514]},{"name":"camera_3","offset_m":[-0.001005863210374467,-0.007049164418375291,-0.01365194405876221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007310895597175638,0.0019815797149160203,-0.0011939539891880498],"end_effector_yaw_offset_degrees":0.39783608777607293},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-3.7349554875411566e-05,2.6376978950236243e-05,0.00022318627923249455],"end_effector_yaw_offset_degrees":0.6582777636444808},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003408807219018985,-0.0009838474133100719,-0.00010003885963839475],"end_effector_yaw_offset_degrees":-0.8272456867289577}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009781776226682236,0.0037901166632230638],"position_m":[0.2753781776226682,-0.11400988333677693,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001996165818815422,-0.0009820366464674893],"position_m":[0.2744038341811846,0.2791179633535325,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003709171199246113,0.0037307535892552477],"position_m":[0.2890908288007539,0.016430753589255248,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017861719106527017,-0.0035372999431835693],"position_m":[0.0533138280893473,0.4088627000568164,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032020233266620906,0.0027044871820021714],"position_m":[0.16380202332666208,-0.4338955128179978,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a0e6dcf41e65c5a3362c2e055c4dd3819d707145a1116d56b9c58f12244fcf5a","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1300/tex_ceiling_textures_8385/tex_floor_textures_4109/tex_table_textures_1645/tex_wall_textures_6945","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":997014499998332653,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":997014499998332653,"visual_seed":997014499998332653,"scene_id":"lab_003","finished_at":"2026-09-03T20:15:06"} +{"episode_id":"ep_000069","started_at":"2026-09-03T20:15:09","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.605899339211929,-1.541327581985006,0.71338606911949],"aabb_xy":[[0.5418993378039383,-1.5931165335089308],[0.6698993406199196,-1.4895386304610814]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.1345390435437026,0.9576901802660513,0.71338606911949],"aabb_xy":[[-0.18953904174544742,0.9171682136396138],[-0.07953904534195776,0.9982121468924889]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.5822846309702885,1.221053295172629,0.71338606911949],"aabb_xy":[[-0.5919162671907181,1.21141598239292],[-0.5726529947498589,1.2306906079523379]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.47134104884872785,-0.9556425888006792,0.71338606911949],"aabb_xy":[[-0.5513410502788549,-1.0351597438132887],[-0.3913410474186006,-0.8761254337880697]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.46309379582042753,-1.7698197359972574,0.71338606911949],"aabb_xy":[[0.4344444634600113,-1.7984652952743332],[0.49174312818084376,-1.7411741767201816]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.5173452148139519,1.331539461239943,0.71338606911949],"aabb_xy":[[0.4373452176543765,1.3199918602821257],[0.5973452119735271,1.3430870621977598]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.6568238865400395,-2.1758833109877225,0.71338606911949],"aabb_xy":[[0.6090177189262709,-2.2408833136947814],[0.7046300541538082,-2.1108833082806635]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.4440427093790731,1.6111118255619856,0.71338606911949],"aabb_xy":[[0.4097264322044552,1.5611118255888081],[0.4783589865536911,1.6611118255351636]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.030568413128981287,-1.3976506027917612,0.71338606911949],"aabb_xy":[[-0.0334315839831244,-1.4466829725861718],[0.09456841024108698,-1.3486182329973506]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.4143517033705927,-0.09727186569323187,0.71338606911949],"aabb_xy":[[-0.4643359390787699,-0.14727186450672747],[-0.36436746766241546,-0.047271866879736266]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.0991475014295713,-2.3533530509795315,0.71338606911949],"aabb_xy":[[-0.14862792264353009,-2.417353048892384],[-0.0496670802156125,-2.28935305306668]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.4165017716854795,-2.0597259919870834,0.71338606911949],"aabb_xy":[[-0.5065017684210897,-2.112909455304378],[-0.3265017749498693,-2.006542528669789]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.29751328590443227,-1.386046079084963,0.71338606911949],"aabb_xy":[[-0.33210436875847743,-1.4510460793699937],[-0.262922203050387,-1.3210460787999316]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.1159955352505948,-0.7739344489876643,0.71338606911949],"aabb_xy":[[0.11065795958459025,-0.7989344499168041],[0.12133311091659939,-0.7489344480585245]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.3052267618682072,0.4968596048321823,0.71338606911949],"aabb_xy":[[0.29976881623118706,0.4168596015245231],[0.3106847075052272,0.5768596081398414]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.4450441624861461,-0.49328818312226774,0.71338606911949],"aabb_xy":[[-0.459687568040179,-0.507946902779052],[-0.43040075693211305,-0.4786294634654835]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.4730144683217037,-2.4972753304131783,0.71338606911949],"aabb_xy":[[0.38801446962962904,-2.529261193808057],[0.5580144670137783,-2.4652894670182994]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.0615483808867886,-0.6583946506670371,0.71338606911949],"aabb_xy":[[0.043679273132333114,-0.672227558644248],[0.0794174886412441,-0.6445617426898261]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.12461723339966557,-0.46827371470366996,0.71338606911949],"aabb_xy":[[-0.1658660444295803,-0.5232737142158874],[-0.08336842236975084,-0.4132737151914525]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.27407751202004244,-2.011687232746301,0.71338606911949],"aabb_xy":[[-0.2777807733491812,-2.015389251055019],[-0.27037425069090354,-2.0079852144375834]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.3782372833159285,-0.7833421203671573,0.71338606911949],"aabb_xy":[[-0.4132372832924243,-0.792806736414774],[-0.34323728333943265,-0.7738775043195407]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.10620246927319732,-1.5189478794753295,0.71338606911949],"aabb_xy":[[-0.13734938811678044,-1.5889478781621367],[-0.07505555042961419,-1.4489478807885223]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[-0.12909556769130048,1.2239576542213082,0.71338606911949],"aabb_xy":[[-0.19409556864842767,1.1720094422876028],[-0.06409556673417326,1.275905866155014]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.41760663833364764,1.4285486045392246,0.71338606911949],"aabb_xy":[[0.4088045830246749,1.4207372783842953],[0.4264086936426203,1.4363599306941535]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.18548128812520792,-1.601168892220113,0.71338606911949],"aabb_xy":[[0.16798128899084072,-1.6110485192577009],[0.20298128725957507,-1.5912892651825252]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.6365091385321029,1.746602286324308,0.71338606911949],"aabb_xy":[[-0.6610227626291086,1.7223376930222718],[-0.6119955144350969,1.7708668796263447]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[-0.041783113194160615,-0.8875239768996392,0.71338606911949],"aabb_xy":[[-0.05522963982820395,-0.9009938285527305],[-0.028336586560117283,-0.874054125246548]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.5786211765667816,-2.1757246486763147,0.71338606911949],"aabb_xy":[[-0.5937933458484149,-2.1908935056045182],[-0.5634490072851482,-2.160555791748111]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.13970104429587726,0.8446219921158655,0.71338606911949],"aabb_xy":[[-0.15737667488447557,0.8269417758364628],[-0.12202541370727892,0.8623022083952683]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[-0.023414628251644753,1.5493542769903557,0.71338606911949],"aabb_xy":[[-0.027328501447067274,1.5406052615837986],[-0.019500755056222226,1.5581032923969123]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[-0.19030011909985245,-0.30866329006050686,0.71338606911949],"aabb_xy":[[-0.24529333043698923,-0.3636632903993005],[-0.1353069077627157,-0.2536632897217133]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[0.3061280038883829,-0.8047755097447304,0.71338606911949],"aabb_xy":[[0.22613418030982468,-0.884775512337572],[0.3861218274669411,-0.7247755071518889]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.651222410105803,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4703.png","name":"4703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4703.png","name":"4703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8565.png","name":"8565"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3628.png","name":"3628"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7834.png","name":"7834"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6302.png","name":"6302"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":754.5028994748648,"rotation_z_degrees":247.52372726779222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0060060822470846455,-0.011953991816526921,0.008267853887746344]},{"name":"camera_2","offset_m":[-0.006993367287967215,-0.007668271137377948,-0.01660995202085407]},{"name":"camera_3","offset_m":[0.00803618007993084,-0.015577725140035716,-0.004165460816573634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008491946923269698,0.0009194052022046513,0.001268750582425399],"end_effector_yaw_offset_degrees":-0.2806065069418304},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003400593181372199,0.0013395580996192463,-0.00020921691182326178],"end_effector_yaw_offset_degrees":-0.1794780299479799},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015506305885308706,-0.0009379660200861122,0.0002249242406994591],"end_effector_yaw_offset_degrees":-0.02232456554835216}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003158111218740419,-0.0033403114907436427],"position_m":[0.2775581112187404,-0.12114031149074364,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004986819006608978,0.00464111597167192],"position_m":[0.28138681900660895,0.28474111597167195,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038898863435512304,-0.00490751971579861],"position_m":[0.29668988634355126,0.007792480284201389,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003637419798703391,-0.0013573480376157655],"position_m":[0.05146258020129661,0.4110426519623842,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024574572780932647,-0.002175098120664052],"position_m":[0.15814254272190673,-0.43877509812066406,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5db84ea1a840896061d700068bb6822b6977de04e93d74a12ff637d8439ef6d","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4703/tex_ceiling_textures_6302/tex_floor_textures_7834/tex_table_textures_8565/tex_wall_textures_3628","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1231935504029382708,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1231935504029382708,"visual_seed":1231935504029382708,"scene_id":"lab_003","finished_at":"2026-09-03T20:17:37"} +{"episode_id":"ep_000070","started_at":"2026-09-03T20:17:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.3006402047197917,-2.4505485191768255,0.71338606911949],"aabb_xy":[[-0.3099872123020869,-2.4648521413944695],[-0.29129319713749646,-2.4362448969591814]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.5515729616830991,-0.2545097365218294,0.71338606911949],"aabb_xy":[[-0.5602869307330334,-0.2770097371810175],[-0.5428589926331644,-0.2320097358626411]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.20384594957167634,1.8196237724047504,0.71338606911949],"aabb_xy":[[0.19506472242444017,1.8108440251162206],[0.21262717671891262,1.828403519693281]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.43377780170397545,-1.9743578223865816,0.71338606911949],"aabb_xy":[[-0.48375109570723585,-2.0243578229411283],[-0.38380450770071495,-1.9243578218320339]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.23596180209762574,-1.809385040649801,0.71338606911949],"aabb_xy":[[0.19911125416063813,-1.8468850414728346],[0.27281235003461335,-1.7718850398267671]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.5648028863209732,-0.40754898232647596,0.71338606911949],"aabb_xy":[[-0.6023028875057659,-0.4119672050225365],[-0.5273028851361803,-0.40313075963041545]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.1517872663532841,-0.7173529944181452,0.71338606911949],"aabb_xy":[[0.07178726588306815,-0.7256637020324936],[0.23178726682350007,-0.7090422868037969]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.06185721254993837,0.7774231615352156,0.71338606911949],"aabb_xy":[[-0.1518572090508101,0.7315115191167573],[0.02814278395093338,0.8233348039536738]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.18049237383897032,0.32245257744698375,0.71338606911949],"aabb_xy":[[-0.19750247112902097,0.30631808894870977],[-0.16348227654891967,0.3385870659452576]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.2860922019462808,1.5533660079944638,0.71338606911949],"aabb_xy":[[-0.37109220063835546,1.521380144599585],[-0.20109220325420618,1.5853518713893426]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.2963647314467716,1.184052322892975,0.71338606911949],"aabb_xy":[[-0.3188647314569199,1.1699561032533714],[-0.2738647314366233,1.198148542532578]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.009995005800314538,-2.023377953870038,0.71338606911949],"aabb_xy":[[-0.012177521176336298,-2.045553621026161],[0.03216753277696537,-2.001202286713915]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.6491663934699194,-1.3532039247627479,0.71338606911949],"aabb_xy":[[0.6300540861119406,-1.3723387036399899],[0.6682787008278983,-1.3340691458855058]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.5867769216448628,1.6283508274726262,0.71338606911949],"aabb_xy":[[0.5227769212673291,1.578605560621814],[0.6507769220223963,1.6780960943234384]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.40102928581253944,-0.17914052503764344,0.71338606911949],"aabb_xy":[[-0.4069958247532752,-0.18510166969700748],[-0.39506274687180365,-0.1731793803782794]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.1890163418074643,-0.4351062194998243,0.71338606911949],"aabb_xy":[[-0.254016341841767,-0.4818068961801516],[-0.12401634177316156,-0.388405542819497]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.6976885626893716,-1.8984795349007664,0.71338606911949],"aabb_xy":[[0.6864435071187537,-1.9097213326248617],[0.7089336182599894,-1.887237737176671]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.26718519131403995,-1.220012209298327,0.71338606911949],"aabb_xy":[[-0.2712633492210897,-1.2240931895465903],[-0.2631070334069902,-1.2159312290500637]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.03596707214664252,-2.382039791640454,0.71338606911949],"aabb_xy":[[0.02519409822527474,-2.417039789859493],[0.0467400460680103,-2.347039793421415]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.18203607077243733,-1.028635805369632,0.71338606911949],"aabb_xy":[[-0.20392581836137813,-1.1186358026588814],[-0.16014632318349653,-0.9386358080803833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518460883399092,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/81.png","name":"81"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/81.png","name":"81"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6952.png","name":"6952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/656.png","name":"656"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":577.5319478049838,"rotation_z_degrees":110.3175610175593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006855737576267864,-0.01693557885606148,-0.0032779202592241215]},{"name":"camera_2","offset_m":[0.01343206821716746,-0.008137769483205246,-0.010873895869800166]},{"name":"camera_3","offset_m":[-0.0005957875212126221,0.0027697558815317075,0.013245894070740002]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005058231109071895,0.0008158865594800561,-0.0008083001298900437],"end_effector_yaw_offset_degrees":-0.11019484725901196},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00098051197544646,-0.0018534853760818093,-0.0014821590364975355],"end_effector_yaw_offset_degrees":0.6980921205701296},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00030889825671464037,-0.0017825446980641595,0.0016994369770181998],"end_effector_yaw_offset_degrees":0.41834903722846883}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003168092546515155,-7.191916337418933e-05],"position_m":[0.2740831907453485,-0.1178719191633742,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004813661382535936,0.0013440922080555336],"position_m":[0.27158633861746406,0.28144409220805555,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0032194576214024362,-0.0002708644086422971],"position_m":[0.2895805423785976,0.012429135591357703,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004328879911852402,-0.00035838537455960915],"position_m":[0.0507711200881476,0.41204161462544037,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.812887298321025e-06,-0.0004042757454231598],"position_m":[0.16059218711270168,-0.43700427574542317,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"019e4dbef71741abeb3d9366b4f2c302a9193f0b98059eab6032c7ed3c83dc1e","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_81/tex_ceiling_textures_2857/tex_floor_textures_656/tex_table_textures_6952/tex_wall_textures_5566","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6874028561424925860,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6874028561424925860,"visual_seed":6874028561424925860,"scene_id":"lab_003","finished_at":"2026-09-03T20:20:04"} +{"episode_id":"ep_000071","started_at":"2026-09-03T20:20:07","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.2310280900094387,1.7405331060413034,0.71338606911949],"aabb_xy":[[0.19352808966121088,1.7287417104602196],[0.2685280903576664,1.7523245016223867]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.47346760207211336,0.3461888411788321,0.71338606911949],"aabb_xy":[[0.4134676012113005,0.29476241117234564],[0.533467602932926,0.3976152711853184]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.38131776689213637,-1.6133171936182986,0.71338606911949],"aabb_xy":[[0.3013177647293738,-1.6932723772444418],[0.4613177690548988,-1.5333620099921546]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.005396917407406443,0.6827746060912339,0.71338606911949],"aabb_xy":[[-0.027910609230863637,0.6127746054902263],[0.01711677441605075,0.7527746066922414]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.6068768827985709,1.4076787440759855,0.71338606911949],"aabb_xy":[[0.5569038172660554,1.3576787442634528],[0.6568499483310863,1.4576787438885186]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.06194287234662377,-1.689865055111536,0.71338606911949],"aabb_xy":[[-0.07509411831791314,-1.7148650548682227],[-0.04879162637533442,-1.6648650553548496]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.30366082621339363,-2.1941614382092363,0.71338606911949],"aabb_xy":[[-0.34116082603042713,-2.198799649520378],[-0.26616082639636,-2.1895232268980944]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.299917332629945,-0.5436942799120108,0.71338606911949],"aabb_xy":[[-0.3477235002437136,-0.6086942826190698],[-0.2521111650161763,-0.47869427720495183]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.5479496686419871,0.07288409309102795,0.71338606911949],"aabb_xy":[[-0.6179496702442666,0.05945129988937037],[-0.47794966703970765,0.08631688629268552]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.4595923794945862,-1.1264729177563593,0.71338606911949],"aabb_xy":[[0.4227418315575986,-1.163972918579393],[0.4964429274315738,-1.0889729169333255]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.15324013826828176,0.5611952642241267,0.71338606911949],"aabb_xy":[[0.14521386763765576,0.5524437692467742],[0.16126640889890775,0.5699467592014794]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.4946865870868084,1.6827931755443521,0.71338606911949],"aabb_xy":[[-0.5314812202117147,1.6458873004477697],[-0.45789195396190213,1.7196990506409342]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.04481215081424672,-1.747413984956078,0.71338606911949],"aabb_xy":[[0.009812151621428455,-1.7583810309537402],[0.07981215000706499,-1.7364469389584152]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.5813752311891405,0.19450606218689304,0.71338606911949],"aabb_xy":[[0.5764759388825769,0.16682914288432424],[0.5862745234957039,0.22218298148946178]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.27934332403394346,-1.329040906674755,0.71338606911949],"aabb_xy":[[0.21434332303344295,-1.3798272718294302],[0.344343325034444,-1.2782545415200803]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.5494836672656027,-1.6131541019039828,0.71338606911949],"aabb_xy":[[-0.6332058927656852,-1.7031541054386785],[-0.46576144176552026,-1.5231540983692866]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.6298874545048783,-1.4819159236094717,0.71338606911949],"aabb_xy":[[0.6234736408616933,-1.4883257438571398],[0.6363012681480632,-1.475506103361803]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.21092323111437905,-0.7656880783534077,0.71338606911949],"aabb_xy":[[0.20329896302420083,-0.7733213018899515],[0.21854749920455732,-0.7580548548168641]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.37621701144647446,0.643196913931253,0.71338606911949],"aabb_xy":[[0.3062170080549125,0.607881140227822],[0.44621701483803644,0.6785126876346838]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.6205735253917635,-1.9964197926215907,0.71338606911949],"aabb_xy":[[-0.6430735259038041,-2.018911650986989],[-0.5980735248797229,-1.9739279342561922]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5884223087470216,-2.1091036405111896,0.71338606911949],"aabb_xy":[[-0.5981782982561955,-2.118866174570424],[-0.5786663192378477,-2.099341106451955]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.182298972374762,0.8919979471003687,0.71338606911949],"aabb_xy":[[0.1544539355941549,0.8612134483620572],[0.21014400915536915,0.9227824458386805]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.5772652083474301,1.6060863145658435,0.71338606911949],"aabb_xy":[[0.5646384210602337,1.5965402408642706],[0.5898919956346264,1.6156323882674164]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.32166130181476904,1.2645382933192968,0.71338606911949],"aabb_xy":[[-0.3415523416951093,1.2518824820346002],[-0.3017702619344288,1.2771941046039939]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.13888988914285927,-0.9312184543795861,0.71338606911949],"aabb_xy":[[0.09612318226343908,-0.9952184578013885],[0.18165659602227946,-0.8672184509577836]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.5582905757541641,-0.9730613332311433,0.71338606911949],"aabb_xy":[[-0.5932905748841196,-0.9788065543068073],[-0.5232905766242083,-0.9673161121554791]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[0.2828695653098793,-1.0466353272386364,0.71338606911949],"aabb_xy":[[0.27791354512499816,-1.0691353274407582],[0.2878255854947605,-1.024135327036515]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[-0.12449132399473484,-2.1564792627932086,0.71338606911949],"aabb_xy":[[-0.15949132389075368,-2.1648534983051486],[-0.08949132409871595,-2.1481050272812685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6533264774515825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9037.png","name":"9037"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6921.png","name":"6921"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.3494590465982,"rotation_z_degrees":57.7885850168552,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017783165552909392,0.003003526638202584,0.004310189384486733]},{"name":"camera_2","offset_m":[-0.0005151100807256996,0.007673524080025848,0.004938382471355564]},{"name":"camera_3","offset_m":[-0.005721286905649747,0.008559830573270463,0.01116916683522906]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004487122958663542,-0.001999201390425982,-0.0010173632676210708],"end_effector_yaw_offset_degrees":-0.6307965247956586},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005337844815509842,-0.0007160338849540406,-0.0001924648035630549],"end_effector_yaw_offset_degrees":-0.7288194786342106},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014954002410283301,0.0014762222850132297,-0.0018798617530208675],"end_effector_yaw_offset_degrees":-0.5937907832641063}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012239043669416139,0.0017660162887517409],"position_m":[0.27317609563305834,-0.11603398371124826,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029989893930574612,0.0028816480536037912],"position_m":[0.27939898939305746,0.2829816480536038,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0018731123648439308,0.0012012348700946559],"position_m":[0.29467311236484395,0.013901234870094654,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003352833141868904,-0.0013404180490142058],"position_m":[0.0517471668581311,0.4110595819509858,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005152563150469447,-0.0020326816672761837],"position_m":[0.16111525631504695,-0.43863268166727615,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fccf0b4d10f0e729a4c85835851c434afadd19dcbfcdc2fe301f4561ab473f6c","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2276/tex_ceiling_textures_7270/tex_floor_textures_6921/tex_table_textures_9037/tex_wall_textures_5768","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2432012488014098611,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2432012488014098611,"visual_seed":2432012488014098611,"scene_id":"lab_003","finished_at":"2026-09-03T20:22:43"} +{"episode_id":"ep_000072","started_at":"2026-09-03T20:22:47","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.06293378262264437,1.7356981472598707,0.71338606911949],"aabb_xy":[[0.027933782726625497,1.7273239117479309],[0.09793378251866323,1.744072382771811]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.19862327831825227,-1.7893940173215552,0.71338606911949],"aabb_xy":[[-0.2786171018968105,-1.8693940199143968],[-0.11862945473969405,-1.7093940147287137]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.10853028932507613,1.5046895021505384,0.71338606911949],"aabb_xy":[[-0.11557059925861315,1.424689502750867],[-0.10148997939153917,1.58468950155021]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.3139923340769367,1.3596736637384375,0.71338606911949],"aabb_xy":[[-0.37399233458478953,1.3028269300525162],[-0.2539923335690837,1.4165203974243588]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.597138822069892,0.566612623302873,0.71338606911949],"aabb_xy":[[-0.6871388185707636,0.5207009808844146],[-0.5071388255690201,0.6125242657213311]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.487628358563732,-1.491941325620566,0.71338606911949],"aabb_xy":[[-0.5000957166734676,-1.5044066502538895],[-0.47516100045399634,-1.4794760009872425]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.12239209340093604,0.6343954846836772,0.71338606911949],"aabb_xy":[[0.06837649711903603,0.57039548179142],[0.17640768968283604,0.6983954875759343]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.6767488461202928,1.1028420090524058,0.71338606911949],"aabb_xy":[[0.6504600217998521,1.0765705753977546],[0.7030376704407334,1.129113442707057]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.04252209640507676,-1.2044014738972055,0.71338606911949],"aabb_xy":[[-0.09252209768891671,-1.2543803282878276],[0.007477904878763208,-1.1544226195065834]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.5609356580535377,-2.4511409269938587,0.71338606911949],"aabb_xy":[[-0.5822136661970099,-2.5161409293199317],[-0.5396576499100654,-2.3861409246677856]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.26348494909921844,-1.251868273547517,0.71338606911949],"aabb_xy":[[-0.2811605796878167,-1.2695484898269198],[-0.24580931851062007,-1.2341880572681143]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.6051296030817347,0.8447166983574981,0.71338606911949],"aabb_xy":[[-0.6114417026180732,0.8389497591042793],[-0.5988175035453962,0.8504836376107169]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.12180842373086809,1.2595680073179913,0.71338606911949],"aabb_xy":[[0.08721734087682287,1.19456800703296],[0.1563995065849133,1.3245680076030222]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.6893071519743366,1.6324537707309488,0.71338606911949],"aabb_xy":[[0.6828055154663318,1.6226859487046392],[0.6958087884823411,1.6422215927572588]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.6310088000985292,-1.7018489991304873,0.71338606911949],"aabb_xy":[[0.5460088014064546,-1.7338348625253661],[0.7160087987906039,-1.6698631357356084]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.12415671592121658,-1.2265281745868428,0.71338606911949],"aabb_xy":[[0.08915671679126089,-1.232273395662507],[0.1591567150511722,-1.2207829535111787]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.09681939730129585,0.7491925242096102,0.71338606911949],"aabb_xy":[[-0.1668193991100413,0.7278387554454229],[-0.026819395492550413,0.7705462929737976]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.40537444650146726,-1.9279731868159486,0.71338606911949],"aabb_xy":[[0.36435650311509643,-1.9779731874469058],[0.4463923898878382,-1.877973186184991]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.248152576391241,-1.635229698359193,0.71338606911949],"aabb_xy":[[0.19867215517728218,-1.699229696272045],[0.2976329976051998,-1.5712297004463414]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.41577840444753245,-0.8931615141486924,0.71338606911949],"aabb_xy":[[-0.42586011152610587,-0.9731615120408068],[-0.4056966973689589,-0.8131615162565775]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.5271109680483084,-2.296673908956915,0.71338606911949],"aabb_xy":[[0.49711930531443793,-2.326673908293715],[0.5571026307821786,-2.266673909620114]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.4326111794181722,1.296449497582258,0.71338606911949],"aabb_xy":[[0.41011117960426985,1.2919748812117775],[0.4551111792320746,1.300924113952739]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.16261443288613575,-1.8878213000757094,0.71338606911949],"aabb_xy":[[0.14705866347587052,-1.9033717333201166],[0.17817020229640104,-1.8722708668313022]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[-0.3791621670281584,-1.5302524667695299,0.71338606911949],"aabb_xy":[[-0.39703127478261396,-1.544085374746741],[-0.361293059273703,-1.5164195587923193]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[-0.2435305221962215,-2.2063172083192435,0.71338606911949],"aabb_xy":[[-0.28103052254444927,-2.218108603900327],[-0.20603052184799373,-2.19452581273816]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[0.39254837396441067,0.9396803965626628,0.71338606911949],"aabb_xy":[[0.31254837253428347,0.8601632415500533],[0.47254837539453787,1.0191975515752723]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.5390693363294647,-2.059662843260101,0.71338606911949],"aabb_xy":[[0.5166045663580596,-2.0821628441389617],[0.5615341063008699,-2.0371628423812407]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_27","position":[-0.3850218225332283,-0.608729289019663,0.71338606911949],"aabb_xy":[[-0.4193187335509688,-0.6430261752296041],[-0.35072491151548757,-0.5744324028097215]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[-0.1287083458962478,-0.7371305232344236,0.71338606911949],"aabb_xy":[[-0.13663162613499613,-0.7596305234724269],[-0.12078506565749947,-0.7146305229964202]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[-0.6187900629640704,-0.4963970881152098,0.71338606911949],"aabb_xy":[[-0.6803808221880632,-0.5603970862242567],[-0.5571993037400775,-0.43239709000616283]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_30","position":[0.06298734301482356,-1.5251015116014814,0.71338606911949],"aabb_xy":[[-0.027012659319195498,-1.6025838661865939],[0.15298734534884262,-1.4476191570163686]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_31","position":[0.45908895559803153,0.5847230503882166,0.71338606911949],"aabb_xy":[[0.3990889557514647,0.5279044281951778],[0.5190889554445983,0.6415416725812552]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_32","position":[-0.4796922630293444,0.9735275998607129,0.71338606911949],"aabb_xy":[[-0.491460449824002,0.8885275999554916],[-0.46792407623468696,1.0585275997659347]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[0.4037813622277213,0.11517316788544996,0.71338606911949],"aabb_xy":[[0.3957380023017661,0.030173166790083528],[0.41182472215367644,0.20017316898081638]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_34","position":[0.023029680267701136,-2.3327858952014626,0.71338606911949],"aabb_xy":[[-0.05697032299014182,-2.412782402993446],[0.10302968352554409,-2.252789387409478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6519226611314113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9870.png","name":"9870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9870.png","name":"9870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4245.png","name":"4245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1241.png","name":"1241"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4859.png","name":"4859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.4607226780729,"rotation_z_degrees":345.3620984946828,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004138138803447763,-0.011701384219449383,-0.00763534045750907]},{"name":"camera_2","offset_m":[-0.0056375800379803425,-0.0055104547387451845,-0.01628878307707135]},{"name":"camera_3","offset_m":[-0.015186063996378701,-0.016512203967150172,-0.010256857417804884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015122028528318757,-0.0012862665010734413,0.0010496165278463024],"end_effector_yaw_offset_degrees":0.22670558935472673},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016067754748894836,0.0006786510987854453,-0.0008621290249035431],"end_effector_yaw_offset_degrees":-0.1838291034294144},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012032854658620197,-1.7115522502006344e-05,0.0019620391088331635],"end_effector_yaw_offset_degrees":0.4121291160807061}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005687611363184106,-0.0014647058574043803],"position_m":[0.27383123886368155,-0.11926470585740438,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029400683504422253,0.0016684448368012765],"position_m":[0.27345993164955773,0.2817684448368013,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00020078104727343747,0.004701463193707909],"position_m":[0.29259921895272656,0.01740146319370791,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003826413231040037,-0.001316717444138439],"position_m":[0.05127358676895997,0.4110832825558616,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009186216288180485,0.000508755201270061],"position_m":[0.16151862162881805,-0.4360912447987299,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"877388f8b4a0e799d8e39e3dc717f575aeb2a6e9885ef5e2220d59214e40be5e","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9870/tex_ceiling_textures_6895/tex_floor_textures_4859/tex_table_textures_4245/tex_wall_textures_1241","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5393919121400629060,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5393919121400629060,"visual_seed":5393919121400629060,"scene_id":"lab_003","finished_at":"2026-09-03T20:25:06"} +{"episode_id":"ep_000073","started_at":"2026-09-03T20:25:10","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.4692837426584082,-0.009952528573117014,0.71338606911949],"aabb_xy":[[-0.491456269635059,-0.03212819572924019],[-0.4471112156817573,0.01222313858300616]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.3320633551762538,0.7108671383088958,0.71338606911949],"aabb_xy":[[-0.36706335348694924,0.7031521233853502],[-0.29706335686555835,0.7185821532324415]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[0.027487406551522153,1.639579620066494,0.71338606911949],"aabb_xy":[[-0.03651259372245608,1.589513519869206],[0.09148740682550038,1.689645720263782]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.5756874620455942,-0.48160017582739645,0.71338606911949],"aabb_xy":[[-0.5981874620557425,-0.4956963954669997],[-0.5531874620354459,-0.4675039561877931]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.11419274723270145,0.09534289532303841,0.71338606911949],"aabb_xy":[[-0.1243457627868508,0.059273353750298075],[-0.10403973167855204,0.13141243689577875]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.6791278247207648,1.6142518277852465,0.71338606911949],"aabb_xy":[[-0.6922790706920542,1.5892518280285601],[-0.6659765787494755,1.6392518275419332]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.2786727590202147,1.4743738684959777,0.71338606911949],"aabb_xy":[[0.26951288007633817,1.4678426504524407],[0.28783263796409136,1.4809050865395148]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.6234896049893139,0.6744154724486462,0.71338606911949],"aabb_xy":[[-0.673472555176793,0.6244154728060857],[-0.5735066548018344,0.7244154720912065]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.4412091434962915,-0.3372940907957349,0.71338606911949],"aabb_xy":[[0.3862091438745457,-0.3922777835832077],[0.4962091431180374,-0.28231039800826224]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.06633266885522471,0.9254989340058244,0.71338606911949],"aabb_xy":[[-0.07403585952930175,0.9177895633070864],[-0.058629478181147665,0.9332083047045624]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.279004362473885,-0.8419982360048621,0.71338606911949],"aabb_xy":[[-0.3690043661508031,-0.9034306425819663],[-0.18900435879696675,-0.7805658294277575]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.1210290673435136,-0.41005325244056,0.71338606911949],"aabb_xy":[[-0.17084584680834836,-0.4600532509248633],[-0.07121228787867882,-0.3600532539562566]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.1872203636427181,0.6760571147751708,0.71338606911949],"aabb_xy":[[-0.25122036532071546,0.6275397232958566],[-0.12322036196472075,0.724574506254485]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.1905298927593021,-1.8509720692175904,0.71338606911949],"aabb_xy":[[0.17619546763313862,-1.8630322847721292],[0.20486431788546552,-1.8389118536630515]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.04484832993848353,0.6517850223597961,0.71338606911949],"aabb_xy":[[-0.05188863987202054,0.5717850229601248],[-0.03780802000494655,0.7317850217594676]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.39427454931838884,1.6422121930436338,0.71338606911949],"aabb_xy":[[-0.41455885204178755,1.6219295679009245],[-0.37399024659499003,1.6624948181863421]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[-0.1219984015335277,-0.24737686251039337,0.71338606911949],"aabb_xy":[[-0.13356738228046428,-0.27237686262732513],[-0.11042942078659113,-0.22237686239346172]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.3676717293770939,0.396009189651056,0.71338606911949],"aabb_xy":[[0.3603894130004302,0.3060091860415469],[0.3749540457537575,0.4860091932605649]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.004626476393698287,-1.623893655503291,0.71338606911949],"aabb_xy":[[-0.0662172356176911,-1.6878936536123381],[0.05696428283029453,-1.5598936573942443]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.1140892435206402,1.349959799118134,0.71338606911949],"aabb_xy":[[-0.1194217581752532,1.3446354708728985],[-0.10875672886602723,1.3552841273633696]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.6743141702572673,-1.5255528465878048,0.71338606911949],"aabb_xy":[[0.6368141695926884,-1.541239904588027],[0.7118141709218458,-1.5098657885875826]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.5919394263845987,1.804337941009162,0.71338606911949],"aabb_xy":[[0.5219394299746367,1.7839000053574798],[0.6619394227945603,1.8247758766608433]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.2979263711060161,-1.7487347380382312,0.71338606911949],"aabb_xy":[[-0.3479263721251514,-1.7852009537760596],[-0.24792637008688084,-1.7122685223004037]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.31009480370400877,-1.3300825460947845,0.71338606911949],"aabb_xy":[[-0.3800948053062882,-1.343515339296442],[-0.24009480210172923,-1.316649752893127]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[-0.4445430344056693,-2.5394861984553088,0.71338606911949],"aabb_xy":[[-0.46645171654502027,-2.561386865275399],[-0.4226343522663182,-2.5175855316352176]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.2534320425706993,-1.7156805072588972,0.71338606911949],"aabb_xy":[[0.21218323154078453,-1.7706805067711142],[0.29468085360061397,-1.6606805077466793]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.38400921200250315,-1.537543201888267,0.71338606911949],"aabb_xy":[[0.3765967564611147,-1.5433944123098953],[0.3914216675438916,-1.5316919914666394]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.1159371067400008,1.1940281179602175,0.71338606911949],"aabb_xy":[[0.05193711034442772,1.130064829541484],[0.17993710313557387,1.257991406378951]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_28","position":[-0.4467037566246753,-2.104668098999668,0.71338606911949],"aabb_xy":[[-0.5107037580326659,-2.156457050523592],[-0.38270375521668465,-2.0528791474757426]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[0.2934753862377002,0.8422852772350913,0.71338606911949],"aabb_xy":[[0.2893594361256275,0.8381697222022456],[0.2975913363497728,0.8464008322679367]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[-0.5450916525964985,0.4354165950224438,0.71338606911949],"aabb_xy":[[-0.5495222819513388,0.4299682232877612],[-0.5406610232416584,0.4408649667571264]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_31","position":[0.20499022688592483,-0.6559090722265026,0.71338606911949],"aabb_xy":[[0.15718405927215617,-0.7209090749335616],[0.2527963944996935,-0.5909090695194437]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_32","position":[0.016593834526942408,0.73298709992764,0.71338606911949],"aabb_xy":[[0.0053487789563245736,0.7217453022035447],[0.027838890097560243,0.7442288976517353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497495423894056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8251.png","name":"8251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8251.png","name":"8251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7347.png","name":"7347"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8339.png","name":"8339"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2469.png","name":"2469"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":717.2928490405388,"rotation_z_degrees":246.27467488936682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01599775315796421,-0.0023287648646095928,-0.0052851314730189974]},{"name":"camera_2","offset_m":[0.016271591131953433,3.434497428923822e-05,-0.003967580281592435]},{"name":"camera_3","offset_m":[0.007325248573784377,0.013374180605797776,0.008488669750535912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011976102113762572,4.115366433708311e-06,0.0017962192968224082],"end_effector_yaw_offset_degrees":0.2923319000608511},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007225273185445466,-0.00036674736259261734,4.1347727114354575e-06],"end_effector_yaw_offset_degrees":-0.2260270915183924},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008837166494454051,-0.001075394921908758,-0.0019092804805591434],"end_effector_yaw_offset_degrees":0.2582988929759016}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001986208258577856,0.0037418791119557164],"position_m":[0.27638620825857785,-0.11405812088804429,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005766619963353883,0.0015577927901962154],"position_m":[0.27697666199633536,0.2816577927901962,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0033309622852058665,0.003992282236129429],"position_m":[0.28946903771479415,0.016692282236129428,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019234452084113617,-0.0017123711280383849],"position_m":[0.05317655479158864,0.4106876288719616,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020068556189514497,0.000511017418026968],"position_m":[0.15859314438104855,-0.43608898258197304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a65688176b8a70995bebc97a52127397431c423dead6dbdf750213ca5c90a4bb","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8251/tex_ceiling_textures_2469/tex_floor_textures_7005/tex_table_textures_7347/tex_wall_textures_8339","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7916043246962929333,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7916043246962929333,"visual_seed":7916043246962929333,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:34"} +{"episode_id":"ep_000074","started_at":"2026-09-03T20:27:37","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.6656130656959666,-1.5667751758695463,0.71338606911949],"aabb_xy":[[-0.6802564712499994,-1.5814338955263305],[-0.6509696601419335,-1.552116456212762]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.6589182524732728,1.341928715823062,0.71338606911949],"aabb_xy":[[0.6167338383124422,1.2779287155458507],[0.7011026666341037,1.4059287161002731]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.26501183487873714,-1.7780816071711942,0.71338606911949],"aabb_xy":[[0.2010118346182663,-1.8230904065241222],[0.3290118351392079,-1.7330728078182662]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.20963163929611384,-2.364284820036808,0.71338606911949],"aabb_xy":[[0.17213163894788608,-2.376076215617891],[0.2471316396443416,-2.352493424455724]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.15111610337945391,-1.0736147563074714,0.71338606911949],"aabb_xy":[[-0.17740492769989455,-1.0998861899621224],[-0.12482727905901324,-1.04734332265282]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.10205272783852604,1.0190353605889109,0.71338606911949],"aabb_xy":[[0.03805273144295296,0.9550720721701773],[0.1660527242340991,1.0829986490076444]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.6474811628806727,-2.559692880973517,0.71338606911949],"aabb_xy":[[-0.6548936184220612,-2.5655440913951444],[-0.6400687073392842,-2.5538416705518885]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.24608160784380773,-1.567796836877298,0.71338606911949],"aabb_xy":[[0.18108160780950497,-1.6144975135576254],[0.31108160787811046,-1.5210961601969708]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.6022762950038285,1.7986512585346088,0.71338606911949],"aabb_xy":[[0.564776296580428,1.7854870445667776],[0.6397762934272287,1.8118154725024391]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.259580507325179,-0.41758527394432265,0.71338606911949],"aabb_xy":[[-0.2945805072211979,-0.4259595094562625],[-0.22458050742916016,-0.4092110384323826]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.2268500070408267,1.5462956384618844,0.71338606911949],"aabb_xy":[[-0.23174929934739014,1.5186187191593155],[-0.22195071473426314,1.573972557764453]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.029886550665231937,1.2312097875671872,0.71338606911949],"aabb_xy":[[-0.0467972831015737,1.2177375819745724],[-0.012975818228890152,1.2446819931598017]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.4912809064952697,-1.2156793000395727,0.71338606911949],"aabb_xy":[[0.45378090638967666,-1.2225014618925538],[0.5287809066008625,-1.2088571381865916]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.45379985114452026,-0.48167926142803363,0.71338606911949],"aabb_xy":[[-0.5153906103685131,-0.5456792595370805],[-0.3922090919205275,-0.4176792633189868]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.17118099960321342,0.609489896201147,0.71338606911949],"aabb_xy":[[-0.25118099826009943,0.5949850372768842],[-0.09118100094632742,0.6239947551254098]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.3223252892262288,-2.343159972112315,0.71338606911949],"aabb_xy":[[-0.3863252909042261,-2.391677363591629],[-0.2583252875482314,-2.2946425806330004]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.16310245506250998,1.099264417957476,0.71338606911949],"aabb_xy":[[-0.17131700017819393,1.0905878276598344],[-0.15488790994682597,1.107941008255117]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.6885246710370538,-1.5090723173085838,0.71338606911949],"aabb_xy":[[0.6825581320963181,-1.5150334619679475],[0.6944912099777896,-1.5031111726492197]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.5899170375234964,0.6216370544054279,0.71338606911949],"aabb_xy":[[-0.6699170345377444,0.6015025027320166],[-0.5099170405092485,0.6417716060788391]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.21359802190887583,-0.7211942897086021,0.71338606911949],"aabb_xy":[[-0.2385980214606143,-0.7313367735737368],[-0.18859802235713732,-0.7110518058434674]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.667950894483512,-1.6397185135951613,0.71338606911949],"aabb_xy":[[0.6379833375736864,-1.669718513893047],[0.6979184513933377,-1.6097185132972756]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.40514135502221327,-0.7423048385191029,0.71338606911949],"aabb_xy":[[-0.44368704784741436,-0.7808506095752915],[-0.3665956621970123,-0.7037590674629143]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.5626517784937505,-0.6665587357991312,0.71338606911949],"aabb_xy":[[-0.5815361622622607,-0.6854446605794839],[-0.5437673947252403,-0.6476728110187784]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.12723507489412123,0.61648275152504,0.71338606911949],"aabb_xy":[[0.11807519595024463,0.6099515334815029],[0.13639495383799782,0.623013969568577]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.5625784078067676,-2.127245730173973,0.71338606911949],"aabb_xy":[[-0.5877992446666072,-2.152469481026859],[-0.5373575709469278,-2.1020219793210853]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.16752816682370641,-1.5861817835366685,0.71338606911949],"aabb_xy":[[-0.19002816733574698,-1.6086736419020666],[-0.1450281663116658,-1.56368992517127]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.3763243005051162,0.19314373516526429,0.71338606911949],"aabb_xy":[[0.3581184768438686,0.18211833458327265],[0.39453012416636396,0.20416913574725593]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.5198428002610431,0.7202582633295971,0.71338606911949],"aabb_xy":[[0.4829922523240555,0.6827582625065632],[0.5566933481980307,0.7577582641526307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6493167349886005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1670.png","name":"1670"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3809.png","name":"3809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1992.png","name":"1992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6554.png","name":"6554"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":634.5678694947917,"rotation_z_degrees":153.44077374145434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005727125835582405,0.005859904008942773,-0.010906231825180331]},{"name":"camera_2","offset_m":[-0.009713349860571818,0.0016008161080142552,-0.016095881631385606]},{"name":"camera_3","offset_m":[0.00955185346494752,-0.017277200698936918,0.015709315468899646]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012876344749635726,-0.00036712538258311064,-0.0013602131613794147],"end_effector_yaw_offset_degrees":-0.2074501874556396},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001987436397914851,0.0016279869430662645,-0.001496466799705776],"end_effector_yaw_offset_degrees":0.7040103528061592},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001700574228015025,-0.0017532757727169153,0.000453884021881418],"end_effector_yaw_offset_degrees":0.9481016293724773}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009657120439339507,0.0032287324158939536],"position_m":[0.273434287956066,-0.11457126758410605,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002319977779654454,0.0037120792803971006],"position_m":[0.27871997777965446,0.2838120792803971,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0024351867239435967,0.004888502752598437],"position_m":[0.2903648132760564,0.017588502752598437,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004248628249519521,-0.0010828101924934145],"position_m":[0.059348628249519524,0.4113171898075066,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018621323148981794,0.0031784619280998986],"position_m":[0.16041378676851017,-0.4334215380719001,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0fc89daccd857b1fbb9f224ea6972e94a36baffef9843031e64f68c64a9c9d12","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3475/tex_ceiling_textures_6554/tex_floor_textures_1992/tex_table_textures_1670/tex_wall_textures_3809","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1125270848436215654,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1125270848436215654,"visual_seed":1125270848436215654,"scene_id":"lab_003","finished_at":"2026-09-03T20:30:08"} +{"episode_id":"ep_000075","started_at":"2026-09-03T20:30:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.47426103808144976,1.0746689538334424,0.71338606911949],"aabb_xy":[[-0.5117610382533218,1.0419682184505352],[-0.43676103790957777,1.1073696892163496]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.22790137113504044,0.8244378049410437,0.71338606911949],"aabb_xy":[[-0.26134154633106,0.7909941791101134],[-0.19446119593902078,0.8578814307719735]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.4179546196239633,-1.459991790106251,0.71338606911949],"aabb_xy":[[-0.4819546229136714,-1.5033267091101683],[-0.3539546163342552,-1.416656871102333]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.20593481337882436,1.4300949557307425,0.71338606911949],"aabb_xy":[[0.15093481517707952,1.3895729891043047],[0.2609348115805692,1.47061692235718]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.5389852605674685,-2.4850918170303675,0.71338606911949],"aabb_xy":[[-0.5739852597602867,-2.4960588630280296],[-0.5039852613746502,-2.4741247710327046]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.2582170189705637,-1.0784777656566216,0.71338606911949],"aabb_xy":[[0.22071701830598497,-1.0941648236568435],[0.29571701963514235,-1.0627907076563992]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.29898918864585394,-2.1575859989604593,0.71338606911949],"aabb_xy":[[-0.3490866526269275,-2.221585999470271],[-0.24889172466478027,-2.0935859984506475]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.2557994877854368,-1.7928662442916368,0.71338606911949],"aabb_xy":[[0.21829948728807858,-1.796834927839755],[0.29329948828279506,-1.788897560743518]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.4294187538647565,0.12828119813062333,0.71338606911949],"aabb_xy":[[0.4245751591035265,0.12342954565163924],[0.43426234862598645,0.13313285060960747]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.04732786114243581,0.23406373568422456,0.71338606911949],"aabb_xy":[[-0.05266037579704879,0.228739407438989],[-0.04199534648782282,0.2393880639294602]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.47254149759562053,0.151214271635836,0.71338606911949],"aabb_xy":[[-0.552541494999214,0.07122170043765318],[-0.3925415001920271,0.2312068428340188]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.15132187078747628,-1.2622798715468382,0.71338606911949],"aabb_xy":[[0.14041609469991356,-1.3422798679456676],[0.162227646875039,-1.1822798751480093]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.5507966173709735,0.8189568394212201,0.71338606911949],"aabb_xy":[[-0.5580403834172187,0.7389568412176177],[-0.5435528513247281,0.8989568376248225]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.2469628716664244,-2.3000335020020715,0.71338606911949],"aabb_xy":[[-0.25889560602825246,-2.312415654809931],[-0.23503013730459632,-2.287651349194212]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.18447904583231856,0.8501076143605171,0.71338606911949],"aabb_xy":[[0.1469790457267256,0.8432854525075358],[0.2219790459379115,0.8569297762134981]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.27141447743360986,-1.4304960395138584,0.71338606911949],"aabb_xy":[[-0.29392816925706705,-1.500496040114866],[-0.24890078561015266,-1.3604960389128509]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.4214763003876835,0.7850064905606264,0.71338606911949],"aabb_xy":[[-0.43934540814213896,0.7711735825834155],[-0.403607192633228,0.7988393985378374]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.45966780237562044,0.9629927263753357,0.71338606911949],"aabb_xy":[[0.4516415317449945,0.9542412313979832],[0.4676940730062465,0.9717442213526885]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.24145734809909947,1.1925228388147002,0.71338606911949],"aabb_xy":[[-0.2864573495653283,1.1475229819532198],[-0.19645734663287062,1.2375226956761811]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.029806617058582674,-2.4637831428850356,0.71338606911949],"aabb_xy":[[-0.06358217624927565,-2.4778216380982006],[0.003968942132110298,-2.4497446476718707]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.20608753887576647,-2.415225310451291,0.71338606911949],"aabb_xy":[[0.18358753906186412,-2.419699926821772],[0.22858753868966888,-2.4107506940808108]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.5889736643678605,1.3663807475364393,0.71338606911949],"aabb_xy":[[0.5784061847097615,1.3558357174234306],[0.5995411440259595,1.3769257776494477]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.0068013845700122255,-0.9302100357273215,0.71338606911949],"aabb_xy":[[-0.0049668022246452965,-1.0152100356325433],[0.01856957136466975,-0.8452100358221001]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.25202106382323647,-0.9180455857015528,0.71338606911949],"aabb_xy":[[-0.32202106542551595,-0.9314783789032103],[-0.182021062220957,-0.9046127924998951]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.4588625724853186,-2.5000133935480098,0.71338606911949],"aabb_xy":[[0.3788625738979992,-2.5793289954861702],[0.538862571072638,-2.4206977916098484]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.5795551843070315,-0.005865966599975625,0.71338606911949],"aabb_xy":[[0.5295821187745161,-0.05586596641250853],[0.629528249839547,0.04413403321255727]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[-0.6671977341993102,-2.0187185608052456,0.71338606911949],"aabb_xy":[[-0.6751210144380586,-2.041218561043249],[-0.659274453960562,-1.9962185605672422]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.5848276346197969,-0.8535483813643372,0.71338606911949],"aabb_xy":[[0.5248276329768751,-0.9055485306562814],[0.6448276362627188,-0.801548232072393]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_28","position":[-0.46952460513128896,1.7218294245267258,0.71338606911949],"aabb_xy":[[-0.477638259804666,1.7137236080726967],[-0.4614109504579118,1.729935240980755]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[-0.44758789178931446,0.638003949136106,0.71338606911949],"aabb_xy":[[-0.5275878928624349,0.6282259027987216],[-0.3675878907161942,0.6477819954734905]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.6279917244884732,-1.8252961360743043,0.71338606911949],"aabb_xy":[[-0.6329477446733545,-1.8477961362764264],[-0.6230357043035921,-1.8027961358721831]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[0.23218495397855443,-1.633493519116554,0.71338606911949],"aabb_xy":[[0.22338289866958172,-1.6413048452714827],[0.24098700928752714,-1.6256821929616245]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[0.4999000634499815,-0.6870791753906089,0.71338606911949],"aabb_xy":[[0.4639865590249918,-0.7229926836073636],[0.5358135678749711,-0.6511656671738543]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_33","position":[-0.4157861502077422,-1.2424787429199085,0.71338606911949],"aabb_xy":[[-0.4607787369261925,-1.287478742194357],[-0.37079356348929166,-1.1974787436454595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6515014824801458,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6700.png","name":"6700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1892.png","name":"1892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.3407035317431,"rotation_z_degrees":212.57185516030765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01881918045027891,-0.01624427579817026,0.0007023729678239492]},{"name":"camera_2","offset_m":[-0.005750126337574489,0.01629912698523973,0.011527224637540693]},{"name":"camera_3","offset_m":[-0.017790425720964655,0.010937242025375587,0.0025465061709529814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.606700585709495e-05,-0.0011528040427622598,7.044611317606536e-05],"end_effector_yaw_offset_degrees":-0.13069928220845117},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[1.565093461390263e-05,-0.0017839256366784762,-0.0015428442369350513],"end_effector_yaw_offset_degrees":0.1782466608382285},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006042102310123063,0.0012783587445524508,0.0007758406316532912],"end_effector_yaw_offset_degrees":0.3002378358558162}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006758810858710426,0.0007759349245487898],"position_m":[0.275075881085871,-0.11702406507545121,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003320693124124992,-0.0029989742952843657],"position_m":[0.27972069312412495,0.2771010257047157,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012897940523036357,0.0026856474007748085],"position_m":[0.2940897940523036,0.015385647400774808,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004289762003072899,0.0038611362993468705],"position_m":[0.050810237996927105,0.41626113629934686,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002147076612170843,0.002509520350386615],"position_m":[0.16274707661217083,-0.4340904796496134,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ce0dbf8932f2fb85540141b7fa53fd6951398c6f1b662a9eba0a41344afc801e","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8044/tex_ceiling_textures_1358/tex_floor_textures_1892/tex_table_textures_6700/tex_wall_textures_5691","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5688439557083616440,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5688439557083616440,"visual_seed":5688439557083616440,"scene_id":"lab_003","finished_at":"2026-09-03T20:32:52"} +{"episode_id":"ep_000076","started_at":"2026-09-03T20:32:54","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.0960224949223325,0.765160030551713,0.71338606911949],"aabb_xy":[[0.03102249676641343,0.7388637860018007],[0.16102249307825156,0.7914562751016251]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.5785251157509425,-1.3165358005749002,0.71338606911949],"aabb_xy":[[-0.6285251174124371,-1.3665342428306027],[-0.5285251140894476,-1.2665373583191972]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.24729528391809674,-1.6306215140153713,0.71338606911949],"aabb_xy":[[0.17729528128151037,-1.6507263790112365],[0.3172952865546831,-1.6105166490195055]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.1386976287365006,1.1849536498257431,0.71338606911949],"aabb_xy":[[0.07869762888993381,1.1281350276327045],[0.1986976285830674,1.2417722720187818]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.33491289024283777,-0.3741313575514358,0.71338606911949],"aabb_xy":[[0.3309990170474152,-0.3828803729579925],[0.33882676343826024,-0.36538234214487897]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.054628338332942894,0.43002836098776065,0.71338606911949],"aabb_xy":[[-0.08511258845997305,0.3800283612062646],[-0.02414408820591274,0.4800283607692565]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.4783025152262943,0.549881356884732,0.71338606911949],"aabb_xy":[[0.42428691894439424,0.4858813539924748],[0.5323181115081943,0.6138813597769891]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.41286563622159245,-2.4377866430548876,0.71338606911949],"aabb_xy":[[-0.4768656384419995,-2.482159727180176],[-0.3488656340011854,-2.3934135589295993]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.048460174137493484,-0.694654278717902,0.71338606911949],"aabb_xy":[[-0.057620053081370075,-0.701185496761439],[-0.03930029519361688,-0.6881230606743649]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.3774212527287032,-1.1846356744374382,0.71338606911949],"aabb_xy":[[-0.4124212540801849,-1.2049954103942588],[-0.3424212513772214,-1.1642759384806172]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.618476362144863,0.8720702942620373,0.71338606911949],"aabb_xy":[[0.6010456470658563,0.8547981795981864],[0.6359070772238693,0.889342408925888]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.014970852941173285,-1.5192996264002656,0.71338606911949],"aabb_xy":[[-0.025743826862541064,-1.5542996246193046],[-0.004197879019805508,-1.4842996281812266]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.45759516107744486,1.7966716065684225,0.71338606911949],"aabb_xy":[[-0.5375951621505652,1.7868935602310383],[-0.3775951600043246,1.8064496529058072]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.24723991063451356,-0.9924410465098155,0.71338606911949],"aabb_xy":[[0.16723990847175105,-1.072396230135959],[0.32723991279727604,-0.9124858628836718]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.5243129760584965,-2.2265362044138333,0.71338606911949],"aabb_xy":[[-0.533606594295647,-2.264036202901967],[-0.5150193578213459,-2.1890362059256994]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.4203822899551901,-0.36220113513162655,0.71338606911949],"aabb_xy":[[-0.49038229176393555,-0.3835549038958139],[-0.3503822881464447,-0.3408473663674392]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.3485409741865162,-1.9914004820657574,0.71338606911949],"aabb_xy":[[-0.3654517066228579,-2.0048726876583713],[-0.33163024175017436,-1.9779282764731427]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.6736155948608478,0.48433272465651456,0.71338606911949],"aabb_xy":[[0.663204036180364,0.478986991320616],[0.6840271535413315,0.489678457992413]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.567106884646119,-0.1697701901864881,0.71338606911949],"aabb_xy":[[-0.5720629048310003,-0.19227019038860974],[-0.562150864461238,-0.14727018998436647]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.5420722500784123,-2.031200585781204,0.71338606911949],"aabb_xy":[[-0.6220660736569705,-2.1112005883740457],[-0.4620784264998541,-1.9512005831883625]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.5741855394457864,-1.0391059177966977,0.71338606911949],"aabb_xy":[[0.5240880754647128,-1.1031059183065097],[0.62428300342686,-0.9751059172868861]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.13242913599226858,1.1348124092337195,0.71338606911949],"aabb_xy":[[-0.19242913685308133,1.0833859792272327],[-0.07242913513145573,1.1862388392402055]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6551802790510871,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6728.png","name":"6728"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8801.png","name":"8801"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3606.png","name":"3606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.8266563048995,"rotation_z_degrees":146.93277577729177,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019956907825698266,0.019442219491775086,-0.018793946908299174]},{"name":"camera_2","offset_m":[-0.008494057517064802,-0.016965050513946686,-0.002024168655272534]},{"name":"camera_3","offset_m":[-0.0017255169314067953,0.013827119987420259,0.014785922284054499]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008968793080689928,0.0005880548852924745,0.0009182103141773643],"end_effector_yaw_offset_degrees":-0.5548832285793357},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017968579812121799,-0.0019462812390979418,-0.001060967293849138],"end_effector_yaw_offset_degrees":0.4360364181428169},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019412579889636402,-0.000994897054729378,0.0014379323551744387],"end_effector_yaw_offset_degrees":0.6434944195755159}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036833048398680684,0.004574644959167492],"position_m":[0.27808330483986804,-0.1132253550408325,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004558899554764123,0.0027256488029355],"position_m":[0.2809588995547641,0.28282564880293554,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0014978756064522739,-0.0008272018367977384],"position_m":[0.29429787560645226,0.011872798163202261,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005118189970302412,-0.0009827800712187192],"position_m":[0.05561181899703024,0.4114172199287813,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022851828844717807,-0.0028397239548998265],"position_m":[0.16288518288447176,-0.43943972395489983,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe921d22cbb965cf29b767eaf044decf6ec729d5f19dd7d6a518ead849a4fc8e","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3803/tex_ceiling_textures_7442/tex_floor_textures_3606/tex_table_textures_6728/tex_wall_textures_8801","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3079181756400065315,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3079181756400065315,"visual_seed":3079181756400065315,"scene_id":"lab_003","finished_at":"2026-09-03T20:35:15"} +{"episode_id":"ep_000077","started_at":"2026-09-03T20:35:18","dimensions":{"distractor":{"count":26,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.3364393582423634,-0.2064961436277395,0.71338606911949],"aabb_xy":[[-0.42143935693443796,-0.23848200702261832],[-0.2514393595502887,-0.1745102802328606]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.12412151320432963,-1.4184735885202846,0.71338606911949],"aabb_xy":[[0.060121515918680965,-1.4599803074731286],[0.18812151048997827,-1.3769668695674406]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.31995006789853825,1.1612317707361504,0.71338606911949],"aabb_xy":[[-0.3839457652936348,1.0972317724354417],[-0.2559543705034416,1.225231769036859]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.02057807964349556,-1.15722803351038,0.71338606911949],"aabb_xy":[[-0.010568839200087558,-1.2272280321971871],[0.05172499848707868,-1.0872280348235728]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.3341703612064806,-2.457240718715178,0.71338606911949],"aabb_xy":[[0.28417724909728875,-2.5072407193893738],[0.3841634733156726,-2.4072407180409825]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.39153327018469153,-2.2874437018676277,0.71338606911949],"aabb_xy":[[-0.47653326860211465,-2.3723179973299127],[-0.3065332717672682,-2.2025694064053427]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.636444653702605,-1.947525041541843,0.71338606911949],"aabb_xy":[[0.6284012937766498,-2.03252504263721],[0.6444880136285601,-1.8625250404464768]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.28136997151722853,-1.7026199932890205,0.71338606911949],"aabb_xy":[[0.2013699682532154,-1.7161800255979336],[0.36136997478124167,-1.689059960980107]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.5819424924122878,0.6757735101647246,0.71338606911949],"aabb_xy":[[0.5019424891544448,0.5957770023727407],[0.6619424956701307,0.7557700179567086]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.5457086077534408,1.6732410212424944,0.71338606911949],"aabb_xy":[[0.5344635521828229,1.661999223518399],[0.5569536633240586,1.6844828189665895]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.6268481651513752,0.8215657633550046,0.71338606911949],"aabb_xy":[[-0.6493481651615235,0.8074695437154015],[-0.6043481651412269,0.835661982994608]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.5659680535470702,0.19966382057957865,0.71338606911949],"aabb_xy":[[-0.6309680561848637,0.1481842218801317],[-0.5009680509092768,0.2511434192790256]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.09165635532449656,0.7639220480351137,0.71338606911949],"aabb_xy":[[0.027656358212390875,0.714889678240703],[0.15565635243660225,0.8129544178295243]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.08373762910810778,-1.8258116303940266,0.71338606911949],"aabb_xy":[[-0.10623762935162319,-1.8380162650537986],[-0.0612376288645924,-1.8136069957342547]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.036557296305884224,1.3618180763492016,0.71338606911949],"aabb_xy":[[-0.013442704644648591,1.33026892934568],[0.08655729725641703,1.3933672233527228]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.14205901599713888,-1.79303894269766,0.71338606911949],"aabb_xy":[[0.11754539190013302,-1.8173035359996965],[0.16657264009414474,-1.7687743493956236]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.4361087887329216,-1.852749383170216,0.71338606911949],"aabb_xy":[[0.3784783198456506,-1.9127493820969261],[0.49373925762019233,-1.792749384243505]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.08069610187665266,-1.3504898286274598,0.71338606911949],"aabb_xy":[[-0.09332288916384901,-1.3600359023290327],[-0.06806931458945631,-1.340943754925887]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.34574818742405966,-2.0789247745073904,0.71338606911949],"aabb_xy":[[-0.4257481876976666,-2.1518743223331067],[-0.2657481871504526,-2.0059752266816733]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.07383560187069893,-1.9801344935786993,0.71338606911949],"aabb_xy":[[-0.12883560104728842,-2.035124168353657],[-0.01883560269410943,-1.9251448188037419]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.043007926679947794,1.7642823668167353,0.71338606911949],"aabb_xy":[[-0.052639562900377405,1.7546450540370264],[-0.03337629045951817,1.7739196795964443]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.21291747696269936,-1.9736086198101712,0.71338606911949],"aabb_xy":[[0.20420350791276484,-1.9961086204693594],[0.22163144601263382,-1.951108619150983]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.14438088429696805,-0.5965697064616826,0.71338606911949],"aabb_xy":[[-0.2043808859398899,-0.6485698557536268],[-0.0843808826540462,-0.5445695571697384]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.6588262350213786,0.5079000245400214,0.71338606911949],"aabb_xy":[[-0.6632568643762189,0.5024516528053388],[-0.6543956056665385,0.513348396274704]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[0.5902187526445934,1.3445482365138721,0.71338606911949],"aabb_xy":[[0.5831784427110565,1.2645482371142007],[0.5972590625781304,1.4245482359135435]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.6273937149064437,0.4901951243143743,0.71338606911949],"aabb_xy":[[0.5723982370857842,0.4351951228804673],[0.682389192727103,0.5451951257482812]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6528916875903079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2771.png","name":"2771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7639.png","name":"7639"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5164.png","name":"5164"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.0324917624476,"rotation_z_degrees":171.36203098456096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00011909833097998798,-0.010235452964549556,0.004193515730068351]},{"name":"camera_2","offset_m":[0.012483282352533941,-0.012329553708970318,0.009545073596291604]},{"name":"camera_3","offset_m":[-0.007012353357831933,-0.005254914153710363,0.007182921564495771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014483346912852243,0.0010556178699905857,0.00021194012802193754],"end_effector_yaw_offset_degrees":-0.49215886194630154},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[4.370905949337318e-06,0.0013225358947808515,0.000245127853631981],"end_effector_yaw_offset_degrees":-0.7333443298735212},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011078517357918183,0.0010203288494374679,0.0013039341387063082],"end_effector_yaw_offset_degrees":-0.1608908730022951}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004516019775758335,-0.0027844250715225783],"position_m":[0.2789160197757583,-0.12058442507152257,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0047062000402355135,-0.0027659792901741555],"position_m":[0.27169379995976445,0.2773340207098259,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0048691027508779555,0.003893535033155731],"position_m":[0.2879308972491221,0.01659353503315573,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020334614015441854,0.004063825992472983],"position_m":[0.05713346140154419,0.41646382599247295,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003708403512538279,0.00217111710962638],"position_m":[0.16430840351253828,-0.4344288828903736,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c33a8e1c4c61937bc6f4c6997e7323bc615523a3a1b902bb00c740b71643561","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6685/tex_ceiling_textures_5164/tex_floor_textures_7639/tex_table_textures_3604/tex_wall_textures_2771","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1421556452390682394,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1421556452390682394,"visual_seed":1421556452390682394,"scene_id":"lab_003","finished_at":"2026-09-03T20:37:44"} +{"episode_id":"ep_000078","started_at":"2026-09-03T20:37:48","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.014110847657080372,-2.056984119300484,0.71338606911949],"aabb_xy":[[-0.09411085091492333,-2.1369806270924676],[0.06588915560076258,-1.9769876115084997]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.23475499122683685,1.3478739413239436,0.71338606911949],"aabb_xy":[[0.22512335500640723,1.3382366285442344],[0.24438662744726647,1.3575112541036523]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.5120187169003692,0.3479162680455481,0.71338606911949],"aabb_xy":[[0.473473024075168,0.30937049698935937],[0.5505644097255701,0.3864620391017367]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6470006505084764,1.3312392998323128,0.71338606911949],"aabb_xy":[[0.6271096106281362,1.318583488547616],[0.6668916903888167,1.3438951111170097]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.3775086677491046,-0.9590644785396112,0.71338606911949],"aabb_xy":[[-0.4625086664411792,-0.9910503419344899],[-0.29250866905702994,-0.9270786151447322]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.12665954749587138,-2.187645658419662,0.71338606911949],"aabb_xy":[[0.10911285257975245,-2.2251456599839132],[0.14420624241199032,-2.150145656855411]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.19327416054531998,-0.9217709775950282,0.71338606911949],"aabb_xy":[[0.18312114499117055,-0.9578405191677685],[0.20342717609946928,-0.8857014360222878]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.44241723551041257,-2.135131781196925,0.71338606911949],"aabb_xy":[[0.40897706031439285,-2.1685754070278542],[0.47585741070643206,-2.1016881553659945]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.14531337965108637,-2.4723794104823615,0.71338606911949],"aabb_xy":[[0.13186685301704304,-2.4858492621354524],[0.1587599062851297,-2.4589095588292698]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.47196529414090127,0.8257392674259414,0.71338606911949],"aabb_xy":[[-0.4823768528213849,0.8203935340900428],[-0.4615537354604175,0.8310850007618398]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.631904819697775,-1.5652574533872876,0.71338606911949],"aabb_xy":[[0.6144048204196882,-1.5825955534536338],[0.649404818975862,-1.5479193533209419]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.3509618157894996,0.46319818026746384,0.71338606911949],"aabb_xy":[[0.2959618166129101,0.4082085054925062],[0.4059618149660891,0.5181878550424215]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.5986579188871662,-0.8288012362501036,0.71338606911949],"aabb_xy":[[-0.6526735151690661,-0.8928012391423606],[-0.5446423226052661,-0.7648012333578463]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[-0.3712371577451439,0.0879013295212796,0.71338606911949],"aabb_xy":[[-0.37993512003585916,0.07577635521380488],[-0.36253919545442853,0.10002630382875434]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.6352082152153455,0.7340116851281069,0.71338606911949],"aabb_xy":[[0.5981741057872857,0.6996344777943975],[0.6722423246434052,0.7683888924618163]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.23350285913872687,-1.5361381879385283,0.71338606911949],"aabb_xy":[[-0.2835028608002216,-1.586136630194231],[-0.18350285747723205,-1.4861397456828256]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.28339270253389015,-2.1250674837319377,0.71338606911949],"aabb_xy":[[0.2483927042231947,-2.1327824986554833],[0.3183927008445856,-2.117352468808392]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.06826081096439407,-0.9754134688907501,0.71338606911949],"aabb_xy":[[-0.1582608146413122,-1.0368458754678542],[0.021739192712524124,-0.9139810623136455]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.07512734161382151,-1.4445826798664243,0.71338606911949],"aabb_xy":[[0.010127343457902449,-1.4708789244163365],[0.14012733976974057,-1.418286435316512]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.2999884735656929,-1.1399699846981426,0.71338606911949],"aabb_xy":[[0.2359884718876955,-1.1884873761774566],[0.3639884752436902,-1.0914525932188281]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.08363691759479364,0.5815742610125354,0.71338606911949],"aabb_xy":[[-0.09797134272095707,0.5695140454579966],[-0.06930249246863017,0.5936344765670742]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.09426774138973515,1.1681711262161718,0.71338606911949],"aabb_xy":[[0.0704315237491301,1.0781711254076856],[0.11810395903034024,1.2581711270246585]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.30737056567066756,1.2632479896875424,0.71338606911949],"aabb_xy":[[0.2999581101292791,1.2573967792659144],[0.31478302121205604,1.2690992001091703]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.44143929413993277,-0.48182468406878254,0.71338606911949],"aabb_xy":[[0.35643929572250954,-0.5666989795310675],[0.526439292557356,-0.39695038860649756]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.6583086831059533,-2.4968230445916944,0.71338606911949],"aabb_xy":[[-0.6795866912494255,-2.561823046917767],[-0.637030674962481,-2.431823042265621]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.13019343994230193,-2.0509437552496355,0.71338606911949],"aabb_xy":[[0.11013502832906163,-2.071008842158793],[0.15025185155554222,-2.030878668340478]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[0.23987215121604033,-1.8519405103527846,0.71338606911949],"aabb_xy":[[0.23643147497598316,-1.8558019433271493],[0.2433128274560975,-1.8480790773784204]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.4102058051309805,-0.6380128394343212,0.71338606911949],"aabb_xy":[[0.39556239957694744,-0.6526715590911053],[0.4248492106850134,-0.6233541197775369]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[0.24932151734105112,-1.962568634417488,0.71338606911949],"aabb_xy":[[0.23043713357254092,-1.9814545591978407],[0.26820590110956133,-1.9436827096371352]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.5101062074530435,-2.1014048431755947,0.71338606911949],"aabb_xy":[[-0.5194532150353387,-2.1157084653932388],[-0.5007591998707482,-2.0871012209579507]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.6148028556708316,-2.0999255869075717,0.71338606911949],"aabb_xy":[[0.5977927583807809,-2.116060075405845],[0.6318129529608822,-2.0837910984092973]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_31","position":[-0.45122700787524017,-2.4237554320798305,0.71338606911949],"aabb_xy":[[-0.49731209912997165,-2.4877554293323856],[-0.4051419166205087,-2.3597554348272753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485097233020292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1011.png","name":"1011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1624.png","name":"1624"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8395.png","name":"8395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7566.png","name":"7566"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":507.31462827478293,"rotation_z_degrees":93.98021655685679,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013641302637038492,0.004875275667819291,0.011496706455372523]},{"name":"camera_2","offset_m":[-0.0026138394570758977,-0.007061184488299168,0.0047662414998853805]},{"name":"camera_3","offset_m":[0.018856627359778524,0.0007807239790437667,0.010232519780844086]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015844018834931676,-0.0010991092656768258,-5.68480278920066e-05],"end_effector_yaw_offset_degrees":-0.48376472200896203},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00048161664319930613,0.00029213131662944244,0.0013027432127117595],"end_effector_yaw_offset_degrees":0.6540962845042684},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016329505966828396,0.0004015895483802257,2.3958251564992067e-05],"end_effector_yaw_offset_degrees":0.9835652223759861}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004632782190717939,-0.004848460441541065],"position_m":[0.26976721780928203,-0.12264846044154107,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006977830240829019,-0.0033365729238549013],"position_m":[0.2770977830240829,0.2767634270761451,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0025869505170756112,-0.0044502807053234976],"position_m":[0.29021304948292437,0.008249719294676501,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008274476642210473,0.001547760445531358],"position_m":[0.054272552335778955,0.41394776044553133,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035741807382338275,0.0006282491122693492],"position_m":[0.15702581926176618,-0.43597175088773066,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69b951b8c8f036dd302d44ca6cbdff701ae96d8dcf8b939498c97fb454c75580","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3576/tex_ceiling_textures_7566/tex_floor_textures_8395/tex_table_textures_1011/tex_wall_textures_1624","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":47071566254421237,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":47071566254421237,"visual_seed":47071566254421237,"scene_id":"lab_003","finished_at":"2026-09-03T20:40:08"} +{"episode_id":"ep_000079","started_at":"2026-09-03T20:40:11","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.27506603458102846,1.0256782337929344,0.71338606911949],"aabb_xy":[[-0.3125660353730239,1.0193103928347442],[-0.23756603378903302,1.0320460747511246]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.5007067756572852,-1.9088823770656256,0.71338606911949],"aabb_xy":[[0.49607166050505186,-1.9127497121427743],[0.5053418908095185,-1.9050150419884768]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.5669912118695588,0.4705264334258974,0.71338606911949],"aabb_xy":[[0.5419912125975964,0.454181069829735],[0.591991211141521,0.4868717970220597]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.021875169755029455,1.1589447928832701,0.71338606911949],"aabb_xy":[[-0.10186899333358768,1.0789447902904286],[0.058118653823528765,1.2389447954761117]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.3375938234727969,-0.773142671606575,0.71338606911949],"aabb_xy":[[0.3260248427258603,-0.7981426717235067],[0.34916280421973345,-0.7481426714896433]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.039067441217688126,-1.3444516703408416,0.71338606911949],"aabb_xy":[[-0.01856302766958273,-1.4044516692675517],[0.09669791010495896,-1.2844516714141305]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.5333355487704878,-1.1633926758813553,0.71338606911949],"aabb_xy":[[-0.5973355480646559,-1.2273788162502095],[-0.4693355494763195,-1.0994065355125011]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.5242808914319312,-1.5614782183443525,0.71338606911949],"aabb_xy":[[0.5146492552115016,-1.5711155311240612],[0.5339125276523609,-1.5518409055646434]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.11962730784880715,-1.937269876343796,0.71338606911949],"aabb_xy":[[-0.15695858437404975,-1.9719229311386486],[-0.08229603132356451,-1.902616821548944]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.440260072424828,-0.32058804962335774,0.71338606911949],"aabb_xy":[[0.425097199447891,-0.3357535069184765],[0.45542294540176514,-0.305422592328239]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[-0.10507689689954336,-0.6544544413685554,0.71338606911949],"aabb_xy":[[-0.15505570540985925,-0.704454441374274],[-0.05509808838922746,-0.6044544413628364]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.1899895000524735,1.7016940424740343,0.71338606911949],"aabb_xy":[[-0.2178345368330806,1.6709095437357224],[-0.16214446327186635,1.7324785412123458]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.47591239252495277,0.7646069122622601,0.71338606911949],"aabb_xy":[[-0.5134123924687192,0.7563138222274235],[-0.43841239258118636,0.7729000022970967]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.6389286577916409,0.7692539013666315,0.71338606911949],"aabb_xy":[[0.5789286572837878,0.7124071676807101],[0.6989286582994937,0.8261006350525527]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.30110937539524185,-0.8010267089744354,0.71338606911949],"aabb_xy":[[-0.33860937550083475,-0.8078488708274164],[-0.26360937528964884,-0.7942045471214542]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.3325484807314081,-1.204409116581989,0.71338606911949],"aabb_xy":[[0.26854847744169996,-1.2477440355859064],[0.3965484840211162,-1.1610741975780712]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.47426262967576993,0.14554701227940336,0.71338606911949],"aabb_xy":[[-0.5047468798028001,0.09554701249790742],[-0.4437783795487397,0.1955470120608993]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.47574164949662323,1.5031467737760456,0.71338606911949],"aabb_xy":[[-0.4844556185465576,1.4806467731168569],[-0.46702768044668863,1.5256467744352333]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.26214852469540406,0.5147012684155534,0.71338606911949],"aabb_xy":[[0.24451568910187652,0.4970783223999305],[0.27978136028893164,0.5323242144311764]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.5800576919393913,1.2488316992917903,0.71338606911949],"aabb_xy":[[-0.6440576883349644,1.1848684108730567],[-0.5160576955438182,1.3127949877105238]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.47227256516448946,-0.8024853713343065,0.71338606911949],"aabb_xy":[[0.40727256420736224,-0.8544335832680121],[0.5372725661216167,-0.750537159400601]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.5030532697673398,-0.39172717216130115,0.71338606911949],"aabb_xy":[[-0.5159251732682798,-0.47172717257513724],[-0.4901813662663996,-0.31172717174746495]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.5329091622066131,-0.6724529682661868,0.71338606911949],"aabb_xy":[[-0.5829091638681078,-0.7224514105218894],[-0.4829091605451183,-0.622454526010484]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.2766771210798265,0.6477018708238962,0.71338606911949],"aabb_xy":[[-0.28395943745649005,0.557701867214387],[-0.26939480470316274,0.737701874433405]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.24533922451356094,-0.9922455146236935,0.71338606911949],"aabb_xy":[[-0.2689243479774558,-1.0572455168691253],[-0.22175410104966606,-0.9272455123782617]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.5360636504001339,1.7260492353857662,0.71338606911949],"aabb_xy":[[0.5256520917196501,1.7207035020498676],[0.5464752090806175,1.7313949687216643]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[-0.2581997173111694,-0.07038533377587752,0.71338606911949],"aabb_xy":[[-0.26227787521821916,-0.07446631402414083],[-0.2541215594041197,-0.06630435352761421]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.5624858377190549,-2.564950699100832,0.71338606911949],"aabb_xy":[[0.5473835362580366,-2.5800522207318934],[0.5775881391800728,-2.5498491774697696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577550735172835,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5379.png","name":"5379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1955.png","name":"1955"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7431.png","name":"7431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8288.png","name":"8288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4414.png","name":"4414"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.1343596452027,"rotation_z_degrees":292.6382293057817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00423583913053608,0.0020059398260706823,0.008572146558545692]},{"name":"camera_2","offset_m":[-0.0049427019898683165,-0.01652716503910802,0.01902406847436706]},{"name":"camera_3","offset_m":[-0.004870007457945436,-0.0032830848306672697,-0.0015622542517440725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016200043547511373,0.0015303665143692777,-0.001567225871670277],"end_effector_yaw_offset_degrees":-0.004646681938857755},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018600803498200408,-0.0009435926503844106,0.0019893101928048027],"end_effector_yaw_offset_degrees":0.9132506712747304},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001584287431080576,0.0016495211949325871,-0.00036975768210607504],"end_effector_yaw_offset_degrees":0.005428247270277797}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003542913782821024,0.0049660214356475945],"position_m":[0.277942913782821,-0.11283397856435241,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004013948772399661,0.0010466324914456537],"position_m":[0.2723860512276003,0.28114663249144567,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038139150852649567,0.003433418681654021],"position_m":[0.29661391508526497,0.01613341868165402,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002497509125965788,0.004743734269906049],"position_m":[0.052602490874034215,0.41714373426990603,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004786389047866431,-0.003911766448926597],"position_m":[0.16538638904786643,-0.4405117664489266,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a47682380058c5607fc0741b7e28b7f6c8ca12da54060d58c3f70c39b64ea3c5","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5379/tex_ceiling_textures_4414/tex_floor_textures_8288/tex_table_textures_1955/tex_wall_textures_7431","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1989965589705946119,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1989965589705946119,"visual_seed":1989965589705946119,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:36"} +{"episode_id":"ep_000080","started_at":"2026-09-03T20:42:41","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.7198332931685372,0.10655689283377923,0.71338606911949],"aabb_xy":[[0.714877272983656,0.08405689263165764],[0.7247893133534183,0.1290568930359009]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.6653757070582744,-1.985159787183383,0.71338606911949],"aabb_xy":[[0.6529083489485389,-1.9976251118167068],[0.6778430651680102,-1.9726944625500598]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[-0.31351949242789545,-2.421688046816696,0.71338606911949],"aabb_xy":[[-0.3510194927200703,-2.4257295222172996],[-0.2760194921357207,-2.417646571416092]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.5474503909176633,-1.1287396882523586,0.71338606911949],"aabb_xy":[[-0.5620937964716962,-1.1433984079091428],[-0.5328069853636302,-1.1140809685955744]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.3710196273079456,0.6382925432619397,0.71338606911949],"aabb_xy":[[0.3628919391146324,0.6293789348512322],[0.37914731550125885,0.6472061516726475]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.6693837768416634,-0.2968042509783002,0.71338606911949],"aabb_xy":[[-0.6943837760072965,-0.3037564966836568],[-0.6443837776760303,-0.28985200527294364]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.34882988949418214,0.3687179401426448,0.71338606911949],"aabb_xy":[[0.31149861296893955,0.3340648853477925],[0.38616116601942474,0.4033709949374971]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.37294925079072905,1.4141926627364572,0.71338606911949],"aabb_xy":[[0.3229718339254754,1.3641926612472084],[0.4229266676559826,1.4641926642257055]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.3989432913421009,1.480333729623092,0.71338606911949],"aabb_xy":[[-0.4488259882197972,1.4303337303768175],[-0.34906059446440474,1.5303337288693672]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.665934025762712,-1.1272177140275184,0.71338606911949],"aabb_xy":[[-0.6834340250407988,-1.1445558140938643],[-0.648434026484625,-1.1098796139611724]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[0.5922253831487945,-1.3621248811340934,0.71338606911949],"aabb_xy":[[0.5322253822879814,-1.4135513111405793],[0.6522253840096071,-1.3106984511276065]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[0.14632796769238965,1.6637614649582875,0.71338606911949],"aabb_xy":[[0.09632796640854967,1.6137826105676651],[0.1963279689762296,1.7137403193489094]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.13738702268021608,-1.8970821131801485,0.71338606911949],"aabb_xy":[[0.11284080705746534,-1.9273310097291856],[0.16193323830296677,-1.8668332166311115]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.30575793792102407,-0.9132587576321465,0.71338606911949],"aabb_xy":[[-0.3557579365669452,-0.9631783012916088],[-0.2557579392751028,-0.863339213972684]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.17169582682230733,0.8307702688031782,0.71338606911949],"aabb_xy":[[-0.18937145741090564,0.8130900525237753],[-0.15402019623370897,0.8484504850825808]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.45855749848063776,-1.9655721462124376,0.71338606911949],"aabb_xy":[[0.3935575005989901,-2.016695809918979],[0.5235574963622857,-1.9144484825058972]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.41883414415937703,-1.2669431032006424,0.71338606911949],"aabb_xy":[[0.3863724432774495,-1.297075935315545],[0.45129584504130443,-1.2368102710857398]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.6822496734559858,-0.5787120731474928,0.71338606911949],"aabb_xy":[[0.6586645499920909,-0.6437120753929247],[0.7058347969198806,-0.5137120709020612]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.5041894712629647,-2.273897105891136,0.71338606911949],"aabb_xy":[[-0.5741894676729263,-2.294335041542817],[-0.4341894748530028,-2.2534591702394535]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.1233586998159677,-2.3710293173279604,0.71338606911949],"aabb_xy":[[0.10307439709256891,-2.3913119424706686],[0.1436430025393664,-2.3507466921852505]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.6449735365007685,0.32503692113393523,0.71338606911949],"aabb_xy":[[0.5809735362267902,0.27497082093664726],[0.7089735367747466,0.3751030213312232]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.6418759803400775,-1.0440491822693987,0.71338606911949],"aabb_xy":[[0.5778759800796066,-1.0890579816223265],[0.7058759806005482,-0.9990403829164706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563776912539316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4541.png","name":"4541"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5492.png","name":"5492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9067.png","name":"9067"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2352.png","name":"2352"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":587.3910599272654,"rotation_z_degrees":50.29679849837926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004440466909432644,0.0010480041359350357,0.002708692457603787]},{"name":"camera_2","offset_m":[0.014235891738824082,-0.008362731532739339,0.018498404865163593]},{"name":"camera_3","offset_m":[0.01814053392950719,-0.01804478425752889,-0.007383814915906109]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001478556110183817,-0.0006182613273274767,0.0019393766838837296],"end_effector_yaw_offset_degrees":0.5034474824664297},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009717591032674094,-0.0009579248135236087,0.0009570101180221974],"end_effector_yaw_offset_degrees":-0.9690423265448198},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003222952399573177,0.0005047284987160102,0.00023530158371119336],"end_effector_yaw_offset_degrees":0.079580128378679}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003735583966886024,0.0037256973582562728],"position_m":[0.278135583966886,-0.11407430264174373,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004600768728785024,0.0003703441840371439],"position_m":[0.27179923127121497,0.28047034418403716,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004723982121793768,0.001378927477130633],"position_m":[0.28807601787820625,0.014078927477130632,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032333324104393546,0.0031170462894016824],"position_m":[0.05186666758956065,0.41551704628940167,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023148614682685443,-0.004590291907601354],"position_m":[0.16291486146826853,-0.44119029190760134,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8dabf7385ca32cd0d318442d269a95e71486b5c2d9eb042122908fd3c24b5165","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4469/tex_ceiling_textures_2352/tex_floor_textures_9067/tex_table_textures_4541/tex_wall_textures_5492","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4818316131108920632,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4818316131108920632,"visual_seed":4818316131108920632,"scene_id":"lab_003","finished_at":"2026-09-03T20:45:09"} +{"episode_id":"ep_000081","started_at":"2026-09-03T20:45:12","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.02629114353319706,1.3441042872897202,0.71338606911949],"aabb_xy":[[-0.04920685641824697,1.321199990153297],[-0.003375430648147157,1.367008584426144]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.32104987944112173,0.14191912825583852,0.71338606911949],"aabb_xy":[[-0.37104988072496164,0.0919402738652164],[-0.2710498781572817,0.1918979826464606]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.21446421202866772,-0.6838212833856439,0.71338606911949],"aabb_xy":[[-0.22487577070915143,-0.6891670167215423],[-0.204052653348184,-0.6784755500497454]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.4043423591459148,-0.5093793681912087,0.71338606911949],"aabb_xy":[[-0.42888857476866554,-0.5396282647402456],[-0.3797961435231641,-0.47913047164217154]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.610169357336939,-0.47130629242554045,0.71338606911949],"aabb_xy":[[-0.6551693588031678,-0.5163061492870212],[-0.5651693558707102,-0.4263064355640599]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.12681945044009335,-0.8746535512665847,0.71338606911949],"aabb_xy":[[0.04681945185277391,-0.9539691532047457],[0.20681944902741276,-0.7953379493284239]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.5714038401372799,0.41127617213396883,0.71338606911949],"aabb_xy":[[0.5402569212936967,0.3412761734471616],[0.602550758980863,0.48127617082077595]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.08705454202291174,-1.3041695244624465,0.71338606911949],"aabb_xy":[[-0.0029454603111073036,-1.3816518790475592],[0.1770545443569308,-1.2266871698773338]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.07876914045962935,1.109202871177016,0.71338606911949],"aabb_xy":[[-0.11626913903525014,1.0964665755134582],[-0.041269141884008535,1.121939166840574]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.26986771274582433,-2.386232127168369,0.71338606911949],"aabb_xy":[[0.239876050011954,-2.4162321265051694],[0.29985937547969466,-2.3562321278315683]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.22785870943748177,0.6851779861538172,0.71338606911949],"aabb_xy":[[0.20535870962357938,0.6807033697833365],[0.25035870925138415,0.6896526025242979]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.4356718830580373,-1.5698383164350385,0.71338606911949],"aabb_xy":[[0.41183566541743233,-1.6598383172435252],[0.45950810069864245,-1.479838315626552]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.14633194943201078,-1.2487906718352186,0.71338606911949],"aabb_xy":[[-0.23133194812408542,-1.2807765352300975],[-0.061331950739936136,-1.2168048084403398]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.4810511002899128,-2.216276325157408,0.71338606911949],"aabb_xy":[[-0.4906827365103425,-2.2259136379371167],[-0.47141946406948326,-2.206639012377699]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.49181418729645965,-0.24311076251295338,0.71338606911949],"aabb_xy":[[0.4631648549360433,-0.2717563217900292],[0.5204635196568758,-0.21446520323587756]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.28222275514891804,-2.440702746015499,0.71338606911949],"aabb_xy":[[-0.34622275157624,-2.4878723698375955],[-0.2182227587215962,-2.3935331221934026]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.5057961882167469,-2.3886347441652025,0.71338606911949],"aabb_xy":[[-0.550967506064916,-2.4526347413097414],[-0.460624870368578,-2.3246347470206645]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.5688578858993627,-2.0069526995057223,0.71338606911949],"aabb_xy":[[-0.6488578863695788,-2.0152634071200706],[-0.4888578854291469,-1.998641991891374]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.11033289045413541,0.08293902322454993,0.71338606911949],"aabb_xy":[[-0.1149680056063688,0.07907168814740127],[-0.10569777530190202,0.08680635830169857]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.6311877977072402,-1.758868684476893,0.71338606911949],"aabb_xy":[[-0.6686877975242738,-1.7635068957880347],[-0.5936877978902066,-1.754230473165751]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.4978619990062695,1.0527971718111724,0.71338606911949],"aabb_xy":[[-0.5065599612969849,1.0406721975036979],[-0.48916403671555425,1.0649221461186473]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.2539650740442902,0.4646195776689601,0.71338606911949],"aabb_xy":[[-0.3439650737674643,0.4415462251337802],[-0.16396507432111598,0.4876929302041399]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[0.4882951990251754,1.151933219963614,0.71338606911949],"aabb_xy":[[0.4232951980680482,1.0999850080299085],[0.5532951999823026,1.2038814318973197]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[0.01030557381244912,-0.6911812328566631,0.71338606911949],"aabb_xy":[[-0.03577951744228235,-0.7551812301092182],[0.056390665067180594,-0.627181235604108]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[0.13955254894953617,1.070926595888941,0.71338606911949],"aabb_xy":[[0.10270200101254859,1.0334265950659074],[0.1764030968865238,1.1084265967119749]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.09611775878013484,-1.0514995924615957,0.71338606911949],"aabb_xy":[[0.04613895026981896,-1.1014995924673145],[0.14609656729045073,-1.001499592455877]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.5861202522225883,0.7567186120109901,0.71338606911949],"aabb_xy":[[0.5221202505445909,0.7082012205316758],[0.6501202539005856,0.8052360034903042]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.5742454358185165,-1.4148761767860776,0.71338606911949],"aabb_xy":[[-0.6117454361667441,-1.426667572367161],[-0.5367454354702886,-1.4030847812049938]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.45068760335331437,-1.789025185450237,0.71338606911949],"aabb_xy":[[-0.49781698235515,-1.853025186494639],[-0.40355822435147864,-1.725025184405835]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.34020725662161627,-1.4348470206024035,0.71338606911949],"aabb_xy":[[-0.42020108020017455,-1.5148470231952451],[-0.2602134330430581,-1.354847018009562]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[-0.1532417459644283,1.668664359502721,0.71338606911949],"aabb_xy":[[-0.16460348061771446,1.6572958930964328],[-0.14188001131114214,1.680032825909009]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_31","position":[0.6906001092498184,-1.7397223313600154,0.71338606911949],"aabb_xy":[[0.6866396254800842,-1.7473901959455362],[0.6945605930195529,-1.732054466774495]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_32","position":[-0.19041201669178454,0.7032887596443942,0.71338606911949],"aabb_xy":[[-0.19833529693053284,0.6807887594063908],[-0.18248873645303618,0.7257887598823975]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[0.22107971267611348,-1.5916481179909572,0.71338606911949],"aabb_xy":[[0.15707971338194526,-1.6556342583598114],[0.2850797119702817,-1.527661977622103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6506673222756593,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4812.png","name":"4812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5824.png","name":"5824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.9975804976282,"rotation_z_degrees":166.95932714827165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016124032573039418,-0.0026366843364026317,-0.0066582246112340746]},{"name":"camera_2","offset_m":[0.01688355734980142,-0.0031854220577862066,-0.003351815504376878]},{"name":"camera_3","offset_m":[0.017905665692099875,-0.005022052354789643,0.019137754935187486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00030527199040301326,0.0015027202860270453,-0.0002564353338004612],"end_effector_yaw_offset_degrees":0.4373450582874867},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011417829209231045,-0.00026208892034140286,5.664832093618547e-05],"end_effector_yaw_offset_degrees":0.4604619503127765},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005853947556592894,-0.001386791438178923,-0.001960561063640608],"end_effector_yaw_offset_degrees":-0.9712434658175617}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011124532218076046,-0.002125142764681339],"position_m":[0.2732875467781924,-0.11992514276468134,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011721714497205946,0.004321177751089564],"position_m":[0.2775721714497206,0.2844211777510896,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003812483426156035,0.004031226065970279],"position_m":[0.29661248342615604,0.01673122606597028,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010914272791144207,-0.0007257555162778449],"position_m":[0.054008572720885585,0.41167424448372214,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005372312053564046,0.0019623464008689433],"position_m":[0.1611372312053564,-0.43463765359913104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d0f7f27437e4987812ed08a0f8e6208da764689cab46964658d02b0a598e6c21","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3949/tex_ceiling_textures_9258/tex_floor_textures_5824/tex_table_textures_1679/tex_wall_textures_4812","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5474248311442218203,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5474248311442218203,"visual_seed":5474248311442218203,"scene_id":"lab_003","finished_at":"2026-09-03T20:47:43"} +{"episode_id":"ep_000082","started_at":"2026-09-03T20:47:47","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.6171936898371827,1.4366303781510434,0.71338606911949],"aabb_xy":[[-0.6546936906291783,1.4302625371928532],[-0.5796936890451874,1.4429982191092336]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.5341084855138858,-1.7081951189069637,0.71338606911949],"aabb_xy":[[0.444108489013014,-1.754106761325422],[0.6241084820147574,-1.6622834764885055]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.2486919109918012,-1.6064163906877704,0.71338606911949],"aabb_xy":[[0.2393982927546506,-1.6439163891759043],[0.2579855292289518,-1.5689163921996365]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.11968766793239183,1.6239319172228668,0.71338606911949],"aabb_xy":[[0.08405851203243207,1.5882992504660138],[0.15531682383235157,1.6595645839797197]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[-0.4454318255806749,0.6203401465083789,0.71338606911949],"aabb_xy":[[-0.4580586128678712,0.610794072806806],[-0.4328050382934785,0.6298862202099518]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.4386457737760777,-0.6421945519155281,0.71338606911949],"aabb_xy":[[-0.5186457707391168,-0.7192701935593016],[-0.35864577681303844,-0.5651189102717546]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.14808258844624134,-1.924851642638708,0.71338606911949],"aabb_xy":[[-0.15865006810434035,-1.9353966727517165],[-0.13751510878814233,-1.9143066125256993]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.26496341114050725,-0.6765651379736537,0.71338606911949],"aabb_xy":[[0.20096341474493418,-0.7405284263923873],[0.32896340753608033,-0.6126018495549201]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.13267016102178242,-0.2651701162834712,0.71338606911949],"aabb_xy":[[-0.1701701622065752,-0.2695883389795316],[-0.0951701598369896,-0.2607518935874106]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.5252976293525289,0.09403686594712957,0.71338606911949],"aabb_xy":[[-0.5347151039223916,0.08462068880941054],[-0.5158801547826661,0.1034530430848486]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.40318788970205177,-1.059060566060348,0.71338606911949],"aabb_xy":[[-0.4671878869877005,-1.100567285013192],[-0.3391878924164032,-1.017553847107504]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.6042003340740292,-2.52156763944417,0.71338606911949],"aabb_xy":[[0.5490751284444384,-2.581567640885457],[0.65932553970362,-2.4615676380028826]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.46429143681712914,0.9257119608160322,0.71338606911949],"aabb_xy":[[0.4283779323921394,0.8897984525992776],[0.5002049412421188,0.9616254690327869]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.44196832783097073,-0.9455672313724846,0.71338606911949],"aabb_xy":[[0.4194719063971066,-0.968067231179232],[0.4644647492648348,-0.9230672315657371]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.3671923058627775,1.4723922829811138,0.71338606911949],"aabb_xy":[[0.3453025582738367,1.3823922856918647],[0.3890820534517183,1.562392280270363]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.4763377753214979,0.14115215137043613,0.71338606911949],"aabb_xy":[[0.4413377754254791,0.1327779158584962],[0.5113377752175168,0.14952638688237607]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.48962080871104974,-2.0441829991362934,0.71338606911949],"aabb_xy":[[-0.5396208097301851,-2.0806492148741214],[-0.4396208076919146,-2.0077167833984655]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.5833551963217847,1.342960288315942,0.71338606911949],"aabb_xy":[[0.5033551960481777,1.270010740490225],[0.6633551965953917,1.4159098361416584]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.03247922932898273,1.13991157342396,0.71338606911949],"aabb_xy":[[0.025437778378235132,1.1328848216861656],[0.039520680279730325,1.1469383251617544]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.13051572688163382,1.335901529485764,0.71338606911949],"aabb_xy":[[0.06551572592450662,1.283953317552058],[0.19551572783876103,1.3878497414194693]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.137599939585195,1.404230672725224,0.71338606911949],"aabb_xy":[[-0.2175999410153222,1.3247135177126146],[-0.05759993815506781,1.4837478277378335]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.6712089868348239,-2.0174198175265112,0.71338606911949],"aabb_xy":[[0.6651143589467056,-2.02598921207818],[0.6773036147229422,-2.0088504229748425]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.23710108230642968,-0.9334878247039067,0.71338606911949],"aabb_xy":[[0.23318720911100715,-0.9422368401104634],[0.2410149555018522,-0.9247388092973498]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.3148296348478525,-2.496153001001468,0.71338606911949],"aabb_xy":[[-0.3256701130743674,-2.5133392822921166],[-0.3039891566213376,-2.478966719710819]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.6238690031804248,-1.7345248456534672,0.71338606911949],"aabb_xy":[[-0.6688615898988752,-1.7795248449279157],[-0.5788764164619744,-1.6895248463790182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6470243688016241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8537.png","name":"8537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8537.png","name":"8537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3294.png","name":"3294"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1498.png","name":"1498"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.1325757609445,"rotation_z_degrees":334.66176332392206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015012097720723053,0.006438931503869365,0.016352334089345433]},{"name":"camera_2","offset_m":[-0.012110669490657271,-0.010307938112831958,0.012998382422909922]},{"name":"camera_3","offset_m":[0.0018539175440061943,-0.010401431683325933,-0.0051968735447766885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011355723315703337,0.0011272941745981407,0.001468327925580258],"end_effector_yaw_offset_degrees":-0.13272778359506754},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0011614423601847496,0.0014678359004807367,0.0019284403818724885],"end_effector_yaw_offset_degrees":0.6652139501789471},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001785085697355725,0.0010719790447377823,0.0006291545294713615],"end_effector_yaw_offset_degrees":0.41244269440754744}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008274782944452334,-0.004071743356244773],"position_m":[0.27357252170555474,-0.12187174335624477,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021549234582187793,-0.0034865226607220566],"position_m":[0.2742450765417812,0.27661347733927794,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004354892329344087,7.62658677110192e-05],"position_m":[0.2971548923293441,0.01277626586771102,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011468557321793428,0.004532207101216284],"position_m":[0.05395314426782066,0.41693220710121626,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002761528825821119,0.0037418986971307815],"position_m":[0.15783847117417887,-0.4328581013028692,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ce411f3f56f03de99ed562c41b1d93c83559fdf2191c6d465e5492121417d7f2","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8537/tex_ceiling_textures_194/tex_floor_textures_3592/tex_table_textures_3294/tex_wall_textures_1498","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4984263874375301221,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4984263874375301221,"visual_seed":4984263874375301221,"scene_id":"lab_003","finished_at":"2026-09-03T20:50:21"} +{"episode_id":"ep_000083","started_at":"2026-09-03T20:50:23","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.17918446828449397,0.12716098100692586,0.71338606911949],"aabb_xy":[[-0.23918446914530672,0.07573455100043942],[-0.11918446742368112,0.1785874110134122]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.4281703717832521,-0.30421196153440677,0.71338606911949],"aabb_xy":[[-0.4565000817317924,-0.30867270372812383],[-0.39984066183471195,-0.2997512193406897]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.6679773806636593,0.5042027864920731,0.71338606911949],"aabb_xy":[[-0.679546361410596,0.47920278637514135],[-0.6564083999167228,0.5292027866090048]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.49124965605461046,-0.20484632847435424,0.71338606911949],"aabb_xy":[[-0.5562496546116833,-0.23459886188823686],[-0.4262496574975376,-0.17509379506047162]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.19336646102202093,1.398972076003563,0.71338606911949],"aabb_xy":[[0.1433664600714881,1.3674229290000417],[0.2433664619725537,1.4305212230070845]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.6100222428588093,-0.5958581287879878,0.71338606911949],"aabb_xy":[[0.5400222402222229,-0.6159629937838532],[0.6800222454953956,-0.5757532637921222]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.40440075243647255,1.5390198186909996,0.71338606911949],"aabb_xy":[[0.3872986744781044,1.52191301315973],[0.4215028303948407,1.5561266242222695]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.5199590488188914,1.0686719525757051,0.71338606911949],"aabb_xy":[[0.45495904771294804,1.0437065795075768],[0.5849590499248346,1.0936373256438334]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.5318434584563307,1.263623975014001,0.71338606911949],"aabb_xy":[[0.48185034634713886,1.2136239743398056],[0.5818365705655226,1.3136239756881969]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.14612918332793134,0.34991762337897425,0.71338606911949],"aabb_xy":[[-0.21012918358840216,0.30490882402604613],[-0.08212918306746055,0.39492642273190215]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.45938775365802126,0.3831522949997046,0.71338606911949],"aabb_xy":[[-0.5393877523149073,0.36864743607544187],[-0.3793877550011353,0.39765715392396744]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.11596127411546031,-1.8494883519981902,0.71338606911949],"aabb_xy":[[-0.19596127554558748,-1.9290055070107994],[-0.035961272685333084,-1.7699711969855805]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.6589164540945349,0.8345971404374066,0.71338606911949],"aabb_xy":[[0.5949164548003666,0.7706110000685524],[0.722916453388703,0.8985832808062608]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.3868594792615243,-1.665368864399901,0.71338606911949],"aabb_xy":[[0.37805742395255154,-1.67318019055483],[0.39566153457049696,-1.6575575382449719]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.48440595291803246,0.7557052187913498,0.71338606911949],"aabb_xy":[[0.4662001292567849,0.7446798182093582],[0.5026117765792802,0.7667306193733415]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.5407821556808166,-2.4705617799192257,0.71338606911949],"aabb_xy":[[0.5073029884197756,-2.504040893290333],[0.5742613229418575,-2.437082666548119]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.5028869154356037,0.07826373098170558,0.71338606911949],"aabb_xy":[[0.45288691407471643,0.02828582640628997],[0.5528869167964908,0.1282416355571212]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[-0.6141302196333049,0.6287201335004329,0.71338606911949],"aabb_xy":[[-0.6318058502219032,0.6110399172210301],[-0.5964545890447065,0.6464003497798356]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.15578626675693108,-1.5127633989406597,0.71338606911949],"aabb_xy":[[-0.20980186303883105,-1.5767634018329169],[-0.10177067047503105,-1.4487633960484025]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.5074047898778964,0.32119617497497677,0.71338606911949],"aabb_xy":[[0.45241253924238545,0.266196173231664],[0.5623970405134073,0.3761961767182896]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[-0.2513773327985398,-2.1534228343730835,0.71338606911949],"aabb_xy":[[-0.2574719606866581,-2.161992228924752],[-0.24528270491042148,-2.1448534398214147]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.642634088156063,-0.18704923639790305,0.71338606911949],"aabb_xy":[[0.6312723535027769,-0.1984177028041911],[0.6539958228093492,-0.17568076999161494]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.2732303345258351,-1.8422960441545233,0.71338606911949],"aabb_xy":[[-0.28049158209624253,-1.855083054418033],[-0.2659690869554277,-1.829509033891014]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.6557394110197547,0.26302531180802013,0.71338606911949],"aabb_xy":[[0.6381611088308079,0.24545082223391523],[0.6733177132087016,0.28059980138212504]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[0.30351934710416495,0.9057159650145183,0.71338606911949],"aabb_xy":[[0.2385193461470377,0.8537677530808127],[0.3685193480612921,0.9576641769482238]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.5514704619037641,1.053142757852295,0.71338606911949],"aabb_xy":[[-0.5646217078750536,1.0281427580956086],[-0.5383192159324749,1.0781427576089817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6529070453965312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1234.png","name":"1234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1234.png","name":"1234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6071.png","name":"6071"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9120.png","name":"9120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8366.png","name":"8366"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":662.2401820367303,"rotation_z_degrees":108.54861890208132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007825773864255741,-0.005477068507451381,0.0031811072432481637]},{"name":"camera_2","offset_m":[0.015692298085510637,-0.005716504409272157,0.017305694542072658]},{"name":"camera_3","offset_m":[0.014224189938815569,0.009153807304440122,0.010721572691000374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005542256312585138,-0.0019346847220891089,0.0008820405072053257],"end_effector_yaw_offset_degrees":0.8154754279626211},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018602561285504609,0.0004439853382987454,-0.0004258499247835549],"end_effector_yaw_offset_degrees":0.6647571686960978},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000451738234632248,0.0017494796744401608,0.0017529139290691355],"end_effector_yaw_offset_degrees":0.6657285875576051}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020565873490764486,-0.001793681103299678],"position_m":[0.2764565873490764,-0.11959368110329968,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022659708758186615,-0.0033407856581756656],"position_m":[0.2786659708758186,0.2767592143418244,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0036246846765811665,-0.0017515286592031522],"position_m":[0.2964246846765812,0.010948471340796847,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025364783324826425,-0.004915258282571491],"position_m":[0.05256352166751736,0.4074847417174285,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021573000708545505,0.00041425220680062127],"position_m":[0.16275730007085454,-0.43618574779319935,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bee37284472e98d3a101f7ec357eaa784e092648b99ac89a20336273d14cc04f","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1234/tex_ceiling_textures_8366/tex_floor_textures_9120/tex_table_textures_6071/tex_wall_textures_9803","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6293691038471533926,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6293691038471533926,"visual_seed":6293691038471533926,"scene_id":"lab_003","finished_at":"2026-09-03T20:52:59"} +{"episode_id":"ep_000084","started_at":"2026-09-03T20:53:02","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.4876965053256246,-1.4097429158891357,0.71338606911949],"aabb_xy":[[0.43771908846037094,-1.459742917378384],[0.5376739221908781,-1.359742914399887]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.09314034848601371,0.6902434078577198,0.71338606911949],"aabb_xy":[[0.08189529291539588,0.6790016101336245],[0.10438540405663155,0.701485205581815]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.29454114851663166,0.871779040789213,0.71338606911949],"aabb_xy":[[-0.35854114581897806,0.8274126138213562],[-0.23054115121428526,0.9161454677570697]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.1040185258030285,-0.32356508756470514,0.71338606911949],"aabb_xy":[[-0.14151852422642885,-0.3367293015325357],[-0.06651852737962814,-0.31040087359687446]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.6287727027877461,1.730932176748596,0.71338606911949],"aabb_xy":[[0.5587727011854665,1.7174993835469383],[0.6987727043900255,1.7443649699502535]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.4948659591627027,0.0787011248334033,0.71338606911949],"aabb_xy":[[0.4872416910725245,0.07106790129685958],[0.5024902272528811,0.08633434836994702]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.27684528852672463,0.5977341802730365,0.71338606911949],"aabb_xy":[[-0.31809409955663936,0.542734180760819],[-0.23559647749680993,0.6527341797852539]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[0.6593299918221613,-2.3109405138336148,0.71338606911949],"aabb_xy":[[0.6485570179007936,-2.3459405120526537],[0.6701029657435291,-2.2759405156145758]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.48133345989208065,1.5897643513793587,0.71338606911949],"aabb_xy":[[0.4173334627799749,1.540731981584948],[0.5453334570041863,1.6387967211737693]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.22954626266851108,-1.4138570016133902,0.71338606911949],"aabb_xy":[[0.2092619599451123,-1.4341396267560989],[0.24983056539190981,-1.3935743764706812]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.13492138932044528,-1.8725786716041406,0.71338606911949],"aabb_xy":[[0.08711522170667664,-1.9375786743111993],[0.18272755693421394,-1.8075786688970814]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.2950778101188066,-2.2049814857070116,0.71338606911949],"aabb_xy":[[0.23107781082463846,-2.2689676260758658],[0.3590778094129749,-2.1409953453381574]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.10082858687167329,1.3920394235948312,0.71338606911949],"aabb_xy":[[-0.11971297064018349,1.3731534988144787],[-0.08194420310316308,1.4109253483751842]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.020802782341835524,-2.0783618959111685,0.71338606911949],"aabb_xy":[[-0.000475225801636725,-2.1433618982372415],[0.04208079048530777,-2.0133618935850954]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.556393097811653,-2.305402076206098,0.71338606911949],"aabb_xy":[[-0.6016717126928022,-2.3694020755542815],[-0.5111144829305037,-2.241402076857914]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.4499217758223758,-1.0317225960185574,0.71338606911949],"aabb_xy":[[-0.5399217744168459,-1.0479731823319784],[-0.3599217772279059,-1.0154720097051364]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.19289148174995907,-0.5393651332931264,0.71338606911949],"aabb_xy":[[0.1707189547733082,-0.5615408004492494],[0.21506400872660986,-0.517189466137003]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.575171386385609,1.6609277795939588,0.71338606911949],"aabb_xy":[[-0.5950624262659494,1.6482719683092621],[-0.5552803465052689,1.6735835908786558]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.20674789756536416,-0.9651946558259288,0.71338606911949],"aabb_xy":[[0.15174789838877464,-1.0201843306008864],[0.26174789674195365,-0.9102049810509711]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.600915832360648,1.1176863796754426,0.71338606911949],"aabb_xy":[[-0.6809158356246612,1.1041263473665293],[-0.5209158290966349,1.131246411984356]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.23559122862238147,1.6133988668729287,0.71338606911949],"aabb_xy":[[0.17159123219505956,1.5662292430508324],[0.29959122504970337,1.6605684906950253]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[0.37756406940213183,-1.7547914907286297,0.71338606911949],"aabb_xy":[[0.3125640682961886,-1.7797568637967582],[0.44256407050807517,-1.7298261176605016]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.4940428488161599,-0.2881029200003056,0.71338606911949],"aabb_xy":[[0.43905059818064907,-0.34310292174361834],[0.549035099451671,-0.2331029182569928]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.4667770522488158,-1.3245996242803848,0.71338606911949],"aabb_xy":[[-0.48000799778349706,-1.337827043302384],[-0.4535461067141345,-1.3113722052583852]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6477765841250614,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/241.png","name":"241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/241.png","name":"241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9260.png","name":"9260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/487.png","name":"487"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8959.png","name":"8959"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":633.0422455653738,"rotation_z_degrees":123.65147519367193,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01704560557241829,0.019118147167990308,0.003964078672839828]},{"name":"camera_2","offset_m":[-0.001348614761511869,0.010715869082143312,0.008761078455600445]},{"name":"camera_3","offset_m":[0.01743488618300167,-0.010733759977586074,0.019673514782740213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.336303310526363e-05,-0.0012495762744881246,-0.0005937992301600578],"end_effector_yaw_offset_degrees":0.030654158286916644},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00021122988694908433,0.0019168562291684592,0.0012283187198581331],"end_effector_yaw_offset_degrees":0.2828153182841875},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002535042669965285,-0.00041136951585064017,-2.6286351790435255e-05],"end_effector_yaw_offset_degrees":0.5778770617485183}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025567688370443367,0.003786115496854362],"position_m":[0.27184323116295567,-0.11401388450314565,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012888932502902158,0.00243980455780784],"position_m":[0.27768889325029017,0.28253980455780786,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0012255989409173953,0.0036706380835763936],"position_m":[0.2915744010590826,0.016370638083576392,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003612720186677647,0.0004505623610451233],"position_m":[0.05148727981332236,0.4128505623610451,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017196966440899985,0.003775578571181386],"position_m":[0.15888030335591,-0.4328244214288186,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"05be680a3ec1580e4ea132fe2d61c268675624cafcf97959c18a8729d9f43b8e","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_241/tex_ceiling_textures_3233/tex_floor_textures_8959/tex_table_textures_9260/tex_wall_textures_487","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6580547122989394516,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6580547122989394516,"visual_seed":6580547122989394516,"scene_id":"lab_003","finished_at":"2026-09-03T20:55:25"} +{"episode_id":"ep_000085","started_at":"2026-09-03T20:55:28","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.42211528946917404,-2.025535551564236,0.71338606911949],"aabb_xy":[[-0.4274528651351787,-2.050535552493376],[-0.4167777138031696,-2.0005355506350964]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.08726662015483089,-0.5666408890397658,0.71338606911949],"aabb_xy":[[-0.10315111342015602,-0.5809938293385899],[-0.07138212688950572,-0.5522879487409418]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.09599088963966829,0.9017469288153941,0.71338606911949],"aabb_xy":[[0.025990887508238733,0.8789849631896983],[0.16599089177109783,0.9245088944410896]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.15795004493428244,-2.3173771629717574,0.71338606911949],"aabb_xy":[[0.077950046346963,-2.396692764909918],[0.23795004352160185,-2.238061561033596]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.3146902594358749,-1.448431057546197,0.71338606911949],"aabb_xy":[[0.29217656761241767,-1.5184310581472045],[0.33720395125933206,-1.3784310569451894]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[-0.4123113163018696,-1.8525457983780078,0.71338606911949],"aabb_xy":[[-0.4773113144577887,-1.87884204292792],[-0.34731131814595056,-1.8262495538280956]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.5744201006995905,-2.2349770871307677,0.71338606911949],"aabb_xy":[[-0.61033360512458,-2.2708905953475225],[-0.5385065962746007,-2.199063578914013]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.6240952734832472,-0.9254892154941037,0.71338606911949],"aabb_xy":[[0.62065459724319,-0.9293506484684682],[0.6275359497233044,-0.9216277825197392]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.12010341290559967,-1.2816635845079432,0.71338606911949],"aabb_xy":[[-0.20010341397872,-1.2914416308453278],[-0.04010341183247934,-1.271885538170559]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.6978121460548294,1.4702637008481472,0.71338606911949],"aabb_xy":[[0.6938516622850951,1.4625958362626268],[0.7017726298245638,1.477931565433668]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.15988343497151603,-1.1588727065588205,0.71338606911949],"aabb_xy":[[-0.19488343324163593,-1.1659468342538086],[-0.12488343670139612,-1.1517985788638323]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.24928070883517983,1.2307903033313132,0.71338606911949],"aabb_xy":[[0.2366780096981034,1.218194907106448],[0.2618834079722563,1.243385699556179]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.4108474218259744,-0.8396274776228614,0.71338606911949],"aabb_xy":[[-0.4945696473260568,-0.9296274811575573],[-0.3271251963258919,-0.7496274740881654]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.01345417645142677,1.3517626559805174,0.71338606911949],"aabb_xy":[[-0.03351258806466706,1.3316975690713602],[0.006604235161813523,1.371827742889675]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.4504492721484341,1.2847532182374386,0.71338606911949],"aabb_xy":[[0.43377213615533855,1.2680532942635083],[0.46712640814152956,1.3014531422113689]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.4260885801143926,-1.294860047015794,0.71338606911949],"aabb_xy":[[-0.49108858122033583,-1.3198254200839223],[-0.36108857900844926,-1.2698946739476658]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.5421704007979263,0.1218544549531928,0.71338606911949],"aabb_xy":[[-0.6321703993923963,0.1056038686397718],[-0.4521704022034564,0.13810504126661383]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.12912595232559643,-0.2776019837325734,0.71338606911949],"aabb_xy":[[-0.15745566227413665,-0.28206272592629045],[-0.1007962423770562,-0.2731412415388563]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.3128940689076884,0.4917294540623063,0.71338606911949],"aabb_xy":[[-0.3236670428290562,0.45672945584326735],[-0.3021210949863206,0.5267294522813453]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.640065318245969,1.402837202804284,0.71338606911949],"aabb_xy":[[0.6359871603389193,1.3987562225560206],[0.6441434761530187,1.4069181830525472]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.3741311902921678,1.6920314168150985,0.71338606911949],"aabb_xy":[[0.36068466365812446,1.6785615651620072],[0.3875777169262111,1.7055012684681898]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.34999068084000035,-0.5443620111950689,0.71338606911949],"aabb_xy":[[-0.4139863782350969,-0.6083620094957776],[-0.2859949834449037,-0.4803620128943602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6467167625339839,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/466.png","name":"466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/466.png","name":"466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1588.png","name":"1588"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/220.png","name":"220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7253.png","name":"7253"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":745.9933868885313,"rotation_z_degrees":97.13287207537559,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018917860902412074,-0.01259201462262666,-0.0026765244646240888]},{"name":"camera_2","offset_m":[0.004436963923437742,0.015981118546782778,-0.016519497197826114]},{"name":"camera_3","offset_m":[-0.017428149246328163,-0.018706290613690366,-0.008613096419665359]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005211838293100795,0.0019580511160438713,-0.00020262205593290757],"end_effector_yaw_offset_degrees":0.014248205392919155},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009119586517553342,0.0017254450545199154,0.0008488868178386923],"end_effector_yaw_offset_degrees":-0.8505484543873769},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012644208665879976,-0.0007776350179428384,-0.0002892226203634967],"end_effector_yaw_offset_degrees":-0.0979471826344902}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000775230393269332,0.004904289130537144],"position_m":[0.2751752303932693,-0.11289571086946286,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002424957767467846,-0.002911814616890549],"position_m":[0.2739750422325321,0.27718818538310946,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004754775967628429,-0.003857915824821504],"position_m":[0.2880452240323716,0.008842084175178495,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00275823936150428,-0.0001949064423453729],"position_m":[0.05234176063849572,0.4122050935576546,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004035173812985551,0.002789517010172859],"position_m":[0.15656482618701445,-0.4338104829898271,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"006ff665ec943667f8ebbc70c6a8ed004679208901a9eabdb8de0902b2d16a2d","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_466/tex_ceiling_textures_5449/tex_floor_textures_7253/tex_table_textures_1588/tex_wall_textures_220","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4273171444922682616,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4273171444922682616,"visual_seed":4273171444922682616,"scene_id":"lab_003","finished_at":"2026-09-03T20:57:57"} +{"episode_id":"ep_000086","started_at":"2026-09-03T20:58:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.24232742307900285,0.4766442186283837,0.71338606911949],"aabb_xy":[[-0.2503637577802877,0.4686060993239669],[-0.234291088377718,0.48468233793280047]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.5147044514615196,-1.5852616673810012,0.71338606911949],"aabb_xy":[[-0.5281509780955629,-1.5987315190340925],[-0.5012579248274762,-1.5717918157279098]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.6298068485915638,-2.0129644265115614,0.71338606911949],"aabb_xy":[[0.5953443705784759,-2.0196281036944836],[0.6642693266046514,-2.0063007493286382]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.38564313164899294,-2.060732212989784,0.71338606911949],"aabb_xy":[[-0.4101567557459988,-2.0849968062918203],[-0.3611295075519871,-2.0364676196877474]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.5767457499803845,0.06989548021511283,0.71338606911949],"aabb_xy":[[0.5592457508460172,0.060015853177524996],[0.5942457491147516,0.07977510725270064]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[0.5872822998686329,-1.637477033471157,0.71338606911949],"aabb_xy":[[0.5589525899200927,-1.6419377756648743],[0.6156120098171731,-1.6330162912774402]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.01802799283044887,-0.7858878014977977,0.71338606911949],"aabb_xy":[[-0.02322081819946586,-0.840887801010015],[0.059276803860363596,-0.7308878019855801]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.5663561538575446,-2.2309677447135914,0.71338606911949],"aabb_xy":[[0.5622779959504949,-2.235048724961855],[0.5704343117645942,-2.226886764465328]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.5881228613185852,-1.8648137437306955,0.71338606911949],"aabb_xy":[[0.5690105539606062,-1.8839485226079375],[0.6072351686765639,-1.8456789648534535]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.005959858463438383,1.7540587765471245,0.71338606911949],"aabb_xy":[[-0.0590401441743551,1.7025791778476773],[0.07095986110123187,1.8055383752465712]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.3203357803625275,-2.164554328653322,0.71338606911949],"aabb_xy":[[0.2860195031879096,-2.2145543286264995],[0.35465205753714546,-2.114554328680144]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.37602101052958325,1.4634297210815093,0.71338606911949],"aabb_xy":[[-0.42599430453284365,1.4134297205269617],[-0.32604771652632275,1.5134297216360564]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.1363698597931774,-2.49532923774384,0.71338606911949],"aabb_xy":[[-0.1738698599650493,-2.5280299731267473],[-0.09886985962130543,-2.462628502360933]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[0.529382369611586,1.5977140385545776,0.71338606911949],"aabb_xy":[[0.5118356746954671,1.5602140369903266],[0.546929064527705,1.635214040118829]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.19643164948780845,-1.4310388552047324,0.71338606911949],"aabb_xy":[[0.1114316507957338,-1.4630247185996115],[0.2814316481798831,-1.3990529918098538]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.5575256093576035,0.7396056668687483,0.71338606911949],"aabb_xy":[[0.5204914999295437,0.7052284595350388],[0.5945597187856632,0.7739828742024576]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.3066358348215742,-1.9233708788578916,0.71338606911949],"aabb_xy":[[-0.3566358351821402,-1.9733508660674943],[-0.25663583446100807,-1.8733908916482884]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.05087244832878002,-1.5971229327299792,0.71338606911949],"aabb_xy":[[-0.014127551705522712,-1.6438236094103063],[0.11587244836308275,-1.5504222560496517]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.5104614771669005,-1.0642076370950018,0.71338606911949],"aabb_xy":[[-0.5477927536921432,-1.0988606918898542],[-0.473130200641658,-1.0295545823001497]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.07293794217443939,-1.7200031898891763,0.71338606911949],"aabb_xy":[[0.04294627944056906,-1.7500031892259769],[0.10292960490830971,-1.6900031905523758]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[0.3236301845291023,0.46329159245961815,0.71338606911949],"aabb_xy":[[0.3135484774505288,0.38329159456750345],[0.3337118916076757,0.5432915903517328]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.08392022309373715,1.1967141609225536,0.71338606911949],"aabb_xy":[[-0.1479202203793858,1.1552074419697096],[-0.019920225808088485,1.2382208798753975]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.12399470728723927,-1.97003857573812,0.71338606911949],"aabb_xy":[[0.08181029312640854,-2.0340385760153312],[0.16617912144807,-1.9060385754609086]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.5899029494021766,-0.19010478329683567,0.71338606911949],"aabb_xy":[[0.5698445377889363,-0.21016987020599318],[0.6099613610154169,-0.1700396963876781]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.5897024510063177,-0.7755898791989395,0.71338606911949],"aabb_xy":[[-0.6396812595166336,-0.8255898792046581],[-0.5397236424960018,-0.7255898791932205]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[-0.672799736304285,-1.0473861801415527,0.71338606911949],"aabb_xy":[[-0.690378038493232,-1.0649606697156577],[-0.6552214341153383,-1.0298116905674477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556376891939195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8568.png","name":"8568"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8568.png","name":"8568"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2411.png","name":"2411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6457.png","name":"6457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8459.png","name":"8459"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":731.7426308532979,"rotation_z_degrees":107.35574036727851,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011156921787634843,0.0010780649727015965,-0.01719348420133272]},{"name":"camera_2","offset_m":[0.0028831343340898243,-0.011493439345511437,0.00031049953477959094]},{"name":"camera_3","offset_m":[0.009827806545109358,-0.019466028457124415,0.013686331914981639]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019333594549180624,0.0009801880571569327,-0.0008180663314323912],"end_effector_yaw_offset_degrees":0.7218594906480766},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001351063467370858,-0.00047821671882600073,0.0019603306423992247],"end_effector_yaw_offset_degrees":0.741236246443643},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00033977546117345235,0.0012388222314991776,-0.00030888334531213374],"end_effector_yaw_offset_degrees":-0.2804458953534408}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037200448009816166,0.0013624478104388958],"position_m":[0.2706799551990184,-0.1164375521895611,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004020923561280037,-0.003206953751543099],"position_m":[0.27237907643871995,0.2768930462484569,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004877848269196366,-0.002828920573220468],"position_m":[0.28792215173080365,0.009871079426779531,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00018964304765775077,-0.004692073433573485],"position_m":[0.05528964304765775,0.4077079265664265,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036154305139849156,-0.0020481830628216956],"position_m":[0.1642154305139849,-0.43864818306282166,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f93de01b313edd2fa8ff0caf1aa1d2abd60097cedfde0aa847d3a671182d6b36","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8568/tex_ceiling_textures_8459/tex_floor_textures_6457/tex_table_textures_2411/tex_wall_textures_8569","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1646666402708440514,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1646666402708440514,"visual_seed":1646666402708440514,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:35"} +{"episode_id":"ep_000087","started_at":"2026-09-03T21:00:38","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.26645155109796803,0.692094782215563,0.71338606911949],"aabb_xy":[[0.2599499145899634,0.6823269601892533],[0.27295318760597265,0.7018626042418729]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.11590297758718315,-1.5012661763392408,0.71338606911949],"aabb_xy":[[0.05190298119161006,-1.5652294647579743],[0.17990297398275623,-1.4373028879205072]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.26761456845759607,-1.177482267851344,0.71338606911949],"aabb_xy":[[-0.30464867788565575,-1.2118594751850533],[-0.2305804590295363,-1.1431050605176345]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.5836096365570057,-0.5551816912201781,0.71338606911949],"aabb_xy":[[-0.5943826104783735,-0.5901816894392171],[-0.5728366626356379,-0.5201816930011391]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.3526297869075048,-2.1098159798876717,0.71338606911949],"aabb_xy":[[0.31512978572271194,-2.1142342025837317],[0.39012978809229754,-2.1053977571916107]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.4730281980490255,0.3551811401799605,0.71338606911949],"aabb_xy":[[-0.5230281990681608,0.3187149244421326],[-0.42302819702989025,0.39164735591778854]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.13403257365197985,1.6344357837342707,0.71338606911949],"aabb_xy":[[0.10059239845596023,1.6009921579033406],[0.16747274884799943,1.6678794095652008]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.15805487930215578,0.8744322614236131,0.71338606911949],"aabb_xy":[[-0.19251735731524353,0.8677685842406903],[-0.12359240128906798,0.8810959386065359]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.6033116334986426,0.49574671629594613,0.71338606911949],"aabb_xy":[[0.5483161556779831,0.4407467148620391],[0.6583071113193019,0.550746717729853]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.449146228227271,1.1830109371401698,0.71338606911949],"aabb_xy":[[-0.45640747579767843,1.1702239268766603],[-0.4418849806568636,1.1957979474036793]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.14162203099204673,-2.2868921068347436,0.71338606911949],"aabb_xy":[[0.07662203095774398,-2.333592783515071],[0.20662203102634943,-2.2401914301544164]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.23094661061086663,1.3921298237022879,0.71338606911949],"aabb_xy":[[0.22037913095276762,1.381584793589279],[0.24151409026896564,1.4026748538152962]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.1517278950342148,-1.9664241458799154,0.71338606911949],"aabb_xy":[[0.08772789312187246,-2.0223352951379256],[0.21572789694655714,-1.9105129966219052]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.33640521520838906,1.571533656506586,0.71338606911949],"aabb_xy":[[-0.40040521755119063,1.5265928052624533],[-0.2724052128655875,1.6164745077507183]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.03521851317735114,1.289869178463742,0.71338606911949],"aabb_xy":[[0.004071594333768025,1.2198691797769345],[0.06636543202093426,1.359869177150549]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.5437815696412238,1.005031933314231,0.71338606911949],"aabb_xy":[[-0.6337815719752429,0.9275495787291184],[-0.45378156730720476,1.0825142878993437]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.27517438676435485,0.6395251974714289,0.71338606911949],"aabb_xy":[[-0.35517438542124086,0.6250203385471662],[-0.19517438810746884,0.6540300563956918]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.41357968037106296,0.047162118697986255,0.71338606911949],"aabb_xy":[[-0.47757968204906026,-0.0013552727813279722],[-0.34957967869306555,0.09567951017730048]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.19011519906982544,-0.5471575551043721,0.71338606911949],"aabb_xy":[[-0.24009814925730474,-0.5971575547469324],[-0.14013224888234607,-0.4971575554618117]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.6084799315183851,-1.4394614525312508,0.71338606911949],"aabb_xy":[[0.5584956958102077,-1.4894614513447464],[0.6584641672265622,-1.3894614537177552]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[0.3562402702505836,-1.4902034161136253,0.71338606911949],"aabb_xy":[[0.3475423079598683,-1.5023283904211004],[0.36493823254129887,-1.4780784418061508]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.584683511848839,-0.6962340008067673,0.71338606911949],"aabb_xy":[[-0.6021142269278454,-0.713506115470618],[-0.5672527967698324,-0.6789618861429164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524249944855586,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7160.png","name":"7160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2532.png","name":"2532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":826.899891663579,"rotation_z_degrees":320.1216649733857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00630360568572895,-0.007803233324710947,-0.007211252312652027]},{"name":"camera_2","offset_m":[-0.012885368612677545,-0.018957463529001996,-0.01793228821489836]},{"name":"camera_3","offset_m":[0.015752750729173527,0.0002419841184867176,0.019622750081672972]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.583399925774556e-05,-0.0019570515358608587,0.0010666472182517474],"end_effector_yaw_offset_degrees":-0.6612023392314244},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018865007513409813,-0.0010182520116983024,0.0003029564732084165],"end_effector_yaw_offset_degrees":0.7233036855287875},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00024158575554618887,-0.00012880399403336238,-0.001309279402267079],"end_effector_yaw_offset_degrees":-0.580093798815269}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017510375300298052,0.002657990422473019],"position_m":[0.27264896246997017,-0.11514200957752699,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037283379024413707,0.0016522668508073667],"position_m":[0.28012833790244135,0.2817522668508074,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-6.27744803963215e-05,-0.002272560130666678],"position_m":[0.2927372255196037,0.01042743986933332,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00017023060353401134,0.0026008352682989015],"position_m":[0.05527023060353402,0.4150008352682989,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002017629723983727,-0.003477064545054065],"position_m":[0.15858237027601627,-0.4400770645450541,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ee8a2fde233b31f182f992088dd80439a10502b96710846c54c381a0ea24504","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3827/tex_ceiling_textures_4367/tex_floor_textures_2532/tex_table_textures_7160/tex_wall_textures_7722","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8587436710011448753,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8587436710011448753,"visual_seed":8587436710011448753,"scene_id":"lab_003","finished_at":"2026-09-03T21:03:10"} +{"episode_id":"ep_000088","started_at":"2026-09-03T21:03:13","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.15865320182307296,-0.2712576677475571,0.71338606911949],"aabb_xy":[[-0.16355249412963646,-0.2989345870501259],[-0.15375390951650947,-0.24358074844498834]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.4693007884281728,-1.41657385539003,0.71338606911949],"aabb_xy":[[-0.5043007884046686,-1.4260384714376466],[-0.434300788451677,-1.4071092393424134]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.5276250232715358,-1.0074090634612827,0.71338606911949],"aabb_xy":[[-0.5892157824955286,-1.0714090615703298],[-0.466034264047543,-0.943409065352236]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.15462262833064144,-1.1046813356535563,0.71338606911949],"aabb_xy":[[-0.204600045195895,-1.1546813371428049],[-0.10464521146538784,-1.0546813341643078]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.4996474027432136,1.1600051018947979,0.71338606911949],"aabb_xy":[[-0.5049799173978267,1.1546807736495623],[-0.4943148880886007,1.1653294301400334]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.3621673467910467,-0.26323748842167394,0.71338606911949],"aabb_xy":[[0.35405369211766957,-0.27134330487570296],[0.3702810014644238,-0.2551316719676448]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.16742385825168205,1.2995835944725238,0.71338606911949],"aabb_xy":[[-0.1850021604406289,1.2820091048984188],[-0.1498455560627352,1.3171580840466288]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.5479354157868361,-0.3577889211310632,0.71338606911949],"aabb_xy":[[0.4979354141253413,-0.40778736338676586],[0.5979354174483308,-0.30779047887536043]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.06912210965658183,-2.337341562138883,0.71338606911949],"aabb_xy":[[-0.07714838028720783,-2.3460930571162355],[-0.061095839025955834,-2.3285900671615303]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.5946101546636595,-1.507642595082647,0.71338606911949],"aabb_xy":[[-0.6023133453377365,-1.515351965781385],[-0.5869069639895825,-1.4999332243839092]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.4976514790269238,-1.6328998617767456,0.71338606911949],"aabb_xy":[[-0.5068113579708005,-1.6394310798202827],[-0.4884916000830472,-1.6263686437332086]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.0015401383060194007,-0.6290724955715357,0.71338606911949],"aabb_xy":[[-0.008871420374464312,-0.634418228907434],[0.011951696986503113,-0.6237267622356371]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.6379877009904362,-1.5128589440008056,0.71338606911949],"aabb_xy":[[0.6267426454198183,-1.5241007417249008],[0.649232756561054,-1.5016171462767103]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.5497540289070515,-0.6759498123879801,0.71338606911949],"aabb_xy":[[0.48975402726412964,-0.7279499616799242],[0.6097540305499733,-0.6239496630960358]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.4324498050594521,-1.9681523821797147,0.71338606911949],"aabb_xy":[[0.42269381555027813,-1.9779149162389489],[0.4422057945686259,-1.95838984812048]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.46407157738977345,-0.41893538437731426,0.71338606911949],"aabb_xy":[[-0.529071578390274,-0.46972174953198914],[-0.39907157638927293,-0.36814901922263926]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.6224780596517676,1.1902006074179519,0.71338606911949],"aabb_xy":[[-0.650807769600308,1.1857398652242348],[-0.5941483497032275,1.194661349611669]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.6270618592268177,-0.5103377222480656,0.71338606911949],"aabb_xy":[[-0.6820618574285624,-0.5508596888745032],[-0.5720618610250727,-0.4698157556216281]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.15514835856316456,-2.5056857914515054,0.71338606911949],"aabb_xy":[[-0.16010437874804578,-2.5281857916536272],[-0.15019233837828339,-2.4831857912493844]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.026592576469746554,-2.5293107042671266,0.71338606911949],"aabb_xy":[[-0.00786977092839525,-2.5638045866649484],[0.06105492386788834,-2.494816821869303]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.48980043163127207,-2.5057588195278906,0.71338606911949],"aabb_xy":[[-0.5006520378801478,-2.516618110255542],[-0.4789488253823965,-2.4948995288002394]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.004368186403074126,-1.2780450686629123,0.71338606911949],"aabb_xy":[[-0.06436818691092704,-1.3348918023488336],[0.05563181410477879,-1.221198334976991]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.023621416095934378,-0.5457953770720909,0.71338606911949],"aabb_xy":[[-0.041827239757182055,-0.5568207776540826],[-0.005415592434686704,-0.5347699764900993]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[0.7006669775891559,0.9789196746298874,0.71338606911949],"aabb_xy":[[0.6860235720351228,0.9642609549731029],[0.7153103831431887,0.9935783942866714]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.301027166630961,1.368433706992887,0.71338606911949],"aabb_xy":[[-0.3084396221723495,1.3625824965712587],[-0.29361471108957254,1.3742849174145146]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.5707150600396715,-0.10439179592642667,0.71338606911949],"aabb_xy":[[-0.640715062171101,-0.12715376155212232],[-0.5007150579082419,-0.081629830300731]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.022396230307199172,-1.4683694432229772,0.71338606911949],"aabb_xy":[[-0.07739622992894502,-1.52335313601045],[0.03260376931454667,-1.4133857504355045]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6532591219286199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3339.png","name":"3339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2074.png","name":"2074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1704.png","name":"1704"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":667.2120324830266,"rotation_z_degrees":138.36808117228261,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0035549857249688177,0.00925811477851059,0.008188544706633216]},{"name":"camera_2","offset_m":[-0.0036216739604935724,-0.0010538811801452004,-0.0030581470289460996]},{"name":"camera_3","offset_m":[-0.0033010063911379645,-0.006725974144484842,0.01806991519479614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-8.980973478373098e-05,-0.0010306372665124673,0.0013827529759069365],"end_effector_yaw_offset_degrees":-0.21706710107382055},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001597292531429513,-0.00045778669236480195,0.00018319154530369204],"end_effector_yaw_offset_degrees":-0.4405603414587831},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001109149780143983,0.000245277273416669,0.0009550375732598651],"end_effector_yaw_offset_degrees":-0.3878396750098507}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004009341427673843,0.0030261261260309596],"position_m":[0.2784093414276738,-0.11477387387396905,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002437295108234554,-0.0037947683675810307],"position_m":[0.27396270489176544,0.276305231632419,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017225839814525002,0.0002352269699661567],"position_m":[0.29107741601854753,0.012935226969966157,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018249984532575383,-0.0024053245070982422],"position_m":[0.053275001546742466,0.40999467549290175,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003600985048957666,0.001498790405332762],"position_m":[0.16420098504895767,-0.43510120959466725,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b427516cd2ef1c74b2510f21875a90447a8ec4f100abbc087d85e2a02e7bd8f","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6369/tex_ceiling_textures_1704/tex_floor_textures_7788/tex_table_textures_3339/tex_wall_textures_2074","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":127125912380055939,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":127125912380055939,"visual_seed":127125912380055939,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:40"} +{"episode_id":"ep_000089","started_at":"2026-09-03T21:05:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.40173382435149585,0.2658993894808259,0.71338606911949],"aabb_xy":[[0.3944515079748322,0.1758993858713169],[0.4090161407281595,0.35589939309033486]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.4000541564344884,-2.180380973513225,0.71338606911949],"aabb_xy":[[-0.43435106745222896,-2.214677859723166],[-0.3657572454167477,-2.1460840873032834]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.3870559210920939,0.6354633687926476,0.71338606911949],"aabb_xy":[[-0.4215183991051816,0.6287996916097248],[-0.35259344307900603,0.6421270459755705]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.40043294032007504,0.5917135193437453,0.71338606911949],"aabb_xy":[[0.3801486375966762,0.5714308942010362],[0.42071724304347374,0.6119961444864539]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.1802452938160073,0.4282061902549468,0.71338606911949],"aabb_xy":[[-0.18436124392807993,0.42409063522210116],[-0.1761293437039346,0.43232174528779216]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.08784203473807972,-2.1217642639561602,0.71338606911949],"aabb_xy":[[0.05034203616245891,-2.1345005596197177],[0.1253420333137005,-2.109027968292602]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.27800522313162046,-1.6805689585436703,0.71338606911949],"aabb_xy":[[0.2725472774946004,-1.7605689618513292],[0.2834631687686405,-1.600568955236011]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.2298038843080603,0.9554130881801424,0.71338606911949],"aabb_xy":[[0.1748084064874009,0.9004130867462352],[0.2847993621287197,1.010413089614049]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.46837691237092915,-2.0645619784268,0.71338606911949],"aabb_xy":[[0.4622822844828109,-2.0731313729784686],[0.47447154025904753,-2.055992583875131]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.4948372897435276,-1.4192718382059952,0.71338606911949],"aabb_xy":[[0.43083729263142195,-1.468304208000406],[0.5588372868556333,-1.3702394684115848]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.6125686269530615,-0.4595629739147471,0.71338606911949],"aabb_xy":[[0.5485686237344236,-0.5062860858137554],[0.6765686301716993,-0.41283986201573875]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.11297960850195665,1.7954537897702738,0.71338606911949],"aabb_xy":[[-0.15047960916653533,1.7797667317700514],[-0.07547960783737793,1.8111408477704958]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.37908941853365474,-1.8305317634783076,0.71338606911949],"aabb_xy":[[-0.39373282408768767,-1.8451904831350918],[-0.3644460129796217,-1.8158730438215234]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[0.3849681644255982,-1.0930777711104942,0.71338606911949],"aabb_xy":[[0.36753744934659166,-1.1103498857743448],[0.4023988795046047,-1.0758056564466432]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.4562290543469969,1.3130851333309832,0.71338606911949],"aabb_xy":[[-0.501400372195166,1.2490851361864448],[-0.41105773649882804,1.3770851304755216]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.1264673852156426,-1.5607325377886614,0.71338606911949],"aabb_xy":[[-0.18145963585115357,-1.6157325395319744],[-0.07147513458013167,-1.5057325360453488]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.2785916242267342,-1.2966724394166156,0.71338606911949],"aabb_xy":[[-0.3131827070807794,-1.3616724397016466],[-0.24400054137268898,-1.2316724391315845]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.4349905699787741,-1.9579048920869346,0.71338606911949],"aabb_xy":[[-0.44368853226948946,-1.9700298663944094],[-0.4262926076880589,-1.94577991777946]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.2619001794468151,-0.9010106057845484,0.71338606911949],"aabb_xy":[[0.2169001779805863,-0.9460104626460292],[0.306900180913044,-0.8560107489230678]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.3551323677375188,-0.9831071038155001,0.71338606911949],"aabb_xy":[[-0.39789907461693896,-1.0471071072373026],[-0.3123656608580986,-0.9191071003936976]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.44142969858110415,-2.3034983559855053,0.71338606911949],"aabb_xy":[[0.43438938864756715,-2.3834983553851767],[0.44847000851464114,-2.223498356585834]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.19206859951389288,1.275449575619155,0.71338606911949],"aabb_xy":[[0.18716930720732936,1.247772656316586],[0.19696789182045635,1.3031264949217236]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.2575095201321138,1.3935703386822378,0.71338606911949],"aabb_xy":[[-0.2909886873931548,1.3600912253111308],[-0.22403035287107292,1.4270494520533448]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.3393863176213292,0.4005055858808757,0.71338606911949],"aabb_xy":[[-0.41938632087917216,0.32050907808889173],[-0.25938631436348625,0.4805020936728597]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.11802298000544653,-1.4957113736228218,0.71338606911949],"aabb_xy":[[0.10886310106156992,-1.5022425916663587],[0.12718285894932313,-1.4891801555792845]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.21132092339886854,-0.6548451609306449,0.71338606911949],"aabb_xy":[[-0.229190031153324,-0.6686780689078559],[-0.19345181564441302,-0.641012252953434]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.28438777998446263,-2.0004261878227365,0.71338606911949],"aabb_xy":[[0.27842124104372684,-2.0063873324821007],[0.2903543189251984,-1.9944650431633724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650337075364587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/434.png","name":"434"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1269.png","name":"1269"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/144.png","name":"144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6372.png","name":"6372"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.3980254194053,"rotation_z_degrees":324.25356534977476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011571069169470715,0.007000999517213939,-0.014368512698524492]},{"name":"camera_2","offset_m":[-0.007879062698534112,0.009805009570664516,0.005319886799390824]},{"name":"camera_3","offset_m":[-0.013500914475056289,-0.017494779211223634,-0.0006020068904111428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005553598812952792,-0.00016280577393638787,-0.00014249006505152374],"end_effector_yaw_offset_degrees":0.47952889632642903},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012698321004690927,0.001259808096922413,4.9065999598067126e-05],"end_effector_yaw_offset_degrees":0.3689124543040241},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014859213417461985,-0.001473401273418114,0.00042224053320538864],"end_effector_yaw_offset_degrees":-0.5371935404046217}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00034337757054884663,0.001946557202522201],"position_m":[0.27474337757054884,-0.1158534427974778,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[7.575394179622219e-06,-0.0048529658117455075],"position_m":[0.2764075753941796,0.2752470341882545,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004047072603518741,-0.0018470445683826586],"position_m":[0.2887529273964813,0.01085295543161734,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00031164376937519063,0.0014345557452592108],"position_m":[0.05541164376937519,0.4138345557452592,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038887138163404213,-0.002429247069140551],"position_m":[0.15671128618365956,-0.43902924706914054,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"55c253539eaeee800701d7c2ba04e4f183014da86dbf8a1da34cbc99eb10e1bc","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6985/tex_ceiling_textures_6372/tex_floor_textures_144/tex_table_textures_434/tex_wall_textures_1269","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2024792071117661027,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2024792071117661027,"visual_seed":2024792071117661027,"scene_id":"lab_003","finished_at":"2026-09-03T21:08:18"} +{"episode_id":"ep_000090","started_at":"2026-09-03T21:08:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.3653985912142847,-1.1112948639025655,0.71338606911949],"aabb_xy":[[-0.3875711181909354,-1.1334705310586886],[-0.3432260642376338,-1.0891191967464424]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.14674919781079032,-1.7229461685759062,0.71338606911949],"aabb_xy":[[0.09674992264235416,-1.7729461698518534],[0.19674847297922649,-1.672946167299959]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.33794934140936966,1.5983341388593977,0.71338606911949],"aabb_xy":[[-0.37294934130538854,1.5899599033474576],[-0.3029493415133508,1.6067083743713377]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.16561081103823339,0.4312118482313001,0.71338606911949],"aabb_xy":[[-0.22961080743380646,0.36724855981256654],[-0.10161081464266031,0.49517513665003365]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.389695422207216,0.4334440038208167,0.71338606911949],"aabb_xy":[[0.3592111720801858,0.3834440040393207],[0.42017967233424613,0.4834440036023126]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.4005553649396492,0.27987590227762027,0.71338606911949],"aabb_xy":[[-0.4505553653002152,0.22989591506801735],[-0.3505553645790831,0.3298558894872232]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.190871996265082,1.139917211861321,0.71338606911949],"aabb_xy":[[0.13589827422874914,1.0849172122970878],[0.2458457183014149,1.1949172114255542]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.07130113877879007,1.6955336469749356,0.71338606911949],"aabb_xy":[[-0.10880114029442178,1.6843068739587908],[-0.033801137263158365,1.7067604199910809]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.07355964222103317,0.2735010821944668,0.71338606911949],"aabb_xy":[[-0.1110596430130286,0.2671332412362767],[-0.03605964142903771,0.2798689231526569]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.6822360405142553,-1.7618200061937772,0.71338606911949],"aabb_xy":[[0.6726044042938256,-1.7714573189734861],[0.6918676767346849,-1.7521826934140683]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[0.1950512768364563,-1.3205960759082274,0.71338606911949],"aabb_xy":[[0.11505745325789807,-1.4005960785010687],[0.2750451004150145,-1.2405960733153856]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[0.5366346553555656,-0.4779027377237828,0.71338606911949],"aabb_xy":[[0.52578304910669,-0.4887620284514338],[0.5474862616044412,-0.46704344699613176]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.030395131964956024,1.279344529597752,0.71338606911949],"aabb_xy":[[-0.004604869386525711,1.2589847936409309],[0.06539513331643775,1.2997042655545725]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.14272467940022304,-2.2957426634027858,0.71338606911949],"aabb_xy":[[-0.14616535564028024,-2.2996040963771507],[-0.1392840031601659,-2.2918812304284217]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.11418326266463164,-1.1537820324515622,0.71338606911949],"aabb_xy":[[-0.18418326530121795,-1.1738868974474275],[-0.04418326002804526,-1.1336771674556965]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.3029290088016986,-2.1187115623056485,0.71338606911949],"aabb_xy":[[-0.3529290083780333,-2.1686921412577544],[-0.2529290092253639,-2.0687309833535426]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.413519149102755,1.1422679218068597,0.71338606911949],"aabb_xy":[[0.3495191518171063,1.1007612028540157],[0.4775191463884036,1.1837746407597036]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.5961640359416793,1.6677033079854193,0.71338606911949],"aabb_xy":[[0.5161640387821039,1.6561557070276023],[0.6761640331012545,1.6792509089432364]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.5684691906338624,-2.2857156488877703,0.71338606911949],"aabb_xy":[[0.5514590933438117,-2.3018501373860443],[0.585479287923913,-2.2695811603894964]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.12173397759491755,-2.4385179851331267,0.71338606911949],"aabb_xy":[[-0.1450158197930489,-2.5235179864303543],[-0.09845213539678621,-2.353517983835898]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.6339553026964541,-0.7858512957240336,0.71338606911949],"aabb_xy":[[-0.6834357239104129,-0.8498512936368855],[-0.5844748814824953,-0.7218512978111818]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.09895323651104715,-0.9269854673557505,0.71338606911949],"aabb_xy":[[-0.12146692833450433,-0.9969854679567581],[-0.07643954468758994,-0.8569854667547431]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.006926450814854768,-1.2743249554544684,0.71338606911949],"aabb_xy":[[-0.005700336472341584,-1.2838710291560413],[0.019553238102051118,-1.2647788817528955]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.5439878152146946,-0.7486964690573363,0.71338606911949],"aabb_xy":[[0.526557100135688,-0.765968583721187],[0.561418530293701,-0.7314243543934854]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6491636882567507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2321.png","name":"2321"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3729.png","name":"3729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/704.png","name":"704"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":829.8672233236053,"rotation_z_degrees":346.36023172611993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008815233130023144,0.0035662525480153473,0.014585893616309287]},{"name":"camera_2","offset_m":[-0.014987620813171332,0.0029723124339242,-0.011077925119391133]},{"name":"camera_3","offset_m":[0.007938485705800157,-0.01867319490380829,-0.015356663800721742]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014346804265076047,-0.0009156160465641867,-0.001367139359884939],"end_effector_yaw_offset_degrees":-0.9985730899822001},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[1.954483340039625e-06,-0.0001673020228726925,-5.5060958498033986e-05],"end_effector_yaw_offset_degrees":-0.7476220471952095},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009327190957397714,0.001305226598954975,-0.0017969603556351283],"end_effector_yaw_offset_degrees":-0.6465942948546237}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034144409408431576,0.0005834395083070655],"position_m":[0.27098555905915683,-0.11721656049169293,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006802174608286369,0.0006521767244686326],"position_m":[0.2770802174608286,0.28075217672446867,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002176749018475369,-0.003985995041358043],"position_m":[0.29497674901847537,0.008714004958641957,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038502070566614746,0.00030813901018507655],"position_m":[0.05895020705666148,0.41270813901018505,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029942552990718995,0.0002941143717898366],"position_m":[0.15760574470092809,-0.43630588562821015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"67a44fbe8520d4b39e17374103a00b361204ce2c2e4088180e6ce6a22b858d6a","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6344/tex_ceiling_textures_704/tex_floor_textures_3729/tex_table_textures_9237/tex_wall_textures_2321","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2952996439514650358,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2952996439514650358,"visual_seed":2952996439514650358,"scene_id":"lab_003","finished_at":"2026-09-03T21:11:00"} +{"episode_id":"ep_000091","started_at":"2026-09-03T21:11:03","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.5857144815112831,1.0894480048169397,0.71338606911949],"aabb_xy":[[-0.6356974316987624,1.039448005174379],[-0.5357315313238037,1.1394480044595]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.44040063868979,-2.230311036484524,0.71338606911949],"aabb_xy":[[-0.47790063987458276,-2.2347292591805834],[-0.40290063750499716,-2.2258928137884624]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.2782556612196999,-2.2720205660422264,0.71338606911949],"aabb_xy":[[-0.32825566079603463,-2.3220011449943327],[-0.2282556616433652,-2.222039987090121]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.5390541842421259,0.6108158369338113,0.71338606911949],"aabb_xy":[[0.5297605660049753,0.5733158384456774],[0.5483478024792765,0.6483158354219452]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.16432894829369926,0.31431038395044064,0.71338606911949],"aabb_xy":[[-0.20534689168007014,0.2643103833194833],[-0.12331100490732838,0.364310384581398]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.15683083943041443,0.7019502410931895,0.71338606911949],"aabb_xy":[[-0.19183083862323266,0.6909831950955266],[-0.12183084023759613,0.7129172870908519]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.28627080338691424,-1.6856692299874285,0.71338606911949],"aabb_xy":[[-0.320733150785056,-1.7201631123852508],[-0.2518084559887724,-1.6511753475896054]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.32061821745354596,-1.2829603031218604,0.71338606911949],"aabb_xy":[[-0.33037420696271985,-1.2927228371810946],[-0.31086222794437207,-1.2731977690626257]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.04922607514301802,-2.142098039517804,0.71338606911949],"aabb_xy":[[0.020896365194477802,-2.146558781711521],[0.07755578509155825,-2.137637297324087]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.46758379060077915,0.7612599724006537,0.71338606911949],"aabb_xy":[[0.44236295374093937,0.7360362215477668],[0.4928046274606187,0.7864837232535403]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.2818282791176773,-1.158252329290018,0.71338606911949],"aabb_xy":[[-0.3068282786694158,-1.1683948131551525],[-0.25682827956593884,-1.148109845424883]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.06315447475982883,-2.3862657922868324,0.71338606911949],"aabb_xy":[[-0.09761695277291658,-2.3929294694697547],[-0.02869199674674104,-2.3796021151039093]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.09181663778888172,-1.1179093687743107,0.71338606911949],"aabb_xy":[[0.0278166374113481,-1.167654635625123],[0.15581663816641533,-1.0681641019234984]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.07702226706333237,1.7959673266845084,0.71338606911949],"aabb_xy":[[-0.11046244225935196,1.762523700853578],[-0.04358209186731276,1.829410952515438]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.3317908828520837,-0.4527464760562161,0.71338606911949],"aabb_xy":[[0.28169341887101007,-0.5167464765660279],[0.3818883468331573,-0.3887464755464043]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.05966901996216323,1.7537941299105113,0.71338606911949],"aabb_xy":[[0.01466901849593438,1.7087942730490309],[0.1046690214283921,1.7987939867719922]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.3239437967696237,-1.4317440910968924,0.71338606911949],"aabb_xy":[[0.26394379590881084,-1.4831705211033785],[0.38394379763043646,-1.3803176610904058]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.3062293208359341,-1.6403863824801679,0.71338606911949],"aabb_xy":[[0.2975153517859996,-1.6628863831393557],[0.31494328988586856,-1.6178863818209792]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.47736675442835574,-2.4366638281582036,0.71338606911949],"aabb_xy":[[0.4720291787623513,-2.4616638290873434],[0.4827043300943604,-2.411663827229064]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.087188056292695,1.1388572514742408,0.71338606911949],"aabb_xy":[[-0.10468805655203163,1.1247657092854682],[-0.06968805603335837,1.1529487936630134]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.5106429009084861,-1.412568625193166,0.71338606911949],"aabb_xy":[[-0.5584490685222546,-1.477568627900225],[-0.4628367332947173,-1.347568622486107]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.5557362405828457,-0.9932736372223401,0.71338606911949],"aabb_xy":[[-0.5807362397484788,-1.0002258829276964],[-0.5307362414172125,-0.9863213915169833]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.445894194506493,0.6446002292921809,0.71338606911949],"aabb_xy":[[-0.4958672600390085,0.594600229479648],[-0.3959211289739776,0.6946002291047138]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.4760297302892386,-0.015366584124587135,0.71338606911949],"aabb_xy":[[-0.491585499699504,-0.030917017368994333],[-0.46047396087897347,0.00018384911982005826]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.5984048318144911,1.7160150362181006,0.71338606911949],"aabb_xy":[[-0.6033041241210546,1.6883381169155318],[-0.5935055395079276,1.7436919555206694]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.5279244416634308,-0.2992371348957934,0.71338606911949],"aabb_xy":[[-0.5405512289506271,-0.3087832085973663],[-0.5152976543762344,-0.2896910611942205]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.005812425408139088,-1.8296754059272395,0.71338606911949],"aabb_xy":[[-0.06081242360988392,-1.8701973725536771],[0.04918757279360574,-1.789153439300802]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[0.5201323394985116,-1.4838962473677832,0.71338606911949],"aabb_xy":[[0.4501323373670819,-1.5066582129934787],[0.590132341629941,-1.4611342817420874]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.16371857924590072,-2.1704184127389246,0.71338606911949],"aabb_xy":[[0.1268680313089131,-2.2079184135619583],[0.20056912718288833,-2.132918411915891]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[0.5874295065439645,-2.25708996452554,0.71338606911949],"aabb_xy":[[0.49742950420994547,-2.3345723191106527],[0.6774295088779836,-2.1796076099404273]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[-0.12973090461696402,-1.1960484083072287,0.71338606911949],"aabb_xy":[[-0.16473090374691968,-1.2017936293828926],[-0.09473090548700835,-1.1903031872315644]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.3243035317425364,-2.0799565602142747,0.71338606911949],"aabb_xy":[[-0.3883035340853379,-2.124897411458407],[-0.2603035293997348,-2.035015708970142]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_32","position":[0.30738047995709095,-2.3337738555801697,0.71338606911949],"aabb_xy":[[0.21738048345621916,-2.3796854979986275],[0.39738047645796265,-2.287862213161711]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_33","position":[0.40544002889748754,1.5346102814134208,0.71338606911949],"aabb_xy":[[0.39839857794674,1.5275835296756264],[0.4124814798482352,1.5416370331512153]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_34","position":[0.4373580501989036,0.8950152839627195,0.71338606911949],"aabb_xy":[[0.431321037198239,0.8889885828937714],[0.44339506319956845,0.9010419850316678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6493115102973467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2732.png","name":"2732"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2732.png","name":"2732"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6533.png","name":"6533"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8305.png","name":"8305"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":607.3173339959901,"rotation_z_degrees":65.02573715242312,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010887764262566813,-0.01976102756229208,0.014165942240105932]},{"name":"camera_2","offset_m":[-0.004839669119696724,0.0058137662308416355,-0.0061422430673345515]},{"name":"camera_3","offset_m":[0.009274268852597928,-0.010813140031723947,-0.010540697463774574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018098056021418002,3.904958439612891e-05,-0.0003019608330520919],"end_effector_yaw_offset_degrees":0.12233050955411695},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-6.090946126122089e-05,0.0010867306823926556,0.0010467095335396316],"end_effector_yaw_offset_degrees":0.761113782142596},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001063334461187736,0.0008930011769408496,-0.0015452038099949684],"end_effector_yaw_offset_degrees":-0.07759567929048572}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010849462945983022,-0.003976521342438081],"position_m":[0.27331505370540166,-0.12177652134243808,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004585676742154412,-0.0004687956767445538],"position_m":[0.27181432325784555,0.27963120432325544,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0009758851927068931,-0.0021792654739490524],"position_m":[0.2937758851927069,0.010520734526050946,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026395354577793805,-0.001025774412154454],"position_m":[0.05246046454222062,0.41137422558784553,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.5368300928494776e-05,0.0034112568835307595],"position_m":[0.16061536830092848,-0.4331887431164692,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2d8f277d6f44d4d75a2f58db43c45173eb2aa56df34825b962f7b87a218998f","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2732/tex_ceiling_textures_192/tex_floor_textures_3576/tex_table_textures_6533/tex_wall_textures_8305","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6801019757667993553,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6801019757667993553,"visual_seed":6801019757667993553,"scene_id":"lab_003","finished_at":"2026-09-03T21:13:33"} +{"episode_id":"ep_000092","started_at":"2026-09-03T21:13:37","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.11581425557874647,1.494085920532505,0.71338606911949],"aabb_xy":[[-0.12077027576362767,1.4715859203303836],[-0.11085823539386527,1.516585920734627]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.46315456063584715,1.1525289301028097,0.71338606911949],"aabb_xy":[[0.38315456362159916,1.1323943784293984],[0.5431545576500951,1.172663481776221]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.599568419119126,-1.1275006887371992,0.71338606911949],"aabb_xy":[[0.5745684195673875,-1.137643172602334],[0.6245684186708644,-1.1173582048720645]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.049977129964514755,0.700240068118835,0.71338606911949],"aabb_xy":[[-0.10007459394558837,0.6362400676090233],[0.00012033401655886511,0.7642400686286469]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.42844288320717394,1.7308432355059256,0.71338606911949],"aabb_xy":[[-0.4659428835554016,1.7190518399248418],[-0.3909428828589461,1.742634631087009]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.6555280268805008,-0.8444583853010605,0.71338606911949],"aabb_xy":[[0.5905280257745574,-0.8694237583691888],[0.720528027986444,-0.8194930122329322]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.4747469944066705,1.3338480831165516,0.71338606911949],"aabb_xy":[[-0.4802049400436906,1.2538480798088922],[-0.46928904876965044,1.4138480864242104]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.004209429266669007,-0.9860463448885828,0.71338606911949],"aabb_xy":[[-0.05979057111086461,-1.0357916117393948],[0.06820942964420262,-0.9363010780377704]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.25448892875516926,-1.5319960498057072,0.71338606911949],"aabb_xy":[[0.2374788314651186,-1.5481305383039812],[0.2714990260452199,-1.5158615613074333]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.177578625666451,-1.8208120602225426,0.71338606911949],"aabb_xy":[[-0.2575786267395713,-1.830590106559927],[-0.09757862459333067,-1.8110340138851582]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.45652092157062363,1.198593171571611,0.71338606911949],"aabb_xy":[[-0.4815209215031415,1.1917105033506876],[-0.43152092163810574,1.2054758397925343]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.40148287329758503,-1.6450632730116317,0.71338606911949],"aabb_xy":[[-0.4079845098055897,-1.6548310950379417],[-0.39498123678958047,-1.6352954509853221]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.24783784657763402,0.21980632894109675,0.71338606911949],"aabb_xy":[[-0.30783784642420087,0.16298770674805807],[-0.18783784673106727,0.27662495113413543]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.472372424191295,-0.6618288545900495,0.71338606911949],"aabb_xy":[[0.4510944160478227,-0.7268288569161224],[0.4936504323347672,-0.5968288522639763]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.11104529358562276,1.7479942479106705,0.71338606911949],"aabb_xy":[[-0.16102410209593865,1.6979942479049515],[-0.06106648507530686,1.797994247916389]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.10278307990216484,1.4191437458788116,0.71338606911949],"aabb_xy":[[0.06528307960999002,1.415102270478208],[0.14028308019433966,1.423185221279415]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.4026345736681133,-1.78598415149275,0.71338606911949],"aabb_xy":[[-0.4065950574378477,-1.7936520160782705],[-0.398674089898379,-1.7783162869072293]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.2996929730788709,-0.9019402685140343,0.71338606911949],"aabb_xy":[[-0.3171236881578773,-0.919212383177885],[-0.28226225799986426,-0.8846681538501834]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.22162371712809115,-2.5489082382182384,0.71338606911949],"aabb_xy":[[0.21147070157394168,-2.5849777797909783],[0.23177673268224044,-2.5128386966454976]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.38023806617293965,0.7260009819902096,0.71338606911949],"aabb_xy":[[0.37220173147165475,0.7179628626857927],[0.38827440087422443,0.7340391012946262]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.3239900348278723,-2.4864268317938745,0.71338606911949],"aabb_xy":[[-0.3319840234055757,-2.494426911888965],[-0.3159960462501689,-2.478426751698784]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.5152644727133677,-1.060098801312632,0.71338606911949],"aabb_xy":[[-0.5371731548527187,-1.0819994681327225],[-0.4933557905740166,-1.038198134492541]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.3936971503113133,-1.148638890013238,0.71338606911949],"aabb_xy":[[-0.4009583978817208,-1.1614259002767475],[-0.38643590274090595,-1.1358518797497286]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.6886111163027839,0.8641065125403955,0.71338606911949],"aabb_xy":[[-0.6926892742098337,0.8600255322921323],[-0.6845329583957344,0.8681874927886589]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6473544024409885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9539.png","name":"9539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9539.png","name":"9539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5126.png","name":"5126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9812.png","name":"9812"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.189335366807,"rotation_z_degrees":104.59948473650178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011678817046545324,-0.012225662104218306,0.015870447607512907]},{"name":"camera_2","offset_m":[0.012187129992833178,-0.011789669240291194,0.004882213057069876]},{"name":"camera_3","offset_m":[0.0056821597683536645,-0.011358565614090028,-0.004704238191808999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018395310433621586,0.0012156168711717134,0.0004889154899182435],"end_effector_yaw_offset_degrees":0.9511480154345093},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003181180083545532,-0.0014795808149513975,-0.0005768520046246417],"end_effector_yaw_offset_degrees":0.35159679567313384},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001350512129254077,0.0002846715573342558,-0.0007040163913112271],"end_effector_yaw_offset_degrees":-0.5136747729015483}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031623229289111047,0.004585633631984003],"position_m":[0.27123767707108887,-0.113214366368016,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030368733612856436,0.0021125881352023366],"position_m":[0.2733631266387143,0.28221258813520234,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0025080642213039586,-0.0016001534302168717],"position_m":[0.29530806422130396,0.011099846569783127,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004268263997159528,0.0029512380914141828],"position_m":[0.05083173600284047,0.41535123809141417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031750948718742835,0.002790238997726481],"position_m":[0.1574249051281257,-0.43380976100227353,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4b2e3b0e923ea07bcc7aaa79f8baf5f1cd611be130bdfbda3ca6367faf061ecb","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9539/tex_ceiling_textures_9812/tex_floor_textures_6430/tex_table_textures_5126/tex_wall_textures_7463","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7031455465638188472,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7031455465638188472,"visual_seed":7031455465638188472,"scene_id":"lab_003","finished_at":"2026-09-03T21:16:08"} +{"episode_id":"ep_000093","started_at":"2026-09-03T21:16:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.6440603799524505,1.1805903004783116,0.71338606911949],"aabb_xy":[[-0.674027936862276,1.1505903001804259],[-0.6140928230426247,1.2105903007761973]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.05230291420837496,-2.2213171947923,0.71338606911949],"aabb_xy":[[0.0062178229536434945,-2.2853171920448547],[0.09838800546310644,-2.1573171975397445]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.2281884321349853,-1.1065395635037198,0.71338606911949],"aabb_xy":[[0.16318843210068257,-1.1532402401840471],[0.293188432169288,-1.0598388868233926]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.608212026694265,-2.372443798356629,0.71338606911949],"aabb_xy":[[-0.6582120276447978,-2.40399294536015],[-0.5582120257437322,-2.340894651353107]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.40686124282379693,1.2778475189108671,0.71338606911949],"aabb_xy":[[-0.4271455455471957,1.257564893768158],[-0.38657694010039817,1.2981301440535757]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.4745076777161784,-0.9215828300295585,0.71338606911949],"aabb_xy":[[-0.49205437263229734,-0.9590828315938097],[-0.4569609828000595,-0.8840828284653072]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.46807761083635513,1.4754978075370082,0.71338606911949],"aabb_xy":[[0.4040776116665852,1.4287311204180457],[0.5320776100061251,1.5222644946559707]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.37080139308799404,0.833924070623719,0.71338606911949],"aabb_xy":[[-0.3868633205465117,0.748924068811127],[-0.3547394656294764,0.9189240724363107]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.0985248815549723,1.5944494594750265,0.71338606911949],"aabb_xy":[[0.08507835492092897,1.580979607821935],[0.11197140818901563,1.6079193111281176]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[-0.6197238389576114,1.5867888417090508,0.71338606911949],"aabb_xy":[[-0.6773543078448822,1.5267888427823397],[-0.5620933700703404,1.646788840635761]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.4662337708762118,0.5410538932930269,0.71338606911949],"aabb_xy":[[-0.4851181546447221,0.5221679685126741],[-0.44734938710770167,0.5599398180733797]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.5391838245390553,0.6267914934762691,0.71338606911949],"aabb_xy":[[-0.6041838226949744,0.6004952489263569],[-0.4741838263831363,0.6530877380261813]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.3612692039179346,0.5175711596961219,0.71338606911949],"aabb_xy":[[0.311274370989993,0.46757116080087835],[0.4112640368458762,0.5675711585913654]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.17936104440319256,-0.6277448173150457,0.71338606911949],"aabb_xy":[[0.0893610420691735,-0.7052271719001584],[0.2693610467372116,-0.5502624627299331]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.5256875401837175,0.6278470830914329,0.71338606911949],"aabb_xy":[[0.5081092379947707,0.610272593517328],[0.5432658423726644,0.6454215726655378]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.21863823648865488,-1.9836258495980692,0.71338606911949],"aabb_xy":[[0.2131802908516348,-2.0636258529057283],[0.22409618212567495,-1.9036258462904099]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.18033403269092307,-1.2789018663801894,0.71338606911949],"aabb_xy":[[0.13036096715840761,-1.3289018661927223],[0.23030709822343856,-1.2289018665676565]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.36846859263340304,-1.6669616171213586,0.71338606911949],"aabb_xy":[[-0.4584685912278731,-1.6832122034347796],[-0.2784685940389332,-1.6507110308079376]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.6552930887817057,-0.4805086755017358,0.71338606911949],"aabb_xy":[[-0.661387716669824,-0.4890780700534046],[-0.6491984608935873,-0.47193928095006715]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.26513199643777363,1.4414793131710923,0.71338606911949],"aabb_xy":[[0.25809054548702604,1.434452561433298],[0.27217344738852123,1.4485060649088868]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.05506391137921918,1.0952677358288123,0.71338606911949],"aabb_xy":[[-0.034936088343955,1.0721943832936323],[0.14506391110239333,1.118341088363992]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.0030186615491765156,-1.3033783360169526,0.71338606911949],"aabb_xy":[[-0.037999281837194365,-1.35337833664791],[0.044036604935547397,-1.2533783353859953]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.3368730231577226,-2.3963884707872185,0.71338606911949],"aabb_xy":[[-0.37278652758271225,-2.432301979003973],[-0.30095951873273286,-2.3604749625704633]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.2829946020755939,0.7448799638160253,0.71338606911949],"aabb_xy":[[0.27573335450518655,0.7320929535525158],[0.2902558496460014,0.7576669740795348]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.3905328193078272,-1.567224750797871,0.71338606911949],"aabb_xy":[[-0.40803281844219425,-1.5771043778354583],[-0.3730328201734599,-1.5573451237602827]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[0.5923522943634867,-2.03890313742134,0.71338606911949],"aabb_xy":[[0.5283522923137546,-2.078997620510648],[0.6563522964132186,-1.998808654332032]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[-0.4542640301211609,-2.2252979374335866,0.71338606911949],"aabb_xy":[[-0.4892640293139791,-2.2362649834312487],[-0.4192640309283426,-2.2143308914359237]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.4323522396580857,-1.9733370070549991,0.71338606911949],"aabb_xy":[[-0.439596005704331,-2.0533370052586015],[-0.42510847361184034,-1.8933370088513968]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[-0.25929413759701986,-0.6722494479561207,0.71338606911949],"aabb_xy":[[-0.324294138554147,-0.7241976598898262],[-0.19429413663989262,-0.620301236022415]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.0837624903448615,-2.079273556136535,0.71338606911949],"aabb_xy":[[0.07734867670167653,-2.085683376384203],[0.09017630398804641,-2.0728637358888666]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_30","position":[0.09209934364496364,0.6793034368183619,0.71338606911949],"aabb_xy":[[0.06376963369642343,0.674842694624645],[0.12042905359350388,0.6837641790120791]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_31","position":[-0.6163349010757618,-1.043683347738305,0.71338606911949],"aabb_xy":[[-0.6282069840872629,-1.1286833474319553],[-0.6044628180642607,-0.9586833480446546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541964355828164,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8944.png","name":"8944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8944.png","name":"8944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/144.png","name":"144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1542.png","name":"1542"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2566.png","name":"2566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2602.png","name":"2602"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":663.318943231899,"rotation_z_degrees":278.3620715409676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012559860617985152,-0.01617819024023243,0.007918421899465164]},{"name":"camera_2","offset_m":[0.016165655394706168,-0.019885401500496662,0.01029847267875417]},{"name":"camera_3","offset_m":[0.01541320651251447,0.0063391639753629485,-0.007086078285597073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010217130123043759,0.0005070563129727316,0.0019280227572653769],"end_effector_yaw_offset_degrees":0.5968734260423381},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007751920013964217,0.0014130396030307946,-0.0003678683830951161],"end_effector_yaw_offset_degrees":0.9006198484719639},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008714356354791542,0.000600278173804941,-0.0010631557531647626],"end_effector_yaw_offset_degrees":0.5160854511802961}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015905904150842545,-0.00480923940189988],"position_m":[0.2759905904150842,-0.12260923940189988,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008544635929499259,-0.0014257587397354353],"position_m":[0.2772544635929499,0.2786742412602646,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0022872690372743917,-0.0001680732077906314],"position_m":[0.2950872690372744,0.012531926792209368,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002180012636996932,-0.0011083830896539636],"position_m":[0.05728001263699693,0.41129161691034605,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046806188025763145,0.0013009609647720351],"position_m":[0.1652806188025763,-0.43529903903522793,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2d993db859a2872dcc04879b6e5b7ceb910c42402d163df956dbcd3eaf957781","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8944/tex_ceiling_textures_2602/tex_floor_textures_2566/tex_table_textures_144/tex_wall_textures_1542","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":570785023234513827,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":570785023234513827,"visual_seed":570785023234513827,"scene_id":"lab_003","finished_at":"2026-09-03T21:18:41"} +{"episode_id":"ep_000094","started_at":"2026-09-03T21:18:44","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.5521414316900439,0.8668408035960549,0.71338606911949],"aabb_xy":[[0.5296277398665866,0.7968408029950473],[0.574655123513501,0.9368408041970624]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.18863770202813357,-0.8375401533862017,0.71338606911949],"aabb_xy":[[-0.23863770160446832,-0.8875207323383077],[-0.13863770245179888,-0.7875595744340959]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.2397839592501126,-2.051565146910285,0.71338606911949],"aabb_xy":[[-0.27681806867817227,-2.0859423542439943],[-0.20274984982205285,-2.0171879395765755]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.6652859192652953,-0.31211362232497475,0.71338606911949],"aabb_xy":[[0.6603866269587317,-0.33979054162754346],[0.6701852115718587,-0.2844367030224059]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.0777155078276005,-1.8523375693305226,0.71338606911949],"aabb_xy":[[0.06967214790164533,-1.9373375704258888],[0.08575886775355568,-1.767337568235156]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.0805102277341756,1.1344125083156964,0.71338606911949],"aabb_xy":[[-0.13032700719901036,1.084412509831393],[-0.03069344826934084,1.1844125067999998]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.08311326284036791,1.3818720852358686,0.71338606911949],"aabb_xy":[[-0.10090676977528434,1.364072339640071],[-0.06531975590545147,1.3996718308316662]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.297731211137937,1.2345642142443403,0.71338606911949],"aabb_xy":[[0.2427379998008003,1.1795642139055469],[0.3527244224750738,1.289564214583134]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.4567406735171933,0.22538912153863633,0.71338606911949],"aabb_xy":[[0.4532999972771361,0.2215276885642719],[0.46018134975725045,0.22925055451300086]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[0.018804000332246495,1.2909454857326703,0.71338606911949],"aabb_xy":[[-0.0033685266444043417,1.268769818576547],[0.04097652730889734,1.3131211528887932]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.3814283533037697,-0.9343922366893274,0.71338606911949],"aabb_xy":[[-0.4364283529255155,-0.9893759294768002],[-0.32642835368202383,-0.8794085439018547]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.568545059803715,-0.3877732920044896,0.71338606911949],"aabb_xy":[[0.5232664449225657,-0.45177329135267336],[0.6138236746848642,-0.323773292656306]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.4422027947564458,0.9973526124942147,0.71338606911949],"aabb_xy":[[-0.49732800038603653,0.9373526110529274],[-0.38707758912685497,1.0573526139355016]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.5075781427932806,0.5914698029296659,0.71338606911949],"aabb_xy":[[0.43757814015669416,0.5713649379338004],[0.5775781454298669,0.6115746679255314]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.044232864079286616,-2.5321122441611292,0.71338606911949],"aabb_xy":[[-0.07800842326997959,-2.546150739374294],[-0.010457304888593637,-2.5180737489479643]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.5055895937473038,0.360527633773994,0.71338606911949],"aabb_xy":[[-0.5655895953902257,0.30852748448204975],[-0.445589592104382,0.4125277830659381]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.23342780230738358,0.0952955887747664,0.71338606911949],"aabb_xy":[[-0.3134278033805039,0.08551754243738197],[-0.15342780123426322,0.10507363511215084]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.5080199014937116,-2.506278120067549,0.71338606911949],"aabb_xy":[[-0.5880199001505977,-2.5207829789918117],[-0.42801990283682567,-2.491773261143286]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.22566682524880222,0.7696147372688857,0.71338606911949],"aabb_xy":[[0.20856474729043406,0.752507931737616],[0.24276890320717037,0.7867215428001555]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.25733126189308414,-1.524441904747998,0.71338606911949],"aabb_xy":[[-0.28566097184162437,-1.528902646941715],[-0.2290015519445439,-1.519981162554281]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.42409868320524363,-1.6631617962482463,0.71338606911949],"aabb_xy":[[-0.44438298592864234,-1.683444421390955],[-0.4038143804818448,-1.6428791711055373]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.10156640484645363,-0.493090266304649,0.71338606911949],"aabb_xy":[[-0.15656640304819847,-0.5336122329310866],[-0.04656640664470881,-0.45256829967821144]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.16442662036231448,1.094037573465927,0.71338606911949],"aabb_xy":[[0.14932431890129633,1.0789360518348643],[0.17952892182333252,1.1091390950969882]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.3105882182834956,0.5967720527309135,0.71338606911949],"aabb_xy":[[0.304086581775491,0.5870042307046037],[0.31708985479150026,0.6065398747572233]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[0.6232480885194855,1.3652957053313317,0.71338606911949],"aabb_xy":[[0.5432480882458786,1.292346157505615],[0.7032480887930925,1.4382452531570484]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.4144244389176206,-1.679055624554375,0.71338606911949],"aabb_xy":[[0.39531213155964173,-1.698190403431617],[0.43353674627559946,-1.659920845677133]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.44384750159117115,-1.1366453965250183,0.71338606911949],"aabb_xy":[[-0.533847501009542,-1.1700208933692078],[-0.3538475021728002,-1.1032698996808283]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.022799836321124922,1.566422630821394,0.71338606911949],"aabb_xy":[[0.007627667039491585,1.5512537738931906],[0.03797200560275826,1.5815914877495973]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[0.6998998804600687,-0.5254572852236694,0.71338606911949],"aabb_xy":[[0.6760636628194636,-0.6154572860321559],[0.7237360981006737,-0.43545728441518294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6482737795492967,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1973.png","name":"1973"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/620.png","name":"620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/922.png","name":"922"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":767.2051055377402,"rotation_z_degrees":122.17854951235643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017094337392551368,-0.016856304916559463,-0.012278435640028756]},{"name":"camera_2","offset_m":[-0.015736572831529676,-0.0005236086383002443,-0.003185304977128895]},{"name":"camera_3","offset_m":[-0.015064550524597983,0.00856319023788155,0.01493910800884261]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016586048930491083,0.0017008077868511775,7.14391803173526e-05],"end_effector_yaw_offset_degrees":0.14837914453358714},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00028631409472911385,0.00027699358234944656,-0.0018259025235835506],"end_effector_yaw_offset_degrees":-0.3494487832432964},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[8.501928474086411e-05,0.0010840917751755506,-0.00138271732719411],"end_effector_yaw_offset_degrees":-0.435751980529278}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021012996003423445,-0.0011051087666334482],"position_m":[0.27229870039965764,-0.11890510876663345,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017478918532866329,0.001084267322107606],"position_m":[0.27465210814671337,0.2811842673221076,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0007075061051135334,0.004082826674953961],"position_m":[0.29209249389488645,0.01678282667495396,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000683178474181226,0.0037135167726172367],"position_m":[0.054416821525818775,0.4161135167726172,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004170531930737729,0.00032297330036773833],"position_m":[0.15642946806926225,-0.43627702669963225,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"113d754f00284dc050e5b2eae10cf8bde7f3dc9bf91ce14ea1a54a21bcef27bc","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9589/tex_ceiling_textures_922/tex_floor_textures_7073/tex_table_textures_1973/tex_wall_textures_620","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2744893411491251942,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2744893411491251942,"visual_seed":2744893411491251942,"scene_id":"lab_003","finished_at":"2026-09-03T21:21:21"} +{"episode_id":"ep_000095","started_at":"2026-09-03T21:21:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.39336928857223513,-1.7612703473909965,0.71338606911949],"aabb_xy":[[-0.40925378183756034,-1.7756232876898204],[-0.37748479530691004,-1.7469174070921722]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.2369624248212303,0.5156515284527479,0.71338606911949],"aabb_xy":[[0.22618945089986256,0.480651530233709],[0.24773539874259812,0.550651526671787]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[-0.5893057904450743,-2.4828730483822365,0.71338606911949],"aabb_xy":[[-0.6693057907186811,-2.5558225962079533],[-0.5093057901714672,-2.40992350055652]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.15878490594504757,-0.8055663854888313,0.71338606911949],"aabb_xy":[[0.12879324321117724,-0.8355663848256317],[0.1887765686789179,-0.7755663861520307]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.30776756529882604,-0.7075192884325936,0.71338606911949],"aabb_xy":[[-0.32486964325719414,-0.7246260939638633],[-0.29066548734045783,-0.6904124829013238]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.42357066411808053,-2.5392624490286737,0.71338606911949],"aabb_xy":[[0.4101241374840372,-2.552732300681765],[0.43701719075212386,-2.5257925973755824]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.6969401857389139,1.4309432451966777,0.71338606911949],"aabb_xy":[[0.6860885794900383,1.4200839544690267],[0.7077917919877895,1.4418025359243287]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.10517236190783241,1.68686295836754,0.71338606911949],"aabb_xy":[[-0.11607813799539511,1.606862961968711],[-0.09426658582026969,1.7668629547663692]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.6021106407785721,0.10556400265486943,0.71338606911949],"aabb_xy":[[-0.6095230963199606,0.09971279223324146],[-0.5946981852371837,0.11141521307649736]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.2502415298083184,-1.6826662901910154,0.71338606911949],"aabb_xy":[[-0.32024152621828006,-1.7031042258426967],[-0.1802415333983565,-1.6622283545393333]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.6149764685782902,1.07465972392403,0.71338606911949],"aabb_xy":[[-0.679976468612593,1.0279590472437028],[-0.5499764685439875,1.1213604006043574]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.18960204810128178,-1.3045746056288288,0.71338606911949],"aabb_xy":[[-0.208486431869792,-1.3234605304091815],[-0.17071766433277158,-1.285688680848476]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.03214766417102255,1.4486194949622395,0.71338606911949],"aabb_xy":[[0.018996418199733193,1.423619495205553],[0.04529891014231192,1.473619494718926]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.03690360684872995,-0.8733188868203425,0.71338606911949],"aabb_xy":[[-0.051238031974893405,-0.8853791023748813],[-0.0225691817225665,-0.8612586712658036]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.5672369793161247,-1.6842750209292103,0.71338606911949],"aabb_xy":[[0.5447369797924171,-1.7067709683798304],[0.5897369788398319,-1.6617790734785889]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.3789702881373993,-2.0543124434113436,0.71338606911949],"aabb_xy":[[0.35445666404039344,-2.07857703671338],[0.40348391223440516,-2.030047850109307]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.274543549830511,-2.4177988874997203,0.71338606911949],"aabb_xy":[[0.20954354883001047,-2.468585252654395],[0.3395435508310115,-2.3670125223450453]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.5489915805630126,-1.994586470652955,0.71338606911949],"aabb_xy":[[0.4849915773443747,-2.041309582551963],[0.6129915837816504,-1.9478633587539465]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.2844989293984177,1.5607253066011686,0.71338606911949],"aabb_xy":[[0.19949893098099453,1.4758510111388838],[0.369498927815841,1.6455996020634538]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.4456701800177829,1.5929055912216188,0.71338606911949],"aabb_xy":[[-0.4537065147190677,1.5848674719172018],[-0.437633845316498,1.6009437105260353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6482804368951169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3481.png","name":"3481"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3481.png","name":"3481"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/427.png","name":"427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2232.png","name":"2232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7142.png","name":"7142"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":761.5731926690194,"rotation_z_degrees":290.61129526934496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[4.9690888579489306e-05,0.013941134530516475,0.013617428897265593]},{"name":"camera_2","offset_m":[-0.011422109708661013,-0.00863004456866836,0.009222327200173491]},{"name":"camera_3","offset_m":[-0.019128945058982653,0.0023614206093197226,0.009269514733499521]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009754247726819494,-0.0018735548561804069,0.0009578372457153882],"end_effector_yaw_offset_degrees":-0.13978620602074088},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00027719065221214244,0.0010277489704160281,0.000940096469795728],"end_effector_yaw_offset_degrees":0.4536546040801399},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013730416924567566,-0.0014022224735230487,-0.0017032046959077158],"end_effector_yaw_offset_degrees":0.7034137621692438}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00494586037907574,0.0005135361831288985],"position_m":[0.2793458603790757,-0.1172864638168711,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-6.684660828835086e-05,-0.003065869492804141],"position_m":[0.2763331533917116,0.2770341305071959,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017998503323102166,0.003026416605712152],"position_m":[0.2910001496676898,0.01572641660571215,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0040205549390598646,-0.002940219546331896],"position_m":[0.05912055493905987,0.4094597804536681,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003735273919636888,0.000791915672999818],"position_m":[0.15686472608036311,-0.4358080843270002,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9f0491e40e382c039a31c9cf797736cfbfa48417dd482b5dadff6fe99b38bc3b","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3481/tex_ceiling_textures_7142/tex_floor_textures_2232/tex_table_textures_427/tex_wall_textures_666","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6265701488863219390,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6265701488863219390,"visual_seed":6265701488863219390,"scene_id":"lab_003","finished_at":"2026-09-03T21:24:04"} +{"episode_id":"ep_000096","started_at":"2026-09-03T21:24:07","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.6289457209636917,-1.6043628700315196,0.71338606911949],"aabb_xy":[[0.6157147754290104,-1.6175902890535188],[0.642176666498373,-1.59113545100952]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[0.39245266276299096,-0.7923499807168684,0.71338606911949],"aabb_xy":[[0.35745266449287105,-0.7994241084118564],[0.42745266103311086,-0.7852758530218801]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.43808674228225475,-2.0917584035611956,0.71338606911949],"aabb_xy":[[-0.4930867419040006,-2.1467420963486687],[-0.3830867426605089,-2.0367747107737233]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.564921913549408,-0.6651747279293847,0.71338606911949],"aabb_xy":[[-0.6349219153581535,-0.6865284966935721],[-0.4949219117406626,-0.6438209591651973]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.61582924250565,0.803506986477549,0.71338606911949],"aabb_xy":[[0.5789786945686624,0.7660069856545154],[0.6526797904426376,0.8410069873005829]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.5795395459346375,-1.1487803389507376,0.71338606911949],"aabb_xy":[[0.5566238330495876,-1.1716846360871611],[0.6024552588196874,-1.125876041814314]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.34589705113232033,0.7658622005148574,0.71338606911949],"aabb_xy":[[-0.41089705213282085,0.7150758353601824],[-0.2808970501318198,0.8166485656695323]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.17442431722246554,-1.4780532012739491,0.71338606911949],"aabb_xy":[[-0.25442431829558587,-1.4878312476113338],[-0.09442431614934518,-1.468275154936565]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.5476332776579999,-0.11026091264520721,0.71338606911949],"aabb_xy":[[-0.5851332780062276,-0.12205230822629075],[-0.5101332773097721,-0.09846951706412364]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.49794252704663755,-1.89069650419834,0.71338606911949],"aabb_xy":[[-0.5389604704330084,-1.9406965048292972],[-0.4569245836602667,-1.8406965035673826]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.49382673586017245,0.006033963339925119,0.71338606911949],"aabb_xy":[[-0.5438267372210597,-0.043943941235490495],[-0.4438267344992852,0.056011867915340734]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.41246967319124783,-2.31059711032875,0.71338606911949],"aabb_xy":[[0.40518735681458407,-2.4005971139382587],[0.4197519895679114,-2.2205971067192407]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.426908991576714,1.2633855186681928,0.71338606911949],"aabb_xy":[[-0.43395044252746157,1.2563587669303984],[-0.4198675406259664,1.2704122704059873]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.4707805297344662,1.4084163879367173,0.71338606911949],"aabb_xy":[[-0.47880680036509227,1.3996648929593647],[-0.46275425910384027,1.41716788291407]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.09133661334982424,-1.9861766304100539,0.71338606911949],"aabb_xy":[[-0.12633661470130597,-2.0065363663668743],[-0.05633661199834251,-1.965816894453233]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.08330119673425718,-0.008115637770517381,0.71338606911949],"aabb_xy":[[-0.11759810775199779,-0.04241252398045875],[-0.04900428571651654,0.026181248439423987]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.20317525913204693,-2.4060593285198038,0.71338606911949],"aabb_xy":[[-0.2671752623506848,-2.452782440418812],[-0.13917525591340907,-2.3593362166207954]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.6290289305656027,-1.029044324426049,0.71338606911949],"aabb_xy":[[-0.6940289315227299,-1.0809925363597546],[-0.5640289296084755,-0.9770961124923435]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.4169316285861566,0.8720942097335858,0.71338606911949],"aabb_xy":[[0.35693162694323477,0.8200940604416417],[0.4769316302290785,0.92409435902553]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[0.30412153337569725,-1.2491188756899916,0.71338606911949],"aabb_xy":[[0.24012153626359156,-1.2981512454844024],[0.36812153048780294,-1.2000865058955812]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[-0.3349724645443228,0.1819609592041953,0.71338606911949],"aabb_xy":[[-0.3568622121332636,0.0919609619149462],[-0.313082716955382,0.27196095649344443]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[-0.12414660051197657,-0.26863609206974104,0.71338606911949],"aabb_xy":[[-0.1410573329483183,-0.2821082976623555],[-0.10723586807563476,-0.25516388647712646]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.4895432326922169,1.476467378983759,0.71338606911949],"aabb_xy":[[-0.5003948389410926,1.465608088256108],[-0.47869162644334134,1.48732666971141]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.38311746473548225,1.425177668199343,0.71338606911949],"aabb_xy":[[-0.4056311565589394,1.3551776675983354],[-0.360603772912025,1.4951776688003504]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.20387084955779095,-0.4355215921027149,0.71338606911949],"aabb_xy":[[-0.22130156463679743,-0.4527937067665657],[-0.1864401344787844,-0.4182494774388641]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.3820802895995177,-1.437900358448389,0.71338606911949],"aabb_xy":[[0.34458028808388597,-1.4491271314645338],[0.4195802911151494,-1.4266735854322437]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.3146767903578963,-0.16383185212669193,0.71338606911949],"aabb_xy":[[-0.36967000169503306,-0.21883185246548556],[-0.25968357902075956,-0.10883185178789834]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.6788440676702084,-2.205120186158376,0.71338606911949],"aabb_xy":[[-0.6889257747487819,-2.28512018405049],[-0.668762360591635,-2.1251201882662607]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[0.4118046376088982,-1.0636839369801034,0.71338606911949],"aabb_xy":[[0.399932554597397,-1.148683936673754],[0.42367672062039924,-0.9786839372864533]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[-0.45032256305094576,-1.1259791307481806,0.71338606911949],"aabb_xy":[[-0.4837627382469653,-1.1594227565791102],[-0.4168823878549261,-1.09253550491725]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[0.18401027827608873,-1.3826923845481718,0.71338606911949],"aabb_xy":[[0.17750864176808412,-1.3924602065744816],[0.19051191478409338,-1.372924562521862]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_31","position":[0.5631171879702437,-0.6241114260848957,0.71338606911949],"aabb_xy":[[0.5170320967155122,-0.6881114233374508],[0.6092022792249752,-0.5601114288323406]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_32","position":[0.34091178753938545,1.5475565760268846,0.71338606911949],"aabb_xy":[[0.2769117882452172,1.4835704356580306],[0.40491178683355367,1.611542716395739]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6517524586566364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4945.png","name":"4945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4945.png","name":"4945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9661.png","name":"9661"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5600.png","name":"5600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9401.png","name":"9401"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":784.8772669747757,"rotation_z_degrees":148.22512193214442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002019021601014484,0.015501900603009804,-0.00798019290345167]},{"name":"camera_2","offset_m":[-0.0038262433737683045,-0.018933694520027106,-0.018163576595699348]},{"name":"camera_3","offset_m":[0.011372063524681803,0.014777406017043918,-0.01303578370903511]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009075185266356437,0.0014237632809378873,-0.0014735062129135304],"end_effector_yaw_offset_degrees":0.2967168764113808},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013649865879799452,-0.0018287640600504888,0.0005566746326129126],"end_effector_yaw_offset_degrees":0.32134275109803645},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018842138175768262,0.0017762927886831705,8.936555659065475e-05],"end_effector_yaw_offset_degrees":-0.48766375003360296}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003415181620886591,0.0015481202119489073],"position_m":[0.2778151816208866,-0.1162518797880511,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00232158964640766,0.004217099579869461],"position_m":[0.27872158964640764,0.2843170995798695,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002410696729139219,0.0010747852223316166],"position_m":[0.29521069672913924,0.013774785222331616,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003184461058368725,0.002770704345558256],"position_m":[0.05828446105836873,0.41517070434555825,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004072623742218537,0.004295657711221646],"position_m":[0.16467262374221853,-0.43230434228877834,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1c081ec8ea14975300d0ee8fa842d9b69e1442ac755614b646cfe9e8629edd98","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4945/tex_ceiling_textures_9401/tex_floor_textures_5600/tex_table_textures_950/tex_wall_textures_9661","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8241632074652366794,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8241632074652366794,"visual_seed":8241632074652366794,"scene_id":"lab_003","finished_at":"2026-09-03T21:26:36"} +{"episode_id":"ep_000097","started_at":"2026-09-03T21:26:39","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.2801881436439472,0.47982243649616896,0.71338606911949],"aabb_xy":[[-0.2976881427783143,0.469942809458581],[-0.26268814450957995,0.48970206353375667]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.5919052402466238,-1.297148200521282,0.71338606911949],"aabb_xy":[[0.5342747713593529,-1.3571481994479924],[0.6495357091338946,-1.2371482015945712]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.0701417522001182,0.9896702118810925,0.71338606911949],"aabb_xy":[[-0.019858244535492023,0.9364867485637979],[0.1601417489357284,1.042853675198387]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.15788951019941633,0.677339155568554,0.71338606911949],"aabb_xy":[[-0.17395143765793394,0.592339153755962],[-0.14182758274089866,0.7623391573811457]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.24433678579752216,-0.4233262471106283,0.71338606911949],"aabb_xy":[[-0.2793367841082176,-0.4310412620341739],[-0.2093367874868267,-0.4156112321870826]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.4048598559767487,0.31894904758088316,0.71338606911949],"aabb_xy":[[0.3549771590990524,0.2689490483346084],[0.45474255285444487,0.3689490468271579]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.029672538255546832,0.8822655120352869,0.71338606911949],"aabb_xy":[[-0.036933785825954246,0.8694785017717774],[-0.022411290685139418,0.8950525222987964]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.3264253136636719,-2.204881637136976,0.71338606911949],"aabb_xy":[[-0.4064253108232472,-2.216429238094793],[-0.2464253165040966,-2.193334036179159]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.41591330184883213,-0.9509521480203826,0.71338606911949],"aabb_xy":[[-0.5056003781569476,-1.0409521482748332],[-0.3262262255407166,-0.8609521477659322]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.5497141388779421,-0.23594066368736577,0.71338606911949],"aabb_xy":[[0.5426726879271945,-0.24296741542516032],[0.5567555898286897,-0.22891391194957122]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.1387638001784045,-1.7494275494759615,0.71338606911949],"aabb_xy":[[0.12996174486943177,-1.7572388756308903],[0.1475658554873772,-1.7416162233210322]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.5302206551582815,-0.08889321134588357,0.71338606911949],"aabb_xy":[[-0.5842362514401815,-0.15289321423814073],[-0.47620505887638154,-0.0248932084536264]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.5660686870938452,-1.7385360458343317,0.71338606911949],"aabb_xy":[[-0.577313742664463,-1.7497778435584272],[-0.5548236315232273,-1.7272942481102367]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.2597885045916788,1.4949098968500105,0.71338606911949],"aabb_xy":[[0.17978850593479279,1.4804050379257476],[0.3397885032485648,1.5094147557742734]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.4312505154726911,1.4948171545631177,0.71338606911949],"aabb_xy":[[0.38126627976451377,1.444817155749622],[0.4812347511808682,1.5448171533766133]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.4637930854924565,-1.1867447737962442,0.71338606911949],"aabb_xy":[[-0.52879308813025,-1.2382243724956912],[-0.39879308285466303,-1.1352651750967973]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.6145380977157535,0.944673340857459,0.71338606911949],"aabb_xy":[[0.5645650321832381,0.8946733410449262],[0.664511163248269,0.994673340669992]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.5176975692331658,1.7482827204835227,0.71338606911949],"aabb_xy":[[0.48019756844117023,1.7419148795253323],[0.5551975700251611,1.7546505614417127]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.14406434255719114,1.0477876414208822,0.71338606911949],"aabb_xy":[[-0.179064340827311,1.040713513725894],[-0.10906434428707121,1.0548617691158704]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.5075592045035762,0.7371485207088728,0.71338606911949],"aabb_xy":[[0.5011453908603911,0.7307387004612045],[0.513973018146761,0.7435583409565412]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.4056276848614464,-1.4979740816813585,0.71338606911949],"aabb_xy":[[0.3556276854212507,-1.5479420061656748],[0.45562768430164197,-1.4480061571970422]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.08358836929773583,-2.4721806585064807,0.71338606911949],"aabb_xy":[[0.04912602189959401,-2.5066745409043025],[0.1180507166958776,-2.437686776108657]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[0.2514772432988809,-1.135670466970953,0.71338606911949],"aabb_xy":[[0.18747724008024302,-1.1823935788699613],[0.31547724651751874,-1.0889473550719446]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.05483894234304276,1.1575078023218746,0.71338606911949],"aabb_xy":[[-0.10483894400453751,1.1075093600661716],[-0.004838940681547998,1.207506244577577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6522897362859919,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7266.png","name":"7266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7266.png","name":"7266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3548.png","name":"3548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/885.png","name":"885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9235.png","name":"9235"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":815.292328082947,"rotation_z_degrees":105.79523421304056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013530062259711682,0.016567075686159876,0.015473911402492744]},{"name":"camera_2","offset_m":[-0.015101693681601405,-0.01050799253509065,0.011953812396873997]},{"name":"camera_3","offset_m":[0.004326395873798329,0.007781003819527052,0.01897293064639938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00036174082371277197,0.0015696651652514267,0.0010249952191181376],"end_effector_yaw_offset_degrees":-0.8654325809925558},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001342585976863791,-0.0009737962985433347,0.0012465976306380777],"end_effector_yaw_offset_degrees":-0.36710877952720833},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017151856441052862,-0.0002636730476917445,0.0011136505100947619],"end_effector_yaw_offset_degrees":0.6703788345787305}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004517411123990643,0.004024065157648779],"position_m":[0.26988258887600935,-0.11377593484235123,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008509657095752913,0.004692935996650217],"position_m":[0.27725096570957525,0.28479293599665023,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004375543487438468,-0.0029701363012262895],"position_m":[0.29717554348743846,0.00972986369877371,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002443709378245261,0.004873123921489216],"position_m":[0.05265629062175474,0.4172731239214892,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011947202968247937,-0.0023737873668709377],"position_m":[0.1594052797031752,-0.4389737873668709,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f02069f98c90a8fe0774cfbf137c026ecfe7db303955cff8b6a5ac94e3480ffc","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7266/tex_ceiling_textures_9235/tex_floor_textures_2281/tex_table_textures_3548/tex_wall_textures_885","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3423435967413948742,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3423435967413948742,"visual_seed":3423435967413948742,"scene_id":"lab_003","finished_at":"2026-09-03T21:29:10"} +{"episode_id":"ep_000098","started_at":"2026-09-03T21:29:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.5538068753723528,1.7604168994551812,0.71338606911949],"aabb_xy":[[-0.5913068751893864,1.7557786881440394],[-0.5163068755553193,1.765055110766323]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.5025463503655401,-1.6149596500080334,0.71338606911949],"aabb_xy":[[-0.5665463536552482,-1.658294569011951],[-0.438546347075832,-1.5716247310041158]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.5963011178240636,-1.2412314532246402,0.71338606911949],"aabb_xy":[[-0.6198862412879586,-1.3062314554700722],[-0.5727159943601688,-1.1762314509792087]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.24646390751698444,-2.3085181030105124,0.71338606911949],"aabb_xy":[[0.18146390963533665,-2.3596417667170533],[0.3114639053986322,-2.2573944393039715]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.06480699630568687,0.88655871299652,0.71338606911949],"aabb_xy":[[-0.06970628861225037,0.8588817936939512],[-0.059907703999123374,0.9142356322990888]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.5802179847738869,1.5161009126095855,0.71338606911949],"aabb_xy":[[-0.5883316394472639,1.5079950961555564],[-0.5721043301005097,1.5242067290636145]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.5447852872543827,-1.024456835625259,0.71338606911949],"aabb_xy":[[-0.6047852877622356,-1.08130356931118],[-0.4847852867465298,-0.9676101019393376]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.2918578506798888,-0.7746233579648674,0.71338606911949],"aabb_xy":[[-0.3293578510281165,-0.7864147535459508],[-0.254357850331661,-0.7628319623837837]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.23844515673753208,0.8004404546048942,0.71338606911949],"aabb_xy":[[0.16844515513525263,0.7870076614032366],[0.30844515833981156,0.8138732478065518]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.3311141958894628,1.2114928672565592,0.71338606911949],"aabb_xy":[[0.3195452151425262,1.1864928671396275],[0.34268317663639936,1.236492867373491]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.5324160506913957,0.5287309234563651,0.71338606911949],"aabb_xy":[[0.47082529146740304,0.4647309253473183],[0.5940068099153887,0.5927309215654121]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.12500276223168838,1.3495501040358082,0.71338606911949],"aabb_xy":[[0.11687507403837516,1.3406364956251005],[0.1331304504250016,1.358463712446516]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.63788462101168,-0.7125683976450385,0.71338606911949],"aabb_xy":[[-0.6439216340123448,-0.7185950987139867],[-0.6318476080110154,-0.7065416965760903]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.5962887610843182,-1.4482309782730196,0.71338606911949],"aabb_xy":[[0.5550399500544033,-1.5032309777852368],[0.6375375721142328,-1.393230978760802]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.36699954276038627,-0.48732119502126414,0.71338606911949],"aabb_xy":[[0.30299954249991545,-0.5323299943741922],[0.4309995430208571,-0.4423123956683362]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.4579689907549427,-1.7150403841099764,0.71338606911949],"aabb_xy":[[0.4204689908111762,-1.7233334741448127],[0.49546899069870903,-1.7067472940751396]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.066378300308232,-1.1681808216070406,0.71338606911949],"aabb_xy":[[-0.10387829888385279,-1.1809171172705986],[-0.028878301732611186,-1.1554445259434827]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.12865208638403547,-0.914840301175623,0.71338606911949],"aabb_xy":[[0.09010639355883443,-0.9533860722318116],[0.1671977792092365,-0.8762945301194344]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.0842366479881208,1.7352129936891934,0.71338606911949],"aabb_xy":[[-0.17392372429623626,1.6452129934347433],[0.005450428319994649,1.8252129939436443]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.08947226143534881,1.4630485336672758,0.71338606911949],"aabb_xy":[[-0.12447226062816706,1.452081487669613],[-0.05447226224253053,1.4740155796649381]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.645880059500999,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/103.png","name":"103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/103.png","name":"103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4344.png","name":"4344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6224.png","name":"6224"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5700.png","name":"5700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9784.png","name":"9784"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":717.3014748880547,"rotation_z_degrees":175.40349279887897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013897736133134362,0.0074739612216342295,0.00909073541207582]},{"name":"camera_2","offset_m":[0.018595183769305888,-0.007887607288924618,-0.01353067048752472]},{"name":"camera_3","offset_m":[0.01156893063638172,0.005447029967885365,-0.009194845609700334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011861566749516478,0.0014694369126886007,0.0008814348194561062],"end_effector_yaw_offset_degrees":0.6153321654728154},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015378323499722587,-0.0007924191456324574,-0.0006561195953547591],"end_effector_yaw_offset_degrees":0.3489099308511585},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016387537142370139,-0.0013778016555883563,3.750188317832963e-07],"end_effector_yaw_offset_degrees":-0.016905047828886133}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013601426031031928,0.0003254494431150822],"position_m":[0.2730398573968968,-0.11747455055688492,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004956152724633901,-0.004042169520276392],"position_m":[0.2813561527246339,0.2760578304797236,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0011259794512801149,-2.7827675807835274e-05],"position_m":[0.29392597945128013,0.012672172324192165,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002793466263050978,0.0022569510961881634],"position_m":[0.052306533736949025,0.41465695109618816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047086350426702285,0.0032922649656412324],"position_m":[0.15589136495732978,-0.43330773503435877,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12c3b0cd1ec10b03c22ce2a9d762188ba720fca25c6a08b679d08af8514cff60","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_103/tex_ceiling_textures_9784/tex_floor_textures_5700/tex_table_textures_4344/tex_wall_textures_6224","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2347769943307721174,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2347769943307721174,"visual_seed":2347769943307721174,"scene_id":"lab_003","finished_at":"2026-09-03T21:31:51"} +{"episode_id":"ep_000099","started_at":"2026-09-03T21:31:53","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.06065850677360507,-0.7898046320745611,0.71338606911949],"aabb_xy":[[-0.12465850715113867,-0.8395498989253734],[0.003341493603928561,-0.7400593652237488]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[0.022034551272926084,1.188179789012215,0.71338606911949],"aabb_xy":[[-0.04196544943054326,1.142161406539294],[0.08603455197639544,1.234198171485136]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.6253914960411208,-2.401081779249107,0.71338606911949],"aabb_xy":[[-0.6423022284774624,-2.4145539848417212],[-0.6084807636047789,-2.387609573656492]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[0.6898114680607412,1.5569808789760606,0.71338606911949],"aabb_xy":[[0.6844789534061282,1.5516565507308253],[0.6951439827153543,1.5623052072212964]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.3409899668383287,1.010940327638989,0.71338606911949],"aabb_xy":[[0.2769899635486205,0.9676054086350713],[0.4049899701280367,1.0542752466429064]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.41791213827571777,-1.2467629941767793,0.71338606911949],"aabb_xy":[[-0.5075992145838333,-1.3367629944312298],[-0.32822506196760226,-1.1567629939223287]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.4085683055055764,-2.491677186251335,0.71338606911949],"aabb_xy":[[-0.41897986418606004,-2.4970229195872333],[-0.3981567468250926,-2.4863314529154366]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.28990866805077786,-1.8979057919136135,0.71338606911949],"aabb_xy":[[0.2553175851967326,-1.9629057921986444],[0.324499750904823,-1.8329057916285822]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.10421942151369445,-1.026439873741273,0.71338606911949],"aabb_xy":[[-0.1170913250146346,-1.1064398741551091],[-0.09134751801275431,-0.946439873327437]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.0838369681635951,0.4488253905702657,0.71338606911949],"aabb_xy":[[-0.09391867524216854,0.36882539267815106],[-0.07375526108502159,0.5288253884623804]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.046486522830125776,-2.3221124295467797,0.71338606911949],"aabb_xy":[[-0.06254845028864342,-2.4071124313593715],[-0.030424595371608135,-2.237112427734188]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.271522041513537,-0.8922531105613414,0.71338606911949],"aabb_xy":[[0.2621750339312418,-0.9065567327789855],[0.28086904909583227,-0.8779494883436975]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.3424063305857116,-2.345894127391099,0.71338606911949],"aabb_xy":[[-0.35376806523899773,-2.3572625937973863],[-0.3310445959324254,-2.3345256609848106]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.026014630793997462,-1.5223811810940195,0.71338606911949],"aabb_xy":[[-0.0635146309658694,-1.5550819164769267],[0.01148536937787448,-1.4896804457111124]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[0.15869724797195328,-2.4865917872279666,0.71338606911949],"aabb_xy":[[0.12220142734467454,-2.523075729654724],[0.19519306859923202,-2.450107844801209]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.49302805588333765,-0.31036139723186373,0.71338606911949],"aabb_xy":[[-0.5570280561438085,-0.35537019658479174],[-0.4290280556228669,-0.2653525978789357]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.39105250622376525,0.7896307372612861,0.71338606911949],"aabb_xy":[[-0.4269660106487549,0.7537172290445313],[-0.3551390017987755,0.8255442454780406]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[0.26158502182323373,0.8736036840428936,0.71338606911949],"aabb_xy":[[0.2240850206384409,0.8691854613468328],[0.2990850230080265,0.8780219067389539]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.014984580487566124,1.0731376954581235,0.71338606911949],"aabb_xy":[[0.005567105917703376,1.0637215183204045],[0.024402055057428873,1.0825538725958426]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.6557561320453709,0.6924659550284802,0.71338606911949],"aabb_xy":[[0.6274264220968307,0.6880052128347632],[0.6840858419939112,0.6969266972221974]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.4198001760635631,0.6716306754461328,0.71338606911949],"aabb_xy":[[-0.4422965974974273,0.6491306756393853],[-0.3973037546296991,0.6941306752528802]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.6018914942308389,0.996492878886317,0.71338606911949],"aabb_xy":[[0.5468914950542494,0.9415032041113593],[0.6568914934074284,1.0514825536612746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6518359648644019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7112.png","name":"7112"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8475.png","name":"8475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1444.png","name":"1444"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":566.7165969347402,"rotation_z_degrees":271.94683321053566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017207095451957102,0.00907438125963508,-0.00982076053022121]},{"name":"camera_2","offset_m":[-0.014997332012467782,0.005216252882827371,0.016821197158295404]},{"name":"camera_3","offset_m":[0.013169207358954053,0.012517960943905133,-0.002326253008333591]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019569675065858813,0.0006130867722873318,0.0005713881651558967],"end_effector_yaw_offset_degrees":-0.9680947177703167},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00022026411225667983,-0.0006508999720807114,-0.00012418631232081448],"end_effector_yaw_offset_degrees":0.16059255820034002},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004384922215486028,-0.0015309646512527504,0.0013111724193052305],"end_effector_yaw_offset_degrees":0.42706021763349233}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007933343621417998,0.0014786867689003834],"position_m":[0.2736066656378582,-0.11632131323109962,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-7.062554030890823e-05,0.0029049781002608395],"position_m":[0.2763293744596911,0.2830049781002609,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015586369804910273,0.0018113560587073056],"position_m":[0.291241363019509,0.014511356058707306,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002041692864971467,0.004889973012436406],"position_m":[0.053058307135028536,0.4172899730124364,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010949334251821796,0.0008344192580063813],"position_m":[0.16169493342518218,-0.4357655807419936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"403144cbae87f6b6e4bb14565b57f31627334c4a253e9f8dc2abfdcae66b9e33","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/dataset/episode_0103.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4573/tex_ceiling_textures_1444/tex_floor_textures_8475/tex_table_textures_5045/tex_wall_textures_7112","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8618927955918507206,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8618927955918507206,"visual_seed":8618927955918507206,"scene_id":"lab_003","finished_at":"2026-09-03T21:34:24"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1eba938b77126f06fdd5f3ad480cdf7b4033b56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00013 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00013 + reproducibility: + enabled: true + layout_id: layout_00013 + action_seed: 6120436585598675838 + step_seeds: + - 5975741771095771893 + - 3504213630932996537 + - 7867242958540830227 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2744 + - 0.2744 + 'y': + - -0.1178 + - -0.1178 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2764 + - 0.2764 + 'y': + - 0.2801 + - 0.2801 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2928 + - 0.2928 + 'y': + - 0.0127 + - 0.0127 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.0551 + - 0.0551 + 'y': + - 0.4124 + - 0.4124 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1606 + - 0.1606 + 'y': + - -0.4366 + - -0.4366 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5185ea7374d0c86c6089ac1a29da0707ebe5c2b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3020806604744643, + -0.11442724525003665, + 1.0009934206377937 + ], + "current_z": 1.0009934206377937, + "required_z": 0.8611067190626249, + "initial_z": 0.761106719062625, + "lift_margin": 0.1398867015751688, + "gripper_z": 1.0027471518189408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2979097412868895, + -0.11863663664327527, + 1.0027471518189408 + ], + "object_minus_gripper": [ + 0.004170919187574784, + 0.004209391393238615, + -0.001753731181147078 + ], + "object_to_gripper_xy": 0.005925836883576094, + "object_to_gripper_z": -0.001753731181147078, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3020806604744643, + -0.13848547558748284, + 1.0009934206377937 + ], + "finger_b": [ + 0.29161740658855995, + -0.11442724525003665, + 1.0009934206377937 + ], + "finger_midpoint": [ + 0.29684903353151215, + -0.12645636041875974, + 1.0009934206377937 + ], + "object_minus_finger_midpoint": [ + 0.00523162694295215, + 0.012029115168723084, + 0.0 + ], + "finger_gap": 0.02623505534300449, + "fingertip_max_gap": 0.09358383793183037, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013117527671502227, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0009934206377937, + "object_top_z": 1.05129015485935, + "finger_top_clearance": 0.05029673422155634, + "fingertip_min_top_clearance": 0.015089020266466918, + "object_projection_between_fingers": 0.8409368578023331, + "object_to_finger_line_xy": 0.009595076845659814, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049291918965915185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5754285773506607, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31041604611563445, + 0.013118318613078587, + 0.7701464195165671 + ], + "gripper_position": [ + 0.3104566794588327, + -0.024468717845690283, + 1.0402076649872543 + ], + "target_minus_gripper": [ + -4.063334319825973e-05, + 0.03758703645876887, + -0.2700612454706871 + ], + "held_position": [ + 0.3146685841335994, + -0.02035469501182818, + 1.038365153870596 + ], + "held_minus_target": [ + 0.004252538017964935, + -0.03347301362490677, + 0.2682187343540289 + ], + "held_minus_gripper": [ + 0.0042119046747666755, + 0.004114022833862103, + -0.0018425111166582298 + ], + "xy_dist": 0.03758705842203403, + "held_xy_dist": 0.03374206159569138, + "held_gripper_dist": 0.006169292672735611, + "max_held_gripper_dist": 0.006254982844311984, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464195165671, + "held_z": 1.038365153870596, + "required_height": 0.8001464195165672, + "gripper_z": 1.0402076649872543, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.78189840711539, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.090716208835324, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4854277905908306, + "max_source_tilt_deg": 89.96956080638041, + "source_upright_tilt_deg": 2.9390426816878334, + "max_source_upright_tilt_deg": 89.74388565721497, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4854277905908306, + "source_upright_return_tilt_deg": 2.9390426816878334, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.4353688880623306e-07, + "max_target_xy_drift": 4.5502066863193205e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.03956468140484988, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 5.848816852480207e-05, + "max_target_tilt_deg": 0.00013376755910686424, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3104, + 0.0131, + 0.7701 + ], + "controller_target_position": [ + 0.3104, + 0.0131, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0012, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3101, + -0.0109, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002906223907435171, + 0.0011923767110784324, + -0.0016397277983297002 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.939056690281767, + "source_return_step_error_deg": 2.4854330213469646, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.931939434403972, + "source_return_best_wrist_position": -1.6128603219985962, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128603219985962 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3104, + 0.0131, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3104, + 0.0131, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0012, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3101, + -0.0109, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002906223907435171, + 0.0011923767110784324, + -0.0016397277983297002 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.939056690281767, + "pour_controller_source_return_step_error_deg": 2.4854330213469646, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.931939434403972, + "pour_controller_source_return_best_wrist_position": -1.6128603219985962, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128603219985962, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03758705842203403, + "valid_pour_held_xy_dist": 0.03374206159569138, + "valid_pour_held_gripper_dist": 0.006169292672735611, + "valid_pour_required_height": 0.8001464195165672, + "valid_pour_held_z": 1.038365153870596, + "valid_pour_source_tilt_deg": 2.4854277905908306, + "valid_pour_source_upright_tilt_deg": 2.9390426816878334, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.4353688880623306e-07, + "valid_pour_target_tilt_deg": 5.848816852480207e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3146685841335994, + -0.04402750089459553, + 1.038365153870596 + ], + "valid_pour_held_grasp_finger_b": [ + 0.304457181136786, + -0.02035469501182818, + 1.038365153870596 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3095628826351927, + -0.03219109795321185, + 1.038365153870596 + ], + "valid_pour_held_grasp_object_position": [ + 0.3146685841335994, + -0.02035469501182818, + 1.038365153870596 + ], + "valid_pour_held_grasp_finger_gap": 0.025781281766555243, + "valid_pour_held_grasp_max_gap": 0.12496571749448776, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024044266847664267, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0394263923477055, + -0.9986846588346907, + 0.0327797467147386 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005581669738082201, + "valid_pour_held_grasp_line_xy_max_dist": 0.04748285874724388, + "valid_pour_held_grasp_object_top_z": 0.04972062632441521, + "valid_pour_held_grasp_top_clearance": 0.038101091681555975, + "valid_pour_held_grasp_min_top_clearance": 0.014916187897324561, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3146685841335994, + -0.04402750089459553, + 1.038365153870596 + ], + "held_grasp_finger_b": [ + 0.304457181136786, + -0.02035469501182818, + 1.038365153870596 + ], + "held_grasp_midpoint": [ + 0.3095628826351927, + -0.03219109795321185, + 1.038365153870596 + ], + "held_grasp_object_position": [ + 0.3146685841335994, + -0.02035469501182818, + 1.038365153870596 + ], + "held_grasp_finger_gap": 0.025781281766555243, + "held_grasp_max_gap": 0.12496571749448776, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024044266847664267, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0394263923477055, + -0.9986846588346907, + 0.0327797467147386 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005581669738082201, + "held_grasp_line_xy_max_dist": 0.04748285874724388, + "held_grasp_object_top_z": 0.04972062632441521, + "held_grasp_top_clearance": 0.038101091681555975, + "held_grasp_min_top_clearance": 0.014916187897324561, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27772958421021327, + -0.1221845984950379, + 0.7611071216729822 + ], + "target_position": [ + 0.278810866161532, + -0.11824434427708848, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0040859238808763805, + "xy_threshold": 0.08, + "gripper_dist": 0.21576405455493922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071216729822, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549895946694893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08923064764052384, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1861847319677775, + "release_required_pad_clearance": 0.05461532382026192, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.268100365444421, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "734390aa5d2e5acd6bdeea19cf7f3b2ca15243477780b767a946bb8a8b4fe357", + "visual_seed": 8446946175388319787, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd184f1171d30f3838c6df61450d5d5fe57533d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30078177635575254, + -0.11201093833420622, + 1.00161783701766 + ], + "current_z": 1.00161783701766, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.14051120979360432, + "gripper_z": 1.0026912334725009, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29685247048357044, + -0.11618979083949214, + 1.0026912334725009 + ], + "object_minus_gripper": [ + 0.003929305872182098, + 0.004178852505285921, + -0.001073396454840836 + ], + "object_to_gripper_xy": 0.005736048543910619, + "object_to_gripper_z": -0.001073396454840836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30078177635575254, + -0.13571863650667337, + 1.00161783701766 + ], + "finger_b": [ + 0.2901275302052307, + -0.11201093833420622, + 1.00161783701766 + ], + "finger_midpoint": [ + 0.2954546532804916, + -0.1238647874204398, + 1.00161783701766 + ], + "object_minus_finger_midpoint": [ + 0.005327123075260953, + 0.011853849086233575, + 0.0 + ], + "finger_gap": 0.02599168931933267, + "fingertip_max_gap": 0.0936694259606575, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012995844659666347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00161783701766, + "object_top_z": 1.0517459628014552, + "finger_top_clearance": 0.05012812578379511, + "fingertip_min_top_clearance": 0.015038437735138514, + "object_projection_between_fingers": 0.8319740195788775, + "object_to_finger_line_xy": 0.009718015973816167, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933471298032875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8126530111498576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31707469737593563, + 0.013782102471821087, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3148374661976798, + -0.028545228100136683, + 1.0329108876599025 + ], + "target_minus_gripper": [ + 0.002237231178255805, + 0.04232733057195777, + -0.2627644978632909 + ], + "held_position": [ + 0.31880510462994754, + -0.024437765609096038, + 1.0317565893494658 + ], + "held_minus_target": [ + 0.001730407254011912, + -0.038219868080917124, + 0.26161019955285425 + ], + "held_minus_gripper": [ + 0.003967638432267717, + 0.004107462491040645, + -0.0011542983104366744 + ], + "xy_dist": 0.04238641429388373, + "held_xy_dist": 0.03825902018331683, + "held_gripper_dist": 0.0058263030674683075, + "max_held_gripper_dist": 0.005845869810339644, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0317565893494658, + "required_height": 0.8001463897966116, + "gripper_z": 1.0329108876599025, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.19820526721685, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2087255121806324, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.445505758904539, + "max_source_tilt_deg": 89.99230279647664, + "source_upright_tilt_deg": 3.1588438926258076, + "max_source_upright_tilt_deg": 89.93108282881424, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.445505758904539, + "source_upright_return_tilt_deg": 3.1588438926258076, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.51925802230835e-09, + "max_target_xy_drift": 1.2383438749934408e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3171, + 0.0138, + 0.7701 + ], + "controller_target_position": [ + 0.3171, + 0.0138, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0018, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3157, + -0.0132, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013649865879799452, + -0.0018287640600504888, + 0.0005566746326129126 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.158829861644553, + "source_return_step_error_deg": 2.4454720423964966, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.157671576685304, + "source_return_best_wrist_position": -1.6077721118927002, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6077721118927002 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3171, + 0.0138, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3171, + 0.0138, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0018, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3157, + -0.0132, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013649865879799452, + -0.0018287640600504888, + 0.0005566746326129126 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.158829861644553, + "pour_controller_source_return_step_error_deg": 2.4454720423964966, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.157671576685304, + "pour_controller_source_return_best_wrist_position": -1.6077721118927002, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6077721118927002, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04238641429388373, + "valid_pour_held_xy_dist": 0.03825902018331683, + "valid_pour_held_gripper_dist": 0.0058263030674683075, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0317565893494658, + "valid_pour_source_tilt_deg": 2.445505758904539, + "valid_pour_source_upright_tilt_deg": 3.1588438926258076, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.51925802230835e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31880510462994754, + -0.04783268786411178, + 1.0317565893494658 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30844483223941926, + -0.024437765609096038, + 1.0317565893494658 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3136249684346834, + -0.03613522673660391, + 1.0317565893494658 + ], + "valid_pour_held_grasp_object_position": [ + 0.31880510462994754, + -0.024437765609096038, + 1.0317565893494658 + ], + "valid_pour_held_grasp_finger_gap": 0.025586278184295846, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023802138203810486, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.042736510514080055, + -0.9984806129824099, + 0.034785861601391965 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005689604877969882, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826194285813636, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31880510462994754, + -0.04783268786411178, + 1.0317565893494658 + ], + "held_grasp_finger_b": [ + 0.30844483223941926, + -0.024437765609096038, + 1.0317565893494658 + ], + "held_grasp_midpoint": [ + 0.3136249684346834, + -0.03613522673660391, + 1.0317565893494658 + ], + "held_grasp_object_position": [ + 0.31880510462994754, + -0.024437765609096038, + 1.0317565893494658 + ], + "held_grasp_finger_gap": 0.025586278184295846, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023802138203810486, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.042736510514080055, + -0.9984806129824099, + 0.034785861601391965 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005689604877969882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826194285813636, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26314958659125026, + -0.10137966797916677, + 0.7611100732922481 + ], + "target_position": [ + 0.2778151816208866, + -0.1162518797880511, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020886894495391415, + "xy_threshold": 0.08, + "gripper_dist": 0.20805740218855034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611100732922481, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07938603511876977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09547501451733832, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838081570237804, + "release_required_pad_clearance": 0.05773750725866916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.29958369557308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 179, + "max_placed_release_frames": 179 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c081ec8ea14975300d0ee8fa842d9b69e1442ac755614b646cfe9e8629edd98", + "visual_seed": 8241632074652366794, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7413f47e0ed68e20791970c4bc06e370cee78d02 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_101_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29288346813987315, + -0.10955351127594001, + 1.003926251159714 + ], + "current_z": 1.003926251159714, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.14281992195888238, + "gripper_z": 1.0051725332190586, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2889741388311826, + -0.11359257389494412, + 1.0051725332190586 + ], + "object_minus_gripper": [ + 0.0039093293086905345, + 0.004039062619004108, + -0.0012462820593446278 + ], + "object_to_gripper_xy": 0.005621110431580502, + "object_to_gripper_z": -0.0012462820593446278, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29288346813987315, + -0.13354560873206262, + 1.003926251159714 + ], + "finger_b": [ + 0.28281435819491535, + -0.10955351127594001, + 1.003926251159714 + ], + "finger_midpoint": [ + 0.28784891316739425, + -0.12154956000400131, + 1.003926251159714 + ], + "object_minus_finger_midpoint": [ + 0.0050345549724789, + 0.011996048728061301, + 0.0 + ], + "finger_gap": 0.02601937192608101, + "fingertip_max_gap": 0.0936939972920455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013009685963040505, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003926251159714, + "object_top_z": 1.0541330671931985, + "finger_top_clearance": 0.050206816033484536, + "fingertip_min_top_clearance": 0.01506204481004536, + "object_projection_between_fingers": 0.8502425116092039, + "object_to_finger_line_xy": 0.009284584877073438, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04934699864602275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5950615962817984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3190390578514758, + 0.009736773415140888, + 0.7701463897966118 + ], + "gripper_position": [ + 0.31507102173703877, + -0.031446977997099196, + 1.0334377872390719 + ], + "target_minus_gripper": [ + 0.0039680361144370235, + 0.04118375141224008, + -0.2632913974424601 + ], + "held_position": [ + 0.31898793092595407, + -0.02745432079596584, + 1.0321140376858238 + ], + "held_minus_target": [ + -5.112692552172726e-05, + -0.03719109421110672, + 0.261967647889212 + ], + "held_minus_gripper": [ + 0.003916909188915296, + 0.003992657201133357, + -0.0013237495532480992 + ], + "xy_dist": 0.04137446907200941, + "held_xy_dist": 0.03719112935340804, + "held_gripper_dist": 0.005747677965900288, + "max_held_gripper_dist": 0.005788157643212067, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0321140376858238, + "required_height": 0.8001463897966118, + "gripper_z": 1.0334377872390719, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.7514904049305, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.993971433322603, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4958118340677453, + "max_source_tilt_deg": 89.9954907824921, + "source_upright_tilt_deg": 3.338373325332634, + "max_source_upright_tilt_deg": 89.76158510776061, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4958118340677453, + "source_upright_return_tilt_deg": 3.338373325332634, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.996002812015164e-08, + "max_target_xy_drift": 2.3383430878036045e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.319, + 0.0097, + 0.7701 + ], + "controller_target_position": [ + 0.319, + 0.0097, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.001, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3177, + -0.0164, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001342585976863791, + -0.0009737962985433347, + 0.0012465976306380777 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.338345228825203, + "source_return_step_error_deg": 2.4957850352446096, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3327050113432035, + "source_return_best_wrist_position": -1.60746431350708, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60746431350708 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.319, + 0.0097, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.319, + 0.0097, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.001, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3177, + -0.0164, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001342585976863791, + -0.0009737962985433347, + 0.0012465976306380777 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.338345228825203, + "pour_controller_source_return_step_error_deg": 2.4957850352446096, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3327050113432035, + "pour_controller_source_return_best_wrist_position": -1.60746431350708, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60746431350708, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04137446907200941, + "valid_pour_held_xy_dist": 0.03719112935340804, + "valid_pour_held_gripper_dist": 0.005747677965900288, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0321140376858238, + "valid_pour_source_tilt_deg": 2.4958118340677453, + "valid_pour_source_upright_tilt_deg": 3.338373325332634, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.996002812015164e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31898793092595407, + -0.05099349281197562, + 1.0321140376858238 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3090222388410873, + -0.02745432079596584, + 1.0321140376858238 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3140050848835207, + -0.039223906803970726, + 1.0321140376858238 + ], + "valid_pour_held_grasp_object_position": [ + 0.31898793092595407, + -0.02745432079596584, + 1.0321140376858238 + ], + "valid_pour_held_grasp_finger_gap": 0.025561839486423387, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0239648553306713, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04672311089856158, + -0.9983030489868777, + 0.034755910165962016 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055421329913813416, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038203450541221554, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31898793092595407, + -0.05099349281197562, + 1.0321140376858238 + ], + "held_grasp_finger_b": [ + 0.3090222388410873, + -0.02745432079596584, + 1.0321140376858238 + ], + "held_grasp_midpoint": [ + 0.3140050848835207, + -0.039223906803970726, + 1.0321140376858238 + ], + "held_grasp_object_position": [ + 0.31898793092595407, + -0.02745432079596584, + 1.0321140376858238 + ], + "held_grasp_finger_gap": 0.025561839486423387, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0239648553306713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04672311089856158, + -0.9983030489868777, + 0.034755910165962016 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055421329913813416, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038203450541221554, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26917307326704565, + -0.11230258273345337, + 0.7611063935104845 + ], + "target_position": [ + 0.26988258887600935, + -0.11377593484235123, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001635291666999166, + "xy_threshold": 0.08, + "gripper_dist": 0.21722145241406607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063935104845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580113186661372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08643285348966513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18795400152539823, + "release_required_pad_clearance": 0.05321642674483257, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4547854211967042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f02069f98c90a8fe0774cfbf137c026ecfe7db303955cff8b6a5ac94e3480ffc", + "visual_seed": 3423435967413948742, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8a11ebf7e57bf0b76ee80266975e1c868407bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_102_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29548617623638274, + -0.11298586465980949, + 1.0040745341016977 + ], + "current_z": 1.0040745341016977, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14296808569157649, + "gripper_z": 1.0050182618596668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2917072838494575, + -0.11711898480807034, + 1.0050182618596668 + ], + "object_minus_gripper": [ + 0.0037788923869252478, + 0.004133120148260852, + -0.0009437277579691372 + ], + "object_to_gripper_xy": 0.005600241944052185, + "object_to_gripper_z": -0.0009437277579691372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29548617623638274, + -0.13650139669243402, + 1.0040745341016977 + ], + "finger_b": [ + 0.28484001544056176, + -0.11298586465980949, + 1.0040745341016977 + ], + "finger_midpoint": [ + 0.2901630958384722, + -0.12474363067612176, + 1.0040745341016977 + ], + "object_minus_finger_midpoint": [ + 0.005323080397910518, + 0.011757766016312274, + 0.0 + ], + "finger_gap": 0.025813194038473156, + "fingertip_max_gap": 0.09333499155852679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012906597019236597, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040745341016977, + "object_top_z": 1.0541968719018004, + "finger_top_clearance": 0.05012233780010278, + "fingertip_min_top_clearance": 0.015036701340030833, + "object_projection_between_fingers": 0.829900690519611, + "object_to_finger_line_xy": 0.009698533813578686, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049167495779263395, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8818927751566674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31578968083922315, + 0.012678897796802301, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3124799602248476, + -0.028312795500985158, + 1.0322250389075895 + ], + "target_minus_gripper": [ + 0.0033097206143755664, + 0.04099169329778746, + -0.262078589506333 + ], + "held_position": [ + 0.31631358167431345, + -0.024262562204181524, + 1.0311958771127743 + ], + "held_minus_target": [ + 0.0005239008350902963, + -0.036941460000983826, + 0.26104942771151773 + ], + "held_minus_gripper": [ + 0.0038336214494658627, + 0.004050233296803634, + -0.0010291617948152698 + ], + "xy_dist": 0.04112509173199612, + "held_xy_dist": 0.03694517477410678, + "held_gripper_dist": 0.005670997899510188, + "max_held_gripper_dist": 0.005682299143981676, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0311958771127743, + "required_height": 0.8001464494012566, + "gripper_z": 1.0322250389075895, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.45267196112724, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4303608018954046, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.553045219819359, + "max_source_tilt_deg": 89.9752106989655, + "source_upright_tilt_deg": 2.9387467639165523, + "max_source_upright_tilt_deg": 89.73186483620619, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.553045219819359, + "source_upright_return_tilt_deg": 2.9387467639165523, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.2509716281853e-08, + "max_target_xy_drift": 1.269915619018308e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3158, + 0.0127, + 0.7701 + ], + "controller_target_position": [ + 0.3158, + 0.0127, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.0008, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3143, + -0.0133, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015378323499722587, + -0.0007924191456324574, + -0.0006561195953547591 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9387486617179817, + "source_return_step_error_deg": 2.5530455106300636, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.934088448028586, + "source_return_best_wrist_position": -1.6078428030014038, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078428030014038 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3158, + 0.0127, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3158, + 0.0127, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.0008, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3143, + -0.0133, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015378323499722587, + -0.0007924191456324574, + -0.0006561195953547591 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9387486617179817, + "pour_controller_source_return_step_error_deg": 2.5530455106300636, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.934088448028586, + "pour_controller_source_return_best_wrist_position": -1.6078428030014038, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078428030014038, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04112509173199612, + "valid_pour_held_xy_dist": 0.03694517477410678, + "valid_pour_held_gripper_dist": 0.005670997899510188, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0311958771127743, + "valid_pour_source_tilt_deg": 2.553045219819359, + "valid_pour_source_upright_tilt_deg": 2.9387467639165523, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.2509716281853e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31631358167431345, + -0.04752950609410791, + 1.0311958771127743 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30605951355323147, + -0.024262562204181524, + 1.0311958771127743 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31118654761377246, + -0.03589603414914472, + 1.0311958771127743 + ], + "valid_pour_held_grasp_object_position": [ + 0.31631358167431345, + -0.024262562204181524, + 1.0311958771127743 + ], + "valid_pour_held_grasp_finger_gap": 0.025426297233548823, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02364342314126828, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039699079098977845, + -0.9986849235452666, + 0.0324408169144702 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005597344618063834, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03830561556088606, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31631358167431345, + -0.04752950609410791, + 1.0311958771127743 + ], + "held_grasp_finger_b": [ + 0.30605951355323147, + -0.024262562204181524, + 1.0311958771127743 + ], + "held_grasp_midpoint": [ + 0.31118654761377246, + -0.03589603414914472, + 1.0311958771127743 + ], + "held_grasp_object_position": [ + 0.31631358167431345, + -0.024262562204181524, + 1.0311958771127743 + ], + "held_grasp_finger_gap": 0.025426297233548823, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02364342314126828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039699079098977845, + -0.9986849235452666, + 0.0324408169144702 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005597344618063834, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03830561556088606, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27448523774467126, + -0.1250915073749454, + 0.7611066811032063 + ], + "target_position": [ + 0.2730398573968968, + -0.11747455055688492, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007752880465861098, + "xy_threshold": 0.08, + "gripper_dist": 0.21555280186627881, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066811032063, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551722136791292, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761250751934817, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18499339412801513, + "release_required_pad_clearance": 0.053806253759674086, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6211986285594064, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12c3b0cd1ec10b03c22ce2a9d762188ba720fca25c6a08b679d08af8514cff60", + "visual_seed": 2347769943307721174, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2eedbb0bbfff89291c4805f94a91f31ea104f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_103_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2964772514099819, + -0.1129519975518239, + 1.0036043232749905 + ], + "current_z": 1.0036043232749905, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14249787486486953, + "gripper_z": 1.0047789901523345, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29263705031719356, + -0.11693450748258713, + 1.0047789901523345 + ], + "object_minus_gripper": [ + 0.00384020109278832, + 0.003982509930763226, + -0.0011746668773440216 + ], + "object_to_gripper_xy": 0.005532407232089872, + "object_to_gripper_z": -0.0011746668773440216, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2964772514099819, + -0.13692097668801168, + 1.0036043232749905 + ], + "finger_b": [ + 0.2865268539701592, + -0.1129519975518239, + 1.0036043232749905 + ], + "finger_midpoint": [ + 0.29150205269007057, + -0.12493648711991778, + 1.0036043232749905 + ], + "object_minus_finger_midpoint": [ + 0.004975198719911311, + 0.011984489568093878, + 0.0 + ], + "finger_gap": 0.02595230953193635, + "fingertip_max_gap": 0.09360628810477303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012976154765968159, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036043232749905, + "object_top_z": 1.053870658634731, + "finger_top_clearance": 0.050266335359740566, + "fingertip_min_top_clearance": 0.015079900607922185, + "object_projection_between_fingers": 0.8529961087939238, + "object_to_finger_line_xy": 0.009189967017709633, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930314405238652, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.487984156549353, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31310484921996046, + 0.014518306447796597, + 0.7701463897966118 + ], + "gripper_position": [ + 0.31151177166569716, + -0.026516769131753756, + 1.0328066286970516 + ], + "target_minus_gripper": [ + 0.0015930775542633002, + 0.041035075579550356, + -0.2626602389004399 + ], + "held_position": [ + 0.31531623523772684, + -0.022538204305252725, + 1.0315561993486035 + ], + "held_minus_target": [ + 0.0022113860177663813, + -0.03705651075304932, + 0.2614098095519918 + ], + "held_minus_gripper": [ + 0.0038044635720296816, + 0.003978564826501031, + -0.001250429348448101 + ], + "xy_dist": 0.041065987433803505, + "held_xy_dist": 0.03712243549809781, + "held_gripper_dist": 0.0056450416034810914, + "max_held_gripper_dist": 0.005679664278043636, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0315561993486035, + "required_height": 0.8001463897966118, + "gripper_z": 1.0328066286970516, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.60654696055366, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9506631745351994, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7721035756770744, + "max_source_tilt_deg": 89.71651025072936, + "source_upright_tilt_deg": 3.7527121182617087, + "max_source_upright_tilt_deg": 89.85699765469991, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7721035756770744, + "source_upright_return_tilt_deg": 3.7527121182617087, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.3772161008662214e-08, + "max_target_xy_drift": 1.7879695628572257e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3131, + 0.0145, + 0.7701 + ], + "controller_target_position": [ + 0.3131, + 0.0145, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0007, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3129, + -0.0113, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00022026411225667983, + -0.0006508999720807114, + -0.00012418631232081448 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7526881860632173, + "source_return_step_error_deg": 2.772074963493848, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.749993640779146, + "source_return_best_wrist_position": -1.609218955039978, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609218955039978 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3131, + 0.0145, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3131, + 0.0145, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0007, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3129, + -0.0113, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00022026411225667983, + -0.0006508999720807114, + -0.00012418631232081448 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7526881860632173, + "pour_controller_source_return_step_error_deg": 2.772074963493848, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.749993640779146, + "pour_controller_source_return_best_wrist_position": -1.609218955039978, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609218955039978, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.041065987433803505, + "valid_pour_held_xy_dist": 0.03712243549809781, + "valid_pour_held_gripper_dist": 0.0056450416034810914, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0315561993486035, + "valid_pour_source_tilt_deg": 2.7721035756770744, + "valid_pour_source_upright_tilt_deg": 3.7527121182617087, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.3772161008662214e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31531623523772684, + -0.045856531920938234, + 1.0315561993486035 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3052200612464564, + -0.022538204305252725, + 1.0315561993486035 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3102681482420916, + -0.03419736811309548, + 1.0315561993486035 + ], + "valid_pour_held_grasp_object_position": [ + 0.31531623523772684, + -0.022538204305252725, + 1.0315561993486035 + ], + "valid_pour_held_grasp_finger_gap": 0.025410177725754834, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023830691902246643, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.055700567350466405, + -0.9978558353906984, + 0.03436827859476898 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005703424627610448, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836726673835453, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31531623523772684, + -0.045856531920938234, + 1.0315561993486035 + ], + "held_grasp_finger_b": [ + 0.3052200612464564, + -0.022538204305252725, + 1.0315561993486035 + ], + "held_grasp_midpoint": [ + 0.3102681482420916, + -0.03419736811309548, + 1.0315561993486035 + ], + "held_grasp_object_position": [ + 0.31531623523772684, + -0.022538204305252725, + 1.0315561993486035 + ], + "held_grasp_finger_gap": 0.025410177725754834, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023830691902246643, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.055700567350466405, + -0.9978558353906984, + 0.03436827859476898 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005703424627610448, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836726673835453, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2591196349637113, + -0.1002782861011993, + 0.7611070775081467 + ], + "target_position": [ + 0.2736066656378582, + -0.11632131323109962, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02161603056170096, + "xy_threshold": 0.08, + "gripper_dist": 0.20764122242233993, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070775081467, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08118043713706959, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09019935405302222, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18332170452587224, + "release_required_pad_clearance": 0.05509967702651111, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.28305651905955, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "403144cbae87f6b6e4bb14565b57f31627334c4a253e9f8dc2abfdcae66b9e33", + "visual_seed": 8618927955918507206, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..154b9bd6a026737277d0a4a0760ea237ae68a792 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_10_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3011767206468214, + -0.11738604993192542, + 1.0030107281076677 + ], + "current_z": 1.0030107281076677, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14190422009290182, + "gripper_z": 1.0040147588457868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2975127940732806, + -0.12140549142136918, + 1.0040147588457868 + ], + "object_minus_gripper": [ + 0.00366392657354081, + 0.004019441489443762, + -0.001004030738119166 + ], + "object_to_gripper_xy": 0.0054387744780750365, + "object_to_gripper_z": -0.001004030738119166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3011767206468214, + -0.14093759769757214, + 1.0030107281076677 + ], + "finger_b": [ + 0.2908064369390755, + -0.11738604993192542, + 1.0030107281076677 + ], + "finger_midpoint": [ + 0.29599157879294846, + -0.12916182381474878, + 1.0030107281076677 + ], + "object_minus_finger_midpoint": [ + 0.005185141853872921, + 0.01177577388282336, + 0.0 + ], + "finger_gap": 0.025733600337626273, + "fingertip_max_gap": 0.09427804398734843, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012866800168813124, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030107281076677, + "object_top_z": 1.0531907267677976, + "finger_top_clearance": 0.0501799986601299, + "fingertip_min_top_clearance": 0.01505399959803897, + "object_projection_between_fingers": 0.8376021885263295, + "object_to_finger_line_xy": 0.009490946812023674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963902199367422, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3359245122663856, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3170318416363421, + 0.009504905759029169, + 0.7701463897966115 + ], + "gripper_position": [ + 0.31628224632077384, + -0.03135424127883972, + 1.0320194313718427 + ], + "target_minus_gripper": [ + 0.0007495953155682855, + 0.04085914703786889, + -0.26187304157523117 + ], + "held_position": [ + 0.3200225082611186, + -0.027441066319223426, + 1.030932852694733 + ], + "held_minus_target": [ + 0.0029906666247764835, + -0.03694597207825259, + 0.26078646289812146 + ], + "held_minus_gripper": [ + 0.003740261940344769, + 0.003913174959616295, + -0.0010865786771097063 + ], + "xy_dist": 0.040866022436729904, + "held_xy_dist": 0.037066817231421044, + "held_gripper_dist": 0.005521154849169609, + "max_held_gripper_dist": 0.00553443713279613, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.030932852694733, + "required_height": 0.8001463897966116, + "gripper_z": 1.0320194313718427, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.56625001064297, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.760246354208004, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4910784408364877, + "max_source_tilt_deg": 89.80657714510245, + "source_upright_tilt_deg": 3.1115546777631966, + "max_source_upright_tilt_deg": 89.82479386392103, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4910784408364877, + "source_upright_return_tilt_deg": 3.1115546777631966, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.235174178903676e-08, + "max_target_xy_drift": 1.197320124506071e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.317, + 0.0095, + 0.7701 + ], + "controller_target_position": [ + 0.317, + 0.0095, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0005, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3177, + -0.0162, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006987058602679077, + -0.0004876373133149742, + -0.0009065797085416687 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.111557685095383, + "source_return_step_error_deg": 2.4910820207530753, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.105642060385814, + "source_return_best_wrist_position": -1.6080888509750366, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6080888509750366 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.317, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.317, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0005, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3177, + -0.0162, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006987058602679077, + -0.0004876373133149742, + -0.0009065797085416687 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.111557685095383, + "pour_controller_source_return_step_error_deg": 2.4910820207530753, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.105642060385814, + "pour_controller_source_return_best_wrist_position": -1.6080888509750366, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6080888509750366, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.040866022436729904, + "valid_pour_held_xy_dist": 0.037066817231421044, + "valid_pour_held_gripper_dist": 0.005521154849169609, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.030932852694733, + "valid_pour_source_tilt_deg": 2.4910784408364877, + "valid_pour_source_upright_tilt_deg": 3.1115546777631966, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.235174178903676e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3200225082611186, + -0.05085344442726369, + 1.030932852694733 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3101853860485847, + -0.027441066319223426, + 1.030932852694733 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3151039471548517, + -0.03914725537324355, + 1.030932852694733 + ], + "valid_pour_held_grasp_object_position": [ + 0.3200225082611186, + -0.027441066319223426, + 1.030932852694733 + ], + "valid_pour_held_grasp_finger_gap": 0.025395047196218615, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02378727299998802, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04161893106516664, + -0.9985257533798562, + 0.03484514907678681 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005416609545078928, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03823602408134412, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3200225082611186, + -0.05085344442726369, + 1.030932852694733 + ], + "held_grasp_finger_b": [ + 0.3101853860485847, + -0.027441066319223426, + 1.030932852694733 + ], + "held_grasp_midpoint": [ + 0.3151039471548517, + -0.03914725537324355, + 1.030932852694733 + ], + "held_grasp_object_position": [ + 0.3200225082611186, + -0.027441066319223426, + 1.030932852694733 + ], + "held_grasp_finger_gap": 0.025395047196218615, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02378727299998802, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04161893106516664, + -0.9985257533798562, + 0.03484514907678681 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005416609545078928, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03823602408134412, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28060393410670076, + -0.1184840658694498, + 0.7611065664317308 + ], + "target_position": [ + 0.27856851055495474, + -0.12068587918675244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002998488105571478, + "xy_threshold": 0.08, + "gripper_dist": 0.21806357534981996, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065664317308, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554491846796255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605915658579015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1891485569441347, + "release_required_pad_clearance": 0.05302957829289508, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0907271244792849, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76c44d2ea4dfc81fa212b5f5985e87c2891034bf9eab2e28073c9adcfbb6a69e", + "visual_seed": 94342099713203501, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..380932a495762f639f3f828fe617389577ccc761 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_11_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2958734172289131, + -0.108765700442872, + 1.0016301660903948 + ], + "current_z": 1.0016301660903948, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1405237176802736, + "gripper_z": 1.0025950864624846, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29184863209372547, + -0.11303776091340027, + 1.0025950864624846 + ], + "object_minus_gripper": [ + 0.004024785135187614, + 0.004272060470528277, + -0.0009649203720898392 + ], + "object_to_gripper_xy": 0.005869360787025915, + "object_to_gripper_z": -0.0009649203720898392, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2958734172289131, + -0.13243202934592863, + 1.0016301660903948 + ], + "finger_b": [ + 0.2849825126368808, + -0.108765700442872, + 1.0016301660903948 + ], + "finger_midpoint": [ + 0.2904279649328969, + -0.1205988648944003, + 1.0016301660903948 + ], + "object_minus_finger_midpoint": [ + 0.005445452296016173, + 0.011833164451528308, + 0.0 + ], + "finger_gap": 0.026052004271848332, + "fingertip_max_gap": 0.09315878108868911, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013026002135924171, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016301660903948, + "object_top_z": 1.0518219491899434, + "finger_top_clearance": 0.05019178309954864, + "fingertip_min_top_clearance": 0.015057534929864573, + "object_projection_between_fingers": 0.825238555571602, + "object_to_finger_line_xy": 0.009893585439234954, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049079390544344556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5166157245080285, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31532479441229744, + 0.012057582704953928, + 0.770146330191967 + ], + "gripper_position": [ + 0.31174100690015605, + -0.02959378201702982, + 1.0310401713051316 + ], + "target_minus_gripper": [ + 0.00358378751214139, + 0.04165136472198375, + -0.2608938411131646 + ], + "held_position": [ + 0.31582220912739234, + -0.025406990834548285, + 1.0299915818802798 + ], + "held_minus_target": [ + 0.0004974147150949015, + -0.037464573539502215, + 0.25984525168831285 + ], + "held_minus_gripper": [ + 0.004081202227236291, + 0.0041867911824815356, + -0.0010485894248517535 + ], + "xy_dist": 0.04180525943151044, + "held_xy_dist": 0.037467875465464574, + "held_gripper_dist": 0.005940115470865405, + "max_held_gripper_dist": 0.005951307350105093, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0299915818802798, + "required_height": 0.800146330191967, + "gripper_z": 1.0310401713051316, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.93492996166192, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.049844371956061, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.503238082592591, + "max_source_tilt_deg": 89.88178172847257, + "source_upright_tilt_deg": 2.6405307150034174, + "max_source_upright_tilt_deg": 89.95105478469158, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.503238082592591, + "source_upright_return_tilt_deg": 2.6405307150034174, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0643187637289427e-07, + "max_target_xy_drift": 1.8848643663304384e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3153, + 0.0121, + 0.7701 + ], + "controller_target_position": [ + 0.3153, + 0.0121, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + -0.0014, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3133, + -0.0145, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001976457363169974, + -0.0013963024403853036, + -0.0014947911567649483 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6407880521741833, + "source_return_step_error_deg": 2.50343400008966, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.633418729079357, + "source_return_best_wrist_position": -1.6074897050857544, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6074897050857544 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3153, + 0.0121, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3153, + 0.0121, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + -0.0014, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3133, + -0.0145, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001976457363169974, + -0.0013963024403853036, + -0.0014947911567649483 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6407880521741833, + "pour_controller_source_return_step_error_deg": 2.50343400008966, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.633418729079357, + "pour_controller_source_return_best_wrist_position": -1.6074897050857544, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6074897050857544, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04180525943151044, + "valid_pour_held_xy_dist": 0.037467875465464574, + "valid_pour_held_gripper_dist": 0.005940115470865405, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0299915818802798, + "valid_pour_source_tilt_deg": 2.503238082592591, + "valid_pour_source_upright_tilt_deg": 2.6405307150034174, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0643187637289427e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31582220912739234, + -0.0488246847510569, + 1.0299915818802798 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3053248793316342, + -0.025406990834548285, + 1.0299915818802798 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3105735442295133, + -0.03711583779280259, + 1.0299915818802798 + ], + "valid_pour_held_grasp_object_position": [ + 0.31582220912739234, + -0.025406990834548285, + 1.0299915818802798 + ], + "valid_pour_held_grasp_finger_gap": 0.02566285878868907, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023741562468527367, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0332210721260519, + -0.9989382388229291, + 0.03191794768058331 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005646943812883464, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819820138610721, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31582220912739234, + -0.0488246847510569, + 1.0299915818802798 + ], + "held_grasp_finger_b": [ + 0.3053248793316342, + -0.025406990834548285, + 1.0299915818802798 + ], + "held_grasp_midpoint": [ + 0.3105735442295133, + -0.03711583779280259, + 1.0299915818802798 + ], + "held_grasp_object_position": [ + 0.31582220912739234, + -0.025406990834548285, + 1.0299915818802798 + ], + "held_grasp_finger_gap": 0.02566285878868907, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023741562468527367, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0332210721260519, + -0.9989382388229291, + 0.03191794768058331 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005646943812883464, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819820138610721, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28687600453536444, + -0.15499810791339858, + 0.7611063684296702 + ], + "target_position": [ + 0.27306303528362474, + -0.11343597880177243, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.043797359461969707, + "xy_threshold": 0.08, + "gripper_dist": 0.22901071634718034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063684296702, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.076836167942385, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631714118255189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19176866405428963, + "release_required_pad_clearance": 0.05315857059127595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3417113032764028, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 181, + "max_placed_release_frames": 181 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "afcec038a77e923aaeedc6996a580a6e8920e3aa8d77677ede02aa36d0e5d42b", + "visual_seed": 4502238709564397987, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..496976e56325f179f8084d9bce2adc6c50feffc0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_12_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29788180413032994, + -0.11752070180286865, + 1.003639152694571 + ], + "current_z": 1.003639152694571, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14253264467980498, + "gripper_z": 1.0056125952754702, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2936707946180328, + -0.12172886871163172, + 1.0056125952754702 + ], + "object_minus_gripper": [ + 0.004211009512297137, + 0.004208166908763064, + -0.001973442580899265 + ], + "object_to_gripper_xy": 0.0059532570786642045, + "object_to_gripper_z": -0.001973442580899265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29788180413032994, + -0.14167502508846488, + 1.003639152694571 + ], + "finger_b": [ + 0.2875387193279777, + -0.11752070180286865, + 1.003639152694571 + ], + "finger_midpoint": [ + 0.2927102617291538, + -0.12959786344566676, + 1.003639152694571 + ], + "object_minus_finger_midpoint": [ + 0.005171542401176121, + 0.01207716164279811, + 0.0 + ], + "finger_gap": 0.026275668147808275, + "fingertip_max_gap": 0.09304045166559641, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313783407390413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003639152694571, + "object_top_z": 1.0535638028341365, + "finger_top_clearance": 0.049924650139565596, + "fingertip_min_top_clearance": 0.014977395041869712, + "object_projection_between_fingers": 0.8450496240059198, + "object_to_finger_line_xy": 0.009508044198190731, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049020225832798206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8320946524349733, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3184436670548146, + 0.009336027173928995, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3150544561438672, + -0.031245198345520336, + 1.033523302389502 + ], + "target_minus_gripper": [ + 0.0033892109109474045, + 0.04058122551944933, + -0.2633769125928903 + ], + "held_position": [ + 0.31917048735136516, + -0.026978490174031006, + 1.0314840760271504 + ], + "held_minus_target": [ + 0.0007268202965505788, + -0.03631451734796, + 0.26133768623053866 + ], + "held_minus_gripper": [ + 0.004116031207497983, + 0.004266708171489331, + -0.0020392263623516538 + ], + "xy_dist": 0.04072250747755215, + "held_xy_dist": 0.03632179012602167, + "held_gripper_dist": 0.006269366449543454, + "max_held_gripper_dist": 0.006355886126970311, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0314840760271504, + "required_height": 0.8001463897966118, + "gripper_z": 1.033523302389502, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.9240687946892, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.417591611148032, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.183659194564118, + "max_source_tilt_deg": 89.77866373200584, + "source_upright_tilt_deg": 4.2043208477949605, + "max_source_upright_tilt_deg": 89.98180630551823, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.183659194564118, + "source_upright_return_tilt_deg": 4.2043208477949605, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.2094649937544461e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3184, + 0.0093, + 0.7701 + ], + "controller_target_position": [ + 0.3184, + 0.0093, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0005, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3171, + -0.0164, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013392036188585106, + -0.0005220230795240557, + 0.001213137441360868 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.204322413469183, + "source_return_step_error_deg": 2.1836765279270445, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.200545902453498, + "source_return_best_wrist_position": -1.585050344467163, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.585050344467163 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3184, + 0.0093, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3184, + 0.0093, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0005, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3171, + -0.0164, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013392036188585106, + -0.0005220230795240557, + 0.001213137441360868 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.204322413469183, + "pour_controller_source_return_step_error_deg": 2.1836765279270445, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.200545902453498, + "pour_controller_source_return_best_wrist_position": -1.585050344467163, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.585050344467163, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04072250747755215, + "valid_pour_held_xy_dist": 0.03632179012602167, + "valid_pour_held_gripper_dist": 0.006269366449543454, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0314840760271504, + "valid_pour_source_tilt_deg": 2.183659194564118, + "valid_pour_source_upright_tilt_deg": 4.2043208477949605, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31917048735136516, + -0.05062572826581821, + 1.0314840760271504 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30830136138622055, + -0.026978490174031006, + 1.0314840760271504 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31373592436879283, + -0.03880210921992461, + 1.0314840760271504 + ], + "valid_pour_held_grasp_object_position": [ + 0.31917048735136516, + -0.026978490174031006, + 1.0314840760271504 + ], + "valid_pour_held_grasp_finger_gap": 0.026025559909747427, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02436722639482589, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0720963297042686, + -0.9973089548177, + 0.01330292763267793 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006274766169837726, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832026096186241, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31917048735136516, + -0.05062572826581821, + 1.0314840760271504 + ], + "held_grasp_finger_b": [ + 0.30830136138622055, + -0.026978490174031006, + 1.0314840760271504 + ], + "held_grasp_midpoint": [ + 0.31373592436879283, + -0.03880210921992461, + 1.0314840760271504 + ], + "held_grasp_object_position": [ + 0.31917048735136516, + -0.026978490174031006, + 1.0314840760271504 + ], + "held_grasp_finger_gap": 0.026025559909747427, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02436722639482589, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0720963297042686, + -0.9973089548177, + 0.01330292763267793 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006274766169837726, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832026096186241, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28176968243993084, + -0.12484721558020517, + 0.7611063449799504 + ], + "target_position": [ + 0.2748584251707148, + -0.12268428153681135, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0072418064540115635, + "xy_threshold": 0.08, + "gripper_dist": 0.21896951487527977, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063449799504, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561835185233909, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09067125080859358, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18884655562932262, + "release_required_pad_clearance": 0.05533562540429679, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.788699911315003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3abfb8c47f6e09f7798ab14416c52df2d2c52a3e9665accab85b7fd8eb740f01", + "visual_seed": 1200328824614728072, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3b1d7006c15e2eb644caac10efa97d4c64aed0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_13_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29504910390002126, + -0.11692054594933061, + 1.0035549982485592 + ], + "current_z": 1.0035549982485592, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14244843062914858, + "gripper_z": 1.0047469376041946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29157003720604996, + -0.12094098213051013, + 1.0047469376041946 + ], + "object_minus_gripper": [ + 0.0034790666939713, + 0.004020436181179518, + -0.0011919393556354407 + ], + "object_to_gripper_xy": 0.00531674826825925, + "object_to_gripper_z": -0.0011919393556354407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29504910390002126, + -0.14017450956855, + 1.0035549982485592 + ], + "finger_b": [ + 0.28452207412481645, + -0.11692054594933061, + 1.0035549982485592 + ], + "finger_midpoint": [ + 0.28978558901241885, + -0.1285475277589403, + 1.0035549982485592 + ], + "object_minus_finger_midpoint": [ + 0.005263514887602405, + 0.01162698180960968, + 0.0 + ], + "finger_gap": 0.025525774814724563, + "fingertip_max_gap": 0.09416355504337195, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012762887407362276, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035549982485592, + "object_top_z": 1.053966676957384, + "finger_top_clearance": 0.0504116787088249, + "fingertip_min_top_clearance": 0.015123503612647454, + "object_projection_between_fingers": 0.8299197696439015, + "object_to_finger_line_xy": 0.009590117016539756, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04958177752168598, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3802106551633035, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31532562887732424, + 0.011791161118678822, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3122903719540141, + -0.02931751703410572, + 1.0325689048154687 + ], + "target_minus_gripper": [ + 0.0030352569233101367, + 0.041108678152784545, + -0.26242251501885683 + ], + "held_position": [ + 0.31586653754922234, + -0.025423065196335252, + 1.0312894900087182 + ], + "held_minus_target": [ + 0.0005409086718980993, + -0.03721422631501407, + 0.2611431002121063 + ], + "held_minus_gripper": [ + 0.003576165595208236, + 0.0038944518377704677, + -0.001279414806750534 + ], + "xy_dist": 0.04122057986078953, + "held_xy_dist": 0.03721815716040251, + "held_gripper_dist": 0.0054399097169711705, + "max_held_gripper_dist": 0.005471881113460273, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0312894900087182, + "required_height": 0.8001463897966119, + "gripper_z": 1.0325689048154687, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.55151279479888, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.951027203509479, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.655289102714612, + "max_source_tilt_deg": 89.62979157345303, + "source_upright_tilt_deg": 2.7038468078114337, + "max_source_upright_tilt_deg": 89.77922145455867, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.655289102714612, + "source_upright_return_tilt_deg": 2.7038468078114337, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.5378953108540188e-07, + "max_target_xy_drift": 1.5378953108540188e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3153, + 0.0118, + 0.7701 + ], + "controller_target_position": [ + 0.3153, + 0.0118, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0008, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3141, + -0.0142, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012343619508105794, + -0.0007667922290937686, + -0.0004321552467648729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7038520662106893, + "source_return_step_error_deg": 2.6553159424107053, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.697176383945823, + "source_return_best_wrist_position": -1.6068331003189087, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6068331003189087 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3153, + 0.0118, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3153, + 0.0118, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0008, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3141, + -0.0142, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012343619508105794, + -0.0007667922290937686, + -0.0004321552467648729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7038520662106893, + "pour_controller_source_return_step_error_deg": 2.6553159424107053, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.697176383945823, + "pour_controller_source_return_best_wrist_position": -1.6068331003189087, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6068331003189087, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04122057986078953, + "valid_pour_held_xy_dist": 0.03721815716040251, + "valid_pour_held_gripper_dist": 0.0054399097169711705, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0312894900087182, + "valid_pour_source_tilt_deg": 2.655289102714612, + "valid_pour_source_upright_tilt_deg": 2.7038468078114337, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.5378953108540188e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31586653754922234, + -0.04861179251385362, + 1.0312894900087182 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3059670852696953, + -0.025423065196335252, + 1.0312894900087182 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3109168114094588, + -0.03701742885509444, + 1.0312894900087182 + ], + "valid_pour_held_grasp_object_position": [ + 0.31586653754922234, + -0.025423065196335252, + 1.0312894900087182 + ], + "valid_pour_held_grasp_finger_gap": 0.025213413692732202, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023535774187090724, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0376649598053676, + -0.9988867175728233, + 0.028402046747561298 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005392816647098955, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03832522544875324, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31586653754922234, + -0.04861179251385362, + 1.0312894900087182 + ], + "held_grasp_finger_b": [ + 0.3059670852696953, + -0.025423065196335252, + 1.0312894900087182 + ], + "held_grasp_midpoint": [ + 0.3109168114094588, + -0.03701742885509444, + 1.0312894900087182 + ], + "held_grasp_object_position": [ + 0.31586653754922234, + -0.025423065196335252, + 1.0312894900087182 + ], + "held_grasp_finger_gap": 0.025213413692732202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023535774187090724, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0376649598053676, + -0.9988867175728233, + 0.028402046747561298 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005392816647098955, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03832522544875324, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27503691321394086, + -0.1167947012653055, + 0.761106330772347 + ], + "target_position": [ + 0.27316246153281587, + -0.11889666807816751, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002816351112209835, + "xy_threshold": 0.08, + "gripper_dist": 0.2181769741111166, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106330772347, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543703867088601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580817748017865, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18950264764424007, + "release_required_pad_clearance": 0.052904088740089325, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8476469639762786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4377240ded8cc23f034904f0b4e961f963230ba20f369a093c304a57366a555", + "visual_seed": 9064693582469993784, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca369a9a07ba20274ed0b4809a0319c30283c2ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_15_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29927016287217195, + -0.11917228875028871, + 1.001650070768944 + ], + "current_z": 1.001650070768944, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14054368196346756, + "gripper_z": 1.0032624426866976, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29540166530723055, + -0.12329694967143039, + 1.0032624426866976 + ], + "object_minus_gripper": [ + 0.0038684975649413977, + 0.004124660921141679, + -0.0016123719177536522 + ], + "object_to_gripper_xy": 0.005654918312792047, + "object_to_gripper_z": -0.0016123719177536522, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29927016287217195, + -0.1429018778532071, + 1.001650070768944 + ], + "finger_b": [ + 0.2888239069579219, + -0.11917228875028871, + 1.001650070768944 + ], + "finger_midpoint": [ + 0.2940470349150469, + -0.1310370833017479, + 1.001650070768944 + ], + "object_minus_finger_midpoint": [ + 0.00522312795712504, + 0.011864794551459196, + 0.0 + ], + "finger_gap": 0.025927160693360676, + "fingertip_max_gap": 0.09359576206062423, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01296358034668035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001650070768944, + "object_top_z": 1.051794512608717, + "finger_top_clearance": 0.05014444183977296, + "fingertip_min_top_clearance": 0.015043332551931887, + "object_projection_between_fingers": 0.83766528483776, + "object_to_finger_line_xy": 0.009560837125237628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049297881030312116, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1239364802268037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31180898463789863, + 0.011388274698190471, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3102485395022919, + -0.02856944288698164, + 1.0318270257573858 + ], + "target_minus_gripper": [ + 0.001560445135606714, + 0.03995771758517211, + -0.26168069556541873 + ], + "held_position": [ + 0.3141184564249137, + -0.02448858980822044, + 1.0301268699908994 + ], + "held_minus_target": [ + 0.0023094717870150716, + -0.03587686450641091, + 0.2599805397989323 + ], + "held_minus_gripper": [ + 0.0038699169226217855, + 0.004080853078761201, + -0.0017001557664864109 + ], + "xy_dist": 0.03998817554774925, + "held_xy_dist": 0.03595112052143, + "held_gripper_dist": 0.005875384963451012, + "max_held_gripper_dist": 0.005945109297814065, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0301268699908994, + "required_height": 0.8001463301919671, + "gripper_z": 1.0318270257573858, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.7720572707138, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.705966118530396, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7239077888169705, + "max_source_tilt_deg": 89.63181603345669, + "source_upright_tilt_deg": 3.936578941094793, + "max_source_upright_tilt_deg": 89.82395408134798, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7239077888169705, + "source_upright_return_tilt_deg": 3.936578941094793, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4528632163827992e-07, + "max_target_xy_drift": 2.3469328880310059e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3118, + 0.0114, + 0.7701 + ], + "controller_target_position": [ + 0.3118, + 0.0114, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + 0.0003, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.311, + -0.0135, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007641563246351187, + 0.00029662783291506097, + -0.0012196653093335193 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9363985060916904, + "source_return_step_error_deg": 2.723775600483528, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9294413545479645, + "source_return_best_wrist_position": -1.6094149351119995, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094149351119995 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3118, + 0.0114, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3118, + 0.0114, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + 0.0003, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.311, + -0.0135, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007641563246351187, + 0.00029662783291506097, + -0.0012196653093335193 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9363985060916904, + "pour_controller_source_return_step_error_deg": 2.723775600483528, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9294413545479645, + "pour_controller_source_return_best_wrist_position": -1.6094149351119995, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094149351119995, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03998817554774925, + "valid_pour_held_xy_dist": 0.03595112052143, + "valid_pour_held_gripper_dist": 0.005875384963451012, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0301268699908994, + "valid_pour_source_tilt_deg": 2.7239077888169705, + "valid_pour_source_upright_tilt_deg": 3.936578941094793, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4528632163827992e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3141184564249137, + -0.04765763618731955, + 1.0301268699908994 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3036819002441722, + -0.02448858980822044, + 1.0301268699908994 + ], + "valid_pour_held_grasp_midpoint": [ + 0.308900178334543, + -0.036073112997769996, + 1.0301268699908994 + ], + "valid_pour_held_grasp_object_position": [ + 0.3141184564249137, + -0.02448858980822044, + 1.0301268699908994 + ], + "valid_pour_held_grasp_finger_gap": 0.025411147456000874, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02374345028469348, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06027539277299389, + -0.997640661747453, + 0.032863156485122724 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005918974016804858, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038477592450739936, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3141184564249137, + -0.04765763618731955, + 1.0301268699908994 + ], + "held_grasp_finger_b": [ + 0.3036819002441722, + -0.02448858980822044, + 1.0301268699908994 + ], + "held_grasp_midpoint": [ + 0.308900178334543, + -0.036073112997769996, + 1.0301268699908994 + ], + "held_grasp_object_position": [ + 0.3141184564249137, + -0.02448858980822044, + 1.0301268699908994 + ], + "held_grasp_finger_gap": 0.025411147456000874, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02374345028469348, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06027539277299389, + -0.997640661747453, + 0.032863156485122724 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005918974016804858, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038477592450739936, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28312107293932937, + -0.12846756313371033, + 0.7611128825009673 + ], + "target_position": [ + 0.27672472254197633, + -0.12112583049715851, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009737265350822498, + "xy_threshold": 0.08, + "gripper_dist": 0.21958719120890172, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611128825009673, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550778943223437, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08834337754260714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18860279394025398, + "release_required_pad_clearance": 0.05417168877130357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.337624670753339, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6132b5b1b94aa15dd84a9982f51e0cb87daadede2768900ba7634cae6f581328", + "visual_seed": 6552367761295363582, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52661c52f3ffbdd03dbdbf1a96a0934d6f7b8ce3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_16_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29222266703171856, + -0.11274787398296811, + 1.0013425693365448 + ], + "current_z": 1.0013425693365448, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1402361209264238, + "gripper_z": 1.0025973348092507, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2882419242033694, + -0.11696686401635618, + 1.0025973348092507 + ], + "object_minus_gripper": [ + 0.003980742828349149, + 0.004218990033388076, + -0.0012547654727059765 + ], + "object_to_gripper_xy": 0.005800533627803661, + "object_to_gripper_z": -0.0012547654727059765, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29222266703171856, + -0.13644761122149426, + 1.0013425693365448 + ], + "finger_b": [ + 0.2814801947578586, + -0.11274787398296811, + 1.0013425693365448 + ], + "finger_midpoint": [ + 0.2868514308947886, + -0.12459774260223119, + 1.0013425693365448 + ], + "object_minus_finger_midpoint": [ + 0.005371236136929969, + 0.011849868619263085, + 0.0 + ], + "finger_gap": 0.026020727425070823, + "fingertip_max_gap": 0.09380207103260144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013010363712535417, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013425693365448, + "object_top_z": 1.0516355669634916, + "finger_top_clearance": 0.050292997626946834, + "fingertip_min_top_clearance": 0.015087899288084065, + "object_projection_between_fingers": 0.8295607493254125, + "object_to_finger_line_xy": 0.009784267980814916, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940103551630072, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6667381698003383, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31526682889525337, + 0.01621745605640866, + 0.7701464494012563 + ], + "gripper_position": [ + 0.312478537654123, + -0.02492127684228311, + 1.0319077815467244 + ], + "target_minus_gripper": [ + 0.0027882912411303917, + 0.04113873289869177, + -0.26176133214546804 + ], + "held_position": [ + 0.3165708004903585, + -0.020853718732623025, + 1.0305626549322664 + ], + "held_minus_target": [ + 0.0013039715951051467, + -0.037071174789031686, + 0.2604162055310101 + ], + "held_minus_gripper": [ + 0.0040922628362355384, + 0.0040675581096600855, + -0.0013451266144579588 + ], + "xy_dist": 0.04123311669708305, + "held_xy_dist": 0.037094101177407975, + "held_gripper_dist": 0.00592461051084535, + "max_held_gripper_dist": 0.005966301696112194, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0305626549322664, + "required_height": 0.8001464494012563, + "gripper_z": 1.0319077815467244, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.58174204587297, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.075253850346616, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.535597081102918, + "max_source_tilt_deg": 89.73810670634279, + "source_upright_tilt_deg": 2.2728792071397916, + "max_source_upright_tilt_deg": 89.82306338852875, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.535597081102918, + "source_upright_return_tilt_deg": 2.2728792071397916, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.381903171539307e-08, + "max_target_xy_drift": 2.2734192583694938e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3153, + 0.0162, + 0.7701 + ], + "controller_target_position": [ + 0.3153, + 0.0162, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0008, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3145, + -0.0098, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008098858343038474, + -0.0007920915660627297, + -0.0013662589267397322 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2726141898210317, + "source_return_step_error_deg": 2.5354421941114356, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5185688569635465, + "source_return_best_wrist_position": -1.6063377857208252, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6063377857208252 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3153, + 0.0162, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3153, + 0.0162, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0008, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3145, + -0.0098, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008098858343038474, + -0.0007920915660627297, + -0.0013662589267397322 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2726141898210317, + "pour_controller_source_return_step_error_deg": 2.5354421941114356, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5185688569635465, + "pour_controller_source_return_best_wrist_position": -1.6063377857208252, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6063377857208252, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04123311669708305, + "valid_pour_held_xy_dist": 0.037094101177407975, + "valid_pour_held_gripper_dist": 0.00592461051084535, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0305626549322664, + "valid_pour_source_tilt_deg": 2.535597081102918, + "valid_pour_source_upright_tilt_deg": 2.2728792071397916, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.381903171539307e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3165708004903585, + -0.04455108691176032, + 1.0305626549322664 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30651999807079255, + -0.020853718732623025, + 1.0305626549322664 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31154539928057556, + -0.03270240282219167, + 1.0305626549322664 + ], + "valid_pour_held_grasp_object_position": [ + 0.3165708004903585, + -0.020853718732623025, + 1.0305626549322664 + ], + "valid_pour_held_grasp_finger_gap": 0.025740704883408724, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02390172456301773, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022187221854179994, + -0.9992132881983319, + 0.032871444663583604 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005301245496079512, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03799238717168164, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3165708004903585, + -0.04455108691176032, + 1.0305626549322664 + ], + "held_grasp_finger_b": [ + 0.30651999807079255, + -0.020853718732623025, + 1.0305626549322664 + ], + "held_grasp_midpoint": [ + 0.31154539928057556, + -0.03270240282219167, + 1.0305626549322664 + ], + "held_grasp_object_position": [ + 0.3165708004903585, + -0.020853718732623025, + 1.0305626549322664 + ], + "held_grasp_finger_gap": 0.025740704883408724, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02390172456301773, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022187221854179994, + -0.9992132881983319, + 0.032871444663583604 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005301245496079512, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03799238717168164, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27322168942390607, + -0.11238087468358123, + 0.7611065302879273 + ], + "target_position": [ + 0.2694128682879987, + -0.1140994690186119, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0041785984413118885, + "xy_threshold": 0.08, + "gripper_dist": 0.21770101834537486, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065302879273, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549946004371064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858428803930368, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886258999434351, + "release_required_pad_clearance": 0.0529214401965184, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8802605366926672, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49c3df724117cb22ae27596ea25c626774c7a437ddb2ce3bf5712fef5b103f5e", + "visual_seed": 7840963682238288523, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64c11a7617d2d9847d122108ba6c51a373dd93cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_17_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3016037858998445, + -0.11527744262529074, + 1.0029294258185875 + ], + "current_z": 1.0029294258185875, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1418229178038214, + "gripper_z": 1.0037587710129658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29802295320195277, + -0.11931447151832623, + 1.0037587710129658 + ], + "object_minus_gripper": [ + 0.0035808326978917226, + 0.004037028893035491, + -0.0008293451943783836 + ], + "object_to_gripper_xy": 0.005396291790988871, + "object_to_gripper_z": -0.0008293451943783836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3016037858998445, + -0.1386151658306039, + 1.0029294258185875 + ], + "finger_b": [ + 0.2910284043357515, + -0.11527744262529074, + 1.0029294258185875 + ], + "finger_midpoint": [ + 0.296316095117798, + -0.12694630422794734, + 1.0029294258185875 + ], + "object_minus_finger_midpoint": [ + 0.005287690782046495, + 0.011668861602656594, + 0.0 + ], + "finger_gap": 0.025622022161296526, + "fingertip_max_gap": 0.09386257760705277, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012811011080648275, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0029294258185875, + "object_top_z": 1.053122496948545, + "finger_top_clearance": 0.050193071129957634, + "fingertip_min_top_clearance": 0.015057921338987257, + "object_projection_between_fingers": 0.8296409197406004, + "object_to_finger_line_xy": 0.009632546806012322, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943128880352639, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.141567463872934, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31445271885458875, + 0.009112194968991056, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3146015656124286, + -0.03200546698179578, + 1.0317059877478172 + ], + "target_minus_gripper": [ + -0.0001488467578398267, + 0.04111766195078684, + -0.26155959795120554 + ], + "held_position": [ + 0.3182671024962276, + -0.028073122982278778, + 1.0307949210390064 + ], + "held_minus_target": [ + 0.00381438364163883, + -0.037185317951269836, + 0.26064853124239473 + ], + "held_minus_gripper": [ + 0.0036655368837990032, + 0.003932343999517002, + -0.0009110667088108038 + ], + "xy_dist": 0.04111793136402296, + "held_xy_dist": 0.037380441325680365, + "held_gripper_dist": 0.005452479484136701, + "max_held_gripper_dist": 0.005463008414596053, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0307949210390064, + "required_height": 0.8001463897966117, + "gripper_z": 1.0317059877478172, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.02637253427005, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6263077126870837, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5558740849950237, + "max_source_tilt_deg": 89.82722312767969, + "source_upright_tilt_deg": 2.7958843618530427, + "max_source_upright_tilt_deg": 89.68914324952502, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5558740849950237, + "source_upright_return_tilt_deg": 2.7958843618530427, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.514431838712321e-08, + "max_target_xy_drift": 1.6476778325582046e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3145, + 0.0091, + 0.7701 + ], + "controller_target_position": [ + 0.3145, + 0.0091, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0008, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.316, + -0.0169, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015714918512379967, + -0.0007706117857780575, + -0.0012044113713421095 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7956663685852874, + "source_return_step_error_deg": 2.555712487559327, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.794493930648408, + "source_return_best_wrist_position": -1.607906460762024, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607906460762024 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3145, + 0.0091, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3145, + 0.0091, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0008, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.316, + -0.0169, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015714918512379967, + -0.0007706117857780575, + -0.0012044113713421095 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7956663685852874, + "pour_controller_source_return_step_error_deg": 2.555712487559327, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.794493930648408, + "pour_controller_source_return_best_wrist_position": -1.607906460762024, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607906460762024, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04111793136402296, + "valid_pour_held_xy_dist": 0.037380441325680365, + "valid_pour_held_gripper_dist": 0.005452479484136701, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0307949210390064, + "valid_pour_source_tilt_deg": 2.5558740849950237, + "valid_pour_source_upright_tilt_deg": 2.7958843618530427, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.514431838712321e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3182671024962276, + -0.051312773141599995, + 1.0307949210390064 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30827658962826443, + -0.028073122982278778, + 1.0307949210390064 + ], + "valid_pour_held_grasp_midpoint": [ + 0.313271846062246, + -0.03969294806193939, + 1.0307949210390064 + ], + "valid_pour_held_grasp_object_position": [ + 0.3182671024962276, + -0.028073122982278778, + 1.0307949210390064 + ], + "valid_pour_held_grasp_finger_gap": 0.025296080465016236, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02357337996705696, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03617362528299365, + -0.9988096524282752, + 0.03272227146751283 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005425450408496396, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03829495315543721, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3182671024962276, + -0.051312773141599995, + 1.0307949210390064 + ], + "held_grasp_finger_b": [ + 0.30827658962826443, + -0.028073122982278778, + 1.0307949210390064 + ], + "held_grasp_midpoint": [ + 0.313271846062246, + -0.03969294806193939, + 1.0307949210390064 + ], + "held_grasp_object_position": [ + 0.3182671024962276, + -0.028073122982278778, + 1.0307949210390064 + ], + "held_grasp_finger_gap": 0.025296080465016236, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02357337996705696, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03617362528299365, + -0.9988096524282752, + 0.03272227146751283 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005425450408496396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03829495315543721, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2881000660669732, + -0.11986383392661205, + 0.7611064316289653 + ], + "target_position": [ + 0.2792332168068773, + -0.11683227030958582, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00937077338138856, + "xy_threshold": 0.08, + "gripper_dist": 0.22431412451979504, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064316289653, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564506417818959, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08597558608339105, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19360262588552113, + "release_required_pad_clearance": 0.05298779304169553, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0094843108345972, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98af6ca64a4335750b4aaa6b1a3fedc68756c0be7ae600183ea70aff8aabfe1b", + "visual_seed": 1432706354844883319, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f0aab54768bbce5f46f3472bae484723a64033 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_18_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3007224460423348, + -0.11324295746782684, + 1.002125310372044 + ], + "current_z": 1.002125310372044, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14101886196192304, + "gripper_z": 1.0038005414383833, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2970844490396564, + -0.11718929297240079, + 1.0038005414383833 + ], + "object_minus_gripper": [ + 0.0036379970026783615, + 0.003946335504573947, + -0.0016752310663392667 + ], + "object_to_gripper_xy": 0.005367363049594992, + "object_to_gripper_z": -0.0016752310663392667, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3007224460423348, + -0.13706181040620202, + 1.002125310372044 + ], + "finger_b": [ + 0.2908360069966234, + -0.11324295746782684, + 1.002125310372044 + ], + "finger_midpoint": [ + 0.2957792265194791, + -0.12515238393701444, + 1.002125310372044 + ], + "object_minus_finger_midpoint": [ + 0.004943219522855702, + 0.011909426469187606, + 0.0 + ], + "finger_gap": 0.025789133996792352, + "fingertip_max_gap": 0.09368943665559606, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01289456699839619, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002125310372044, + "object_top_z": 1.0524590474223743, + "finger_top_clearance": 0.050333737050330285, + "fingertip_min_top_clearance": 0.015100121115099119, + "object_projection_between_fingers": 0.8530375888096696, + "object_to_finger_line_xy": 0.009131118468084277, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049344718327798034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9918679151787035, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3145330659157459, + 0.011287082775168199, + 0.7701464494012565 + ], + "gripper_position": [ + 0.31191236610802386, + -0.02771864325115808, + 1.033015525164168 + ], + "target_minus_gripper": [ + 0.00262069980772206, + 0.03900572602632628, + -0.2628690757629114 + ], + "held_position": [ + 0.3155686693149237, + -0.023840623139590303, + 1.0312652432825384 + ], + "held_minus_target": [ + 0.001035603399177798, + -0.0351277059147585, + 0.2611187938812819 + ], + "held_minus_gripper": [ + 0.003656303206899858, + 0.0038780201115677787, + -0.0017502818816295118 + ], + "xy_dist": 0.039093666115152484, + "held_xy_dist": 0.0351429679627966, + "held_gripper_dist": 0.005609909071604539, + "max_held_gripper_dist": 0.005688430476656832, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0312652432825384, + "required_height": 0.8001464494012566, + "gripper_z": 1.033015525164168, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.53612771021082, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6030694228634097, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.56499595516945, + "max_source_tilt_deg": 89.94869168925024, + "source_upright_tilt_deg": 3.445036025755996, + "max_source_upright_tilt_deg": 89.8263742018059, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.56499595516945, + "source_upright_return_tilt_deg": 3.445036025755996, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.41936196213324e-08, + "max_target_xy_drift": 1.6727549033706612e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3145, + 0.0113, + 0.7701 + ], + "controller_target_position": [ + 0.3145, + 0.0113, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0012, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3127, + -0.0127, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018561240168946686, + 0.0012079875420317088, + 0.0009328621798812445 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.445039809514853, + "source_return_step_error_deg": 2.5649938826524905, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.439102229828914, + "source_return_best_wrist_position": -1.6104145050048828, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6104145050048828 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3145, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3145, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0012, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3127, + -0.0127, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018561240168946686, + 0.0012079875420317088, + 0.0009328621798812445 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.445039809514853, + "pour_controller_source_return_step_error_deg": 2.5649938826524905, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.439102229828914, + "pour_controller_source_return_best_wrist_position": -1.6104145050048828, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6104145050048828, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039093666115152484, + "valid_pour_held_xy_dist": 0.0351429679627966, + "valid_pour_held_gripper_dist": 0.005609909071604539, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0312652432825384, + "valid_pour_source_tilt_deg": 2.56499595516945, + "valid_pour_source_upright_tilt_deg": 3.445036025755996, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.41936196213324e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3155686693149237, + -0.04716079341336532, + 1.0312652432825384 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3058094144700584, + -0.023840623139590303, + 1.0312652432825384 + ], + "valid_pour_held_grasp_midpoint": [ + 0.310689041892491, + -0.03550070827647781, + 1.0312652432825384 + ], + "valid_pour_held_grasp_object_position": [ + 0.3155686693149237, + -0.023840623139590303, + 1.0312652432825384 + ], + "valid_pour_held_grasp_finger_gap": 0.02527990104262451, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023790643348148517, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05252600814076658, + -0.9981929109195612, + 0.029187858070251815 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005495664756022599, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03833754309545002, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3155686693149237, + -0.04716079341336532, + 1.0312652432825384 + ], + "held_grasp_finger_b": [ + 0.3058094144700584, + -0.023840623139590303, + 1.0312652432825384 + ], + "held_grasp_midpoint": [ + 0.310689041892491, + -0.03550070827647781, + 1.0312652432825384 + ], + "held_grasp_object_position": [ + 0.3155686693149237, + -0.023840623139590303, + 1.0312652432825384 + ], + "held_grasp_finger_gap": 0.02527990104262451, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023790643348148517, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05252600814076658, + -0.9981929109195612, + 0.029187858070251815 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005495664756022599, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03833754309545002, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2620590610363502, + -0.1003066493676764, + 0.7611063845482392 + ], + "target_position": [ + 0.27823269646465415, + -0.11576926907693744, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022375859564291983, + "xy_threshold": 0.08, + "gripper_dist": 0.2072543083510494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063845482392, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08027150255192397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09151804572220755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18328574541888384, + "release_required_pad_clearance": 0.05575902286110378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.707025001186991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fee9f97f21afe00d8a2c952b0bdd4e4915f1b71a7b86ffd8cfc2df4fcc9f4fc", + "visual_seed": 716584611199581622, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94a64c0b25a6efe2946a710d71c5b7453568260f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_19_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2983095981235647, + -0.11498190522802555, + 1.0010212584943177 + ], + "current_z": 1.0010212584943177, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1399146908749067, + "gripper_z": 1.0022585905142456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2942229549755736, + -0.11917529654117477, + 1.0022585905142456 + ], + "object_minus_gripper": [ + 0.00408664314799112, + 0.0041933913131492195, + -0.001237332019927928 + ], + "object_to_gripper_xy": 0.005855355063889645, + "object_to_gripper_z": -0.001237332019927928, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2983095981235647, + -0.13894570207009085, + 1.0010212584943177 + ], + "finger_b": [ + 0.2878318757478413, + -0.11498190522802555, + 1.0010212584943177 + ], + "finger_midpoint": [ + 0.293070736935703, + -0.1269638036490582, + 1.0010212584943177 + ], + "object_minus_finger_midpoint": [ + 0.00523886118786171, + 0.011981898421032658, + 0.0 + ], + "finger_gap": 0.026154277380010218, + "fingertip_max_gap": 0.09388704136490619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013077138690005116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010212584943177, + "object_top_z": 1.0511795095307117, + "finger_top_clearance": 0.05015825103639404, + "fingertip_min_top_clearance": 0.015047475310918178, + "object_projection_between_fingers": 0.839509872100646, + "object_to_finger_line_xy": 0.00960018916719541, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494435206824531, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0083865352752825, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31086761868063867, + 0.016856792240075844, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3113300509453186, + -0.025218259554141975, + 1.0340687207121722 + ], + "target_minus_gripper": [ + -0.00046243226467995724, + 0.04207505179421782, + -0.2639223309155605 + ], + "held_position": [ + 0.3154466287388849, + -0.02109504977537381, + 1.0327479626192688 + ], + "held_minus_target": [ + 0.004579010058246236, + -0.037951842015449655, + 0.26260157282265717 + ], + "held_minus_gripper": [ + 0.004116577793566278, + 0.004123209778768164, + -0.0013207580929033291 + ], + "xy_dist": 0.04207759293359744, + "held_xy_dist": 0.03822708000199819, + "held_gripper_dist": 0.005974234139216679, + "max_held_gripper_dist": 0.006010621340278988, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0327479626192688, + "required_height": 0.8001463897966117, + "gripper_z": 1.0340687207121722, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.11301914788844, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4567307891221133, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.481885134875081, + "max_source_tilt_deg": 89.8514471773275, + "source_upright_tilt_deg": 3.4087484699218926, + "max_source_upright_tilt_deg": 89.68998254655482, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.481885134875081, + "source_upright_return_tilt_deg": 3.4087484699218926, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.233205377663523e-08, + "max_target_xy_drift": 1.6829903420919952e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3109, + 0.0169, + 0.7701 + ], + "controller_target_position": [ + 0.3109, + 0.0169, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + -0.0017, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3128, + -0.0101, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019530009381985708, + -0.0017126937680593168, + 0.0016796583350855293 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.408750521244356, + "source_return_step_error_deg": 2.481888038470992, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4009766666955894, + "source_return_best_wrist_position": -1.6084405183792114, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084405183792114 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3109, + 0.0169, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3109, + 0.0169, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + -0.0017, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3128, + -0.0101, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019530009381985708, + -0.0017126937680593168, + 0.0016796583350855293 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.408750521244356, + "pour_controller_source_return_step_error_deg": 2.481888038470992, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4009766666955894, + "pour_controller_source_return_best_wrist_position": -1.6084405183792114, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084405183792114, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04207759293359744, + "valid_pour_held_xy_dist": 0.03822708000199819, + "valid_pour_held_gripper_dist": 0.005974234139216679, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0327479626192688, + "valid_pour_source_tilt_deg": 2.481885134875081, + "valid_pour_source_upright_tilt_deg": 3.4087484699218926, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.233205377663523e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3154466287388849, + -0.04469189579379709, + 1.0327479626192688 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30520969846916957, + -0.02109504977537381, + 1.0327479626192688 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31032816360402726, + -0.03289347278458545, + 1.0327479626192688 + ], + "valid_pour_held_grasp_object_position": [ + 0.3154466287388849, + -0.02109504977537381, + 1.0327479626192688 + ], + "valid_pour_held_grasp_finger_gap": 0.025721700631260617, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024049179599016878, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04826464710032225, + -0.9982307700684987, + 0.03472540177929606 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005696389798258413, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038189742097445044, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3154466287388849, + -0.04469189579379709, + 1.0327479626192688 + ], + "held_grasp_finger_b": [ + 0.30520969846916957, + -0.02109504977537381, + 1.0327479626192688 + ], + "held_grasp_midpoint": [ + 0.31032816360402726, + -0.03289347278458545, + 1.0327479626192688 + ], + "held_grasp_object_position": [ + 0.3154466287388849, + -0.02109504977537381, + 1.0327479626192688 + ], + "held_grasp_finger_gap": 0.025721700631260617, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024049179599016878, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04826464710032225, + -0.9982307700684987, + 0.03472540177929606 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005696389798258413, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038189742097445044, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27881737379858834, + -0.12306186145274027, + 0.7611134551475115 + ], + "target_position": [ + 0.27521886843795607, + -0.11669125803730027, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007316681536551599, + "xy_threshold": 0.08, + "gripper_dist": 0.21880360019667508, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611134551475115, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581462234780761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628654677801974, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18753997902782088, + "release_required_pad_clearance": 0.05314327338900987, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.309232247411569, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "999f7916b2e344331aab7e678ebbf34cf3d3d2cb49f79c1bb6867b9b30566b0c", + "visual_seed": 5911435105943128661, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd67a56cebd8e94f60636526dac158e47829396 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_1_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29318843734114985, + -0.11026604581131645, + 1.0011907564745046 + ], + "current_z": 1.0011907564745046, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14008430806438332, + "gripper_z": 1.0027421219651085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28925822357191655, + -0.11444829244810094, + 1.0027421219651085 + ], + "object_minus_gripper": [ + 0.003930213769233304, + 0.004182246636784487, + -0.001551365490603862 + ], + "object_to_gripper_xy": 0.005739143420647911, + "object_to_gripper_z": -0.001551365490603862, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29318843734114985, + -0.13394838373398626, + 1.0011907564745046 + ], + "finger_b": [ + 0.28252987289672693, + -0.11026604581131645, + 1.0011907564745046 + ], + "finger_midpoint": [ + 0.2878591551189384, + -0.12210721477265135, + 1.0011907564745046 + ], + "object_minus_finger_midpoint": [ + 0.005329282222211462, + 0.0118411689613349, + 0.0 + ], + "finger_gap": 0.025970331640151254, + "fingertip_max_gap": 0.09382155400051337, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01298516582007562, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011907564745046, + "object_top_z": 1.0513966326064372, + "finger_top_clearance": 0.050205876131932614, + "fingertip_min_top_clearance": 0.015061762839579784, + "object_projection_between_fingers": 0.8315610833040358, + "object_to_finger_line_xy": 0.00971954183877748, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049410777000256687, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9828247992032977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31265349304739887, + 0.010662587216727512, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3103987461751275, + -0.031010010570704766, + 1.0313517263333103 + ], + "target_minus_gripper": [ + 0.0022547468722713404, + 0.04167259778743228, + -0.26120527693205375 + ], + "held_position": [ + 0.3144434571807926, + -0.026987301146162247, + 1.0297132820538213 + ], + "held_minus_target": [ + 0.0017899641333937177, + -0.03764988836288976, + 0.25956683265256475 + ], + "held_minus_gripper": [ + 0.004044711005665058, + 0.0040227094245425185, + -0.0016384442794890042 + ], + "xy_dist": 0.04173355112869168, + "held_xy_dist": 0.03769241389639164, + "held_gripper_dist": 0.005935181369650088, + "max_held_gripper_dist": 0.006005119595029472, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0297132820538213, + "required_height": 0.8001464494012566, + "gripper_z": 1.0313517263333103, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.09639563364102, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.461686265877154, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.608835747762169, + "max_source_tilt_deg": 89.98096876020809, + "source_upright_tilt_deg": 2.5114703741584656, + "max_source_upright_tilt_deg": 89.94932511084274, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.608835747762169, + "source_upright_return_tilt_deg": 2.5114703741584656, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.8870999814814557e-08, + "max_target_xy_drift": 1.5876250220358397e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3127, + 0.0107, + 0.7701 + ], + "controller_target_position": [ + 0.3127, + 0.0107, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0014, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3126, + -0.0159, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.511888397474521e-05, + -0.0013784349006553587, + -0.001313047460644225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.51146923976766, + "source_return_step_error_deg": 2.6088298275007027, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5920662793891402, + "source_return_best_wrist_position": -1.6072540283203125, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6072540283203125 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3127, + 0.0107, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3127, + 0.0107, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0014, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3126, + -0.0159, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.511888397474521e-05, + -0.0013784349006553587, + -0.001313047460644225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.51146923976766, + "pour_controller_source_return_step_error_deg": 2.6088298275007027, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5920662793891402, + "pour_controller_source_return_best_wrist_position": -1.6072540283203125, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6072540283203125, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04173355112869168, + "valid_pour_held_xy_dist": 0.03769241389639164, + "valid_pour_held_gripper_dist": 0.005935181369650088, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0297132820538213, + "valid_pour_source_tilt_deg": 2.608835747762169, + "valid_pour_source_upright_tilt_deg": 2.5114703741584656, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.8870999814814557e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3144434571807926, + -0.050622871757327034, + 1.0297132820538213 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30447499191995364, + -0.026987301146162247, + 1.0297132820538213 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3094592245503731, + -0.038805086451744644, + 1.0297132820538213 + ], + "valid_pour_held_grasp_object_position": [ + 0.3144434571807926, + -0.026987301146162247, + 1.0297132820538213 + ], + "valid_pour_held_grasp_finger_gap": 0.02565171529882377, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023895659071514894, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028368553995712906, + -0.9990394780380015, + 0.033396803226507066 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00533193202500449, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03805521147934411, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3144434571807926, + -0.050622871757327034, + 1.0297132820538213 + ], + "held_grasp_finger_b": [ + 0.30447499191995364, + -0.026987301146162247, + 1.0297132820538213 + ], + "held_grasp_midpoint": [ + 0.3094592245503731, + -0.038805086451744644, + 1.0297132820538213 + ], + "held_grasp_object_position": [ + 0.3144434571807926, + -0.026987301146162247, + 1.0297132820538213 + ], + "held_grasp_finger_gap": 0.02565171529882377, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023895659071514894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028368553995712906, + -0.9990394780380015, + 0.033396803226507066 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00533193202500449, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03805521147934411, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2713848939692642, + -0.12014278212572431, + 0.7611063256569559 + ], + "target_position": [ + 0.2704426103186267, + -0.11385614118655756, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006356866584746461, + "xy_threshold": 0.08, + "gripper_dist": 0.21685871151740058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063256569559, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549432660591987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09032090153490034, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1866332489313883, + "release_required_pad_clearance": 0.05516045076745017, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.414652511878468, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f604c70398f7e806645c835c122cc1965ee58290de274535352372add71b762a", + "visual_seed": 186859615720725038, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01e4dc3717ee55e6423fbb9efbaf02045f2df077 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_20_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2941163682302698, + -0.11916916497080239, + 1.0010695073702003 + ], + "current_z": 1.0010695073702003, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.13996293975078944, + "gripper_z": 1.0025667279373232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2897236060818675, + -0.12350217481742319, + 1.0025667279373232 + ], + "object_minus_gripper": [ + 0.0043927621484023405, + 0.0043330098466208, + -0.00149722056712287 + ], + "object_to_gripper_xy": 0.0061701972110580995, + "object_to_gripper_z": -0.00149722056712287, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2941163682302698, + -0.1433590391339025, + 1.0010695073702003 + ], + "finger_b": [ + 0.2834792541165635, + -0.11916916497080239, + 1.0010695073702003 + ], + "finger_midpoint": [ + 0.28879781117341663, + -0.13126410205235245, + 1.0010695073702003 + ], + "object_minus_finger_midpoint": [ + 0.00531855705685319, + 0.012094937081550058, + 0.0 + ], + "finger_gap": 0.026425332707359205, + "fingertip_max_gap": 0.0924738112884991, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01321266635367962, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010695073702003, + "object_top_z": 1.051005750448402, + "finger_top_clearance": 0.04993624307820177, + "fingertip_min_top_clearance": 0.014980872923460547, + "object_projection_between_fingers": 0.8379657927527479, + "object_to_finger_line_xy": 0.009737264416634339, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048736905644249554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1888028398525847, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31169919288222236, + 0.013756722069017669, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3097108248307559, + -0.024993750663170125, + 1.0335880286799173 + ], + "target_minus_gripper": [ + 0.0019883680514664603, + 0.03875047273218779, + -0.26344163888330563 + ], + "held_position": [ + 0.314074342575344, + -0.020677875948377583, + 1.0320011284344577 + ], + "held_minus_target": [ + 0.0023751496931216365, + -0.03443459801739525, + 0.26185473863784603 + ], + "held_minus_gripper": [ + 0.004363517744588097, + 0.004315874714792542, + -0.0015869002454595993 + ], + "xy_dist": 0.038801452865532264, + "held_xy_dist": 0.03451641459775822, + "held_gripper_dist": 0.006339188753315406, + "max_held_gripper_dist": 0.006393474715977045, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0320011284344577, + "required_height": 0.8001463897966117, + "gripper_z": 1.0335880286799173, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.75289859009192, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7347010584654134, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.81862017079111, + "max_source_tilt_deg": 89.9962573607374, + "source_upright_tilt_deg": 3.499622910784141, + "max_source_upright_tilt_deg": 89.92500376209021, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.81862017079111, + "source_upright_return_tilt_deg": 3.499622910784141, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.967009240670699e-08, + "max_target_xy_drift": 1.5200827836037387e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3117, + 0.0138, + 0.7701 + ], + "controller_target_position": [ + 0.3117, + 0.0138, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.0015, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3112, + -0.01, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004614069021804984, + 0.0014674273331412892, + 0.0010536542425402667 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.4998295925546947, + "source_return_step_error_deg": 2.8187995674095623, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4933006936251525, + "source_return_best_wrist_position": -1.6093500852584839, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093500852584839 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3117, + 0.0138, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3117, + 0.0138, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.0015, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3112, + -0.01, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004614069021804984, + 0.0014674273331412892, + 0.0010536542425402667 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.4998295925546947, + "pour_controller_source_return_step_error_deg": 2.8187995674095623, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4933006936251525, + "pour_controller_source_return_best_wrist_position": -1.6093500852584839, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093500852584839, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038801452865532264, + "valid_pour_held_xy_dist": 0.03451641459775822, + "valid_pour_held_gripper_dist": 0.006339188753315406, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0320011284344577, + "valid_pour_source_tilt_deg": 2.81862017079111, + "valid_pour_source_upright_tilt_deg": 3.499622910784141, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.967009240670699e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.314074342575344, + -0.044229596450858034, + 1.0320011284344577 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3033261809890818, + -0.020677875948377583, + 1.0320011284344577 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3087002617822129, + -0.032453736199617805, + 1.0320011284344577 + ], + "valid_pour_held_grasp_object_position": [ + 0.314074342575344, + -0.020677875948377583, + 1.0320011284344577 + ], + "valid_pour_held_grasp_finger_gap": 0.025888347110454155, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024035751281186568, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04912000914092238, + -0.998135209839359, + 0.036239861767597185 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005960975851234614, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038230324224867086, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.314074342575344, + -0.044229596450858034, + 1.0320011284344577 + ], + "held_grasp_finger_b": [ + 0.3033261809890818, + -0.020677875948377583, + 1.0320011284344577 + ], + "held_grasp_midpoint": [ + 0.3087002617822129, + -0.032453736199617805, + 1.0320011284344577 + ], + "held_grasp_object_position": [ + 0.314074342575344, + -0.020677875948377583, + 1.0320011284344577 + ], + "held_grasp_finger_gap": 0.025888347110454155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024035751281186568, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04912000914092238, + -0.998135209839359, + 0.036239861767597185 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005960975851234614, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038230324224867086, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.276681302669603, + -0.12894823377727072, + 0.7611093248988925 + ], + "target_position": [ + 0.27099691322208946, + -0.12247536803129615, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008614538545761705, + "xy_threshold": 0.08, + "gripper_dist": 0.21875966552445045, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611093248988925, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544655298110653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504552320564794, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18797943115190915, + "release_required_pad_clearance": 0.05252276160282397, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11187153445353622, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f326365d1bde55790626c62d111b054437f4dde59e53f1dc42c57187b87cead5", + "visual_seed": 5586258938468635145, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03bbe62463819c60c26e909d9d24effb2e4b3dcf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_21_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3015378652724164, + -0.1138815344913106, + 1.0018101320567494 + ], + "current_z": 1.0018101320567494, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14070368364662833, + "gripper_z": 1.002925330977189, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2976842528831418, + -0.11799148481955254, + 1.002925330977189 + ], + "object_minus_gripper": [ + 0.0038536123892745633, + 0.004109950328241949, + -0.0011151989204396529 + ], + "object_to_gripper_xy": 0.005634005692878426, + "object_to_gripper_z": -0.0011151989204396529, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3015378652724164, + -0.13759550832246367, + 1.0018101320567494 + ], + "finger_b": [ + 0.2910644435192954, + -0.1138815344913106, + 1.0018101320567494 + ], + "finger_midpoint": [ + 0.2963011543958559, + -0.12573852140688713, + 1.0018101320567494 + ], + "object_minus_finger_midpoint": [ + 0.005236710876560469, + 0.011856986915576531, + 0.0 + ], + "finger_gap": 0.025923833012950863, + "fingertip_max_gap": 0.09435207632484124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012961916506475412, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018101320567494, + "object_top_z": 1.0521393229465348, + "finger_top_clearance": 0.05032919088978538, + "fingertip_min_top_clearance": 0.015098757266935596, + "object_projection_between_fingers": 0.8367779777471106, + "object_to_finger_line_xy": 0.009580622173120132, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049676038162420624, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.179580062138147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31576634562079353, + 0.008719312815599222, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3135567027305366, + -0.03025771061177758, + 1.0327819373919702 + ], + "target_minus_gripper": [ + 0.0022096428902569354, + 0.0389770234273768, + -0.2626354879907139 + ], + "held_position": [ + 0.3174907992626826, + -0.026263284645407177, + 1.0315861979968952 + ], + "held_minus_target": [ + 0.0017244536418890566, + -0.0349825974610064, + 0.2614397485956389 + ], + "held_minus_gripper": [ + 0.003934096532145992, + 0.003994425966370403, + -0.0011957393950750017 + ], + "xy_dist": 0.039039606516469184, + "held_xy_dist": 0.0350250748105102, + "held_gripper_dist": 0.0057325689726327395, + "max_held_gripper_dist": 0.0057590050725570135, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0315861979968952, + "required_height": 0.8001464494012563, + "gripper_z": 1.0327819373919702, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.08785673098612, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.624437658801788, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4781396554499486, + "max_source_tilt_deg": 89.82946183401563, + "source_upright_tilt_deg": 2.9069550048244683, + "max_source_upright_tilt_deg": 89.77713464948513, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4781396554499486, + "source_upright_return_tilt_deg": 2.9069550048244683, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.8993398500341434e-08, + "max_target_xy_drift": 1.0337680578058339e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3158, + 0.0087, + 0.7701 + ], + "controller_target_position": [ + 0.3158, + 0.0087, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0015, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3142, + -0.015, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015854872994844253, + 0.0014502169218584544, + 0.0005763854641287073 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9068092313004485, + "source_return_step_error_deg": 2.478012524184998, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.903021948856411, + "source_return_best_wrist_position": -1.608209252357483, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608209252357483 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3158, + 0.0087, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3158, + 0.0087, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0015, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3142, + -0.015, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015854872994844253, + 0.0014502169218584544, + 0.0005763854641287073 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9068092313004485, + "pour_controller_source_return_step_error_deg": 2.478012524184998, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.903021948856411, + "pour_controller_source_return_best_wrist_position": -1.608209252357483, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608209252357483, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039039606516469184, + "valid_pour_held_xy_dist": 0.0350250748105102, + "valid_pour_held_gripper_dist": 0.0057325689726327395, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0315861979968952, + "valid_pour_source_tilt_deg": 2.4781396554499486, + "valid_pour_source_upright_tilt_deg": 2.9069550048244683, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.8993398500341434e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3174907992626826, + -0.049830358643611405, + 1.0315861979968952 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30756314958014197, + -0.026263284645407177, + 1.0315861979968952 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3125269744214123, + -0.03804682164450929, + 1.0315861979968952 + ], + "valid_pour_held_grasp_object_position": [ + 0.3174907992626826, + -0.026263284645407177, + 1.0315861979968952 + ], + "valid_pour_held_grasp_finger_gap": 0.025572743401052665, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023918119269572158, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03841503146416543, + -0.9987132172812632, + 0.03310883545695853 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005426640448678109, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038142561410228995, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3174907992626826, + -0.049830358643611405, + 1.0315861979968952 + ], + "held_grasp_finger_b": [ + 0.30756314958014197, + -0.026263284645407177, + 1.0315861979968952 + ], + "held_grasp_midpoint": [ + 0.3125269744214123, + -0.03804682164450929, + 1.0315861979968952 + ], + "held_grasp_object_position": [ + 0.3174907992626826, + -0.026263284645407177, + 1.0315861979968952 + ], + "held_grasp_finger_gap": 0.025572743401052665, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023918119269572158, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03841503146416543, + -0.9987132172812632, + 0.03310883545695853 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005426640448678109, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038142561410228995, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2794079765399208, + -0.1180423132222233, + 0.7611063337487559 + ], + "target_position": [ + 0.27869689515030194, + -0.11737867772998965, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0009726504044179809, + "xy_threshold": 0.08, + "gripper_dist": 0.2166312711534291, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063337487559, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758526120696775, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08597141508281765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1869418497730796, + "release_required_pad_clearance": 0.05298570754140883, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0056001522722446, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33b3985bddea1f5960553f28af9ded253f678935210bd75c001cd0bee771df26", + "visual_seed": 3938365603134840167, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca2c4d2ff2eabb3d16646978489e275941c5a906 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_22_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30021230896600093, + -0.11492372738460235, + 1.0032778841805174 + ], + "current_z": 1.0032778841805174, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14217143577039637, + "gripper_z": 1.004970541507663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29627097973795374, + -0.1190532718838913, + 1.004970541507663 + ], + "object_minus_gripper": [ + 0.003941329228047186, + 0.004129544499288942, + -0.0016926573271456302 + ], + "object_to_gripper_xy": 0.00570852116186553, + "object_to_gripper_z": -0.0016926573271456302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30021230896600093, + -0.1389004156301187, + 1.0032778841805174 + ], + "finger_b": [ + 0.28999105989516405, + -0.11492372738460235, + 1.0032778841805174 + ], + "finger_midpoint": [ + 0.2951016844305825, + -0.12691207150736053, + 1.0032778841805174 + ], + "object_minus_finger_midpoint": [ + 0.00511062453541844, + 0.011988344122758177, + 0.0 + ], + "finger_gap": 0.026064449194079777, + "fingertip_max_gap": 0.0930143693368233, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013032224597039888, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032778841805174, + "object_top_z": 1.053402202637934, + "finger_top_clearance": 0.050124318457416495, + "fingertip_min_top_clearance": 0.015037295537224948, + "object_projection_between_fingers": 0.8462161110716643, + "object_to_finger_line_xy": 0.009402527581779665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049007184668411655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6925134274820373, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3112217596775714, + 0.01042595770829179, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31008248027424445, + -0.03143019781917401, + 1.032928287289655 + ], + "target_minus_gripper": [ + 0.0011392794033269205, + 0.0418561555274658, + -0.2627818378883984 + ], + "held_position": [ + 0.3140335687127554, + -0.027362798475421894, + 1.0311570916407113 + ], + "held_minus_target": [ + 0.002811809035184021, + -0.03778875618371368, + 0.2610106422394547 + ], + "held_minus_gripper": [ + 0.003951088438510941, + 0.00406739934375212, + -0.0017711956489436798 + ], + "xy_dist": 0.04187165763494742, + "held_xy_dist": 0.0378932231931054, + "held_gripper_dist": 0.00594070461286597, + "max_held_gripper_dist": 0.006016545353406623, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0311570916407113, + "required_height": 0.8001464494012567, + "gripper_z": 1.032928287289655, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.73270055452379, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2732749193029025, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6070820455087462, + "max_source_tilt_deg": 89.89187809212665, + "source_upright_tilt_deg": 3.3346856988515605, + "max_source_upright_tilt_deg": 89.9913837143525, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6070820455087462, + "source_upright_return_tilt_deg": 3.3346856988515605, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.41936196213324e-08, + "max_target_xy_drift": 1.266598701494398e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3112, + 0.0104, + 0.7701 + ], + "controller_target_position": [ + 0.3112, + 0.0104, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0016, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3109, + -0.0164, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00032485042172996715, + -0.0016254226254355762, + 0.0004471022084880259 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.334696645190236, + "source_return_step_error_deg": 2.6071036786890986, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3284712417330002, + "source_return_best_wrist_position": -1.609973430633545, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609973430633545 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3112, + 0.0104, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3112, + 0.0104, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0016, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3109, + -0.0164, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00032485042172996715, + -0.0016254226254355762, + 0.0004471022084880259 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.334696645190236, + "pour_controller_source_return_step_error_deg": 2.6071036786890986, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3284712417330002, + "pour_controller_source_return_best_wrist_position": -1.609973430633545, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609973430633545, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04187165763494742, + "valid_pour_held_xy_dist": 0.0378932231931054, + "valid_pour_held_gripper_dist": 0.00594070461286597, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0311570916407113, + "valid_pour_source_tilt_deg": 2.6070820455087462, + "valid_pour_source_upright_tilt_deg": 3.3346856988515605, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.41936196213324e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3140335687127554, + -0.05081419955143533, + 1.0311570916407113 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30389806203037095, + -0.027362798475421894, + 1.0311570916407113 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3089658153715632, + -0.03908849901342861, + 1.0311570916407113 + ], + "valid_pour_held_grasp_object_position": [ + 0.3140335687127554, + -0.027362798475421894, + 1.0311570916407113 + ], + "valid_pour_held_grasp_finger_gap": 0.025547929625249557, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023911252589072472, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04928807074814844, + -0.9983067938140687, + 0.030890637847089123 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005650903666405474, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03826418334598852, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3140335687127554, + -0.05081419955143533, + 1.0311570916407113 + ], + "held_grasp_finger_b": [ + 0.30389806203037095, + -0.027362798475421894, + 1.0311570916407113 + ], + "held_grasp_midpoint": [ + 0.3089658153715632, + -0.03908849901342861, + 1.0311570916407113 + ], + "held_grasp_object_position": [ + 0.3140335687127554, + -0.027362798475421894, + 1.0311570916407113 + ], + "held_grasp_finger_gap": 0.025547929625249557, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023911252589072472, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04928807074814844, + -0.9983067938140687, + 0.030890637847089123 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005650903666405474, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03826418334598852, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2779289404348916, + -0.11274890067773165, + 0.7611115783106249 + ], + "target_position": [ + 0.2773896120800834, + -0.11635589830338319, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003647095686399795, + "xy_threshold": 0.08, + "gripper_dist": 0.21811415334270617, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611115783106249, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522373383138066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08987285536236418, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19034155486180676, + "release_required_pad_clearance": 0.05493642768118209, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.918807886075731, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "60f1b01eeb0e0b6fbb5b13bba551634a33d22998fc0948da8e7ab6dfce8190bf", + "visual_seed": 3992200123591270653, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9076392d4f667115db3edf6829a31c7ad5224526 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_23_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3006700177146393, + -0.11691529913275506, + 1.0030943482245074 + ], + "current_z": 1.0030943482245074, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14198789981438598, + "gripper_z": 1.004103918598794, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2967750967352857, + -0.12104929341015322, + 1.004103918598794 + ], + "object_minus_gripper": [ + 0.003894920979353622, + 0.004133994277398162, + -0.001009570374286728 + ], + "object_to_gripper_xy": 0.0056798167330442744, + "object_to_gripper_z": -0.001009570374286728, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3006700177146393, + -0.14065126584460616, + 1.0030943482245074 + ], + "finger_b": [ + 0.29015492235109647, + -0.11691529913275506, + 1.0030943482245074 + ], + "finger_midpoint": [ + 0.29541247003286786, + -0.1287832824886806, + 1.0030943482245074 + ], + "object_minus_finger_midpoint": [ + 0.005257547681771446, + 0.011867983355925538, + 0.0 + ], + "finger_gap": 0.025960804037057552, + "fingertip_max_gap": 0.09390735342290393, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012980402018528776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030943482245074, + "object_top_z": 1.053278260283891, + "finger_top_clearance": 0.05018391205938366, + "fingertip_min_top_clearance": 0.015055173617815082, + "object_projection_between_fingers": 0.8359447422185129, + "object_to_finger_line_xy": 0.009613953141232546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945367671145197, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9330631322899086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3126852921253865, + 0.009310920579962507, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3110368019782906, + -0.029539460652163202, + 1.032737925906672 + ], + "target_minus_gripper": [ + 0.0016484901470958935, + 0.03885038123212571, + -0.2625914765054156 + ], + "held_position": [ + 0.31502082641105067, + -0.025527431507523284, + 1.0316436421829058 + ], + "held_minus_target": [ + 0.002335534285664187, + -0.03483835208748579, + 0.2614971927816494 + ], + "held_minus_gripper": [ + 0.0039840244327600804, + 0.004012029144639918, + -0.0010942837237661873 + ], + "xy_dist": 0.03888533967508292, + "held_xy_dist": 0.034916550467810226, + "held_gripper_dist": 0.005759017746662098, + "max_held_gripper_dist": 0.005772726438755347, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0316436421829058, + "required_height": 0.8001464494012565, + "gripper_z": 1.032737925906672, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.4382386052186, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3413251682545324, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5000836631980956, + "max_source_tilt_deg": 89.95122066213156, + "source_upright_tilt_deg": 2.700434902525669, + "max_source_upright_tilt_deg": 89.7565823082318, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5000836631980956, + "source_upright_return_tilt_deg": 2.700434902525669, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.6597412086982625e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3127, + 0.0093, + 0.7701 + ], + "controller_target_position": [ + 0.3127, + 0.0093, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0015, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3112, + -0.0144, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015018131226895433, + 0.0015387933893884495, + -8.103649982298664e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.700424593612446, + "source_return_step_error_deg": 2.500126527977405, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.69228166957048, + "source_return_best_wrist_position": -1.6082735061645508, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6082735061645508 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3127, + 0.0093, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3127, + 0.0093, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0015, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3112, + -0.0144, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015018131226895433, + 0.0015387933893884495, + -8.103649982298664e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.700424593612446, + "pour_controller_source_return_step_error_deg": 2.500126527977405, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.69228166957048, + "pour_controller_source_return_best_wrist_position": -1.6082735061645508, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6082735061645508, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03888533967508292, + "valid_pour_held_xy_dist": 0.034916550467810226, + "valid_pour_held_gripper_dist": 0.005759017746662098, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0316436421829058, + "valid_pour_source_tilt_deg": 2.5000836631980956, + "valid_pour_source_upright_tilt_deg": 2.700434902525669, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31502082641105067, + -0.04916537220536865, + 1.0316436421829058 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3051035503367985, + -0.025527431507523284, + 1.0316436421829058 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3100621883739246, + -0.03734640185644597, + 1.0316436421829058 + ], + "valid_pour_held_grasp_object_position": [ + 0.31502082641105067, + -0.025527431507523284, + 1.0316436421829058 + ], + "valid_pour_held_grasp_finger_gap": 0.025634051672878192, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02392616420258968, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03170959500605469, + -0.9988895266525543, + 0.03484558979825036 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005346592636555064, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03807164077667799, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31502082641105067, + -0.04916537220536865, + 1.0316436421829058 + ], + "held_grasp_finger_b": [ + 0.3051035503367985, + -0.025527431507523284, + 1.0316436421829058 + ], + "held_grasp_midpoint": [ + 0.3100621883739246, + -0.03734640185644597, + 1.0316436421829058 + ], + "held_grasp_object_position": [ + 0.31502082641105067, + -0.025527431507523284, + 1.0316436421829058 + ], + "held_grasp_finger_gap": 0.025634051672878192, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02392616420258968, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03170959500605469, + -0.9988895266525543, + 0.03484558979825036 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005346592636555064, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03807164077667799, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2794806658070949, + -0.11694806183871241, + 0.7611068445791253 + ], + "target_position": [ + 0.2777755401874275, + -0.11974432757968069, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0032751420538594997, + "xy_threshold": 0.08, + "gripper_dist": 0.21669454859903262, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068445791253, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553945793369206, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851006842779687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18790447458919177, + "release_required_pad_clearance": 0.05255034213898435, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785814935991958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4a41bfeb57832009af8e10067519a2da185db18f49b14ac92d96067d6468eaf8", + "visual_seed": 7637709012061497871, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..20ce7cbd125bf26cc174ff92da8648620699ebe8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_24_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2965499046814906, + -0.11788668380086077, + 1.0027565966086196 + ], + "current_z": 1.0027565966086196, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14165008859385342, + "gripper_z": 1.004730224345578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2926708323522135, + -0.12200939488910224, + 1.004730224345578 + ], + "object_minus_gripper": [ + 0.0038790723292771445, + 0.004122711088241471, + -0.0019736277369584165 + ], + "object_to_gripper_xy": 0.005660737483126451, + "object_to_gripper_z": -0.0019736277369584165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2965499046814906, + -0.14178161791669205, + 1.0027565966086196 + ], + "finger_b": [ + 0.28631325434475885, + -0.11788668380086077, + 1.0027565966086196 + ], + "finger_midpoint": [ + 0.2914315795131247, + -0.12983415085877642, + 1.0027565966086196 + ], + "object_minus_finger_midpoint": [ + 0.0051183251683659114, + 0.011947467057915648, + 0.0 + ], + "finger_gap": 0.025995324320277836, + "fingertip_max_gap": 0.09350610383088317, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012997662160138935, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027565966086196, + "object_top_z": 1.0529805969775168, + "finger_top_clearance": 0.05022400036889718, + "fingertip_min_top_clearance": 0.015067200110669154, + "object_projection_between_fingers": 0.8449309030993307, + "object_to_finger_line_xy": 0.009409541590993076, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04925305191544159, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.040994536895688, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3152035883671467, + 0.01530269146584727, + 0.7701465090059013 + ], + "gripper_position": [ + 0.31204662824124685, + -0.02526567900895242, + 1.0333471738387516 + ], + "target_minus_gripper": [ + 0.0031569601258998325, + 0.04056837047479969, + -0.2632006648328503 + ], + "held_position": [ + 0.31595681532821157, + -0.02123543993963875, + 1.0312879018240189 + ], + "held_minus_target": [ + 0.0007532269610648901, + -0.03653813140548602, + 0.26114139281811755 + ], + "held_minus_gripper": [ + 0.003910187086964723, + 0.004030239069313671, + -0.0020592720147327714 + ], + "xy_dist": 0.04069101965074261, + "held_xy_dist": 0.036545894399500456, + "held_gripper_dist": 0.005981052686739146, + "max_held_gripper_dist": 0.006082453394634396, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0312879018240189, + "required_height": 0.8001465090059013, + "gripper_z": 1.0333471738387516, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.55860019877257, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.651257430056382, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5930382949236557, + "max_source_tilt_deg": 89.87968554412926, + "source_upright_tilt_deg": 3.3831886551495405, + "max_source_upright_tilt_deg": 89.92811771574614, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5930382949236557, + "source_upright_return_tilt_deg": 3.3831886551495405, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.085099734384246e-08, + "max_target_xy_drift": 1.6276843762491482e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3152, + 0.0153, + 0.7701 + ], + "controller_target_position": [ + 0.3152, + 0.0153, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0004, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3135, + -0.0103, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016569632428853282, + -0.0004160418911726693, + 0.0005683024980160955 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3833999923500953, + "source_return_step_error_deg": 2.593272868467124, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3765300999552688, + "source_return_best_wrist_position": -1.6098417043685913, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098417043685913 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3152, + 0.0153, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3152, + 0.0153, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0004, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3135, + -0.0103, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016569632428853282, + -0.0004160418911726693, + 0.0005683024980160955 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3833999923500953, + "pour_controller_source_return_step_error_deg": 2.593272868467124, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3765300999552688, + "pour_controller_source_return_best_wrist_position": -1.6098417043685913, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098417043685913, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04069101965074261, + "valid_pour_held_xy_dist": 0.036545894399500456, + "valid_pour_held_gripper_dist": 0.005981052686739146, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0312879018240189, + "valid_pour_source_tilt_deg": 2.5930382949236557, + "valid_pour_source_upright_tilt_deg": 3.3831886551495405, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.085099734384246e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31595681532821157, + -0.04467636412102622, + 1.0312879018240189 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30590333344374293, + -0.02123543993963875, + 1.0312879018240189 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31093007438597725, + -0.03295590203033248, + 1.0312879018240189 + ], + "valid_pour_held_grasp_object_position": [ + 0.31595681532821157, + -0.02123543993963875, + 1.0312879018240189 + ], + "valid_pour_held_grasp_finger_gap": 0.02550587039249778, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023908784702278647, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.050600727442295816, + -0.9982571943207207, + 0.030366764220667312 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005624392561010792, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03827457121563779, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31595681532821157, + -0.04467636412102622, + 1.0312879018240189 + ], + "held_grasp_finger_b": [ + 0.30590333344374293, + -0.02123543993963875, + 1.0312879018240189 + ], + "held_grasp_midpoint": [ + 0.31093007438597725, + -0.03295590203033248, + 1.0312879018240189 + ], + "held_grasp_object_position": [ + 0.31595681532821157, + -0.02123543993963875, + 1.0312879018240189 + ], + "held_grasp_finger_gap": 0.02550587039249778, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023908784702278647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.050600727442295816, + -0.9982571943207207, + 0.030366764220667312 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005624392561010792, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03827457121563779, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25401607342205285, + -0.10192076398196752, + 0.7611070727155462 + ], + "target_position": [ + 0.27392873574045834, + -0.12261012129597855, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.028715215943357762, + "xy_threshold": 0.08, + "gripper_dist": 0.20477410128279966, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070727155462, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08485413759481285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628813437947601, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1818906666735355, + "release_required_pad_clearance": 0.053144067189738006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3104269933835369, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5100906d9859657d4c2148db29ea5d6b5af9b5de218d6afc427bf69ddd102a64", + "visual_seed": 6388572799624761301, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f502746eccdf11cee7556420bab1b8f3d4ecdf4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_25_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29922541760856636, + -0.11056001579125528, + 1.0014777022422288 + ], + "current_z": 1.0014777022422288, + "required_z": 0.8611065080147663, + "initial_z": 0.7611065080147663, + "lift_margin": 0.14037119422746247, + "gripper_z": 1.0029340446294053, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2952650893796373, + -0.11474249003368471, + 1.0029340446294053 + ], + "object_minus_gripper": [ + 0.003960328228929055, + 0.004182474242429429, + -0.0014563423871765124 + ], + "object_to_gripper_xy": 0.005759973130964933, + "object_to_gripper_z": -0.0014563423871765124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29922541760856636, + -0.1343034101378213, + 1.0014777022422288 + ], + "finger_b": [ + 0.288599113584119, + -0.11056001579125528, + 1.0014777022422288 + ], + "finger_midpoint": [ + 0.29391226559634265, + -0.12243171296453828, + 1.0014777022422288 + ], + "object_minus_finger_midpoint": [ + 0.00531315201222371, + 0.011871697173283, + 0.0 + ], + "finger_gap": 0.026012825919467672, + "fingertip_max_gap": 0.09378453554545649, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013006412959733841, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014777022422288, + "object_top_z": 1.051580981008505, + "finger_top_clearance": 0.050103278766276294, + "fingertip_min_top_clearance": 0.015030983629882904, + "object_projection_between_fingers": 0.8331257199224341, + "object_to_finger_line_xy": 0.009699235587861805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049392267772728246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1090268104302554, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31019730484549446, + 0.011713090209893964, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3104244720707582, + -0.029103675868678805, + 1.032789574389903 + ], + "target_minus_gripper": [ + -0.00022716722526372468, + 0.04081676607857277, + -0.26264324419793583 + ], + "held_position": [ + 0.31449179835304664, + -0.02507037005449582, + 1.0312508647226952 + ], + "held_minus_target": [ + 0.004294493507552177, + -0.036783460264389785, + 0.2611045345307281 + ], + "held_minus_gripper": [ + 0.004067326282288453, + 0.004033305814182986, + -0.001538709667207705 + ], + "xy_dist": 0.04081739822748583, + "held_xy_dist": 0.03703330424777608, + "held_gripper_dist": 0.005931131959185795, + "max_held_gripper_dist": 0.005988110848087667, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0312508647226952, + "required_height": 0.8001463301919671, + "gripper_z": 1.032789574389903, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.21498704200756, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.586981235320624, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.576920217067804, + "max_source_tilt_deg": 89.84685371495878, + "source_upright_tilt_deg": 2.7172691543525205, + "max_source_upright_tilt_deg": 89.71230370583756, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.576920217067804, + "source_upright_return_tilt_deg": 2.7172691543525205, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.191719375027217e-08, + "max_target_xy_drift": 1.428419319560047e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3102, + 0.0117, + 0.7701 + ], + "controller_target_position": [ + 0.3102, + 0.0117, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0005, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3117, + -0.014, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015316259895549896, + -0.0005047944007457543, + 0.0006488672007107918 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7172906955062768, + "source_return_step_error_deg": 2.5769352174244284, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7092098499106503, + "source_return_best_wrist_position": -1.608618974685669, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608618974685669 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3102, + 0.0117, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3102, + 0.0117, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0005, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3117, + -0.014, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015316259895549896, + -0.0005047944007457543, + 0.0006488672007107918 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7172906955062768, + "pour_controller_source_return_step_error_deg": 2.5769352174244284, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7092098499106503, + "pour_controller_source_return_best_wrist_position": -1.608618974685669, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608618974685669, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04081739822748583, + "valid_pour_held_xy_dist": 0.03703330424777608, + "valid_pour_held_gripper_dist": 0.005931131959185795, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0312508647226952, + "valid_pour_source_tilt_deg": 2.576920217067804, + "valid_pour_source_upright_tilt_deg": 2.7172691543525205, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.191719375027217e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31449179835304664, + -0.048725799811489605, + 1.0312508647226952 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30452320123271526, + -0.02507037005449582, + 1.0312508647226952 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30950749979288095, + -0.03689808493299271, + 1.0312508647226952 + ], + "valid_pour_held_grasp_object_position": [ + 0.31449179835304664, + -0.02507037005449582, + 1.0312508647226952 + ], + "valid_pour_held_grasp_finger_gap": 0.025670065943342375, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02395222490482133, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0324411093507142, + -0.9988756407429682, + 0.0345691879340545 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005380723518391595, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03806752996693828, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31449179835304664, + -0.048725799811489605, + 1.0312508647226952 + ], + "held_grasp_finger_b": [ + 0.30452320123271526, + -0.02507037005449582, + 1.0312508647226952 + ], + "held_grasp_midpoint": [ + 0.30950749979288095, + -0.03689808493299271, + 1.0312508647226952 + ], + "held_grasp_object_position": [ + 0.31449179835304664, + -0.02507037005449582, + 1.0312508647226952 + ], + "held_grasp_finger_gap": 0.025670065943342375, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02395222490482133, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0324411093507142, + -0.9988756407429682, + 0.0345691879340545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005380723518391595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03806752996693828, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26900723190759684, + -0.11372528444607168, + 0.7611088145414135 + ], + "target_position": [ + 0.2763553366617695, + -0.11551649256387951, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007563271117684144, + "xy_threshold": 0.08, + "gripper_dist": 0.2097453755522285, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088145414135, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524276334305169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09248237029600155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18216692806045873, + "release_required_pad_clearance": 0.05624118514800078, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.768467287476699, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2644f207e71577221d215fe9c531fbd0338db35486c17b96bc0699d71ac48da", + "visual_seed": 4692171570525186810, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e4b58add35e18289ed7ab66414a1fc68a244ac7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_26_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2998882340825819, + -0.11004411245162689, + 1.0026029214768326 + ], + "current_z": 1.0026029214768326, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.14149641346206687, + "gripper_z": 1.0046452488389073, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2960596297799704, + -0.11404081071987933, + 1.0046452488389073 + ], + "object_minus_gripper": [ + 0.0038286043026115046, + 0.003996698268252441, + -0.0020423273620746585 + ], + "object_to_gripper_xy": 0.0055346009750864055, + "object_to_gripper_z": -0.0020423273620746585, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2998882340825819, + -0.13402805490432426, + 1.0026029214768326 + ], + "finger_b": [ + 0.2899592671559458, + -0.11004411245162689, + 1.0026029214768326 + ], + "finger_midpoint": [ + 0.29492375061926385, + -0.12203608367797558, + 1.0026029214768326 + ], + "object_minus_finger_midpoint": [ + 0.00496448346331807, + 0.011991971226348694, + 0.0 + ], + "finger_gap": 0.02595792518296741, + "fingertip_max_gap": 0.09347698016739744, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012978962591483711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026029214768326, + "object_top_z": 1.0528539003393496, + "finger_top_clearance": 0.05025097886251695, + "fingertip_min_top_clearance": 0.0150752936587551, + "object_projection_between_fingers": 0.8536919657119075, + "object_to_finger_line_xy": 0.009173913928199173, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049238490083698724, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.798438393871297, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31185270464484144, + 0.009031575961642042, + 0.7701464494012565 + ], + "gripper_position": [ + 0.30995937380556315, + -0.03286808034614207, + 1.0307681242343636 + ], + "target_minus_gripper": [ + 0.0018933308392782844, + 0.04189965630778411, + -0.26062167483310705 + ], + "held_position": [ + 0.31378049344612696, + -0.028923428102858667, + 1.028652956492408 + ], + "held_minus_target": [ + 0.0019277888012855238, + -0.03795500406450071, + 0.2585065070911515 + ], + "held_minus_gripper": [ + 0.003821119640563808, + 0.0039446522432834, + -0.002115167741955526 + ], + "xy_dist": 0.04194241171388926, + "held_xy_dist": 0.038003930102012175, + "held_gripper_dist": 0.005885165350655195, + "max_held_gripper_dist": 0.005999037690380765, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.028652956492408, + "required_height": 0.8001464494012566, + "gripper_z": 1.0307681242343636, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.21620164948743, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.40081384595328, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.698486745629969, + "max_source_tilt_deg": 89.85969150426654, + "source_upright_tilt_deg": 3.7400555727021727, + "max_source_upright_tilt_deg": 89.72721538717514, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.698486745629969, + "source_upright_return_tilt_deg": 3.7400555727021727, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.981687075199785e-08, + "max_target_xy_drift": 1.2910160013410045e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3119, + 0.009, + 0.7701 + ], + "controller_target_position": [ + 0.3119, + 0.009, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0016, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.311, + -0.0178, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008881795432498238, + -0.001641024064485657, + -0.0017559402824513333 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.74001486524528, + "source_return_step_error_deg": 2.6984947428597517, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7341833314157946, + "source_return_best_wrist_position": -1.610724925994873, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610724925994873 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3119, + 0.009, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3119, + 0.009, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0016, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.311, + -0.0178, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008881795432498238, + -0.001641024064485657, + -0.0017559402824513333 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.74001486524528, + "pour_controller_source_return_step_error_deg": 2.6984947428597517, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7341833314157946, + "pour_controller_source_return_best_wrist_position": -1.610724925994873, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610724925994873, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04194241171388926, + "valid_pour_held_xy_dist": 0.038003930102012175, + "valid_pour_held_gripper_dist": 0.005885165350655195, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.028652956492408, + "valid_pour_source_tilt_deg": 2.698486745629969, + "valid_pour_source_upright_tilt_deg": 3.7400555727021727, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.981687075199785e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31378049344612696, + -0.05225749855607537, + 1.028652956492408 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3037954378996129, + -0.028923428102858667, + 1.028652956492408 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3087879656728699, + -0.040590463329467016, + 1.028652956492408 + ], + "valid_pour_held_grasp_object_position": [ + 0.31378049344612696, + -0.028923428102858667, + 1.028652956492408 + ], + "valid_pour_held_grasp_finger_gap": 0.025380704840146824, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023855553625638206, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05720333587359755, + -0.9978702681205189, + 0.03134814772863337 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005663278113620963, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038363651743419734, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31378049344612696, + -0.05225749855607537, + 1.028652956492408 + ], + "held_grasp_finger_b": [ + 0.3037954378996129, + -0.028923428102858667, + 1.028652956492408 + ], + "held_grasp_midpoint": [ + 0.3087879656728699, + -0.040590463329467016, + 1.028652956492408 + ], + "held_grasp_object_position": [ + 0.31378049344612696, + -0.028923428102858667, + 1.028652956492408 + ], + "held_grasp_finger_gap": 0.025380704840146824, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023855553625638206, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05720333587359755, + -0.9978702681205189, + 0.03134814772863337 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005663278113620963, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038363651743419734, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2800749053608184, + -0.1166759461658433, + 0.7611063976677919 + ], + "target_position": [ + 0.2771396888841046, + -0.11507851051806935, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00334175050145147, + "xy_threshold": 0.08, + "gripper_dist": 0.2175772790795768, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063976677919, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523014435544904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707714211519284, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18857292463548422, + "release_required_pad_clearance": 0.05353857105759642, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0887293747610105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d9feadf529e6e3b216e7b6cfd455a66821c38c76df1248ada2dd2bb569ebcce", + "visual_seed": 1696434806184255420, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f59822a35c1e1e6e35b991a3d1ebe0810652af2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_27_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29582792271019803, + -0.11249263131032564, + 1.0041734271561924 + ], + "current_z": 1.0041734271561924, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14306697874607133, + "gripper_z": 1.0053091180045512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2919035695866513, + -0.11659916951846212, + 1.0053091180045512 + ], + "object_minus_gripper": [ + 0.00392435312354672, + 0.004106538208136487, + -0.0011356908483588501 + ], + "object_to_gripper_xy": 0.005680158755983474, + "object_to_gripper_z": -0.0011356908483588501, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29582792271019803, + -0.13636725975399774, + 1.0041734271561924 + ], + "finger_b": [ + 0.28550325312046876, + -0.11249263131032564, + 1.0041734271561924 + ], + "finger_midpoint": [ + 0.29066558791533337, + -0.12442994553216169, + 1.0041734271561924 + ], + "object_minus_finger_midpoint": [ + 0.005162334794864665, + 0.011937314221836054, + 0.0 + ], + "finger_gap": 0.026011472189410533, + "fingertip_max_gap": 0.09346849814622007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013005736094705279, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041734271561924, + "object_top_z": 1.0543401353208979, + "finger_top_clearance": 0.050166708164705476, + "fingertip_min_top_clearance": 0.015050012449411659, + "object_projection_between_fingers": 0.8424485303759188, + "object_to_finger_line_xy": 0.009476497464792418, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04923424907311004, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5716885237251366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31623239433829237, + 0.009528425379328508, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3147419154746548, + -0.03051948446537614, + 1.032576180211399 + ], + "target_minus_gripper": [ + 0.0014904788636375677, + 0.040047909844704646, + -0.26242973081014265 + ], + "held_position": [ + 0.3186228311242207, + -0.026408061697107122, + 1.0313601766961966 + ], + "held_minus_target": [ + 0.002390436785928318, + -0.03593648707643563, + 0.2612137272949402 + ], + "held_minus_gripper": [ + 0.003880915649565886, + 0.004111422768269018, + -0.0012160035152024573 + ], + "xy_dist": 0.04007563611687956, + "held_xy_dist": 0.036015903312597124, + "held_gripper_dist": 0.005783075998763202, + "max_held_gripper_dist": 0.0058088808543054525, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0313601766961966, + "required_height": 0.8001464494012565, + "gripper_z": 1.032576180211399, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.12989654532754, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9802333848283376, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8404376796628696, + "max_source_tilt_deg": 89.84260295302832, + "source_upright_tilt_deg": 3.8989822023282854, + "max_source_upright_tilt_deg": 89.87672230193299, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8404376796628696, + "source_upright_return_tilt_deg": 3.8989822023282854, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.3969838619232178e-08, + "max_target_xy_drift": 7.981711574295845e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3162, + 0.0095, + 0.7701 + ], + "controller_target_position": [ + 0.3162, + 0.0095, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0002, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3167, + -0.0155, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005129410235536055, + 0.00018266408484700044, + -5.779265440776678e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8989822023282854, + "source_return_step_error_deg": 2.8404376796626125, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8966882376195873, + "source_return_best_wrist_position": -1.607804775238037, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607804775238037 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3162, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3162, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0002, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3167, + -0.0155, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005129410235536055, + 0.00018266408484700044, + -5.779265440776678e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8989822023282854, + "pour_controller_source_return_step_error_deg": 2.8404376796626125, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8966882376195873, + "pour_controller_source_return_best_wrist_position": -1.607804775238037, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607804775238037, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04007563611687956, + "valid_pour_held_xy_dist": 0.036015903312597124, + "valid_pour_held_gripper_dist": 0.005783075998763202, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0313601766961966, + "valid_pour_source_tilt_deg": 2.8404376796628696, + "valid_pour_source_upright_tilt_deg": 3.8989822023282854, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.3969838619232178e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3186228311242207, + -0.049624728957656, + 1.0313601766961966 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3081231967290843, + -0.026408061697107122, + 1.0313601766961966 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3133730139266525, + -0.03801639532738156, + 1.0313601766961966 + ], + "valid_pour_held_grasp_object_position": [ + 0.3186228311242207, + -0.026408061697107122, + 1.0313601766961966 + ], + "valid_pour_held_grasp_finger_gap": 0.025480501586871748, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023777586599135578, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05854055314355777, + -0.9976854961090379, + 0.03459269418980448 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005933614621149637, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03844611117582368, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3186228311242207, + -0.049624728957656, + 1.0313601766961966 + ], + "held_grasp_finger_b": [ + 0.3081231967290843, + -0.026408061697107122, + 1.0313601766961966 + ], + "held_grasp_midpoint": [ + 0.3133730139266525, + -0.03801639532738156, + 1.0313601766961966 + ], + "held_grasp_object_position": [ + 0.3186228311242207, + -0.026408061697107122, + 1.0313601766961966 + ], + "held_grasp_finger_gap": 0.025480501586871748, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023777586599135578, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05854055314355777, + -0.9976854961090379, + 0.03459269418980448 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005933614621149637, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03844611117582368, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27302942329439445, + -0.11614077409981176, + 0.7611063876884958 + ], + "target_position": [ + 0.27277012107605836, + -0.11656601991530097, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0004980679110574163, + "xy_threshold": 0.08, + "gripper_dist": 0.21596769030003288, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063876884958, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566797754378604, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585948419610155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.186755431516095, + "release_required_pad_clearance": 0.05292974209805078, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.896995653654739, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "863b38bd1fc9c457431591ddf2c488371ebb39e49aaba522b8531c08ee601005", + "visual_seed": 7568033412465676168, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4bd3b0edee9bd49a8493039647effcbe33bf5d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_28_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29382440410815563, + -0.11799051939874465, + 1.0033578947619657 + ], + "current_z": 1.0033578947619657, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1422513867471995, + "gripper_z": 1.0042735040766309, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2901131473935259, + -0.12206594522456819, + 1.0042735040766309 + ], + "object_minus_gripper": [ + 0.0037112567146297404, + 0.004075425825823542, + -0.0009156093146651667 + ], + "object_to_gripper_xy": 0.005512034294493625, + "object_to_gripper_z": -0.0009156093146651667, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29382440410815563, + -0.14149844938801717, + 1.0033578947619657 + ], + "finger_b": [ + 0.28331657258502746, + -0.11799051939874465, + 1.0033578947619657 + ], + "finger_midpoint": [ + 0.28857048834659155, + -0.1297444843933809, + 1.0033578947619657 + ], + "object_minus_finger_midpoint": [ + 0.0052539157615640875, + 0.011753964994636254, + 0.0 + ], + "finger_gap": 0.0257495105914459, + "fingertip_max_gap": 0.09361263268409334, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012874755295722944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033578947619657, + "object_top_z": 1.0534857856204658, + "finger_top_clearance": 0.05012789085850011, + "fingertip_min_top_clearance": 0.015038367257550034, + "object_projection_between_fingers": 0.8334716251488608, + "object_to_finger_line_xy": 0.009593089814562472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930631634204667, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0051666624232443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.317497115493459, + 0.01120922513925292, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3139222146969764, + -0.027967295782560853, + 1.0331791379974038 + ], + "target_minus_gripper": [ + 0.003574900796482594, + 0.03917652092181377, + -0.26303268859614715 + ], + "held_position": [ + 0.3176463781197247, + -0.02393622777258596, + 1.0321760729002323 + ], + "held_minus_target": [ + 0.0001492626262656893, + -0.03514545291183888, + 0.26202962349897563 + ], + "held_minus_gripper": [ + 0.0037241634227482834, + 0.004031068009974891, + -0.0010030650971715183 + ], + "xy_dist": 0.0393392896128286, + "held_xy_dist": 0.03514576986935816, + "held_gripper_dist": 0.005578982173259101, + "max_held_gripper_dist": 0.0055903833081713625, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0321760729002323, + "required_height": 0.8001464494012567, + "gripper_z": 1.0331791379974038, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.06236879738843, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5167731524367674, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6293455043667655, + "max_source_tilt_deg": 89.95900559781059, + "source_upright_tilt_deg": 3.5563291573788134, + "max_source_upright_tilt_deg": 89.73818959939437, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6293455043667655, + "source_upright_return_tilt_deg": 3.5563291573788134, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.05359673500061e-08, + "max_target_xy_drift": 1.5744585885855676e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3175, + 0.0112, + 0.7701 + ], + "controller_target_position": [ + 0.3175, + 0.0112, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0011, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3159, + -0.0129, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001583248510237083, + 0.0011050495731073124, + 0.0004986327370235465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.556327799726098, + "source_return_step_error_deg": 2.6293506962147317, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5539602996826085, + "source_return_best_wrist_position": -1.6070023775100708, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6070023775100708 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3175, + 0.0112, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3175, + 0.0112, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0011, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3159, + -0.0129, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001583248510237083, + 0.0011050495731073124, + 0.0004986327370235465 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.556327799726098, + "pour_controller_source_return_step_error_deg": 2.6293506962147317, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5539602996826085, + "pour_controller_source_return_best_wrist_position": -1.6070023775100708, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6070023775100708, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0393392896128286, + "valid_pour_held_xy_dist": 0.03514576986935816, + "valid_pour_held_gripper_dist": 0.005578982173259101, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0321760729002323, + "valid_pour_source_tilt_deg": 2.6293455043667655, + "valid_pour_source_upright_tilt_deg": 3.5563291573788134, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.05359673500061e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3176463781197247, + -0.04703728276744203, + 1.0321760729002323 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30729769142484553, + -0.02393622777258596, + 1.0321760729002323 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31247203477228513, + -0.035486755270014, + 1.0321760729002323 + ], + "valid_pour_held_grasp_object_position": [ + 0.3176463781197247, + -0.02393622777258596, + 1.0321760729002323 + ], + "valid_pour_held_grasp_finger_gap": 0.025313120277518798, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02359295559648928, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05183132586580044, + -0.9980743065309332, + 0.03407627182938366 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005779173874563119, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038460158424215775, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3176463781197247, + -0.04703728276744203, + 1.0321760729002323 + ], + "held_grasp_finger_b": [ + 0.30729769142484553, + -0.02393622777258596, + 1.0321760729002323 + ], + "held_grasp_midpoint": [ + 0.31247203477228513, + -0.035486755270014, + 1.0321760729002323 + ], + "held_grasp_object_position": [ + 0.3176463781197247, + -0.02393622777258596, + 1.0321760729002323 + ], + "held_grasp_finger_gap": 0.025313120277518798, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02359295559648928, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05183132586580044, + -0.9980743065309332, + 0.03407627182938366 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005779173874563119, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038460158424215775, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27409945762993454, + -0.11782167850769573, + 0.7611063920398614 + ], + "target_position": [ + 0.27155887424389474, + -0.12075244281686559, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038786522630064836, + "xy_threshold": 0.08, + "gripper_dist": 0.21643652296219848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063920398614, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754368617165181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850950555995625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18798245134608804, + "release_required_pad_clearance": 0.05254752779978125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312937477652117, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d4e57ad752b20dfe244c2d4f12426713dba0f332f5b8ab10b7d088631895e19", + "visual_seed": 7094878043446139904, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e431272b622803b6c2d887b42508999280f10d8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_29_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30115709913922817, + -0.11086681361057754, + 1.001138221037571 + ], + "current_z": 1.001138221037571, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1400317726274498, + "gripper_z": 1.0023875543450012, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2972609044163032, + -0.11488822442877966, + 1.0023875543450012 + ], + "object_minus_gripper": [ + 0.0038961947229249616, + 0.00402141081820212, + -0.001249333307430156 + ], + "object_to_gripper_xy": 0.005599292659586688, + "object_to_gripper_z": -0.001249333307430156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30115709913922817, + -0.13486377976832287, + 1.001138221037571 + ], + "finger_b": [ + 0.2911404197867804, + -0.11086681361057754, + 1.001138221037571 + ], + "finger_midpoint": [ + 0.2961487594630043, + -0.1228652966894502, + 1.001138221037571 + ], + "object_minus_finger_midpoint": [ + 0.005008339676223883, + 0.011998483078872663, + 0.0 + ], + "finger_gap": 0.026003619940803007, + "fingertip_max_gap": 0.09305778575615073, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013001809970401504, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001138221037571, + "object_top_z": 1.0512648092051569, + "finger_top_clearance": 0.05012658816758586, + "fingertip_min_top_clearance": 0.01503797645027579, + "object_projection_between_fingers": 0.8516184431688425, + "object_to_finger_line_xy": 0.009243709759674814, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902889287807537, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4350549209101704, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.318787615657491, + 0.010236193283133284, + 0.7701463897966113 + ], + "gripper_position": [ + 0.3155934701343408, + -0.028681374372199753, + 1.032551350816127 + ], + "target_minus_gripper": [ + 0.0031941455231501714, + 0.03891756765533304, + -0.2624049610195157 + ], + "held_position": [ + 0.31948427164349924, + -0.024691430494033665, + 1.0312288616006016 + ], + "held_minus_target": [ + 0.0006966559860082655, + -0.03492762377716695, + 0.26108247180399025 + ], + "held_minus_gripper": [ + 0.003890801509158437, + 0.003989943878166088, + -0.0013224892155254686 + ], + "xy_dist": 0.039048426829137235, + "held_xy_dist": 0.03493457073275925, + "held_gripper_dist": 0.005727736573880277, + "max_held_gripper_dist": 0.005762939658924635, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966113, + "held_z": 1.0312288616006016, + "required_height": 0.8001463897966113, + "gripper_z": 1.032551350816127, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.20137330879933, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.000396335145675, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.597886254911889, + "max_source_tilt_deg": 89.84599456002982, + "source_upright_tilt_deg": 3.349319672163144, + "max_source_upright_tilt_deg": 89.7548698318326, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.597886254911889, + "source_upright_return_tilt_deg": 3.349319672163144, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.749358375449443e-08, + "max_target_xy_drift": 1.78590665571607e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3188, + 0.0102, + 0.7701 + ], + "controller_target_position": [ + 0.3188, + 0.0102, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0012, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.317, + -0.0138, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017890837426044796, + 0.0011715049137912782, + 0.000815562428519657 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3493099825656363, + "source_return_step_error_deg": 2.5978598440062073, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3425099494719896, + "source_return_best_wrist_position": -1.610062599182129, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610062599182129 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3188, + 0.0102, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3188, + 0.0102, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0012, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.317, + -0.0138, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017890837426044796, + 0.0011715049137912782, + 0.000815562428519657 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3493099825656363, + "pour_controller_source_return_step_error_deg": 2.5978598440062073, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3425099494719896, + "pour_controller_source_return_best_wrist_position": -1.610062599182129, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610062599182129, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039048426829137235, + "valid_pour_held_xy_dist": 0.03493457073275925, + "valid_pour_held_gripper_dist": 0.005727736573880277, + "valid_pour_required_height": 0.8001463897966113, + "valid_pour_held_z": 1.0312288616006016, + "valid_pour_source_tilt_deg": 2.597886254911889, + "valid_pour_source_upright_tilt_deg": 3.349319672163144, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.749358375449443e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31948427164349924, + -0.04813239534571471, + 1.0312288616006016 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30948842659824466, + -0.024691430494033665, + 1.0312288616006016 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3144863491208719, + -0.03641191291987419, + 1.0312288616006016 + ], + "valid_pour_held_grasp_object_position": [ + 0.31948427164349924, + -0.024691430494033665, + 1.0312288616006016 + ], + "valid_pour_held_grasp_finger_gap": 0.025483244521577048, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023881425086485115, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04806993575980102, + -0.9982919050201395, + 0.03320472326807077 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005568882994031372, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038260037156042814, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31948427164349924, + -0.04813239534571471, + 1.0312288616006016 + ], + "held_grasp_finger_b": [ + 0.30948842659824466, + -0.024691430494033665, + 1.0312288616006016 + ], + "held_grasp_midpoint": [ + 0.3144863491208719, + -0.03641191291987419, + 1.0312288616006016 + ], + "held_grasp_object_position": [ + 0.31948427164349924, + -0.024691430494033665, + 1.0312288616006016 + ], + "held_grasp_finger_gap": 0.025483244521577048, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023881425086485115, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04806993575980102, + -0.9982919050201395, + 0.03320472326807077 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005568882994031372, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038260037156042814, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26307606815364226, + -0.10067991380311005, + 0.7611154330552654 + ], + "target_position": [ + 0.2783034530231821, + -0.11501017940294343, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020910039744746037, + "xy_threshold": 0.08, + "gripper_dist": 0.2061385417608771, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611154330552654, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07941013537502571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08646631925369956, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1815775441521006, + "release_required_pad_clearance": 0.05323315962684978, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4691868188724961, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af3923a94409b312ebd71dfa58e90544eff157cdc28d088bd9f0d2718f3c4697", + "visual_seed": 4112469612711607086, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ec8b46e30fe2ed4819dad476258c83c1aab640 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_30_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29491177987497663, + -0.11507938241179426, + 1.0037693659769937 + ], + "current_z": 1.0037693659769937, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14266279835758278, + "gripper_z": 1.004430076904498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2916447578345567, + -0.11892997581558219, + 1.004430076904498 + ], + "object_minus_gripper": [ + 0.0032670220404199535, + 0.003850593403787933, + -0.0006607109275043044 + ], + "object_to_gripper_xy": 0.005049802231165582, + "object_to_gripper_z": -0.0006607109275043044, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29491177987497663, + -0.1382574758079283, + 1.0037693659769937 + ], + "finger_b": [ + 0.28468816106326367, + -0.11507938241179426, + 1.0037693659769937 + ], + "finger_midpoint": [ + 0.28979997046912015, + -0.12666842910986129, + 1.0037693659769937 + ], + "object_minus_finger_midpoint": [ + 0.005111809405856482, + 0.011589046698067026, + 0.0 + ], + "finger_gap": 0.02533271393055082, + "fingertip_max_gap": 0.09334447489207345, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012666356965275415, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037693659769937, + "object_top_z": 1.0542522379000252, + "finger_top_clearance": 0.05048287192303147, + "fingertip_min_top_clearance": 0.015144861576909424, + "object_projection_between_fingers": 0.8371282138748576, + "object_to_finger_line_xy": 0.00935407048427531, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917223744603673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.103185785625117, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.317324321628255, + 0.017372672303251995, + 0.770146389796612 + ], + "gripper_position": [ + 0.31483740090366086, + -0.02401097892903327, + 1.0317187011306672 + ], + "target_minus_gripper": [ + 0.002486920724594166, + 0.04138365123228527, + -0.26157231133405523 + ], + "held_position": [ + 0.3181466467350552, + -0.020221192521079963, + 1.0309759194543457 + ], + "held_minus_target": [ + 0.0008223251068001924, + -0.037593864824331955, + 0.26082952965773376 + ], + "held_minus_gripper": [ + 0.0033092458313943585, + 0.0037897864079533064, + -0.000742781676321469 + ], + "xy_dist": 0.04145830874512179, + "held_xy_dist": 0.0376028574846569, + "held_gripper_dist": 0.00508579527794695, + "max_held_gripper_dist": 0.005095481739784255, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0309759194543457, + "required_height": 0.800146389796612, + "gripper_z": 1.0317187011306672, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.90006984233058, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6124069624179374, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4507153680038614, + "max_source_tilt_deg": 89.81672591696673, + "source_upright_tilt_deg": 2.2848264359951855, + "max_source_upright_tilt_deg": 89.80957145886148, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4507153680038614, + "source_upright_return_tilt_deg": 2.2848264359951855, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.166496753692627e-08, + "max_target_xy_drift": 9.096499865557834e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3173, + 0.0174, + 0.7701 + ], + "controller_target_position": [ + 0.3173, + 0.0174, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0011, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3164, + -0.0089, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009039912866399234, + -0.001051324748494099, + -0.0018710841100455058 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.284832885704813, + "source_return_step_error_deg": 2.4507132620795455, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4344690487541842, + "source_return_best_wrist_position": -1.6065484285354614, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6065484285354614 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3173, + 0.0174, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3173, + 0.0174, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0011, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3164, + -0.0089, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009039912866399234, + -0.001051324748494099, + -0.0018710841100455058 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.284832885704813, + "pour_controller_source_return_step_error_deg": 2.4507132620795455, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4344690487541842, + "pour_controller_source_return_best_wrist_position": -1.6065484285354614, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6065484285354614, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04145830874512179, + "valid_pour_held_xy_dist": 0.0376028574846569, + "valid_pour_held_gripper_dist": 0.00508579527794695, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0309759194543457, + "valid_pour_source_tilt_deg": 2.4507153680038614, + "valid_pour_source_upright_tilt_deg": 2.2848264359951855, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.166496753692627e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3181466467350552, + -0.043172085632980986, + 1.0309759194543457 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30826592194450486, + -0.020221192521079963, + 1.0309759194543457 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31320628433978004, + -0.03169663907703048, + 1.0309759194543457 + ], + "valid_pour_held_grasp_object_position": [ + 0.3181466467350552, + -0.020221192521079963, + 1.0309759194543457 + ], + "valid_pour_held_grasp_finger_gap": 0.024987441185933826, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023201832418648143, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02724348336178296, + -0.999204995875427, + 0.02910616484362494 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005261647103911062, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03838851922220471, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3181466467350552, + -0.043172085632980986, + 1.0309759194543457 + ], + "held_grasp_finger_b": [ + 0.30826592194450486, + -0.020221192521079963, + 1.0309759194543457 + ], + "held_grasp_midpoint": [ + 0.31320628433978004, + -0.03169663907703048, + 1.0309759194543457 + ], + "held_grasp_object_position": [ + 0.3181466467350552, + -0.020221192521079963, + 1.0309759194543457 + ], + "held_grasp_finger_gap": 0.024987441185933826, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023201832418648143, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02724348336178296, + -0.999204995875427, + 0.02910616484362494 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005261647103911062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03838851922220471, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2558023648613102, + -0.10125137858135749, + 0.7611064038510126 + ], + "target_position": [ + 0.27288719079613366, + -0.11761609031787928, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023657875378881144, + "xy_threshold": 0.08, + "gripper_dist": 0.20753260794219688, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064038510126, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08195858932465484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561346389899015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829608116463928, + "release_required_pad_clearance": 0.052806731949495075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6596759754188602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c73c0e605b306e770139880bc86abedeb9295e516762c9221d11d8f3a007f74b", + "visual_seed": 8101981467000195457, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1335820021829f8831f15517c3d713c868bbc3e0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_31_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2950807179795834, + -0.11085271265621886, + 1.0015034073866298 + ], + "current_z": 1.0015034073866298, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14039683976721917, + "gripper_z": 1.0036619413118748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29115150143092977, + -0.11493537819374358, + 1.0036619413118748 + ], + "object_minus_gripper": [ + 0.003929216548653636, + 0.004082665537524718, + -0.0021585339252450098 + ], + "object_to_gripper_xy": 0.005666295136816083, + "object_to_gripper_z": -0.0021585339252450098, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2950807179795834, + -0.1349074553092339, + 1.0015034073866298 + ], + "finger_b": [ + 0.28504346573403794, + -0.11085271265621886, + 1.0015034073866298 + ], + "finger_midpoint": [ + 0.29006209185681064, + -0.12288008398272637, + 1.0015034073866298 + ], + "object_minus_finger_midpoint": [ + 0.005018626122772762, + 0.01202737132650751, + 0.0 + ], + "finger_gap": 0.026064862875977084, + "fingertip_max_gap": 0.09309700231198956, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013032431437988547, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0015034073866298, + "object_top_z": 1.051738881980719, + "finger_top_clearance": 0.05023547459408917, + "fingertip_min_top_clearance": 0.015070642378226733, + "object_projection_between_fingers": 0.8517076361722072, + "object_to_finger_line_xy": 0.009263180123326935, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904850115599478, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.553627242986735, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3168682268864339, + 0.01732376855485894, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3142191720411161, + -0.022122675549825485, + 1.0329948775780404 + ], + "target_minus_gripper": [ + 0.0026490548453177998, + 0.039446444104684425, + -0.2628484877814288 + ], + "held_position": [ + 0.3181866088422011, + -0.018141305459364328, + 1.0307568605650217 + ], + "held_minus_target": [ + 0.0013183819557672227, + -0.03546507401422327, + 0.26061047076841004 + ], + "held_minus_gripper": [ + 0.0039674368010850225, + 0.003981370090461157, + -0.002238017013018734 + ], + "xy_dist": 0.03953529365108465, + "held_xy_dist": 0.035489570380826355, + "held_gripper_dist": 0.006049841544898819, + "max_held_gripper_dist": 0.006168103591255897, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0307568605650217, + "required_height": 0.8001463897966117, + "gripper_z": 1.0329948775780404, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.70714881683878, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1644557470297277, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.519219136714013, + "max_source_tilt_deg": 89.89987748404913, + "source_upright_tilt_deg": 2.9024688903133087, + "max_source_upright_tilt_deg": 89.61264202794261, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.519219136714013, + "source_upright_return_tilt_deg": 2.9024688903133087, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.244724472701628e-08, + "max_target_xy_drift": 1.1734664440155029e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3169, + 0.0173, + 0.7701 + ], + "controller_target_position": [ + 0.3169, + 0.0173, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + 0.0007, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3168, + -0.0072, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -7.388011838820323e-05, + 0.0006830090762272585, + 0.0005934381913875303 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.902468404490274, + "source_return_step_error_deg": 2.5192194280068954, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8955478156385928, + "source_return_best_wrist_position": -1.6100188493728638, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100188493728638 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3169, + 0.0173, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3169, + 0.0173, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + 0.0007, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3168, + -0.0072, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -7.388011838820323e-05, + 0.0006830090762272585, + 0.0005934381913875303 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.902468404490274, + "pour_controller_source_return_step_error_deg": 2.5192194280068954, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8955478156385928, + "pour_controller_source_return_best_wrist_position": -1.6100188493728638, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100188493728638, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03953529365108465, + "valid_pour_held_xy_dist": 0.035489570380826355, + "valid_pour_held_gripper_dist": 0.006049841544898819, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0307568605650217, + "valid_pour_source_tilt_deg": 2.519219136714013, + "valid_pour_source_upright_tilt_deg": 2.9024688903133087, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.244724472701628e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3181866088422011, + -0.04175097086085729, + 1.0307568605650217 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3083567603616551, + -0.018141305459364328, + 1.0307568605650217 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3132716846019281, + -0.029946138160110807, + 1.0307568605650217 + ], + "valid_pour_held_grasp_object_position": [ + 0.3181866088422011, + -0.018141305459364328, + 1.0307568605650217 + ], + "valid_pour_held_grasp_finger_gap": 0.02557424918782459, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023981577587540572, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04091609754847874, + -0.9987171841381853, + 0.029830505669489964 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005405103410963756, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813166031564156, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3181866088422011, + -0.04175097086085729, + 1.0307568605650217 + ], + "held_grasp_finger_b": [ + 0.3083567603616551, + -0.018141305459364328, + 1.0307568605650217 + ], + "held_grasp_midpoint": [ + 0.3132716846019281, + -0.029946138160110807, + 1.0307568605650217 + ], + "held_grasp_object_position": [ + 0.3181866088422011, + -0.018141305459364328, + 1.0307568605650217 + ], + "held_grasp_finger_gap": 0.02557424918782459, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023981577587540572, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04091609754847874, + -0.9987171841381853, + 0.029830505669489964 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005405103410963756, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813166031564156, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2745672917204843, + -0.11502237824831911, + 0.7611109777841315 + ], + "target_position": [ + 0.27231284242404497, + -0.11435384230824287, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002351485048514941, + "xy_threshold": 0.08, + "gripper_dist": 0.21787233214109264, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611109777841315, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525461942759426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08848180912583391, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18900029045270464, + "release_required_pad_clearance": 0.054240904562916956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4999894103995715, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05b9c712834d9b042befb2b1eed07db730d94c68953890cc2e48132f21d547ec", + "visual_seed": 5059349867966046944, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd7d4758e941979d3af949738b5365cbbfd8494d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_32_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29762025334708603, + -0.11017666983595693, + 1.0027002890885304 + ], + "current_z": 1.0027002890885304, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1415938406784092, + "gripper_z": 1.003852036127682, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2937158884743262, + -0.11422956634195858, + 1.003852036127682 + ], + "object_minus_gripper": [ + 0.0039043648727598024, + 0.004052896506001644, + -0.0011517470391515516 + ], + "object_to_gripper_xy": 0.0056276136281732244, + "object_to_gripper_z": -0.0011517470391515516, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29762025334708603, + -0.13415037427150933, + 1.0027002890885304 + ], + "finger_b": [ + 0.2874994172106564, + -0.11017666983595693, + 1.0027002890885304 + ], + "finger_midpoint": [ + 0.2925598352788712, + -0.12216352205373313, + 1.0027002890885304 + ], + "object_minus_finger_midpoint": [ + 0.005060418068214834, + 0.011986852217776192, + 0.0 + ], + "finger_gap": 0.026022486976914488, + "fingertip_max_gap": 0.09342814873519498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013011243488457249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027002890885304, + "object_top_z": 1.0528556436488827, + "finger_top_clearance": 0.05015535456035236, + "fingertip_min_top_clearance": 0.015046606368105724, + "object_projection_between_fingers": 0.8487361370886112, + "object_to_finger_line_xy": 0.009324010206659752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921407436759749, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.430486269916921, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3138413540131275, + 0.009472989334397096, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3112510781108958, + -0.03238133530448924, + 1.0319085086421838 + ], + "target_minus_gripper": [ + 0.002590275902231709, + 0.04185432463888633, + -0.2617621188455722 + ], + "held_position": [ + 0.3151086705472591, + -0.02831984296618955, + 1.0306814846435515 + ], + "held_minus_target": [ + 0.0012673165341315906, + -0.037792832300586644, + 0.26053509484693993 + ], + "held_minus_gripper": [ + 0.0038575924363632996, + 0.004061492338299687, + -0.0012270239986322817 + ], + "xy_dist": 0.04193440139344986, + "held_xy_dist": 0.037814074952297175, + "held_gripper_dist": 0.005734311406993341, + "max_held_gripper_dist": 0.005762227671420603, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0306814846435515, + "required_height": 0.8001463897966116, + "gripper_z": 1.0319085086421838, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.45762151589071, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8154792679244147, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.842861347532031, + "max_source_tilt_deg": 89.96051776744507, + "source_upright_tilt_deg": 3.862951833118671, + "max_source_upright_tilt_deg": 89.87881217872958, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.842861347532031, + "source_upright_return_tilt_deg": 3.862951833118671, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.374679187684029e-08, + "max_target_xy_drift": 1.480802893655958e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3138, + 0.0095, + 0.7701 + ], + "controller_target_position": [ + 0.3138, + 0.0095, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0014, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.312, + -0.0171, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00180676566060048, + -0.0013577584068737165, + -0.0005516069820979373 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.862950398551844, + "source_return_step_error_deg": 2.842860124126978, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8580447128819895, + "source_return_best_wrist_position": -1.6084843873977661, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084843873977661 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3138, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3138, + 0.0095, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0014, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.312, + -0.0171, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00180676566060048, + -0.0013577584068737165, + -0.0005516069820979373 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.862950398551844, + "pour_controller_source_return_step_error_deg": 2.842860124126978, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8580447128819895, + "pour_controller_source_return_best_wrist_position": -1.6084843873977661, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084843873977661, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04193440139344986, + "valid_pour_held_xy_dist": 0.037814074952297175, + "valid_pour_held_gripper_dist": 0.005734311406993341, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0306814846435515, + "valid_pour_source_tilt_deg": 2.842861347532031, + "valid_pour_source_upright_tilt_deg": 3.862951833118671, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.374679187684029e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3151086705472591, + -0.051610456456442175, + 1.0306814846435515 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3047888885223021, + -0.02831984296618955, + 1.0306814846435515 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3099487795347806, + -0.03996514971131586, + 1.0306814846435515 + ], + "valid_pour_held_grasp_object_position": [ + 0.3151086705472591, + -0.02831984296618955, + 1.0306814846435515 + ], + "valid_pour_held_grasp_finger_gap": 0.02547450839162481, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02382799969511022, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05720092698215826, + -0.9977280592782193, + 0.03559176423415799 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005831937163576713, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03839655132062131, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3151086705472591, + -0.051610456456442175, + 1.0306814846435515 + ], + "held_grasp_finger_b": [ + 0.3047888885223021, + -0.02831984296618955, + 1.0306814846435515 + ], + "held_grasp_midpoint": [ + 0.3099487795347806, + -0.03996514971131586, + 1.0306814846435515 + ], + "held_grasp_object_position": [ + 0.3151086705472591, + -0.02831984296618955, + 1.0306814846435515 + ], + "held_grasp_finger_gap": 0.02547450839162481, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02382799969511022, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05720092698215826, + -0.9977280592782193, + 0.03559176423415799 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005831937163576713, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03839655132062131, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27659634031036495, + -0.11167249276462093, + 0.7611063646789569 + ], + "target_position": [ + 0.2745392441421879, + -0.11289143687978383, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0023911230417983523, + "xy_threshold": 0.08, + "gripper_dist": 0.21831591092422387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063646789569, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586895248476543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08634556316702811, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886083437401453, + "release_required_pad_clearance": 0.05317278158351406, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3694263203596688, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2861f91cce258c92c605d7a688429eab1baed71d544804e060c07062052a9c44", + "visual_seed": 6670665168678846556, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb59b7e42101a4b56973e16213ce6b3685a0cc1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_33_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2989860166541186, + -0.1206111285203273, + 1.0030690705157288 + ], + "current_z": 1.0030690705157288, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14196256250096262, + "gripper_z": 1.0044680117174236, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2956017174471152, + -0.12446190558932589, + 1.0044680117174236 + ], + "object_minus_gripper": [ + 0.003384299207003394, + 0.003850777068998598, + -0.0013989412016948144 + ], + "object_to_gripper_xy": 0.005126593913862228, + "object_to_gripper_z": -0.0013989412016948144, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2989860166541186, + -0.1440492229573311, + 1.0030690705157288 + ], + "finger_b": [ + 0.28898847385279824, + -0.1206111285203273, + 1.0030690705157288 + ], + "finger_midpoint": [ + 0.29398724525345843, + -0.13233017573882921, + 1.0030690705157288 + ], + "object_minus_finger_midpoint": [ + 0.004998771400660185, + 0.011719047218501921, + 0.0 + ], + "finger_gap": 0.025481270237218197, + "fingertip_max_gap": 0.09285014112814063, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01274063511860911, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030690705157288, + "object_top_z": 1.0537328735226368, + "finger_top_clearance": 0.05066380300690798, + "fingertip_min_top_clearance": 0.015199140902072377, + "object_projection_between_fingers": 0.8460625114845937, + "object_to_finger_line_xy": 0.009195905468365516, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892507056407032, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6407732694962058, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3141734114891713, + 0.008497611476712004, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3131407407011584, + -0.03005920396187861, + 1.0322892703392308 + ], + "target_minus_gripper": [ + 0.0010326707880128905, + 0.038556815438590616, + -0.26214282093797425 + ], + "held_position": [ + 0.31654141312809536, + -0.026266317233972894, + 1.0308134469889967 + ], + "held_minus_target": [ + 0.0023680016389240888, + -0.0347639287106849, + 0.26066699758774015 + ], + "held_minus_gripper": [ + 0.0034006724269369792, + 0.003792886727905717, + -0.0014758233502341067 + ], + "xy_dist": 0.038570642018534704, + "held_xy_dist": 0.03484448552014406, + "held_gripper_dist": 0.005303641885266105, + "max_held_gripper_dist": 0.0053683324119097675, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0308134469889967, + "required_height": 0.8001464494012566, + "gripper_z": 1.0322892703392308, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.90237728007764, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3758779770087712, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5711483181387242, + "max_source_tilt_deg": 89.91203743653021, + "source_upright_tilt_deg": 2.1374049712057164, + "max_source_upright_tilt_deg": 89.76315693148855, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5711483181387242, + "source_upright_return_tilt_deg": 2.1374049712057164, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9933003112651774e-08, + "max_target_xy_drift": 1.3920079463372662e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3142, + 0.0085, + 0.7701 + ], + "controller_target_position": [ + 0.3142, + 0.0085, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0018, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3142, + -0.0149, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.8344511188249387e-05, + 0.0018203176209387007, + -0.0008564298859039909 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.137397444911264, + "source_return_step_error_deg": 2.5711449384675023, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5585273954550343, + "source_return_best_wrist_position": -1.6085914373397827, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085914373397827 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3142, + 0.0085, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3142, + 0.0085, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0018, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3142, + -0.0149, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.8344511188249387e-05, + 0.0018203176209387007, + -0.0008564298859039909 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.137397444911264, + "pour_controller_source_return_step_error_deg": 2.5711449384675023, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5585273954550343, + "pour_controller_source_return_best_wrist_position": -1.6085914373397827, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085914373397827, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038570642018534704, + "valid_pour_held_xy_dist": 0.03484448552014406, + "valid_pour_held_gripper_dist": 0.005303641885266105, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0308134469889967, + "valid_pour_source_tilt_deg": 2.5711483181387242, + "valid_pour_source_upright_tilt_deg": 2.1374049712057164, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9933003112651774e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31654141312809536, + -0.04925050690177585, + 1.0308134469889967 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30667041744985524, + -0.026266317233972894, + 1.0308134469889967 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3116059152889753, + -0.03775841206787437, + 1.0308134469889967 + ], + "valid_pour_held_grasp_object_position": [ + 0.31654141312809536, + -0.026266317233972894, + 1.0308134469889967 + ], + "valid_pour_held_grasp_finger_gap": 0.02501418658212526, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02323369709678397, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0268968134086074, + -0.9993042652290597, + 0.02583692945130555 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005251117098877054, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038368899850617866, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31654141312809536, + -0.04925050690177585, + 1.0308134469889967 + ], + "held_grasp_finger_b": [ + 0.30667041744985524, + -0.026266317233972894, + 1.0308134469889967 + ], + "held_grasp_midpoint": [ + 0.3116059152889753, + -0.03775841206787437, + 1.0308134469889967 + ], + "held_grasp_object_position": [ + 0.31654141312809536, + -0.026266317233972894, + 1.0308134469889967 + ], + "held_grasp_finger_gap": 0.02501418658212526, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02323369709678397, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0268968134086074, + -0.9993042652290597, + 0.02583692945130555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005251117098877054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038368899850617866, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27878066735803786, + -0.11881065339890458, + 0.7611064123660124 + ], + "target_position": [ + 0.27682259711047696, + -0.12184896133922267, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003614602915201495, + "xy_threshold": 0.08, + "gripper_dist": 0.21719013440918908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064123660124, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524488944305509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504858356225321, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18909101851435514, + "release_required_pad_clearance": 0.05252429178112661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869400621861752, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee365aa06afaa76f5cd62fa1ee1d05682032b179b0df27d05527efa66ad80c0c", + "visual_seed": 2780062424053812864, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0224ffb18c4f29816c065f501a2a4bec428f170 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_34_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29233451748543715, + -0.1153722000719491, + 1.0022955016711148 + ], + "current_z": 1.0022955016711148, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14118905326099362, + "gripper_z": 1.0039287408546795, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28841954432255157, + -0.11953516945267269, + 1.0039287408546795 + ], + "object_minus_gripper": [ + 0.003914973162885582, + 0.004162969380723594, + -0.0016332391835647275 + ], + "object_to_gripper_xy": 0.00571465912640085, + "object_to_gripper_z": -0.0016332391835647275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29233451748543715, + -0.13906449233201743, + 1.0022955016711148 + ], + "finger_b": [ + 0.28174251954682605, + -0.1153722000719491, + 1.0022955016711148 + ], + "finger_midpoint": [ + 0.2870385185161316, + -0.12721834620198325, + 1.0022955016711148 + ], + "object_minus_finger_midpoint": [ + 0.005295998969305549, + 0.011846146130034152, + 0.0 + ], + "finger_gap": 0.025952170099396998, + "fingertip_max_gap": 0.09386440331240622, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012976085049698485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022955016711148, + "object_top_z": 1.0525642556579955, + "finger_top_clearance": 0.05026875398688069, + "fingertip_min_top_clearance": 0.015080626196064189, + "object_projection_between_fingers": 0.8334255388534474, + "object_to_finger_line_xy": 0.00966966191337679, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049432201656203115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9551550448270194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.30994893229071546, + 0.017111410244040268, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3088504242109049, + -0.02352609114154401, + 1.0324981982296382 + ], + "target_minus_gripper": [ + 0.001098508079810545, + 0.04063750138558428, + -0.2623518084330264 + ], + "held_position": [ + 0.31279242634373594, + -0.019440813440351222, + 1.0307753259814327 + ], + "held_minus_target": [ + 0.002843494053020479, + -0.03655222368439149, + 0.26062893618482097 + ], + "held_minus_gripper": [ + 0.003942002132831024, + 0.00408527770119279, + -0.0017228722482054426 + ], + "xy_dist": 0.040652346043798915, + "held_xy_dist": 0.036662658314739714, + "held_gripper_dist": 0.005932719738428899, + "max_held_gripper_dist": 0.006012440918848084, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0307753259814327, + "required_height": 0.8001463897966118, + "gripper_z": 1.0324981982296382, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.66787073130682, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.46035088503583, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6019590863019824, + "max_source_tilt_deg": 89.80828122286164, + "source_upright_tilt_deg": 3.422450602261103, + "max_source_upright_tilt_deg": 89.80229139772324, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6019590863019824, + "source_upright_return_tilt_deg": 3.422450602261103, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.3556423018074603e-07, + "max_target_xy_drift": 2.439709652965209e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3099, + 0.0171, + 0.7701 + ], + "controller_target_position": [ + 0.3099, + 0.0171, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0003, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3106, + -0.0084, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006921312803013285, + -0.0002886760927144603, + -0.000833868402100982 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.4224493350064353, + "source_return_step_error_deg": 2.6019572701059817, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4179753179720818, + "source_return_best_wrist_position": -1.607908844947815, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607908844947815 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3099, + 0.0171, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3099, + 0.0171, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0003, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3106, + -0.0084, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006921312803013285, + -0.0002886760927144603, + -0.000833868402100982 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.4224493350064353, + "pour_controller_source_return_step_error_deg": 2.6019572701059817, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4179753179720818, + "pour_controller_source_return_best_wrist_position": -1.607908844947815, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607908844947815, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.040652346043798915, + "valid_pour_held_xy_dist": 0.036662658314739714, + "valid_pour_held_gripper_dist": 0.005932719738428899, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0307753259814327, + "valid_pour_source_tilt_deg": 2.6019590863019824, + "valid_pour_source_upright_tilt_deg": 3.422450602261103, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.3556423018074603e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31279242634373594, + -0.04271949284507055, + 1.0307753259814327 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3023821191698078, + -0.019440813440351222, + 1.0307753259814327 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3075872727567719, + -0.031080153142710887, + 1.0307753259814327 + ], + "valid_pour_held_grasp_object_position": [ + 0.31279242634373594, + -0.019440813440351222, + 1.0307753259814327 + ], + "valid_pour_held_grasp_finger_gap": 0.025500419806019744, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023752146951606552, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.049468719450756544, + -0.9982165217633604, + 0.03341588655955196 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005787357888644282, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03835916115927503, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31279242634373594, + -0.04271949284507055, + 1.0307753259814327 + ], + "held_grasp_finger_b": [ + 0.3023821191698078, + -0.019440813440351222, + 1.0307753259814327 + ], + "held_grasp_midpoint": [ + 0.3075872727567719, + -0.031080153142710887, + 1.0307753259814327 + ], + "held_grasp_object_position": [ + 0.31279242634373594, + -0.019440813440351222, + 1.0307753259814327 + ], + "held_grasp_finger_gap": 0.025500419806019744, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023752146951606552, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.049468719450756544, + -0.9982165217633604, + 0.03341588655955196 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005787357888644282, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03835916115927503, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2678451024692836, + -0.1194529355378073, + 0.7611063817656091 + ], + "target_position": [ + 0.26974641342690825, + -0.11705489789111577, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003060321537442322, + "xy_threshold": 0.08, + "gripper_dist": 0.2159528251105004, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063817656091, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550183494161382, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559835094535535, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.186616780165728, + "release_required_pad_clearance": 0.05279917547267768, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6452812855148035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e672048118f969df40e40e1b109c04f84845ca14671402bbf13d00e921429a8", + "visual_seed": 8833304201939211072, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eece0a5902bbfcba4aa88496f2f04031b0f10bf6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_35_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29887617940800504, + -0.121589585194856, + 1.0034837334263642 + ], + "current_z": 1.0034837334263642, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14237728501624292, + "gripper_z": 1.0047655263093052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29531213608751045, + -0.12560905833263047, + 1.0047655263093052 + ], + "object_minus_gripper": [ + 0.003564043320494592, + 0.004019473137774468, + -0.0012817928829409464 + ], + "object_to_gripper_xy": 0.005372017227788147, + "object_to_gripper_z": -0.0012817928829409464, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29887617940800504, + -0.1449352442775935, + 1.0034837334263642 + ], + "finger_b": [ + 0.28835956973296956, + -0.121589585194856, + 1.0034837334263642 + ], + "finger_midpoint": [ + 0.29361787457048727, + -0.13326241473622474, + 1.0034837334263642 + ], + "object_minus_finger_midpoint": [ + 0.005258304837517769, + 0.011672829541368737, + 0.0 + ], + "finger_gap": 0.025605055693445646, + "fingertip_max_gap": 0.09396544085285705, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012802527846722828, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034837334263642, + "object_top_z": 1.0537389539054627, + "finger_top_clearance": 0.05025522047909847, + "fingertip_min_top_clearance": 0.015076566143729557, + "object_projection_between_fingers": 0.8313058349505441, + "object_to_finger_line_xy": 0.00958862136911672, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049482720426428525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.060578099204154, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.311792950988454, + 0.011263348950676698, + 0.7701464494012563 + ], + "gripper_position": [ + 0.31208766473687155, + -0.0277602419399985, + 1.0340970446804303 + ], + "target_minus_gripper": [ + -0.00029471374841755216, + 0.0390235908906752, + -0.26395059527917397 + ], + "held_position": [ + 0.31577374223100396, + -0.0238946937417478, + 1.0327277375219244 + ], + "held_minus_target": [ + 0.003980791242549964, + -0.0351580426924245, + 0.26258128812066805 + ], + "held_minus_gripper": [ + 0.0036860774941324115, + 0.0038655481982507005, + -0.0013693071585059169 + ], + "xy_dist": 0.03902470374258201, + "held_xy_dist": 0.035382688774019226, + "held_gripper_dist": 0.005514039559169326, + "max_held_gripper_dist": 0.005557693212757156, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0327277375219244, + "required_height": 0.8001464494012563, + "gripper_z": 1.0340970446804303, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.03495241805999, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5133239972756773, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6757951842415073, + "max_source_tilt_deg": 89.67105002860625, + "source_upright_tilt_deg": 2.3838570878607177, + "max_source_upright_tilt_deg": 89.99470772260428, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6757951842415073, + "source_upright_return_tilt_deg": 2.3838570878607177, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.3527612686157227e-08, + "max_target_xy_drift": 1.87529148845559e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3118, + 0.0113, + 0.7701 + ], + "controller_target_position": [ + 0.3118, + 0.0113, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0015, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3131, + -0.0125, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013261168027956034, + 0.0014749956638174977, + 0.0013437130293450549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3841179269830035, + "source_return_step_error_deg": 2.6759466389588087, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6637086976866753, + "source_return_best_wrist_position": -1.6072179079055786, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6072179079055786 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3118, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3118, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0015, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3131, + -0.0125, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013261168027956034, + 0.0014749956638174977, + 0.0013437130293450549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3841179269830035, + "pour_controller_source_return_step_error_deg": 2.6759466389588087, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6637086976866753, + "pour_controller_source_return_best_wrist_position": -1.6072179079055786, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6072179079055786, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03902470374258201, + "valid_pour_held_xy_dist": 0.035382688774019226, + "valid_pour_held_gripper_dist": 0.005514039559169326, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0327277375219244, + "valid_pour_source_tilt_deg": 2.6757951842415073, + "valid_pour_source_upright_tilt_deg": 2.3838570878607177, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.3527612686157227e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31577374223100396, + -0.04729208865992891, + 1.0327277375219244 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30603209967111766, + -0.0238946937417478, + 1.0327277375219244 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3109029209510608, + -0.035593391200838355, + 1.0327277375219244 + ], + "valid_pour_held_grasp_object_position": [ + 0.31577374223100396, + -0.0238946937417478, + 1.0327277375219244 + ], + "valid_pour_held_grasp_finger_gap": 0.025344381797982672, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023630002357442434, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.025956157109818793, + -0.9991345974369543, + 0.03250129401401913 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005186637823074825, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038158104496165954, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31577374223100396, + -0.04729208865992891, + 1.0327277375219244 + ], + "held_grasp_finger_b": [ + 0.30603209967111766, + -0.0238946937417478, + 1.0327277375219244 + ], + "held_grasp_midpoint": [ + 0.3109029209510608, + -0.035593391200838355, + 1.0327277375219244 + ], + "held_grasp_object_position": [ + 0.31577374223100396, + -0.0238946937417478, + 1.0327277375219244 + ], + "held_grasp_finger_gap": 0.025344381797982672, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023630002357442434, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.025956157109818793, + -0.9991345974369543, + 0.03250129401401913 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005186637823074825, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038158104496165954, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2536996184450262, + -0.09854051082506148, + 0.7611064547322054 + ], + "target_position": [ + 0.27659685223040387, + -0.12276661033036904, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.033334474831070965, + "xy_threshold": 0.08, + "gripper_dist": 0.2029578594417447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064547322054, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08611056257666343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017881006938609, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1821262607750024, + "release_required_pad_clearance": 0.05508940503469305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.263606483008889, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57744b05399f050c612924537ad1116cbe84930a1e11656bd6b621894472d64c", + "visual_seed": 568786202258962783, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94caff66650befb1dea621ed407a2b1c05a33d68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_36_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29205045567949506, + -0.11388211635331927, + 1.0007300335764069 + ], + "current_z": 1.0007300335764069, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.13962352556164093, + "gripper_z": 1.0021282055844172, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2882246170296182, + -0.1180771292073533, + 1.0021282055844172 + ], + "object_minus_gripper": [ + 0.003825838649876845, + 0.004195012854034036, + -0.00139817200801029 + ], + "object_to_gripper_xy": 0.005677602858636932, + "object_to_gripper_z": -0.00139817200801029, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29205045567949506, + -0.13743771628057036, + 1.0007300335764069 + ], + "finger_b": [ + 0.28134432218809535, + -0.11388211635331927, + 1.0007300335764069 + ], + "finger_midpoint": [ + 0.2866973889337952, + -0.12565991631694481, + 1.0007300335764069 + ], + "object_minus_finger_midpoint": [ + 0.005353066745699853, + 0.011777799963625546, + 0.0 + ], + "finger_gap": 0.025874458105791937, + "fingertip_max_gap": 0.09378990655234168, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012937229052895969, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0007300335764069, + "object_top_z": 1.051054965256304, + "finger_top_clearance": 0.050324931679897045, + "fingertip_min_top_clearance": 0.015097479503969146, + "object_projection_between_fingers": 0.828792501352592, + "object_to_finger_line_xy": 0.0097466542588076, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04939495327617084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.15187251564282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31283278381888313, + 0.010807656540207638, + 0.7701463897966114 + ], + "gripper_position": [ + 0.31064063578693996, + -0.028575145542978853, + 1.0337114684055357 + ], + "target_minus_gripper": [ + 0.002192148031943175, + 0.039382802083186494, + -0.2635650786089243 + ], + "held_position": [ + 0.3145699295022888, + -0.024521296165040396, + 1.0322233360613435 + ], + "held_minus_target": [ + 0.0017371456834056609, + -0.03532895270524804, + 0.2620769462647321 + ], + "held_minus_gripper": [ + 0.003929293715348836, + 0.0040538493779384566, + -0.0014881323441922056 + ], + "xy_dist": 0.03944376519701676, + "held_xy_dist": 0.0353716351668258, + "held_gripper_dist": 0.005838457138176391, + "max_held_gripper_dist": 0.005888646971430878, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0322233360613435, + "required_height": 0.8001463897966115, + "gripper_z": 1.0337114684055357, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.26093605693903, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.740058536237797, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.667106133883625, + "max_source_tilt_deg": 89.7299329876447, + "source_upright_tilt_deg": 2.5645715958288036, + "max_source_upright_tilt_deg": 89.75737329853494, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.667106133883625, + "source_upright_return_tilt_deg": 2.5645715958288036, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.5744585885515002e-07, + "max_target_xy_drift": 2.300366759300232e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3128, + 0.0108, + 0.7701 + ], + "controller_target_position": [ + 0.3128, + 0.0108, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0006, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3131, + -0.0138, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00030373446892836657, + 0.0006244407006619629, + 0.0018724009951947055 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.564559614520856, + "source_return_step_error_deg": 2.6670943474953916, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6557479779845723, + "source_return_best_wrist_position": -1.6069296598434448, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6069296598434448 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3128, + 0.0108, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3128, + 0.0108, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0006, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3131, + -0.0138, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00030373446892836657, + 0.0006244407006619629, + 0.0018724009951947055 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.564559614520856, + "pour_controller_source_return_step_error_deg": 2.6670943474953916, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6557479779845723, + "pour_controller_source_return_best_wrist_position": -1.6069296598434448, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6069296598434448, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03944376519701676, + "valid_pour_held_xy_dist": 0.0353716351668258, + "valid_pour_held_gripper_dist": 0.005838457138176391, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0322233360613435, + "valid_pour_source_tilt_deg": 2.667106133883625, + "valid_pour_source_upright_tilt_deg": 2.5645715958288036, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.5744585885515002e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3145699295022888, + -0.04798738113984342, + 1.0322233360613435 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30448790386233493, + -0.024521296165040396, + 1.0322233360613435 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30952891668231186, + -0.0362543386524419, + 1.0322233360613435 + ], + "valid_pour_held_grasp_object_position": [ + 0.3145699295022888, + -0.024521296165040396, + 1.0322233360613435 + ], + "valid_pour_held_grasp_finger_gap": 0.025540250293396953, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02378250815289685, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.033716037273864824, + -0.9989984365008414, + 0.029416877798671415 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005444530726331591, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816892194591938, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3145699295022888, + -0.04798738113984342, + 1.0322233360613435 + ], + "held_grasp_finger_b": [ + 0.30448790386233493, + -0.024521296165040396, + 1.0322233360613435 + ], + "held_grasp_midpoint": [ + 0.30952891668231186, + -0.0362543386524419, + 1.0322233360613435 + ], + "held_grasp_object_position": [ + 0.3145699295022888, + -0.024521296165040396, + 1.0322233360613435 + ], + "held_grasp_finger_gap": 0.025540250293396953, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02378250815289685, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.033716037273864824, + -0.9989984365008414, + 0.029416877798671415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005444530726331591, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816892194591938, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2720214556953317, + -0.11643093054036317, + 0.761106387690609 + ], + "target_position": [ + 0.2698304402852416, + -0.1186985354298238, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003153185763946992, + "xy_threshold": 0.08, + "gripper_dist": 0.21721006075444102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106387690609, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755672785703125, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539619913482717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18859467526708945, + "release_required_pad_clearance": 0.05269809956741359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4511070708430766, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d37b39c45f3c813da90622555ae5ad1de22d7de0c4eae243e6feda27e1362f5a", + "visual_seed": 7757921970759941592, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb04ea45b6d6679b25083f2d0b4e736dbdb739b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_37_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2962594643843109, + -0.11881290417625427, + 1.0036617465445925 + ], + "current_z": 1.0036617465445925, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14255529813447143, + "gripper_z": 1.0047091757414308, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2925333147102926, + -0.12288505840211246, + 1.0047091757414308 + ], + "object_minus_gripper": [ + 0.0037261496740182976, + 0.004072154225858188, + -0.001047429196838312 + ], + "object_to_gripper_xy": 0.00551965863368029, + "object_to_gripper_z": -0.001047429196838312, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2962594643843109, + -0.14235368223757178, + 1.0036617465445925 + ], + "finger_b": [ + 0.28575772508275576, + -0.11881290417625427, + 1.0036617465445925 + ], + "finger_midpoint": [ + 0.29100859473353335, + -0.13058329320691303, + 1.0036617465445925 + ], + "object_minus_finger_midpoint": [ + 0.005250869650777534, + 0.01177038903065876, + 0.0 + ], + "finger_gap": 0.025777020000186893, + "fingertip_max_gap": 0.09415522472548585, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012888510000093441, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036617465445925, + "object_top_z": 1.054009511076019, + "finger_top_clearance": 0.05034776453142653, + "fingertip_min_top_clearance": 0.01510432935942796, + "object_projection_between_fingers": 0.8340195074486585, + "object_to_finger_line_xy": 0.009590678602644223, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049577612362742926, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.95653619543492, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31726325666968275, + 0.017655356644325035, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3160174587976101, + -0.022677763116912164, + 1.0325143097620233 + ], + "target_minus_gripper": [ + 0.0012457978720726293, + 0.0403331197612372, + -0.26236791996541176 + ], + "held_position": [ + 0.31980082655175146, + -0.018695354998229, + 1.0313777662746273 + ], + "held_minus_target": [ + 0.002537569882068713, + -0.03635071164255403, + 0.26123137647801575 + ], + "held_minus_gripper": [ + 0.0037833677541413424, + 0.003982408118683164, + -0.0011365434873960023 + ], + "xy_dist": 0.04035235509870971, + "held_xy_dist": 0.036439175317595975, + "held_gripper_dist": 0.00560938295051892, + "max_held_gripper_dist": 0.005630111336291638, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0313777662746273, + "required_height": 0.8001463897966116, + "gripper_z": 1.0325143097620233, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.6397918236289, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3693442782243754, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4616793369117422, + "max_source_tilt_deg": 89.82200025440893, + "source_upright_tilt_deg": 2.9447712831210158, + "max_source_upright_tilt_deg": 89.94172914995292, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4616793369117422, + "source_upright_return_tilt_deg": 2.9447712831210158, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.284083843231201e-08, + "max_target_xy_drift": 1.6763806343078613e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3173, + 0.0177, + 0.7701 + ], + "controller_target_position": [ + 0.3173, + 0.0177, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0002, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3178, + -0.0074, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005232829313915146, + 0.00017435240738742155, + -0.0010802583906816823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.944558844283395, + "source_return_step_error_deg": 2.461555741949708, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9419263255650723, + "source_return_best_wrist_position": -1.607100248336792, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.607100248336792 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3173, + 0.0177, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3173, + 0.0177, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0002, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3178, + -0.0074, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005232829313915146, + 0.00017435240738742155, + -0.0010802583906816823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.944558844283395, + "pour_controller_source_return_step_error_deg": 2.461555741949708, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9419263255650723, + "pour_controller_source_return_best_wrist_position": -1.607100248336792, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.607100248336792, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04035235509870971, + "valid_pour_held_xy_dist": 0.036439175317595975, + "valid_pour_held_gripper_dist": 0.00560938295051892, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0313777662746273, + "valid_pour_source_tilt_deg": 2.4616793369117422, + "valid_pour_source_upright_tilt_deg": 2.9447712831210158, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.284083843231201e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31980082655175146, + -0.04203505307984807, + 1.0313777662746273 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3097011622896818, + -0.018695354998229, + 1.0313777662746273 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31475099442071663, + -0.030365204039038536, + 1.0313777662746273 + ], + "valid_pour_held_grasp_object_position": [ + 0.31980082655175146, + -0.018695354998229, + 1.0313777662746273 + ], + "valid_pour_held_grasp_finger_gap": 0.025431176236022975, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02371044288238748, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03976015681530445, + -0.9986795273029828, + 0.032532010019570845 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00552267306530973, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038266592863743135, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31980082655175146, + -0.04203505307984807, + 1.0313777662746273 + ], + "held_grasp_finger_b": [ + 0.3097011622896818, + -0.018695354998229, + 1.0313777662746273 + ], + "held_grasp_midpoint": [ + 0.31475099442071663, + -0.030365204039038536, + 1.0313777662746273 + ], + "held_grasp_object_position": [ + 0.31980082655175146, + -0.018695354998229, + 1.0313777662746273 + ], + "held_grasp_finger_gap": 0.025431176236022975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02371044288238748, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03976015681530445, + -0.9986795273029828, + 0.032532010019570845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00552267306530973, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038266592863743135, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2757869033058174, + -0.11995401774913726, + 0.7611063904452319 + ], + "target_position": [ + 0.2737077933836194, + -0.12052515421535107, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002156129618464854, + "xy_threshold": 0.08, + "gripper_dist": 0.21848919305730571, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063904452319, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584077300932336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578591071298304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18887846195773775, + "release_required_pad_clearance": 0.05289295535649152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8261366002458939, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fbc48422ac9c49ca9808532354dda476ab68490e9b1576393ceff4189b633246", + "visual_seed": 1693092672292675797, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc45d92a79ea0fd6798f245910c838f803fe30e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_38_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29444129829370946, + -0.114928359853589, + 1.0025767758479773 + ], + "current_z": 1.0025767758479773, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14147032743785593, + "gripper_z": 1.0042558159633412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29053305379610833, + -0.1190845240661878, + 1.0042558159633412 + ], + "object_minus_gripper": [ + 0.003908244497601132, + 0.0041561642125988035, + -0.0016790401153639056 + ], + "object_to_gripper_xy": 0.005705092112763523, + "object_to_gripper_z": -0.0016790401153639056, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29444129829370946, + -0.13862852830957928, + 1.0025767758479773 + ], + "finger_b": [ + 0.2838790630877101, + -0.114928359853589, + 1.0025767758479773 + ], + "finger_midpoint": [ + 0.2891601806907098, + -0.12677844408158415, + 1.0025767758479773 + ], + "object_minus_finger_midpoint": [ + 0.005281117602999652, + 0.011850084227995147, + 0.0 + ], + "finger_gap": 0.025947231015836143, + "fingertip_max_gap": 0.09388965227952686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012973615507918066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025767758479773, + "object_top_z": 1.0528761927421404, + "finger_top_clearance": 0.05029941689416306, + "fingertip_min_top_clearance": 0.015089825068248951, + "object_projection_between_fingers": 0.8342972821454779, + "object_to_finger_line_xy": 0.00964753246699797, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049444826139763434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0616777949248957, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31882215654913826, + 0.017184368191890495, + 0.7701465090059013 + ], + "gripper_position": [ + 0.3170678762717597, + -0.02178244189858855, + 1.0341676069722665 + ], + "target_minus_gripper": [ + 0.0017542802773785615, + 0.038966810090479045, + -0.2640210979663652 + ], + "held_position": [ + 0.32108207338634537, + -0.01778293940930444, + 1.032398481759126 + ], + "held_minus_target": [ + 0.00225991683720711, + -0.03496730760119493, + 0.26225197275322476 + ], + "held_minus_gripper": [ + 0.004014197114585671, + 0.003999502489284112, + -0.0017691252131404323 + ], + "xy_dist": 0.039006278826864, + "held_xy_dist": 0.035040260058790615, + "held_gripper_dist": 0.005936295364645102, + "max_held_gripper_dist": 0.0060167689343078165, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.032398481759126, + "required_height": 0.8001465090059013, + "gripper_z": 1.0341676069722665, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.31281017749288, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6286036279592495, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.630470843688219, + "max_source_tilt_deg": 89.8362015643981, + "source_upright_tilt_deg": 2.5523285350409646, + "max_source_upright_tilt_deg": 89.91302617159005, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.630470843688219, + "source_upright_return_tilt_deg": 2.5523285350409646, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.596342314859169e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3188, + 0.0172, + 0.7701 + ], + "controller_target_position": [ + 0.3188, + 0.0172, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.001, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3201, + -0.007, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012927327603787777, + 0.001037366647095111, + 0.0018428003210829089 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5523154425248453, + "source_return_step_error_deg": 2.630472716058235, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6166469630391305, + "source_return_best_wrist_position": -1.6084989309310913, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084989309310913 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3188, + 0.0172, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3188, + 0.0172, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.001, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3201, + -0.007, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012927327603787777, + 0.001037366647095111, + 0.0018428003210829089 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5523154425248453, + "pour_controller_source_return_step_error_deg": 2.630472716058235, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6166469630391305, + "pour_controller_source_return_best_wrist_position": -1.6084989309310913, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084989309310913, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039006278826864, + "valid_pour_held_xy_dist": 0.035040260058790615, + "valid_pour_held_gripper_dist": 0.005936295364645102, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.032398481759126, + "valid_pour_source_tilt_deg": 2.630470843688219, + "valid_pour_source_upright_tilt_deg": 2.5523285350409646, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32108207338634537, + -0.04139115862734792, + 1.032398481759126 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3111558428160286, + -0.01778293940930444, + 1.032398481759126 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31611895810118695, + -0.029587049018326178, + 1.032398481759126 + ], + "valid_pour_held_grasp_object_position": [ + 0.32108207338634537, + -0.01778293940930444, + 1.032398481759126 + ], + "valid_pour_held_grasp_finger_gap": 0.025610116516374713, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023898556760758836, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0316089247870913, + -0.9990079754603762, + 0.03136783129839127 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005346416581979891, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03808472916523212, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32108207338634537, + -0.04139115862734792, + 1.032398481759126 + ], + "held_grasp_finger_b": [ + 0.3111558428160286, + -0.01778293940930444, + 1.032398481759126 + ], + "held_grasp_midpoint": [ + 0.31611895810118695, + -0.029587049018326178, + 1.032398481759126 + ], + "held_grasp_object_position": [ + 0.32108207338634537, + -0.01778293940930444, + 1.032398481759126 + ], + "held_grasp_finger_gap": 0.025610116516374713, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023898556760758836, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0316089247870913, + -0.9990079754603762, + 0.03136783129839127 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005346416581979891, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03808472916523212, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25483330057951914, + -0.1066984060894998, + 0.7611063677708191 + ], + "target_position": [ + 0.27188004518931824, + -0.1173488013527042, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02010030897907297, + "xy_threshold": 0.08, + "gripper_dist": 0.20472431474644906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063677708191, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07798084844762558, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09194377357491161, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17906995140318374, + "release_required_pad_clearance": 0.05597188678745581, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.176247029909726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0dd0ed2dac2763d7354b85113c85f3ee2bee210f98367214948d6a277e9fb2e6", + "visual_seed": 1529551889109571802, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fda61e094917edeebd10b69ac4d6088daddb572 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_39_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2967860070498662, + -0.11368700610929502, + 1.00296387136024 + ], + "current_z": 1.00296387136024, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14185736334547405, + "gripper_z": 1.004133435841788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29273257790611806, + -0.11789278480975506, + 1.004133435841788 + ], + "object_minus_gripper": [ + 0.004053429143748122, + 0.0042057787004600306, + -0.0011695644815479245 + ], + "object_to_gripper_xy": 0.005841135360581015, + "object_to_gripper_z": -0.0011695644815479245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2967860070498662, + -0.13755520484232955, + 1.00296387136024 + ], + "finger_b": [ + 0.2861946766634488, + -0.11368700610929502, + 1.00296387136024 + ], + "finger_midpoint": [ + 0.29149034185665745, + -0.1256211054758123, + 1.00296387136024 + ], + "object_minus_finger_midpoint": [ + 0.005295665193208732, + 0.011934099366517265, + 0.0 + ], + "finger_gap": 0.02611258681390796, + "fingertip_max_gap": 0.09377196392753148, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013056293406953991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00296387136024, + "object_top_z": 1.0531301119299206, + "finger_top_clearance": 0.050166240569680554, + "fingertip_min_top_clearance": 0.015049872170904165, + "object_projection_between_fingers": 0.8354866153106532, + "object_to_finger_line_xy": 0.009681000979021944, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938598196376574, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.816456588189109, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31637315070692945, + 0.013217563598088997, + 0.7701463897966117 + ], + "gripper_position": [ + 0.31370557511591934, + -0.02627817350589816, + 1.0333189434573626 + ], + "target_minus_gripper": [ + 0.0026675755910101073, + 0.039495737103987155, + -0.263172553660751 + ], + "held_position": [ + 0.3178499873956426, + -0.022202945662221238, + 1.0320633722010473 + ], + "held_minus_target": [ + 0.0014768366887131235, + -0.035420509260310235, + 0.2619169824044356 + ], + "held_minus_gripper": [ + 0.004144412279723231, + 0.004075227843676921, + -0.0012555712563153687 + ], + "xy_dist": 0.03958571976004757, + "held_xy_dist": 0.035451283797132825, + "held_gripper_dist": 0.005946435428211233, + "max_held_gripper_dist": 0.005975821494370404, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0320633722010473, + "required_height": 0.8001463897966117, + "gripper_z": 1.0333189434573626, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.4544807950649, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.224259987009925, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4747606919281457, + "max_source_tilt_deg": 89.9011107509362, + "source_upright_tilt_deg": 2.617550372847912, + "max_source_upright_tilt_deg": 89.69135326225077, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4747606919281457, + "source_upright_return_tilt_deg": 2.617550372847912, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.085099734265601e-08, + "max_target_xy_drift": 1.4994293451309204e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3164, + 0.0132, + 0.7701 + ], + "controller_target_position": [ + 0.3164, + 0.0132, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0008, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3151, + -0.0112, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012933607117447074, + 0.0007808535173842424, + 0.0006150106479601613 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.617555473777956, + "source_return_step_error_deg": 2.4747677353284208, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6091561233029203, + "source_return_best_wrist_position": -1.6076093912124634, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6076093912124634 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3164, + 0.0132, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3164, + 0.0132, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0008, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3151, + -0.0112, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012933607117447074, + 0.0007808535173842424, + 0.0006150106479601613 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.617555473777956, + "pour_controller_source_return_step_error_deg": 2.4747677353284208, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6091561233029203, + "pour_controller_source_return_best_wrist_position": -1.6076093912124634, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6076093912124634, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03958571976004757, + "valid_pour_held_xy_dist": 0.035451283797132825, + "valid_pour_held_gripper_dist": 0.005946435428211233, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0320633722010473, + "valid_pour_source_tilt_deg": 2.4747606919281457, + "valid_pour_source_upright_tilt_deg": 2.617550372847912, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.085099734265601e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3178499873956426, + -0.04597028786677642, + 1.0320633722010473 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30784940472669076, + -0.022202945662221238, + 1.0320633722010473 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31284969606116664, + -0.034086616764498825, + 1.0320633722010473 + ], + "valid_pour_held_grasp_object_position": [ + 0.3178499873956426, + -0.022202945662221238, + 1.0320633722010473 + ], + "valid_pour_held_grasp_finger_gap": 0.02578562020171261, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024039227007859112, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029666548407640547, + -0.9989566369543673, + 0.03472079190337652 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005366325307022237, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037997319336018576, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3178499873956426, + -0.04597028786677642, + 1.0320633722010473 + ], + "held_grasp_finger_b": [ + 0.30784940472669076, + -0.022202945662221238, + 1.0320633722010473 + ], + "held_grasp_midpoint": [ + 0.31284969606116664, + -0.034086616764498825, + 1.0320633722010473 + ], + "held_grasp_object_position": [ + 0.3178499873956426, + -0.022202945662221238, + 1.0320633722010473 + ], + "held_grasp_finger_gap": 0.02578562020171261, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024039227007859112, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029666548407640547, + -0.9989566369543673, + 0.03472079190337652 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005366325307022237, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037997319336018576, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2759631465135259, + -0.11464187757957607, + 0.7611063804889381 + ], + "target_position": [ + 0.27373117176865364, + -0.11649225726918072, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028992440837999353, + "xy_threshold": 0.08, + "gripper_dist": 0.21504520478106254, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063804889381, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754757280968809, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541746028114451, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18628014723240202, + "release_required_pad_clearance": 0.05270873014057226, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4714679291728742, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "207e14c20aa259f5bc894071674f41b7db70d61cbd8cb83edea08e7c88e9f8ba", + "visual_seed": 3362982312770413763, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c14ff2c5020095a265697d58bb2177c5d5ec7641 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_3_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29968622307270026, + -0.1110357052405503, + 1.0013378038714684 + ], + "current_z": 1.0013378038714684, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14023135546134713, + "gripper_z": 1.002216551853147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29585792380927084, + -0.11523126875512524, + 1.002216551853147 + ], + "object_minus_gripper": [ + 0.0038282992634294244, + 0.004195563514574938, + -0.0008787479816785293 + ], + "object_to_gripper_xy": 0.005679667988113978, + "object_to_gripper_z": -0.0008787479816785293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29968622307270026, + -0.13449773068046442, + 1.0013378038714684 + ], + "finger_b": [ + 0.2888203346557049, + -0.1110357052405503, + 1.0013378038714684 + ], + "finger_midpoint": [ + 0.2942532788642026, + -0.12276671796050737, + 1.0013378038714684 + ], + "object_minus_finger_midpoint": [ + 0.005432944208497659, + 0.011731012719957065, + 0.0 + ], + "finger_gap": 0.025856027707940203, + "fingertip_max_gap": 0.09354413419636695, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012928013853970096, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013378038714684, + "object_top_z": 1.0515672472862756, + "finger_top_clearance": 0.05022944341480717, + "fingertip_min_top_clearance": 0.015068833024442152, + "object_projection_between_fingers": 0.8233934231117044, + "object_to_finger_line_xy": 0.009859818891999573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04927206709818348, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.829969386218101, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31681640064780164, + 0.014644012643627899, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31547364464489724, + -0.027389613186285078, + 1.0309695223360427 + ], + "target_minus_gripper": [ + 0.0013427560029043994, + 0.04203362582991298, + -0.260823072934786 + ], + "held_position": [ + 0.3194272079802104, + -0.02334168657172236, + 1.0300056444499397 + ], + "held_minus_target": [ + 0.00261080733240876, + -0.03798569921535026, + 0.25985919504868304 + ], + "held_minus_gripper": [ + 0.003953563335313159, + 0.004047926614562717, + -0.0009638778861029706 + ], + "xy_dist": 0.04205506740087885, + "held_xy_dist": 0.03807531562319636, + "held_gripper_dist": 0.005739811277606262, + "max_held_gripper_dist": 0.005750314618620744, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0300056444499397, + "required_height": 0.8001464494012567, + "gripper_z": 1.0309695223360427, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.05693763080586, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3419856890071507, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.676759909320321, + "max_source_tilt_deg": 89.97934269097233, + "source_upright_tilt_deg": 2.1678791072189227, + "max_source_upright_tilt_deg": 89.65177753606665, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.676759909320321, + "source_upright_return_tilt_deg": 2.1678791072189227, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.252969905165261e-08, + "max_target_xy_drift": 1.4011066417448942e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3168, + 0.0146, + 0.7701 + ], + "controller_target_position": [ + 0.3168, + 0.0146, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0017, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3174, + -0.0123, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000553824097596748, + -0.0017255972236058991, + -0.0019524447424623058 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1678666053629105, + "source_return_step_error_deg": 2.6767877436325396, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.665239134201675, + "source_return_best_wrist_position": -1.6078212261199951, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078212261199951 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3168, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3168, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0017, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3174, + -0.0123, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000553824097596748, + -0.0017255972236058991, + -0.0019524447424623058 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1678666053629105, + "pour_controller_source_return_step_error_deg": 2.6767877436325396, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.665239134201675, + "pour_controller_source_return_best_wrist_position": -1.6078212261199951, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078212261199951, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04205506740087885, + "valid_pour_held_xy_dist": 0.03807531562319636, + "valid_pour_held_gripper_dist": 0.005739811277606262, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0300056444499397, + "valid_pour_source_tilt_deg": 2.676759909320321, + "valid_pour_source_upright_tilt_deg": 2.1678791072189227, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.252969905165261e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3194272079802104, + -0.04685956887949563, + 1.0300056444499397 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3093552515337102, + -0.02334168657172236, + 1.0300056444499397 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3143912297569603, + -0.035100627725609, + 1.0300056444499397 + ], + "valid_pour_held_grasp_object_position": [ + 0.3194272079802104, + -0.02334168657172236, + 1.0300056444499397 + ], + "valid_pour_held_grasp_finger_gap": 0.02558388349923585, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02371699433685684, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021440129298335935, + -0.9992842884747729, + 0.031164589892017314 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005299502861143409, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038077696950166814, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3194272079802104, + -0.04685956887949563, + 1.0300056444499397 + ], + "held_grasp_finger_b": [ + 0.3093552515337102, + -0.02334168657172236, + 1.0300056444499397 + ], + "held_grasp_midpoint": [ + 0.3143912297569603, + -0.035100627725609, + 1.0300056444499397 + ], + "held_grasp_object_position": [ + 0.3194272079802104, + -0.02334168657172236, + 1.0300056444499397 + ], + "held_grasp_finger_gap": 0.02558388349923585, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02371699433685684, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021440129298335935, + -0.9992842884747729, + 0.031164589892017314 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005299502861143409, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038077696950166814, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.280177752889363, + -0.11363223179063041, + 0.7611063082685772 + ], + "target_position": [ + 0.27708174962533505, + -0.1145334607628222, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003224507694391414, + "xy_threshold": 0.08, + "gripper_dist": 0.2181720177482003, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063082685772, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753229576980326, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08682549246007602, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1892495402792928, + "release_required_pad_clearance": 0.053412746230038013, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8400965176941197, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32178311b2ce198d8d333218d2b69f428c0307b65611b916cd4c04c08f746d6f", + "visual_seed": 771236121696312107, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..188fe9e5adac5e074603780dd4cfd9b00163840e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_40_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29669986970101214, + -0.1172650222896557, + 1.0025166257927274 + ], + "current_z": 1.0025166257927274, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1414101773826062, + "gripper_z": 1.0045322265526309, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29275062770911353, + -0.12141915558320326, + 1.0045322265526309 + ], + "object_minus_gripper": [ + 0.003949241991898611, + 0.0041541332935475656, + -0.0020156007599034798 + ], + "object_to_gripper_xy": 0.005731782945221814, + "object_to_gripper_z": -0.0020156007599034798, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29669986970101214, + -0.1411413319729152, + 1.0025166257927274 + ], + "finger_b": [ + 0.28632863963602556, + -0.1172650222896557, + 1.0025166257927274 + ], + "finger_midpoint": [ + 0.2915142546685189, + -0.12920317713128546, + 1.0025166257927274 + ], + "object_minus_finger_midpoint": [ + 0.005185615032493263, + 0.011938154841629758, + 0.0 + ], + "finger_gap": 0.02603153044198118, + "fingertip_max_gap": 0.09387964343756175, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013015765220990587, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025166257927274, + "object_top_z": 1.052705575830041, + "finger_top_clearance": 0.05018895003731361, + "fingertip_min_top_clearance": 0.015056685011194048, + "object_projection_between_fingers": 0.8412692263604113, + "object_to_finger_line_xy": 0.009512567898374602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943982171878088, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.367627173618356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31222729003493227, + 0.008606557591490522, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3112455301523537, + -0.030567735578226063, + 1.0313367697116989 + ], + "target_minus_gripper": [ + 0.0009817598825785923, + 0.03917429316971659, + -0.2611903799150874 + ], + "held_position": [ + 0.3152656150829488, + -0.02654660091571337, + 1.0292348080144398 + ], + "held_minus_target": [ + 0.0030383250480165436, + -0.035153158507203894, + 0.25908841821782835 + ], + "held_minus_gripper": [ + 0.004020084930595136, + 0.004021134662512693, + -0.0021019616972590693 + ], + "xy_dist": 0.03918659334279958, + "held_xy_dist": 0.03528421704005923, + "held_gripper_dist": 0.006062082958851965, + "max_held_gripper_dist": 0.006167007422980238, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0292348080144398, + "required_height": 0.8001463897966115, + "gripper_z": 1.0313367697116989, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.62745533579546, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9664234216679866, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.579502640191957, + "max_source_tilt_deg": 89.63092962974801, + "source_upright_tilt_deg": 3.250661875152641, + "max_source_upright_tilt_deg": 89.69003360835745, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.579502640191957, + "source_upright_return_tilt_deg": 3.250661875152641, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.6073044327983144e-08, + "max_target_xy_drift": 2.0577171322458268e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3122, + 0.0086, + 0.7701 + ], + "controller_target_position": [ + 0.3122, + 0.0086, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.0009, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3132, + -0.0157, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010052951405844055, + 0.0009310751570929107, + -0.0017478983351761485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2506664586011738, + "source_return_step_error_deg": 2.579532917509003, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2439621347056713, + "source_return_best_wrist_position": -1.6097345352172852, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097345352172852 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3122, + 0.0086, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3122, + 0.0086, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.0009, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3132, + -0.0157, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010052951405844055, + 0.0009310751570929107, + -0.0017478983351761485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2506664586011738, + "pour_controller_source_return_step_error_deg": 2.579532917509003, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2439621347056713, + "pour_controller_source_return_best_wrist_position": -1.6097345352172852, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097345352172852, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03918659334279958, + "valid_pour_held_xy_dist": 0.03528421704005923, + "valid_pour_held_gripper_dist": 0.006062082958851965, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0292348080144398, + "valid_pour_source_tilt_deg": 2.579502640191957, + "valid_pour_source_upright_tilt_deg": 3.250661875152641, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.6073044327983144e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3152656150829488, + -0.05012597448811102, + 1.0292348080144398 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3053059779569773, + -0.02654660091571337, + 1.0292348080144398 + ], + "valid_pour_held_grasp_midpoint": [ + 0.310285796519963, + -0.03833628770191219, + 1.0292348080144398 + ], + "valid_pour_held_grasp_object_position": [ + 0.3152656150829488, + -0.02654660091571337, + 1.0292348080144398 + ], + "valid_pour_held_grasp_finger_gap": 0.025596508155365943, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024008147922123628, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04686044160070214, + -0.9983910240845326, + 0.03192901565074424 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005539369039021777, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03818288910293902, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3152656150829488, + -0.05012597448811102, + 1.0292348080144398 + ], + "held_grasp_finger_b": [ + 0.3053059779569773, + -0.02654660091571337, + 1.0292348080144398 + ], + "held_grasp_midpoint": [ + 0.310285796519963, + -0.03833628770191219, + 1.0292348080144398 + ], + "held_grasp_object_position": [ + 0.3152656150829488, + -0.02654660091571337, + 1.0292348080144398 + ], + "held_grasp_finger_gap": 0.025596508155365943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024008147922123628, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04686044160070214, + -0.9983910240845326, + 0.03192901565074424 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005539369039021777, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03818288910293902, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2743115991078297, + -0.12612637333038923, + 0.7611124036196262 + ], + "target_position": [ + 0.27401756075283445, + -0.12016101325686285, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005972602394352984, + "xy_threshold": 0.08, + "gripper_dist": 0.21664536116398375, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611124036196262, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541916651995272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08905541272894078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18668651810140746, + "release_required_pad_clearance": 0.054527706364470394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.083818134250747, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3923dad2a82f34e590816bf2e0f58118e6c41e6f8bdb55769ce3f10a9bf8d5e2", + "visual_seed": 5807029059186659794, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..749650102af7acbcf2b6dfc5924d8099b6c839a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_41_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3009616072333135, + -0.12009448604600197, + 1.0013504448835575 + ], + "current_z": 1.0013504448835575, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14024393686879166, + "gripper_z": 1.0030951772862204, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29718927212448265, + -0.12415154791706791, + 1.0030951772862204 + ], + "object_minus_gripper": [ + 0.0037723351088308488, + 0.004057061871065942, + -0.0017447324026629296 + ], + "object_to_gripper_xy": 0.005539879348774208, + "object_to_gripper_z": -0.0017447324026629296, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3009616072333135, + -0.1438688124716147, + 1.0013504448835575 + ], + "finger_b": [ + 0.29075254933966865, + -0.12009448604600197, + 1.0013504448835575 + ], + "finger_midpoint": [ + 0.2958570782864911, + -0.13198164925880834, + 1.0013504448835575 + ], + "object_minus_finger_midpoint": [ + 0.005104528946822395, + 0.011887163212806376, + 0.0 + ], + "finger_gap": 0.025873605470969452, + "fingertip_max_gap": 0.09385764296603524, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01293680273548472, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013504448835575, + "object_top_z": 1.0514194905867722, + "finger_top_clearance": 0.05006904570321469, + "fingertip_min_top_clearance": 0.015020713710964372, + "object_projection_between_fingers": 0.8443111789227102, + "object_to_finger_line_xy": 0.0093807364858299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049428821483017624, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.594795747526098, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3133965245491687, + 0.01414522607498623, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3131154906765857, + -0.027854329527282187, + 1.033335840441388 + ], + "target_minus_gripper": [ + 0.00028103387258304746, + 0.04199955560226842, + -0.2631894506447764 + ], + "held_position": [ + 0.3169666707573926, + -0.023927863452960413, + 1.0315076505296839 + ], + "held_minus_target": [ + 0.003570146208223879, + -0.03807308952794664, + 0.2613612607330723 + ], + "held_minus_gripper": [ + 0.0038511800808069263, + 0.003926466074321774, + -0.0018281899117040812 + ], + "xy_dist": 0.042000495840234735, + "held_xy_dist": 0.03824011101122924, + "held_gripper_dist": 0.005795774512596264, + "max_held_gripper_dist": 0.005873939077992925, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0315076505296839, + "required_height": 0.8001463897966116, + "gripper_z": 1.033335840441388, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.3517547499479, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.1805556987799446, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.569721299112257, + "max_source_tilt_deg": 89.83533359492621, + "source_upright_tilt_deg": 3.306414490948318, + "max_source_upright_tilt_deg": 89.8975561298289, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.569721299112257, + "source_upright_return_tilt_deg": 3.306414490948318, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.51925802230835e-08, + "max_target_xy_drift": 1.415610313380833e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3134, + 0.0141, + 0.7701 + ], + "controller_target_position": [ + 0.3134, + 0.0141, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0018, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3147, + -0.0128, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012906849074509849, + -0.0017753249802814244, + 0.0008202863902288617 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.306419316911389, + "source_return_step_error_deg": 2.5697334572618784, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2997011380601955, + "source_return_best_wrist_position": -1.6099737882614136, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099737882614136 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3134, + 0.0141, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3134, + 0.0141, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0018, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3147, + -0.0128, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012906849074509849, + -0.0017753249802814244, + 0.0008202863902288617 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.306419316911389, + "pour_controller_source_return_step_error_deg": 2.5697334572618784, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2997011380601955, + "pour_controller_source_return_best_wrist_position": -1.6099737882614136, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099737882614136, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.042000495840234735, + "valid_pour_held_xy_dist": 0.03824011101122924, + "valid_pour_held_gripper_dist": 0.005795774512596264, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0315076505296839, + "valid_pour_source_tilt_deg": 2.569721299112257, + "valid_pour_source_upright_tilt_deg": 3.306414490948318, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.51925802230835e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3169666707573926, + -0.04746938147803652, + 1.0315076505296839 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3072425359963468, + -0.023927863452960413, + 1.0315076505296839 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31210460337686974, + -0.035698622465498465, + 1.0315076505296839 + ], + "valid_pour_held_grasp_object_position": [ + 0.3169666707573926, + -0.023927863452960413, + 1.0315076505296839 + ], + "valid_pour_held_grasp_finger_gap": 0.025470804223187808, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023968346566066986, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.047923683334795346, + -0.9983353743815242, + 0.03209051003222319 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005433463713417865, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038202093142054805, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3169666707573926, + -0.04746938147803652, + 1.0315076505296839 + ], + "held_grasp_finger_b": [ + 0.3072425359963468, + -0.023927863452960413, + 1.0315076505296839 + ], + "held_grasp_midpoint": [ + 0.31210460337686974, + -0.035698622465498465, + 1.0315076505296839 + ], + "held_grasp_object_position": [ + 0.3169666707573926, + -0.023927863452960413, + 1.0315076505296839 + ], + "held_grasp_finger_gap": 0.025470804223187808, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023968346566066986, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.047923683334795346, + -0.9983353743815242, + 0.03209051003222319 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005433463713417865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038202093142054805, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26057208555289346, + -0.10604711525673081, + 0.7611071425935659 + ], + "target_position": [ + 0.2784617946025295, + -0.12272722068544362, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024459509541149924, + "xy_threshold": 0.08, + "gripper_dist": 0.2031262420275252, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071425935659, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08135798579992472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851766384186018, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17955261699705202, + "release_required_pad_clearance": 0.052588319209300904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24066241110659115, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 185, + "max_placed_release_frames": 185 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30458f8c2eb9f2fe68501c18d2e6c5b3c44bb54f23ffe83f836b2643d60fef33", + "visual_seed": 3398130013660316592, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8f5c9f93e9ef47c404b0d16e85a6fd48b4234b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_42_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2928627890115413, + -0.11055357081026237, + 1.0013856729779484 + ], + "current_z": 1.0013856729779484, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.14027928417247193, + "gripper_z": 1.003104224156406, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2888266925126257, + -0.11472505721241619, + 1.003104224156406 + ], + "object_minus_gripper": [ + 0.0040360964989155645, + 0.004171486402153812, + -0.0017185511784576502 + ], + "object_to_gripper_xy": 0.005804427082142787, + "object_to_gripper_z": -0.0017185511784576502, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2928627890115413, + -0.13445241835195382, + 1.0013856729779484 + ], + "finger_b": [ + 0.28240022041833107, + -0.11055357081026237, + 1.0013856729779484 + ], + "finger_midpoint": [ + 0.28763150471493615, + -0.1225029945811081, + 1.0013856729779484 + ], + "object_minus_finger_midpoint": [ + 0.005231284296605132, + 0.011949423770845721, + 0.0 + ], + "finger_gap": 0.026088699764239685, + "fingertip_max_gap": 0.09350637114898244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013044349882119853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013856729779484, + "object_top_z": 1.0515001461020541, + "finger_top_clearance": 0.05011447312410566, + "fingertip_min_top_clearance": 0.01503434193723168, + "object_projection_between_fingers": 0.8391682576282966, + "object_to_finger_line_xy": 0.009584353914270554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04925318557449122, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8698943986435097, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3104570916897481, + 0.007958500503234642, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3084962144604341, + -0.03268483041244617, + 1.0307245603797084 + ], + "target_minus_gripper": [ + 0.0019608772293139842, + 0.040643330915680814, + -0.26057817058309674 + ], + "held_position": [ + 0.3125039908857168, + -0.028536479263353037, + 1.0289255232074321 + ], + "held_minus_target": [ + 0.0020468991959686766, + -0.03649497976658768, + 0.2587791334108205 + ], + "held_minus_gripper": [ + 0.004007776425282661, + 0.004148351149093135, + -0.0017990371722762522 + ], + "xy_dist": 0.04069060564098276, + "held_xy_dist": 0.03655233705910063, + "held_gripper_dist": 0.0060421539105244195, + "max_held_gripper_dist": 0.0061250846436271935, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0289255232074321, + "required_height": 0.8001463897966117, + "gripper_z": 1.0307245603797084, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.42939351024343, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.387397488715947, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.86001371201209, + "max_source_tilt_deg": 89.74695862910949, + "source_upright_tilt_deg": 4.100569701319059, + "max_source_upright_tilt_deg": 89.93474428304731, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.86001371201209, + "source_upright_return_tilt_deg": 4.100569701319059, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0937787917158593e-07, + "max_target_xy_drift": 1.3465584700505053e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3105, + 0.008, + 0.7701 + ], + "controller_target_position": [ + 0.3105, + 0.008, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0003, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3106, + -0.0176, + 1.0333 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001706926488360106, + -0.00033852799952120444, + -0.001997761054068167 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.100592739069214, + "source_return_step_error_deg": 2.8600471307579416, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.098121248652335, + "source_return_best_wrist_position": -1.6080399751663208, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6080399751663208 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3105, + 0.008, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3105, + 0.008, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0003, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3106, + -0.0176, + 1.0333 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001706926488360106, + -0.00033852799952120444, + -0.001997761054068167 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.100592739069214, + "pour_controller_source_return_step_error_deg": 2.8600471307579416, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.098121248652335, + "pour_controller_source_return_best_wrist_position": -1.6080399751663208, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6080399751663208, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04069060564098276, + "valid_pour_held_xy_dist": 0.03655233705910063, + "valid_pour_held_gripper_dist": 0.0060421539105244195, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0289255232074321, + "valid_pour_source_tilt_deg": 2.86001371201209, + "valid_pour_source_upright_tilt_deg": 4.100569701319059, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0937787917158593e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3125039908857168, + -0.0517603308090309, + 1.0289255232074321 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3019058445573317, + -0.028536479263353037, + 1.0289255232074321 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30720491772152425, + -0.040148405036191964, + 1.0289255232074321 + ], + "valid_pour_held_grasp_object_position": [ + 0.3125039908857168, + -0.028536479263353037, + 1.0289255232074321 + ], + "valid_pour_held_grasp_finger_gap": 0.025527788510044225, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023825048677885593, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.062336212726576655, + -0.9974400813013752, + 0.03503542202419019 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006025967328854562, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03846837403518587, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3125039908857168, + -0.0517603308090309, + 1.0289255232074321 + ], + "held_grasp_finger_b": [ + 0.3019058445573317, + -0.028536479263353037, + 1.0289255232074321 + ], + "held_grasp_midpoint": [ + 0.30720491772152425, + -0.040148405036191964, + 1.0289255232074321 + ], + "held_grasp_object_position": [ + 0.3125039908857168, + -0.028536479263353037, + 1.0289255232074321 + ], + "held_grasp_finger_gap": 0.025527788510044225, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023825048677885593, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.062336212726576655, + -0.9974400813013752, + 0.03503542202419019 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006025967328854562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03846837403518587, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27709224223791357, + -0.12167499153833336, + 0.7611093612148667 + ], + "target_position": [ + 0.26998351676612853, + -0.11538746606855832, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009490361129392035, + "xy_threshold": 0.08, + "gripper_dist": 0.21886002147186853, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611093612148667, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558324306560915, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873560693581147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187978091559323, + "release_required_pad_clearance": 0.05367803467905735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.357706104264264, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6a0ecd0c18469652d59190b5ff84ea913146c61a0f84696575b20a55c19850e3", + "visual_seed": 1013320461730785161, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18816814fedb234c854f499c052afdd8d2cea7a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_43_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29228514421867086, + -0.10907393331572876, + 1.00096255333477 + ], + "current_z": 1.00096255333477, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13985610492464873, + "gripper_z": 1.0024462816473505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28830051424778386, + -0.11330766929566641, + 1.0024462816473505 + ], + "object_minus_gripper": [ + 0.003984629970886999, + 0.004233735979937647, + -0.00148372831258059 + ], + "object_to_gripper_xy": 0.00581393123047646, + "object_to_gripper_z": -0.00148372831258059, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29228514421867086, + -0.13275022075391826, + 1.00096255333477 + ], + "finger_b": [ + 0.2815097957586645, + -0.10907393331572876, + 1.00096255333477 + ], + "finger_midpoint": [ + 0.2868974699886677, + -0.12091207703482351, + 1.00096255333477 + ], + "object_minus_finger_midpoint": [ + 0.005387674230003137, + 0.011838143719094751, + 0.0 + ], + "finger_gap": 0.026012972173327882, + "fingertip_max_gap": 0.09294042501261765, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01300648608666393, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00096255333477, + "object_top_z": 1.0508122130829114, + "finger_top_clearance": 0.049849659748141484, + "fingertip_min_top_clearance": 0.014954897924442411, + "object_projection_between_fingers": 0.8284136664464757, + "object_to_finger_line_xy": 0.00980742399160938, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897021250630883, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8494395235263954, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31681955969397463, + 0.014849572299651882, + 0.7701463301919668 + ], + "gripper_position": [ + 0.31260547806109973, + -0.025889648814532415, + 1.0317494632687452 + ], + "target_minus_gripper": [ + 0.0042140816328749, + 0.04073922111418429, + -0.2616031330767784 + ], + "held_position": [ + 0.3166973747100932, + -0.02180583776062291, + 1.0301774655707978 + ], + "held_minus_target": [ + -0.00012218498388144594, + -0.03665541006027479, + 0.26003113537883105 + ], + "held_minus_gripper": [ + 0.004091896648993454, + 0.004083811053909505, + -0.0015719976979473582 + ], + "xy_dist": 0.04095659435303347, + "held_xy_dist": 0.03665561370182172, + "held_gripper_dist": 0.005991018917715843, + "max_held_gripper_dist": 0.006045800040280106, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.0301774655707978, + "required_height": 0.8001463301919668, + "gripper_z": 1.0317494632687452, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.35155784065437, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.363740607108432, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.613691859032934, + "max_source_tilt_deg": 89.68113975882754, + "source_upright_tilt_deg": 2.5952966144118634, + "max_source_upright_tilt_deg": 89.87463987451694, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.613691859032934, + "source_upright_return_tilt_deg": 2.5952966144118634, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.6267145644038355e-08, + "max_target_xy_drift": 1.402313278967046e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3168, + 0.0148, + 0.7701 + ], + "controller_target_position": [ + 0.3168, + 0.0148, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0005, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3152, + -0.0109, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016630221298729576, + -0.00050063012480655, + -0.0009397138278916843 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5952893914836688, + "source_return_step_error_deg": 2.6136716957489687, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5995996655589644, + "source_return_best_wrist_position": -1.6076030731201172, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6076030731201172 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3168, + 0.0148, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3168, + 0.0148, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0005, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3152, + -0.0109, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016630221298729576, + -0.00050063012480655, + -0.0009397138278916843 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5952893914836688, + "pour_controller_source_return_step_error_deg": 2.6136716957489687, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5995996655589644, + "pour_controller_source_return_best_wrist_position": -1.6076030731201172, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6076030731201172, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04095659435303347, + "valid_pour_held_xy_dist": 0.03665561370182172, + "valid_pour_held_gripper_dist": 0.005991018917715843, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.0301774655707978, + "valid_pour_source_tilt_deg": 2.613691859032934, + "valid_pour_source_upright_tilt_deg": 2.5952966144118634, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.6267145644038355e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3166973747100932, + -0.0454030455858668, + 1.0301774655707978 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30656499259691194, + -0.02180583776062291, + 1.0301774655707978 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31163118365350256, + -0.033604441673244854, + 1.0301774655707978 + ], + "valid_pour_held_grasp_object_position": [ + 0.3166973747100932, + -0.02180583776062291, + 1.0301774655707978 + ], + "valid_pour_held_grasp_finger_gap": 0.025680603272416842, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023858252546243547, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028152154252527425, + -0.9989742996978531, + 0.03546554319513561 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005412342729040557, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03807637218116912, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3166973747100932, + -0.0454030455858668, + 1.0301774655707978 + ], + "held_grasp_finger_b": [ + 0.30656499259691194, + -0.02180583776062291, + 1.0301774655707978 + ], + "held_grasp_midpoint": [ + 0.31163118365350256, + -0.033604441673244854, + 1.0301774655707978 + ], + "held_grasp_object_position": [ + 0.3166973747100932, + -0.02180583776062291, + 1.0301774655707978 + ], + "held_grasp_finger_gap": 0.025680603272416842, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023858252546243547, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028152154252527425, + -0.9989742996978531, + 0.03546554319513561 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005412342729040557, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03807637218116912, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2619716941557531, + -0.11351552004577606, + 0.7611071595976351 + ], + "target_position": [ + 0.2696581573474075, + -0.11408822233597396, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0077077690877358105, + "xy_threshold": 0.08, + "gripper_dist": 0.21022999746872362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071595976351, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560377790665515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615671097675227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18183346172516665, + "release_required_pad_clearance": 0.05307835548837614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1849657539140266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b2b49821cb5f22dfcbdcd0b3c6143924bc77510cd34bcbb1fa46f0c19a704c8", + "visual_seed": 850959041288998516, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d6d122119d11af3a1fa21bf8e2538da13af114e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_44_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29714125061694474, + -0.10878487050553541, + 1.0043402792157243 + ], + "current_z": 1.0043402792157243, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14323377120095815, + "gripper_z": 1.005734351533844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29318812087904833, + -0.11310071325859082, + 1.005734351533844 + ], + "object_minus_gripper": [ + 0.00395312973789641, + 0.00431584275305541, + -0.0013940723181196102 + ], + "object_to_gripper_xy": 0.005852668912021407, + "object_to_gripper_z": -0.0013940723181196102, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29714125061694474, + -0.1323765534409861, + 1.0043402792157243 + ], + "finger_b": [ + 0.28615110143870603, + -0.10878487050553541, + 1.0043402792157243 + ], + "finger_midpoint": [ + 0.2916461760278254, + -0.12058071197326076, + 1.0043402792157243 + ], + "object_minus_finger_midpoint": [ + 0.005495074589119353, + 0.011795841467725346, + 0.0 + ], + "finger_gap": 0.02602596554763676, + "fingertip_max_gap": 0.09324277150298618, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012982773818387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043402792157243, + "object_top_z": 1.0547025661765441, + "finger_top_clearance": 0.05036228696081979, + "fingertip_min_top_clearance": 0.01510868608824592, + "object_projection_between_fingers": 0.8216827023523727, + "object_to_finger_line_xy": 0.00996220925412908, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049121385751493093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8866506684557267, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3111746720081988, + 0.010753998390071172, + 0.7701464494012563 + ], + "gripper_position": [ + 0.31078265220985524, + -0.02879590763981313, + 1.0317682669414237 + ], + "target_minus_gripper": [ + 0.00039201979834357914, + 0.0395499060298843, + -0.26162181754016733 + ], + "held_position": [ + 0.31486655460899815, + -0.024646109074150397, + 1.0302879184987144 + ], + "held_minus_target": [ + 0.0036918826007993344, + -0.03540010746422157, + 0.26014146909745806 + ], + "held_minus_gripper": [ + 0.0040839023991429135, + 0.004149798565662732, + -0.0014803484427092783 + ], + "xy_dist": 0.039551848837885845, + "held_xy_dist": 0.03559210032600662, + "held_gripper_dist": 0.006007538468718572, + "max_held_gripper_dist": 0.006052276413810975, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0302879184987144, + "required_height": 0.8001464494012563, + "gripper_z": 1.0317682669414237, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.18332345120778, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3982060976704065, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.579582428216588, + "max_source_tilt_deg": 89.89190665544507, + "source_upright_tilt_deg": 1.8024435493046467, + "max_source_upright_tilt_deg": 89.95721983660147, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.579582428216588, + "source_upright_return_tilt_deg": 1.8024435493046467, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.0222935772576425e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3112, + 0.0108, + 0.7701 + ], + "controller_target_position": [ + 0.3112, + 0.0108, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0009, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.312, + -0.0136, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008089438188016349, + 0.0008917029446041738, + -0.0010707237905380929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8024492280095759, + "source_return_step_error_deg": 2.579579546727869, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5660745506918574, + "source_return_best_wrist_position": -1.6064780950546265, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6064780950546265 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3112, + 0.0108, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3112, + 0.0108, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0009, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.312, + -0.0136, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008089438188016349, + 0.0008917029446041738, + -0.0010707237905380929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8024492280095759, + "pour_controller_source_return_step_error_deg": 2.579579546727869, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5660745506918574, + "pour_controller_source_return_best_wrist_position": -1.6064780950546265, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6064780950546265, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039551848837885845, + "valid_pour_held_xy_dist": 0.03559210032600662, + "valid_pour_held_gripper_dist": 0.006007538468718572, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0302879184987144, + "valid_pour_source_tilt_deg": 2.579582428216588, + "valid_pour_source_upright_tilt_deg": 1.8024435493046467, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31486655460899815, + -0.04828360654793261, + 1.0302879184987144 + ], + "valid_pour_held_grasp_finger_b": [ + 0.304645390149746, + -0.024646109074150397, + 1.0302879184987144 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3097559723793721, + -0.0364648578110415, + 1.0302879184987144 + ], + "valid_pour_held_grasp_object_position": [ + 0.31486655460899815, + -0.024646109074150397, + 1.0302879184987144 + ], + "valid_pour_held_grasp_finger_gap": 0.025752737519070465, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02384512761208915, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021457961950274867, + -0.9995052259757968, + 0.022996937100664302 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005369830747892636, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03801701162210462, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31486655460899815, + -0.04828360654793261, + 1.0302879184987144 + ], + "held_grasp_finger_b": [ + 0.304645390149746, + -0.024646109074150397, + 1.0302879184987144 + ], + "held_grasp_midpoint": [ + 0.3097559723793721, + -0.0364648578110415, + 1.0302879184987144 + ], + "held_grasp_object_position": [ + 0.31486655460899815, + -0.024646109074150397, + 1.0302879184987144 + ], + "held_grasp_finger_gap": 0.025752737519070465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02384512761208915, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021457961950274867, + -0.9995052259757968, + 0.022996937100664302 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005369830747892636, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03801701162210462, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2791515188407351, + -0.11815260392347167, + 0.7611077901553583 + ], + "target_position": [ + 0.2741720429708696, + -0.11323394743696942, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00699916863425815, + "xy_threshold": 0.08, + "gripper_dist": 0.2190957430686986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077901553583, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540287530650161, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08985562207527419, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18896693541304363, + "release_required_pad_clearance": 0.054927811037637095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.921213050104001, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1418d96ea79ec1565f8435abfc400fdc788f5f8133a4fa195fe5831f84e6b5b4", + "visual_seed": 7777524871157899371, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b7318bc6e019f96d8cd6638e76631592381cb8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_46_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2994837204134872, + -0.11225766724239061, + 1.0028772043525578 + ], + "current_z": 1.0028772043525578, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1417706963377917, + "gripper_z": 1.0046515847918842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29566839583884186, + -0.11630424006432366, + 1.0046515847918842 + ], + "object_minus_gripper": [ + 0.00381532457464534, + 0.004046572821933048, + -0.0017743804393264284 + ], + "object_to_gripper_xy": 0.005561605273039416, + "object_to_gripper_z": -0.0017743804393264284, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2994837204134872, + -0.1361700140749672, + 1.0028772043525578 + ], + "finger_b": [ + 0.2894103636940907, + -0.11225766724239061, + 1.0028772043525578 + ], + "finger_midpoint": [ + 0.2944470420537889, + -0.12421384065867891, + 1.0028772043525578 + ], + "object_minus_finger_midpoint": [ + 0.005036678359698288, + 0.011956173416288296, + 0.0 + ], + "finger_gap": 0.025947501741740896, + "fingertip_max_gap": 0.09300651205413743, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012973750870870458, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028772043525578, + "object_top_z": 1.052969403766781, + "finger_top_clearance": 0.05009219941422316, + "fingertip_min_top_clearance": 0.015027659824266914, + "object_projection_between_fingers": 0.8492847051489318, + "object_to_finger_line_xy": 0.009283267500662062, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900325602706872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6960424252962047, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31271154797141, + 0.00942714591198422, + 0.7701464494012566 + ], + "gripper_position": [ + 0.310182814116079, + -0.030394573909262063, + 1.0313911851508406 + ], + "target_minus_gripper": [ + 0.002528733855330978, + 0.039821719821246285, + -0.26124473574958396 + ], + "held_position": [ + 0.3140548305083006, + -0.026457345323341666, + 1.029539468451352 + ], + "held_minus_target": [ + 0.0013432825368905887, + -0.03588449123532589, + 0.25939301905009526 + ], + "held_minus_gripper": [ + 0.0038720163922215667, + 0.0039372285859203965, + -0.0018517166994886924 + ], + "xy_dist": 0.03990192807914094, + "held_xy_dist": 0.03590962432541025, + "held_gripper_dist": 0.0058243570129746115, + "max_held_gripper_dist": 0.005906937778818195, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.029539468451352, + "required_height": 0.8001464494012567, + "gripper_z": 1.0313911851508406, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.59710763912071, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2736440558093194, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4910096145069307, + "max_source_tilt_deg": 89.89777572616332, + "source_upright_tilt_deg": 2.8150154187835064, + "max_source_upright_tilt_deg": 89.62407510067696, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4910096145069307, + "source_upright_return_tilt_deg": 2.8150154187835064, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.8870999813079834e-08, + "max_target_xy_drift": 1.2016948687654793e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3127, + 0.0094, + 0.7701 + ], + "controller_target_position": [ + 0.3127, + 0.0094, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0005, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.311, + -0.0153, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017271302003386273, + 0.0005032485009941762, + -0.0013612845443059895 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8150064831177843, + "source_return_step_error_deg": 2.4909521144180435, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8070564512490614, + "source_return_best_wrist_position": -1.6100062131881714, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100062131881714 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3127, + 0.0094, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3127, + 0.0094, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0005, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.311, + -0.0153, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017271302003386273, + 0.0005032485009941762, + -0.0013612845443059895 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8150064831177843, + "pour_controller_source_return_step_error_deg": 2.4909521144180435, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8070564512490614, + "pour_controller_source_return_best_wrist_position": -1.6100062131881714, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100062131881714, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03990192807914094, + "valid_pour_held_xy_dist": 0.03590962432541025, + "valid_pour_held_gripper_dist": 0.0058243570129746115, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.029539468451352, + "valid_pour_source_tilt_deg": 2.4910096145069307, + "valid_pour_source_upright_tilt_deg": 2.8150154187835064, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.8870999813079834e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3140548305083006, + -0.05003237542796318, + 1.029539468451352 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3043351718544607, + -0.026457345323341666, + 1.029539468451352 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30919500118138066, + -0.038244860375652424, + 1.029539468451352 + ], + "valid_pour_held_grasp_object_position": [ + 0.3140548305083006, + -0.026457345323341666, + 1.029539468451352 + ], + "valid_pour_held_grasp_finger_gap": 0.02550007468187055, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023914854009252515, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03788936273178944, + -0.998793309378301, + 0.03124614108846957 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005315536744295268, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813109473783332, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3140548305083006, + -0.05003237542796318, + 1.029539468451352 + ], + "held_grasp_finger_b": [ + 0.3043351718544607, + -0.026457345323341666, + 1.029539468451352 + ], + "held_grasp_midpoint": [ + 0.30919500118138066, + -0.038244860375652424, + 1.029539468451352 + ], + "held_grasp_object_position": [ + 0.3140548305083006, + -0.026457345323341666, + 1.029539468451352 + ], + "held_grasp_finger_gap": 0.02550007468187055, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023914854009252515, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03788936273178944, + -0.998793309378301, + 0.03124614108846957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005315536744295268, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813109473783332, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2548565874783874, + -0.09692286354850942, + 0.7611090250080439 + ], + "target_position": [ + 0.27676028112278245, + -0.11630236122654046, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0292461403525375, + "xy_threshold": 0.08, + "gripper_dist": 0.20413750425395055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611090250080439, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08205561199657095, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09153162563217192, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18223124594379733, + "release_required_pad_clearance": 0.05576581281608596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.710757256363285, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2ee6c6c8c2992d89bfd39ba3cc15707ec262b91b85549311379e5332678343f", + "visual_seed": 4124138607027200925, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd523cad416fa3ecb27645f58d10788fdb2de6c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_47_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29254535360279765, + -0.11174667795635534, + 1.0043226746423257 + ], + "current_z": 1.0043226746423257, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14321622623220454, + "gripper_z": 1.0059467554841506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.288678797100697, + -0.11576945557736514, + 1.0059467554841506 + ], + "object_minus_gripper": [ + 0.00386655650210066, + 0.00402277762100979, + -0.0016240808418248598 + ], + "object_to_gripper_xy": 0.005579695240067694, + "object_to_gripper_z": -0.0016240808418248598, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29254535360279765, + -0.1356705265972132, + 1.0043226746423257 + ], + "finger_b": [ + 0.2824787208504733, + -0.11174667795635534, + 1.0043226746423257 + ], + "finger_midpoint": [ + 0.2875120372266355, + -0.12370860227678428, + 1.0043226746423257 + ], + "object_minus_finger_midpoint": [ + 0.005033316376162167, + 0.011961924320428932, + 0.0 + ], + "finger_gap": 0.025955493229003482, + "fingertip_max_gap": 0.09337483941127481, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012977746614501741, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043226746423257, + "object_top_z": 1.0545018057181537, + "finger_top_clearance": 0.05017913107582794, + "fingertip_min_top_clearance": 0.015053739322748415, + "object_projection_between_fingers": 0.8495785128835387, + "object_to_finger_line_xy": 0.009278675468227889, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049187419705637406, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.593453673556961, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3123010209805194, + 0.015384777306251308, + 0.7701463897966119 + ], + "gripper_position": [ + 0.31000213478684685, + -0.023781720448623422, + 1.0320375445167944 + ], + "target_minus_gripper": [ + 0.0022988861936725224, + 0.03916649775487473, + -0.26189115472018254 + ], + "held_position": [ + 0.3139075916931666, + -0.019846242121631275, + 1.0303317571498827 + ], + "held_minus_target": [ + 0.0016065707126472484, + -0.03523101942788258, + 0.2601853673532708 + ], + "held_minus_gripper": [ + 0.003905456906319771, + 0.003935478326992148, + -0.0017057873669117374 + ], + "xy_dist": 0.03923390656197857, + "held_xy_dist": 0.03526763104296312, + "held_gripper_dist": 0.005800887333025991, + "max_held_gripper_dist": 0.005876840356544721, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0303317571498827, + "required_height": 0.8001463897966119, + "gripper_z": 1.0320375445167944, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.16113783059119, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.124393761328189, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.49106640771884, + "max_source_tilt_deg": 89.85126209099577, + "source_upright_tilt_deg": 3.0014306888165954, + "max_source_upright_tilt_deg": 89.7217166080433, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.49106640771884, + "source_upright_return_tilt_deg": 3.0014306888165954, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.33973072360728e-08, + "max_target_xy_drift": 1.9130236232414132e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3123, + 0.0154, + 0.7701 + ], + "controller_target_position": [ + 0.3123, + 0.0154, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0012, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.312, + -0.0086, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003196626153209982, + 0.0011764982206322648, + -0.0010832481540991225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0014304362019923, + "source_return_step_error_deg": 2.4910656736978085, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.993510622492202, + "source_return_best_wrist_position": -1.6092312335968018, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092312335968018 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3123, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3123, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0012, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.312, + -0.0086, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003196626153209982, + 0.0011764982206322648, + -0.0010832481540991225 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0014304362019923, + "pour_controller_source_return_step_error_deg": 2.4910656736978085, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.993510622492202, + "pour_controller_source_return_best_wrist_position": -1.6092312335968018, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092312335968018, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03923390656197857, + "valid_pour_held_xy_dist": 0.03526763104296312, + "valid_pour_held_gripper_dist": 0.005800887333025991, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0303317571498827, + "valid_pour_source_tilt_deg": 2.49106640771884, + "valid_pour_source_upright_tilt_deg": 3.0014306888165954, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.33973072360728e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3139075916931666, + -0.04339288879188074, + 1.0303317571498827 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3040916143650565, + -0.019846242121631275, + 1.0303317571498827 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30899960302911156, + -0.03161956545675601, + 1.0303317571498827 + ], + "valid_pour_held_grasp_object_position": [ + 0.3139075916931666, + -0.019846242121631275, + 1.0303317571498827 + ], + "valid_pour_held_grasp_finger_gap": 0.025510742449398494, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023909093344280034, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04021475300091602, + -0.9986282365326022, + 0.03353235513441121 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005391709285344442, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816045050166758, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3139075916931666, + -0.04339288879188074, + 1.0303317571498827 + ], + "held_grasp_finger_b": [ + 0.3040916143650565, + -0.019846242121631275, + 1.0303317571498827 + ], + "held_grasp_midpoint": [ + 0.30899960302911156, + -0.03161956545675601, + 1.0303317571498827 + ], + "held_grasp_object_position": [ + 0.3139075916931666, + -0.019846242121631275, + 1.0303317571498827 + ], + "held_grasp_finger_gap": 0.025510742449398494, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023909093344280034, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04021475300091602, + -0.9986282365326022, + 0.03353235513441121 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005391709285344442, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816045050166758, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.248322482243468, + -0.09745495704795047, + 0.7611063746774783 + ], + "target_position": [ + 0.2697991284224777, + -0.11525628363215844, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027895045424877904, + "xy_threshold": 0.08, + "gripper_dist": 0.20173513130765214, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063746774783, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08113491941243536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669280231222935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17932665466870976, + "release_required_pad_clearance": 0.05334640115611468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7095580969346285, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04a84c3cc8fe3b41eb8b1e7ad8cc83ff9f19c11030583836dacf2e527c7cd785", + "visual_seed": 4048849386228933202, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45a8d71c358c485767299ada13e0b73428f9d942 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_48_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29856900414507237, + -0.10962850932745195, + 1.002751728052214 + ], + "current_z": 1.002751728052214, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14164522003744806, + "gripper_z": 1.0039634019043926, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2946793572783333, + -0.11366909617105735, + 1.0039634019043926 + ], + "object_minus_gripper": [ + 0.0038896468667390938, + 0.004040586843605393, + -0.0012116738521785742 + ], + "object_to_gripper_xy": 0.005608537669361795, + "object_to_gripper_z": -0.0012116738521785742, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29856900414507237, + -0.13357353640842554, + 1.002751728052214 + ], + "finger_b": [ + 0.2884516001393591, + -0.10962850932745195, + 1.002751728052214 + ], + "finger_midpoint": [ + 0.29351030214221574, + -0.12160102286793875, + 1.002751728052214 + ], + "object_minus_finger_midpoint": [ + 0.00505870200285663, + 0.011972513540486798, + 0.0 + ], + "finger_gap": 0.025994733807511494, + "fingertip_max_gap": 0.09328615163705858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012997366903755752, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002751728052214, + "object_top_z": 1.0529162995682417, + "finger_top_clearance": 0.05016457151602771, + "fingertip_min_top_clearance": 0.015049371454808296, + "object_projection_between_fingers": 0.848515765738393, + "object_to_finger_line_xy": 0.009319638150553046, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049143075818529294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4064852301246815, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.30967212832037855, + 0.01438255780064322, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31023947552344366, + -0.02728836535269169, + 1.0323277925348526 + ], + "target_minus_gripper": [ + -0.0005673472030651161, + 0.04167092315333491, + -0.262181343133596 + ], + "held_position": [ + 0.3140662760562145, + -0.02322402965871455, + 1.0310412810793805 + ], + "held_minus_target": [ + 0.004394147735835963, + -0.03760658745935777, + 0.2608948316781239 + ], + "held_minus_gripper": [ + 0.0038268005327708465, + 0.004064335693977142, + -0.0012865114554720947 + ], + "xy_dist": 0.04167478517401103, + "held_xy_dist": 0.03786243461087358, + "held_gripper_dist": 0.005728729237449857, + "max_held_gripper_dist": 0.0057625755465872805, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0310412810793805, + "required_height": 0.8001464494012567, + "gripper_z": 1.0323277925348526, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.42444728709195, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.870804584959875, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9989515049179727, + "max_source_tilt_deg": 89.91716416905139, + "source_upright_tilt_deg": 4.055728060676461, + "max_source_upright_tilt_deg": 89.99579470991023, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9989515049179727, + "source_upright_return_tilt_deg": 4.055728060676461, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.729977369481944e-08, + "max_target_xy_drift": 1.3597309589559459e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3097, + 0.0144, + 0.7701 + ], + "controller_target_position": [ + 0.3097, + 0.0144, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0013, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3114, + -0.0122, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017192023239990415, + -0.0013493351083388953, + -0.00025791694752391194 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.055739251571525, + "source_return_step_error_deg": 2.998964123278672, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.0527487422542645, + "source_return_best_wrist_position": -1.609561562538147, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609561562538147 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3097, + 0.0144, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3097, + 0.0144, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0013, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3114, + -0.0122, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017192023239990415, + -0.0013493351083388953, + -0.00025791694752391194 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.055739251571525, + "pour_controller_source_return_step_error_deg": 2.998964123278672, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.0527487422542645, + "pour_controller_source_return_best_wrist_position": -1.609561562538147, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609561562538147, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04167478517401103, + "valid_pour_held_xy_dist": 0.03786243461087358, + "valid_pour_held_gripper_dist": 0.005728729237449857, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0310412810793805, + "valid_pour_source_tilt_deg": 2.9989515049179727, + "valid_pour_source_upright_tilt_deg": 4.055728060676461, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.729977369481944e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3140662760562145, + -0.04639161372740974, + 1.0310412810793805 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30364310706519104, + -0.02322402965871455, + 1.0310412810793805 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3088546915607028, + -0.034807821693062145, + 1.0310412810793805 + ], + "valid_pour_held_grasp_object_position": [ + 0.3140662760562145, + -0.02322402965871455, + 1.0310412810793805 + ], + "valid_pour_held_grasp_finger_gap": 0.025404318597346643, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023750887410210725, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.061528408361550074, + -0.997495739891843, + 0.034878415418695075 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005927844283788603, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03848612736309084, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3140662760562145, + -0.04639161372740974, + 1.0310412810793805 + ], + "held_grasp_finger_b": [ + 0.30364310706519104, + -0.02322402965871455, + 1.0310412810793805 + ], + "held_grasp_midpoint": [ + 0.3088546915607028, + -0.034807821693062145, + 1.0310412810793805 + ], + "held_grasp_object_position": [ + 0.3140662760562145, + -0.02322402965871455, + 1.0310412810793805 + ], + "held_grasp_finger_gap": 0.025404318597346643, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023750887410210725, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.061528408361550074, + -0.997495739891843, + 0.034878415418695075 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005927844283788603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03848612736309084, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2767304708771715, + -0.11090894313214607, + 0.7611063108857461 + ], + "target_position": [ + 0.27562323039159853, + -0.11295357966913774, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002325192478332321, + "xy_threshold": 0.08, + "gripper_dist": 0.21375481741891547, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063108857461, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553921701806088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523736209135273, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1851071558384716, + "release_required_pad_clearance": 0.052618681045676366, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2987068035698565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c79b231d534002cf7ffe2d29c99536b7e9ec0a76d76049020b4be6e472718b46", + "visual_seed": 4690933587960893285, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b747215554112d3f246192b442dac2bf15e36e77 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_49_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29613860959187527, + -0.11696511796600215, + 1.0039746296814034 + ], + "current_z": 1.0039746296814034, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14286818127128242, + "gripper_z": 1.0051210740279592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29230855467098876, + -0.12104689863591621, + 1.0051210740279592 + ], + "object_minus_gripper": [ + 0.0038300549208865053, + 0.004081780669914062, + -0.0011464443465558638 + ], + "object_to_gripper_xy": 0.005597343489039334, + "object_to_gripper_z": -0.0011464443465558638, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29613860959187527, + -0.14069209205817482, + 1.0039746296814034 + ], + "finger_b": [ + 0.2857618621452128, + -0.11696511796600215, + 1.0039746296814034 + ], + "finger_midpoint": [ + 0.29095023586854407, + -0.12882860501208848, + 1.0039746296814034 + ], + "object_minus_finger_midpoint": [ + 0.005188373723331197, + 0.011863487046086335, + 0.0 + ], + "finger_gap": 0.025896837396532587, + "fingertip_max_gap": 0.09416914941479679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012948418698266283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039746296814034, + "object_top_z": 1.0543802961007722, + "finger_top_clearance": 0.05040566641936883, + "fingertip_min_top_clearance": 0.015121699925810667, + "object_projection_between_fingers": 0.8394430779803352, + "object_to_finger_line_xy": 0.009507292881289998, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049584574707398396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8843003700132988, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3108543268448537, + 0.014155025451116342, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3088269233332116, + -0.02490666837904315, + 1.032974672259445 + ], + "target_minus_gripper": [ + 0.0020274035116421008, + 0.03906169383015949, + -0.2628282228581884 + ], + "held_position": [ + 0.3127129791545086, + -0.02091658293241096, + 1.0317411382513955 + ], + "held_minus_target": [ + 0.0018586523096548735, + -0.035071608383527304, + 0.2615946888501388 + ], + "held_minus_gripper": [ + 0.0038860558212969742, + 0.00399008544663219, + -0.0012335340080495971 + ], + "xy_dist": 0.03911427220184646, + "held_xy_dist": 0.03512082434988803, + "held_gripper_dist": 0.005704718912153079, + "max_held_gripper_dist": 0.005736244123947797, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0317411382513955, + "required_height": 0.8001464494012567, + "gripper_z": 1.032974672259445, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.89078644905614, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.343552564832312, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.493605434220504, + "max_source_tilt_deg": 89.89854411552771, + "source_upright_tilt_deg": 2.941507723849166, + "max_source_upright_tilt_deg": 89.98775051416126, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.493605434220504, + "source_upright_return_tilt_deg": 2.941507723849166, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0848209096909341e-07, + "max_target_xy_drift": 2.1166239271674366e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3109, + 0.0142, + 0.7701 + ], + "controller_target_position": [ + 0.3109, + 0.0142, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0013, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3094, + -0.0097, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015042866591754942, + 0.0013476700555707906, + -0.00026852585516452896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9414747556513703, + "source_return_step_error_deg": 2.493573334005394, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9365535931941045, + "source_return_best_wrist_position": -1.608368158340454, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608368158340454 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3109, + 0.0142, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3109, + 0.0142, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0013, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3094, + -0.0097, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015042866591754942, + 0.0013476700555707906, + -0.00026852585516452896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9414747556513703, + "pour_controller_source_return_step_error_deg": 2.493573334005394, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9365535931941045, + "pour_controller_source_return_best_wrist_position": -1.608368158340454, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608368158340454, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03911427220184646, + "valid_pour_held_xy_dist": 0.03512082434988803, + "valid_pour_held_gripper_dist": 0.005704718912153079, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0317411382513955, + "valid_pour_source_tilt_deg": 2.493605434220504, + "valid_pour_source_upright_tilt_deg": 2.941507723849166, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0848209096909341e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3127129791545086, + -0.04439593037233726, + 1.0317411382513955 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3027223016662487, + -0.02091658293241096, + 1.0317411382513955 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30771764041037863, + -0.03265625665237411, + 1.0317411382513955 + ], + "valid_pour_held_grasp_object_position": [ + 0.3127129791545086, + -0.02091658293241096, + 1.0317411382513955 + ], + "valid_pour_held_grasp_finger_gap": 0.025516531756474985, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02384352465691141, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039548107322885655, + -0.9986824519451369, + 0.032700265809725286 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054689751611378765, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819360012717339, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3127129791545086, + -0.04439593037233726, + 1.0317411382513955 + ], + "held_grasp_finger_b": [ + 0.3027223016662487, + -0.02091658293241096, + 1.0317411382513955 + ], + "held_grasp_midpoint": [ + 0.30771764041037863, + -0.03265625665237411, + 1.0317411382513955 + ], + "held_grasp_object_position": [ + 0.3127129791545086, + -0.02091658293241096, + 1.0317411382513955 + ], + "held_grasp_finger_gap": 0.025516531756474985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02384352465691141, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039548107322885655, + -0.9986824519451369, + 0.032700265809725286 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054689751611378765, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819360012717339, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2773093551388026, + -0.12088900598370432, + 0.7611063503403627 + ], + "target_position": [ + 0.27343888827971574, + -0.11924271354248386, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004206042380826591, + "xy_threshold": 0.08, + "gripper_dist": 0.2176044801236485, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063503403627, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544055983342879, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08620879789165985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18819510537328069, + "release_required_pad_clearance": 0.053104398945829925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.236046162536188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdf481634af6221cab85c57bb82a8685c794b4dfba8170b22ba79cc9674e0770", + "visual_seed": 4492181941732291958, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce24e28900685dac956596188ae5455084cf52b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_4_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.297154286345251, + -0.11421852956761484, + 1.0023507193173615 + ], + "current_z": 1.0023507193173615, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14124421130259557, + "gripper_z": 1.0040710829484993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2929544517101464, + -0.11846735438686283, + 1.0040710829484993 + ], + "object_minus_gripper": [ + 0.004199834635104593, + 0.004248824819247987, + -0.0017203636311378112 + ], + "object_to_gripper_xy": 0.005974204826324741, + "object_to_gripper_z": -0.0017203636311378112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.297154286345251, + -0.1382640335560607, + 1.0023507193173615 + ], + "finger_b": [ + 0.2866101478711094, + -0.11421852956761484, + 1.0023507193173615 + ], + "finger_midpoint": [ + 0.2918822171081802, + -0.12624128156183778, + 1.0023507193173615 + ], + "object_minus_finger_midpoint": [ + 0.005272069237070798, + 0.012022751994222938, + 0.0 + ], + "finger_gap": 0.026255763523848227, + "fingertip_max_gap": 0.09368904560949756, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013127881761924119, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023507193173615, + "object_top_z": 1.0524842459507526, + "finger_top_clearance": 0.0501335266333911, + "fingertip_min_top_clearance": 0.015040057990017314, + "object_projection_between_fingers": 0.8387228288415464, + "object_to_finger_line_xy": 0.009656513073954489, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04934452280474878, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9971702646006615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3098431936508839, + 0.011281539543204091, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3087905753158469, + -0.03084225658857638, + 1.0319241245408677 + ], + "target_minus_gripper": [ + 0.0010526183350370033, + 0.042123796131780473, + -0.26177767513961114 + ], + "held_position": [ + 0.31305845000034904, + -0.026715301384299603, + 1.030120109166705 + ], + "held_minus_target": [ + 0.003215256349465123, + -0.037996840927503696, + 0.2599736597654484 + ], + "held_minus_gripper": [ + 0.0042678746845021265, + 0.004126955204276778, + -0.0018040153741627485 + ], + "xy_dist": 0.04213694585409649, + "held_xy_dist": 0.038132634237130744, + "held_gripper_dist": 0.006204916200154267, + "max_held_gripper_dist": 0.0062853981310778614, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.030120109166705, + "required_height": 0.8001464494012566, + "gripper_z": 1.0319241245408677, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.14376182934267, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5015089839713593, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5121961019598977, + "max_source_tilt_deg": 89.8903495084774, + "source_upright_tilt_deg": 3.032813964496509, + "max_source_upright_tilt_deg": 89.83450130717462, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5121961019598977, + "source_upright_return_tilt_deg": 3.032813964496509, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0507034350483116e-08, + "max_target_xy_drift": 1.3244769213095208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3098, + 0.0113, + 0.7701 + ], + "controller_target_position": [ + 0.3098, + 0.0113, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0018, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3101, + -0.0157, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00025765404114264697, + -0.0017943006278550136, + -0.0008939029140748098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0328145277808316, + "source_return_step_error_deg": 2.5121977275843586, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0278693567685426, + "source_return_best_wrist_position": -1.6091420650482178, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091420650482178 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3098, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3098, + 0.0113, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0018, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3101, + -0.0157, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00025765404114264697, + -0.0017943006278550136, + -0.0008939029140748098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0328145277808316, + "pour_controller_source_return_step_error_deg": 2.5121977275843586, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0278693567685426, + "pour_controller_source_return_best_wrist_position": -1.6091420650482178, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091420650482178, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04213694585409649, + "valid_pour_held_xy_dist": 0.038132634237130744, + "valid_pour_held_gripper_dist": 0.006204916200154267, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.030120109166705, + "valid_pour_source_tilt_deg": 2.5121961019598977, + "valid_pour_source_upright_tilt_deg": 3.032813964496509, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0507034350483116e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31305845000034904, + -0.05048438318944429, + 1.030120109166705 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3029315258831044, + -0.026715301384299603, + 1.030120109166705 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30799498794172675, + -0.038599842286871945, + 1.030120109166705 + ], + "valid_pour_held_grasp_object_position": [ + 0.31305845000034904, + -0.026715301384299603, + 1.030120109166705 + ], + "valid_pour_held_grasp_finger_gap": 0.025836482770224184, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024145438916077625, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04045136747872595, + -0.9985994066478543, + 0.03410149427304465 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005554612766891793, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038057178540952086, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31305845000034904, + -0.05048438318944429, + 1.030120109166705 + ], + "held_grasp_finger_b": [ + 0.3029315258831044, + -0.026715301384299603, + 1.030120109166705 + ], + "held_grasp_midpoint": [ + 0.30799498794172675, + -0.038599842286871945, + 1.030120109166705 + ], + "held_grasp_object_position": [ + 0.31305845000034904, + -0.026715301384299603, + 1.030120109166705 + ], + "held_grasp_finger_gap": 0.025836482770224184, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024145438916077625, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04045136747872595, + -0.9985994066478543, + 0.03410149427304465 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005554612766891793, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038057178540952086, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2756445964745304, + -0.11832903794197418, + 0.7611063209223905 + ], + "target_position": [ + 0.27402609818195783, + -0.11579568038739727, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030062330618886085, + "xy_threshold": 0.08, + "gripper_dist": 0.2148269729114806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063209223905, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590672948528486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08623377653059645, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18458632863900182, + "release_required_pad_clearance": 0.05311688826529823, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.260500111636746, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f8341d13bc0add33783175676e6079dda2bcb8d9854f58e6e443f3bca343a39", + "visual_seed": 4989505871460748102, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2274b80679f135f4e5ef5af9a9c0cce0c8bf1a36 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_50_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2950594026475247, + -0.11676543050314457, + 1.0020412451120304 + ], + "current_z": 1.0020412451120304, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14093473709726423, + "gripper_z": 1.0030519675237508, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2915528769943435, + -0.12077302938301701, + 1.0030519675237508 + ], + "object_minus_gripper": [ + 0.003506525653181214, + 0.00400759887987244, + -0.0010107224117203994 + ], + "object_to_gripper_xy": 0.005325088819763739, + "object_to_gripper_z": -0.0010107224117203994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2950594026475247, + -0.14002095671546225, + 1.0020412451120304 + ], + "finger_b": [ + 0.2845026122102096, + -0.11676543050314457, + 1.0020412451120304 + ], + "finger_midpoint": [ + 0.28978100742886714, + -0.1283931936093034, + 1.0020412451120304 + ], + "object_minus_finger_midpoint": [ + 0.005278395218657583, + 0.011627763106158831, + 0.0 + ], + "finger_gap": 0.025539485581138516, + "fingertip_max_gap": 0.09448723057354994, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012769742790569265, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020412451120304, + "object_top_z": 1.052386243018494, + "finger_top_clearance": 0.05034499790646363, + "fingertip_min_top_clearance": 0.015103499371939071, + "object_projection_between_fingers": 0.8291403508976932, + "object_to_finger_line_xy": 0.009612711890886158, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974361528677497, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3678682314842816, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31924508130614215, + 0.011563022478155872, + 0.7701463301919672 + ], + "gripper_position": [ + 0.3180001001151741, + -0.028631056586775838, + 1.031378728733022 + ], + "target_minus_gripper": [ + 0.001244981190968053, + 0.040194079064931706, + -0.26123239854105484 + ], + "held_position": [ + 0.32164051567111174, + -0.024781040473917482, + 1.030278568639448 + ], + "held_minus_target": [ + 0.002395434364969584, + -0.036344062952073354, + 0.2601322384474808 + ], + "held_minus_gripper": [ + 0.003640415555937637, + 0.003850016112858356, + -0.001100160093574054 + ], + "xy_dist": 0.04021335561780247, + "held_xy_dist": 0.03642291885147521, + "held_gripper_dist": 0.0054116172925175125, + "max_held_gripper_dist": 0.005433571303944868, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.030278568639448, + "required_height": 0.8001463301919672, + "gripper_z": 1.031378728733022, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.48211124264239, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8043542553743865, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.749321225263906, + "max_source_tilt_deg": 89.93414101575559, + "source_upright_tilt_deg": 2.4052325622249926, + "max_source_upright_tilt_deg": 89.9047007703727, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.749321225263906, + "source_upright_return_tilt_deg": 2.4052325622249926, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.078664252780327e-08, + "max_target_xy_drift": 1.5876250220358397e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3192, + 0.0116, + 0.7701 + ], + "controller_target_position": [ + 0.3192, + 0.0116, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3208, + -0.0136, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015972683976470622, + 2.4094235116874432e-05, + -0.0018044966058729974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.405250403608176, + "source_return_step_error_deg": 2.7493583384909623, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7323088631656898, + "source_return_best_wrist_position": -1.606123685836792, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.606123685836792 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3192, + 0.0116, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3192, + 0.0116, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3208, + -0.0136, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015972683976470622, + 2.4094235116874432e-05, + -0.0018044966058729974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.405250403608176, + "pour_controller_source_return_step_error_deg": 2.7493583384909623, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7323088631656898, + "pour_controller_source_return_best_wrist_position": -1.606123685836792, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.606123685836792, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04021335561780247, + "valid_pour_held_xy_dist": 0.03642291885147521, + "valid_pour_held_gripper_dist": 0.0054116172925175125, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.030278568639448, + "valid_pour_source_tilt_deg": 2.749321225263906, + "valid_pour_source_upright_tilt_deg": 2.4052325622249926, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.078664252780327e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32164051567111174, + -0.04818302655265569, + 1.030278568639448 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3119555424587496, + -0.024781040473917482, + 1.030278568639448 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3167980290649307, + -0.036482033513286584, + 1.030278568639448 + ], + "valid_pour_held_grasp_object_position": [ + 0.32164051567111174, + -0.024781040473917482, + 1.030278568639448 + ], + "valid_pour_held_grasp_finger_gap": 0.02532689595180642, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0236441111161443, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027128825647389165, + -0.9991190101471583, + 0.03201921894044679 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005171574570785619, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816093646170072, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32164051567111174, + -0.04818302655265569, + 1.030278568639448 + ], + "held_grasp_finger_b": [ + 0.3119555424587496, + -0.024781040473917482, + 1.030278568639448 + ], + "held_grasp_midpoint": [ + 0.3167980290649307, + -0.036482033513286584, + 1.030278568639448 + ], + "held_grasp_object_position": [ + 0.32164051567111174, + -0.024781040473917482, + 1.030278568639448 + ], + "held_grasp_finger_gap": 0.02532689595180642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0236441111161443, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027128825647389165, + -0.9991190101471583, + 0.03201921894044679 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005171574570785619, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816093646170072, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25916520582945257, + -0.10666583374257764, + 0.7611061198964886 + ], + "target_position": [ + 0.2729462028532394, + -0.11967479339483071, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01895122450406753, + "xy_threshold": 0.08, + "gripper_dist": 0.20666780289278175, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611061198964886, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07834087237799747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08726168826787749, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18200135708796264, + "release_required_pad_clearance": 0.053630844133938746, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.27147722757957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "41c8f9d52133a0b08b21d773f60df9a596ca36bb025f1f5a6ef405cb557ab223", + "visual_seed": 3979319714382416374, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9041ec652fa9c7ab3c2f0f29bae7d6db030b89cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_51_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.298600852434382, + -0.11602922113735481, + 1.0005272820489743 + ], + "current_z": 1.0005272820489743, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.13942059522027384, + "gripper_z": 1.002560325668994, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29443565255742743, + -0.12022013438776964, + 1.002560325668994 + ], + "object_minus_gripper": [ + 0.004165199876954573, + 0.004190913250414832, + -0.002033043620019548 + ], + "object_to_gripper_xy": 0.005908692231575867, + "object_to_gripper_z": -0.002033043620019548, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.298600852434382, + -0.14013292937690655, + 1.0005272820489743 + ], + "finger_b": [ + 0.2882528587209148, + -0.11602922113735481, + 1.0005272820489743 + ], + "finger_midpoint": [ + 0.29342685557764836, + -0.1280810752571307, + 1.0005272820489743 + ], + "object_minus_finger_midpoint": [ + 0.0051739968567336425, + 0.012051854119775884, + 0.0 + ], + "finger_gap": 0.026231083179910658, + "fingertip_max_gap": 0.09324868202167799, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115541589955352, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0005272820489743, + "object_top_z": 1.0504725442607326, + "finger_top_clearance": 0.04994526221175821, + "fingertip_min_top_clearance": 0.014983578663527463, + "object_projection_between_fingers": 0.8443748212778552, + "object_to_finger_line_xy": 0.009508757973256503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049124341010839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0051063481046034, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3193264714485829, + 0.01687038023643948, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3161432352291641, + -0.021337647282938008, + 1.0322785121375937 + ], + "target_minus_gripper": [ + 0.0031832362194187946, + 0.03820802751937749, + -0.26213212234098204 + ], + "held_position": [ + 0.3202423009888439, + -0.01711831084523545, + 1.0301789048574927 + ], + "held_minus_target": [ + 0.0009158295402609817, + -0.03398869108167493, + 0.2600325150608811 + ], + "held_minus_gripper": [ + 0.004099065759679776, + 0.004219336437702559, + -0.0020996072801009458 + ], + "xy_dist": 0.03834040114226933, + "held_xy_dist": 0.034001027413775954, + "held_gripper_dist": 0.006246078034043166, + "max_held_gripper_dist": 0.006338760145150732, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0301789048574927, + "required_height": 0.8001463897966117, + "gripper_z": 1.0322785121375937, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.87591596104062, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.572691446934168, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8805587887195927, + "max_source_tilt_deg": 89.94507469842311, + "source_upright_tilt_deg": 3.978091163665781, + "max_source_upright_tilt_deg": 89.80436961013994, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8805587887195927, + "source_upright_return_tilt_deg": 3.978091163665781, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 1.8495606762926185e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3193, + 0.0169, + 0.7701 + ], + "controller_target_position": [ + 0.3193, + 0.0169, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.002, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.318, + -0.0063, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013282670886094069, + 0.001984035680305355, + -0.0005608857959271552 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.978090949192698, + "source_return_step_error_deg": 1.880559406194905, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9742600161320194, + "source_return_best_wrist_position": -1.5854638814926147, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5854638814926147 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3193, + 0.0169, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3193, + 0.0169, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.002, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.318, + -0.0063, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013282670886094069, + 0.001984035680305355, + -0.0005608857959271552 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.978090949192698, + "pour_controller_source_return_step_error_deg": 1.880559406194905, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9742600161320194, + "pour_controller_source_return_best_wrist_position": -1.5854638814926147, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5854638814926147, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03834040114226933, + "valid_pour_held_xy_dist": 0.034001027413775954, + "valid_pour_held_gripper_dist": 0.006246078034043166, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0301789048574927, + "valid_pour_source_tilt_deg": 1.8805587887195927, + "valid_pour_source_upright_tilt_deg": 3.978091163665781, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3202423009888439, + -0.04083028794554001, + 1.0301789048574927 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3095263008662046, + -0.01711831084523545, + 1.0301789048574927 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31488430092752423, + -0.028974299395387728, + 1.0301789048574927 + ], + "valid_pour_held_grasp_object_position": [ + 0.3202423009888439, + -0.01711831084523545, + 1.0301789048574927 + ], + "valid_pour_held_grasp_finger_gap": 0.02602096302279708, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024385649342159876, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06819732957587132, + -0.9975906542924817, + 0.012728342665803916 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006155865415958188, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038258227991113836, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3202423009888439, + -0.04083028794554001, + 1.0301789048574927 + ], + "held_grasp_finger_b": [ + 0.3095263008662046, + -0.01711831084523545, + 1.0301789048574927 + ], + "held_grasp_midpoint": [ + 0.31488430092752423, + -0.028974299395387728, + 1.0301789048574927 + ], + "held_grasp_object_position": [ + 0.3202423009888439, + -0.01711831084523545, + 1.0301789048574927 + ], + "held_grasp_finger_gap": 0.02602096302279708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024385649342159876, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06819732957587132, + -0.9975906542924817, + 0.012728342665803916 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006155865415958188, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038258227991113836, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28664502138326253, + -0.11807629055478407, + 0.7611074152033644 + ], + "target_position": [ + 0.27558893601323353, + -0.11750459874654552, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0110708561201461, + "xy_threshold": 0.08, + "gripper_dist": 0.2249789939234777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074152033644, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075695626028702, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09392117850479469, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19460913927344894, + "release_required_pad_clearance": 0.056960589252397345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.42586434944472, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2d70c74da4f45d9d5026082ce958ba40f4d812f33557c1fdca52612af089548", + "visual_seed": 8039664942229663135, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..436b8af3071f745a648c2e0b2cfa045889ce3ccf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_52_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29661904615214385, + -0.10986880373807228, + 1.0014598655543234 + ], + "current_z": 1.0014598655543234, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14035341714420235, + "gripper_z": 1.003164354841694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29266717147795385, + -0.1140067339820408, + 1.003164354841694 + ], + "object_minus_gripper": [ + 0.0039518746741900035, + 0.00413793024396851, + -0.0017044892873705475 + ], + "object_to_gripper_xy": 0.005721868588534137, + "object_to_gripper_z": -0.0017044892873705475, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29661904615214385, + -0.13368821202171235, + 1.0014598655543234 + ], + "finger_b": [ + 0.28616238036678976, + -0.10986880373807228, + 1.0014598655543234 + ], + "finger_midpoint": [ + 0.2913907132594668, + -0.12177850787989232, + 1.0014598655543234 + ], + "object_minus_finger_midpoint": [ + 0.005228332892677046, + 0.011909704141820035, + 0.0 + ], + "finger_gap": 0.026013574731845988, + "fingertip_max_gap": 0.09384952889972206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013006787365922994, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014598655543234, + "object_top_z": 1.0516879925704674, + "finger_top_clearance": 0.050228127016143986, + "fingertip_min_top_clearance": 0.015068438104843162, + "object_projection_between_fingers": 0.8384204544029271, + "object_to_finger_line_xy": 0.009574677613300274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04942476444986103, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.947366248131669, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3160861841446582, + 0.016466104282669796, + 0.7701464494012564 + ], + "gripper_position": [ + 0.31438326382503734, + -0.025056906789222316, + 1.0331834214610054 + ], + "target_minus_gripper": [ + 0.001702920319620882, + 0.041523011071892116, + -0.26303697205974896 + ], + "held_position": [ + 0.31838128421493594, + -0.021014612855389567, + 1.0313972289706794 + ], + "held_minus_target": [ + 0.0022951000702777224, + -0.037480717138059366, + 0.261250779569423 + ], + "held_minus_gripper": [ + 0.003998020389898604, + 0.00404229393383275, + -0.0017861924903259663 + ], + "xy_dist": 0.04155791604606098, + "held_xy_dist": 0.037550920648045445, + "held_gripper_dist": 0.0059594287392369175, + "max_held_gripper_dist": 0.006043757400938108, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0313972289706794, + "required_height": 0.8001464494012565, + "gripper_z": 1.0331834214610054, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.11726069536302, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.442687329066536, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.478126932531065, + "max_source_tilt_deg": 89.91721287920946, + "source_upright_tilt_deg": 3.2107034658349134, + "max_source_upright_tilt_deg": 89.9703942596808, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.478126932531065, + "source_upright_return_tilt_deg": 3.2107034658349134, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1214608865596629e-07, + "max_target_xy_drift": 1.233853039538741e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3161, + 0.0165, + 0.7701 + ], + "controller_target_position": [ + 0.3161, + 0.0165, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0014, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3166, + -0.0101, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005245325852874022, + -0.0014052192183460206, + 0.0009792683547090245 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2107071123821225, + "source_return_step_error_deg": 2.47814396190316, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.206146593822919, + "source_return_best_wrist_position": -1.6085362434387207, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085362434387207 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3161, + 0.0165, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3161, + 0.0165, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0014, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3166, + -0.0101, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005245325852874022, + -0.0014052192183460206, + 0.0009792683547090245 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2107071123821225, + "pour_controller_source_return_step_error_deg": 2.47814396190316, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.206146593822919, + "pour_controller_source_return_best_wrist_position": -1.6085362434387207, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085362434387207, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04155791604606098, + "valid_pour_held_xy_dist": 0.037550920648045445, + "valid_pour_held_gripper_dist": 0.0059594287392369175, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0313972289706794, + "valid_pour_source_tilt_deg": 2.478126932531065, + "valid_pour_source_upright_tilt_deg": 3.2107034658349134, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1214608865596629e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31838128421493594, + -0.04448488824636471, + 1.0313972289706794 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30821372971852984, + -0.021014612855389567, + 1.0313972289706794 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31329750696673286, + -0.03274975055087714, + 1.0313972289706794 + ], + "valid_pour_held_grasp_object_position": [ + 0.31838128421493594, + -0.021014612855389567, + 1.0313972289706794 + ], + "valid_pour_held_grasp_finger_gap": 0.025577978641120203, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02389088380838801, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04499106066806586, + -0.9984303275881046, + 0.03335693949199847 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056199882811775945, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03823225722709473, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31838128421493594, + -0.04448488824636471, + 1.0313972289706794 + ], + "held_grasp_finger_b": [ + 0.30821372971852984, + -0.021014612855389567, + 1.0313972289706794 + ], + "held_grasp_midpoint": [ + 0.31329750696673286, + -0.03274975055087714, + 1.0313972289706794 + ], + "held_grasp_object_position": [ + 0.31838128421493594, + -0.021014612855389567, + 1.0313972289706794 + ], + "held_grasp_finger_gap": 0.025577978641120203, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02389088380838801, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04499106066806586, + -0.9984303275881046, + 0.03335693949199847 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056199882811775945, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03823225722709473, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27678784919177923, + -0.11151172275273954, + 0.7611084911134375 + ], + "target_position": [ + 0.27369152770975796, + -0.11353317207874809, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003697764743415514, + "xy_threshold": 0.08, + "gripper_dist": 0.21751453357134334, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084911134375, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580731835249427, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08708628483035095, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18826783062442304, + "release_required_pad_clearance": 0.05354314241517548, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.096583842566731, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dced7cdcef527fe5ae8a154e8c0fe306383a3c8a8a51fcee1c6ccc1620ba68bc", + "visual_seed": 8313461868799653221, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..299539d4a5db8f5cac0d6ee37bca775e4b650acd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_53_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3027427143204424, + -0.1107029988486615, + 1.002866258669569 + ], + "current_z": 1.002866258669569, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14175981025944784, + "gripper_z": 1.0040433655609666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2984550478576563, + -0.11504129661763571, + 1.0040433655609666 + ], + "object_minus_gripper": [ + 0.0042876664627861105, + 0.004338297768974209, + -0.0011771068913977167 + ], + "object_to_gripper_xy": 0.006099582873310875, + "object_to_gripper_z": -0.0011771068913977167, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3027427143204424, + -0.1347509135568759, + 1.002866258669569 + ], + "finger_b": [ + 0.29195757749322704, + -0.1107029988486615, + 1.002866258669569 + ], + "finger_midpoint": [ + 0.29735014590683473, + -0.1227269562027687, + 1.002866258669569 + ], + "object_minus_finger_midpoint": [ + 0.00539256841360769, + 0.012023957354107204, + 0.0 + ], + "finger_gap": 0.026355670702816733, + "fingertip_max_gap": 0.09332005676222901, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013177835351408367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002866258669569, + "object_top_z": 1.0529940303165373, + "finger_top_clearance": 0.050127771646968355, + "fingertip_min_top_clearance": 0.01503833149409049, + "object_projection_between_fingers": 0.832543051462129, + "object_to_finger_line_xy": 0.009840768366770454, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916002838111451, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4887612421421488, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3192629925018972, + 0.012045916958384289, + 0.7701465090059013 + ], + "gripper_position": [ + 0.318249902584157, + -0.03002702932971335, + 1.0316483764154576 + ], + "target_minus_gripper": [ + 0.0010130899177402397, + 0.04207294628809764, + -0.2615018674095563 + ], + "held_position": [ + 0.32257652745491083, + -0.025765906273374894, + 1.0303889903277526 + ], + "held_minus_target": [ + 0.0033135349530136193, + -0.03781182323175918, + 0.26024248132185124 + ], + "held_minus_gripper": [ + 0.004326624870753859, + 0.004261123056338457, + -0.001259386087705039 + ], + "xy_dist": 0.0420851418025718, + "held_xy_dist": 0.037956731813930535, + "held_gripper_dist": 0.0062018469661375905, + "max_held_gripper_dist": 0.006228863042271665, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0303889903277526, + "required_height": 0.8001465090059013, + "gripper_z": 1.0316483764154576, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.589888129168, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8969149529282308, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.395623929459518, + "max_source_tilt_deg": 89.88327539031724, + "source_upright_tilt_deg": 2.874909819374312, + "max_source_upright_tilt_deg": 89.85693951922327, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.395623929459518, + "source_upright_return_tilt_deg": 2.874909819374312, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.167155925610402e-08, + "max_target_xy_drift": 1.381657138778893e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3193, + 0.012, + 0.7701 + ], + "controller_target_position": [ + 0.3193, + 0.012, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0018, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3199, + -0.0149, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006081273737311463, + -0.0017623036322591311, + -0.0010058777783494338 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8749046087832073, + "source_return_step_error_deg": 2.3956131372241978, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.865746239269014, + "source_return_best_wrist_position": -1.6082152128219604, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6082152128219604 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3193, + 0.012, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3193, + 0.012, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0018, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3199, + -0.0149, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006081273737311463, + -0.0017623036322591311, + -0.0010058777783494338 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8749046087832073, + "pour_controller_source_return_step_error_deg": 2.3956131372241978, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.865746239269014, + "pour_controller_source_return_best_wrist_position": -1.6082152128219604, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6082152128219604, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0420851418025718, + "valid_pour_held_xy_dist": 0.037956731813930535, + "valid_pour_held_gripper_dist": 0.0062018469661375905, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0303889903277526, + "valid_pour_source_tilt_deg": 2.395623929459518, + "valid_pour_source_upright_tilt_deg": 2.874909819374312, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.167155925610402e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32257652745491083, + -0.04949278676758598, + 1.0303889903277526 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3120834616812562, + -0.025765906273374894, + 1.0303889903277526 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31732999456808353, + -0.03762934652048044, + 1.0303889903277526 + ], + "valid_pour_held_grasp_object_position": [ + 0.32257652745491083, + -0.025765906273374894, + 1.0303889903277526 + ], + "valid_pour_held_grasp_finger_gap": 0.025943578922670175, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02408517392475159, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03699161787267665, + -0.9987414254107836, + 0.0338701251193153 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005695748294833955, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03806581858713116, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32257652745491083, + -0.04949278676758598, + 1.0303889903277526 + ], + "held_grasp_finger_b": [ + 0.3120834616812562, + -0.025765906273374894, + 1.0303889903277526 + ], + "held_grasp_midpoint": [ + 0.31732999456808353, + -0.03762934652048044, + 1.0303889903277526 + ], + "held_grasp_object_position": [ + 0.32257652745491083, + -0.025765906273374894, + 1.0303889903277526 + ], + "held_grasp_finger_gap": 0.025943578922670175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02408517392475159, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03699161787267665, + -0.9987414254107836, + 0.0338701251193153 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005695748294833955, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03806581858713116, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28150889508501087, + -0.11710114981277325, + 0.7611064498486617 + ], + "target_position": [ + 0.2792669299857373, + -0.11450653692398395, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003429055780974146, + "xy_threshold": 0.08, + "gripper_dist": 0.21677039898414538, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064498486617, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548123234348218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628621226011042, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18723688098800126, + "release_required_pad_clearance": 0.05314310613005521, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.311622611159116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee24cbe8f4833a6f6783739d7b3a8ad298d61870d58a44bfef628859fd6fc11b", + "visual_seed": 1023785088199875622, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a460d82671452de41391693bc146ad57ebdc3f07 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_54_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2925253668150655, + -0.11941211654084287, + 1.0009938316894564 + ], + "current_z": 1.0009938316894564, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.13988738327933514, + "gripper_z": 1.0027177692890432, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28860743758975804, + -0.12352453525698674, + 1.0027177692890432 + ], + "object_minus_gripper": [ + 0.0039179292253074816, + 0.004112418716143873, + -0.0017239375995867778 + ], + "object_to_gripper_xy": 0.005679978618921809, + "object_to_gripper_z": -0.0017239375995867778, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2925253668150655, + -0.14321801268377332, + 1.0009938316894564 + ], + "finger_b": [ + 0.28215699599007105, + -0.11941211654084287, + 1.0009938316894564 + ], + "finger_midpoint": [ + 0.28734118140256826, + -0.1313150646123081, + 1.0009938316894564 + ], + "object_minus_finger_midpoint": [ + 0.005184185412497266, + 0.011902948071465233, + 0.0 + ], + "finger_gap": 0.025965819931837077, + "fingertip_max_gap": 0.09349763581657669, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012982909965918556, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0009938316894564, + "object_top_z": 1.0513391679998059, + "finger_top_clearance": 0.05034533631034943, + "fingertip_min_top_clearance": 0.015103600893104845, + "object_projection_between_fingers": 0.8405527766744534, + "object_to_finger_line_xy": 0.009505895045069185, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924881790828835, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.609560552477435, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3142503610855763, + 0.016682277290754097, + 0.7701465090059014 + ], + "gripper_position": [ + 0.31268396987959496, + -0.024558415344627077, + 1.0337228405585022 + ], + "target_minus_gripper": [ + 0.0015663912059813434, + 0.041240692635381174, + -0.26357633155260074 + ], + "held_position": [ + 0.31668356500305267, + -0.02058034110863368, + 1.0319096989442054 + ], + "held_minus_target": [ + 0.0024332039174763676, + -0.03726261839938778, + 0.26176318993830394 + ], + "held_minus_gripper": [ + 0.003999595123457711, + 0.0039780742359933965, + -0.0018131416142967982 + ], + "xy_dist": 0.04127042900741593, + "held_xy_dist": 0.037341976531544425, + "held_gripper_dist": 0.005925311662027235, + "max_held_gripper_dist": 0.006011508568170148, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.0319096989442054, + "required_height": 0.8001465090059015, + "gripper_z": 1.0337228405585022, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.47642052887137, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1923825278506213, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.559716842957209, + "max_source_tilt_deg": 89.9461804932075, + "source_upright_tilt_deg": 2.444958176808275, + "max_source_upright_tilt_deg": 89.94027890258643, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.559716842957209, + "source_upright_return_tilt_deg": 2.444958176808275, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.2852251529693604e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3143, + 0.0167, + 0.7701 + ], + "controller_target_position": [ + 0.3143, + 0.0167, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0011, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3154, + -0.0096, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011030248187581478, + -0.00107928415861678, + 0.0011465343462965052 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4449569288597828, + "source_return_step_error_deg": 2.5597175545867565, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5473265795981788, + "source_return_best_wrist_position": -1.608419418334961, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608419418334961 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3143, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3143, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0011, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3154, + -0.0096, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011030248187581478, + -0.00107928415861678, + 0.0011465343462965052 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4449569288597828, + "pour_controller_source_return_step_error_deg": 2.5597175545867565, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5473265795981788, + "pour_controller_source_return_best_wrist_position": -1.608419418334961, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608419418334961, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04127042900741593, + "valid_pour_held_xy_dist": 0.037341976531544425, + "valid_pour_held_gripper_dist": 0.005925311662027235, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.0319096989442054, + "valid_pour_source_tilt_deg": 2.559716842957209, + "valid_pour_source_upright_tilt_deg": 2.444958176808275, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31668356500305267, + -0.044190520288857886, + 1.0319096989442054 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30680693721919317, + -0.02058034110863368, + 1.0319096989442054 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31174525111112295, + -0.03238543069874578, + 1.0319096989442054 + ], + "valid_pour_held_grasp_object_position": [ + 0.31668356500305267, + -0.02058034110863368, + 1.0319096989442054 + ], + "valid_pour_held_grasp_finger_gap": 0.025592739933488914, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02388061634322672, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0295576761058651, + -0.9990896722177783, + 0.030759887044542245 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005297393145887153, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03807187206353521, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31668356500305267, + -0.044190520288857886, + 1.0319096989442054 + ], + "held_grasp_finger_b": [ + 0.30680693721919317, + -0.02058034110863368, + 1.0319096989442054 + ], + "held_grasp_midpoint": [ + 0.31174525111112295, + -0.03238543069874578, + 1.0319096989442054 + ], + "held_grasp_object_position": [ + 0.31668356500305267, + -0.02058034110863368, + 1.0319096989442054 + ], + "held_grasp_finger_gap": 0.025592739933488914, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02388061634322672, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0295576761058651, + -0.9990896722177783, + 0.030759887044542245 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005297393145887153, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03807187206353521, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25454890506112177, + -0.10457223844497791, + 0.7611076025472534 + ], + "target_position": [ + 0.26993525432888094, + -0.12110861661631665, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022587420100910187, + "xy_threshold": 0.08, + "gripper_dist": 0.20654600567019415, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611076025472534, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08179308884106892, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08796113358797962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1820798902449677, + "release_required_pad_clearance": 0.05398056679398981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9719150104568692, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ddba7c7a8c7bc4766973c5ea4d4d4dde2797da1dfda95363c405eee723b7192", + "visual_seed": 7469179463608691467, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6edea1292692831826221074a0612e2f78eda149 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_55_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29501732479846304, + -0.11682843275067097, + 1.0026894406055744 + ], + "current_z": 1.0026894406055744, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14158299219545345, + "gripper_z": 1.0041847491163143, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2913597418322835, + -0.12091210610086817, + 1.0041847491163143 + ], + "object_minus_gripper": [ + 0.003657582966179518, + 0.004083673350197201, + -0.0014953085107398678 + ], + "object_to_gripper_xy": 0.005482180331364282, + "object_to_gripper_z": -0.0014953085107398678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29501732479846304, + -0.14020362842618522, + 1.0026894406055744 + ], + "finger_b": [ + 0.28438106266350444, + -0.11682843275067097, + 1.0026894406055744 + ], + "finger_midpoint": [ + 0.28969919373098374, + -0.1285160305884281, + 1.0026894406055744 + ], + "object_minus_finger_midpoint": [ + 0.005318131067479304, + 0.011687597837757122, + 0.0 + ], + "finger_gap": 0.025681313149294657, + "fingertip_max_gap": 0.09361143527549873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012840656574647322, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026894406055744, + "object_top_z": 1.0530134137399494, + "finger_top_clearance": 0.05032397313437498, + "fingertip_min_top_clearance": 0.015097191940312492, + "object_projection_between_fingers": 0.8284686082838588, + "object_to_finger_line_xy": 0.009681152486844258, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049305717637749366, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.783645785357081, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3140570036179249, + 0.014655967100195663, + 0.7701463897966114 + ], + "gripper_position": [ + 0.31256861585882845, + -0.02463150637570906, + 1.0320361227654553 + ], + "target_minus_gripper": [ + 0.0014883877590964323, + 0.03928747347590472, + -0.2618897329688439 + ], + "held_position": [ + 0.31637236156271964, + -0.02073314627888536, + 1.030450377426519 + ], + "held_minus_target": [ + 0.0023153579447947603, + -0.03538911337908102, + 0.2603039876299076 + ], + "held_minus_gripper": [ + 0.0038037457038911926, + 0.0038983600968236984, + -0.0015857453389362952 + ], + "xy_dist": 0.03931565680796068, + "held_xy_dist": 0.03546477446946442, + "held_gripper_dist": 0.005672766618179895, + "max_held_gripper_dist": 0.0057388682416014474, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.030450377426519, + "required_height": 0.8001463897966115, + "gripper_z": 1.0320361227654553, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.41891833244144, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.328724417979356, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.846451004936888, + "max_source_tilt_deg": 89.72351410336057, + "source_upright_tilt_deg": 1.9596906429173886, + "max_source_upright_tilt_deg": 89.82252977077978, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.846451004936888, + "source_upright_return_tilt_deg": 1.9596906429173886, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.122362236350814e-08, + "max_target_xy_drift": 1.7698069689181094e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3141, + 0.0147, + 0.7701 + ], + "controller_target_position": [ + 0.3141, + 0.0147, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + 0.0011, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3145, + -0.0094, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004474528173936767, + 0.0011038987988761218, + -0.0013382765519790204 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9596906998824926, + "source_return_step_error_deg": 2.8465349309478403, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.834590340727458, + "source_return_best_wrist_position": -1.6075527667999268, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6075527667999268 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3141, + 0.0147, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3141, + 0.0147, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + 0.0011, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3145, + -0.0094, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004474528173936767, + 0.0011038987988761218, + -0.0013382765519790204 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9596906998824926, + "pour_controller_source_return_step_error_deg": 2.8465349309478403, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.834590340727458, + "pour_controller_source_return_best_wrist_position": -1.6075527667999268, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6075527667999268, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03931565680796068, + "valid_pour_held_xy_dist": 0.03546477446946442, + "valid_pour_held_gripper_dist": 0.005672766618179895, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.030450377426519, + "valid_pour_source_tilt_deg": 2.846451004936888, + "valid_pour_source_upright_tilt_deg": 1.9596906429173886, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.122362236350814e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31637236156271964, + -0.044230896530278466, + 1.030450377426519 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3066289933785672, + -0.02073314627888536, + 1.030450377426519 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3115006774706434, + -0.03248202140458191, + 1.030450377426519 + ], + "valid_pour_held_grasp_object_position": [ + 0.31637236156271964, + -0.02073314627888536, + 1.030450377426519 + ], + "valid_pour_held_grasp_finger_gap": 0.02543771787029644, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023636429978209486, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015643728380144068, + -0.9994151406659272, + 0.030408064227657072 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005067411634359691, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03805445768637094, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31637236156271964, + -0.044230896530278466, + 1.030450377426519 + ], + "held_grasp_finger_b": [ + 0.3066289933785672, + -0.02073314627888536, + 1.030450377426519 + ], + "held_grasp_midpoint": [ + 0.3115006774706434, + -0.03248202140458191, + 1.030450377426519 + ], + "held_grasp_object_position": [ + 0.31637236156271964, + -0.02073314627888536, + 1.030450377426519 + ], + "held_grasp_finger_gap": 0.02543771787029644, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023636429978209486, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015643728380144068, + -0.9994151406659272, + 0.030408064227657072 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005067411634359691, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03805445768637094, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2617550728662167, + -0.12509161231870625, + 0.7611072644305563 + ], + "target_position": [ + 0.2728770644539654, + -0.12095774595124495, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011865392872635163, + "xy_threshold": 0.08, + "gripper_dist": 0.20889325297504469, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072644305563, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580844683392407, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09437940623250178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17934872022415402, + "release_required_pad_clearance": 0.05718970311625089, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.97242588296889, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "779a9bcf3fc6ea3c7c72fd07590c652669bc49cce8c9c4fe2650754c00e0cbfa", + "visual_seed": 4761626549920629971, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..002f96dd77c8bc5a4d8a726d9322163880e24765 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_56_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29209180972531584, + -0.11850242422531816, + 1.0052497568259027 + ], + "current_z": 1.0052497568259027, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14414324881113671, + "gripper_z": 1.0062216886569053, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28840295621852835, + -0.12257598959174112, + 1.0062216886569053 + ], + "object_minus_gripper": [ + 0.003688853506787493, + 0.004073565366422963, + -0.000971931831002637 + ], + "object_to_gripper_xy": 0.00549559596304705, + "object_to_gripper_z": -0.000971931831002637, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29209180972531584, + -0.1421494961165105, + 1.0052497568259027 + ], + "finger_b": [ + 0.2817616432351515, + -0.11850242422531816, + 1.0052497568259027 + ], + "finger_midpoint": [ + 0.28692672648023365, + -0.13032596017091433, + 1.0052497568259027 + ], + "object_minus_finger_midpoint": [ + 0.0051650832450821915, + 0.011823535945596167, + 0.0 + ], + "finger_gap": 0.02580496752064868, + "fingertip_max_gap": 0.09229089242711866, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012902483760324344, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0052497568259027, + "object_top_z": 1.0555959404398711, + "finger_top_clearance": 0.050346183613968476, + "fingertip_min_top_clearance": 0.015103855084190558, + "object_projection_between_fingers": 0.8397463210060306, + "object_to_finger_line_xy": 0.009466324243401405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864544621355933, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1396412195831185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3124847224957173, + 0.009136675714187402, + 0.7701463897966117 + ], + "gripper_position": [ + 0.31071470630674697, + -0.03301218843177965, + 1.0323954283453245 + ], + "target_minus_gripper": [ + 0.0017700161889703248, + 0.04214886414596705, + -0.26224903854871284 + ], + "held_position": [ + 0.3144273403980982, + -0.028992106420311674, + 1.0313381321966262 + ], + "held_minus_target": [ + 0.0019426179023809276, + -0.03812878213449908, + 0.2611917424000145 + ], + "held_minus_gripper": [ + 0.0037126340913512523, + 0.004020082011467977, + -0.0010572961486983168 + ], + "xy_dist": 0.0421860131572587, + "held_xy_dist": 0.03817823714336149, + "held_gripper_dist": 0.005573381955441799, + "max_held_gripper_dist": 0.005584506269549834, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0313381321966262, + "required_height": 0.8001463897966117, + "gripper_z": 1.0323954283453245, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.80343632595324, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.728874752189008, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.498327481456905, + "max_source_tilt_deg": 89.78914245882298, + "source_upright_tilt_deg": 2.1978773849569193, + "max_source_upright_tilt_deg": 89.97723575949037, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.498327481456905, + "source_upright_return_tilt_deg": 2.1978773849569193, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.6267145679795076e-08, + "max_target_xy_drift": 1.3662219659158773e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3125, + 0.0091, + 0.7701 + ], + "controller_target_position": [ + 0.3125, + 0.0091, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0017, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3122, + -0.0177, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027067432146859983, + -0.0016781958067725103, + -0.001225023638713111 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.197870707753976, + "source_return_step_error_deg": 2.498339274363199, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4922941263467635, + "source_return_best_wrist_position": -1.6056536436080933, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6056536436080933 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3125, + 0.0091, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3125, + 0.0091, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0017, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3122, + -0.0177, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027067432146859983, + -0.0016781958067725103, + -0.001225023638713111 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.197870707753976, + "pour_controller_source_return_step_error_deg": 2.498339274363199, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4922941263467635, + "pour_controller_source_return_best_wrist_position": -1.6056536436080933, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6056536436080933, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0421860131572587, + "valid_pour_held_xy_dist": 0.03817823714336149, + "valid_pour_held_gripper_dist": 0.005573381955441799, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0313381321966262, + "valid_pour_source_tilt_deg": 2.498327481456905, + "valid_pour_source_upright_tilt_deg": 2.1978773849569193, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.6267145679795076e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3144273403980982, + -0.0523006130786479, + 1.0313381321966262 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3042971210753075, + -0.028992106420311674, + 1.0313381321966262 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3093622307367029, + -0.04064635974947979, + 1.0313381321966262 + ], + "valid_pour_held_grasp_object_position": [ + 0.3144273403980982, + -0.028992106420311674, + 1.0313381321966262 + ], + "valid_pour_held_grasp_finger_gap": 0.025414716724164902, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023610941682333776, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031547399346063966, + -0.9992643436710428, + 0.02180672057371358 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054361121935393875, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038234361303367465, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3144273403980982, + -0.0523006130786479, + 1.0313381321966262 + ], + "held_grasp_finger_b": [ + 0.3042971210753075, + -0.028992106420311674, + 1.0313381321966262 + ], + "held_grasp_midpoint": [ + 0.3093622307367029, + -0.04064635974947979, + 1.0313381321966262 + ], + "held_grasp_object_position": [ + 0.3144273403980982, + -0.028992106420311674, + 1.0313381321966262 + ], + "held_grasp_finger_gap": 0.025414716724164902, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023610941682333776, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031547399346063966, + -0.9992643436710428, + 0.02180672057371358 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054361121935393875, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038234361303367465, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2540937093309395, + -0.10209731984730634, + 0.7611084126096163 + ], + "target_position": [ + 0.2695208476862337, + -0.12114425934977241, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024510864983594345, + "xy_threshold": 0.08, + "gripper_dist": 0.20705606888161227, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084126096163, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08187955489081888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087490604322232, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18435707551608269, + "release_required_pad_clearance": 0.053745302161116004, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.494819000094938, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06dd7cc704013f6677149691077695e63f9eb15216e2d2f7c3788f53673de96e", + "visual_seed": 9214616862618124137, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..673116c4090ed1a7e9b6eb27eb1513d188dfc35f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_57_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29552022053020427, + -0.11935215922980766, + 1.0018025994082316 + ], + "current_z": 1.0018025994082316, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14069615099811017, + "gripper_z": 1.0034207015741525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2915358214140478, + -0.12348510918469809, + 1.0034207015741525 + ], + "object_minus_gripper": [ + 0.003984399116156445, + 0.0041329499548904275, + -0.0016181021659209538 + ], + "object_to_gripper_xy": 0.005740793642559977, + "object_to_gripper_z": -0.0016181021659209538, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29552022053020427, + -0.1432466929751419, + 1.0018025994082316 + ], + "finger_b": [ + 0.2851602819446228, + -0.11935215922980766, + 1.0018025994082316 + ], + "finger_midpoint": [ + 0.2903402512374135, + -0.13129942610247478, + 1.0018025994082316 + ], + "object_minus_finger_midpoint": [ + 0.005179969292790743, + 0.011947266872667117, + 0.0 + ], + "finger_gap": 0.026043753001515287, + "fingertip_max_gap": 0.0933962174332901, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013021876500757644, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018025994082316, + "object_top_z": 1.0520066246359379, + "finger_top_clearance": 0.050204025227706284, + "fingertip_min_top_clearance": 0.015061207568311884, + "object_projection_between_fingers": 0.8417632967702969, + "object_to_finger_line_xy": 0.009505001146277373, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919810871664505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.630459827652386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3191521278626149, + 0.01460610408955075, + 0.7701464494012563 + ], + "gripper_position": [ + 0.31594996850801427, + -0.024786333595114715, + 1.034187861395649 + ], + "target_minus_gripper": [ + 0.003202159354600609, + 0.039392437684665466, + -0.2640414119943927 + ], + "held_position": [ + 0.31993220962014673, + -0.020701283450606154, + 1.032482894550963 + ], + "held_minus_target": [ + 0.0007800817575318586, + -0.0353073875401569, + 0.26233644514970667 + ], + "held_minus_gripper": [ + 0.0039822411121324675, + 0.004085050144508561, + -0.0017049668446860178 + ], + "xy_dist": 0.039522373047079395, + "held_xy_dist": 0.03531600405565812, + "held_gripper_dist": 0.005954224626245305, + "max_held_gripper_dist": 0.006027938925394893, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.032482894550963, + "required_height": 0.8001464494012563, + "gripper_z": 1.034187861395649, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.81098934898287, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1729360234604287, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.668272239838426, + "max_source_tilt_deg": 89.69653279011688, + "source_upright_tilt_deg": 3.49004325567375, + "max_source_upright_tilt_deg": 89.90985710742173, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.668272239838426, + "source_upright_return_tilt_deg": 3.49004325567375, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.7939677236729632e-08, + "max_target_xy_drift": 1.3677447848618007e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3192, + 0.0146, + 0.7701 + ], + "controller_target_position": [ + 0.3192, + 0.0146, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0007, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.318, + -0.0099, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011037747775332152, + 0.0007378041266389024, + 0.00169719534255101 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.490046494014732, + "source_return_step_error_deg": 2.668274884830257, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4856308703028773, + "source_return_best_wrist_position": -1.6087563037872314, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087563037872314 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3192, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3192, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0007, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.318, + -0.0099, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011037747775332152, + 0.0007378041266389024, + 0.00169719534255101 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.490046494014732, + "pour_controller_source_return_step_error_deg": 2.668274884830257, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4856308703028773, + "pour_controller_source_return_best_wrist_position": -1.6087563037872314, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087563037872314, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039522373047079395, + "valid_pour_held_xy_dist": 0.03531600405565812, + "valid_pour_held_gripper_dist": 0.005954224626245305, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.032482894550963, + "valid_pour_source_tilt_deg": 2.668272239838426, + "valid_pour_source_upright_tilt_deg": 3.49004325567375, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.7939677236729632e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31993220962014673, + -0.04405630034145646, + 1.032482894550963 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3095881375428454, + -0.020701283450606154, + 1.032482894550963 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3147601735814961, + -0.03237879189603131, + 1.032482894550963 + ], + "valid_pour_held_grasp_object_position": [ + 0.31993220962014673, + -0.020701283450606154, + 1.032482894550963 + ], + "valid_pour_held_grasp_finger_gap": 0.02554323082760495, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023838269042689094, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0509051305696738, + -0.9981454011324085, + 0.03338301783703557 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005772655411944122, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038327681888467656, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31993220962014673, + -0.04405630034145646, + 1.032482894550963 + ], + "held_grasp_finger_b": [ + 0.3095881375428454, + -0.020701283450606154, + 1.032482894550963 + ], + "held_grasp_midpoint": [ + 0.3147601735814961, + -0.03237879189603131, + 1.032482894550963 + ], + "held_grasp_object_position": [ + 0.31993220962014673, + -0.020701283450606154, + 1.032482894550963 + ], + "held_grasp_finger_gap": 0.02554323082760495, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023838269042689094, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0509051305696738, + -0.9981454011324085, + 0.03338301783703557 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005772655411944122, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038327681888467656, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27495279391306776, + -0.1293883556181344, + 0.7611064309813694 + ], + "target_position": [ + 0.27271258801158244, + -0.12250089007760777, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007242631017316242, + "xy_threshold": 0.08, + "gripper_dist": 0.21453027278111872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064309813694, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541599544473977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08959136211119158, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1841841289426264, + "release_required_pad_clearance": 0.05479568105559579, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.645252144993531, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c57835301871593ebb87ddf6181e8c62a29ac20cbd9a26cdb1f1afc690b27f2", + "visual_seed": 1362073443807553034, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59d670706e5733afb1cbd5ca637a2481fefef41b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2922679407680064, + -0.11172198743221481, + 1.000717356734898 + ], + "current_z": 1.000717356734898, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.13961084872013196, + "gripper_z": 1.0023801777699592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2882833463079899, + -0.11589894031076355, + 1.0023801777699592 + ], + "object_minus_gripper": [ + 0.003984594460016477, + 0.004176952878548731, + -0.0016628210350613237 + ], + "object_to_gripper_xy": 0.005772688139888603, + "object_to_gripper_z": -0.0016628210350613237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2922679407680064, + -0.13551330352617144, + 1.000717356734898 + ], + "finger_b": [ + 0.28171517434128934, + -0.11172198743221481, + 1.000717356734898 + ], + "finger_midpoint": [ + 0.2869915575546479, + -0.12361764547919313, + 1.000717356734898 + ], + "object_minus_finger_midpoint": [ + 0.005276383213358493, + 0.011895658046978314, + 0.0 + ], + "finger_gap": 0.026026670949996774, + "fingertip_max_gap": 0.09372176485654468, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013013335474998377, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000717356734898, + "object_top_z": 1.0508124202959714, + "finger_top_clearance": 0.050095063561073516, + "fingertip_min_top_clearance": 0.01502851906832207, + "object_projection_between_fingers": 0.835602424468222, + "object_to_finger_line_xy": 0.009646420097524968, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936088242827234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.127414135006427, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3158986381298724, + 0.013235268040232437, + 0.7701464494012564 + ], + "gripper_position": [ + 0.31442442507235374, + -0.027230329347256915, + 1.031259253297998 + ], + "target_minus_gripper": [ + 0.0014742130575186585, + 0.04046559738748935, + -0.26111280389674163 + ], + "held_position": [ + 0.3184241441789885, + -0.023118481924883867, + 1.0295102349848146 + ], + "held_minus_target": [ + 0.0025255060491161108, + -0.036353749965116304, + 0.2593637855835582 + ], + "held_minus_gripper": [ + 0.003999719106634769, + 0.004111847422373048, + -0.0017490183131834147 + ], + "xy_dist": 0.04049244220919928, + "held_xy_dist": 0.03644136821430167, + "held_gripper_dist": 0.005997008188814325, + "max_held_gripper_dist": 0.0060729944921207495, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0295102349848146, + "required_height": 0.8001464494012565, + "gripper_z": 1.031259253297998, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.9815391725581, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6502144421574765, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.614316705740672, + "max_source_tilt_deg": 89.76226698911796, + "source_upright_tilt_deg": 3.7675014421634474, + "max_source_upright_tilt_deg": 89.90081365520282, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.614316705740672, + "source_upright_return_tilt_deg": 3.7675014421634474, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.078051567077637e-08, + "max_target_xy_drift": 1.043081283569336e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3159, + 0.0132, + 0.7701 + ], + "controller_target_position": [ + 0.3159, + 0.0132, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0005, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3178, + -0.0125, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018623233789458044, + -0.0005305953539523056, + -0.0015457147204222476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.767320085304004, + "source_return_step_error_deg": 2.614152826511426, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.763356493637911, + "source_return_best_wrist_position": -1.6080749034881592, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6080749034881592 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3159, + 0.0132, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3159, + 0.0132, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0005, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3178, + -0.0125, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018623233789458044, + -0.0005305953539523056, + -0.0015457147204222476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.767320085304004, + "pour_controller_source_return_step_error_deg": 2.614152826511426, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.763356493637911, + "pour_controller_source_return_best_wrist_position": -1.6080749034881592, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6080749034881592, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04049244220919928, + "valid_pour_held_xy_dist": 0.03644136821430167, + "valid_pour_held_gripper_dist": 0.005997008188814325, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0295102349848146, + "valid_pour_source_tilt_deg": 2.614316705740672, + "valid_pour_source_upright_tilt_deg": 3.7675014421634474, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.078051567077637e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3184241441789885, + -0.04643546026635791, + 1.0295102349848146 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30798297024428467, + -0.023118481924883867, + 1.0295102349848146 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3132035572116366, + -0.03477697109562089, + 1.0295102349848146 + ], + "valid_pour_held_grasp_object_position": [ + 0.3184241441789885, + -0.023118481924883867, + 1.0295102349848146 + ], + "valid_pour_held_grasp_finger_gap": 0.025547986067623974, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023849087980351808, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.055788724239986404, + -0.9978389080364871, + 0.034715009091543125 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005876472667530711, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038378205853304086, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3184241441789885, + -0.04643546026635791, + 1.0295102349848146 + ], + "held_grasp_finger_b": [ + 0.30798297024428467, + -0.023118481924883867, + 1.0295102349848146 + ], + "held_grasp_midpoint": [ + 0.3132035572116366, + -0.03477697109562089, + 1.0295102349848146 + ], + "held_grasp_object_position": [ + 0.3184241441789885, + -0.023118481924883867, + 1.0295102349848146 + ], + "held_grasp_finger_gap": 0.025547986067623974, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023849087980351808, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.055788724239986404, + -0.9978389080364871, + 0.034715009091543125 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005876472667530711, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038378205853304086, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27273397572998775, + -0.11768083281770625, + 0.761107596666347 + ], + "target_position": [ + 0.269573002762423, + -0.11524732723893212, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003989197852150205, + "xy_threshold": 0.08, + "gripper_dist": 0.21807923962773632, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107596666347, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753870030937915, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795905261946811, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1887439023198691, + "release_required_pad_clearance": 0.05397952630973406, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.969016288852941, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93458bb1fd45c5f8549c1241f429c7b68431d2a0a037d7b17e0020e2e6dade8d", + "visual_seed": 3750631465995863842, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..107cc9d26d7f82ac94be335cd081be252b30c7fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2929687795626119, + -0.1143211140366672, + 1.0017401159647576 + ], + "current_z": 1.0017401159647576, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14063366755463635, + "gripper_z": 1.0029214939392963, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2892734095917444, + -0.1184009685242913, + 1.0029214939392963 + ], + "object_minus_gripper": [ + 0.0036953699708675014, + 0.004079854487624102, + -0.0011813779745386555 + ], + "object_to_gripper_xy": 0.005504631855244799, + "object_to_gripper_z": -0.0011813779745386555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2929687795626119, + -0.1377857121883829, + 1.0017401159647576 + ], + "finger_b": [ + 0.28239499867526474, + -0.1143211140366672, + 1.0017401159647576 + ], + "finger_midpoint": [ + 0.2876818891189383, + -0.12605341311252505, + 1.0017401159647576 + ], + "object_minus_finger_midpoint": [ + 0.005286890443673586, + 0.01173229907585785, + 0.0 + ], + "finger_gap": 0.02573698134348953, + "fingertip_max_gap": 0.09449040043049725, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012868490671744766, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017401159647576, + "object_top_z": 1.052180943252997, + "finger_top_clearance": 0.05044082728823929, + "fingertip_min_top_clearance": 0.015132248186471802, + "object_projection_between_fingers": 0.8312105112509508, + "object_to_finger_line_xy": 0.009640195023440695, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974520021524863, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.165916008145854, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3181115201718036, + 0.01753963422649361, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3167462249635269, + -0.022774014868095258, + 1.0341411496696167 + ], + "target_minus_gripper": [ + 0.0013652952082767178, + 0.04031364909458887, + -0.26399475987300514 + ], + "held_position": [ + 0.3205326590056655, + -0.018820002890682738, + 1.032870141747241 + ], + "held_minus_target": [ + 0.0024211388338619133, + -0.03635963711717635, + 0.26272375195062947 + ], + "held_minus_gripper": [ + 0.003786434042138631, + 0.003954011977412519, + -0.0012710079223756665 + ], + "xy_dist": 0.040336761574615645, + "held_xy_dist": 0.03644015813008476, + "held_gripper_dist": 0.005620209481125207, + "max_held_gripper_dist": 0.005658649576527093, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.032870141747241, + "required_height": 0.8001463897966116, + "gripper_z": 1.0341411496696167, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.96810535665308, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.604248448199554, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5189988576934144, + "max_source_tilt_deg": 89.73624606384345, + "source_upright_tilt_deg": 2.709010669147623, + "max_source_upright_tilt_deg": 89.99745626666315, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5189988576934144, + "source_upright_return_tilt_deg": 2.709010669147623, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.166496753692627e-08, + "max_target_xy_drift": 1.0312058430661566e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3181, + 0.0175, + 0.7701 + ], + "controller_target_position": [ + 0.3181, + 0.0175, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0003, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3195, + -0.008, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014097097833642319, + -0.0003345563033141574, + 0.0017273172744089187 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7089931713763664, + "source_return_step_error_deg": 2.5189896045701, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7045664964226273, + "source_return_best_wrist_position": -1.6064770221710205, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6064770221710205 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3181, + 0.0175, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3181, + 0.0175, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0003, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3195, + -0.008, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014097097833642319, + -0.0003345563033141574, + 0.0017273172744089187 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7089931713763664, + "pour_controller_source_return_step_error_deg": 2.5189896045701, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7045664964226273, + "pour_controller_source_return_best_wrist_position": -1.6064770221710205, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6064770221710205, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.040336761574615645, + "valid_pour_held_xy_dist": 0.03644015813008476, + "valid_pour_held_gripper_dist": 0.005620209481125207, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.032870141747241, + "valid_pour_source_tilt_deg": 2.5189988576934144, + "valid_pour_source_upright_tilt_deg": 2.709010669147623, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.166496753692627e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3205326590056655, + -0.042216612616431434, + 1.032870141747241 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31055155934225864, + -0.018820002890682738, + 1.032870141747241 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3155421091739621, + -0.030518307753557086, + 1.032870141747241 + ], + "valid_pour_held_grasp_object_position": [ + 0.3205326590056655, + -0.018820002890682738, + 1.032870141747241 + ], + "valid_pour_held_grasp_finger_gap": 0.025436660495235207, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0237222556308013, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03524586464217108, + -0.9988824627597613, + 0.031488960234023144 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005412127548606507, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03821091474241087, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3205326590056655, + -0.042216612616431434, + 1.032870141747241 + ], + "held_grasp_finger_b": [ + 0.31055155934225864, + -0.018820002890682738, + 1.032870141747241 + ], + "held_grasp_midpoint": [ + 0.3155421091739621, + -0.030518307753557086, + 1.032870141747241 + ], + "held_grasp_object_position": [ + 0.3205326590056655, + -0.018820002890682738, + 1.032870141747241 + ], + "held_grasp_finger_gap": 0.025436660495235207, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0237222556308013, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03524586464217108, + -0.9988824627597613, + 0.031488960234023144 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005412127548606507, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03821091474241087, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27121991037263915, + -0.11684696694736865, + 0.7611064633548358 + ], + "target_position": [ + 0.2705962414183971, + -0.11545900661707896, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0015216428105646973, + "xy_threshold": 0.08, + "gripper_dist": 0.2157885924779656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064633548358, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586444491268214, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609056236496841, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1855889077090408, + "release_required_pad_clearance": 0.05304528118248421, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1211589351958127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "daecf1457f81054b83a9863774661940f74a562e380d3be40d396ffe0597d8db", + "visual_seed": 4381650118320398932, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0053cadcc7d477794fe3cbd74c5c57689a8d935a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_5_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2966952301123822, + -0.11983095703444953, + 1.0024801108573742 + ], + "current_z": 1.0024801108573742, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14137354323796325, + "gripper_z": 1.0043594533308935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2926122444616426, + -0.12402013092532763, + 1.0043594533308935 + ], + "object_minus_gripper": [ + 0.004082985650739612, + 0.004189173890878098, + -0.0018793424735192854 + ], + "object_to_gripper_xy": 0.005849782022619331, + "object_to_gripper_z": -0.0018793424735192854, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2966952301123822, + -0.14376144027847532, + 1.0024801108573742 + ], + "finger_b": [ + 0.28622030421876843, + -0.11983095703444953, + 1.0024801108573742 + ], + "finger_midpoint": [ + 0.2914577671655753, + -0.13179619865646242, + 1.0024801108573742 + ], + "object_minus_finger_midpoint": [ + 0.005237462946806881, + 0.011965241622012887, + 0.0 + ], + "finger_gap": 0.02612263579291529, + "fingertip_max_gap": 0.09335321408563521, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013061317896457638, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024801108573742, + "object_top_z": 1.0524881611827235, + "finger_top_clearance": 0.050008050325349274, + "fingertip_min_top_clearance": 0.015002415097604815, + "object_projection_between_fingers": 0.8392067077666902, + "object_to_finger_line_xy": 0.009595893789841861, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917660704281761, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.013194025457926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31525890147749835, + 0.01593476053946473, + 0.7701462705873223 + ], + "gripper_position": [ + 0.3129515816980707, + -0.0248761016484379, + 1.0327597140474525 + ], + "target_minus_gripper": [ + 0.0023073197794276634, + 0.04081086218790263, + -0.26261344346013016 + ], + "held_position": [ + 0.3170717005058438, + -0.02078104934272853, + 1.0307921905195623 + ], + "held_minus_target": [ + 0.0018127990283454687, + -0.03671580988219326, + 0.26064591993223996 + ], + "held_minus_gripper": [ + 0.004120118807773132, + 0.004095052305709369, + -0.0019675235278902026 + ], + "xy_dist": 0.04087603450782033, + "held_xy_dist": 0.03676053502905705, + "held_gripper_dist": 0.006133186872211137, + "max_held_gripper_dist": 0.006225691587438425, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701462705873223, + "held_z": 1.0307921905195623, + "required_height": 0.8001462705873224, + "gripper_z": 1.0327597140474525, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.83256591657094, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5736367927706842, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5948455963840957, + "max_source_tilt_deg": 89.86425003665143, + "source_upright_tilt_deg": 3.4374196790413727, + "max_source_upright_tilt_deg": 89.74089605291162, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5948455963840957, + "source_upright_return_tilt_deg": 3.4374196790413727, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425057343598e-08, + "max_target_xy_drift": 1.494301193962364e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3153, + 0.0159, + 0.7701 + ], + "controller_target_position": [ + 0.3153, + 0.0159, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0004, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3148, + -0.0097, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004747606992178909, + -0.000438539342520441, + -0.0003304082269652024 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.437419412670878, + "source_return_step_error_deg": 2.5948450909626204, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.432905302829768, + "source_return_best_wrist_position": -1.6097086668014526, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097086668014526 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3153, + 0.0159, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3153, + 0.0159, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0004, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3148, + -0.0097, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004747606992178909, + -0.000438539342520441, + -0.0003304082269652024 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.437419412670878, + "pour_controller_source_return_step_error_deg": 2.5948450909626204, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.432905302829768, + "pour_controller_source_return_best_wrist_position": -1.6097086668014526, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097086668014526, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04087603450782033, + "valid_pour_held_xy_dist": 0.03676053502905705, + "valid_pour_held_gripper_dist": 0.006133186872211137, + "valid_pour_required_height": 0.8001462705873224, + "valid_pour_held_z": 1.0307921905195623, + "valid_pour_source_tilt_deg": 2.5948455963840957, + "valid_pour_source_upright_tilt_deg": 3.4374196790413727, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425057343598e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3170717005058438, + -0.04429695973645852, + 1.0307921905195623 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30681722470101014, + -0.02078104934272853, + 1.0307921905195623 + ], + "valid_pour_held_grasp_midpoint": [ + 0.311944462603427, + -0.032539004539593526, + 1.0307921905195623 + ], + "valid_pour_held_grasp_object_position": [ + 0.3170717005058438, + -0.02078104934272853, + 1.0307921905195623 + ], + "valid_pour_held_grasp_finger_gap": 0.025654479446635785, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02397502531477495, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04889792567086383, + -0.9982008914838886, + 0.03469831560546876 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005710325210899338, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038234160008406015, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3170717005058438, + -0.04429695973645852, + 1.0307921905195623 + ], + "held_grasp_finger_b": [ + 0.30681722470101014, + -0.02078104934272853, + 1.0307921905195623 + ], + "held_grasp_midpoint": [ + 0.311944462603427, + -0.032539004539593526, + 1.0307921905195623 + ], + "held_grasp_object_position": [ + 0.3170717005058438, + -0.02078104934272853, + 1.0307921905195623 + ], + "held_grasp_finger_gap": 0.025654479446635785, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02397502531477495, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04889792567086383, + -0.9982008914838886, + 0.03469831560546876 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005710325210899338, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038234160008406015, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2549706017593501, + -0.10807444881324081, + 0.7611063297450452 + ], + "target_position": [ + 0.27392450324121037, + -0.12245298413775685, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023790600233336283, + "xy_threshold": 0.08, + "gripper_dist": 0.20469071957952467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063297450452, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07923257301013296, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08896034785698874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18098548976331952, + "release_required_pad_clearance": 0.05448017392849437, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9905503866987964, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80256f58976233e4d0159a61d5e9b55992d4a4da3da6f9cc95b19eff7e2a9f2b", + "visual_seed": 8865849762572772288, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f310d40de970eb49c76d7db9cee72c04b1811c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_60_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2960499842978135, + -0.11370149514661185, + 1.0024591340701843 + ], + "current_z": 1.0024591340701843, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14135274526470765, + "gripper_z": 1.0045199649598537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29196279958628535, + -0.11789277133623757, + 1.0045199649598537 + ], + "object_minus_gripper": [ + 0.004087184711528136, + 0.004191276189625726, + -0.0020608308896694627 + ], + "object_to_gripper_xy": 0.005854218561334456, + "object_to_gripper_z": -0.0020608308896694627, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2960499842978135, + -0.1377141982360258, + 1.0024591340701843 + ], + "finger_b": [ + 0.2856661631281726, + -0.11370149514661185, + 1.0024591340701843 + ], + "finger_midpoint": [ + 0.29085807371299305, + -0.12570784669131882, + 1.0024591340701843 + ], + "object_minus_finger_midpoint": [ + 0.005191910584820436, + 0.012006351544706972, + 0.0 + ], + "finger_gap": 0.02616168289203567, + "fingertip_max_gap": 0.09328316496489239, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080841446017835, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024591340701843, + "object_top_z": 1.0525883956060718, + "finger_top_clearance": 0.05012926153588748, + "fingertip_min_top_clearance": 0.015038778460766226, + "object_projection_between_fingers": 0.8424628277577724, + "object_to_finger_line_xy": 0.00953087061368154, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491415824824462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8349539291999006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31550941979948915, + 0.01591830593221642, + 0.7701463301919669 + ], + "gripper_position": [ + 0.31394398842978494, + -0.022642964462916443, + 1.0336498196794102 + ], + "target_minus_gripper": [ + 0.0015654313697042177, + 0.038561270395132866, + -0.2635034894874433 + ], + "held_position": [ + 0.31809515684808043, + -0.01857783868955421, + 1.0315037911634937 + ], + "held_minus_target": [ + 0.0025857370485912745, + -0.03449614462177063, + 0.2613574609715268 + ], + "held_minus_gripper": [ + 0.004151168418295492, + 0.004065125773362231, + -0.0021460285159164982 + ], + "xy_dist": 0.038593032400419176, + "held_xy_dist": 0.03459291878189194, + "held_gripper_dist": 0.006193777940920593, + "max_held_gripper_dist": 0.006302101217583059, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0315037911634937, + "required_height": 0.8001463301919669, + "gripper_z": 1.0336498196794102, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.19550051230551, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.434870197668888, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.531554121067899, + "max_source_tilt_deg": 89.96537302784654, + "source_upright_tilt_deg": 2.9222890010855664, + "max_source_upright_tilt_deg": 89.672535448847, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.531554121067899, + "source_upright_return_tilt_deg": 2.9222890010855664, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.421438694000244e-08, + "max_target_xy_drift": 1.3318889692965713e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3155, + 0.0159, + 0.7701 + ], + "controller_target_position": [ + 0.3155, + 0.0159, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + 0.0016, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3164, + -0.0077, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008573207009369074, + 0.0015564166852093469, + 0.0013128770103807371 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9222771171024444, + "source_return_step_error_deg": 2.531554979669285, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9111449291836737, + "source_return_best_wrist_position": -1.6099051237106323, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099051237106323 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3155, + 0.0159, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3155, + 0.0159, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + 0.0016, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3164, + -0.0077, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008573207009369074, + 0.0015564166852093469, + 0.0013128770103807371 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9222771171024444, + "pour_controller_source_return_step_error_deg": 2.531554979669285, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9111449291836737, + "pour_controller_source_return_best_wrist_position": -1.6099051237106323, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099051237106323, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038593032400419176, + "valid_pour_held_xy_dist": 0.03459291878189194, + "valid_pour_held_gripper_dist": 0.006193777940920593, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0315037911634937, + "valid_pour_source_tilt_deg": 2.531554121067899, + "valid_pour_source_upright_tilt_deg": 2.9222890010855664, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.421438694000244e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31809515684808043, + -0.042262368918989386, + 1.0315037911634937 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3080745248910516, + -0.01857783868955421, + 1.0315037911634937 + ], + "valid_pour_held_grasp_midpoint": [ + 0.313084840869566, + -0.0304201038042718, + 1.0315037911634937 + ], + "valid_pour_held_grasp_object_position": [ + 0.31809515684808043, + -0.01857783868955421, + 1.0315037911634937 + ], + "valid_pour_held_grasp_finger_gap": 0.02571711564322983, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024049570382343566, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03950242972621685, + -0.9986996087113373, + 0.032228087215149914 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005487269533884226, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03809130418861809, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31809515684808043, + -0.042262368918989386, + 1.0315037911634937 + ], + "held_grasp_finger_b": [ + 0.3080745248910516, + -0.01857783868955421, + 1.0315037911634937 + ], + "held_grasp_midpoint": [ + 0.313084840869566, + -0.0304201038042718, + 1.0315037911634937 + ], + "held_grasp_object_position": [ + 0.31809515684808043, + -0.01857783868955421, + 1.0315037911634937 + ], + "held_grasp_finger_gap": 0.02571711564322983, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024049570382343566, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03950242972621685, + -0.9986996087113373, + 0.032228087215149914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005487269533884226, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03809130418861809, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27621211987581434, + -0.1195974551283618, + 0.7611073424386036 + ], + "target_position": [ + 0.2732224732830952, + -0.11881334916153748, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003090761866687049, + "xy_threshold": 0.08, + "gripper_dist": 0.21837330498220525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073424386036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548388027658715, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538667384181563, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1888380981944281, + "release_required_pad_clearance": 0.052693336920907816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4387886456548017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6dbc9ba122683df3e26de850bbe6022dbbb1a34f57817f467fec4c8157161c1b", + "visual_seed": 3986884453254716338, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c0d8abc716a85c74ef8a339b8cc5cd121c7ab65 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29991395347461075, + -0.11411602222156488, + 1.0031660652565564 + ], + "current_z": 1.0031660652565564, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14205955724179042, + "gripper_z": 1.0041168687300397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29607325305827337, + -0.11825529547144563, + 1.0041168687300397 + ], + "object_minus_gripper": [ + 0.0038407004163373837, + 0.004139273249880754, + -0.0009508034734833082 + ], + "object_to_gripper_xy": 0.005646641720990675, + "object_to_gripper_z": -0.0009508034734833082, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29991395347461075, + -0.13772196566936937, + 1.0031660652565564 + ], + "finger_b": [ + 0.2893005569486017, + -0.11411602222156488, + 1.0031660652565564 + ], + "finger_midpoint": [ + 0.29460725521160624, + -0.12591899394546713, + 1.0031660652565564 + ], + "object_minus_finger_midpoint": [ + 0.005306698263004506, + 0.011802971723902253, + 0.0 + ], + "finger_gap": 0.02588213190367527, + "fingertip_max_gap": 0.0936255152285296, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01294106595183763, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031660652565564, + "object_top_z": 1.0533175511757504, + "finger_top_clearance": 0.05015148591919405, + "fingertip_min_top_clearance": 0.015045445775758231, + "object_projection_between_fingers": 0.8318454248998837, + "object_to_finger_line_xy": 0.009680007779672801, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049312757614264804, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0499945379921125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3186022154099171, + 0.017678781269721763, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3176482641083032, + -0.023312431275022055, + 1.033337847952567 + ], + "target_minus_gripper": [ + 0.000953951301613909, + 0.04099121254474382, + -0.2631914581559551 + ], + "held_position": [ + 0.32155004128982206, + -0.019254838924021765, + 1.0323033904656358 + ], + "held_minus_target": [ + 0.0029478258799049417, + -0.03693362019374353, + 0.2621570006690239 + ], + "held_minus_gripper": [ + 0.0039017771815188507, + 0.00405759235100029, + -0.0010344574869312062 + ], + "xy_dist": 0.04100231126380821, + "held_xy_dist": 0.03705107256253099, + "held_gripper_dist": 0.0057234625143688395, + "max_held_gripper_dist": 0.005730120891103954, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0323033904656358, + "required_height": 0.8001463897966119, + "gripper_z": 1.033337847952567, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.71896621029529, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5728680947921556, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5282233199547477, + "max_source_tilt_deg": 89.70689881609006, + "source_upright_tilt_deg": 2.89159541260645, + "max_source_upright_tilt_deg": 89.99118814956492, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5282233199547477, + "source_upright_return_tilt_deg": 2.89159541260645, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.72068100476237e-08, + "max_target_xy_drift": 1.5359765386647212e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3186, + 0.0177, + 0.7701 + ], + "controller_target_position": [ + 0.3186, + 0.0177, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0008, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.32, + -0.0083, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013581960844321027, + -0.0008273825149967991, + 0.0007023975257584979 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8915870253078904, + "source_return_step_error_deg": 2.5281898011329536, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.882074619137623, + "source_return_best_wrist_position": -1.6086325645446777, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6086325645446777 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3186, + 0.0177, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3186, + 0.0177, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0008, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.32, + -0.0083, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013581960844321027, + -0.0008273825149967991, + 0.0007023975257584979 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8915870253078904, + "pour_controller_source_return_step_error_deg": 2.5281898011329536, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.882074619137623, + "pour_controller_source_return_best_wrist_position": -1.6086325645446777, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6086325645446777, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04100231126380821, + "valid_pour_held_xy_dist": 0.03705107256253099, + "valid_pour_held_gripper_dist": 0.0057234625143688395, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0323033904656358, + "valid_pour_source_tilt_deg": 2.5282233199547477, + "valid_pour_source_upright_tilt_deg": 2.89159541260645, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.72068100476237e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32155004128982206, + -0.04269311942058795, + 1.0323033904656358 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31143337360444695, + -0.019254838924021765, + 1.0323033904656358 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3164917074471345, + -0.030973979172304857, + 1.0323033904656358 + ], + "valid_pour_held_grasp_object_position": [ + 0.32155004128982206, + -0.019254838924021765, + 1.0323033904656358 + ], + "valid_pour_held_grasp_finger_gap": 0.025528414711689946, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02380058173163769, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03876211210319834, + -0.9987267764005051, + 0.032285054838961824 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00552155154712038, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038212102611207534, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32155004128982206, + -0.04269311942058795, + 1.0323033904656358 + ], + "held_grasp_finger_b": [ + 0.31143337360444695, + -0.019254838924021765, + 1.0323033904656358 + ], + "held_grasp_midpoint": [ + 0.3164917074471345, + -0.030973979172304857, + 1.0323033904656358 + ], + "held_grasp_object_position": [ + 0.32155004128982206, + -0.019254838924021765, + 1.0323033904656358 + ], + "held_grasp_finger_gap": 0.025528414711689946, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02380058173163769, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03876211210319834, + -0.9987267764005051, + 0.032285054838961824 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00552155154712038, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038212102611207534, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2794631045328142, + -0.11530440601816212, + 0.7611066095933969 + ], + "target_position": [ + 0.27730097333723436, + -0.11661460356173671, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002528127550201611, + "xy_threshold": 0.08, + "gripper_dist": 0.21686630806492346, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066095933969, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755464777473391, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560715737083642, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1879264398842366, + "release_required_pad_clearance": 0.05280357868541821, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6537167138594144, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93429a07cb92275d51e84d43ce1ae077164e8d2805ff2a5e501b15630b8c47ef", + "visual_seed": 4488839955935415268, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..388e6e065e93335edf7472bd5c66f14abd5a0136 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2958156909020551, + -0.1196784055586137, + 1.0037358218690153 + ], + "current_z": 1.0037358218690153, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.14262925424960438, + "gripper_z": 1.004966847615138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2925274366729307, + -0.12346923828590259, + 1.004966847615138 + ], + "object_minus_gripper": [ + 0.003288254229124432, + 0.0037908327272888898, + -0.0012310257461227714 + ], + "object_to_gripper_xy": 0.005018269486749315, + "object_to_gripper_z": -0.0012310257461227714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2958156909020551, + -0.1430604409494844, + 1.0037358218690153 + ], + "finger_b": [ + 0.2859273363880648, + -0.1196784055586137, + 1.0037358218690153 + ], + "finger_midpoint": [ + 0.2908715136450599, + -0.13136942325404904, + 1.0037358218690153 + ], + "object_minus_finger_midpoint": [ + 0.004944177256995197, + 0.011691017695435346, + 0.0 + ], + "finger_gap": 0.025386987493877303, + "fingertip_max_gap": 0.09255824746881444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012693493746938664, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037358218690153, + "object_top_z": 1.0540807057347739, + "finger_top_clearance": 0.05034488386575853, + "fingertip_min_top_clearance": 0.01510346515972754, + "object_projection_between_fingers": 0.8482859792451075, + "object_to_finger_line_xy": 0.009107415964945034, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877912373440722, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7738461516221198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31157247340742983, + 0.015617170228295101, + 0.7701463301919672 + ], + "gripper_position": [ + 0.3111478697241348, + -0.02586558440967074, + 1.0329186167834434 + ], + "target_minus_gripper": [ + 0.00042460368329505505, + 0.041482754637965844, + -0.2627722865914762 + ], + "held_position": [ + 0.3144535894906154, + -0.022130437426252224, + 1.0316081109651094 + ], + "held_minus_target": [ + 0.0028811160831855864, + -0.03774760765454732, + 0.2614617807731422 + ], + "held_minus_gripper": [ + 0.0033057197664806415, + 0.003735146983418515, + -0.001310505818334029 + ], + "xy_dist": 0.041484927632111694, + "held_xy_dist": 0.03785739971955853, + "held_gripper_dist": 0.005157182531395277, + "max_held_gripper_dist": 0.005197361404343407, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0316081109651094, + "required_height": 0.8001463301919672, + "gripper_z": 1.0329186167834434, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.226278510898, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4112114301682217, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5806794423165096, + "max_source_tilt_deg": 89.92633494181644, + "source_upright_tilt_deg": 2.4022005691733685, + "max_source_upright_tilt_deg": 89.8807731079509, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5806794423165096, + "source_upright_return_tilt_deg": 2.4022005691733685, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.986047331594191e-08, + "max_target_xy_drift": 1.3587099481252495e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3116, + 0.0156, + 0.7701 + ], + "controller_target_position": [ + 0.3116, + 0.0156, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.001, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3127, + -0.0106, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011311406845462588, + -0.0010359977753476696, + -0.0003543469204079076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4019486010892943, + "source_return_step_error_deg": 2.580462071116256, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.570193599037156, + "source_return_best_wrist_position": -1.6085095405578613, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085095405578613 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3116, + 0.0156, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3116, + 0.0156, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.001, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3127, + -0.0106, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011311406845462588, + -0.0010359977753476696, + -0.0003543469204079076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4019486010892943, + "pour_controller_source_return_step_error_deg": 2.580462071116256, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.570193599037156, + "pour_controller_source_return_best_wrist_position": -1.6085095405578613, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085095405578613, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.041484927632111694, + "valid_pour_held_xy_dist": 0.03785739971955853, + "valid_pour_held_gripper_dist": 0.005157182531395277, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0316081109651094, + "valid_pour_source_tilt_deg": 2.5806794423165096, + "valid_pour_source_upright_tilt_deg": 2.4022005691733685, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.986047331594191e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3144535894906154, + -0.04508562350861769, + 1.0316081109651094 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30471769819063826, + -0.022130437426252224, + 1.0316081109651094 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3095856438406268, + -0.033608030467434956, + 1.0316081109651094 + ], + "valid_pour_held_grasp_object_position": [ + 0.3144535894906154, + -0.022130437426252224, + 1.0316081109651094 + ], + "valid_pour_held_grasp_finger_gap": 0.02493447708457099, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023222271077517617, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029504987160049023, + -0.9991212289644299, + 0.029769540898249673 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005215536366139044, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03839637187913371, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3144535894906154, + -0.04508562350861769, + 1.0316081109651094 + ], + "held_grasp_finger_b": [ + 0.30471769819063826, + -0.022130437426252224, + 1.0316081109651094 + ], + "held_grasp_midpoint": [ + 0.3095856438406268, + -0.033608030467434956, + 1.0316081109651094 + ], + "held_grasp_object_position": [ + 0.3144535894906154, + -0.022130437426252224, + 1.0316081109651094 + ], + "held_grasp_finger_gap": 0.02493447708457099, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023222271077517617, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029504987160049023, + -0.9991212289644299, + 0.029769540898249673 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005215536366139044, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03839637187913371, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2771408492457328, + -0.12062463893266356, + 0.7611063272405255 + ], + "target_position": [ + 0.27378769418852406, + -0.12090542924954413, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003364891088837557, + "xy_threshold": 0.08, + "gripper_dist": 0.2175511970490728, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063272405255, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519757323961722, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561451429254781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1890577735367029, + "release_required_pad_clearance": 0.052807257146273906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6608613929044191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ac7c285835f65db9d2ff8bd41364064c4167587d8364f5731c582e349c3d96f", + "visual_seed": 4915120517058373080, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59783a73f2414f0b3dbe76b33854af93ca166bf8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_63_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2964477148832815, + -0.11638549267389092, + 1.0034261799282607 + ], + "current_z": 1.0034261799282607, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1423196719134946, + "gripper_z": 1.0049682322982234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.292704847173923, + -0.12049967130668619, + 1.0049682322982234 + ], + "object_minus_gripper": [ + 0.0037428677093584994, + 0.004114178632795271, + -0.001542052369962743 + ], + "object_to_gripper_xy": 0.005561971279349409, + "object_to_gripper_z": -0.001542052369962743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2964477148832815, + -0.13988328601777802, + 1.0034261799282607 + ], + "finger_b": [ + 0.28583591100444306, + -0.11638549267389092, + 1.0034261799282607 + ], + "finger_midpoint": [ + 0.29114181294386227, + -0.1281343893458345, + 1.0034261799282607 + ], + "object_minus_finger_midpoint": [ + 0.005305901939419211, + 0.011748896671943565, + 0.0 + ], + "finger_gap": 0.02578287558816811, + "fingertip_max_gap": 0.09270113180638598, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012891437794084068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034261799282607, + "object_top_z": 1.0537980582106499, + "finger_top_clearance": 0.050371878282389204, + "fingertip_min_top_clearance": 0.015111563484716777, + "object_projection_between_fingers": 0.8305990958256326, + "object_to_finger_line_xy": 0.009671301934421745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885056590319299, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.890642205569015, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31515620267455025, + 0.012612319408588191, + 0.7701463301919669 + ], + "gripper_position": [ + 0.313485273353157, + -0.02821148774956196, + 1.0332903192564957 + ], + "target_minus_gripper": [ + 0.001670929321393233, + 0.04082380715815015, + -0.26314398906452885 + ], + "held_position": [ + 0.3173115978252432, + -0.024223735625794298, + 1.0316633572392153 + ], + "held_minus_target": [ + 0.0021553951506929625, + -0.03683605503438249, + 0.26151702704724844 + ], + "held_minus_gripper": [ + 0.0038263244720861955, + 0.0039877521237676634, + -0.001626962017280409 + ], + "xy_dist": 0.04085798863971308, + "held_xy_dist": 0.036899060675736534, + "held_gripper_dist": 0.005761070332149431, + "max_held_gripper_dist": 0.0058331202267911525, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0316633572392153, + "required_height": 0.8001463301919669, + "gripper_z": 1.0332903192564957, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.64358940880743, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5259175351610579, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.548033923298567, + "max_source_tilt_deg": 89.9206610143799, + "source_upright_tilt_deg": 1.9085677835250623, + "max_source_upright_tilt_deg": 89.97230615425109, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.548033923298567, + "source_upright_return_tilt_deg": 1.9085677835250623, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2351741790771484e-08, + "max_target_xy_drift": 1.6917289353399782e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3152, + 0.0126, + 0.7701 + ], + "controller_target_position": [ + 0.3152, + 0.0126, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0006, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3154, + -0.0132, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00019596945645122214, + -0.0005845528788820844, + 0.0006378230876860182 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9083189642561516, + "source_return_step_error_deg": 2.5478476878263154, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.535337526255172, + "source_return_best_wrist_position": -1.6078261137008667, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078261137008667 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3152, + 0.0126, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3152, + 0.0126, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0006, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3154, + -0.0132, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00019596945645122214, + -0.0005845528788820844, + 0.0006378230876860182 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9083189642561516, + "pour_controller_source_return_step_error_deg": 2.5478476878263154, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.535337526255172, + "pour_controller_source_return_best_wrist_position": -1.6078261137008667, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078261137008667, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04085798863971308, + "valid_pour_held_xy_dist": 0.036899060675736534, + "valid_pour_held_gripper_dist": 0.005761070332149431, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0316633572392153, + "valid_pour_source_tilt_deg": 2.548033923298567, + "valid_pour_source_upright_tilt_deg": 1.9085677835250623, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2351741790771484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3173115978252432, + -0.04755225881000817, + 1.0316633572392153 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3072115559096915, + -0.024223735625794298, + 1.0316633572392153 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31226157686746736, + -0.03588799721790124, + 1.0316633572392153 + ], + "valid_pour_held_grasp_object_position": [ + 0.3173115978252432, + -0.024223735625794298, + 1.0316633572392153 + ], + "valid_pour_held_grasp_finger_gap": 0.025421070800662693, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023477421637568642, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016023680345917876, + -0.9994452546490743, + 0.02919631188384785 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005247262960463168, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038143379094445914, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3173115978252432, + -0.04755225881000817, + 1.0316633572392153 + ], + "held_grasp_finger_b": [ + 0.3072115559096915, + -0.024223735625794298, + 1.0316633572392153 + ], + "held_grasp_midpoint": [ + 0.31226157686746736, + -0.03588799721790124, + 1.0316633572392153 + ], + "held_grasp_object_position": [ + 0.3173115978252432, + -0.024223735625794298, + 1.0316633572392153 + ], + "held_grasp_finger_gap": 0.025421070800662693, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023477421637568642, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016023680345917876, + -0.9994452546490743, + 0.02919631188384785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005247262960463168, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038143379094445914, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2759203384467309, + -0.11654645645082203, + 0.7611063813941179 + ], + "target_position": [ + 0.27404969873418633, + -0.11787563280104235, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022947772667807915, + "xy_threshold": 0.08, + "gripper_dist": 0.21609207181825094, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063813941179, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566135023891614, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520529018751814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18707606543234334, + "release_required_pad_clearance": 0.05260264509375907, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2683407885729278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e4dde5bff336738a693713e79e1729701019da0fad8d58adcce80d3fd5feda60", + "visual_seed": 938460926862285801, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f505d13c35b58ae7b1affa0547d43f9aeadd322b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29588845417623766, + -0.11732746178028851, + 1.0041426726504739 + ], + "current_z": 1.0041426726504739, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.143036164635708, + "gripper_z": 1.0057831122747645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29211374522055455, + -0.12141268820469117, + 1.0057831122747645 + ], + "object_minus_gripper": [ + 0.0037747089556831037, + 0.004085226424402663, + -0.0016404396242906127 + ], + "object_to_gripper_xy": 0.005562149102527907, + "object_to_gripper_z": -0.0016404396242906127, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29588845417623766, + -0.14105580507389662, + 1.0041426726504739 + ], + "finger_b": [ + 0.28559113857765284, + -0.11732746178028851, + 1.0041426726504739 + ], + "finger_midpoint": [ + 0.29073979637694525, + -0.12919163342709256, + 1.0041426726504739 + ], + "object_minus_finger_midpoint": [ + 0.005148657799292411, + 0.011864171646804048, + 0.0 + ], + "finger_gap": 0.0258663678160691, + "fingertip_max_gap": 0.09380743085743984, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012933183908034543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041426726504739, + "object_top_z": 1.0543249097315817, + "finger_top_clearance": 0.050182237081107806, + "fingertip_min_top_clearance": 0.015054671124332357, + "object_projection_between_fingers": 0.84151901960312, + "object_to_finger_line_xy": 0.009446175097458227, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940371542871992, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.349950912199866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31391243255202217, + 0.010556260912351387, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3128621439436441, + -0.029210447100169068, + 1.0340314497529082 + ], + "target_minus_gripper": [ + 0.0010502886083780805, + 0.039766708012520455, + -0.26388500035165174 + ], + "held_position": [ + 0.31666530351860456, + -0.02520421002633578, + 1.0323063493218587 + ], + "held_minus_target": [ + 0.002752870966582388, + -0.035760470938687165, + 0.2621598999206023 + ], + "held_minus_gripper": [ + 0.0038031595749604685, + 0.0040062370738332895, + -0.0017251004310494533 + ], + "xy_dist": 0.03978057531401409, + "held_xy_dist": 0.035866273577210964, + "held_gripper_dist": 0.005787048448179505, + "max_held_gripper_dist": 0.0058591997992302105, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0323063493218587, + "required_height": 0.8001464494012565, + "gripper_z": 1.0340314497529082, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.91527267723063, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9453881669911897, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6083233215604884, + "max_source_tilt_deg": 89.86200387825232, + "source_upright_tilt_deg": 3.695863580882742, + "max_source_upright_tilt_deg": 89.9318448194409, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6083233215604884, + "source_upright_return_tilt_deg": 3.695863580882742, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.313225746154785e-10, + "max_target_xy_drift": 8.495479399075448e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3139, + 0.0106, + 0.7701 + ], + "controller_target_position": [ + 0.3139, + 0.0106, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0004, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3153, + -0.0142, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013414367767129102, + 0.00039484410201903915, + 0.0017564443311927618 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.695869723503885, + "source_return_step_error_deg": 2.6083081379063264, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6895512452809123, + "source_return_best_wrist_position": -1.608834981918335, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608834981918335 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3139, + 0.0106, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3139, + 0.0106, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0004, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3153, + -0.0142, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013414367767129102, + 0.00039484410201903915, + 0.0017564443311927618 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.695869723503885, + "pour_controller_source_return_step_error_deg": 2.6083081379063264, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6895512452809123, + "pour_controller_source_return_best_wrist_position": -1.608834981918335, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608834981918335, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03978057531401409, + "valid_pour_held_xy_dist": 0.035866273577210964, + "valid_pour_held_gripper_dist": 0.005787048448179505, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0323063493218587, + "valid_pour_source_tilt_deg": 2.6083233215604884, + "valid_pour_source_upright_tilt_deg": 3.695863580882742, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.313225746154785e-10, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31666530351860456, + -0.04849685750379912, + 1.0323063493218587 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30655853076681716, + -0.02520421002633578, + 1.0323063493218587 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31161191714271086, + -0.036850533765067445, + 1.0323063493218587 + ], + "valid_pour_held_grasp_object_position": [ + 0.31666530351860456, + -0.02520421002633578, + 1.0323063493218587 + ], + "valid_pour_held_grasp_finger_gap": 0.02539083066710602, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023812227705950612, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05620214869262398, + -0.997920282932281, + 0.03156623820933457 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00571150168065785, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03838215856211827, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31666530351860456, + -0.04849685750379912, + 1.0323063493218587 + ], + "held_grasp_finger_b": [ + 0.30655853076681716, + -0.02520421002633578, + 1.0323063493218587 + ], + "held_grasp_midpoint": [ + 0.31161191714271086, + -0.036850533765067445, + 1.0323063493218587 + ], + "held_grasp_object_position": [ + 0.31666530351860456, + -0.02520421002633578, + 1.0323063493218587 + ], + "held_grasp_finger_gap": 0.02539083066710602, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023812227705950612, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05620214869262398, + -0.997920282932281, + 0.03156623820933457 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00571150168065785, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03838215856211827, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2742736702709155, + -0.11898216513343651, + 0.7611113756766329 + ], + "target_position": [ + 0.2734472074473609, + -0.1203268232168816, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0015783365167454059, + "xy_threshold": 0.08, + "gripper_dist": 0.2170643171758719, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611113756766329, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581813292029453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.088239002970968, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18776184493313816, + "release_required_pad_clearance": 0.054119501485484, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2504380759979803, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "59f9efc330647f0a0da4bb499a5decd986845e344fdd3681a3d32e36a0c704dd", + "visual_seed": 5127630152456120697, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1da684b82553375cd6e7797b9cc563efa1e4f3a8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2918943372020001, + -0.116091027605854, + 1.0025648123229232 + ], + "current_z": 1.0025648123229232, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1414583639128021, + "gripper_z": 1.0035579014894205, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2881724311187705, + -0.12021573150350263, + 1.0035579014894205 + ], + "object_minus_gripper": [ + 0.003721906083229587, + 0.0041247038976486294, + -0.0009930891664973185 + ], + "object_to_gripper_xy": 0.005555696818191144, + "object_to_gripper_z": -0.0009930891664973185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2918943372020001, + -0.13950624947811266, + 1.0025648123229232 + ], + "finger_b": [ + 0.28118376128806033, + -0.116091027605854, + 1.0025648123229232 + ], + "finger_midpoint": [ + 0.2865390492450302, + -0.12779863854198334, + 1.0025648123229232 + ], + "object_minus_finger_midpoint": [ + 0.005355287956969879, + 0.011707610936129334, + 0.0 + ], + "finger_gap": 0.025748573780607083, + "fingertip_max_gap": 0.09372517338164968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012874286890303548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025648123229232, + "object_top_z": 1.0527467396869348, + "finger_top_clearance": 0.050181927364011614, + "fingertip_min_top_clearance": 0.01505457820920345, + "object_projection_between_fingers": 0.8269708434732105, + "object_to_finger_line_xy": 0.009739976805762164, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936258669082484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8781293237764545, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31904901182715334, + 0.015820669798784034, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3166380904298556, + -0.022671204154672636, + 1.033624000433855 + ], + "target_minus_gripper": [ + 0.0024109213972977606, + 0.03849187395345667, + -0.2634776106372434 + ], + "held_position": [ + 0.32046270977997393, + -0.018675268647966224, + 1.0325376548352856 + ], + "held_minus_target": [ + 0.0014136979528205917, + -0.03449593844675026, + 0.26239126503867394 + ], + "held_minus_gripper": [ + 0.0038246193501183523, + 0.003995935506706412, + -0.0010863455985694603 + ], + "xy_dist": 0.03856730354111815, + "held_xy_dist": 0.03452489407983451, + "held_gripper_dist": 0.0056369637666555915, + "max_held_gripper_dist": 0.00564909311255445, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0325376548352856, + "required_height": 0.8001463897966117, + "gripper_z": 1.033624000433855, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.9335935769694, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3027571784216136, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.566274920351436, + "max_source_tilt_deg": 89.9779108271386, + "source_upright_tilt_deg": 2.472433648030081, + "max_source_upright_tilt_deg": 89.78021437247426, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.566274920351436, + "source_upright_return_tilt_deg": 2.472433648030081, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.421438694000244e-08, + "max_target_xy_drift": 1.3738191809196602e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.319, + 0.0158, + 0.7701 + ], + "controller_target_position": [ + 0.319, + 0.0158, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0018, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3192, + -0.0076, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001834534258783626, + 0.001755377600082987, + 0.0009045610286024827 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.472432929339485, + "source_return_step_error_deg": 2.5662701843961697, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5453371692152005, + "source_return_best_wrist_position": -1.6056296825408936, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6056296825408936 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.319, + 0.0158, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.319, + 0.0158, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0018, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3192, + -0.0076, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001834534258783626, + 0.001755377600082987, + 0.0009045610286024827 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.472432929339485, + "pour_controller_source_return_step_error_deg": 2.5662701843961697, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5453371692152005, + "pour_controller_source_return_best_wrist_position": -1.6056296825408936, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6056296825408936, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03856730354111815, + "valid_pour_held_xy_dist": 0.03452489407983451, + "valid_pour_held_gripper_dist": 0.0056369637666555915, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0325376548352856, + "valid_pour_source_tilt_deg": 2.566274920351436, + "valid_pour_source_upright_tilt_deg": 2.472433648030081, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.421438694000244e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32046270977997393, + -0.042092502768881296, + 1.0325376548352856 + ], + "valid_pour_held_grasp_finger_b": [ + 0.31040691979430923, + -0.018675268647966224, + 1.0325376548352856 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3154348147871416, + -0.03038388570842376, + 1.0325376548352856 + ], + "valid_pour_held_grasp_object_position": [ + 0.32046270977997393, + -0.018675268647966224, + 1.0325376548352856 + ], + "valid_pour_held_grasp_finger_gap": 0.025485010616233685, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02367158081215146, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027461369863043893, + -0.9990691011281484, + 0.033268668988087224 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00536153498265312, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816060543208077, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32046270977997393, + -0.042092502768881296, + 1.0325376548352856 + ], + "held_grasp_finger_b": [ + 0.31040691979430923, + -0.018675268647966224, + 1.0325376548352856 + ], + "held_grasp_midpoint": [ + 0.3154348147871416, + -0.03038388570842376, + 1.0325376548352856 + ], + "held_grasp_object_position": [ + 0.32046270977997393, + -0.018675268647966224, + 1.0325376548352856 + ], + "held_grasp_finger_gap": 0.025485010616233685, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02367158081215146, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027461369863043893, + -0.9990691011281484, + 0.033268668988087224 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00536153498265312, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816060543208077, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27268681855983845, + -0.12039696539491276, + 0.7611071832199203 + ], + "target_position": [ + 0.26965597761992754, + -0.12047609648664054, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030318737659602605, + "xy_threshold": 0.08, + "gripper_dist": 0.21813063129943353, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071832199203, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528624817446704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628903137289425, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1893917885436109, + "release_required_pad_clearance": 0.053144515686447125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3134114572828457, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a52548448c3125b9e937c2d181fbf3439317e1f16aaa49a18ffeeeba6dc3f493", + "visual_seed": 2953348602353262462, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d6cbad57e72760adcf9a742cc4b29f8da437ac29 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29481634819742014, + -0.1193224063296789, + 1.004111701408739 + ], + "current_z": 1.004111701408739, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14300531260326266, + "gripper_z": 1.0051532131356247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29097866985381454, + -0.1234128079285437, + 1.0051532131356247 + ], + "object_minus_gripper": [ + 0.0038376783436055995, + 0.0040904015988647985, + -0.0010415117268856022 + ], + "object_to_gripper_xy": 0.0056088466112896255, + "object_to_gripper_z": -0.0010415117268856022, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29481634819742014, + -0.1430249207840175, + 1.004111701408739 + ], + "finger_b": [ + 0.2843960408536473, + -0.1193224063296789, + 1.004111701408739 + ], + "finger_midpoint": [ + 0.2896061945255337, + -0.1311736635568482, + 1.004111701408739 + ], + "object_minus_finger_midpoint": [ + 0.0052101536718864305, + 0.011851257227169301, + 0.0 + ], + "finger_gap": 0.02589192917873862, + "fingertip_max_gap": 0.09387047754391939, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012945964589369316, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004111701408739, + "object_top_z": 1.0543144403943345, + "finger_top_clearance": 0.05020273898559546, + "fingertip_min_top_clearance": 0.015060821695678671, + "object_projection_between_fingers": 0.8380308749360117, + "object_to_finger_line_xy": 0.009539168894268521, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494352387719597, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8846541810400166, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3193599096543019, + 0.014577676399283191, + 0.7701464494012565 + ], + "gripper_position": [ + 0.31762940258368366, + -0.024315673210525232, + 1.0321376537595928 + ], + "target_minus_gripper": [ + 0.0017305070706182257, + 0.03889334960980842, + -0.2619912043583362 + ], + "held_position": [ + 0.3215310150491829, + -0.020323850347408516, + 1.031005695387973 + ], + "held_minus_target": [ + 0.0021711053948810233, + -0.03490152674669171, + 0.2608592459867164 + ], + "held_minus_gripper": [ + 0.003901612465499249, + 0.003991822863116716, + -0.0011319583716198345 + ], + "xy_dist": 0.03893182886267025, + "held_xy_dist": 0.03496899008958821, + "held_gripper_dist": 0.005695485875368378, + "max_held_gripper_dist": 0.0057133127306575465, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.031005695387973, + "required_height": 0.8001464494012566, + "gripper_z": 1.0321376537595928, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.42640988376854, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.29845690472468, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4556027379695933, + "max_source_tilt_deg": 89.9030158383225, + "source_upright_tilt_deg": 2.8705945089315823, + "max_source_upright_tilt_deg": 89.93546569589365, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4556027379695933, + "source_upright_return_tilt_deg": 2.8705945089315823, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.839941346661803e-08, + "max_target_xy_drift": 1.0848209096909341e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3194, + 0.0146, + 0.7701 + ], + "controller_target_position": [ + 0.3194, + 0.0146, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0015, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3199, + -0.0091, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005765365398916131, + 0.0015036410115085623, + -0.0013973735054968028 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8706110313275923, + "source_return_step_error_deg": 2.45562996509999, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8642083093837343, + "source_return_best_wrist_position": -1.6072660684585571, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6072660684585571 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3194, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3194, + 0.0146, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0015, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3199, + -0.0091, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005765365398916131, + 0.0015036410115085623, + -0.0013973735054968028 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8706110313275923, + "pour_controller_source_return_step_error_deg": 2.45562996509999, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8642083093837343, + "pour_controller_source_return_best_wrist_position": -1.6072660684585571, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6072660684585571, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03893182886267025, + "valid_pour_held_xy_dist": 0.03496899008958821, + "valid_pour_held_gripper_dist": 0.005695485875368378, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.031005695387973, + "valid_pour_source_tilt_deg": 2.4556027379695933, + "valid_pour_source_upright_tilt_deg": 2.8705945089315823, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.839941346661803e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3215310150491829, + -0.043851980127075266, + 1.031005695387973 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3115540230726912, + -0.020323850347408516, + 1.031005695387973 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31654251906093706, + -0.03208791523724189, + 1.031005695387973 + ], + "valid_pour_held_grasp_object_position": [ + 0.3215310150491829, + -0.020323850347408516, + 1.031005695387973 + ], + "valid_pour_held_grasp_finger_gap": 0.02555608068205728, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023864314204097414, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.036655087849913934, + -0.998745200182845, + 0.03412374021768671 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005430981399543209, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038153800485422544, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3215310150491829, + -0.043851980127075266, + 1.031005695387973 + ], + "held_grasp_finger_b": [ + 0.3115540230726912, + -0.020323850347408516, + 1.031005695387973 + ], + "held_grasp_midpoint": [ + 0.31654251906093706, + -0.03208791523724189, + 1.031005695387973 + ], + "held_grasp_object_position": [ + 0.3215310150491829, + -0.020323850347408516, + 1.031005695387973 + ], + "held_grasp_finger_gap": 0.02555608068205728, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023864314204097414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.036655087849913934, + -0.998745200182845, + 0.03412374021768671 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005430981399543209, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038153800485422544, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27185135842277286, + -0.12262636194473024, + 0.7611063407740057 + ], + "target_position": [ + 0.27207310821400027, + -0.12261305211408137, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00022214887238359253, + "xy_threshold": 0.08, + "gripper_dist": 0.21705580188743584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063407740057, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583603188598491, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707828477411854, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18743196617719804, + "release_required_pad_clearance": 0.05353914238705927, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0898532849896685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3059e43ee3e03c066bfc265a00a33a38e22be80e0c86752d0351106e99884176", + "visual_seed": 3325249248730877809, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..968abc01e6307fed4a94cc47254639e60a64e680 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_67_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29426669175890796, + -0.10807979840583788, + 1.0033375311027088 + ], + "current_z": 1.0033375311027088, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1422310230879429, + "gripper_z": 1.0049378676255931, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29018881294251336, + -0.112246639548533, + 1.0049378676255931 + ], + "object_minus_gripper": [ + 0.004077878816394598, + 0.004166841142695124, + -0.0016003365228842714 + ], + "object_to_gripper_xy": 0.00583023676617482, + "object_to_gripper_z": -0.0016003365228842714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29426669175890796, + -0.13220347360810647, + 1.0033375311027088 + ], + "finger_b": [ + 0.284059039243585, + -0.10807979840583788, + 1.0033375311027088 + ], + "finger_midpoint": [ + 0.2891628655012465, + -0.12014163600697217, + 1.0033375311027088 + ], + "object_minus_finger_midpoint": [ + 0.005103826257661481, + 0.012061837601134287, + 0.0 + ], + "finger_gap": 0.026194424504808796, + "fingertip_max_gap": 0.09290404672398608, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013097212252404391, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033375311027088, + "object_top_z": 1.053501007167942, + "finger_top_clearance": 0.05016347606523319, + "fingertip_min_top_clearance": 0.01504904281956994, + "object_projection_between_fingers": 0.8481432739952688, + "object_to_finger_line_xy": 0.00940070639124235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048952023361993044, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4779798287893766, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31800390398566164, + 0.014419565765790714, + 0.770146330191967 + ], + "gripper_position": [ + 0.31579588784080653, + -0.023699574439542695, + 1.0335057600177717 + ], + "target_minus_gripper": [ + 0.0022080161448551072, + 0.03811914020533341, + -0.26335942982580474 + ], + "held_position": [ + 0.3198152991764292, + -0.019521595360884804, + 1.0318272784717561 + ], + "held_minus_target": [ + 0.0018113951907675618, + -0.033941161126675515, + 0.26168094827978916 + ], + "held_minus_gripper": [ + 0.004019411335622669, + 0.004177979078657891, + -0.0016784815460155755 + ], + "xy_dist": 0.03818303530744782, + "held_xy_dist": 0.033989462648945847, + "held_gripper_dist": 0.0060356007958570195, + "max_held_gripper_dist": 0.006100294585625464, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0318272784717561, + "required_height": 0.800146330191967, + "gripper_z": 1.0335057600177717, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.62961933956996, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.075199262398221, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.985260107076287, + "max_source_tilt_deg": 89.76450264220885, + "source_upright_tilt_deg": 3.9671604648694476, + "max_source_upright_tilt_deg": 89.96737129641204, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.985260107076287, + "source_upright_return_tilt_deg": 3.9671604648694476, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.689783698867945e-08, + "max_target_xy_drift": 1.683016110365177e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.318, + 0.0144, + 0.7701 + ], + "controller_target_position": [ + 0.318, + 0.0144, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + 0.0018, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3189, + -0.009, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008624064867174997, + 0.0017875970956917064, + 0.0016509625456154866 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.967156756198389, + "source_return_step_error_deg": 2.985268709624382, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9624398409400134, + "source_return_best_wrist_position": -1.609643578529358, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609643578529358 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.318, + 0.0144, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.318, + 0.0144, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + 0.0018, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3189, + -0.009, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008624064867174997, + 0.0017875970956917064, + 0.0016509625456154866 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.967156756198389, + "pour_controller_source_return_step_error_deg": 2.985268709624382, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9624398409400134, + "pour_controller_source_return_best_wrist_position": -1.609643578529358, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609643578529358, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03818303530744782, + "valid_pour_held_xy_dist": 0.033989462648945847, + "valid_pour_held_gripper_dist": 0.0060356007958570195, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0318272784717561, + "valid_pour_source_tilt_deg": 2.985260107076287, + "valid_pour_source_upright_tilt_deg": 3.9671604648694476, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.689783698867945e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3198152991764292, + -0.04285355076277934, + 1.0318272784717561 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30930646326394234, + -0.019521595360884804, + 1.0318272784717561 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3145608812201858, + -0.03118757306183207, + 1.0318272784717561 + ], + "valid_pour_held_grasp_object_position": [ + 0.3198152991764292, + -0.019521595360884804, + 1.0318272784717561 + ], + "valid_pour_held_grasp_finger_gap": 0.025589368400012708, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02392735680865329, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06197714654484357, + -0.9976038760728723, + 0.03074637784423262 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005977809966610058, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03840787932913233, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3198152991764292, + -0.04285355076277934, + 1.0318272784717561 + ], + "held_grasp_finger_b": [ + 0.30930646326394234, + -0.019521595360884804, + 1.0318272784717561 + ], + "held_grasp_midpoint": [ + 0.3145608812201858, + -0.03118757306183207, + 1.0318272784717561 + ], + "held_grasp_object_position": [ + 0.3198152991764292, + -0.019521595360884804, + 1.0318272784717561 + ], + "held_grasp_finger_gap": 0.025589368400012708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02392735680865329, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06197714654484357, + -0.9976038760728723, + 0.03074637784423262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005977809966610058, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03840787932913233, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27117168871498115, + -0.11108917078091125, + 0.7611064751069293 + ], + "target_position": [ + 0.27127938327379747, + -0.11334151801400684, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022549204368296424, + "xy_threshold": 0.08, + "gripper_dist": 0.2160929516426703, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064751069293, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562078152535416, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548700010843589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18742118278458994, + "release_required_pad_clearance": 0.05274350005421795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5381383426217962, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f9c8a324b88362477c04b04c462d9d77eefb505c3349547ac73c0a5805dcb3d", + "visual_seed": 6316383572751353870, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7f2abca87ec9344efc4fb585c8f5a7ed0992e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2958051354588196, + -0.11445001342641, + 1.0013274851225646 + ], + "current_z": 1.0013274851225646, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1402209175031538, + "gripper_z": 1.0028691140936556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29192686511062993, + -0.11860563867131078, + 1.0028691140936556 + ], + "object_minus_gripper": [ + 0.0038782703481896608, + 0.00415562524490079, + -0.0015416289710910025 + ], + "object_to_gripper_xy": 0.00568420637113959, + "object_to_gripper_z": -0.0015416289710910025, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2958051354588196, + -0.13809379043061012, + 1.0013274851225646 + ], + "finger_b": [ + 0.28519247016704885, + -0.11445001342641, + 1.0013274851225646 + ], + "finger_midpoint": [ + 0.2904988028129342, + -0.12627190192851007, + 1.0013274851225646 + ], + "object_minus_finger_midpoint": [ + 0.00530633264588537, + 0.011821888502100072, + 0.0 + ], + "finger_gap": 0.02591634340757774, + "fingertip_max_gap": 0.0937528678294455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012958171703788877, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013274851225646, + "object_top_z": 1.0515013468991676, + "finger_top_clearance": 0.05017386177660299, + "fingertip_min_top_clearance": 0.015052158532980912, + "object_projection_between_fingers": 0.8323121938638248, + "object_to_finger_line_xy": 0.009682056130861191, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04937643391472275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0725794385799863, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31691197669569887, + 0.00785289969914414, + 0.7701464494012564 + ], + "gripper_position": [ + 0.31411995858646924, + -0.03309640276397981, + 1.031511871417765 + ], + "target_minus_gripper": [ + 0.0027920181092296326, + 0.04094930246312395, + -0.2613654220165085 + ], + "held_position": [ + 0.31809369183958053, + -0.02908013677368889, + 1.029884416490749 + ], + "held_minus_target": [ + 0.0011817151438816564, + -0.03693303647283303, + 0.2597379670894926 + ], + "held_minus_gripper": [ + 0.003973733253111289, + 0.004016265990290917, + -0.0016274549270158811 + ], + "xy_dist": 0.04104437522168751, + "held_xy_dist": 0.03695193680695092, + "held_gripper_dist": 0.005879588251835172, + "max_held_gripper_dist": 0.00594710623708334, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.029884416490749, + "required_height": 0.8001464494012565, + "gripper_z": 1.031511871417765, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.1912669612125, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.597199965290003, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.587954244883527, + "max_source_tilt_deg": 89.9377654101414, + "source_upright_tilt_deg": 2.7507406460685297, + "max_source_upright_tilt_deg": 89.92170806225693, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.587954244883527, + "source_upright_return_tilt_deg": 2.7507406460685297, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.9919237506603436e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3169, + 0.0079, + 0.7701 + ], + "controller_target_position": [ + 0.3169, + 0.0079, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0009, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3165, + -0.0183, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004367010133305084, + -0.0009298621776525837, + -0.0010080323605659966 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.750729343971166, + "source_return_step_error_deg": 2.587964864995608, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7438555146189505, + "source_return_best_wrist_position": -1.6075979471206665, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6075979471206665 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3169, + 0.0079, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3169, + 0.0079, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0009, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3165, + -0.0183, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004367010133305084, + -0.0009298621776525837, + -0.0010080323605659966 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.750729343971166, + "pour_controller_source_return_step_error_deg": 2.587964864995608, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7438555146189505, + "pour_controller_source_return_best_wrist_position": -1.6075979471206665, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6075979471206665, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04104437522168751, + "valid_pour_held_xy_dist": 0.03695193680695092, + "valid_pour_held_gripper_dist": 0.005879588251835172, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.029884416490749, + "valid_pour_source_tilt_deg": 2.587954244883527, + "valid_pour_source_upright_tilt_deg": 2.7507406460685297, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.9919237506603436e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31809369183958053, + -0.05259394977883453, + 1.029884416490749 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3080636579747479, + -0.02908013677368889, + 1.029884416490749 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31307867490716423, + -0.04083704327626171, + 1.029884416490749 + ], + "valid_pour_held_grasp_object_position": [ + 0.31809369183958053, + -0.02908013677368889, + 1.029884416490749 + ], + "valid_pour_held_grasp_finger_gap": 0.025563665256974517, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02383435239394045, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03465916423373866, + -0.9988477750422503, + 0.03319434632230156 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005433314466512246, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03815070646411603, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31809369183958053, + -0.05259394977883453, + 1.029884416490749 + ], + "held_grasp_finger_b": [ + 0.3080636579747479, + -0.02908013677368889, + 1.029884416490749 + ], + "held_grasp_midpoint": [ + 0.31307867490716423, + -0.04083704327626171, + 1.029884416490749 + ], + "held_grasp_object_position": [ + 0.31809369183958053, + -0.02908013677368889, + 1.029884416490749 + ], + "held_grasp_finger_gap": 0.025563665256974517, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02383435239394045, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03465916423373866, + -0.9988477750422503, + 0.03319434632230156 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005433314466512246, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03815070646411603, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2561323168081605, + -0.10667418324829539, + 0.7611066612646575 + ], + "target_position": [ + 0.27326458616117566, + -0.11826342575765555, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020683935677840007, + "xy_threshold": 0.08, + "gripper_dist": 0.2029789714943741, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066612646575, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07683660038921734, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08818769518387241, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17875382918731245, + "release_required_pad_clearance": 0.05409384759193621, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2004441275328754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f0e7a95d50d4d491c430ca09093e2e0eb374117b35789e302a0d39c024a64dfa", + "visual_seed": 7094671145123529411, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..399177cb4434700cb6dd6ca4919b3a3dd14bb621 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_69_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2963630855644279, + -0.11758376388844173, + 1.0018552121905726 + ], + "current_z": 1.0018552121905726, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1407487637804512, + "gripper_z": 1.002854502772457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2928222208695207, + -0.1215626398975313, + 1.002854502772457 + ], + "object_minus_gripper": [ + 0.0035408646949072198, + 0.003978876009089569, + -0.0009992905818843045 + ], + "object_to_gripper_xy": 0.005326272344083518, + "object_to_gripper_z": -0.0009992905818843045, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2963630855644279, + -0.1409819284046705, + 1.0018552121905726 + ], + "finger_b": [ + 0.28599140794021294, + -0.11758376388844173, + 1.0018552121905726 + ], + "finger_midpoint": [ + 0.29117724675232043, + -0.1292828461465561, + 1.0018552121905726 + ], + "object_minus_finger_midpoint": [ + 0.0051858388121074905, + 0.011699082258114377, + 0.0 + ], + "finger_gap": 0.025593862535169418, + "fingertip_max_gap": 0.09452243055534151, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012796931267584702, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018552121905726, + "object_top_z": 1.0522103570142676, + "finger_top_clearance": 0.050355144823694964, + "fingertip_min_top_clearance": 0.015106543447108522, + "object_projection_between_fingers": 0.8357798846617776, + "object_to_finger_line_xy": 0.009481891177121013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04976121527767076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3851316707205434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31548858797614027, + 0.01698729660981156, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3133347462059092, + -0.022805733053127428, + 1.031901754949271 + ], + "target_minus_gripper": [ + 0.002153841770231091, + 0.03979302966293899, + -0.2617553055480146 + ], + "held_position": [ + 0.31697961818559184, + -0.018959137698720402, + 1.0308133090552878 + ], + "held_minus_target": [ + 0.0014910302094515715, + -0.03594643430853196, + 0.26066685965403136 + ], + "held_minus_gripper": [ + 0.0036448719796826623, + 0.003846595354407026, + -0.0010884458939832697 + ], + "xy_dist": 0.03985127656834514, + "held_xy_dist": 0.035977344407044566, + "held_gripper_dist": 0.005409815341853228, + "max_held_gripper_dist": 0.00542616949984223, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0308133090552878, + "required_height": 0.8001464494012565, + "gripper_z": 1.031901754949271, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.69246624250805, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8468727936619556, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.618737773156919, + "max_source_tilt_deg": 89.80894403370387, + "source_upright_tilt_deg": 2.727451599174008, + "max_source_upright_tilt_deg": 89.99072062330468, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.618737773156919, + "source_upright_return_tilt_deg": 2.727451599174008, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.4016709327697754e-08, + "max_target_xy_drift": 2.199578090111673e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3155, + 0.017, + 0.7701 + ], + "controller_target_position": [ + 0.3155, + 0.017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + 0.0007, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3147, + -0.0075, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007995477600357354, + 0.0006859265785518604, + -0.0016513429979456659 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7274567083262498, + "source_return_step_error_deg": 2.618744927878967, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.721628105952381, + "source_return_best_wrist_position": -1.6078376770019531, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078376770019531 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3155, + 0.017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3155, + 0.017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + 0.0007, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3147, + -0.0075, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007995477600357354, + 0.0006859265785518604, + -0.0016513429979456659 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7274567083262498, + "pour_controller_source_return_step_error_deg": 2.618744927878967, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.721628105952381, + "pour_controller_source_return_best_wrist_position": -1.6078376770019531, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078376770019531, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03985127656834514, + "valid_pour_held_xy_dist": 0.035977344407044566, + "valid_pour_held_gripper_dist": 0.005409815341853228, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0308133090552878, + "valid_pour_source_tilt_deg": 2.618737773156919, + "valid_pour_source_upright_tilt_deg": 2.727451599174008, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.4016709327697754e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31697961818559184, + -0.04235885989895382, + 1.0308133090552878 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30730894207425535, + -0.018959137698720402, + 1.0308133090552878 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31214428012992357, + -0.03065899879883711, + 1.0308133090552878 + ], + "valid_pour_held_grasp_object_position": [ + 0.31697961818559184, + -0.018959137698720402, + 1.0308133090552878 + ], + "valid_pour_held_grasp_finger_gap": 0.025319339949897407, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023709827378749427, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03480753537411796, + -0.9988671992729593, + 0.032446166149079476 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00525318753720898, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820194878155733, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31697961818559184, + -0.04235885989895382, + 1.0308133090552878 + ], + "held_grasp_finger_b": [ + 0.30730894207425535, + -0.018959137698720402, + 1.0308133090552878 + ], + "held_grasp_midpoint": [ + 0.31214428012992357, + -0.03065899879883711, + 1.0308133090552878 + ], + "held_grasp_object_position": [ + 0.31697961818559184, + -0.018959137698720402, + 1.0308133090552878 + ], + "held_grasp_finger_gap": 0.025319339949897407, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023709827378749427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03480753537411796, + -0.9988671992729593, + 0.032446166149079476 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00525318753720898, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820194878155733, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2571773368211324, + -0.10399704840392633, + 0.7611064799560435 + ], + "target_position": [ + 0.2740990066213924, + -0.12147815256806793, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024329650873504124, + "xy_threshold": 0.08, + "gripper_dist": 0.20415245126329498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064799560435, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08150953178975742, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496545614612346, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18085264201069082, + "release_required_pad_clearance": 0.05248272807306173, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956458466166044, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fc767356eb20e29a845ac2bdd9b4d293c423aeca974a399c5dffb8a04d09e59f", + "visual_seed": 3526185696459542956, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea851d3cd268fddf67e8b348dae852389b0afc4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2976446576040963, + -0.11606310549251256, + 1.0028163163141408 + ], + "current_z": 1.0028163163141408, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14170986790401963, + "gripper_z": 1.0040020353387857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29349537234015605, + -0.12026338963727488, + 1.0040020353387857 + ], + "object_minus_gripper": [ + 0.004149285263940261, + 0.004200284144762326, + -0.0011857190246449267 + ], + "object_to_gripper_xy": 0.005904147279522555, + "object_to_gripper_z": -0.0011857190246449267, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2976446576040963, + -0.14008865946830157, + 1.0028163163141408 + ], + "finger_b": [ + 0.28717324441504044, + -0.11606310549251256, + 1.0028163163141408 + ], + "finger_midpoint": [ + 0.2924089510095684, + -0.12807588248040708, + 1.0028163163141408 + ], + "object_minus_finger_midpoint": [ + 0.0052357065945279335, + 0.012012776987894519, + 0.0 + ], + "finger_gap": 0.02620835244763555, + "fingertip_max_gap": 0.09372958576097204, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013104176223817788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028163163141408, + "object_top_z": 1.0529455347218015, + "finger_top_clearance": 0.050129218407660714, + "fingertip_min_top_clearance": 0.015038765522298197, + "object_projection_between_fingers": 0.8403638841286442, + "object_to_finger_line_xy": 0.009599287222617768, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936479288048602, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7966443520525255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31395373857085146, + 0.015358646257452745, + 0.7701465090059011 + ], + "gripper_position": [ + 0.3140414024401108, + -0.023940653830033215, + 1.033767734760485 + ], + "target_minus_gripper": [ + -8.766386925934677e-05, + 0.03929930008748596, + -0.2636212257545839 + ], + "held_position": [ + 0.3182264670179247, + -0.019815914663559225, + 1.0324976193104392 + ], + "held_minus_target": [ + 0.004272728447073215, + -0.03517456092101197, + 0.26235111030453806 + ], + "held_minus_gripper": [ + 0.004185064577813868, + 0.00412473916647399, + -0.00127011545004585 + ], + "xy_dist": 0.03929939786205697, + "held_xy_dist": 0.03543311931468088, + "held_gripper_dist": 0.00601177444423542, + "max_held_gripper_dist": 0.006042634350115618, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0324976193104392, + "required_height": 0.8001465090059011, + "gripper_z": 1.033767734760485, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.12786114895488, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.201222420817282, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.440797559188439, + "max_source_tilt_deg": 89.8772083218507, + "source_upright_tilt_deg": 3.1929107319352767, + "max_source_upright_tilt_deg": 89.7767209031833, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.440797559188439, + "source_upright_return_tilt_deg": 3.1929107319352767, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1223622362990716e-08, + "max_target_xy_drift": 9.13266142616515e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.314, + 0.0154, + 0.7701 + ], + "controller_target_position": [ + 0.314, + 0.0154, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0009, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3157, + -0.009, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017164488150142056, + 0.0008829171637291708, + 0.001225439935510993 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.192906805383106, + "source_return_step_error_deg": 2.4407883785643327, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.185560836357257, + "source_return_best_wrist_position": -1.608235239982605, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608235239982605 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.314, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.314, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0009, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3157, + -0.009, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017164488150142056, + 0.0008829171637291708, + 0.001225439935510993 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.192906805383106, + "pour_controller_source_return_step_error_deg": 2.4407883785643327, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.185560836357257, + "pour_controller_source_return_best_wrist_position": -1.608235239982605, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608235239982605, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03929939786205697, + "valid_pour_held_xy_dist": 0.03543311931468088, + "valid_pour_held_gripper_dist": 0.00601177444423542, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0324976193104392, + "valid_pour_source_tilt_deg": 2.440797559188439, + "valid_pour_source_upright_tilt_deg": 3.1929107319352767, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1223622362990716e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3182264670179247, + -0.04351136260477105, + 1.0324976193104392 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30802661353713495, + -0.019815914663559225, + 1.0324976193104392 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31312654027752984, + -0.03166363863416514, + 1.0324976193104392 + ], + "valid_pour_held_grasp_object_position": [ + 0.3182264670179247, + -0.019815914663559225, + 1.0324976193104392 + ], + "valid_pour_held_grasp_finger_gap": 0.025797504998822232, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024096272783598844, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04290335447608115, + -0.9984476728528344, + 0.035518259381047246 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005619025259506925, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03810972160778605, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3182264670179247, + -0.04351136260477105, + 1.0324976193104392 + ], + "held_grasp_finger_b": [ + 0.30802661353713495, + -0.019815914663559225, + 1.0324976193104392 + ], + "held_grasp_midpoint": [ + 0.31312654027752984, + -0.03166363863416514, + 1.0324976193104392 + ], + "held_grasp_object_position": [ + 0.3182264670179247, + -0.019815914663559225, + 1.0324976193104392 + ], + "held_grasp_finger_gap": 0.025797504998822232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024096272783598844, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04290335447608115, + -0.9984476728528344, + 0.035518259381047246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005619025259506925, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03810972160778605, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27057316258917824, + -0.1190646852268144, + 0.7611182835168581 + ], + "target_position": [ + 0.2744033698602431, + -0.11939771681410254, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038446583433966964, + "xy_threshold": 0.08, + "gripper_dist": 0.21330011468052074, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611182835168581, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537113216426498, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756684759293194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18477402350214045, + "release_required_pad_clearance": 0.05378342379646597, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.526113404247078, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9533aa22601f428191da5d8e01b9b438a5c88d0982bdceeee5d77a9ab0b6f69e", + "visual_seed": 2866831299293665949, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a98f2f0998f9b497749d7f002e77b9eca1924c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_71_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29189020647513964, + -0.1173879760062584, + 1.0015334659997948 + ], + "current_z": 1.0015334659997948, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1404268983803839, + "gripper_z": 1.002319548692494, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28835727183499305, + -0.12140966166978716, + 1.002319548692494 + ], + "object_minus_gripper": [ + 0.00353293464014659, + 0.004021685663528757, + -0.0007860826926993081 + ], + "object_to_gripper_xy": 0.005353090952690833, + "object_to_gripper_z": -0.0007860826926993081, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29189020647513964, + -0.14064732111159312, + 1.0015334659997948 + ], + "finger_b": [ + 0.28132144371637735, + -0.1173879760062584, + 1.0015334659997948 + ], + "finger_midpoint": [ + 0.2866058250957585, + -0.12901764855892575, + 1.0015334659997948 + ], + "object_minus_finger_midpoint": [ + 0.005284381379381142, + 0.01162967255266735, + 0.0 + ], + "finger_gap": 0.02554791343691415, + "fingertip_max_gap": 0.09392200049884561, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012773956718457068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0015334659997948, + "object_top_z": 1.0517846419228123, + "finger_top_clearance": 0.05025117592301753, + "fingertip_min_top_clearance": 0.015075352776905276, + "object_projection_between_fingers": 0.8288655566765967, + "object_to_finger_line_xy": 0.009622018680683062, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946100024942281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2049913965513834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31614420926634706, + 0.010733381702236913, + 0.7701463897966117 + ], + "gripper_position": [ + 0.314366773024761, + -0.027568333799804723, + 1.0329475987703778 + ], + "target_minus_gripper": [ + 0.00177743624158605, + 0.03830171550204164, + -0.26280120897376613 + ], + "held_position": [ + 0.31801185253029973, + -0.023677708108117604, + 1.0320717188573987 + ], + "held_minus_target": [ + 0.0018676432639526674, + -0.03441108981035452, + 0.261925329060787 + ], + "held_minus_gripper": [ + 0.0036450795055387175, + 0.003890625691687119, + -0.0008758799129791051 + ], + "xy_dist": 0.03834293533354274, + "held_xy_dist": 0.0344617352043926, + "held_gripper_dist": 0.005402845407419552, + "max_held_gripper_dist": 0.005413348573968281, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0320717188573987, + "required_height": 0.8001463897966117, + "gripper_z": 1.0329475987703778, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 126.28782767789377, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7411248385537874, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.742662786534046, + "max_source_tilt_deg": 89.65757400063612, + "source_upright_tilt_deg": 2.488839209419451, + "max_source_upright_tilt_deg": 89.7615813662642, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.742662786534046, + "source_upright_return_tilt_deg": 2.488839209419451, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.191719375027217e-08, + "max_target_xy_drift": 1.5160833109263057e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3161, + 0.0107, + 0.7701 + ], + "controller_target_position": [ + 0.3161, + 0.0107, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0016, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3172, + -0.0128, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011002716743588213, + 0.0016201028741699092, + 0.0005339307322988662 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4888532574632483, + "source_return_step_error_deg": 2.7426387516961737, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7310106544678003, + "source_return_best_wrist_position": -1.6063458919525146, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6063458919525146 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3161, + 0.0107, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3161, + 0.0107, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0016, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3172, + -0.0128, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011002716743588213, + 0.0016201028741699092, + 0.0005339307322988662 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4888532574632483, + "pour_controller_source_return_step_error_deg": 2.7426387516961737, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7310106544678003, + "pour_controller_source_return_best_wrist_position": -1.6063458919525146, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6063458919525146, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03834293533354274, + "valid_pour_held_xy_dist": 0.0344617352043926, + "valid_pour_held_gripper_dist": 0.005402845407419552, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0320717188573987, + "valid_pour_source_tilt_deg": 2.742662786534046, + "valid_pour_source_upright_tilt_deg": 2.488839209419451, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.191719375027217e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31801185253029973, + -0.046983445370844444, + 1.0320717188573987 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30819437575027075, + -0.023677708108117604, + 1.0320717188573987 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31310311414028524, + -0.03533057673948102, + 1.0320717188573987 + ], + "valid_pour_held_grasp_object_position": [ + 0.31801185253029973, + -0.023677708108117604, + 1.0320717188573987 + ], + "valid_pour_held_grasp_finger_gap": 0.025289132837755874, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023575093907286526, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029675727400643385, + -0.9990567078020844, + 0.03170245730070709 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005265197354554046, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038224043881138085, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31801185253029973, + -0.046983445370844444, + 1.0320717188573987 + ], + "held_grasp_finger_b": [ + 0.30819437575027075, + -0.023677708108117604, + 1.0320717188573987 + ], + "held_grasp_midpoint": [ + 0.31310311414028524, + -0.03533057673948102, + 1.0320717188573987 + ], + "held_grasp_object_position": [ + 0.31801185253029973, + -0.023677708108117604, + 1.0320717188573987 + ], + "held_grasp_finger_gap": 0.025289132837755874, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023575093907286526, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029675727400643385, + -0.9990567078020844, + 0.03170245730070709 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005265197354554046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038224043881138085, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25390153570659746, + -0.09986497027563654, + 0.7611065238600652 + ], + "target_position": [ + 0.27001160173130345, + -0.12188430498452947, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027283425890870877, + "xy_threshold": 0.08, + "gripper_dist": 0.20659170562316947, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065238600652, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0847817221697324, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0912742315081544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18413499622010734, + "release_required_pad_clearance": 0.055637115754077204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.44041742207215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ada19c48f048d2b85664d1579fff9ba61404474ad9d46731143120aeef6d07f", + "visual_seed": 8928383706851864064, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60237181207702fef853d6d0f3467a33f875930e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2980975975590817, + -0.10922146879831802, + 1.001824002638715 + ], + "current_z": 1.001824002638715, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14071743501930445, + "gripper_z": 1.0029655416716428, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2943685087478496, + -0.11329283935436403, + 1.0029655416716428 + ], + "object_minus_gripper": [ + 0.0037290888112321285, + 0.004071370556046006, + -0.0011415390329276853 + ], + "object_to_gripper_xy": 0.005521065256514816, + "object_to_gripper_z": -0.0011415390329276853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2980975975590817, + -0.13277901516655455, + 1.001824002638715 + ], + "finger_b": [ + 0.28759668310086606, + -0.10922146879831802, + 1.001824002638715 + ], + "finger_midpoint": [ + 0.2928471403299739, + -0.12100024198243628, + 1.001824002638715 + ], + "object_minus_finger_midpoint": [ + 0.00525045722910783, + 0.011778773184118255, + 0.0 + ], + "finger_gap": 0.025791998669168245, + "fingertip_max_gap": 0.09451303334593017, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012895999334584116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001824002638715, + "object_top_z": 1.0522322689321224, + "finger_top_clearance": 0.05040826629340733, + "fingertip_min_top_clearance": 0.015122479888022183, + "object_projection_between_fingers": 0.8342382794487473, + "object_to_finger_line_xy": 0.009591183003355767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04975651667296509, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.224671694961642, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31095431363646425, + 0.016437700806789173, + 0.7701463897966118 + ], + "gripper_position": [ + 0.31017128643427444, + -0.024013975122604447, + 1.0328600067533447 + ], + "target_minus_gripper": [ + 0.0007830272021898121, + 0.040451675929393624, + -0.2627136169567329 + ], + "held_position": [ + 0.31392213190557317, + -0.02000117611007122, + 1.0316375359399257 + ], + "held_minus_target": [ + 0.0029678182691089128, + -0.03643887691686039, + 0.2614911461433139 + ], + "held_minus_gripper": [ + 0.003750845471298725, + 0.004012799012533229, + -0.0012224708134189743 + ], + "xy_dist": 0.04045925378817623, + "held_xy_dist": 0.036559536324200795, + "held_gripper_dist": 0.00562724022538678, + "max_held_gripper_dist": 0.005659208304395401, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0316375359399257, + "required_height": 0.8001463897966118, + "gripper_z": 1.0328600067533447, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.38723075249695, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.661834821826017, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.52063038183224, + "max_source_tilt_deg": 89.78434296475278, + "source_upright_tilt_deg": 3.611414814728796, + "max_source_upright_tilt_deg": 89.7859714384298, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.52063038183224, + "source_upright_return_tilt_deg": 3.611414814728796, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.2830637469362114e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.311, + 0.0164, + 0.7701 + ], + "controller_target_position": [ + 0.311, + 0.0164, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3109, + -0.0087, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.7349554875411566e-05, + 2.6376978950236243e-05, + 0.00022318627923249455 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6114077629185584, + "source_return_step_error_deg": 2.520626679303138, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.610097771990559, + "source_return_best_wrist_position": -1.6079742908477783, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6079742908477783 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.311, + 0.0164, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.311, + 0.0164, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3109, + -0.0087, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.7349554875411566e-05, + 2.6376978950236243e-05, + 0.00022318627923249455 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6114077629185584, + "pour_controller_source_return_step_error_deg": 2.520626679303138, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.610097771990559, + "pour_controller_source_return_best_wrist_position": -1.6079742908477783, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6079742908477783, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04045925378817623, + "valid_pour_held_xy_dist": 0.036559536324200795, + "valid_pour_held_gripper_dist": 0.00562724022538678, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0316375359399257, + "valid_pour_source_tilt_deg": 2.52063038183224, + "valid_pour_source_upright_tilt_deg": 3.611414814728796, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31392213190557317, + -0.043168488963698085, + 1.0316375359399257 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30362046246991886, + -0.02000117611007122, + 1.0316375359399257 + ], + "valid_pour_held_grasp_midpoint": [ + 0.308771297187746, + -0.031584832536884655, + 1.0316375359399257 + ], + "valid_pour_held_grasp_object_position": [ + 0.31392213190557317, + -0.02000117611007122, + 1.0316375359399257 + ], + "valid_pour_held_grasp_finger_gap": 0.025354462684492422, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023677177415458557, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05395921847896973, + -0.9980142077661069, + 0.032496828124120906 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057803506627313005, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038437531394142375, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31392213190557317, + -0.043168488963698085, + 1.0316375359399257 + ], + "held_grasp_finger_b": [ + 0.30362046246991886, + -0.02000117611007122, + 1.0316375359399257 + ], + "held_grasp_midpoint": [ + 0.308771297187746, + -0.031584832536884655, + 1.0316375359399257 + ], + "held_grasp_object_position": [ + 0.31392213190557317, + -0.02000117611007122, + 1.0316375359399257 + ], + "held_grasp_finger_gap": 0.025354462684492422, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023677177415458557, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05395921847896973, + -0.9980142077661069, + 0.032496828124120906 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057803506627313005, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038437531394142375, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2755642293906482, + -0.11374674556525884, + 0.7611064095963246 + ], + "target_position": [ + 0.2753781776226682, + -0.11400988333677693, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0003222681293084769, + "xy_threshold": 0.08, + "gripper_dist": 0.21525461011600905, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064095963246, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521576287491685, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08979888361042308, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18687410428834664, + "release_required_pad_clearance": 0.054899441805211543, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.862798270427558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a0e6dcf41e65c5a3362c2e055c4dd3819d707145a1116d56b9c58f12244fcf5a", + "visual_seed": 997014499998332653, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef8dc7c254dcd9162429767aedfa3a660906a57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_73_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3006641698955545, + -0.1169830279982027, + 1.0038409731903641 + ], + "current_z": 1.0038409731903641, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14273452478024307, + "gripper_z": 1.0053647033462683, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2964580570643598, + -0.1212550870216927, + 1.0053647033462683 + ], + "object_minus_gripper": [ + 0.004206112831194708, + 0.004272059023489996, + -0.0015237301559041239 + ], + "object_to_gripper_xy": 0.00599515416389963, + "object_to_gripper_z": -0.0015237301559041239, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3006641698955545, + -0.14098067804020323, + 1.0038409731903641 + ], + "finger_b": [ + 0.2900178213743476, + -0.1169830279982027, + 1.0038409731903641 + ], + "finger_midpoint": [ + 0.2953409956349511, + -0.12898185301920295, + 1.0038409731903641 + ], + "object_minus_finger_midpoint": [ + 0.005323174260603414, + 0.011998825021000248, + 0.0 + ], + "finger_gap": 0.026253227313481512, + "fingertip_max_gap": 0.09327789425153674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013126613656740732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038409731903641, + "object_top_z": 1.0539994052521775, + "finger_top_clearance": 0.05015843206181336, + "fingertip_min_top_clearance": 0.015047529618544008, + "object_projection_between_fingers": 0.8355492113209291, + "object_to_finger_line_xy": 0.009731654816621166, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04913894712576837, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5890111944287795, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3185534886128132, + 0.007799500456683415, + 0.7701465090059011 + ], + "gripper_position": [ + 0.31651175690823374, + -0.03114809640014521, + 1.0324061575850823 + ], + "target_minus_gripper": [ + 0.0020417317045794414, + 0.03894759685682862, + -0.26225964857918116 + ], + "held_position": [ + 0.3207528657626398, + -0.026957321471462334, + 1.0307979797729274 + ], + "held_minus_target": [ + 0.002199377149826598, + -0.03475682192814575, + 0.2606514707670263 + ], + "held_minus_gripper": [ + 0.004241108854406039, + 0.004190774928682875, + -0.0016081778121548318 + ], + "xy_dist": 0.03900107651431601, + "held_xy_dist": 0.03482633960656808, + "held_gripper_dist": 0.006175421823106933, + "max_held_gripper_dist": 0.00623683958511853, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0307979797729274, + "required_height": 0.8001465090059011, + "gripper_z": 1.0324061575850823, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.17037907653821, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1209688612166775, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5247094148125164, + "max_source_tilt_deg": 89.63794220075657, + "source_upright_tilt_deg": 3.0372839097651956, + "max_source_upright_tilt_deg": 89.90585679359796, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5247094148125164, + "source_upright_return_tilt_deg": 3.0372839097651956, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.41936196213324e-08, + "max_target_xy_drift": 1.3587099481252495e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3186, + 0.0078, + 0.7701 + ], + "controller_target_position": [ + 0.3186, + 0.0078, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0013, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3182, + -0.0161, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003400593181372199, + 0.0013395580996192463, + -0.00020921691182326178 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.037290496575696, + "source_return_step_error_deg": 2.5247111712748582, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0330750999133254, + "source_return_best_wrist_position": -1.6091212034225464, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091212034225464 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3186, + 0.0078, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3186, + 0.0078, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0013, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3182, + -0.0161, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003400593181372199, + 0.0013395580996192463, + -0.00020921691182326178 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.037290496575696, + "pour_controller_source_return_step_error_deg": 2.5247111712748582, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0330750999133254, + "pour_controller_source_return_best_wrist_position": -1.6091212034225464, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091212034225464, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03900107651431601, + "valid_pour_held_xy_dist": 0.03482633960656808, + "valid_pour_held_gripper_dist": 0.006175421823106933, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0307979797729274, + "valid_pour_source_tilt_deg": 2.5247094148125164, + "valid_pour_source_upright_tilt_deg": 3.0372839097651956, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.41936196213324e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3207528657626398, + -0.05056468572704519, + 1.0307979797729274 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3103428195339084, + -0.026957321471462334, + 1.0307979797729274 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31554784264827407, + -0.03876100359925376, + 1.0307979797729274 + ], + "valid_pour_held_grasp_object_position": [ + 0.3207528657626398, + -0.026957321471462334, + 1.0307979797729274 + ], + "valid_pour_held_grasp_finger_gap": 0.025800711416162452, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024002037358916883, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.041098274640116166, + -0.9985952758117483, + 0.033442591826351335 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005699174984405158, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03814706632956133, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3207528657626398, + -0.05056468572704519, + 1.0307979797729274 + ], + "held_grasp_finger_b": [ + 0.3103428195339084, + -0.026957321471462334, + 1.0307979797729274 + ], + "held_grasp_midpoint": [ + 0.31554784264827407, + -0.03876100359925376, + 1.0307979797729274 + ], + "held_grasp_object_position": [ + 0.3207528657626398, + -0.026957321471462334, + 1.0307979797729274 + ], + "held_grasp_finger_gap": 0.025800711416162452, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024002037358916883, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.041098274640116166, + -0.9985952758117483, + 0.033442591826351335 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005699174984405158, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03814706632956133, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2800177400156946, + -0.12079695042810777, + 0.7611063264347347 + ], + "target_position": [ + 0.2775581112187404, + -0.12114031149074364, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00248347954252514, + "xy_threshold": 0.08, + "gripper_dist": 0.21856818436195422, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063264347347, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551443643504673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559454072290044, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18925906627967068, + "release_required_pad_clearance": 0.052797270361450224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6416321539131088, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5db84ea1a840896061d700068bb6822b6977de04e93d74a12ff637d8439ef6d", + "visual_seed": 1231935504029382708, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8f7852b8b04060a1ef4becfb7aab600800bac5f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_74_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.296383908654023, + -0.11482270584480628, + 1.0020654442580867 + ], + "current_z": 1.0020654442580867, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14095899584796556, + "gripper_z": 1.0032531795137614, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29318341241700185, + -0.11854200353197829, + 1.0032531795137614 + ], + "object_minus_gripper": [ + 0.003200496237021122, + 0.00371929768717201, + -0.0011877352556746157 + ], + "object_to_gripper_xy": 0.004906765884876659, + "object_to_gripper_z": -0.0011877352556746157, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.296383908654023, + -0.1382217027329693, + 1.0020654442580867 + ], + "finger_b": [ + 0.28665993844344106, + -0.11482270584480628, + 1.0020654442580867 + ], + "finger_midpoint": [ + 0.291521923548732, + -0.12652220428888777, + 1.0020654442580867 + ], + "object_minus_finger_midpoint": [ + 0.004861985105290956, + 0.011699498444081496, + 0.0 + ], + "finger_gap": 0.025339073622146234, + "fingertip_max_gap": 0.09212521065058396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012669536811073105, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020654442580867, + "object_top_z": 1.0524300824168962, + "finger_top_clearance": 0.05036463815880943, + "fingertip_min_top_clearance": 0.015109391447642812, + "object_projection_between_fingers": 0.8527328871179956, + "object_to_finger_line_xy": 0.00897945805323896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856260532529198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.038393852687689, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3114441148049061, + 0.012436005144052282, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3112624418297756, + -0.03001527458961324, + 1.0317424545953005 + ], + "target_minus_gripper": [ + 0.00018167297513049796, + 0.042451279733665526, + -0.2615960647986887 + ], + "held_position": [ + 0.31445516984297706, + -0.026325703754375006, + 1.0304834843819126 + ], + "held_minus_target": [ + 0.0030110550380709755, + -0.03876170889842729, + 0.26033709458530085 + ], + "held_minus_gripper": [ + 0.0031927280132014735, + 0.003689570835238236, + -0.0012589702133878333 + ], + "xy_dist": 0.04245166847246188, + "held_xy_dist": 0.03887848414185808, + "held_gripper_dist": 0.005038993065357385, + "max_held_gripper_dist": 0.005079355812319732, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0304834843819126, + "required_height": 0.8001463897966118, + "gripper_z": 1.0317424545953005, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.3685433549278, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7056698537188975, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.600619222414866, + "max_source_tilt_deg": 89.86180281217275, + "source_upright_tilt_deg": 2.2046042494512323, + "max_source_upright_tilt_deg": 89.82985948741377, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.600619222414866, + "source_upright_return_tilt_deg": 2.2046042494512323, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.299587156065733e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3114, + 0.0124, + 0.7701 + ], + "controller_target_position": [ + 0.3114, + 0.0124, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0019, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3124, + -0.0146, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00098051197544646, + -0.0018534853760818093, + -0.0014821590364975355 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2045896863927923, + "source_return_step_error_deg": 2.6006026738325416, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5850627808109174, + "source_return_best_wrist_position": -1.6070926189422607, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6070926189422607 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3114, + 0.0124, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3114, + 0.0124, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0019, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3124, + -0.0146, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00098051197544646, + -0.0018534853760818093, + -0.0014821590364975355 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2045896863927923, + "pour_controller_source_return_step_error_deg": 2.6006026738325416, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5850627808109174, + "pour_controller_source_return_best_wrist_position": -1.6070926189422607, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6070926189422607, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04245166847246188, + "valid_pour_held_xy_dist": 0.03887848414185808, + "valid_pour_held_gripper_dist": 0.005038993065357385, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0304834843819126, + "valid_pour_source_tilt_deg": 2.600619222414866, + "valid_pour_source_upright_tilt_deg": 2.2046042494512323, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31445516984297706, + -0.04920039750654222, + 1.0304834843819126 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3047208183740667, + -0.026325703754375006, + 1.0304834843819126 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3095879941085219, + -0.03776305063045861, + 1.0304834843819126 + ], + "valid_pour_held_grasp_object_position": [ + 0.31445516984297706, + -0.026325703754375006, + 1.0304834843819126 + ], + "valid_pour_held_grasp_finger_gap": 0.024859791084715782, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023087017606603897, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02355111887256702, + -0.999259836466516, + 0.03041585153768034 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005146839913463527, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03840599613538477, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31445516984297706, + -0.04920039750654222, + 1.0304834843819126 + ], + "held_grasp_finger_b": [ + 0.3047208183740667, + -0.026325703754375006, + 1.0304834843819126 + ], + "held_grasp_midpoint": [ + 0.3095879941085219, + -0.03776305063045861, + 1.0304834843819126 + ], + "held_grasp_object_position": [ + 0.31445516984297706, + -0.026325703754375006, + 1.0304834843819126 + ], + "held_grasp_finger_gap": 0.024859791084715782, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023087017606603897, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02355111887256702, + -0.999259836466516, + 0.03041585153768034 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005146839913463527, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03840599613538477, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2584223369574451, + -0.10250085330472006, + 0.7611116914007006 + ], + "target_position": [ + 0.2740831907453485, + -0.1178719191633742, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021943837563133086, + "xy_threshold": 0.08, + "gripper_dist": 0.2072062937483297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116914007006, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08071976881868702, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08949004448777027, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1828828194869966, + "release_required_pad_clearance": 0.05474502224388514, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.51358665864527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "019e4dbef71741abeb3d9366b4f2c302a9193f0b98059eab6032c7ed3c83dc1e", + "visual_seed": 6874028561424925860, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72562dfa26ddc6ac97aa5b87bee6b8949bca49fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2967027428129645, + -0.11505957857445125, + 1.0017687494288254 + ], + "current_z": 1.0017687494288254, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14066236062334903, + "gripper_z": 1.0031271054459232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29234744414590697, + -0.11938667133593939, + 1.0031271054459232 + ], + "object_minus_gripper": [ + 0.004355298667057528, + 0.004327092761488141, + -0.0013583560170977727 + ], + "object_to_gripper_xy": 0.006139410252279623, + "object_to_gripper_z": -0.0013583560170977727, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2967027428129645, + -0.13925388559409554, + 1.0017687494288254 + ], + "finger_b": [ + 0.28607388235435355, + -0.11505957857445125, + 1.0017687494288254 + ], + "finger_midpoint": [ + 0.29138831258365905, + -0.1271567320842734, + 1.0017687494288254 + ], + "object_minus_finger_midpoint": [ + 0.005314430229305445, + 0.012097153509822142, + 0.0 + ], + "finger_gap": 0.026426069832826686, + "fingertip_max_gap": 0.09357949239879951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013213034916413326, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017687494288254, + "object_top_z": 1.0521117266535245, + "finger_top_clearance": 0.05034297722469905, + "fingertip_min_top_clearance": 0.015102893167409714, + "object_projection_between_fingers": 0.838226174951029, + "object_to_finger_line_xy": 0.00973122052697924, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049289746199399756, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.350759336641788, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3165368846661274, + 0.013908223106198091, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3150759349131112, + -0.027252348667692397, + 1.0326909941384468 + ], + "target_minus_gripper": [ + 0.0014609497530161941, + 0.041160571773890486, + -0.26254454473719047 + ], + "held_position": [ + 0.31947968594683307, + -0.0230165747527511, + 1.031245085606468 + ], + "held_minus_target": [ + 0.002942801280705676, + -0.03692479785894919, + 0.2610986362052118 + ], + "held_minus_gripper": [ + 0.00440375103372187, + 0.004235773914941298, + -0.001445908531978679 + ], + "xy_dist": 0.04118649102478176, + "held_xy_dist": 0.037041878682134655, + "held_gripper_dist": 0.006278969287100575, + "max_held_gripper_dist": 0.006326667613433756, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.031245085606468, + "required_height": 0.8001464494012563, + "gripper_z": 1.0326909941384468, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.05003114336259, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7761812256208562, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3974419798193636, + "max_source_tilt_deg": 89.81798553500289, + "source_upright_tilt_deg": 2.6416048297930588, + "max_source_upright_tilt_deg": 89.76420386050417, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3974419798193636, + "source_upright_return_tilt_deg": 2.6416048297930588, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.679882693323606e-08, + "max_target_xy_drift": 1.6743097494724565e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3165, + 0.0139, + 0.7701 + ], + "controller_target_position": [ + 0.3165, + 0.0139, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0007, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3171, + -0.012, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005337844815509842, + -0.0007160338849540406, + -0.0001924648035630549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6416231005033946, + "source_return_step_error_deg": 2.397464664306202, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.636472117069385, + "source_return_best_wrist_position": -1.6076109409332275, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6076109409332275 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3165, + 0.0139, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3165, + 0.0139, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0007, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3171, + -0.012, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005337844815509842, + -0.0007160338849540406, + -0.0001924648035630549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6416231005033946, + "pour_controller_source_return_step_error_deg": 2.397464664306202, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.636472117069385, + "pour_controller_source_return_best_wrist_position": -1.6076109409332275, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6076109409332275, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04118649102478176, + "valid_pour_held_xy_dist": 0.037041878682134655, + "valid_pour_held_gripper_dist": 0.006278969287100575, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.031245085606468, + "valid_pour_source_tilt_deg": 2.3974419798193636, + "valid_pour_source_upright_tilt_deg": 2.6416048297930588, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.679882693323606e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31947968594683307, + -0.046915295210274634, + 1.031245085606468 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3091683840467786, + -0.0230165747527511, + 1.031245085606468 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31432403499680583, + -0.03496593498151287, + 1.031245085606468 + ], + "valid_pour_held_grasp_object_position": [ + 0.31947968594683307, + -0.0230165747527511, + 1.031245085606468 + ], + "valid_pour_held_grasp_finger_gap": 0.02602828819536392, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02421236523391937, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032880440841682776, + -0.998937375087726, + 0.03229546814803108 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005558984152480166, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03795310760526085, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31947968594683307, + -0.046915295210274634, + 1.031245085606468 + ], + "held_grasp_finger_b": [ + 0.3091683840467786, + -0.0230165747527511, + 1.031245085606468 + ], + "held_grasp_midpoint": [ + 0.31432403499680583, + -0.03496593498151287, + 1.031245085606468 + ], + "held_grasp_object_position": [ + 0.31947968594683307, + -0.0230165747527511, + 1.031245085606468 + ], + "held_grasp_finger_gap": 0.02602828819536392, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02421236523391937, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032880440841682776, + -0.998937375087726, + 0.03229546814803108 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005558984152480166, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03795310760526085, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2745115437526413, + -0.12025359288518891, + 0.7611064696962531 + ], + "target_position": [ + 0.27317609563305834, + -0.11603398371124826, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00442589236887905, + "xy_threshold": 0.08, + "gripper_dist": 0.21608663503695807, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064696962531, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529915981781092, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560468339672446, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18630019937181305, + "release_required_pad_clearance": 0.05280234169836223, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.651317738477458, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fccf0b4d10f0e729a4c85835851c434afadd19dcbfcdc2fe301f4561ab473f6c", + "visual_seed": 2432012488014098611, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e57ca7679996d7758ba9886dc2027573a6be133 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29652394740047694, + -0.11778581435205504, + 1.0039710405771791 + ], + "current_z": 1.0039710405771791, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14286453256241305, + "gripper_z": 1.0051039462158817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29272880731753215, + -0.12187747922374816, + 1.0051039462158817 + ], + "object_minus_gripper": [ + 0.0037951400829447923, + 0.004091664871693115, + -0.0011329056387026082 + ], + "object_to_gripper_xy": 0.005580753503911604, + "object_to_gripper_z": -0.0011329056387026082, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29652394740047694, + -0.1414187401777809, + 1.0039710405771791 + ], + "finger_b": [ + 0.28604495164671795, + -0.11778581435205504, + 1.0039710405771791 + ], + "finger_midpoint": [ + 0.29128444952359744, + -0.12960227726491796, + 1.0039710405771791 + ], + "object_minus_finger_midpoint": [ + 0.005239497876879495, + 0.011816462912862924, + 0.0 + ], + "finger_gap": 0.025851973524115304, + "fingertip_max_gap": 0.09406285450727339, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012925986762057652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039710405771791, + "object_top_z": 1.0542157390664042, + "finger_top_clearance": 0.05024469848922508, + "fingertip_min_top_clearance": 0.01507340954676754, + "object_projection_between_fingers": 0.8356945671727354, + "object_to_finger_line_xy": 0.009579513500030046, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495314272536367, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.994833192625746, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3144627622372333, + 0.017408388523988502, + 0.7701463897966118 + ], + "gripper_position": [ + 0.31204516741304955, + -0.022318251996376173, + 1.032717856361278 + ], + "target_minus_gripper": [ + 0.002417594824183744, + 0.039726640520364676, + -0.26257146656466623 + ], + "held_position": [ + 0.31590385564482615, + -0.01832702697756492, + 1.0314957369808548 + ], + "held_minus_target": [ + 0.0014410934075928528, + -0.03573541550155342, + 0.2613493471842431 + ], + "held_minus_gripper": [ + 0.003858688231776597, + 0.003991225018811252, + -0.001222119380423159 + ], + "xy_dist": 0.0398001348209802, + "held_xy_dist": 0.035764461009192804, + "held_gripper_dist": 0.005684446129645524, + "max_held_gripper_dist": 0.005713730427645307, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0314957369808548, + "required_height": 0.8001463897966118, + "gripper_z": 1.032717856361278, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.2598284001011, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4079691339923857, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4818601851348157, + "max_source_tilt_deg": 89.80118431445206, + "source_upright_tilt_deg": 2.9841702517356166, + "max_source_upright_tilt_deg": 89.90615479905729, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4818601851348157, + "source_upright_return_tilt_deg": 2.9841702517356166, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 1.737759081973225e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3145, + 0.0174, + 0.7701 + ], + "controller_target_position": [ + 0.3145, + 0.0174, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0007, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3129, + -0.0071, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016067754748894836, + 0.0006786510987854453, + -0.0008621290249035431 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9841786810707607, + "source_return_step_error_deg": 2.4818480925742534, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.979873808932202, + "source_return_best_wrist_position": -1.6078357696533203, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078357696533203 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3145, + 0.0174, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3145, + 0.0174, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0007, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3129, + -0.0071, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016067754748894836, + 0.0006786510987854453, + -0.0008621290249035431 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9841786810707607, + "pour_controller_source_return_step_error_deg": 2.4818480925742534, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.979873808932202, + "pour_controller_source_return_best_wrist_position": -1.6078357696533203, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078357696533203, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0398001348209802, + "valid_pour_held_xy_dist": 0.035764461009192804, + "valid_pour_held_gripper_dist": 0.005684446129645524, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0314957369808548, + "valid_pour_source_tilt_deg": 2.4818601851348157, + "valid_pour_source_upright_tilt_deg": 2.9841702517356166, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31590385564482615, + -0.04176546462976381, + 1.0314957369808548 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3058641958421708, + -0.01832702697756492, + 1.0314957369808548 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3108840257434985, + -0.030046245803664367, + 1.0314957369808548 + ], + "valid_pour_held_grasp_object_position": [ + 0.31590385564482615, + -0.01832702697756492, + 1.0314957369808548 + ], + "valid_pour_held_grasp_finger_gap": 0.025498139707223127, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023799051130098343, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039084672364359516, + -0.9986439652416857, + 0.0343892290191784 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005488603651192421, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038213121319082305, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31590385564482615, + -0.04176546462976381, + 1.0314957369808548 + ], + "held_grasp_finger_b": [ + 0.3058641958421708, + -0.01832702697756492, + 1.0314957369808548 + ], + "held_grasp_midpoint": [ + 0.3108840257434985, + -0.030046245803664367, + 1.0314957369808548 + ], + "held_grasp_object_position": [ + 0.31590385564482615, + -0.01832702697756492, + 1.0314957369808548 + ], + "held_grasp_finger_gap": 0.025498139707223127, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023799051130098343, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039084672364359516, + -0.9986439652416857, + 0.0343892290191784 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005488603651192421, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038213121319082305, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2747658708238827, + -0.11704812500230444, + 0.7611064555545093 + ], + "target_position": [ + 0.27383123886368155, + -0.11926470585740438, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002405570117087645, + "xy_threshold": 0.08, + "gripper_dist": 0.21683999984395938, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064555545093, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569077773295604, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499578464618622, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18806564262729983, + "release_required_pad_clearance": 0.05249789232309311, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0685280369956712, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "877388f8b4a0e799d8e39e3dc717f575aeb2a6e9885ef5e2220d59214e40be5e", + "visual_seed": 5393919121400629060, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..446bf655a6b93488ad1f9573041a1688be4effad --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2992002866506159, + -0.11092559926368825, + 1.0041487251596108 + ], + "current_z": 1.0041487251596108, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1430421575402001, + "gripper_z": 1.005849123619241, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2952666977205842, + -0.11510765781049985, + 1.005849123619241 + ], + "object_minus_gripper": [ + 0.003933588930031651, + 0.004182058546811598, + -0.0017003984596302146 + ], + "object_to_gripper_xy": 0.005741318277140493, + "object_to_gripper_z": -0.0017003984596302146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2992002866506159, + -0.1346221656578056, + 1.0041487251596108 + ], + "finger_b": [ + 0.28854927200692193, + -0.11092559926368825, + 1.0041487251596108 + ], + "finger_midpoint": [ + 0.29387477932876893, + -0.12277388246074693, + 1.0041487251596108 + ], + "object_minus_finger_midpoint": [ + 0.005325507321846945, + 0.011848283197058676, + 0.0 + ], + "finger_gap": 0.02598021115793701, + "fingertip_max_gap": 0.09374446986925702, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012990105578968495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041487251596108, + "object_top_z": 1.0544197973272667, + "finger_top_clearance": 0.050271072167655806, + "fingertip_min_top_clearance": 0.015081321650296775, + "object_projection_between_fingers": 0.831927519183807, + "object_to_finger_line_xy": 0.009714796932737904, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049372234934628514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.926816761382588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3113319984680836, + 0.016698944239549412, + 0.7701464494012565 + ], + "gripper_position": [ + 0.30990080486239313, + -0.02403408646565368, + 1.0328058381843537 + ], + "target_minus_gripper": [ + 0.001431193605690495, + 0.040733030705203094, + -0.26265938878309714 + ], + "held_position": [ + 0.31391360210004843, + -0.019980125107036974, + 1.0310211485640783 + ], + "held_minus_target": [ + 0.0025816036319648017, + -0.036679069346586386, + 0.2608746991628218 + ], + "held_minus_gripper": [ + 0.004012797237655297, + 0.004053961358616704, + -0.001784689620275337 + ], + "xy_dist": 0.040758166121257065, + "held_xy_dist": 0.03676980834114134, + "held_gripper_dist": 0.00597681030386693, + "max_held_gripper_dist": 0.006060676927607714, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0310211485640783, + "required_height": 0.8001464494012566, + "gripper_z": 1.0328058381843537, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.41690109425149, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.463885318520454, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5234463917030294, + "max_source_tilt_deg": 89.68780946130711, + "source_upright_tilt_deg": 2.7798975382906876, + "max_source_upright_tilt_deg": 89.98015822275445, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5234463917030294, + "source_upright_return_tilt_deg": 2.7798975382906876, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.601208544418121e-08, + "max_target_xy_drift": 1.2644054553268208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3113, + 0.0167, + 0.7701 + ], + "controller_target_position": [ + 0.3113, + 0.0167, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0004, + 0.0 + ], + "controller_last_pour_pose_position": [ + 0.3106, + -0.0089, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007225273185445466, + -0.00036674736259261734, + 4.1347727114354575e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7799037616258886, + "source_return_step_error_deg": 2.5234444061988506, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7723875451393902, + "source_return_best_wrist_position": -1.6092790365219116, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092790365219116 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3113, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3113, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0004, + 0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3106, + -0.0089, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007225273185445466, + -0.00036674736259261734, + 4.1347727114354575e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7799037616258886, + "pour_controller_source_return_step_error_deg": 2.5234444061988506, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7723875451393902, + "pour_controller_source_return_best_wrist_position": -1.6092790365219116, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092790365219116, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.040758166121257065, + "valid_pour_held_xy_dist": 0.03676980834114134, + "valid_pour_held_gripper_dist": 0.00597681030386693, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0310211485640783, + "valid_pour_source_tilt_deg": 2.5234463917030294, + "valid_pour_source_upright_tilt_deg": 2.7798975382906876, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.601208544418121e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31391360210004843, + -0.04345498260888127, + 1.0310211485640783 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30373854949356904, + -0.019980125107036974, + 1.0310211485640783 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30882607579680876, + -0.03171755385795912, + 1.0310211485640783 + ], + "valid_pour_held_grasp_object_position": [ + 0.31391360210004843, + -0.019980125107036974, + 1.0310211485640783 + ], + "valid_pour_held_grasp_finger_gap": 0.02558516426127685, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023819274575691853, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.036564109199402, + -0.9988232234950417, + 0.03186273882496803 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00552576206682379, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038182654516862105, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31391360210004843, + -0.04345498260888127, + 1.0310211485640783 + ], + "held_grasp_finger_b": [ + 0.30373854949356904, + -0.019980125107036974, + 1.0310211485640783 + ], + "held_grasp_midpoint": [ + 0.30882607579680876, + -0.03171755385795912, + 1.0310211485640783 + ], + "held_grasp_object_position": [ + 0.31391360210004843, + -0.019980125107036974, + 1.0310211485640783 + ], + "held_grasp_finger_gap": 0.02558516426127685, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023819274575691853, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.036564109199402, + -0.9988232234950417, + 0.03186273882496803 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00552576206682379, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038182654516862105, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2534473570594768, + -0.09193160722825675, + 0.7611169261331457 + ], + "target_position": [ + 0.27638620825857785, + -0.11405812088804429, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.031871201751287395, + "xy_threshold": 0.08, + "gripper_dist": 0.2015630946514449, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611169261331457, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08520733540765323, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08970651980146498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17949120380630001, + "release_required_pad_clearance": 0.05485325990073249, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.744290593369456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a65688176b8a70995bebc97a52127397431c423dead6dbdf750213ca5c90a4bb", + "visual_seed": 7916043246962929333, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69f4461e8d08fbc5e489e7d1115d59ee33f99a61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2963440410728088, + -0.1115304459928522, + 1.0009226679668695 + ], + "current_z": 1.0009226679668695, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.13981621955674817, + "gripper_z": 1.0029352660177457, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29218107334893606, + -0.11580019993061695, + 1.0029352660177457 + ], + "object_minus_gripper": [ + 0.004162967723872757, + 0.004269753937764756, + -0.0020125980508762797 + ], + "object_to_gripper_xy": 0.005963312750398386, + "object_to_gripper_z": -0.0020125980508762797, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2963440410728088, + -0.13549044433798146, + 1.0009226679668695 + ], + "finger_b": [ + 0.28570735410583187, + -0.1115304459928522, + 1.0009226679668695 + ], + "finger_midpoint": [ + 0.29102569758932034, + -0.12351044516541683, + 1.0009226679668695 + ], + "object_minus_finger_midpoint": [ + 0.005318343483488475, + 0.011979999172564634, + 0.0 + ], + "finger_gap": 0.026214893292402595, + "fingertip_max_gap": 0.09347339977681449, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013107446646201297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0009226679668695, + "object_top_z": 1.0510703950759126, + "finger_top_clearance": 0.05014772710904314, + "fingertip_min_top_clearance": 0.015044318132712974, + "object_projection_between_fingers": 0.8353671228135421, + "object_to_finger_line_xy": 0.009721763857047093, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049236699888407245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9644838345987647, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3122283033138935, + 0.017595476328067555, + 0.7701463897966114 + ], + "gripper_position": [ + 0.30924071051508206, + -0.021036848965226326, + 1.0315675422022454 + ], + "target_minus_gripper": [ + 0.002987592798811445, + 0.038632325293293884, + -0.261421152405634 + ], + "held_position": [ + 0.31338803511350777, + -0.01681201563397085, + 1.0294696022469343 + ], + "held_minus_target": [ + 0.0011597317996142609, + -0.034407491962038406, + 0.25932321245032286 + ], + "held_minus_gripper": [ + 0.004147324598425706, + 0.004224833331255475, + -0.0020979399553111566 + ], + "xy_dist": 0.03874767435986816, + "held_xy_dist": 0.034427031254012794, + "held_gripper_dist": 0.0062809927605184486, + "max_held_gripper_dist": 0.006385461044429343, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0294696022469343, + "required_height": 0.8001463897966115, + "gripper_z": 1.0315675422022454, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.33898229619997, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5424514550492607, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7976576558832256, + "max_source_tilt_deg": 89.63806822596194, + "source_upright_tilt_deg": 3.9935619367922626, + "max_source_upright_tilt_deg": 89.869994673319, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7976576558832256, + "source_upright_return_tilt_deg": 3.9935619367922626, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 2.1645988331821108e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3122, + 0.0176, + 0.7701 + ], + "controller_target_position": [ + 0.3122, + 0.0176, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + 0.0016, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3102, + -0.006, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001987436397914851, + 0.0016279869430662645, + -0.001496466799705776 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.99355680574336, + "source_return_step_error_deg": 2.7976458882331707, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.986870482542478, + "source_return_best_wrist_position": -1.6099425554275513, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099425554275513 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3122, + 0.0176, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3122, + 0.0176, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + 0.0016, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3102, + -0.006, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001987436397914851, + 0.0016279869430662645, + -0.001496466799705776 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.99355680574336, + "pour_controller_source_return_step_error_deg": 2.7976458882331707, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.986870482542478, + "pour_controller_source_return_best_wrist_position": -1.6099425554275513, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099425554275513, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03874767435986816, + "valid_pour_held_xy_dist": 0.034427031254012794, + "valid_pour_held_gripper_dist": 0.0062809927605184486, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0294696022469343, + "valid_pour_source_tilt_deg": 2.7976576558832256, + "valid_pour_source_upright_tilt_deg": 3.9935619367922626, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31338803511350777, + -0.04012215357274349, + 1.0294696022469343 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30267042916168246, + -0.01681201563397085, + 1.0294696022469343 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30802923213759514, + -0.028467084603357173, + 1.0294696022469343 + ], + "valid_pour_held_grasp_object_position": [ + 0.31338803511350777, + -0.01681201563397085, + 1.0294696022469343 + ], + "valid_pour_held_grasp_finger_gap": 0.025655985813513554, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023910301529022, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06127890399768526, + -0.9975718909898247, + 0.03309408152264925 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060748530222841865, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842186245179098, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31338803511350777, + -0.04012215357274349, + 1.0294696022469343 + ], + "held_grasp_finger_b": [ + 0.30267042916168246, + -0.01681201563397085, + 1.0294696022469343 + ], + "held_grasp_midpoint": [ + 0.30802923213759514, + -0.028467084603357173, + 1.0294696022469343 + ], + "held_grasp_object_position": [ + 0.31338803511350777, + -0.01681201563397085, + 1.0294696022469343 + ], + "held_grasp_finger_gap": 0.025655985813513554, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023910301529022, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06127890399768526, + -0.9975718909898247, + 0.03309408152264925 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0060748530222841865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842186245179098, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25683493971234433, + -0.10329581636591333, + 0.7611063792242567 + ], + "target_position": [ + 0.273434287956066, + -0.11457126758410605, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020066742692579412, + "xy_threshold": 0.08, + "gripper_dist": 0.20473642009519805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063792242567, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07860930018529429, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515498733172729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17937073103491702, + "release_required_pad_clearance": 0.052577493665863645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22028685799975237, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fc89daccd857b1fbb9f224ea6972e94a36baffef9843031e64f68c64a9c9d12", + "visual_seed": 1125270848436215654, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6074b12252ba6e513989f58ab19fed698a53ba2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_79_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29791272823635784, + -0.11502031835708906, + 1.0026996827635704 + ], + "current_z": 1.0026996827635704, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14159317474880428, + "gripper_z": 1.0042933012085613, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2938933939415138, + -0.11920287104483736, + 1.0042933012085613 + ], + "object_minus_gripper": [ + 0.004019334294844024, + 0.004182552687748295, + -0.0015936184449909518 + ], + "object_to_gripper_xy": 0.0058007581538536655, + "object_to_gripper_z": -0.0015936184449909518, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29791272823635784, + -0.1388707328846339, + 1.0026996827635704 + ], + "finger_b": [ + 0.28738170877920566, + -0.11502031835708906, + 1.0026996827635704 + ], + "finger_midpoint": [ + 0.29264721850778175, + -0.12694552562086148, + 1.0026996827635704 + ], + "object_minus_finger_midpoint": [ + 0.00526550972857609, + 0.011925207263772414, + 0.0 + ], + "finger_gap": 0.02607191293216973, + "fingertip_max_gap": 0.09352717241401118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013035956466084865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026996827635704, + "object_top_z": 1.0528142204123785, + "finger_top_clearance": 0.05011453764880813, + "fingertip_min_top_clearance": 0.015034361294642423, + "object_projection_between_fingers": 0.836847010424879, + "object_to_finger_line_xy": 0.009633707357959384, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926358620700559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8996740846133626, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3159535340077107, + 0.015392682372264646, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3141224258167687, + -0.026708013932544544, + 1.0316577940879623 + ], + "target_minus_gripper": [ + 0.0018311081909420102, + 0.04210069630480919, + -0.2615113446867058 + ], + "held_position": [ + 0.31816426394798497, + -0.02259581726400258, + 1.0299797141079634 + ], + "held_minus_target": [ + 0.0022107299402742697, + -0.03798849963626723, + 0.25983326470670687 + ], + "held_minus_gripper": [ + 0.00404183813121628, + 0.004112196668541963, + -0.0016780799799989143 + ], + "xy_dist": 0.04214049817641824, + "held_xy_dist": 0.038052771666246606, + "held_gripper_dist": 0.006005211847969619, + "max_held_gripper_dist": 0.006074179023704001, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0299797141079634, + "required_height": 0.8001464494012566, + "gripper_z": 1.0316577940879623, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.42893588756904, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4216804835443844, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.565051439381514, + "max_source_tilt_deg": 89.71380103515769, + "source_upright_tilt_deg": 3.4599371145396183, + "max_source_upright_tilt_deg": 89.85048775793476, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.565051439381514, + "source_upright_return_tilt_deg": 3.4599371145396183, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.2740070723107073e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.316, + 0.0154, + 0.7701 + ], + "controller_target_position": [ + 0.316, + 0.0154, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0018, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.316, + -0.0116, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.565093461390263e-05, + -0.0017839256366784762, + -0.0015428442369350513 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.459927595000876, + "source_return_step_error_deg": 2.565040940233643, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4552246253145067, + "source_return_best_wrist_position": -1.609125018119812, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609125018119812 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.316, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.316, + 0.0154, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0018, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.316, + -0.0116, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.565093461390263e-05, + -0.0017839256366784762, + -0.0015428442369350513 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.459927595000876, + "pour_controller_source_return_step_error_deg": 2.565040940233643, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4552246253145067, + "pour_controller_source_return_best_wrist_position": -1.609125018119812, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609125018119812, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04214049817641824, + "valid_pour_held_xy_dist": 0.038052771666246606, + "valid_pour_held_gripper_dist": 0.006005211847969619, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0299797141079634, + "valid_pour_source_tilt_deg": 2.565051439381514, + "valid_pour_source_upright_tilt_deg": 3.4599371145396183, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31816426394798497, + -0.046004458364704445, + 1.0299797141079634 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30779364854359237, + -0.02259581726400258, + 1.0299797141079634 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31297895624578864, + -0.03430013781435351, + 1.0299797141079634 + ], + "valid_pour_held_grasp_object_position": [ + 0.31816426394798497, + -0.02259581726400258, + 1.0299797141079634 + ], + "valid_pour_held_grasp_finger_gap": 0.025603010409857935, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023881870400976262, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.049746072963041836, + -0.9981772504383911, + 0.03416877129791495 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005774690169520801, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03829521226018549, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31816426394798497, + -0.046004458364704445, + 1.0299797141079634 + ], + "held_grasp_finger_b": [ + 0.30779364854359237, + -0.02259581726400258, + 1.0299797141079634 + ], + "held_grasp_midpoint": [ + 0.31297895624578864, + -0.03430013781435351, + 1.0299797141079634 + ], + "held_grasp_object_position": [ + 0.31816426394798497, + -0.02259581726400258, + 1.0299797141079634 + ], + "held_grasp_finger_gap": 0.025603010409857935, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023881870400976262, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.049746072963041836, + -0.9981772504383911, + 0.03416877129791495 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005774690169520801, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03829521226018549, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2832049691293191, + -0.12176443494224409, + 0.7611221850178714 + ], + "target_position": [ + 0.275075881085871, + -0.11702406507545121, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00941026986287474, + "xy_threshold": 0.08, + "gripper_dist": 0.2211897937968152, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611221850178714, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564463337114616, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0896154785947471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19036702235503097, + "release_required_pad_clearance": 0.05480773929737355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.656858023188836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce0dbf8932f2fb85540141b7fa53fd6951398c6f1b662a9eba0a41344afc801e", + "visual_seed": 5688439557083616440, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5948b9ceb4501c599312f04aad3180ca877ab246 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_7_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2927738808022971, + -0.11743050518639098, + 1.0010433995462322 + ], + "current_z": 1.0010433995462322, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.13993689153146605, + "gripper_z": 1.0022889822060217, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2888386649945723, + -0.12166698909943673, + 1.0022889822060217 + ], + "object_minus_gripper": [ + 0.003935215807724823, + 0.004236483913045749, + -0.0012455826597894681 + ], + "object_to_gripper_xy": 0.005782189844588532, + "object_to_gripper_z": -0.0012455826597894681, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2927738808022971, + -0.1409712920217985, + 1.0010433995462322 + ], + "finger_b": [ + 0.2818939318101653, + -0.11743050518639098, + 1.0010433995462322 + ], + "finger_midpoint": [ + 0.28733390630623123, + -0.12920089860409473, + 1.0010433995462322 + ], + "object_minus_finger_midpoint": [ + 0.005439974496065869, + 0.01177039341770375, + 0.0 + ], + "finger_gap": 0.025933413483409506, + "fingertip_max_gap": 0.09415965581254546, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012966706741704729, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010433995462322, + "object_top_z": 1.0507794081907438, + "finger_top_clearance": 0.04973600864451155, + "fingertip_min_top_clearance": 0.014920802593353499, + "object_projection_between_fingers": 0.8239912131446064, + "object_to_finger_line_xy": 0.009876160736330849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957982790627273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.169911602426144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.30969245350424707, + 0.011626064634554165, + 0.7701464494012563 + ], + "gripper_position": [ + 0.30909798877142725, + -0.028333919940570176, + 1.0332851105092136 + ], + "target_minus_gripper": [ + 0.0005944647328198216, + 0.03995998457512434, + -0.26313866110795725 + ], + "held_position": [ + 0.3131382337786397, + -0.02423930463004894, + 1.031945061657416 + ], + "held_minus_target": [ + 0.003445780274392629, + -0.035865369264603104, + 0.26179861225615964 + ], + "held_minus_gripper": [ + 0.004040245007212451, + 0.0040946153105212366, + -0.001340048851797615 + ], + "xy_dist": 0.0399644061079699, + "held_xy_dist": 0.03603051642962851, + "held_gripper_dist": 0.005906368189053588, + "max_held_gripper_dist": 0.005937440985658841, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.031945061657416, + "required_height": 0.8001464494012563, + "gripper_z": 1.0332851105092136, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 125.89705889509901, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.6827010423440623, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.728033621935974, + "max_source_tilt_deg": 89.6176343541531, + "source_upright_tilt_deg": 3.690251294658816, + "max_source_upright_tilt_deg": 89.62530800707876, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.728033621935974, + "source_upright_return_tilt_deg": 3.690251294658816, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.51925802230835e-09, + "max_target_xy_drift": 1.1175870895385742e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3097, + 0.0116, + 0.7701 + ], + "controller_target_position": [ + 0.3097, + 0.0116, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3114, + -0.0135, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017217719130797836, + 4.842211904462074e-05, + 0.0009376813246773472 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6902497871732414, + "source_return_step_error_deg": 2.7280275692236615, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6821870971143262, + "source_return_best_wrist_position": -1.6068228483200073, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6068228483200073 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3097, + 0.0116, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3097, + 0.0116, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3114, + -0.0135, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017217719130797836, + 4.842211904462074e-05, + 0.0009376813246773472 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6902497871732414, + "pour_controller_source_return_step_error_deg": 2.7280275692236615, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6821870971143262, + "pour_controller_source_return_best_wrist_position": -1.6068228483200073, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6068228483200073, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0399644061079699, + "valid_pour_held_xy_dist": 0.03603051642962851, + "valid_pour_held_gripper_dist": 0.005906368189053588, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.031945061657416, + "valid_pour_source_tilt_deg": 2.728033621935974, + "valid_pour_source_upright_tilt_deg": 3.690251294658816, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.51925802230835e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3131382337786397, + -0.04771521592619, + 1.031945061657416 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3029073727834105, + -0.02423930463004894, + 1.031945061657416 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3080228032810251, + -0.03597726027811947, + 1.031945061657416 + ], + "valid_pour_held_grasp_object_position": [ + 0.3131382337786397, + -0.02423930463004894, + 1.031945061657416 + ], + "valid_pour_held_grasp_finger_gap": 0.02560837612750924, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023950277715646225, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05112389953621089, + -0.9979265942195024, + 0.039100632292536575 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057268401672175865, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038268152721960984, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3131382337786397, + -0.04771521592619, + 1.031945061657416 + ], + "held_grasp_finger_b": [ + 0.3029073727834105, + -0.02423930463004894, + 1.031945061657416 + ], + "held_grasp_midpoint": [ + 0.3080228032810251, + -0.03597726027811947, + 1.031945061657416 + ], + "held_grasp_object_position": [ + 0.3131382337786397, + -0.02423930463004894, + 1.031945061657416 + ], + "held_grasp_finger_gap": 0.02560837612750924, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023950277715646225, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05112389953621089, + -0.9979265942195024, + 0.039100632292536575 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057268401672175865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038268152721960984, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27582952994724047, + -0.12614621923291913, + 0.7611064197802319 + ], + "target_position": [ + 0.2705685401666313, + -0.12236675123694862, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006477838513288177, + "xy_threshold": 0.08, + "gripper_dist": 0.21924356646925663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064197802319, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590251738293492, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552507193923516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18850999838079868, + "release_required_pad_clearance": 0.05276253596961758, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5747107974289242, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "200fe1d3353464eef96b46ea9988db13021a642b9dca8985aba7b97b0404dad1", + "visual_seed": 4089932227545524075, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6a59ef19ecb0434f0b44e7e8cb4d0019f4d41f3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_80_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3009736293601625, + -0.10959320190707833, + 1.003359371336143 + ], + "current_z": 1.003359371336143, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14225298253066665, + "gripper_z": 1.0049299174916757, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2970730186816911, + -0.11365971489458543, + 1.0049299174916757 + ], + "object_minus_gripper": [ + 0.0039006106784713612, + 0.004066512987507098, + -0.0015705461555326483 + ], + "object_to_gripper_xy": 0.005634828439497402, + "object_to_gripper_z": -0.0015705461555326483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3009736293601625, + -0.13349415802085626, + 1.003359371336143 + ], + "finger_b": [ + 0.29075920123893884, + -0.10959320190707833, + 1.003359371336143 + ], + "finger_midpoint": [ + 0.29586641529955066, + -0.1215436799639673, + 1.003359371336143 + ], + "object_minus_finger_midpoint": [ + 0.00510721406061182, + 0.011950478056888966, + 0.0 + ], + "finger_gap": 0.025992118901628298, + "fingertip_max_gap": 0.09311682593892792, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012996059450814149, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003359371336143, + "object_top_z": 1.0534438515004876, + "finger_top_clearance": 0.050084480164344525, + "fingertip_min_top_clearance": 0.015025344049303373, + "object_projection_between_fingers": 0.8455653517551858, + "object_to_finger_line_xy": 0.00939263932950887, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905841296946396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5193587975054337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31616179263655586, + 0.01188032780461766, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31581414730283613, + -0.030266507105143406, + 1.031546500458747 + ], + "target_minus_gripper": [ + 0.00034764533371972606, + 0.042146834909761066, + -0.2614000510574903 + ], + "held_position": [ + 0.3196942458887912, + -0.02622517244762007, + 1.029901855501588 + ], + "held_minus_target": [ + 0.0035324532522353347, + -0.03810550025223773, + 0.2597554061003313 + ], + "held_minus_gripper": [ + 0.0038800985859550607, + 0.004041334657523335, + -0.0016446449571589916 + ], + "xy_dist": 0.04214826864995419, + "held_xy_dist": 0.03826888259999915, + "held_gripper_dist": 0.005838870428938993, + "max_held_gripper_dist": 0.005906611913721651, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.029901855501588, + "required_height": 0.8001464494012567, + "gripper_z": 1.031546500458747, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.37859622719365, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0410852781054247, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7098599326279174, + "max_source_tilt_deg": 89.84182537137409, + "source_upright_tilt_deg": 3.666763051010141, + "max_source_upright_tilt_deg": 89.9106096034092, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7098599326279174, + "source_upright_return_tilt_deg": 3.666763051010141, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.7791917825131942e-07, + "max_target_xy_drift": 2.044587154515285e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3162, + 0.0119, + 0.7701 + ], + "controller_target_position": [ + 0.3162, + 0.0119, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0019, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.318, + -0.0153, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017968579812121799, + -0.0019462812390979418, + -0.001060967293849138 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.666787125076257, + "source_return_step_error_deg": 2.7098978742516806, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.666385247173134, + "source_return_best_wrist_position": -1.6095330715179443, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095330715179443 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3162, + 0.0119, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3162, + 0.0119, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0019, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.318, + -0.0153, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017968579812121799, + -0.0019462812390979418, + -0.001060967293849138 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.666787125076257, + "pour_controller_source_return_step_error_deg": 2.7098978742516806, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.666385247173134, + "pour_controller_source_return_best_wrist_position": -1.6095330715179443, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095330715179443, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04214826864995419, + "valid_pour_held_xy_dist": 0.03826888259999915, + "valid_pour_held_gripper_dist": 0.005838870428938993, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.029901855501588, + "valid_pour_source_tilt_deg": 2.7098599326279174, + "valid_pour_source_upright_tilt_deg": 3.666763051010141, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.7791917825131942e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3196942458887912, + -0.049490603886638056, + 1.029901855501588 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30939181568099644, + -0.02622517244762007, + 1.029901855501588 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3145430307848938, + -0.03785788816712907, + 1.029901855501588 + ], + "valid_pour_held_grasp_object_position": [ + 0.3196942458887912, + -0.02622517244762007, + 1.029901855501588 + ], + "valid_pour_held_grasp_finger_gap": 0.02544445653241838, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0237753703839782, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.054119827264270004, + -0.9979528942580468, + 0.034074405921065136 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00578649162574283, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038390130621354004, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3196942458887912, + -0.049490603886638056, + 1.029901855501588 + ], + "held_grasp_finger_b": [ + 0.30939181568099644, + -0.02622517244762007, + 1.029901855501588 + ], + "held_grasp_midpoint": [ + 0.3145430307848938, + -0.03785788816712907, + 1.029901855501588 + ], + "held_grasp_object_position": [ + 0.3196942458887912, + -0.02622517244762007, + 1.029901855501588 + ], + "held_grasp_finger_gap": 0.02544445653241838, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0237753703839782, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.054119827264270004, + -0.9979528942580468, + 0.034074405921065136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00578649162574283, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038390130621354004, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2689432419459215, + -0.09583582889963772, + 0.7611110552679146 + ], + "target_position": [ + 0.27808330483986804, + -0.1132253550408325, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019645263274402684, + "xy_threshold": 0.08, + "gripper_dist": 0.21021461290800034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110552679146, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08229800473637731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08815436119887461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18557597852193303, + "release_required_pad_clearance": 0.05407718059943731, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.158338142983651, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe921d22cbb965cf29b767eaf044decf6ec729d5f19dd7d6a518ead849a4fc8e", + "visual_seed": 3079181756400065315, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c999751a153c9881f166caebf8a3334f9a8df2e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_81_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30188118067522696, + -0.11621250011891948, + 1.00225685003526 + ], + "current_z": 1.00225685003526, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14115034202049415, + "gripper_z": 1.0041896825651275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29778520952326504, + -0.12040588920453249, + 1.0041896825651275 + ], + "object_minus_gripper": [ + 0.004095971151961919, + 0.0041933890856130085, + -0.0019328325298675342 + ], + "object_to_gripper_xy": 0.005861867594977095, + "object_to_gripper_z": -0.0019328325298675342, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30188118067522696, + -0.1402062413998797, + 1.00225685003526 + ], + "finger_b": [ + 0.2914487204788284, + -0.11621250011891948, + 1.00225685003526 + ], + "finger_midpoint": [ + 0.2966649505770277, + -0.1282093707593996, + 1.00225685003526 + ], + "object_minus_finger_midpoint": [ + 0.00521623009819927, + 0.011996870640480106, + 0.0 + ], + "finger_gap": 0.026163635955407535, + "fingertip_max_gap": 0.09375057431611075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013081817977703768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00225685003526, + "object_top_z": 1.0526595487983803, + "finger_top_clearance": 0.05040269876312031, + "fingertip_min_top_clearance": 0.015120809628936093, + "object_projection_between_fingers": 0.8410072659880622, + "object_to_finger_line_xy": 0.009567238716473827, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04937528715805538, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.831097210102618, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3097946158653919, + 0.01660032462947823, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3093752671922466, + -0.02237472855391373, + 1.0331436152741968 + ], + "target_minus_gripper": [ + 0.00041934867314530333, + 0.038975053183391964, + -0.26299710626829564 + ], + "held_position": [ + 0.31353135315587183, + -0.018300175094662783, + 1.031128017829325 + ], + "held_minus_target": [ + 0.003736737290479908, + -0.03490049972414101, + 0.26098150882342375 + ], + "held_minus_gripper": [ + 0.004156085963625211, + 0.004074553459250948, + -0.002015597444871897 + ], + "xy_dist": 0.038977309090776145, + "held_xy_dist": 0.035099972743192126, + "held_gripper_dist": 0.006159356256063655, + "max_held_gripper_dist": 0.006261063120504015, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.031128017829325, + "required_height": 0.8001465090059012, + "gripper_z": 1.0331436152741968, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.8681090548193, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4375505544541265, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.535755756559609, + "max_source_tilt_deg": 89.9116138811797, + "source_upright_tilt_deg": 2.8676505634500984, + "max_source_upright_tilt_deg": 89.77183864855454, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.535755756559609, + "source_upright_return_tilt_deg": 2.8676505634500984, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0133885226201597e-07, + "max_target_xy_drift": 1.30385160446167e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3098, + 0.0166, + 0.7701 + ], + "controller_target_position": [ + 0.3098, + 0.0166, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0013, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3098, + -0.0073, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.370905949337318e-06, + 0.0013225358947808515, + 0.000245127853631981 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8676592735453243, + "source_return_step_error_deg": 2.5357654410568506, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8592281149512484, + "source_return_best_wrist_position": -1.6105865240097046, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6105865240097046 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3098, + 0.0166, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3098, + 0.0166, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0013, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3098, + -0.0073, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.370905949337318e-06, + 0.0013225358947808515, + 0.000245127853631981 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8676592735453243, + "pour_controller_source_return_step_error_deg": 2.5357654410568506, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8592281149512484, + "pour_controller_source_return_best_wrist_position": -1.6105865240097046, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6105865240097046, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038977309090776145, + "valid_pour_held_xy_dist": 0.035099972743192126, + "valid_pour_held_gripper_dist": 0.006159356256063655, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.031128017829325, + "valid_pour_source_tilt_deg": 2.535755756559609, + "valid_pour_source_upright_tilt_deg": 2.8676505634500984, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0133885226201597e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31353135315587183, + -0.0419491783050367, + 1.031128017829325 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30344855725849046, + -0.018300175094662783, + 1.031128017829325 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30848995520718114, + -0.030124676699849744, + 1.031128017829325 + ], + "valid_pour_held_grasp_object_position": [ + 0.31353135315587183, + -0.018300175094662783, + 1.031128017829325 + ], + "valid_pour_held_grasp_finger_gap": 0.025708716925442358, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024022588988125666, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03998888301858054, + -0.9987477709895244, + 0.03006292032359336 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005521473335966041, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038112155321672836, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31353135315587183, + -0.0419491783050367, + 1.031128017829325 + ], + "held_grasp_finger_b": [ + 0.30344855725849046, + -0.018300175094662783, + 1.031128017829325 + ], + "held_grasp_midpoint": [ + 0.30848995520718114, + -0.030124676699849744, + 1.031128017829325 + ], + "held_grasp_object_position": [ + 0.31353135315587183, + -0.018300175094662783, + 1.031128017829325 + ], + "held_grasp_finger_gap": 0.025708716925442358, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024022588988125666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03998888301858054, + -0.9987477709895244, + 0.03006292032359336 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005521473335966041, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038112155321672836, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2600863541663813, + -0.10316183316491148, + 0.7611063329771555 + ], + "target_position": [ + 0.2789160197757583, + -0.12058442507152257, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02565351858333014, + "xy_threshold": 0.08, + "gripper_dist": 0.20485145315581746, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063329771555, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08148450059591845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571527650251783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18179501415973356, + "release_required_pad_clearance": 0.052857638251258915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7579516482034954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c33a8e1c4c61937bc6f4c6997e7323bc615523a3a1b902bb00c740b71643561", + "visual_seed": 1421556452390682394, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9c319632ef069a2a93923668dd868a6c00660c1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_82_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2924243428539928, + -0.12043128137249975, + 1.0019812500470566 + ], + "current_z": 1.0019812500470566, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.14087462282300123, + "gripper_z": 1.004040618470663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2883480287618744, + -0.12461451325944935, + 1.004040618470663 + ], + "object_minus_gripper": [ + 0.004076314092118449, + 0.004183231886949593, + -0.0020593684236063226 + ], + "object_to_gripper_xy": 0.005840870277415456, + "object_to_gripper_z": -0.0020593684236063226, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2924243428539928, + -0.14439122618795364, + 1.0019812500470566 + ], + "finger_b": [ + 0.2820168015758296, + -0.12043128137249975, + 1.0019812500470566 + ], + "finger_midpoint": [ + 0.2872205722149112, + -0.1324112537802267, + 1.0019812500470566 + ], + "object_minus_finger_midpoint": [ + 0.005203770639081617, + 0.011979972407726941, + 0.0 + ], + "finger_gap": 0.026122707957182904, + "fingertip_max_gap": 0.09359320654442779, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013061353978591452, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019812500470566, + "object_top_z": 1.0522085582437348, + "finger_top_clearance": 0.0502273081966782, + "fingertip_min_top_clearance": 0.01506819245900346, + "object_projection_between_fingers": 0.8412696792913485, + "object_to_finger_line_xy": 0.009545875377777662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492966032722139, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9298072293017885, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3120766392952626, + 0.008256529315047043, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3101832012353083, + -0.03150615335775335, + 1.0335420736621757 + ], + "target_minus_gripper": [ + 0.0018934380599542888, + 0.03976268267280039, + -0.2633956838655638 + ], + "held_position": [ + 0.3142313281957216, + -0.027357797025635393, + 1.0313953539995748 + ], + "held_minus_target": [ + 0.002154688900459001, + -0.035614326340682435, + 0.26124896420296295 + ], + "held_minus_gripper": [ + 0.00404812696041329, + 0.004148356332117957, + -0.0021467196626008267 + ], + "xy_dist": 0.03980773845654516, + "held_xy_dist": 0.03567944681407474, + "held_gripper_dist": 0.00618098677038263, + "max_held_gripper_dist": 0.006295003769808183, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0313953539995748, + "required_height": 0.8001463897966119, + "gripper_z": 1.0335420736621757, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.26323666449693, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5377839973375615, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9049143023923905, + "max_source_tilt_deg": 89.71999286776095, + "source_upright_tilt_deg": 4.132376044682885, + "max_source_upright_tilt_deg": 89.99979480130902, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9049143023923905, + "source_upright_return_tilt_deg": 4.132376044682885, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.778443536630602e-08, + "max_target_xy_drift": 1.4284193195430818e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3121, + 0.0083, + 0.7701 + ], + "controller_target_position": [ + 0.3121, + 0.0083, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0003, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3126, + -0.0167, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00048161664319930613, + 0.00029213131662944244, + 0.0013027432127117595 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.132368363653002, + "source_return_step_error_deg": 2.904894350048253, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.126113574684983, + "source_return_best_wrist_position": -1.6084576845169067, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084576845169067 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3121, + 0.0083, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3121, + 0.0083, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0003, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3126, + -0.0167, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00048161664319930613, + 0.00029213131662944244, + 0.0013027432127117595 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.132368363653002, + "pour_controller_source_return_step_error_deg": 2.904894350048253, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.126113574684983, + "pour_controller_source_return_best_wrist_position": -1.6084576845169067, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084576845169067, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03980773845654516, + "valid_pour_held_xy_dist": 0.03567944681407474, + "valid_pour_held_gripper_dist": 0.00618098677038263, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0313953539995748, + "valid_pour_source_tilt_deg": 2.9049143023923905, + "valid_pour_source_upright_tilt_deg": 4.132376044682885, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.778443536630602e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3142313281957216, + -0.05061283668186597, + 1.0313953539995748 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3036591128965946, + -0.027357797025635393, + 1.0313953539995748 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3089452205461581, + -0.03898531685375068, + 1.0313953539995748 + ], + "valid_pour_held_grasp_object_position": [ + 0.3142313281957216, + -0.027357797025635393, + 1.0313953539995748 + ], + "valid_pour_held_grasp_finger_gap": 0.025545422402926746, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023870611867023852, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06394401829473445, + -0.9974002315797482, + 0.03322560110799221 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006030825422694952, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03846097406508638, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3142313281957216, + -0.05061283668186597, + 1.0313953539995748 + ], + "held_grasp_finger_b": [ + 0.3036591128965946, + -0.027357797025635393, + 1.0313953539995748 + ], + "held_grasp_midpoint": [ + 0.3089452205461581, + -0.03898531685375068, + 1.0313953539995748 + ], + "held_grasp_object_position": [ + 0.3142313281957216, + -0.027357797025635393, + 1.0313953539995748 + ], + "held_grasp_finger_gap": 0.025545422402926746, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023870611867023852, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06394401829473445, + -0.9974002315797482, + 0.03322560110799221 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006030825422694952, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03846097406508638, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25257361262755273, + -0.1039675401151807, + 0.7611067229463917 + ], + "target_position": [ + 0.26976721780928203, + -0.12264846044154107, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.025388911819631276, + "xy_threshold": 0.08, + "gripper_dist": 0.20471338450504428, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067229463917, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08354773022741356, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851659569279579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18103475085186493, + "release_required_pad_clearance": 0.052582978463978955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23069975741889523, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69b951b8c8f036dd302d44ca6cbdff701ae96d8dcf8b939498c97fb454c75580", + "visual_seed": 47071566254421237, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04c4638f321c6392917b7e052b964a7e5858abf3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_83_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3013532468912888, + -0.10818200438847228, + 1.000615145660837 + ], + "current_z": 1.000615145660837, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1395086972507158, + "gripper_z": 1.0025506444125467, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2970072842062158, + -0.11252731876619752, + 1.0025506444125467 + ], + "object_minus_gripper": [ + 0.004345962685072979, + 0.004345314377725243, + -0.00193549875170973 + ], + "object_to_gripper_xy": 0.006145660965373249, + "object_to_gripper_z": -0.00193549875170973, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3013532468912888, + -0.13216725254766182, + 1.000615145660837 + ], + "finger_b": [ + 0.2904270486729691, + -0.10818200438847228, + 1.000615145660837 + ], + "finger_midpoint": [ + 0.29589014778212896, + -0.12017462846806705, + 1.000615145660837 + ], + "object_minus_finger_midpoint": [ + 0.005463099109159819, + 0.011992624079594769, + 0.0 + ], + "finger_gap": 0.02635666778566512, + "fingertip_max_gap": 0.09536730370882876, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317833389283255, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000615145660837, + "object_top_z": 1.0507771543244053, + "finger_top_clearance": 0.05016200866356835, + "fingertip_min_top_clearance": 0.01504860259907047, + "object_projection_between_fingers": 0.8281469892736397, + "object_to_finger_line_xy": 0.009943122470338439, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05018365185441438, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.3430216774356305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3184777013069813, + 0.016140685273937954, + 0.7701463897966117 + ], + "gripper_position": [ + 0.31562250759798227, + -0.02510913219317057, + 1.0337519182650787 + ], + "target_minus_gripper": [ + 0.0028551937089990043, + 0.04124981746710853, + -0.2636055284684671 + ], + "held_position": [ + 0.319930894659698, + -0.020754222050783838, + 1.0317527659260097 + ], + "held_minus_target": [ + 0.0014531933527167085, + -0.036894907324721796, + 0.2616063761293981 + ], + "held_minus_gripper": [ + 0.004308387061715713, + 0.004354910142386731, + -0.001999152339068999 + ], + "xy_dist": 0.04134851354263753, + "held_xy_dist": 0.03692351496567181, + "held_gripper_dist": 0.00644391585114418, + "max_held_gripper_dist": 0.0065290179994963995, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0317527659260097, + "required_height": 0.8001463897966117, + "gripper_z": 1.0337519182650787, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.67566164476501, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.756801683148007, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.5951306165210575, + "max_source_tilt_deg": 89.6650295100479, + "source_upright_tilt_deg": 4.921979067519523, + "max_source_upright_tilt_deg": 89.659654154822, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.5951306165210575, + "source_upright_return_tilt_deg": 4.921979067519523, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0900851255952963e-07, + "max_target_xy_drift": 1.8495606761137262e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3185, + 0.0161, + 0.7701 + ], + "controller_target_position": [ + 0.3185, + 0.0161, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0009, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3166, + -0.01, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018600803498200408, + -0.0009435926503844106, + 0.0019893101928048027 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.921982891482463, + "source_return_step_error_deg": 1.5951382904935767, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.924248933987335, + "source_return_best_wrist_position": -1.5834341049194336, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5834341049194336 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3185, + 0.0161, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3185, + 0.0161, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0009, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3166, + -0.01, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018600803498200408, + -0.0009435926503844106, + 0.0019893101928048027 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.921982891482463, + "pour_controller_source_return_step_error_deg": 1.5951382904935767, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.924248933987335, + "pour_controller_source_return_best_wrist_position": -1.5834341049194336, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5834341049194336, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04134851354263753, + "valid_pour_held_xy_dist": 0.03692351496567181, + "valid_pour_held_gripper_dist": 0.00644391585114418, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0317527659260097, + "valid_pour_source_tilt_deg": 1.5951306165210575, + "valid_pour_source_upright_tilt_deg": 4.921979067519523, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0900851255952963e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.319930894659698, + -0.04448891457646056, + 1.0317527659260097 + ], + "valid_pour_held_grasp_finger_b": [ + 0.308792634988727, + -0.020754222050783838, + 1.0317527659260097 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3143617648242125, + -0.0326215683136222, + 1.0317527659260097 + ], + "valid_pour_held_grasp_object_position": [ + 0.319930894659698, + -0.020754222050783838, + 1.0317527659260097 + ], + "valid_pour_held_grasp_finger_gap": 0.026218246657364275, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024590787041196858, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.08471854422545277, + -0.9963124599606711, + 0.013573886379233957 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0065563928767521954, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038368473694026364, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.319930894659698, + -0.04448891457646056, + 1.0317527659260097 + ], + "held_grasp_finger_b": [ + 0.308792634988727, + -0.020754222050783838, + 1.0317527659260097 + ], + "held_grasp_midpoint": [ + 0.3143617648242125, + -0.0326215683136222, + 1.0317527659260097 + ], + "held_grasp_object_position": [ + 0.319930894659698, + -0.020754222050783838, + 1.0317527659260097 + ], + "held_grasp_finger_gap": 0.026218246657364275, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024590787041196858, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.08471854422545277, + -0.9963124599606711, + 0.013573886379233957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0065563928767521954, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038368473694026364, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27838068011508754, + -0.11071710467267891, + 0.7611063800189829 + ], + "target_position": [ + 0.277942913782821, + -0.11283397856435241, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002161664736936567, + "xy_threshold": 0.08, + "gripper_dist": 0.21685175915767324, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063800189829, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552619133767335, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709897518003774, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.188023946992302, + "release_required_pad_clearance": 0.053549487590018874, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.110352244504152, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a47682380058c5607fc0741b7e28b7f6c8ca12da54060d58c3f70c39b64ea3c5", + "visual_seed": 1989965589705946119, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30e3454d4eeff2a417d099f282ebdba8b478797e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_84_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30088066018865867, + -0.1119054848415597, + 1.00484789874483 + ], + "current_z": 1.00484789874483, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14374145033470886, + "gripper_z": 1.0058986166208712, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29716484672883847, + -0.11598227442342364, + 1.0058986166208712 + ], + "object_minus_gripper": [ + 0.003715813459820194, + 0.004076789581863943, + -0.0010507178760412739 + ], + "object_to_gripper_xy": 0.005516111217422588, + "object_to_gripper_z": -0.0010507178760412739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30088066018865867, + -0.13542973926177396, + 1.00484789874483 + ], + "finger_b": [ + 0.2903416074140075, + -0.1119054848415597, + 1.00484789874483 + ], + "finger_midpoint": [ + 0.2956111338013331, + -0.12366761205166682, + 1.00484789874483 + ], + "object_minus_finger_midpoint": [ + 0.005269526387325585, + 0.011762127210107123, + 0.0 + ], + "finger_gap": 0.025777163913313906, + "fingertip_max_gap": 0.09411748143240237, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012888581956656946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00484789874483, + "object_top_z": 1.0549838823253805, + "finger_top_clearance": 0.0501359835805506, + "fingertip_min_top_clearance": 0.01504079507416518, + "object_projection_between_fingers": 0.8328397961117019, + "object_to_finger_line_xy": 0.009617945544851292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049558740716201186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2907497384062743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.30993966376845283, + 0.0140858980330155, + 0.7701463897966117 + ], + "gripper_position": [ + 0.310335998095819, + -0.02735705690684216, + 1.03358123726418 + ], + "target_minus_gripper": [ + -0.0003963343273661879, + 0.04144295493985766, + -0.2634348474675683 + ], + "held_position": [ + 0.3141838013615742, + -0.023441717792020592, + 1.0324477432633357 + ], + "held_minus_target": [ + 0.0042441375931213665, + -0.037527615825036095, + 0.262301353466724 + ], + "held_minus_gripper": [ + 0.0038478032657551786, + 0.003915339114821569, + -0.0011334940008442818 + ], + "xy_dist": 0.041444850042509765, + "held_xy_dist": 0.03776684595542558, + "held_gripper_dist": 0.005605379470290834, + "max_held_gripper_dist": 0.005623209007624941, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0324477432633357, + "required_height": 0.8001463897966117, + "gripper_z": 1.03358123726418, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.42920909513585, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7109153228619567, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6916466117401083, + "max_source_tilt_deg": 89.90175245298306, + "source_upright_tilt_deg": 2.5135196185355713, + "max_source_upright_tilt_deg": 89.69401873540974, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6916466117401083, + "source_upright_return_tilt_deg": 2.5135196185355713, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.698335474859707e-08, + "max_target_xy_drift": 1.7118357490699337e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3099, + 0.0141, + 0.7701 + ], + "controller_target_position": [ + 0.3099, + 0.0141, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.001, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3109, + -0.0121, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009717591032674094, + -0.0009579248135236087, + 0.0009570101180221974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5135036534855812, + "source_return_step_error_deg": 2.691603787893931, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6771065394019526, + "source_return_best_wrist_position": -1.608160376548767, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608160376548767 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3099, + 0.0141, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3099, + 0.0141, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.001, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3109, + -0.0121, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009717591032674094, + -0.0009579248135236087, + 0.0009570101180221974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5135036534855812, + "pour_controller_source_return_step_error_deg": 2.691603787893931, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6771065394019526, + "pour_controller_source_return_best_wrist_position": -1.608160376548767, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608160376548767, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.041444850042509765, + "valid_pour_held_xy_dist": 0.03776684595542558, + "valid_pour_held_gripper_dist": 0.005605379470290834, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0324477432633357, + "valid_pour_source_tilt_deg": 2.6916466117401083, + "valid_pour_source_upright_tilt_deg": 2.5135196185355713, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.698335474859707e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3141838013615742, + -0.047055264734014876, + 1.0324477432633357 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30450294965324304, + -0.023441717792020592, + 1.0324477432633357 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30934337550740865, + -0.03524849126301773, + 1.0324477432633357 + ], + "valid_pour_held_grasp_object_position": [ + 0.3141838013615742, + -0.023441717792020592, + 1.0324477432633357 + ], + "valid_pour_held_grasp_finger_gap": 0.025520942164827417, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02385255633396117, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02703561076180757, + -0.9990379104537688, + 0.03453012057470717 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005173768988809272, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0380556996417437, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3141838013615742, + -0.047055264734014876, + 1.0324477432633357 + ], + "held_grasp_finger_b": [ + 0.30450294965324304, + -0.023441717792020592, + 1.0324477432633357 + ], + "held_grasp_midpoint": [ + 0.30934337550740865, + -0.03524849126301773, + 1.0324477432633357 + ], + "held_grasp_object_position": [ + 0.3141838013615742, + -0.023441717792020592, + 1.0324477432633357 + ], + "held_grasp_finger_gap": 0.025520942164827417, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02385255633396117, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02703561076180757, + -0.9990379104537688, + 0.03453012057470717 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005173768988809272, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0380556996417437, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28074132496419285, + -0.11318623391610551, + 0.761106599856401 + ], + "target_position": [ + 0.278135583966886, + -0.11407430264174373, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027529170358916565, + "xy_threshold": 0.08, + "gripper_dist": 0.21791263705866082, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106599856401, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555540861335036, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619330386452993, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18872360549593303, + "release_required_pad_clearance": 0.05309665193226497, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.220754116321984, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8dabf7385ca32cd0d318442d269a95e71486b5c2d9eb042122908fd3c24b5165", + "visual_seed": 4818316131108920632, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dad4e5d25ee6faf7fc1a8c22966533adf9e1d7f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_85_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2958870373492033, + -0.11580643258131663, + 1.002741757925068 + ], + "current_z": 1.002741757925068, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14163530951494663, + "gripper_z": 1.0037930721647834, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2921767543689018, + -0.1198708722050114, + 1.0037930721647834 + ], + "object_minus_gripper": [ + 0.003710282980301516, + 0.0040644396236947655, + -0.001051314239715495 + ], + "object_to_gripper_xy": 0.005503259874708366, + "object_to_gripper_z": -0.001051314239715495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2958870373492033, + -0.13933568593962464, + 1.002741757925068 + ], + "finger_b": [ + 0.28539216886248586, + -0.11580643258131663, + 1.002741757925068 + ], + "finger_midpoint": [ + 0.2906396031058446, + -0.12757105926047063, + 1.002741757925068 + ], + "object_minus_finger_midpoint": [ + 0.005247434243358717, + 0.011764626679153997, + 0.0 + ], + "finger_gap": 0.025763695933482513, + "fingertip_max_gap": 0.09412757906474392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012881847966741251, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002741757925068, + "object_top_z": 1.053059182908681, + "finger_top_clearance": 0.050317424983613135, + "fingertip_min_top_clearance": 0.015095227495083923, + "object_projection_between_fingers": 0.834065125342078, + "object_to_finger_line_xy": 0.00958466596654629, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04956378953237196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9667917317863055, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31847597277228296, + 0.0167380840020702, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3157500811053133, + -0.023940558053039004, + 1.0332141472334435 + ], + "target_minus_gripper": [ + 0.002725891666969682, + 0.0406786420551092, + -0.26306775743683186 + ], + "held_position": [ + 0.319497803514206, + -0.01994509399625545, + 1.0320763424980146 + ], + "held_minus_target": [ + 0.0010218307419230244, + -0.03668317799832565, + 0.26192995270140296 + ], + "held_minus_gripper": [ + 0.0037477224088927064, + 0.003995464056783554, + -0.0011378047354289045 + ], + "xy_dist": 0.04076987128784875, + "held_xy_dist": 0.03669740707627696, + "held_gripper_dist": 0.0055949759516132225, + "max_held_gripper_dist": 0.0056156341583761685, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0320763424980146, + "required_height": 0.8001463897966117, + "gripper_z": 1.0332141472334435, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.38460912604806, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.36938504701354, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.473641664579188, + "max_source_tilt_deg": 89.99271551637369, + "source_upright_tilt_deg": 3.2152700961781355, + "max_source_upright_tilt_deg": 89.78653999735114, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.473641664579188, + "source_upright_return_tilt_deg": 3.2152700961781355, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0058283805847168e-07, + "max_target_xy_drift": 1.9783536353490678e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3185, + 0.0167, + 0.7701 + ], + "controller_target_position": [ + 0.3185, + 0.0167, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + -0.0003, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3173, + -0.0087, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011417829209231045, + -0.00026208892034140286, + 5.664832093618547e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2152874127833724, + "source_return_step_error_deg": 2.473652438968751, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2140301153761532, + "source_return_best_wrist_position": -1.6067907810211182, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6067907810211182 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3185, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3185, + 0.0167, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + -0.0003, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3173, + -0.0087, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011417829209231045, + -0.00026208892034140286, + 5.664832093618547e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2152874127833724, + "pour_controller_source_return_step_error_deg": 2.473652438968751, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2140301153761532, + "pour_controller_source_return_best_wrist_position": -1.6067907810211182, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6067907810211182, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04076987128784875, + "valid_pour_held_xy_dist": 0.03669740707627696, + "valid_pour_held_gripper_dist": 0.0055949759516132225, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0320763424980146, + "valid_pour_source_tilt_deg": 2.473641664579188, + "valid_pour_source_upright_tilt_deg": 3.2152700961781355, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0058283805847168e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.319497803514206, + -0.04318142590719995, + 1.0320763424980146 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3092821605418709, + -0.01994509399625545, + 1.0320763424980146 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3143899820280385, + -0.0315632599517277, + 1.0320763424980146 + ], + "valid_pour_held_grasp_object_position": [ + 0.319497803514206, + -0.01994509399625545, + 1.0320763424980146 + ], + "valid_pour_held_grasp_finger_gap": 0.025382798939711054, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023663435346934186, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.045389278915679364, + -0.9984258603154399, + 0.032948669364458616 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005642637251298649, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038352213064802285, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.319497803514206, + -0.04318142590719995, + 1.0320763424980146 + ], + "held_grasp_finger_b": [ + 0.3092821605418709, + -0.01994509399625545, + 1.0320763424980146 + ], + "held_grasp_midpoint": [ + 0.3143899820280385, + -0.0315632599517277, + 1.0320763424980146 + ], + "held_grasp_object_position": [ + 0.319497803514206, + -0.01994509399625545, + 1.0320763424980146 + ], + "held_grasp_finger_gap": 0.025382798939711054, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023663435346934186, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.045389278915679364, + -0.9984258603154399, + 0.032948669364458616 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005642637251298649, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038352213064802285, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27649832900707233, + -0.12182765261541789, + 0.7611063797781898 + ], + "target_position": [ + 0.2732875467781924, + -0.11992514276468134, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003732112840394945, + "xy_threshold": 0.08, + "gripper_dist": 0.2167470834867414, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063797781898, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516527856925048, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644819291726825, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18763247611195435, + "release_required_pad_clearance": 0.05322409645863413, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.469772773126128, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0f7f27437e4987812ed08a0f8e6208da764689cab46964658d02b0a598e6c21", + "visual_seed": 5474248311442218203, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d37f9a2b2306500e4326053c67481cd9180f0cdc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_86_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29651336092123126, + -0.11793587602854962, + 1.0045475821608092 + ], + "current_z": 1.0045475821608092, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14344119335533279, + "gripper_z": 1.0056559982317128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2925498434720506, + -0.12208575004307688, + 1.0056559982317128 + ], + "object_minus_gripper": [ + 0.003963517449180665, + 0.004149874014527266, + -0.0011084160709036173 + ], + "object_to_gripper_xy": 0.00573854728188313, + "object_to_gripper_z": -0.0011084160709036173, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29651336092123126, + -0.14176116142859282, + 1.0045475821608092 + ], + "finger_b": [ + 0.2860396106168055, + -0.11793587602854962, + 1.0045475821608092 + ], + "finger_midpoint": [ + 0.2912764857690184, + -0.12984851872857123, + 1.0045475821608092 + ], + "object_minus_finger_midpoint": [ + 0.005236875152212883, + 0.011912642700021611, + 0.0 + ], + "finger_gap": 0.026025826976927572, + "fingertip_max_gap": 0.09373490646310759, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012913488463793, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0045475821608092, + "object_top_z": 1.0547943579183368, + "finger_top_clearance": 0.05024677575752756, + "fingertip_min_top_clearance": 0.015074032727258284, + "object_projection_between_fingers": 0.8380446288565595, + "object_to_finger_line_xy": 0.009588171412687722, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049367453231553796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.673120471820681, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31901840484206123, + 0.0127832804309652, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3162551329784288, + -0.026043012119956563, + 1.0345533276246826 + ], + "target_minus_gripper": [ + 0.002763271863632455, + 0.038826292550921765, + -0.26440687822342623 + ], + "held_position": [ + 0.32020233235847306, + -0.021914785106582565, + 1.0333588541461707 + ], + "held_minus_target": [ + 0.0011839275164118312, + -0.03469806553754776, + 0.26321240474491436 + ], + "held_minus_gripper": [ + 0.003947199380044286, + 0.004128227013373998, + -0.0011944734785118705 + ], + "xy_dist": 0.038924499542603054, + "held_xy_dist": 0.03471825796914466, + "held_gripper_dist": 0.0058351870673219244, + "max_held_gripper_dist": 0.005860303643597519, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0333588541461707, + "required_height": 0.8001464494012563, + "gripper_z": 1.0345533276246826, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.8077723298838, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.100797132231223, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.683997760636208, + "max_source_tilt_deg": 89.94268288780624, + "source_upright_tilt_deg": 3.6440933738396626, + "max_source_upright_tilt_deg": 89.88280279906387, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.683997760636208, + "source_upright_return_tilt_deg": 3.6440933738396626, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.238888928623333e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.319, + 0.0128, + 0.7701 + ], + "controller_target_position": [ + 0.319, + 0.0128, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0015, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3179, + -0.0109, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011614423601847496, + 0.0014678359004807367, + 0.0019284403818724885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6440843170386636, + "source_return_step_error_deg": 2.683972203457386, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6463987159762645, + "source_return_best_wrist_position": -1.6077967882156372, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6077967882156372 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.319, + 0.0128, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.319, + 0.0128, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0015, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3179, + -0.0109, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011614423601847496, + 0.0014678359004807367, + 0.0019284403818724885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6440843170386636, + "pour_controller_source_return_step_error_deg": 2.683972203457386, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6463987159762645, + "pour_controller_source_return_best_wrist_position": -1.6077967882156372, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6077967882156372, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038924499542603054, + "valid_pour_held_xy_dist": 0.03471825796914466, + "valid_pour_held_gripper_dist": 0.0058351870673219244, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0333588541461707, + "valid_pour_source_tilt_deg": 2.683997760636208, + "valid_pour_source_upright_tilt_deg": 3.6440933738396626, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32020233235847306, + -0.045203939955965285, + 1.0333588541461707 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3097064786149767, + -0.021914785106582565, + 1.0333588541461707 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3149544054867249, + -0.03355936253127392, + 1.0333588541461707 + ], + "valid_pour_held_grasp_object_position": [ + 0.32020233235847306, + -0.021914785106582565, + 1.0333588541461707 + ], + "valid_pour_held_grasp_finger_gap": 0.02554501280883205, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02380297085195319, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05344051956231529, + -0.9979781200719143, + 0.034406143733896166 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005876064157982062, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03837966852142098, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32020233235847306, + -0.045203939955965285, + 1.0333588541461707 + ], + "held_grasp_finger_b": [ + 0.3097064786149767, + -0.021914785106582565, + 1.0333588541461707 + ], + "held_grasp_midpoint": [ + 0.3149544054867249, + -0.03355936253127392, + 1.0333588541461707 + ], + "held_grasp_object_position": [ + 0.32020233235847306, + -0.021914785106582565, + 1.0333588541461707 + ], + "held_grasp_finger_gap": 0.02554501280883205, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02380297085195319, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05344051956231529, + -0.9979781200719143, + 0.034406143733896166 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005876064157982062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03837966852142098, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27481753075802473, + -0.11967471867373675, + 0.7611063169218895 + ], + "target_position": [ + 0.27357252170555474, + -0.12187174335624477, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002525265331857571, + "xy_threshold": 0.08, + "gripper_dist": 0.21712126437389292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063169218895, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569056793053532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577806785935228, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18814495898499642, + "release_required_pad_clearance": 0.052889033929676144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8185222418201455, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce411f3f56f03de99ed562c41b1d93c83559fdf2191c6d465e5492121417d7f2", + "visual_seed": 4984263874375301221, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..17620da3634283f68b47020e949baebc3e3dcb46 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_87_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29874362281950145, + -0.11841959097502883, + 1.0038750887334273 + ], + "current_z": 1.0038750887334273, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14276864032330616, + "gripper_z": 1.005032747347228, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2950287570115977, + -0.12256390899418544, + 1.005032747347228 + ], + "object_minus_gripper": [ + 0.0037148658079037555, + 0.004144318019156615, + -0.0011576586138006828 + ], + "object_to_gripper_xy": 0.0055655727301544295, + "object_to_gripper_z": -0.0011576586138006828, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29874362281950145, + -0.141871537470095, + 1.0038750887334273 + ], + "finger_b": [ + 0.2880646733677454, + -0.11841959097502883, + 1.0038750887334273 + ], + "finger_midpoint": [ + 0.2934041480936234, + -0.1301455642225619, + 1.0038750887334273 + ], + "object_minus_finger_midpoint": [ + 0.005339474725878035, + 0.011725973247533078, + 0.0 + ], + "finger_gap": 0.025768852434685723, + "fingertip_max_gap": 0.09356454497265068, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01288442621734285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038750887334273, + "object_top_z": 1.0542195709554467, + "finger_top_clearance": 0.05034448222201937, + "fingertip_min_top_clearance": 0.01510334466660581, + "object_projection_between_fingers": 0.828261800854286, + "object_to_finger_line_xy": 0.009718793330082326, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928227248632534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9186184348573043, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31828827774588503, + 0.010955466746024859, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3177481360654675, + -0.028677852214286828, + 1.0324939665106607 + ], + "target_minus_gripper": [ + 0.0005401416804175496, + 0.039633318960311685, + -0.2623475171094044 + ], + "held_position": [ + 0.32151237992875453, + -0.024615429462965677, + 1.0312504048196456 + ], + "held_minus_target": [ + 0.003224102182869504, + -0.03557089620899054, + 0.26110395541838927 + ], + "held_minus_gripper": [ + 0.0037642438632870534, + 0.004062422751321151, + -0.0012435616910151381 + ], + "xy_dist": 0.039636999443004334, + "held_xy_dist": 0.035716711662698755, + "held_gripper_dist": 0.005676200855511226, + "max_held_gripper_dist": 0.005701369254669966, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0312504048196456, + "required_height": 0.8001464494012563, + "gripper_z": 1.0324939665106607, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.78795228710482, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.498105699826632, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5413845149458183, + "max_source_tilt_deg": 89.98546419213281, + "source_upright_tilt_deg": 2.884849650462013, + "max_source_upright_tilt_deg": 89.90835548470739, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5413845149458183, + "source_upright_return_tilt_deg": 2.884849650462013, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.302790461477409e-08, + "max_target_xy_drift": 9.687545615667799e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3183, + 0.011, + 0.7701 + ], + "controller_target_position": [ + 0.3183, + 0.011, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0004, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3201, + -0.0138, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018602561285504609, + 0.0004439853382987454, + -0.0004258499247835549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8848952098355394, + "source_return_step_error_deg": 2.5414703719334, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8810619644161553, + "source_return_best_wrist_position": -1.6077237129211426, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6077237129211426 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3183, + 0.011, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3183, + 0.011, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0004, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3201, + -0.0138, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018602561285504609, + 0.0004439853382987454, + -0.0004258499247835549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8848952098355394, + "pour_controller_source_return_step_error_deg": 2.5414703719334, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8810619644161553, + "pour_controller_source_return_best_wrist_position": -1.6077237129211426, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6077237129211426, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.039636999443004334, + "valid_pour_held_xy_dist": 0.035716711662698755, + "valid_pour_held_gripper_dist": 0.005676200855511226, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0312504048196456, + "valid_pour_source_tilt_deg": 2.5413845149458183, + "valid_pour_source_upright_tilt_deg": 2.884849650462013, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.302790461477409e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.32151237992875453, + -0.04778863764612058, + 1.0312504048196456 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3111762249249055, + -0.024615429462965677, + 1.0312504048196456 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31634430242683, + -0.03620203355454313, + 1.0312504048196456 + ], + "valid_pour_held_grasp_object_position": [ + 0.32151237992875453, + -0.024615429462965677, + 1.0312504048196456 + ], + "valid_pour_held_grasp_finger_gap": 0.025373877862152467, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02357443050225127, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04165858058859197, + -0.9987327077513157, + 0.028240770723704678 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005655570001261722, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836362436517345, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32151237992875453, + -0.04778863764612058, + 1.0312504048196456 + ], + "held_grasp_finger_b": [ + 0.3111762249249055, + -0.024615429462965677, + 1.0312504048196456 + ], + "held_grasp_midpoint": [ + 0.31634430242683, + -0.03620203355454313, + 1.0312504048196456 + ], + "held_grasp_object_position": [ + 0.32151237992875453, + -0.024615429462965677, + 1.0312504048196456 + ], + "held_grasp_finger_gap": 0.025373877862152467, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02357443050225127, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04165858058859197, + -0.9987327077513157, + 0.028240770723704678 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005655570001261722, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836362436517345, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28261880634868225, + -0.12860053701568477, + 0.7611066097130311 + ], + "target_position": [ + 0.2764565873490764, + -0.11959368110329968, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010913129543149824, + "xy_threshold": 0.08, + "gripper_dist": 0.22085486330600848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066097130311, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579756075405189, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860254374036918, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1891169221263001, + "release_required_pad_clearance": 0.0530127187018459, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0579429285941602, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bee37284472e98d3a101f7ec357eaa784e092648b99ac89a20336273d14cc04f", + "visual_seed": 6293691038471533926, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c8d8d0d75e776528fe63369c576184424183aad --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_88_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29450583174215034, + -0.11222501554157364, + 1.0018251392650979 + ], + "current_z": 1.0018251392650979, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1407186312503319, + "gripper_z": 1.0035800420014662, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2906255741897974, + -0.11634554493157002, + 1.0035800420014662 + ], + "object_minus_gripper": [ + 0.0038802575523529392, + 0.00412052938999638, + -0.0017549027363683578 + ], + "object_to_gripper_xy": 0.005659961230115976, + "object_to_gripper_z": -0.0017549027363683578, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29450583174215034, + -0.13595167640016545, + 1.0018251392650979 + ], + "finger_b": [ + 0.28403722652238333, + -0.11222501554157364, + 1.0018251392650979 + ], + "finger_midpoint": [ + 0.28927152913226684, + -0.12408834597086954, + 1.0018251392650979 + ], + "object_minus_finger_midpoint": [ + 0.005234302609883501, + 0.011863330429295896, + 0.0 + ], + "finger_gap": 0.025933494379777773, + "fingertip_max_gap": 0.09407597052013636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012966747189888881, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018251392650979, + "object_top_z": 1.0521377757717545, + "finger_top_clearance": 0.05031263650665663, + "fingertip_min_top_clearance": 0.015093790951996955, + "object_projection_between_fingers": 0.8370495491130436, + "object_to_finger_line_xy": 0.009577770048049487, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953798526006818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.104828307092935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31343789017264284, + 0.016377511291436924, + 0.7701463897966118 + ], + "gripper_position": [ + 0.31148157156856193, + -0.022011876858638632, + 1.033635446875698 + ], + "target_minus_gripper": [ + 0.001956318604080909, + 0.03838938815007556, + -0.2634890570790863 + ], + "held_position": [ + 0.31538938348132306, + -0.017971393023215834, + 1.031795605378656 + ], + "held_minus_target": [ + 0.0019514933086802189, + -0.03434890431465276, + 0.2616492155820441 + ], + "held_minus_gripper": [ + 0.003907811912761128, + 0.004040483835422798, + -0.001839841497042194 + ], + "xy_dist": 0.03843920271048601, + "held_xy_dist": 0.034404295571207305, + "held_gripper_dist": 0.005914517757524207, + "max_held_gripper_dist": 0.006004262103580056, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.031795605378656, + "required_height": 0.8001463897966118, + "gripper_z": 1.033635446875698, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.75921651507419, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6279288218049035, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.565178652596146, + "max_source_tilt_deg": 89.78371728658946, + "source_upright_tilt_deg": 3.537145278714827, + "max_source_upright_tilt_deg": 89.94403417263895, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.565178652596146, + "source_upright_return_tilt_deg": 3.537145278714827, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.972094663188382e-08, + "max_target_xy_drift": 1.471489667892456e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3134, + 0.0164, + 0.7701 + ], + "controller_target_position": [ + 0.3134, + 0.0164, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.0019, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3132, + -0.0069, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00021122988694908433, + 0.0019168562291684592, + 0.0012283187198581331 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.53714718864231, + "source_return_step_error_deg": 2.565186633500486, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5348778966668055, + "source_return_best_wrist_position": -1.6084480285644531, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084480285644531 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3134, + 0.0164, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3134, + 0.0164, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.0019, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3132, + -0.0069, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00021122988694908433, + 0.0019168562291684592, + 0.0012283187198581331 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.53714718864231, + "pour_controller_source_return_step_error_deg": 2.565186633500486, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5348778966668055, + "pour_controller_source_return_best_wrist_position": -1.6084480285644531, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084480285644531, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03843920271048601, + "valid_pour_held_xy_dist": 0.034404295571207305, + "valid_pour_held_gripper_dist": 0.005914517757524207, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.031795605378656, + "valid_pour_source_tilt_deg": 2.565178652596146, + "valid_pour_source_upright_tilt_deg": 3.537145278714827, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.972094663188382e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31538938348132306, + -0.041268204050564056, + 1.031795605378656 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3050961988345405, + -0.017971393023215834, + 1.031795605378656 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31024279115793174, + -0.029619798536889945, + 1.031795605378656 + ], + "valid_pour_held_grasp_object_position": [ + 0.31538938348132306, + -0.017971393023215834, + 1.031795605378656 + ], + "valid_pour_held_grasp_finger_gap": 0.025469414092529383, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023791990133982414, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05241906222126783, + -0.9980950191093363, + 0.03253574564961792 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00576230208980398, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836381408955855, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31538938348132306, + -0.041268204050564056, + 1.031795605378656 + ], + "held_grasp_finger_b": [ + 0.3050961988345405, + -0.017971393023215834, + 1.031795605378656 + ], + "held_grasp_midpoint": [ + 0.31024279115793174, + -0.029619798536889945, + 1.031795605378656 + ], + "held_grasp_object_position": [ + 0.31538938348132306, + -0.017971393023215834, + 1.031795605378656 + ], + "held_grasp_finger_gap": 0.025469414092529383, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023791990133982414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05241906222126783, + -0.9980950191093363, + 0.03253574564961792 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00576230208980398, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836381408955855, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2536892575369347, + -0.09916627780349978, + 0.7611065008439628 + ], + "target_position": [ + 0.27184323116295567, + -0.11401388450314565, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023452466461368896, + "xy_threshold": 0.08, + "gripper_dist": 0.20464119158548982, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065008439628, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08053303019792608, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09006779556095086, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18028247773953818, + "release_required_pad_clearance": 0.05503389778047543, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.145970992588581, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05be680a3ec1580e4ea132fe2d61c268675624cafcf97959c18a8729d9f43b8e", + "visual_seed": 6580547122989394516, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f618dfdae1e569463ae683ef97248adcf438cc0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_89_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2983942353730919, + -0.10796219139309668, + 1.0027278340838157 + ], + "current_z": 1.0027278340838157, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14162132606904965, + "gripper_z": 1.0039699121115666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29424284159585273, + -0.11223375073510992, + 1.0039699121115666 + ], + "object_minus_gripper": [ + 0.004151393777239165, + 0.004271559342013245, + -0.0012420780277508925 + ], + "object_to_gripper_xy": 0.005956533346338346, + "object_to_gripper_z": -0.0012420780277508925, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2983942353730919, + -0.1318669487001606, + 1.0027278340838157 + ], + "finger_b": [ + 0.2876543712821843, + -0.10796219139309668, + 1.0027278340838157 + ], + "finger_midpoint": [ + 0.29302430332763807, + -0.11991457004662864, + 1.0027278340838157 + ], + "object_minus_finger_midpoint": [ + 0.005369932045453829, + 0.011952378653531964, + 0.0 + ], + "finger_gap": 0.02620652786236271, + "fingertip_max_gap": 0.09372404519568614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013103263931181365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027278340838157, + "object_top_z": 1.0529026536831898, + "finger_top_clearance": 0.05017481959937409, + "fingertip_min_top_clearance": 0.015052445879812226, + "object_projection_between_fingers": 0.8320505437541764, + "object_to_finger_line_xy": 0.009796560839817057, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936202259784307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7693536992349395, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3099086097485249, + 0.008848254426054735, + 0.770146330191967 + ], + "gripper_position": [ + 0.30982849769959553, + -0.0296102590912809, + 1.0328546064774455 + ], + "target_minus_gripper": [ + 8.011204892938162e-05, + 0.03845851351733563, + -0.26270827628547855 + ], + "held_position": [ + 0.3140776349202294, + -0.025477922500476625, + 1.0315304056554724 + ], + "held_minus_target": [ + 0.004169025171704477, + -0.03432617692653136, + 0.2613840754635054 + ], + "held_minus_gripper": [ + 0.0042491372206338585, + 0.004132336590804274, + -0.0013242008219731538 + ], + "xy_dist": 0.03845859695703252, + "held_xy_dist": 0.03457842091932249, + "held_gripper_dist": 0.006073292404980209, + "max_held_gripper_dist": 0.006110445593999505, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0315304056554724, + "required_height": 0.800146330191967, + "gripper_z": 1.0328546064774455, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.93544788984646, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1797860222887198, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.484914063682275, + "max_source_tilt_deg": 89.96296810634644, + "source_upright_tilt_deg": 2.5505286459629155, + "max_source_upright_tilt_deg": 89.74802917016194, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.484914063682275, + "source_upright_return_tilt_deg": 2.5505286459629155, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.3038516046351423e-08, + "max_target_xy_drift": 1.2016948687318687e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3099, + 0.0088, + 0.7701 + ], + "controller_target_position": [ + 0.3099, + 0.0088, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + 0.0017, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3108, + -0.0146, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009119586517553342, + 0.0017254450545199154, + 0.0008488868178386923 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5505304775405557, + "source_return_step_error_deg": 2.4849231410811243, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5415168644203106, + "source_return_best_wrist_position": -1.6079970598220825, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6079970598220825 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3099, + 0.0088, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3099, + 0.0088, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + 0.0017, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3108, + -0.0146, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009119586517553342, + 0.0017254450545199154, + 0.0008488868178386923 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5505304775405557, + "pour_controller_source_return_step_error_deg": 2.4849231410811243, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5415168644203106, + "pour_controller_source_return_best_wrist_position": -1.6079970598220825, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6079970598220825, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03845859695703252, + "valid_pour_held_xy_dist": 0.03457842091932249, + "valid_pour_held_gripper_dist": 0.006073292404980209, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0315304056554724, + "valid_pour_source_tilt_deg": 2.484914063682275, + "valid_pour_source_upright_tilt_deg": 2.5505286459629155, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.3038516046351423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3140776349202294, + -0.04928094705557108, + 1.0315304056554724 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3039595079316576, + -0.025477922500476625, + 1.0315304056554724 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30901857142594347, + -0.03737943477802386, + 1.0315304056554724 + ], + "valid_pour_held_grasp_object_position": [ + 0.3140776349202294, + -0.025477922500476625, + 1.0315304056554724 + ], + "valid_pour_held_grasp_finger_gap": 0.025864270175809993, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02406185880230464, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027911699893784253, + -0.9990093747654861, + 0.03465842090621008 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005404859546200921, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03797173479293496, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3140776349202294, + -0.04928094705557108, + 1.0315304056554724 + ], + "held_grasp_finger_b": [ + 0.3039595079316576, + -0.025477922500476625, + 1.0315304056554724 + ], + "held_grasp_midpoint": [ + 0.30901857142594347, + -0.03737943477802386, + 1.0315304056554724 + ], + "held_grasp_object_position": [ + 0.3140776349202294, + -0.025477922500476625, + 1.0315304056554724 + ], + "held_grasp_finger_gap": 0.025864270175809993, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02406185880230464, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027911699893784253, + -0.9990093747654861, + 0.03465842090621008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005404859546200921, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03797173479293496, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2773742559373988, + -0.11154384812343293, + 0.7611064430187909 + ], + "target_position": [ + 0.2751752303932693, + -0.11289571086946286, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0025813264473594877, + "xy_threshold": 0.08, + "gripper_dist": 0.21795591049982238, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064430187909, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548600657817577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866483824325487, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18892917481040652, + "release_required_pad_clearance": 0.05332419121627435, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6659649896460202, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "006ff665ec943667f8ebbc70c6a8ed004679208901a9eabdb8de0902b2d16a2d", + "visual_seed": 4273171444922682616, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1ce9a9c2f5dfe41d6e5bb68e7f67a61a750c9bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_8_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29647739101271114, + -0.11501839747104199, + 1.0042261952746752 + ], + "current_z": 1.0042261952746752, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14311974686455375, + "gripper_z": 1.0053010228697181, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2927363029301089, + -0.11912924724547876, + 1.0053010228697181 + ], + "object_minus_gripper": [ + 0.003741088082602262, + 0.0041108497744367645, + -0.0010748275950429598 + ], + "object_to_gripper_xy": 0.0055583114261235364, + "object_to_gripper_z": -0.0010748275950429598, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29647739101271114, + -0.13850561319744809, + 1.0042261952746752 + ], + "finger_b": [ + 0.285838063711245, + -0.11501839747104199, + 1.0042261952746752 + ], + "finger_midpoint": [ + 0.2911577273619781, + -0.12676200533424503, + 1.0042261952746752 + ], + "object_minus_finger_midpoint": [ + 0.005319663650733053, + 0.01174360786320304, + 0.0 + ], + "finger_gap": 0.025784580431072773, + "fingertip_max_gap": 0.09390068486817679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012892290215536369, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0042261952746752, + "object_top_z": 1.0546127905237153, + "finger_top_clearance": 0.0503865952490401, + "fingertip_min_top_clearance": 0.015115978574712046, + "object_projection_between_fingers": 0.8297417359338974, + "object_to_finger_line_xy": 0.009691380326369011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494503424340884, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6974951342907603, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3123616687065784, + 0.013632841265432615, + 0.7701463897966114 + ], + "gripper_position": [ + 0.31048239226629515, + -0.028560397719240113, + 1.0327442401685796 + ], + "target_minus_gripper": [ + 0.0018792764402832396, + 0.042193238984672726, + -0.26259785037196814 + ], + "held_position": [ + 0.3143706186255528, + -0.024624749367951823, + 1.0315818542710646 + ], + "held_minus_target": [ + 0.002008949918974434, + -0.038257590633384436, + 0.2614354644744532 + ], + "held_minus_gripper": [ + 0.003888226359257674, + 0.00393564835128829, + -0.0011623858975149393 + ], + "xy_dist": 0.04223506950339623, + "held_xy_dist": 0.03831030045364526, + "held_gripper_dist": 0.005653209101082856, + "max_held_gripper_dist": 0.0056775056160842125, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0315818542710646, + "required_height": 0.8001463897966115, + "gripper_z": 1.0327442401685796, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.55191460976752, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1310704803655964, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7489277643768366, + "max_source_tilt_deg": 89.71589255507833, + "source_upright_tilt_deg": 1.933312426596451, + "max_source_upright_tilt_deg": 89.85822246842262, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7489277643768366, + "source_upright_return_tilt_deg": 1.933312426596451, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.564666809423941e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3124, + 0.0136, + 0.7701 + ], + "controller_target_position": [ + 0.3124, + 0.0136, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0018, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3114, + -0.0133, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009361998223004178, + -0.0017681623375293029, + -0.0004962415130999398 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9333238158239965, + "source_return_step_error_deg": 2.748932751994181, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7328236262687797, + "source_return_best_wrist_position": -1.6064741611480713, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6064741611480713 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3124, + 0.0136, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3124, + 0.0136, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0018, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3114, + -0.0133, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009361998223004178, + -0.0017681623375293029, + -0.0004962415130999398 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9333238158239965, + "pour_controller_source_return_step_error_deg": 2.748932751994181, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7328236262687797, + "pour_controller_source_return_best_wrist_position": -1.6064741611480713, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6064741611480713, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04223506950339623, + "valid_pour_held_xy_dist": 0.03831030045364526, + "valid_pour_held_gripper_dist": 0.005653209101082856, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0315818542710646, + "valid_pour_source_tilt_deg": 2.7489277643768366, + "valid_pour_source_upright_tilt_deg": 1.933312426596451, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.564666809423941e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3143706186255528, + -0.0482788090889968, + 1.0315818542710646 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30465351099442844, + -0.024624749367951823, + 1.0315818542710646 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3095120648099906, + -0.03645177922847431, + 1.0315818542710646 + ], + "valid_pour_held_grasp_object_position": [ + 0.3143706186255528, + -0.024624749367951823, + 1.0315818542710646 + ], + "valid_pour_held_grasp_finger_gap": 0.025572186492390868, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02376794609379415, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013105831192504028, + -0.9994307784920422, + 0.031086270145260442 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005026530930242614, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037963627795490895, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3143706186255528, + -0.0482788090889968, + 1.0315818542710646 + ], + "held_grasp_finger_b": [ + 0.30465351099442844, + -0.024624749367951823, + 1.0315818542710646 + ], + "held_grasp_midpoint": [ + 0.3095120648099906, + -0.03645177922847431, + 1.0315818542710646 + ], + "held_grasp_object_position": [ + 0.3143706186255528, + -0.024624749367951823, + 1.0315818542710646 + ], + "held_grasp_finger_gap": 0.025572186492390868, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02376794609379415, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013105831192504028, + -0.9994307784920422, + 0.031086270145260442 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005026530930242614, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037963627795490895, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27858522482975495, + -0.12671705644391745, + 0.7611066299909176 + ], + "target_position": [ + 0.27391617639594507, + -0.11768832051408347, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010164550445934029, + "xy_threshold": 0.08, + "gripper_dist": 0.21804513045466167, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066299909176, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755260669528451, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08856374203138918, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18671751368571934, + "release_required_pad_clearance": 0.054281871015694594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5828802290134707, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62b4e36880dd1801b41d19b47abbb427f35bbaff4628e8f9f2c08b3d332de3c8", + "visual_seed": 107475605896117179, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f6b3ee6cdad940106dae7fcd3640ffd202e6f86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_90_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2931228186264644, + -0.11283178520695825, + 1.0020057999589862 + ], + "current_z": 1.0020057999589862, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1408991131302859, + "gripper_z": 1.0031853812894302, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2894415810717896, + -0.1169108396801845, + 1.0031853812894302 + ], + "object_minus_gripper": [ + 0.00368123755467481, + 0.0040790544732262485, + -0.0011795813304440461 + ], + "object_to_gripper_xy": 0.005494560521961264, + "object_to_gripper_z": -0.0011795813304440461, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2931228186264644, + -0.1362660742322837, + 1.0020057999589862 + ], + "finger_b": [ + 0.2825200650385124, + -0.11283178520695825, + 1.0020057999589862 + ], + "finger_midpoint": [ + 0.28782144183248837, + -0.12454892971962098, + 1.0020057999589862 + ], + "object_minus_finger_midpoint": [ + 0.00530137679397602, + 0.01171714451266273, + 0.0 + ], + "finger_gap": 0.025721280795662528, + "fingertip_max_gap": 0.09433621147487545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012860640397831276, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020057999589862, + "object_top_z": 1.0522925472862115, + "finger_top_clearance": 0.05028674732722527, + "fingertip_min_top_clearance": 0.015086024198167612, + "object_projection_between_fingers": 0.8300770044498504, + "object_to_finger_line_xy": 0.009660016311717765, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049668105737437726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2178227926324827, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.30978573477332044, + 0.009877635954551474, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3075702338816447, + -0.030966185129128437, + 1.0340489068767817 + ], + "target_minus_gripper": [ + 0.00221550089167577, + 0.04084382108367991, + -0.2639025170801701 + ], + "held_position": [ + 0.31129341903179764, + -0.026964472932283372, + 1.0327853630772221 + ], + "held_minus_target": [ + 0.0015076842584771932, + -0.03684210888683485, + 0.2626389732806105 + ], + "held_minus_gripper": [ + 0.0037231851501529634, + 0.004001712196845066, + -0.0012635437995596188 + ], + "xy_dist": 0.04090386491417006, + "held_xy_dist": 0.03687294535364181, + "held_gripper_dist": 0.005610022379821997, + "max_held_gripper_dist": 0.005647904604085689, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0327853630772221, + "required_height": 0.8001463897966117, + "gripper_z": 1.0340489068767817, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.82839383718047, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6050038849627493, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5245709268950125, + "max_source_tilt_deg": 89.9923286774617, + "source_upright_tilt_deg": 3.4344384632616953, + "max_source_upright_tilt_deg": 89.68303605126104, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5245709268950125, + "source_upright_return_tilt_deg": 3.4344384632616953, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.6763806343078613e-08, + "max_target_xy_drift": 1.8440186977559947e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3098, + 0.0099, + 0.7701 + ], + "controller_target_position": [ + 0.3098, + 0.0099, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0005, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3084, + -0.0158, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001351063467370858, + -0.00047821671882600073, + 0.0019603306423992247 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.4344547837341572, + "source_return_step_error_deg": 2.5245764575462495, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4326132712031, + "source_return_best_wrist_position": -1.605381965637207, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.605381965637207 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3098, + 0.0099, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3098, + 0.0099, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0005, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3084, + -0.0158, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001351063467370858, + -0.00047821671882600073, + 0.0019603306423992247 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.4344547837341572, + "pour_controller_source_return_step_error_deg": 2.5245764575462495, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4326132712031, + "pour_controller_source_return_best_wrist_position": -1.605381965637207, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.605381965637207, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04090386491417006, + "valid_pour_held_xy_dist": 0.03687294535364181, + "valid_pour_held_gripper_dist": 0.005610022379821997, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0327853630772221, + "valid_pour_source_tilt_deg": 2.5245709268950125, + "valid_pour_source_upright_tilt_deg": 3.4344384632616953, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.6763806343078613e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31129341903179764, + -0.05010520244924468, + 1.0327853630772221 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30099473149829364, + -0.026964472932283372, + 1.0327853630772221 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3061440752650456, + -0.038534837690764025, + 1.0327853630772221 + ], + "valid_pour_held_grasp_object_position": [ + 0.31129341903179764, + -0.026964472932283372, + 1.0327853630772221 + ], + "valid_pour_held_grasp_finger_gap": 0.025328962226864225, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023605906246137277, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.049204061414010854, + -0.9982040097449908, + 0.034171849077693 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005725782820647325, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842403420090866, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31129341903179764, + -0.05010520244924468, + 1.0327853630772221 + ], + "held_grasp_finger_b": [ + 0.30099473149829364, + -0.026964472932283372, + 1.0327853630772221 + ], + "held_grasp_midpoint": [ + 0.3061440752650456, + -0.038534837690764025, + 1.0327853630772221 + ], + "held_grasp_object_position": [ + 0.31129341903179764, + -0.026964472932283372, + 1.0327853630772221 + ], + "held_grasp_finger_gap": 0.025328962226864225, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023605906246137277, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.049204061414010854, + -0.9982040097449908, + 0.034171849077693 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005725782820647325, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842403420090866, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25520491983741644, + -0.09752670387622667, + 0.7611063970396562 + ], + "target_position": [ + 0.2706799551990184, + -0.1164375521895611, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024435566360794143, + "xy_threshold": 0.08, + "gripper_dist": 0.2065739451425925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063970396562, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08241324050693455, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625490123310577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18335239993169625, + "release_required_pad_clearance": 0.053127450616552885, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2808272992478356, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f93de01b313edd2fa8ff0caf1aa1d2abd60097cedfde0aa847d3a671182d6b36", + "visual_seed": 1646666402708440514, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71a8911c27ff2365e26500737f56db11b67cf618 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_91_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2953811883243246, + -0.11394991105249548, + 1.0035016462343713 + ], + "current_z": 1.0035016462343713, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14239519782425025, + "gripper_z": 1.005298186970248, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29145852626342417, + -0.11803140032614233, + 1.005298186970248 + ], + "object_minus_gripper": [ + 0.003922662060900417, + 0.004081489273646849, + -0.0017965407358766505 + ], + "object_to_gripper_xy": 0.005660903844345158, + "object_to_gripper_z": -0.0017965407358766505, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2953811883243246, + -0.13788817156760771, + 1.0035016462343713 + ], + "finger_b": [ + 0.28520488454216497, + -0.11394991105249548, + 1.0035016462343713 + ], + "finger_midpoint": [ + 0.2902930364332448, + -0.1259190413100516, + 1.0035016462343713 + ], + "object_minus_finger_midpoint": [ + 0.005088151891079806, + 0.011969130257556124, + 0.0 + ], + "finger_gap": 0.026011487369163984, + "fingertip_max_gap": 0.09265572713353379, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013005743684581997, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035016462343713, + "object_top_z": 1.0534409519552876, + "finger_top_clearance": 0.049939305720916316, + "fingertip_min_top_clearance": 0.014981791716274877, + "object_projection_between_fingers": 0.8469442135549025, + "object_to_finger_line_xy": 0.009365208823354136, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048827863566766896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.478254476004604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31460068738524355, + 0.010434451370172279, + 0.7701463897966115 + ], + "gripper_position": [ + 0.31102068014886436, + -0.030734306823143515, + 1.0327914239848586 + ], + "target_minus_gripper": [ + 0.00358000723637919, + 0.041168758193315794, + -0.26264503418824703 + ], + "held_position": [ + 0.3148984658743976, + -0.026662732768502905, + 1.030915962187708 + ], + "held_minus_target": [ + 0.0002977784891540769, + -0.03709718413867519, + 0.26076957239109644 + ], + "held_minus_gripper": [ + 0.003877785725533267, + 0.004071574054640609, + -0.0018754617971505905 + ], + "xy_dist": 0.041324122531425075, + "held_xy_dist": 0.0370983792509508, + "held_gripper_dist": 0.005927250152317132, + "max_held_gripper_dist": 0.006013100084872104, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.030915962187708, + "required_height": 0.8001463897966116, + "gripper_z": 1.0327914239848586, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.08479680623795, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0488688596811433, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9708923873621793, + "max_source_tilt_deg": 89.89212270173505, + "source_upright_tilt_deg": 3.99341071163811, + "max_source_upright_tilt_deg": 89.9531589084697, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9708923873621793, + "source_upright_return_tilt_deg": 3.99341071163811, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.5286370543003615e-08, + "max_target_xy_drift": 1.308765052063581e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3146, + 0.0104, + 0.7701 + ], + "controller_target_position": [ + 0.3146, + 0.0104, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.001, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3127, + -0.0158, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018865007513409813, + -0.0010182520116983024, + 0.0003029564732084165 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.993588942262137, + "source_return_step_error_deg": 2.9710486086018997, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.987746426166393, + "source_return_best_wrist_position": -1.6094506978988647, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094506978988647 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3146, + 0.0104, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3146, + 0.0104, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.001, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3127, + -0.0158, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018865007513409813, + -0.0010182520116983024, + 0.0003029564732084165 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.993588942262137, + "pour_controller_source_return_step_error_deg": 2.9710486086018997, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.987746426166393, + "pour_controller_source_return_best_wrist_position": -1.6094506978988647, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094506978988647, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.041324122531425075, + "valid_pour_held_xy_dist": 0.0370983792509508, + "valid_pour_held_gripper_dist": 0.005927250152317132, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.030915962187708, + "valid_pour_source_tilt_deg": 2.9708923873621793, + "valid_pour_source_upright_tilt_deg": 3.99341071163811, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.5286370543003615e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3148984658743976, + -0.04983250328446353, + 1.030915962187708 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30447369289546733, + -0.026662732768502905, + 1.030915962187708 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3096860793849325, + -0.038247618026483216, + 1.030915962187708 + ], + "valid_pour_held_grasp_object_position": [ + 0.3148984658743976, + -0.026662732768502905, + 1.030915962187708 + ], + "valid_pour_held_grasp_finger_gap": 0.025406970646350453, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023741189798886172, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06020982347297665, + -0.9975720753106747, + 0.03499616718594323 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005913988770434637, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038477328911459226, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3148984658743976, + -0.04983250328446353, + 1.030915962187708 + ], + "held_grasp_finger_b": [ + 0.30447369289546733, + -0.026662732768502905, + 1.030915962187708 + ], + "held_grasp_midpoint": [ + 0.3096860793849325, + -0.038247618026483216, + 1.030915962187708 + ], + "held_grasp_object_position": [ + 0.3148984658743976, + -0.026662732768502905, + 1.030915962187708 + ], + "held_grasp_finger_gap": 0.025406970646350453, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023741189798886172, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06020982347297665, + -0.9975720753106747, + 0.03499616718594323 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005913988770434637, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038477328911459226, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27384436378121435, + -0.11388516001367152, + 0.7611064414670273 + ], + "target_position": [ + 0.27264896246997017, + -0.11514200957752699, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017345475263272512, + "xy_threshold": 0.08, + "gripper_dist": 0.2155912573733933, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064414670273, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530418870273115, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558072244840774, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18705494290060073, + "release_required_pad_clearance": 0.05279036122420387, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6280706132001208, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ee8a2fde233b31f182f992088dd80439a10502b96710846c54c381a0ea24504", + "visual_seed": 8587436710011448753, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6abd0c440099e37d0be6febcd9fd346b86641c2e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_92_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3014412013087313, + -0.11284424378900608, + 1.0041789789100317 + ], + "current_z": 1.0041789789100317, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14307247089526587, + "gripper_z": 1.0054039094486038, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2974697057496269, + -0.11698461443096315, + 1.0054039094486038 + ], + "object_minus_gripper": [ + 0.003971495559104421, + 0.004140370641957075, + -0.0012249305385720888 + ], + "object_to_gripper_xy": 0.005737198447741387, + "object_to_gripper_z": -0.0012249305385720888, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3014412013087313, + -0.136700075791893, + 1.0041789789100317 + ], + "finger_b": [ + 0.2909931660439139, + -0.11284424378900608, + 1.0041789789100317 + ], + "finger_midpoint": [ + 0.2962171836763226, + -0.12477215979044953, + 1.0041789789100317 + ], + "object_minus_finger_midpoint": [ + 0.005224017632408706, + 0.011927916001443453, + 0.0 + ], + "finger_gap": 0.026043466770858906, + "fingertip_max_gap": 0.09399937723587329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013021733385429446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041789789100317, + "object_top_z": 1.0543687388446124, + "finger_top_clearance": 0.050189759934580636, + "fingertip_min_top_clearance": 0.015056927980374224, + "object_projection_between_fingers": 0.8390571565096114, + "object_to_finger_line_xy": 0.009570406898232717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049499688617936646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.022096216478182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31294114506308485, + 0.012942151023678558, + 0.770146509005901 + ], + "gripper_position": [ + 0.3133593448962534, + -0.02783772489462462, + 1.0329590006123415 + ], + "target_minus_gripper": [ + -0.00041819983316854215, + 0.04077987591830318, + -0.2628124916064405 + ], + "held_position": [ + 0.3173828841943044, + -0.023789070688962813, + 1.0316532273959447 + ], + "held_minus_target": [ + 0.004441739131219535, + -0.03673122171264137, + 0.2615067183900437 + ], + "held_minus_gripper": [ + 0.004023539298050993, + 0.004048654205661806, + -0.0013057732163967994 + ], + "xy_dist": 0.04078202019288237, + "held_xy_dist": 0.036998806670121454, + "held_gripper_dist": 0.0058553832541211985, + "max_held_gripper_dist": 0.005891010707108836, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146509005901, + "held_z": 1.0316532273959447, + "required_height": 0.800146509005901, + "gripper_z": 1.0329590006123415, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 122.79712289877536, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4607886432171826, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4463821685803913, + "max_source_tilt_deg": 89.84391466926738, + "source_upright_tilt_deg": 3.1733929951725957, + "max_source_upright_tilt_deg": 89.68073243087078, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4463821685803913, + "source_upright_return_tilt_deg": 3.1733929951725957, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.0312058430661566e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3129, + 0.0129, + 0.7701 + ], + "controller_target_position": [ + 0.3129, + 0.0129, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0005, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3145, + -0.0127, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001597292531429513, + -0.00045778669236480195, + 0.00018319154530369204 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1734016104745106, + "source_return_step_error_deg": 2.446325706907692, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1684385387469662, + "source_return_best_wrist_position": -1.6088088750839233, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6088088750839233 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3129, + 0.0129, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3129, + 0.0129, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0005, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3145, + -0.0127, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001597292531429513, + -0.00045778669236480195, + 0.00018319154530369204 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1734016104745106, + "pour_controller_source_return_step_error_deg": 2.446325706907692, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1684385387469662, + "pour_controller_source_return_best_wrist_position": -1.6088088750839233, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6088088750839233, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04078202019288237, + "valid_pour_held_xy_dist": 0.036998806670121454, + "valid_pour_held_gripper_dist": 0.0058553832541211985, + "valid_pour_required_height": 0.800146509005901, + "valid_pour_held_z": 1.0316532273959447, + "valid_pour_source_tilt_deg": 2.4463821685803913, + "valid_pour_source_upright_tilt_deg": 3.1733929951725957, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3173828841943044, + -0.047366164444802406, + 1.0316532273959447 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30730699254168314, + -0.023789070688962813, + 1.0316532273959447 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31234493836799376, + -0.03557761756688261, + 1.0316532273959447 + ], + "valid_pour_held_grasp_object_position": [ + 0.3173828841943044, + -0.023789070688962813, + 1.0316532273959447 + ], + "valid_pour_held_grasp_finger_gap": 0.025639870174535062, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02397459134192874, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04303847196086597, + -0.9984665881784534, + 0.034816120153642216 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005555540478234445, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038166605379502755, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3173828841943044, + -0.047366164444802406, + 1.0316532273959447 + ], + "held_grasp_finger_b": [ + 0.30730699254168314, + -0.023789070688962813, + 1.0316532273959447 + ], + "held_grasp_midpoint": [ + 0.31234493836799376, + -0.03557761756688261, + 1.0316532273959447 + ], + "held_grasp_object_position": [ + 0.3173828841943044, + -0.023789070688962813, + 1.0316532273959447 + ], + "held_grasp_finger_gap": 0.025639870174535062, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02397459134192874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04303847196086597, + -0.9984665881784534, + 0.034816120153642216 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005555540478234445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038166605379502755, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2817899334875112, + -0.1207538302388625, + 0.7611091309373376 + ], + "target_position": [ + 0.2784093414276738, + -0.11477387387396905, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0068693726643024155, + "xy_threshold": 0.08, + "gripper_dist": 0.21948736897336774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091309373376, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537488455021245, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670924963111827, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1891662049808118, + "release_required_pad_clearance": 0.05335462481555914, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7255082278490348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b427516cd2ef1c74b2510f21875a90447a8ec4f100abbc087d85e2a02e7bd8f", + "visual_seed": 127125912380055939, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d63def7dee994913f6ddf1cb0d50e1a430ba8838 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_93_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2972370686514134, + -0.11297961852011695, + 1.0024663127719804 + ], + "current_z": 1.0024663127719804, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14135980475721455, + "gripper_z": 1.003860789741148, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2935003317385114, + -0.11707275936324782, + 1.003860789741148 + ], + "object_minus_gripper": [ + 0.0037367369129019945, + 0.004093140843130866, + -0.0013944769691676129 + ], + "object_to_gripper_xy": 0.005542292370305846, + "object_to_gripper_z": -0.0013944769691676129, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2972370686514134, + -0.1365109379789948, + 1.0024663127719804 + ], + "finger_b": [ + 0.2866971835544707, + -0.11297961852011695, + 1.0024663127719804 + ], + "finger_midpoint": [ + 0.29196712610294207, + -0.12474527824955588, + 1.0024663127719804 + ], + "object_minus_finger_midpoint": [ + 0.005269942548471351, + 0.011765659729438924, + 0.0 + ], + "finger_gap": 0.02578395185638769, + "fingertip_max_gap": 0.09358494201331077, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012891975928193845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024663127719804, + "object_top_z": 1.0527671383905715, + "finger_top_clearance": 0.05030082561859106, + "fingertip_min_top_clearance": 0.015090247685577318, + "object_projection_between_fingers": 0.8329014083784059, + "object_to_finger_line_xy": 0.009619060904916344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04929247100665539, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.83622176154396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.310616444707555, + 0.010859968929223796, + 0.7701463897966119 + ], + "gripper_position": [ + 0.30861923797681623, + -0.028182354740720353, + 1.0325379927823548 + ], + "target_minus_gripper": [ + 0.0019972067307387764, + 0.039042323669944146, + -0.26239160298574293 + ], + "held_position": [ + 0.3124067173585642, + -0.024178545388821, + 1.0310608221150717 + ], + "held_minus_target": [ + 0.0017902726510091727, + -0.03503851431804479, + 0.2609144323184598 + ], + "held_minus_gripper": [ + 0.003787479381747949, + 0.004003809351899354, + -0.0014771706672831453 + ], + "xy_dist": 0.03909337376428375, + "held_xy_dist": 0.035084220980104164, + "held_gripper_dist": 0.005705919958587246, + "max_held_gripper_dist": 0.005759746020227057, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0310608221150717, + "required_height": 0.8001463897966119, + "gripper_z": 1.0325379927823548, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.9824953990419, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.398809911406349, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5576518491986366, + "max_source_tilt_deg": 89.96624093759985, + "source_upright_tilt_deg": 2.96345046358983, + "max_source_upright_tilt_deg": 89.77261355536103, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5576518491986366, + "source_upright_return_tilt_deg": 2.96345046358983, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.106787211064253e-08, + "max_target_xy_drift": 2.0908347371197494e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3106, + 0.0109, + 0.7701 + ], + "controller_target_position": [ + 0.3106, + 0.0109, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0013, + 0.0 + ], + "controller_last_pour_pose_position": [ + 0.3093, + -0.0131, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012698321004690927, + 0.001259808096922413, + 4.9065999598067126e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9634409682525753, + "source_return_step_error_deg": 2.5576467172567283, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9581290952686645, + "source_return_best_wrist_position": -1.6085435152053833, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085435152053833 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3106, + 0.0109, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3106, + 0.0109, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0013, + 0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3093, + -0.0131, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012698321004690927, + 0.001259808096922413, + 4.9065999598067126e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9634409682525753, + "pour_controller_source_return_step_error_deg": 2.5576467172567283, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9581290952686645, + "pour_controller_source_return_best_wrist_position": -1.6085435152053833, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085435152053833, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03909337376428375, + "valid_pour_held_xy_dist": 0.035084220980104164, + "valid_pour_held_gripper_dist": 0.005705919958587246, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0310608221150717, + "valid_pour_source_tilt_deg": 2.5576518491986366, + "valid_pour_source_upright_tilt_deg": 2.96345046358983, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.106787211064253e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3124067173585642, + -0.04738980196271451, + 1.0310608221150717 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3021954758368658, + -0.024178545388821, + 1.0310608221150717 + ], + "valid_pour_held_grasp_midpoint": [ + 0.307301096597715, + -0.03578417367576775, + 1.0310608221150717 + ], + "valid_pour_held_grasp_object_position": [ + 0.3124067173585642, + -0.024178545388821, + 1.0310608221150717 + ], + "valid_pour_held_grasp_finger_gap": 0.02535807337227282, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023602740305304484, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04137827447230185, + -0.9986627254376337, + 0.03099353518352688 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005592836613164983, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038341403471830626, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3124067173585642, + -0.04738980196271451, + 1.0310608221150717 + ], + "held_grasp_finger_b": [ + 0.3021954758368658, + -0.024178545388821, + 1.0310608221150717 + ], + "held_grasp_midpoint": [ + 0.307301096597715, + -0.03578417367576775, + 1.0310608221150717 + ], + "held_grasp_object_position": [ + 0.3124067173585642, + -0.024178545388821, + 1.0310608221150717 + ], + "held_grasp_finger_gap": 0.02535807337227282, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023602740305304484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04137827447230185, + -0.9986627254376337, + 0.03099353518352688 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005592836613164983, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038341403471830626, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25825261817605377, + -0.10178317570048954, + 0.7611163110970186 + ], + "target_position": [ + 0.27474337757054884, + -0.1158534427974778, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02167758200509729, + "xy_threshold": 0.08, + "gripper_dist": 0.20681419692994346, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611163110970186, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07879416540607376, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549742786257174, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18268816549504838, + "release_required_pad_clearance": 0.05274871393128587, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5200453951822801, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55c253539eaeee800701d7c2ba04e4f183014da86dbf8a1da34cbc99eb10e1bc", + "visual_seed": 2024792071117661027, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4989a2933b1acb6110f1dbc2e1806265ab8b3435 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_94_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2938557117339356, + -0.11483435971213267, + 1.000709142380062 + ], + "current_z": 1.000709142380062, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.13960275357458574, + "gripper_z": 1.0029327102821837, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2897877383192816, + -0.11898018430500587, + 1.0029327102821837 + ], + "object_minus_gripper": [ + 0.00406797341465398, + 0.004145824592873201, + -0.002223567902121637 + ], + "object_to_gripper_xy": 0.0058082931449095964, + "object_to_gripper_z": -0.002223567902121637, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2938557117339356, + -0.13895708978229768, + 1.000709142380062 + ], + "finger_b": [ + 0.28369801128811445, + -0.11483435971213267, + 1.000709142380062 + ], + "finger_midpoint": [ + 0.288776861511025, + -0.12689572474721517, + 1.000709142380062 + ], + "object_minus_finger_midpoint": [ + 0.0050788502229106025, + 0.012061365035082497, + 0.0 + ], + "finger_gap": 0.02617412814947383, + "fingertip_max_gap": 0.09320833695916755, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013087064074736919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000709142380062, + "object_top_z": 1.050945328816653, + "finger_top_clearance": 0.050236186436591, + "fingertip_min_top_clearance": 0.015070855930977267, + "object_projection_between_fingers": 0.849392585301447, + "object_to_finger_line_xy": 0.009361590368505328, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910416847958378, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.60824328271586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31684039151732385, + 0.008721073946587818, + 0.7701463897966115 + ], + "gripper_position": [ + 0.313837619734301, + -0.03145193851291826, + 1.0321898778171057 + ], + "target_minus_gripper": [ + 0.0030027717830228284, + 0.04017301245950608, + -0.26204348802049415 + ], + "held_position": [ + 0.31793743530268015, + -0.027403476680051914, + 1.0298849281835976 + ], + "held_minus_target": [ + 0.0010970437853562998, + -0.03612455062663973, + 0.259738538386986 + ], + "held_minus_gripper": [ + 0.004099815568379128, + 0.0040484618328663485, + -0.0023049496335081354 + ], + "xy_dist": 0.040285078732113073, + "held_xy_dist": 0.036141204504604514, + "held_gripper_dist": 0.006205749247263276, + "max_held_gripper_dist": 0.00632841512638569, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0298849281835976, + "required_height": 0.8001463897966116, + "gripper_z": 1.0321898778171057, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.04501095432262, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.219959461719931, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.565405342354496, + "max_source_tilt_deg": 89.95932884411371, + "source_upright_tilt_deg": 3.071187826912399, + "max_source_upright_tilt_deg": 89.65198127232807, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.565405342354496, + "source_upright_return_tilt_deg": 3.071187826912399, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.016392652076044e-08, + "max_target_xy_drift": 1.601874828338623e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3168, + 0.0087, + 0.7701 + ], + "controller_target_position": [ + 0.3168, + 0.0087, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0002, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3168, + -0.0166, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.954483340039625e-06, + -0.0001673020228726925, + -5.5060958498033986e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.071214353962105, + "source_return_step_error_deg": 2.565374539697879, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0642282898358677, + "source_return_best_wrist_position": -1.609388828277588, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609388828277588 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3168, + 0.0087, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3168, + 0.0087, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0002, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3168, + -0.0166, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.954483340039625e-06, + -0.0001673020228726925, + -5.5060958498033986e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.071214353962105, + "pour_controller_source_return_step_error_deg": 2.565374539697879, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0642282898358677, + "pour_controller_source_return_best_wrist_position": -1.609388828277588, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609388828277588, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.040285078732113073, + "valid_pour_held_xy_dist": 0.036141204504604514, + "valid_pour_held_gripper_dist": 0.006205749247263276, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0298849281835976, + "valid_pour_source_tilt_deg": 2.565405342354496, + "valid_pour_source_upright_tilt_deg": 3.071187826912399, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.016392652076044e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31793743530268015, + -0.0510489397743713, + 1.0298849281835976 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3079436663354421, + -0.027403476680051914, + 1.0298849281835976 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31294055081906114, + -0.03922620822721161, + 1.0298849281835976 + ], + "valid_pour_held_grasp_object_position": [ + 0.31793743530268015, + -0.027403476680051914, + 1.0298849281835976 + ], + "valid_pour_held_grasp_finger_gap": 0.025670670873885432, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02404956587077472, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04383367789313703, + -0.9985637467425553, + 0.030806693653012696 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005522116621093365, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038133530784556044, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31793743530268015, + -0.0510489397743713, + 1.0298849281835976 + ], + "held_grasp_finger_b": [ + 0.3079436663354421, + -0.027403476680051914, + 1.0298849281835976 + ], + "held_grasp_midpoint": [ + 0.31294055081906114, + -0.03922620822721161, + 1.0298849281835976 + ], + "held_grasp_object_position": [ + 0.31793743530268015, + -0.027403476680051914, + 1.0298849281835976 + ], + "held_grasp_finger_gap": 0.025670670873885432, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02404956587077472, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04383367789313703, + -0.9985637467425553, + 0.030806693653012696 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005522116621093365, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038133530784556044, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2699321915459348, + -0.11317180877523653, + 0.7611074010598519 + ], + "target_position": [ + 0.27098555905915683, + -0.11721656049169293, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004179665006395686, + "xy_threshold": 0.08, + "gripper_dist": 0.212901682130231, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074010598519, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527986451340368, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580599022407152, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18531283150783737, + "release_required_pad_clearance": 0.052902995112035764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8430158441779305, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67a44fbe8520d4b39e17374103a00b361204ce2c2e4088180e6ce6a22b858d6a", + "visual_seed": 2952996439514650358, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1883e096cedd8ed20d248d759618316d25ea7d94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_95_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2957291514276659, + -0.11873723612230706, + 1.0022409292893104 + ], + "current_z": 1.0022409292893104, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14113448087918912, + "gripper_z": 1.0038025230690815, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2919766199705286, + -0.12279433202714181, + 1.0038025230690815 + ], + "object_minus_gripper": [ + 0.0037525314571373314, + 0.0040570959048347455, + -0.0015615937797710533 + ], + "object_to_gripper_xy": 0.005526438230708101, + "object_to_gripper_z": -0.0015615937797710533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2957291514276659, + -0.142358398663672, + 1.0022409292893104 + ], + "finger_b": [ + 0.2853468506138088, + -0.11873723612230706, + 1.0022409292893104 + ], + "finger_midpoint": [ + 0.29053800102073735, + -0.13054781739298954, + 1.0022409292893104 + ], + "object_minus_finger_midpoint": [ + 0.00519115040692858, + 0.011810581270682477, + 0.0 + ], + "finger_gap": 0.025802160568351638, + "fingertip_max_gap": 0.09428632667188971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012901080284175836, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022409292893104, + "object_top_z": 1.0525380740341355, + "finger_top_clearance": 0.05029714474482505, + "fingertip_min_top_clearance": 0.015089143423447481, + "object_projection_between_fingers": 0.8380894796191483, + "object_to_finger_line_xy": 0.00950470850794844, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04964316333594486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3510323237311175, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31563938772742195, + 0.010527628331117407, + 0.7701463897966117 + ], + "gripper_position": [ + 0.31365539227550376, + -0.028593192674373352, + 1.0334241790547323 + ], + "target_minus_gripper": [ + 0.0019839954519181857, + 0.03912082100549076, + -0.2632777892581206 + ], + "held_position": [ + 0.31740925297911904, + -0.024586248245287236, + 1.031776511050046 + ], + "held_minus_target": [ + 0.0017698652516970892, + -0.03511387657640464, + 0.26163012125343443 + ], + "held_minus_gripper": [ + 0.003753860703615275, + 0.004006944429086116, + -0.001647668004686187 + ], + "xy_dist": 0.03917109743288895, + "held_xy_dist": 0.03515845205967042, + "held_gripper_dist": 0.005732528560207771, + "max_held_gripper_dist": 0.0058046889786748605, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.031776511050046, + "required_height": 0.8001463897966117, + "gripper_z": 1.0334241790547323, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.32110885733445, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8849407079727247, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.701236480057112, + "max_source_tilt_deg": 89.77661047113637, + "source_upright_tilt_deg": 4.081404644753246, + "max_source_upright_tilt_deg": 89.90744502508015, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.701236480057112, + "source_upright_return_tilt_deg": 4.081404644753246, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.494803190231323e-08, + "max_target_xy_drift": 1.518826941526088e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3156, + 0.0105, + 0.7701 + ], + "controller_target_position": [ + 0.3156, + 0.0105, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + 0.0011, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3156, + -0.0136, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -6.090946126122089e-05, + 0.0010867306823926556, + 0.0010467095335396316 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.08140578722019, + "source_return_step_error_deg": 2.7012324937125802, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.080668112084044, + "source_return_best_wrist_position": -1.608195185661316, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608195185661316 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3156, + 0.0105, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3156, + 0.0105, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + 0.0011, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3156, + -0.0136, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -6.090946126122089e-05, + 0.0010867306823926556, + 0.0010467095335396316 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.08140578722019, + "pour_controller_source_return_step_error_deg": 2.7012324937125802, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.080668112084044, + "pour_controller_source_return_best_wrist_position": -1.608195185661316, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608195185661316, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03917109743288895, + "valid_pour_held_xy_dist": 0.03515845205967042, + "valid_pour_held_gripper_dist": 0.005732528560207771, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.031776511050046, + "valid_pour_source_tilt_deg": 2.701236480057112, + "valid_pour_source_upright_tilt_deg": 4.081404644753246, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.494803190231323e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31740925297911904, + -0.047678725594734045, + 1.031776511050046 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3070634427139163, + -0.024586248245287236, + 1.031776511050046 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31223634784651766, + -0.03613248692001064, + 1.031776511050046 + ], + "valid_pour_held_grasp_object_position": [ + 0.31740925297911904, + -0.024586248245287236, + 1.031776511050046 + ], + "valid_pour_held_grasp_finger_gap": 0.025304116269458783, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02368423227606799, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06285817450311618, + -0.9974639437978504, + 0.03338458808154798 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059006987893981105, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03852845267908731, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31740925297911904, + -0.047678725594734045, + 1.031776511050046 + ], + "held_grasp_finger_b": [ + 0.3070634427139163, + -0.024586248245287236, + 1.031776511050046 + ], + "held_grasp_midpoint": [ + 0.31223634784651766, + -0.03613248692001064, + 1.031776511050046 + ], + "held_grasp_object_position": [ + 0.31740925297911904, + -0.024586248245287236, + 1.031776511050046 + ], + "held_grasp_finger_gap": 0.025304116269458783, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02368423227606799, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06285817450311618, + -0.9974639437978504, + 0.03338458808154798 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059006987893981105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03852845267908731, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27420274357821534, + -0.12069755997316325, + 0.7611065726745845 + ], + "target_position": [ + 0.27331505370540166, + -0.12177652134243808, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0013971939545687157, + "xy_threshold": 0.08, + "gripper_dist": 0.2158102769406981, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065726745845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549295965894208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505570240313039, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1868218099305518, + "release_required_pad_clearance": 0.052527851201565195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.12511402134598235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2d8f277d6f44d4d75a2f58db43c45173eb2aa56df34825b962f7b87a218998f", + "visual_seed": 6801019757667993553, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3d2bafd5860330453bb96c0fe16495b0672ffd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_96_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2938285818245157, + -0.10926352257846492, + 1.0032781170046967 + ], + "current_z": 1.0032781170046967, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1421717281992203, + "gripper_z": 1.0044346956882049, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29003924392251507, + -0.11343741083976343, + 1.0044346956882049 + ], + "object_minus_gripper": [ + 0.0037893379020006446, + 0.004173888261298511, + -0.0011565786835081582 + ], + "object_to_gripper_xy": 0.0056374129663653485, + "object_to_gripper_z": -0.0011565786835081582, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2938285818245157, + -0.13271013163107007, + 1.0032781170046967 + ], + "finger_b": [ + 0.28300389225681216, + -0.10926352257846492, + 1.0032781170046967 + ], + "finger_midpoint": [ + 0.28841623704066394, + -0.12098682710476749, + 1.0032781170046967 + ], + "object_minus_finger_midpoint": [ + 0.005412344783851775, + 0.011723304526302575, + 0.0 + ], + "finger_gap": 0.02582474356702997, + "fingertip_max_gap": 0.09421979112098308, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012912371783514984, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032781170046967, + "object_top_z": 1.053716484575515, + "finger_top_clearance": 0.05043836757081821, + "fingertip_min_top_clearance": 0.015131510271245445, + "object_projection_between_fingers": 0.8243052172610349, + "object_to_finger_line_xy": 0.009827871620525336, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04960989556049154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.890627683171187, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3171717337376301, + 0.011106799213819287, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3145274898647283, + -0.030717356043386282, + 1.0321112011512776 + ], + "target_minus_gripper": [ + 0.002644243872901797, + 0.04182415525720557, + -0.2619647517500212 + ], + "held_position": [ + 0.31840052056884305, + -0.0266592457603266, + 1.0308688819788645 + ], + "held_minus_target": [ + 0.001228786831212969, + -0.03776604497414589, + 0.2607224325776081 + ], + "held_minus_gripper": [ + 0.003873030704114766, + 0.0040581102830596835, + -0.001242319172413131 + ], + "xy_dist": 0.04190766026203581, + "held_xy_dist": 0.03778603009136806, + "held_gripper_dist": 0.00574560552340967, + "max_held_gripper_dist": 0.005779776986031222, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0308688819788645, + "required_height": 0.8001464494012565, + "gripper_z": 1.0321112011512776, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.69734299757543, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3004293323196845, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.463226036428712, + "max_source_tilt_deg": 89.90325929924936, + "source_upright_tilt_deg": 2.6007739474890132, + "max_source_upright_tilt_deg": 89.92719710323898, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.463226036428712, + "source_upright_return_tilt_deg": 2.6007739474890132, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 8.971687092477304e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3172, + 0.0111, + 0.7701 + ], + "controller_target_position": [ + 0.3172, + 0.0111, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0015, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3169, + -0.0156, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003181180083545532, + -0.0014795808149513975, + -0.0005768520046246417 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.600795544098595, + "source_return_step_error_deg": 2.463222278381518, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.597079381361157, + "source_return_best_wrist_position": -1.6052827835083008, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6052827835083008 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3172, + 0.0111, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3172, + 0.0111, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0015, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3169, + -0.0156, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003181180083545532, + -0.0014795808149513975, + -0.0005768520046246417 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.600795544098595, + "pour_controller_source_return_step_error_deg": 2.463222278381518, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.597079381361157, + "pour_controller_source_return_best_wrist_position": -1.6052827835083008, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6052827835083008, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04190766026203581, + "valid_pour_held_xy_dist": 0.03778603009136806, + "valid_pour_held_gripper_dist": 0.00574560552340967, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0308688819788645, + "valid_pour_source_tilt_deg": 2.463226036428712, + "valid_pour_source_upright_tilt_deg": 2.6007739474890132, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31840052056884305, + -0.050002491599212245, + 1.0308688819788645 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3081140494699106, + -0.0266592457603266, + 1.0308688819788645 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31325728501937683, + -0.038330868679769425, + 1.0308688819788645 + ], + "valid_pour_held_grasp_object_position": [ + 0.31840052056884305, + -0.0266592457603266, + 1.0308688819788645 + ], + "valid_pour_held_grasp_finger_gap": 0.02550918685422615, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023658363350796695, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032971644330792256, + -0.9989699652418571, + 0.031174977382616875 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005537065854937815, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03823023026118969, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31840052056884305, + -0.050002491599212245, + 1.0308688819788645 + ], + "held_grasp_finger_b": [ + 0.3081140494699106, + -0.0266592457603266, + 1.0308688819788645 + ], + "held_grasp_midpoint": [ + 0.31325728501937683, + -0.038330868679769425, + 1.0308688819788645 + ], + "held_grasp_object_position": [ + 0.31840052056884305, + -0.0266592457603266, + 1.0308688819788645 + ], + "held_grasp_finger_gap": 0.02550918685422615, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023658363350796695, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032971644330792256, + -0.9989699652418571, + 0.031174977382616875 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005537065854937815, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03823023026118969, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27429390298935524, + -0.12404227684521255, + 0.7611066375680913 + ], + "target_position": [ + 0.27123767707108887, + -0.113214366368016, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011250962721725898, + "xy_threshold": 0.08, + "gripper_dist": 0.2182462921613121, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066375680913, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753292753217589, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08924633696994981, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18699953072786082, + "release_required_pad_clearance": 0.05462316848497491, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.284942039769256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b2e3b0e923ea07bcc7aaa79f8baf5f1cd611be130bdfbda3ca6367faf061ecb", + "visual_seed": 7031455465638188472, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a64ca81250ba5cc0eea7e8879033cbe871c2fb9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_97_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.298330413476004, + -0.1192612918732355, + 1.0046503545481893 + ], + "current_z": 1.0046503545481893, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.143543965742713, + "gripper_z": 1.0060706358041467, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2946762581953253, + -0.12331213620585532, + 1.0060706358041467 + ], + "object_minus_gripper": [ + 0.0036541552806786948, + 0.0040508443326198185, + -0.0014202812559573896 + ], + "object_to_gripper_xy": 0.00545547345538681, + "object_to_gripper_z": -0.0014202812559573896, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.298330413476004, + -0.14270810809180282, + 1.0046503545481893 + ], + "finger_b": [ + 0.2878163036517597, + -0.1192612918732355, + 1.0046503545481893 + ], + "finger_midpoint": [ + 0.29307335856388184, + -0.13098469998251916, + 1.0046503545481893 + ], + "object_minus_finger_midpoint": [ + 0.005257054912122139, + 0.011723408109283656, + 0.0 + ], + "finger_gap": 0.02569629732439172, + "fingertip_max_gap": 0.09397194506300297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01284814866219586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0046503545481893, + "object_top_z": 1.054938576229118, + "finger_top_clearance": 0.05028822168092861, + "fingertip_min_top_clearance": 0.015086466504278567, + "object_projection_between_fingers": 0.8325813171879124, + "object_to_finger_line_xy": 0.009593693505284988, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049485972531501485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0476131125818107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31695104754034903, + 0.012538924670450462, + 0.7701463897966115 + ], + "gripper_position": [ + 0.31607539169762927, + -0.02636157572368203, + 1.0328817668268506 + ], + "target_minus_gripper": [ + 0.000875655842719758, + 0.038900500394132495, + -0.2627353770302391 + ], + "held_position": [ + 0.3197519551359142, + -0.022375718110331205, + 1.0313755409174172 + ], + "held_minus_target": [ + 0.002800907595565172, + -0.03491464278078167, + 0.2612291511208057 + ], + "held_minus_gripper": [ + 0.00367656343828493, + 0.003985857613350824, + -0.0015062259094333896 + ], + "xy_dist": 0.03891035471527845, + "held_xy_dist": 0.035026809216205865, + "held_gripper_dist": 0.005627867812936679, + "max_held_gripper_dist": 0.005686405021410241, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0313755409174172, + "required_height": 0.8001463897966116, + "gripper_z": 1.0328817668268506, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.63560491766769, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5265710589215438, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5847761902471706, + "max_source_tilt_deg": 89.84884507745458, + "source_upright_tilt_deg": 3.500549654087804, + "max_source_upright_tilt_deg": 89.89099824286434, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5847761902471706, + "source_upright_return_tilt_deg": 3.500549654087804, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.348388884063683e-08, + "max_target_xy_drift": 1.4435499906366445e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.317, + 0.0125, + 0.7701 + ], + "controller_target_position": [ + 0.317, + 0.0125, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0014, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3177, + -0.0112, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007751920013964217, + 0.0014130396030307946, + -0.0003678683830951161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5005432186580743, + "source_return_step_error_deg": 2.5847477513574266, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5000258220812515, + "source_return_best_wrist_position": -1.6076703071594238, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6076703071594238 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.317, + 0.0125, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.317, + 0.0125, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0014, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3177, + -0.0112, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007751920013964217, + 0.0014130396030307946, + -0.0003678683830951161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5005432186580743, + "pour_controller_source_return_step_error_deg": 2.5847477513574266, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5000258220812515, + "pour_controller_source_return_best_wrist_position": -1.6076703071594238, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6076703071594238, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03891035471527845, + "valid_pour_held_xy_dist": 0.035026809216205865, + "valid_pour_held_gripper_dist": 0.005627867812936679, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0313755409174172, + "valid_pour_source_tilt_deg": 2.5847761902471706, + "valid_pour_source_upright_tilt_deg": 3.500549654087804, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.348388884063683e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3197519551359142, + -0.04541603168151406, + 1.0313755409174172 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3094041920082174, + -0.022375718110331205, + 1.0313755409174172 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3145780735720658, + -0.033895874895922634, + 1.0313755409174172 + ], + "valid_pour_held_grasp_object_position": [ + 0.3197519551359142, + -0.022375718110331205, + 1.0313755409174172 + ], + "valid_pour_held_grasp_finger_gap": 0.025257320744793074, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023532725552897274, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.051740661257789713, + -0.9981342213542893, + 0.032418823761409254 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057748195048446214, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038489287400412436, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3197519551359142, + -0.04541603168151406, + 1.0313755409174172 + ], + "held_grasp_finger_b": [ + 0.3094041920082174, + -0.022375718110331205, + 1.0313755409174172 + ], + "held_grasp_midpoint": [ + 0.3145780735720658, + -0.033895874895922634, + 1.0313755409174172 + ], + "held_grasp_object_position": [ + 0.3197519551359142, + -0.022375718110331205, + 1.0313755409174172 + ], + "held_grasp_finger_gap": 0.025257320744793074, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023532725552897274, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.051740661257789713, + -0.9981342213542893, + 0.032418823761409254 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057748195048446214, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038489287400412436, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2783446215569465, + -0.12060472431711158, + 0.7611092323266565 + ], + "target_position": [ + 0.2759905904150842, + -0.12260923940189988, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003091851118990251, + "xy_threshold": 0.08, + "gripper_dist": 0.215809933759021, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611092323266565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573337871553484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08857111511518888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1866390283362279, + "release_required_pad_clearance": 0.05428555755759444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.584625071395681, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d993db859a2872dcc04879b6e5b7ceb910c42402d163df956dbcd3eaf957781", + "visual_seed": 570785023234513827, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc759578140d44964d6ccc72820e976ee0e3815 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_98_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29505159801187336, + -0.11442724025446965, + 1.0032357736762307 + ], + "current_z": 1.0032357736762307, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14212932526610944, + "gripper_z": 1.0043552657031678, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.291173628099785, + -0.11855919574307427, + 1.0043552657031678 + ], + "object_minus_gripper": [ + 0.003877969912088386, + 0.004131955488604622, + -0.0011194920269370634 + ], + "object_to_gripper_xy": 0.005666719227107751, + "object_to_gripper_z": -0.0011194920269370634, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29505159801187336, + -0.13812959532767388, + 1.0032357736762307 + ], + "finger_b": [ + 0.28452743427295674, + -0.11442724025446965, + 1.0032357736762307 + ], + "finger_midpoint": [ + 0.28978951614241505, + -0.12627841779107177, + 1.0032357736762307 + ], + "object_minus_finger_midpoint": [ + 0.005262081869458313, + 0.011851177536602114, + 0.0 + ], + "finger_gap": 0.025933755193179753, + "fingertip_max_gap": 0.09394612645879799, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012966877596589876, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032357736762307, + "object_top_z": 1.053596667829268, + "finger_top_clearance": 0.05036089415303735, + "fingertip_min_top_clearance": 0.015108268245911237, + "object_projection_between_fingers": 0.835318665018118, + "object_to_finger_line_xy": 0.009618640414017027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049473063229399, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7435942268169877, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.31395642077986635, + 0.01679012071960427, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31217983702235774, + -0.0232938776779517, + 1.0318547758420236 + ], + "target_minus_gripper": [ + 0.0017765837575086096, + 0.04008399839755597, + -0.2617083264407669 + ], + "held_position": [ + 0.31612937771043087, + -0.019267774357321476, + 1.030647245196897 + ], + "held_minus_target": [ + 0.002172956930564518, + -0.03605789507692575, + 0.26050079579564045 + ], + "held_minus_gripper": [ + 0.003949540688073128, + 0.004026103320630223, + -0.0012075306451264645 + ], + "xy_dist": 0.04012334952845678, + "held_xy_dist": 0.03612331019162938, + "held_gripper_dist": 0.00576771270557527, + "max_held_gripper_dist": 0.00579636541765783, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.030647245196897, + "required_height": 0.8001464494012567, + "gripper_z": 1.0318547758420236, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 124.03689102559188, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.190364769013256, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4747041657107762, + "max_source_tilt_deg": 89.65914035814471, + "source_upright_tilt_deg": 2.664822987335632, + "max_source_upright_tilt_deg": 89.8171762086631, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4747041657107762, + "source_upright_return_tilt_deg": 2.664822987335632, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.587935447692871e-08, + "max_target_xy_drift": 1.3224780559539795e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.314, + 0.0168, + 0.7701 + ], + "controller_target_position": [ + 0.314, + 0.0168, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0003, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3137, + -0.0081, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00028631409472911385, + 0.00027699358234944656, + -0.0018259025235835506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.664832070592627, + "source_return_step_error_deg": 2.4747183487347613, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.659182469316786, + "source_return_best_wrist_position": -1.6078662872314453, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6078662872314453 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.314, + 0.0168, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.314, + 0.0168, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0003, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3137, + -0.0081, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00028631409472911385, + 0.00027699358234944656, + -0.0018259025235835506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.664832070592627, + "pour_controller_source_return_step_error_deg": 2.4747183487347613, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.659182469316786, + "pour_controller_source_return_best_wrist_position": -1.6078662872314453, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6078662872314453, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.04012334952845678, + "valid_pour_held_xy_dist": 0.03612331019162938, + "valid_pour_held_gripper_dist": 0.00576771270557527, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.030647245196897, + "valid_pour_source_tilt_deg": 2.4747041657107762, + "valid_pour_source_upright_tilt_deg": 2.664822987335632, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.587935447692871e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31612937771043087, + -0.0427968046601148, + 1.030647245196897 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30607902836160383, + -0.019267774357321476, + 1.030647245196897 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3111042030360174, + -0.031032289508718135, + 1.030647245196897 + ], + "valid_pour_held_grasp_object_position": [ + 0.31612937771043087, + -0.019267774357321476, + 1.030647245196897 + ], + "valid_pour_held_grasp_finger_gap": 0.025585636381048535, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02383716887186389, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03319113200669455, + -0.998918616596081, + 0.03255681455372861 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005426225829280458, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038135248106113434, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31612937771043087, + -0.0427968046601148, + 1.030647245196897 + ], + "held_grasp_finger_b": [ + 0.30607902836160383, + -0.019267774357321476, + 1.030647245196897 + ], + "held_grasp_midpoint": [ + 0.3111042030360174, + -0.031032289508718135, + 1.030647245196897 + ], + "held_grasp_object_position": [ + 0.31612937771043087, + -0.019267774357321476, + 1.030647245196897 + ], + "held_grasp_finger_gap": 0.025585636381048535, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02383716887186389, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03319113200669455, + -0.998918616596081, + 0.03255681455372861 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005426225829280458, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038135248106113434, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2708068805935245, + -0.11732275083917865, + 0.7611064269117189 + ], + "target_position": [ + 0.27229870039965764, + -0.11890510876663345, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0021747144512671646, + "xy_threshold": 0.08, + "gripper_dist": 0.2135628156234705, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064269117189, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753570265478315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09227163051788444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18526297015988938, + "release_required_pad_clearance": 0.05613581525894222, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.541313844535751, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "113d754f00284dc050e5b2eae10cf8bde7f3dc9bf91ce14ea1a54a21bcef27bc", + "visual_seed": 2744893411491251942, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d78b1ab7a5deb51a24fdde25aceae6f944dd34fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30228646984289576, + -0.11598888045376639, + 1.0041204400238213 + ], + "current_z": 1.0041204400238213, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14301405121834498, + "gripper_z": 1.0051267334570062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2982902089628304, + -0.12015414844408297, + 1.0051267334570062 + ], + "object_minus_gripper": [ + 0.003996260880065328, + 0.004165267990316579, + -0.0010062934331849238 + ], + "object_to_gripper_xy": 0.0057723096289697086, + "object_to_gripper_z": -0.0010062934331849238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30228646984289576, + -0.1398320089428828, + 1.0041204400238213 + ], + "finger_b": [ + 0.29178183111746003, + -0.11598888045376639, + 1.0041204400238213 + ], + "finger_midpoint": [ + 0.2970341504801779, + -0.1279104446983246, + 1.0041204400238213 + ], + "object_minus_finger_midpoint": [ + 0.005252319362717861, + 0.011921564244558217, + 0.0 + ], + "finger_gap": 0.026054600570732972, + "fingertip_max_gap": 0.09348928135167997, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013027300285366491, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041204400238213, + "object_top_z": 1.054219452989222, + "finger_top_clearance": 0.05009901296540065, + "fingertip_min_top_clearance": 0.015029703889620227, + "object_projection_between_fingers": 0.8374475938884894, + "object_to_finger_line_xy": 0.009613022091141035, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924464067583999, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.895436365168147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.312863897443456, + 0.015733330367736595, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3125137934207098, + -0.023540352466887557, + 1.0336499235026269 + ], + "target_minus_gripper": [ + 0.00035010402274621155, + 0.03927368283462415, + -0.2635035337060152 + ], + "held_position": [ + 0.3165032519517902, + -0.019403812560337783, + 1.032561745914641 + ], + "held_minus_target": [ + 0.0036393545083341916, + -0.03513714292807438, + 0.26241535611802935 + ], + "held_minus_gripper": [ + 0.003989458531080403, + 0.004136539906549774, + -0.0010881775879858502 + ], + "xy_dist": 0.03927524329932782, + "held_xy_dist": 0.035325114499251936, + "held_gripper_dist": 0.005849006089301304, + "max_held_gripper_dist": 0.005862013118085306, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.032561745914641, + "required_height": 0.8001463897966117, + "gripper_z": 1.0336499235026269, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.0301894438237, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.406999061347974, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6342351858424893, + "max_source_tilt_deg": 89.68012551851527, + "source_upright_tilt_deg": 3.6998286509939526, + "max_source_upright_tilt_deg": 89.96351887191064, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6342351858424893, + "source_upright_return_tilt_deg": 3.6998286509939526, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.3374777936202467e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3129, + 0.0157, + 0.7701 + ], + "controller_target_position": [ + 0.3129, + 0.0157, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.001, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3131, + -0.0084, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027719065221214244, + 0.0010277489704160281, + 0.000940096469795728 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.699823340103833, + "source_return_step_error_deg": 2.6342128089050227, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6991313942610753, + "source_return_best_wrist_position": -1.6096380949020386, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096380949020386 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3129, + 0.0157, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3129, + 0.0157, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.001, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3131, + -0.0084, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027719065221214244, + 0.0010277489704160281, + 0.000940096469795728 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.699823340103833, + "pour_controller_source_return_step_error_deg": 2.6342128089050227, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6991313942610753, + "pour_controller_source_return_best_wrist_position": -1.6096380949020386, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096380949020386, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03927524329932782, + "valid_pour_held_xy_dist": 0.035325114499251936, + "valid_pour_held_gripper_dist": 0.005849006089301304, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.032561745914641, + "valid_pour_source_tilt_deg": 2.6342351858424893, + "valid_pour_source_upright_tilt_deg": 3.6998286509939526, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3165032519517902, + -0.0427352976360021, + 1.032561745914641 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30605252110076375, + -0.019403812560337783, + 1.032561745914641 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31127788652627697, + -0.03106955509816994, + 1.032561745914641 + ], + "valid_pour_held_grasp_object_position": [ + 0.3165032519517902, + -0.019403812560337783, + 1.032561745914641 + ], + "valid_pour_held_grasp_finger_gap": 0.02556513194091793, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02385479400707726, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.054726884238296566, + -0.99791582036381, + 0.03419040229643877 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00586919898849774, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836478900404615, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3165032519517902, + -0.0427352976360021, + 1.032561745914641 + ], + "held_grasp_finger_b": [ + 0.30605252110076375, + -0.019403812560337783, + 1.032561745914641 + ], + "held_grasp_midpoint": [ + 0.31127788652627697, + -0.03106955509816994, + 1.032561745914641 + ], + "held_grasp_object_position": [ + 0.3165032519517902, + -0.019403812560337783, + 1.032561745914641 + ], + "held_grasp_finger_gap": 0.02556513194091793, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02385479400707726, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.054726884238296566, + -0.99791582036381, + 0.03419040229643877 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00586919898849774, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836478900404615, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28349591563819787, + -0.12038725351385837, + 0.7611077217023478 + ], + "target_position": [ + 0.2793458603790757, + -0.1172864638168711, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00518052655612437, + "xy_threshold": 0.08, + "gripper_dist": 0.21809217059063468, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077217023478, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581334799562627, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08964508173625273, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18734756042399078, + "release_required_pad_clearance": 0.054822540868126365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6987075936031335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f0491e40e382c039a31c9cf797736cfbfa48417dd482b5dadff6fe99b38bc3b", + "visual_seed": 6265701488863219390, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..664f79919d67de816e82dccc7ee5d3eb618aaaf6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29546383792997283, + -0.11867937348141233, + 1.0016353156834934 + ], + "current_z": 1.0016353156834934, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14052880766872733, + "gripper_z": 1.0029192955803032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2914074143406653, + -0.12278933613785759, + 1.0029192955803032 + ], + "object_minus_gripper": [ + 0.004056423589307523, + 0.004109962656445254, + -0.0012839798968098393 + ], + "object_to_gripper_xy": 0.005774631189371755, + "object_to_gripper_z": -0.0012839798968098393, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29546383792997283, + -0.14274477550450684, + 1.0016353156834934 + ], + "finger_b": [ + 0.28526729394123224, + -0.11867937348141233, + 1.0016353156834934 + ], + "finger_midpoint": [ + 0.29036556593560253, + -0.13071207449295957, + 1.0016353156834934 + ], + "object_minus_finger_midpoint": [ + 0.005098271994370296, + 0.012032701011547242, + 0.0 + ], + "finger_gap": 0.02613643211778309, + "fingertip_max_gap": 0.09417752707125712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068216058891531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016353156834934, + "object_top_z": 1.0519671245568074, + "finger_top_clearance": 0.05033180887331401, + "fingertip_min_top_clearance": 0.015099542661994219, + "object_projection_between_fingers": 0.8478004421629042, + "object_to_finger_line_xy": 0.009388577952392056, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04958876353562856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9434880302241355, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.311867516399068, + 0.00798695985846974, + 0.7701464494012566 + ], + "gripper_position": [ + 0.31178206627249516, + -0.03052870426458952, + 1.0323240154303213 + ], + "target_minus_gripper": [ + 8.545012657285023e-05, + 0.03851566412305926, + -0.2621775660290646 + ], + "held_position": [ + 0.3158539193365115, + -0.02647414622412486, + 1.030956425466281 + ], + "held_minus_target": [ + 0.003986402937443512, + -0.0344611060825946, + 0.26080997606502443 + ], + "held_minus_gripper": [ + 0.004071853064016362, + 0.004054558040464659, + -0.0013675899640401834 + ], + "xy_dist": 0.03851575891196285, + "held_xy_dist": 0.03469091006035294, + "held_gripper_dist": 0.005906752964885147, + "max_held_gripper_dist": 0.0059504783956334, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.030956425466281, + "required_height": 0.8001464494012567, + "gripper_z": 1.0323240154303213, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 123.1715880200213, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3913787392606065, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.528344052008946, + "max_source_tilt_deg": 89.9138645883722, + "source_upright_tilt_deg": 3.5125858385480493, + "max_source_upright_tilt_deg": 89.95138055002367, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.528344052008946, + "source_upright_return_tilt_deg": 3.5125858385480493, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.4016709327697754e-08, + "max_target_xy_drift": 1.30385160446167e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3119, + 0.008, + 0.7701 + ], + "controller_target_position": [ + 0.3119, + 0.008, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0019, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3136, + -0.0153, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017517677243375422, + 0.001878751429066221, + -0.0003439738958590083 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5125962241619906, + "source_return_step_error_deg": 2.5283522452652685, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.509624335865702, + "source_return_best_wrist_position": -1.6084001064300537, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6084001064300537 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3119, + 0.008, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3119, + 0.008, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0019, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3136, + -0.0153, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017517677243375422, + 0.001878751429066221, + -0.0003439738958590083 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5125962241619906, + "pour_controller_source_return_step_error_deg": 2.5283522452652685, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.509624335865702, + "pour_controller_source_return_best_wrist_position": -1.6084001064300537, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6084001064300537, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03851575891196285, + "valid_pour_held_xy_dist": 0.03469091006035294, + "valid_pour_held_gripper_dist": 0.005906752964885147, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.030956425466281, + "valid_pour_source_tilt_deg": 2.528344052008946, + "valid_pour_source_upright_tilt_deg": 3.5125858385480493, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.4016709327697754e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3158539193365115, + -0.05010540308330608, + 1.030956425466281 + ], + "valid_pour_held_grasp_finger_b": [ + 0.30579707586936056, + -0.02647414622412486, + 1.030956425466281 + ], + "valid_pour_held_grasp_midpoint": [ + 0.31082549760293604, + -0.03828977465371547, + 1.030956425466281 + ], + "valid_pour_held_grasp_object_position": [ + 0.3158539193365115, + -0.02647414622412486, + 1.030956425466281 + ], + "valid_pour_held_grasp_finger_gap": 0.025682219554925084, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02410106021180091, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.051129130930271584, + -0.9981213731448115, + 0.03375702063024787 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056397813930725805, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038183917630571815, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3158539193365115, + -0.05010540308330608, + 1.030956425466281 + ], + "held_grasp_finger_b": [ + 0.30579707586936056, + -0.02647414622412486, + 1.030956425466281 + ], + "held_grasp_midpoint": [ + 0.31082549760293604, + -0.03828977465371547, + 1.030956425466281 + ], + "held_grasp_object_position": [ + 0.3158539193365115, + -0.02647414622412486, + 1.030956425466281 + ], + "held_grasp_finger_gap": 0.025682219554925084, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02410106021180091, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.051129130930271584, + -0.9981213731448115, + 0.03375702063024787 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056397813930725805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038183917630571815, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26532394295942213, + -0.1258597318833135, + 0.7611064511595638 + ], + "target_position": [ + 0.27240859787499355, + -0.12068682889264541, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008772186764062493, + "xy_threshold": 0.08, + "gripper_dist": 0.21169564801490134, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064511595638, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550497912906427, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08784953674241745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18222534503622412, + "release_required_pad_clearance": 0.05392476837120873, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.858605196136393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "26919a03815590a1c2803dcabab54be20154d814ffefe3a6e999723fbe6f32f6", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c9ea9283a494e3f6129dbb553a39f9853dbf27e25948a8a80d1039effe49a56", + "visual_seed": 6265991993410752058, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "d79cc3a162feb776adc5d03f300621c71e454520358ca4b904d15f669a36af6e" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4af44c02560f47b6718d20f5fae61309f354f4c6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00013/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00013", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c4b18025ecebcd8e7806e9bacecaa67611f2600 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11eb484fd31323cf1828dd2a334f356f0511e1e213fa771cd57f881014d34bd9 +size 5376090 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc104bbaedb185abfae3e90139bfe0587147b8ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b39ba17f28abe2f0860ee558b5f36e7361c18ae0f4c52387e25329ac2126dc8d +size 4807782 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d96aa408806e80d6d5ef2a4b42e09199725ae81 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89ba3f8f6919cdb1f4c308782a4bdc2b43465ddf9024d869354d1ebcab198bf6 +size 4491530 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71e1fbec6177a22aaf0d5fe634789a2414c1fb15 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd279a060e5481b0a5b0861cc1044653a0293d425e6e5901865c8b94d82fd20d +size 3541751 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4f96036ddafc9211daedaf488b5dfd624f65656 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616be618850cbcc3ebad3cb726b12c22cdb677593ea970b71a6b34340ac7abbe +size 4789202 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9557c7a6eef2bfd0991410f0f7531d0349e75bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ce68be7d918b2de92445d5761f85aced2d21c8eab42930f983e1bb5d283ceaf +size 4226521 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..570c65ca941e1514da61c9ec5ca4cf9c9cd78c0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c97a87cb618e92a96bcb6f406368cafa597bafbe7a88578983032e8d4dbebf0 +size 4484243 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..425eb70fdd51d9b4d72e061f9dfb3031935f2340 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fb9b8f46adec424a5bbe8b58f576dc356313b0903fa21ebbd953aa246b1f64e +size 4361809 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f118f4798d7a4eb0eae9802618b2dfa663a7052 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3e0302192c555c4d25743bd2496dab26027679d2d9248496f3731363436ebd3 +size 5799150 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6ce45e185a8523f8f4b2454a8603cf19322e6ad --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69066dd479572341c458ed7e44a70be5a53d168b868623073436fab67802f345 +size 5078524 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8d2d242583ee4bf861f01ed433fb334a74b593c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edc175c8efe74bf2b9b0a11bd91127e6eebe74f91bf8be6eeeada4b05423dd97 +size 4282522 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f7dd2c035b42a83f9428a3d981e43088fb06660e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99740ff65a3f841707958a826d4e124011d06fa94a4239b32acd57006e8013ca +size 4466616 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d4d7514232a99f3e161cc0b570fdd582f0c5cd6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f17389a390f08adf296ed81a383b529e1a65250d1d8c2ba1a5bd700cf4f7eb7 +size 4213638 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5d5bda2ee64a18bc30fc54be847b2d2f0cd3e6f2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c59f2f5ab6645dcac3b7b54d73a0d4e556a938e9c029f0d93e9b810cd6ec23c1 +size 4679774 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c882363daeda31e2f8e6eb5979150538a4890f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8efb080f0798e8eb7959edc72d4e8b6567115e7655891d4560bb3c2956449a30 +size 3895261 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43b227da4cc4081cdf5ccce0acd2b4b0b9e684ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:054389d52e4bde37aac346597c3c054f099691b6e963d1de972408839e627940 +size 4500587 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..baf04cf3898e9fe10c252d10ba2c36953272924e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0773d7311b6262194698d83a97887ba0a1f78164b874a64f62cfb25d663c876 +size 3668008 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a607af1748611f35c432de71d20a6a9aa9a4188 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7493fa49fa09800736555655637ad326303984406c5400918d6c04c1fa5ade8 +size 3755431 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15388f439f6e9b6f6c8a16e1d36b9ef37e67845a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15a0742311072aab93cb49473b08002da6898120dbc5ea1a286768802bfd805 +size 4602499 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8912c6ad9f3380277139d4938d2b5ab26024e769 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f8b6574de5fa55df93b7a820dd17355334ad88fb792ccf466084ee1b0971e15 +size 5113576 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b8d37e601aebac5e079758e6b2bcc053da5feb3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00b0328d3105e8206ebd636c5cdf239f97e3a91c0781e298810040cf75850395 +size 6500057 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a9535a39daa9b62aa769352d082e7c7bb60b3f6d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81ef4d10b0fe83dcced4235faa003041b635dab5a0c17e1fff21c5bd0a61eb32 +size 4540287 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf0818006a54cbabaefe2cf098abb25a5d34cedc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb70376bc449d5de4972010c6da38e85313fd582b1e582aeaa57a2ddc2a7379f +size 4215858 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed1b1600b2b08a6a845254567f781359cce00334 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b273e25afffd2e2fcf009ae23da97b2be2d0297bf0994a5042e6f057ec94023 +size 3429965 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9a12e3aec1e15ae9c3157dcb716b42dcdcffb3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecab981683cd1d15d5e0d6af53d5ecc19d4b6565a683211c81ab5826e2887a85 +size 3785857 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..928023b75defadae281668014b0eb92c86bda0d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a4d02bf42cb40c379dc12ed19c602958e5ab60395d21b548aa9601c3dba1bfa +size 4685225 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8301ffd05c9ddf9994a5e66a0ce7afa08aa532ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2d2cb704fcf27e58faeb498f54a8a283daf053841061f968fd45ee82a268c3a +size 3869514 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e026e3ec61f5d1a5c42342f890612454a3c9673e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48f658614e217fda47809f063d436d95560556ce8d7c0f8c909d713ebdd42288 +size 4574343 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37db3f3390b3e12a3b12dfc3b2ccfd4dc9f3df58 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:791e44a8dd7d8bdd2b6efcacc5f898f678e6fc4ef9c1ea272abc34f13a1be451 +size 6182440 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0b8fe7c465008368707797505c04d5a08bcb0c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0afc079ece52c3b360dceac886838ccc44ec0b30fb9430c098ed33e221318259 +size 4324610 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c73c540e85514ca37c650ed63c9eec8a6bf5fb3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff9c1351a3056085dcebe5f1f4e2348d18568e90b9b07f45f7cd3d800e262674 +size 4982519 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5bba66aa2a1ef5697e0c1b670be58f9a12037dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:508042a14622f275d02ba3d23f2043320f2f39bc7c279ec3f150b1dcff4d73d7 +size 4935365 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e826b58ccf3d6deab6c6a8dee38230a52bedea7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8828e365ffb1218a325ea18b98cb75df020c6d5eae3bc92295d7439c2dccba22 +size 3661746 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..14d563ecc0006b52d139435982aeb61a54d2aaaf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7843d34a3a8292a838392df811e152a080e35b8c74689d8fa3f3783a9e13d084 +size 5296371 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7f4507f6535197ef938f3335a997744946fcc57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bba49880a6f856dbc0cfb8f999b8ddf085af36651f98999d158dce22055fb628 +size 4838981 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c8a6db3dd3081aa591b900cde5e52422381d9df --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58c287504b68a67e6745892b55ff3fbf34b05c4a30089f359d84ec82343da759 +size 4298340 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87bf7fbded5c51486fd361d88c4d25bbdc33972b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84b93a624bc2e6d37effa8aad7ce801aa32ef21fa38ba5ca8de09c5bcdca59f0 +size 5843070 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75c3e06d3c1b3e385a51e95a83a41563c4e96f5a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58d171e457c1b6449d3d7db9bcfbe68a4e28361264aa750cb9a987276832161a +size 3790909 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cfce0b841a473d304a966f7e1e262d412d6a1ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d177c23ec66bf7840e38aebfc9a6ce75900ec790f113ec8b345b0e02dff67df +size 5017925 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38a564554ac87cc7635093c45ad697f8537a705b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fbdaea4022141b9cc28c54c37a017d49286a1fad1f22ba9caa7e13b6a5e1775 +size 5001863 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e004733909e51ea7cf3e5bb20a4bb96c6d108ead --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8a504eab299d73b849faf0721368f6a6ed674b94eae7ba48fd4e17303a7776d +size 4535554 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec1c98570472af25f91dcd44b846d9b888135ae4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85a7936b74530a4f149fea41ff1032bb792ec9b1261a07b76b2dfa8b8a42b6d5 +size 3526659 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c41f1f6f5180eaa720e57938f5a35146d48cab4e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79ad1ae3210d2568c81eaa59b2114565285dcb093a34496a15d380e6dc1ddc1a +size 4030204 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ddaaa36e1c3429185a08c9ff272dbc3813cd556a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e019cdcf1254e22c02605e12f80f2f1bc6afc437ce67cc0e383a6b3f56015ef +size 4828271 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fe5be0fb87b7aacb041f11549a49ab4c19745f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b78f418606ed6a84a6c0d1dc2b3f1a9c8bd268060cfd870a2741b53fa6b02b83 +size 4771913 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2cbda3e254449c39a9cf52733f8c1b45de1dec5d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aea6c894d15e8d0ead1b4eb4d29ac69ee0c04d5507cbdb1562752689db73c4a +size 3928592 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c959e4a7008c6ee1e19f14655452577c9eab732 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38eb29e00b0c31c8f2f386349e217f5627e44ceb9f4525a39ee5f7039e431c44 +size 4564402 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b87dc9fd80ce68282c65a70f3514f67a657cd44 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3db5cc6c191ad8da83240b2c5ee4e5d64d66671322bef5434dce5023855e530 +size 3886074 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c8393bdb2fa3a28b6936d25c4c19e80b06f0bdd1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb6e9c5de12614a0be8f66f397944f5540ffff037228bb1152237593a79bce70 +size 5990670 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed221af96890c5c8d6b29d15e8dfafbe63da0239 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:856cad15571047d7f87a9fa7754e03973877a061045140aaa08b184b221cd020 +size 4605872 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..979bc819f0d13b9636e33ddf0ec01a82aa2f9143 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb0e9fc2f34c2acbeea1a142c43ef8951d550248f26f6907d4e49dd258b9dd61 +size 4587062 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e407152e4bf537144e58b483aa58bc0968ab924 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92c52d9be9973a308d74605f4c180a7f590daa7a8961f208b90a074ccc24fd60 +size 4474665 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0faac4e6851c11398d1d9a28b64cfcfb72fa52dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a133fc407ff68aa8625189e60ed6251c39632415f6ab887daeed3038ccf076a +size 5084287 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f422f39ca241ddd85a95a673fcffce3cdc04dc2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47f6492dd7c15c43bceb17072e695e6654ccd2b88d79dd19dc8f640aebfb747b +size 4509597 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39ba3fe75127ccf6fbc1a7c0b60dc72fadcbf286 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb1e4781e99da4703338221b35aaf6dee4613e1f892ceac54b5960504d099d5d +size 4030063 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..434bebd31d420cbb6393380e0fc204fb00ab9494 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f10dd87e1f0bb2ce182b5423938fd6af63319668aa4a7b0fda44a2a577fcc0bc +size 4204751 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..338bee01db209c5ef3935f088578bd33a5fbc6f2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8e45f7c52f6a3d6b8d7a62cabc557f6bd4c9b6ce45dd4416bd2311f90a31f60 +size 4963618 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c66f414f11406a9c892867413d6f4fcdb674ebed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6bf63682bb07a401222ab0f865d55eac327c9896de2bf06f561063ae7949ff1 +size 4435924 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c04fccac1315a3e6b5dc4c911d411115d0517933 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58f35c6a600a27b273f7a21d0c8fcb9c58948c99164fae4d595a6508d118179a +size 4714265 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..08bdc2f0b925f953331cee928a825021f7fa684e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28bf489fc047229c01cfcb3f03e72ada9921b6fa36a7d53508cfdc5958307290 +size 4531679 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d98dbda5697b497e958ba62e9c294619cb5a853b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4cc3860b2493c6333611a8c6c670184f19243955262d0410f16f0fe0582c5c0 +size 4768996 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6235d7ae07f35af8e70780513303aff0fc30681a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2bbbd7a9d65bcb7dfc0fcfad3930e162a50cf2bf715be2a14d8652fc1bf1fc4 +size 4479194 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b7ca4ff84365304e785e98bf0d25d6da3d95f4e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6eaaca2c0ed5c90275b308cd17fbd192986546437dfeedc7bde9e7095d9c32a +size 5651319 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..afe02aa0a56dd4946115cb3f8439a3c83705dd44 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16387872eb1046fd051e0ff67d911fa5fd5845e5230d6a71a38851d7d372bcd8 +size 5558507 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a36f3e4e0b055d10b61f2d838314f69f32eb0614 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ab9f824c06e27da92cd0d95e7dea02877689f75525d0d6dc0207af6bc16b409 +size 4189355 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a959b4a243818dcd492af1f52a6cde948164cc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb58d1d798699411c828785a875d6dd2e36ef94eebb75a136adda295cf8cc39 +size 4121659 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7d328f1232c45e9222327c13a8a1214f216df51 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:904d898fe9c2c3b2863dd86da69ed81ff3aee0bb1ee15ea57d77b879f2bc88df +size 4229018 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c0b710e7d195ed6ae70a8b511dfd8cacfa126682 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e4f78f6bf71bf755951f61ec1d9cd142d033ea77c3b0ff3369c11fc291cbbda +size 4146689 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..286c24a9d0e82007eaf70fea595521f82020ddaa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c2f97093ff0e2f15fac8fc252aa4f308253b1875854c7e967648740e000d46 +size 5072149 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd1ee5c298359c5d6c84c5371ba00b33fa0c5d3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e6f5b235ebb53137a1ea12e7884f347357ec6627b1d531de0ec00b3d1571eb4 +size 5845887 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50fb489809d095f6656958a8731635b785631107 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e381aabacbae673b3495b3e5fccabd8121c378273fb4d663b94d33c042721a9 +size 4464520 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7bde54328b2f220c578d9854ab9dcd789dfd6f7a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0930fc9c476e55c854413db335908c1d5cd807872be2de7350714f273f85145d +size 4740737 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75e80855eaff7632bd3325e86f4608bdafe6c2f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a374790b6406630ff20194291b2a4bc94afcafe2b4a7afa5f8c9d5946b61dec9 +size 4991592 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4760654b87519ea4e200912b7ad99608cfbc4c33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:173622630a97443e7cfc8078aa4e8507b3074d53f9da91ff905e5a182aca6b44 +size 4446798 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e22ccc30746aed7ce561d4b35589f65acdc78587 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f165e97baec37423377c974d7a9ecbdfbf54f234ce7cad46c323702dfa50da16 +size 4822006 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca04293b4a5306f542eed4fa3758780a85b292c1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7df08081e4fdb836a23203eb03f85421b4b38bdc61384a3f52a5b14d4b107488 +size 4972694 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82d29efcea3d4255f972b01124217bc6e077b4ab --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e73c57ecf228d8c345908d168e1257d8cc15e6bdfcc0e77c0d3a933008219a22 +size 4965144 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7ed0f2d9b31cae342a3c60e250aabaeba21ea11 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4167a1528cbff5a6c07298a418f7f2e70cdf610e80cecd6baf169a0430780f4e +size 4178374 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0316e9c11b635359b93fcfaa519d53a5dccd241 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0015f314fad8bb3385fae2caf7e562cd990f08327133fbb5bc2267217209c34 +size 4886340 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7bfc81693f2eaf18a5d1485644f346c2deeaf9f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c780b20815c587d537443f35080d9bd6eaae685a75bf4741d90603567e92870e +size 5043993 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66263d23f5f266e1c3bb37b9d325149c24fe3ce8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b16458cc8f69cf262f3ff6ee08f2a9216ed9b1cf702a7ec18e7803f53a8a0564 +size 4301821 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..783ec74df75d8aab8103df2cad232eecc87c3d1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4f93ba3ff97e88a0921d1205948e69fe94a7b870fb2ce0cc50b67d8dcc04fb +size 5753023 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..993bf5025d4c536f8eb33db41d9851467d1e205f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cf3b243580f2149cc7f7be627cbc57b0717fd83633e9bdb4b89e6fc095ea156 +size 5459835 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..30cbd9db72da63fc93036596962e3371f9bd6250 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26af0398e1af295b6c4fb5316c5e74d1e83306dcf960db099151744d824fa520 +size 4172159 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34a824a0cacd4969dc4d6c9e272d67c753c24d32 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fafa8860ae9e54023373fb823e8dbdd09f33be85982543dd5e157d1978294ef3 +size 4899053 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa115f7de2b91563fd5482cbbdfa681cf7dc2a51 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:693ea646a8c6c694829c7c1a71e6561dc3ec12a8f23aaa6bd43e7968eba509a1 +size 5671985 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d6116a5f5fdfed7ed4ea75e72e330f3337e2df8f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8fa9f4fdff9541d8e97bd02f907f50c15399eaac1d16c9c986baf20d7040bdb +size 3977603 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2291c9e8b5470a4627ab09e70cfe59da74db6e0b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2691e49f9071d7d8a61381c42a7731bd45c076c84438ed908c7e16e6000f1f49 +size 4788153 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3db66c7da6c5b883431038fc65a55710f396f507 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eec4e8b1dccbb710648a4b335219260b5f17eec9c0001a2a8f5db3cb0871526 +size 4705379 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d29a9e4205a97ed20ce73425ac09f6ea562ae0b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cecce8c5ae82fdea7d87af88efe78507f7788dfccc5c34ffdb5ce4ed41eb93f +size 4951742 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15fde60a68caa83a635b5b042cd28c8f05622b3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d5d9c1b08ae9920fb579684c27e67501b8d0a9b1a0cec8e3aa39dfd566691f6 +size 4432163 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fc8860da6fb6499057a127e8e01ce603a686350 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01205a1df8be02a9e7f93a8f468570fc7f82e1e76de9b4080ab856a93097a9bd +size 4310460 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c71cc01c9e82f28353fec7a296bf50c972185c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bed4e8e5fd3683d09e7b501fffb5bacdef277591229f9ac3abba4ede3633d5bf +size 5119780 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff8a02be2773645b4cab16c2b4107eacf2003363 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40989c2c1efc6740c1ff1e17af3cc4dfbd7cef1c9a2e621f998ef63120749993 +size 5254544 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..091a75eafaecd8ae115da0b92a8fe63b61912d0e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1b32c3854e2e8503928a2e2d1389db9e63c0d1383b288073c0056fedc66128b +size 4797866 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a4b597c796bf4b6002df1fdbb775ca9fd916c95a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e36be937ad4a36aa85a5c22a6755c9a866cfc4376541022fbedfcb345ab84390 +size 4582936 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8266f85ce04a4466358a0ac82a24ebd57d91af28 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2a3b47dd8dc945d0cf793554cb5c19a14f96041be21f59de37b6a432b15779c +size 4240170 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d7dab8843e11fe7cdf1516732b25a3e16ef778b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db5b0427af1006ba3e76295a28f7d09dd5a0fd7d945b8dca5b706517e3a7f63 +size 4428776 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1bdba7e7725e49af01dca1c1df7eb8eabab7de86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8bb1044dd4432db2784d82703089850b770e9e298360db04f5bf31d17f32c52 +size 4341582 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..06542e3238b6478bac9783f308dcbb9727e48b0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b1ad09c39d19e95e70f77dd5b9eb6358f52364ecf7241398b4141eae10dc796 +size 4649403 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bb336a34ae7f1489c83c07cb645093b5cc36cc0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":791,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":809,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":808,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":809,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":809,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":809,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cc6a29a57909de0821ee58d907624966780a541 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T17:20:25","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.014794765975458923,1.3975785641535161,0.71338606911949],"aabb_xy":[[-0.04911104315007686,1.3475785641803384],[0.019521511199159014,1.4475785641266938]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.44957381492141574,-0.8887143589980628,0.71338606911949],"aabb_xy":[[-0.5295738135783017,-0.9032192179223257],[-0.3695738162645298,-0.8742095000738002]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[0.10469130594970077,-1.4600030333921483,0.71338606911949],"aabb_xy":[[0.09004790039566776,-1.4746617530489323],[0.11933471150373373,-1.4453443137353639]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.4954336746293011,-1.8915746218660767,0.71338606911949],"aabb_xy":[[0.49009609896329653,-1.916574622795217],[0.5007712502953057,-1.8665746209369374]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.29492101221082734,-2.3422335365316984,0.71338606911949],"aabb_xy":[[-0.3649210148474136,-2.3623384015275635],[-0.22492100957424094,-2.3221286715358325]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.4046355044330159,-1.3276107496554848,0.71338606911949],"aabb_xy":[[0.39735318805635206,-1.4176107532649933],[0.41191782080967937,-1.2376107460459753]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.4565137509102281,-1.6145230898998588,0.71338606911949],"aabb_xy":[[-0.4930095715375068,-1.6510070323266162],[-0.4200179302829493,-1.578039147473101]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.5641097044394476,0.15370392617501638,0.71338606911949],"aabb_xy":[[-0.5832220117974266,0.13456914729777436],[-0.5449973970814689,0.1728387050522584]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.31077719364813583,-2.2349677632309324,0.71338606911949],"aabb_xy":[[0.22705496814805337,-2.3249677667656283],[0.3944994191482183,-2.1449677596962364]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.6050859980009948,1.3547556652175579,0.71338606911949],"aabb_xy":[[-0.6226643001899417,1.3371811756434526],[-0.587507695812048,1.3723301547916626]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.6321032226821641,0.02766706652836115,0.71338606911949],"aabb_xy":[[-0.6733520337120787,-0.027332932983856303],[-0.5908544116522493,0.0826670660405786]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.3380643009086001,-2.1214975748903244,0.71338606911949],"aabb_xy":[[-0.36057799273205726,-2.191497575491332],[-0.3155506090851429,-2.051497574289317]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.326507257199148,0.7850188523422941,0.71338606911949],"aabb_xy":[[-0.41650725393475824,0.7318353890249996],[-0.23650726046353782,0.8382023156595886]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.5376402734200594,1.489530975126224,0.71338606911949],"aabb_xy":[[-0.5469872810023546,1.47522735290858],[-0.5282932658377641,1.503834597343868]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.20416939579495408,-1.4368326814165238,0.71338606911949],"aabb_xy":[[0.16916939444347232,-1.4571924173733446],[0.23916939714643579,-1.416472945459703]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.055460215304718896,-2.203548866315781,0.71338606911949],"aabb_xy":[[0.043891234557782335,-2.2285488664327127],[0.06702919605165548,-2.1785488661988492]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.5183176263460082,-0.49702653442764166,0.71338606911949],"aabb_xy":[[-0.5610843332254284,-0.5610265378494441],[-0.475550919466588,-0.4330265310058392]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.6234029003277858,-1.3407047056837282,0.71338606911949],"aabb_xy":[[-0.6590320562277455,-1.3763373724405812],[-0.587773744427826,-1.3050720389268753]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.16717520283471043,-0.692607659863494,0.71338606911949],"aabb_xy":[[0.10317520424813795,-0.7396146232630026],[0.23117520142128287,-0.6456006964639852]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.40960519776554327,-0.8766003278229475,0.71338606911949],"aabb_xy":[[0.37460519778904744,-0.8860649438705642],[0.4446051977420391,-0.867135711775331]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.09826822220773812,-2.314337770751149,0.71338606911949],"aabb_xy":[[-0.16226822549744624,-2.3576726897550664],[-0.03426821891803001,-2.271002851747231]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.20342247199033603,-0.7489274312481786,0.71338606911949],"aabb_xy":[[-0.24092247278233148,-0.7552952722063687],[-0.16592247119834058,-0.7425595902899885]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.4871941288607351,1.551150619956728,0.71338606911949],"aabb_xy":[[0.43219413065899026,1.5106286533302902],[0.5421941270624799,1.5916725865831653]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.20686704148068152,-1.920992146227216,0.71338606911949],"aabb_xy":[[-0.2193343995904172,-1.9334574708605394],[-0.1943996833709459,-1.9085268215938924]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.40835763418096893,0.5675182826020482,0.71338606911949],"aabb_xy":[[0.39779015452286987,0.5569732524890396],[0.4189251138390679,0.5780633127150567]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.3868751608239866,0.2670041356261317,0.71338606911949],"aabb_xy":[[-0.4668751618971069,0.25722608928874724],[-0.30687515975086627,0.2767821819635161]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.41423413546455107,1.485802805236689,0.71338606911949],"aabb_xy":[[-0.41835008557662373,1.4816872502038432],[-0.4101181853524784,1.4899183602695343]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.3621293177327296,1.2056898363967972,0.71338606911949],"aabb_xy":[[0.3276668397196418,1.1990261592138747],[0.3965917957458173,1.21235351357972]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[-0.5817942919606691,-2.184900111782084,0.71338606911949],"aabb_xy":[[-0.6517942940920984,-2.2076620774077793],[-0.5117942898292394,-2.1621381461563876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965481089449178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5922.png","name":"5922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7764.png","name":"7764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1495.png","name":"1495"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":748.3181066940731,"rotation_z_degrees":175.86960154474033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012220210527038592,0.011630736894460477,-0.005771181585374693]},{"name":"camera_2","offset_m":[0.002742078093070102,-0.010199275141803054,-0.001205679590659689]},{"name":"camera_3","offset_m":[-0.01979477741255583,-0.010187597522249873,0.00369494185507889]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.696554338833766e-06,0.00022398274156861962,0.0001450991894001003],"end_effector_yaw_offset_degrees":-0.9806996425944354},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001988512745871348,0.0008857113272981248,0.0018033821929215729],"end_effector_yaw_offset_degrees":-0.9472853263298997},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004973484656406214,-0.0013100281304593575,0.00032414065269819464],"end_effector_yaw_offset_degrees":-0.23372995405432606}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003864290953254643,-0.0034195749584453017],"position_m":[0.2769135709046745,-0.06941957495844531,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002182239933095513,-0.0013316075105574109],"position_m":[0.2553822399330955,0.2173683924894426,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008685955249630554,0.0038695256409085567],"position_m":[0.34273140447503697,0.051669525640908556,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012390951635141909,0.004181796994540987],"position_m":[0.1219390951635142,0.40358179699454094,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023252440109146687,-0.002877323032715862],"position_m":[0.21537475598908534,-0.4418773230327159,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"052083f0400e8a713e341d05aa1a57a57c902658119c7c3847c65514a6e5a886","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8817/tex_ceiling_textures_1495/tex_floor_textures_8377/tex_table_textures_5922/tex_wall_textures_7764","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":456469537941455340,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":456469537941455340,"visual_seed":456469537941455340,"scene_id":"lab_003","finished_at":"2026-09-03T17:22:57"} +{"episode_id":"ep_000001","started_at":"2026-09-03T17:23:02","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.3250942902268301,-2.2995744965709672,0.71338606911949],"aabb_xy":[[0.3142426839779545,-2.310433787298618],[0.3359458964757057,-2.2887152058433164]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.6713910990704592,-2.498598260978033,0.71338606911949],"aabb_xy":[[0.6363910991744403,-2.506972496489973],[0.706391098966478,-2.490224025466093]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.304954532745938,-0.9715428266527386,0.71338606911949],"aabb_xy":[[0.29771076669969265,-1.051542824856341],[0.3121982987921833,-0.8915428284491361]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.20059851706699883,1.3395143903595992,0.71338606911949],"aabb_xy":[[0.19238397195131482,1.3308378000619576],[0.20881306218268278,1.3481909806572403]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[0.30066784362577637,-1.1449861529365364,0.71338606911949],"aabb_xy":[[0.23566784098798294,-1.1964657516359833],[0.3656678462635699,-1.0935065542370894]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.08371215471068705,-0.8683949940434155,0.71338606911949],"aabb_xy":[[0.019712154450216245,-0.9134037933963435],[0.14771215497115786,-0.8233861946904875]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.1698346462993089,-0.9701524971107891,0.71338606911949],"aabb_xy":[[-0.23383464797730624,-1.018669888590103],[-0.10583464462131154,-0.9216351056314747]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.2423725125343404,1.1535468154865125,0.71338606911949],"aabb_xy":[[-0.30237251278574157,1.0992654904500478],[-0.18237251228293921,1.2078281405229772]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[0.17546688964181267,-2.208609274726867,0.71338606911949],"aabb_xy":[[0.15296689011810524,-2.2311052221774874],[0.19796688916552005,-2.186113327276246]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.15733777315308684,-1.4323592172551833,0.71338606911949],"aabb_xy":[[0.13542909101373576,-1.454259884075274],[0.17924645529243785,-1.4104585504350926]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.6054818310109615,0.29964136855011914,0.71338606911949],"aabb_xy":[[0.5414818324243891,0.25263440515061036],[0.669481829597534,0.3466483319496278]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.3008293573932059,-1.6779758363699613,0.71338606911949],"aabb_xy":[[-0.3160015266748392,-1.6931446932981646],[-0.28565718811157254,-1.662806979441758]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.022315702604775778,-0.4620619133800026,0.71338606911949],"aabb_xy":[[-0.03665012773093923,-0.4741221289345414],[-0.007981277478612322,-0.45000169782546373]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.46288454618903874,0.6699281337162386,0.71338606911949],"aabb_xy":[[0.3731974698809232,0.5799281334617881],[0.5525716224971542,0.7599281339706891]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.4939092482709544,-0.7250863269585925,0.71338606911949],"aabb_xy":[[0.48900995596439084,-0.7527632462611613],[0.49880854057751783,-0.6974094076560238]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.15709703624324456,1.0329431419684707,0.71338606911949],"aabb_xy":[[0.06709703764877459,1.0166925556550497],[0.24709703483771447,1.0491937282818917]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.30785305956570735,-1.9421354316365025,0.71338606911949],"aabb_xy":[[-0.3718530568680537,-1.986501858604359],[-0.2438530622633609,-1.8977690046686455]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.23045040008950624,-0.8183518239985592,0.71338606911949],"aabb_xy":[[0.22435577220138792,-0.826921218550228],[0.23654502797762456,-0.8097824294468906]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.5619520223047254,-1.1523906516499038,0.71338606911949],"aabb_xy":[[-0.5902817322532656,-1.156851393843621],[-0.5336223123561852,-1.1479299094561868]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.05306863679916063,-2.1959632002908074,0.71338606911949],"aabb_xy":[[-0.06651516343320396,-2.2094330519438987],[-0.03962211016511729,-2.182493348637716]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.4981100839827819,1.2074074319051804,0.71338606911949],"aabb_xy":[[-0.5621057813778785,1.1434074336044715],[-0.4341143865876853,1.2714074302058889]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.6668494909464486,-0.04328075384399899,0.71338606911949],"aabb_xy":[[0.6589262107077002,-0.06578075408200235],[0.6747727711851969,-0.020780753605995628]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.5570956322671758,1.2313119111928317,0.71338606911949],"aabb_xy":[[0.4670956355315655,1.178128447875537],[0.6470956290027859,1.284495374510126]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.48353445609114565,0.07921941338006278,0.71338606911949],"aabb_xy":[[-0.5485344561254484,0.032518736699735484],[-0.41853445605684286,0.12592009006039007]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.6839095611639685,-2.350297293616834,0.71338606911949],"aabb_xy":[[0.6672324251708729,-2.366997217590764],[0.7005866971570639,-2.3335973696429035]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.6338240832584368,0.1941861389440076,0.71338606911949],"aabb_xy":[[-0.6760084974192675,0.13018613866679643],[-0.591639669097606,0.2581861392212188]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[0.677207992003449,-1.349614925043679,0.71338606911949],"aabb_xy":[[0.6621056905424308,-1.3647164466747401],[0.692310293464467,-1.3345134034126167]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.133616838427277,0.8612528750152855,0.71338606911949],"aabb_xy":[[-0.1936168382738438,0.8044342528222468],[-0.07361683858071022,0.9180714972083241]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[0.5333222589266646,1.4799157144626105,0.71338606911949],"aabb_xy":[[0.48332225790752936,1.4434494987247826],[0.5833222599457999,1.5163819302004387]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[-0.5754008817070103,-1.8468176409437804,0.71338606911949],"aabb_xy":[[-0.5979008817171586,-1.8609138605833837],[-0.552900881696862,-1.8327214213041771]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974550648895542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4195.png","name":"4195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4195.png","name":"4195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4595.png","name":"4595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4467.png","name":"4467"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8863.png","name":"8863"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9265.png","name":"9265"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":583.5949078188108,"rotation_z_degrees":170.09624683201878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00018377079788252024,-0.006871363687573781,-0.016594651765779123]},{"name":"camera_2","offset_m":[0.010418963497265725,0.008422818432356278,0.01939022599523506]},{"name":"camera_3","offset_m":[0.0017067988097715994,0.01406793285825281,0.006867219387166244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003016690265422791,-0.0019422800712505467,-0.0005192035866363068],"end_effector_yaw_offset_degrees":0.16067346029402785},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010303436366772773,-0.0018650066198511524,-0.0003949787052330853],"end_effector_yaw_offset_degrees":-0.5425193734541378},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001414066053206887,0.00031937416747569074,0.0004349188109996323],"end_effector_yaw_offset_degrees":0.2890741136050303}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011902951908051352,0.0018587434816797676],"position_m":[0.27610970480919483,-0.06414125651832024,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[7.174333561215697e-05,-0.004319760524381503],"position_m":[0.25327174333561214,0.2143802394756185,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004121413119287411,0.00264971087306952],"position_m":[0.3394785868807126,0.05044971087306952,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010545515432579715,-0.003927594997682497],"position_m":[0.11964544845674203,0.3954724050023175,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002525407167220063,-0.004548591789468184],"position_m":[0.21517459283277995,-0.4435485917894682,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d93aa8c883b2b21924adfd208d8acd9630a61e4195a73f3810ec32e9812da18f","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4195/tex_ceiling_textures_9265/tex_floor_textures_8863/tex_table_textures_4595/tex_wall_textures_4467","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3730958404049347756,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3730958404049347756,"visual_seed":3730958404049347756,"scene_id":"lab_003","finished_at":"2026-09-03T17:25:59"} +{"episode_id":"ep_000002","started_at":"2026-09-03T17:26:01","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.0657710182293677,-1.36418743710449,0.71338606911949],"aabb_xy":[[0.035372907130224125,-1.3945943391061593],[0.0961691293285113,-1.3337805351028202]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.5887240746168487,1.366382165156042,0.71338606911949],"aabb_xy":[[-0.59368009480173,1.3438821649539205],[-0.5837680544319677,1.3888821653581638]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.20472622544995328,-1.8645948037847835,0.71338606911949],"aabb_xy":[[-0.22222622569500264,-1.8820945916243506],[-0.18722622520490387,-1.8470950159452169]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.1198692288653802,-1.5542210592105776,0.71338606911949],"aabb_xy":[[-0.12995093594395368,-1.634221057102692],[-0.10978752178680672,-1.4742210613184628]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.30470614917857475,0.5254454827524833,0.71338606911949],"aabb_xy":[[-0.3597016269992341,0.4704454813185762],[-0.2497106713579153,0.5804454841863901]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.15152276601761983,-2.1694489047590286,0.71338606911949],"aabb_xy":[[0.13546083855910218,-2.2544489065716204],[0.16758469347613747,-2.084448902946437]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.21080265026165912,-1.6544293350435877,0.71338606911949],"aabb_xy":[[0.19955759469104126,-1.6656711327676827],[0.22204770583227693,-1.6431875373194922]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.26098150488745037,-1.375421844349798,0.71338606911949],"aabb_xy":[[-0.26910919308076353,-1.3843354527605058],[-0.2528538166941371,-1.3665082359390908]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.0214547111299056,0.523922795307473,0.71338606911949],"aabb_xy":[[-0.034901237763948934,0.5104529436543818],[-0.008008184495862266,0.5373926469605642]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.6058795911260961,-1.7852184251774588,0.71338606911949],"aabb_xy":[[0.5558795916859004,-1.8351863496617749],[0.6558795905662916,-1.7352505006931422]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.21169841213889845,0.8513294275884862,0.71338606911949],"aabb_xy":[[-0.23419841214904674,0.8372332079488829],[-0.18919841212875016,0.8654256472280895]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.6210305567060534,0.6143669580438846,0.71338606911949],"aabb_xy":[[0.5310305581115835,0.5981163717304636],[0.7110305553005234,0.6306175443573057]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.39189101205383303,0.5785535324938045,0.71338606911949],"aabb_xy":[[0.3817379964996836,0.542483990921064],[0.40204402760798236,0.6146230740665447]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.13083648513297486,-0.24755076259116704,0.71338606911949],"aabb_xy":[[-0.1467209783983,-0.2619037028899911],[-0.1149519918676497,-0.23319782229234298]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.20017763211406547,1.7439916378586413,0.71338606911949],"aabb_xy":[[-0.21685476810716098,1.727291713884711],[-0.18350049612096997,1.7606915618325716]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.4061051382474786,-0.3828725031183775,0.71338606911949],"aabb_xy":[[-0.47010513850794944,-0.4278813024713055],[-0.3421051379870078,-0.3378637037654495]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.3963146240466957,-1.9517320581848505,0.71338606911949],"aabb_xy":[[0.379304526756645,-1.9678665466831244],[0.4133247213367463,-1.9355975696865766]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.4468954682114292,1.7955441163227426,0.71338606911949],"aabb_xy":[[-0.46510129187267696,1.784518715740751],[-0.4286896445501816,1.8065695169047342]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.11907786144343435,1.2608008577697603,0.71338606911949],"aabb_xy":[[-0.1740701120789453,1.2058008560264475],[-0.06408561080792341,1.315800859513073]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.5016562201705463,0.1814651629387205,0.71338606911949],"aabb_xy":[[0.44165622032397955,0.12464654074568182],[0.5616562200171131,0.23828378513175918]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.2208076259279776,0.16401762553239196,0.71338606911949],"aabb_xy":[[-0.2458076251999399,0.1476722619362296],[-0.19580762665601534,0.18036298912855428]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.39874113784240206,-0.1361435955818826,0.71338606911949],"aabb_xy":[[-0.4627411351280507,-0.17765031453472657],[-0.3347411405567534,-0.09463687662903864]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.3457632917271698,1.60637837314709,0.71338606911949],"aabb_xy":[[0.2957790560189926,1.5563783743335942],[0.3957475274353471,1.6563783719605853]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.19046041601114805,0.7670591265877689,0.71338606911949],"aabb_xy":[[-0.22796041611674098,0.7602369647347877],[-0.15296041590555506,0.77388128844075]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.11861093609134521,-0.7745139043585199,0.71338606911949],"aabb_xy":[[0.054610932872707366,-0.8212370162575282],[0.18261093930998307,-0.7277907924595115]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[-0.624107583221045,-0.22261753661443873,0.71338606911949],"aabb_xy":[[-0.6654121262847809,-0.2866175361825558],[-0.5828030401573089,-0.15861753704632164]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.10315707326583268,-1.352082272589381,0.71338606911949],"aabb_xy":[[-0.15815707288757852,-1.4070659653768538],[-0.048157073644086834,-1.2970985798019083]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.6176776334112327,0.626657144694875,0.71338606911949],"aabb_xy":[[-0.6415138510518379,0.5366571438863886],[-0.5938414157706278,0.7166571455033616]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[0.6821354094430574,0.9643072628942799,0.71338606911949],"aabb_xy":[[0.6630231020850784,0.9451724840170379],[0.7012477168010361,0.983442041771522]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[-0.361693384703947,-1.3258450125871548,0.71338606911949],"aabb_xy":[[-0.3689757010806105,-1.4158450161966636],[-0.3544110683272832,-1.2358450089776456]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_30","position":[-0.42560352250959893,-1.6099595689113109,0.71338606911949],"aabb_xy":[[-0.4631035230069571,-1.6139282524594292],[-0.38810352201224063,-1.6059908853631921]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[0.2743283205053296,1.2643358782018557,0.71338606911949],"aabb_xy":[[0.2591561512236963,1.2491670212736523],[0.28950048978696297,1.279504735130059]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_32","position":[0.6882215845789126,1.4043043209597168,0.71338606911949],"aabb_xy":[[0.6649397423807812,1.3193043196624885],[0.7115034267770439,1.4893043222569446]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_33","position":[0.5065476859041653,-1.2891840309346037,0.71338606911949],"aabb_xy":[[0.4977664587569292,-1.297963778223134],[0.5153289130514017,-1.2804042836460738]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_34","position":[0.26102552262074674,1.0483614157416747,0.71338606911949],"aabb_xy":[[0.25173190438359616,1.0108614172535408],[0.2703191408578973,1.0858614142298086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947215681062842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3652.png","name":"3652"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3652.png","name":"3652"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8440.png","name":"8440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3846.png","name":"3846"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":743.5923492889362,"rotation_z_degrees":136.32491682651914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013259188198271158,0.014500956398997535,0.006099951905830091]},{"name":"camera_2","offset_m":[0.0054716769209801515,0.0029491214539777294,0.007241729988124321]},{"name":"camera_3","offset_m":[-0.00389907478319456,0.009504428034448332,-0.0023758874974385766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017042220238687672,-0.0015886317539090071,0.0018891886225493263],"end_effector_yaw_offset_degrees":0.7812404109408362},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00039878333280521545,-0.0017080848236588543,-0.0019287695324960907],"end_effector_yaw_offset_degrees":-0.7989060025256927},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006269653971775506,0.000565276782133633,0.0017161210808403116],"end_effector_yaw_offset_degrees":0.5354314038398145}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012686776892758878,-0.0016242103951929032],"position_m":[0.2760313223107241,-0.06762421039519291,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004370571582282661,0.0013274823788044978],"position_m":[0.25757057158228264,0.2200274823788045,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004328037964532748,0.0016471500756468005],"position_m":[0.34792803796453275,0.049447150075646804,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00021978409200058488,0.0013529306742340128],"position_m":[0.12091978409200059,0.400752930674234,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00039485757886798326,0.003365017958064897],"position_m":[0.21809485757886798,-0.4356349820419351,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"abd14a54548d31c6c30ca469062d9df450f3744a1528881879b3f5e4549343aa","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3652/tex_ceiling_textures_3846/tex_floor_textures_4369/tex_table_textures_8440/tex_wall_textures_8201","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2729416532727161363,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2729416532727161363,"visual_seed":2729416532727161363,"scene_id":"lab_003","finished_at":"2026-09-03T17:29:06"} +{"episode_id":"ep_000003","started_at":"2026-09-03T17:29:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.003291965108484174,-1.316775804278803,0.71338606911949],"aabb_xy":[[-0.02170803444325431,-1.3269182881439376],[0.028291964660222657,-1.3066333204136682]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.1780578850369905,1.4297718781765147,0.71338606911949],"aabb_xy":[[-0.22414297629172197,1.3657718809239598],[-0.131972793782259,1.49377187542907]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.4738618593152509,1.21125578090016,0.71338606911949],"aabb_xy":[[-0.48349349553568044,1.2016184681204511],[-0.4642302230948212,1.220893093679869]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.2863027856584825,0.7931696861105637,0.71338606911949],"aabb_xy":[[-0.3014656586354196,0.7780042288154452],[-0.2711399126815454,0.8083351434056827]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.6648785587890966,-1.1711328097688298,0.71338606911949],"aabb_xy":[[-0.6824252537052156,-1.2086328113330813],[-0.6473318638729777,-1.1336328082045788]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.025736463987797942,-1.4218833140376148,0.71338606911949],"aabb_xy":[[0.00863438602942979,-1.4389901195688846],[0.0428385419461661,-1.404776508506345]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.4800576374721064,-0.2680336566517072,0.71338606911949],"aabb_xy":[[0.41005764106214454,-0.2884715923033888],[0.5500576338820681,-0.2475957210000254]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.34681472156113785,0.5677892614126208,0.71338606911949],"aabb_xy":[[-0.3836093546860441,0.5308833863160385],[-0.3100200884362316,0.604695136509203]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.28992864341516994,-1.5650539196141395,0.71338606911949],"aabb_xy":[[-0.3102129461385686,-1.5853365447568484],[-0.26964434069177107,-1.5447712944714307]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.11796301060962955,-2.2333167541078756,0.71338606911949],"aabb_xy":[[0.05396300869728722,-2.2892279033658864],[0.1819630125219719,-2.1774056048498656]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.1410857301362708,1.7890286081944313,0.71338606911949],"aabb_xy":[[0.10358573019250436,1.780735518159595],[0.17858573008003717,1.7973216982292681]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.5903284761998875,0.672165173058672,0.71338606911949],"aabb_xy":[[0.5830461598232236,0.5821651694491627],[0.5976107925765509,0.7621651766681807]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.35215151408945633,-1.3863288562563731,0.71338606911949],"aabb_xy":[[-0.43215151734729934,-1.4663253640483571],[-0.27215151083161343,-1.3063323484643892]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.5858684604138624,1.6656785352799592,0.71338606911949],"aabb_xy":[[0.5218684633017567,1.6166461654855486],[0.6498684575259681,1.7147109050743699]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.3114401408343739,0.7862220572437666,0.71338606911949],"aabb_xy":[[0.261461332324058,0.7362220572380478],[0.36141894934468977,0.8362220572494854]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.30510952167954986,-0.7752584181257451,0.71338606911949],"aabb_xy":[[-0.328945739320155,-0.8652584189342316],[-0.28127330403894485,-0.6852584173172586]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.4469513840424084,-0.4084723111466948,0.71338606911949],"aabb_xy":[[0.44149343840538835,-0.48847231445435385],[0.4524093296794285,-0.32847230783903564]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.7019250264908965,0.7306623313541696,0.71338606911949],"aabb_xy":[[0.6849149292008458,0.7145278428558957],[0.7189351237809471,0.7467968198524435]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.13701372010894242,1.2231547404108087,0.71338606911949],"aabb_xy":[[0.07301371805921042,1.1830602573215008],[0.2010137221586744,1.2632492235001167]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.5892901232232506,-0.714194875279591,0.71338606911949],"aabb_xy":[[0.5392908480548144,-0.7641948765555383],[0.6392893983916867,-0.664194874003644]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.29230039382773537,1.1460585543905966,0.71338606911949],"aabb_xy":[[-0.3373003952939643,1.101058697529116],[-0.24730039236150658,1.1910584112520772]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[0.47612173916814715,-1.8716710238909071,0.71338606911949],"aabb_xy":[[0.4696201026601426,-1.8814388459172173],[0.4826233756761518,-1.8619032018645978]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.5660906930281095,-1.1666478450325388,0.71338606911949],"aabb_xy":[[-0.5896758164920044,-1.2316478472779706],[-0.5425055695642147,-1.101647842787107]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.07359922405264685,1.0095842633580627,0.71338606911949],"aabb_xy":[[-0.006400778110115635,0.9296290797319189],[0.15359922621540933,1.0895394469842061]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[-0.17298705275431359,-2.5206789455172727,0.71338606911949],"aabb_xy":[[-0.23698275014941014,-2.584678943817981],[-0.10899135535921697,-2.4566789472165635]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.4230417786256842,0.3876442186210838,0.71338606911949],"aabb_xy":[[-0.4331947941798334,0.35157467704834344],[-0.41288876307153466,0.42371376019382406]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[-0.5875019180711436,-2.214895133302134,0.71338606911949],"aabb_xy":[[-0.6775019217480617,-2.2763275398792375],[-0.4975019143942253,-2.153462726725029]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.4803293125519001,-1.6411294854256098,0.71338606911949],"aabb_xy":[[-0.5353225238890369,-1.6961294857644038],[-0.4253361012147634,-1.5861294850868166]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.3603850771349484,0.9479892494007593,0.71338606911949],"aabb_xy":[[-0.4403850757918344,0.9334843904764967],[-0.2803850784780624,0.9624941083250222]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[-0.6016454841409532,1.7866655545368553,0.71338606911949],"aabb_xy":[[-0.6120570428214368,1.7813198212009569],[-0.5912339254604694,1.7920112878727537]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.021467392367173654,-1.587528949421281,0.71338606911949],"aabb_xy":[[0.005405464908656013,-1.6725289512338726],[0.0375293198256913,-1.502528947608689]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_31","position":[-0.486367503998499,1.6123177769888648,0.71338606911949],"aabb_xy":[[-0.503867503132866,1.6024381499512772],[-0.46886750486413176,1.6221974040264528]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_32","position":[-0.3026754684662454,-0.9829162675687844,0.71338606911949],"aabb_xy":[[-0.30611614470630255,-0.986777700543149],[-0.2992347922261882,-0.97905483459442]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_33","position":[0.5481343383659654,1.8235665317141945,0.71338606911949],"aabb_xy":[[0.5131343392360097,1.8178213106385301],[0.583134337495921,1.8293117527898584]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_34","position":[0.16427077910578192,-2.3671948987175355,0.71338606911949],"aabb_xy":[[0.13562144674536566,-2.395840457994611],[0.1929201114661981,-2.3385493394404593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6971426460127461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2848.png","name":"2848"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2848.png","name":"2848"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7905.png","name":"7905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3180.png","name":"3180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6128.png","name":"6128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":675.8154392714291,"rotation_z_degrees":59.1284234679208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00830428878551075,-0.009398303147777875,-0.004856815607497596]},{"name":"camera_2","offset_m":[0.017326349988646763,-0.012054362874042211,-0.015870468758703602]},{"name":"camera_3","offset_m":[0.004563236588703171,-0.0015909432317448985,-0.008539272142940929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013043944792647754,0.0014167347300815085,0.0006418656512720364],"end_effector_yaw_offset_degrees":0.05967915423498438},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001854733611238446,0.00015104407823021172,-0.001159904905038506],"end_effector_yaw_offset_degrees":-0.8770322241948745},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003914004751629746,0.0007715665126333164,-0.0011090923916423918],"end_effector_yaw_offset_degrees":0.2198001460168446}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001680206709592852,0.002087328125104754],"position_m":[0.27561979329040714,-0.06391267187489524,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035364258149433994,-0.0038011923635463862],"position_m":[0.24966357418505658,0.2148988076364536,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0032668827949045324,-0.004775733444907017],"position_m":[0.3468668827949046,0.043024266555092984,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037679700503927835,-0.0012116816299353851],"position_m":[0.12446797005039278,0.3981883183700646,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032140298605268054,0.003008654608187334],"position_m":[0.2209140298605268,-0.43599134539181267,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c616ef3b4cfb39b1bdaec97bd189926a0977322dd1862a70c610fe85f3fed521","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2848/tex_ceiling_textures_9982/tex_floor_textures_6128/tex_table_textures_7905/tex_wall_textures_3180","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3578445127661718341,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3578445127661718341,"visual_seed":3578445127661718341,"scene_id":"lab_003","finished_at":"2026-09-03T17:32:04"} +{"episode_id":"ep_000004","started_at":"2026-09-03T17:32:08","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.04150049937837608,0.7072883879317153,0.71338606911949],"aabb_xy":[[-0.09150049802429727,0.657368844272253],[0.008499499267545126,0.7572079315911777]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.004744002482722998,-2.2528008814728357,0.71338606911949],"aabb_xy":[[-0.029847080371322218,-2.317800881757867],[0.03933508533676821,-2.1878008811878047]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.14999557928455487,0.11039948652362375,0.71338606911949],"aabb_xy":[[-0.16014859483870422,0.07432994495088338],[-0.13984256373040546,0.14646902809636403]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.39297530330958286,-0.9795120323523463,0.71338606911949],"aabb_xy":[[0.34297530202574283,-1.0294908867429682],[0.44297530459342277,-0.9295331779617241]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.13758609464172433,1.4973505243434082,0.71338606911949],"aabb_xy":[[-0.18286470952287356,1.4333505249952245],[-0.09230747976057505,1.5613505236915919]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.35985110651322216,-1.5598039403225497,0.71338606911949],"aabb_xy":[[0.3223511058486434,-1.5754909983227716],[0.3973511071778008,-1.5441168823223272]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.4117961689199166,-2.2332599771620134,0.71338606911949],"aabb_xy":[[-0.4205982242288893,-2.241071303316942],[-0.4029941136109439,-2.225448651007084]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.4682276030053725,0.18448177958339196,0.71338606911949],"aabb_xy":[[-0.5322276033829061,0.13473651273257967],[-0.4042276026278388,0.2342270464342042]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.35755436378713323,-2.0579261312951247,0.71338606911949],"aabb_xy":[[-0.39434899691203945,-2.094832006391707],[-0.3207597306622269,-2.0210202561985424]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.5235499266027575,-0.9960004808670355,0.71338606911949],"aabb_xy":[[-0.573522992135273,-1.0460004806795686],[-0.4735768610702421,-0.9460004810545029]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.5521029640523683,-1.6175421126867273,0.71338606911949],"aabb_xy":[[0.5426854894825056,-1.6269582898244461],[0.5615204386222311,-1.608125935549008]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.30484850076790704,1.180565252200278,0.71338606911949],"aabb_xy":[[0.24484849912498519,1.128565102908334],[0.3648485024108289,1.2325654014922223]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.7012882886048788,1.2871352611445728,0.71338606911949],"aabb_xy":[[0.6963889962983152,1.2594583418420036],[0.7061875809114422,1.314812180447141]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.4886725271450645,0.10233441120236808,0.71338606911949],"aabb_xy":[[0.42467252644159525,0.05631602872944709],[0.5526725278485339,0.1483527936752891]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.6256530289774362,-2.493987773317451,0.71338606911949],"aabb_xy":[[0.6074472053161886,-2.5050131738994432],[0.6438588526386839,-2.48296237273546]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.2381361122817578,-0.14493963345229322,0.71338606911949],"aabb_xy":[[-0.3031361132822583,-0.19572599860696815],[-0.17313611128125728,-0.09415326829761828]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.13193291547289054,-0.9951503006885094,0.71338606911949],"aabb_xy":[[-0.15382266306183134,-1.0851502979777585],[-0.11004316788394976,-0.9051503033992604]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.2688212751513851,-0.6031685283881212,0.71338606911949],"aabb_xy":[[0.1988212725147987,-0.6232733933839867],[0.3388212777879714,-0.5830636633922557]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.17553841712811813,1.0024479343589108,0.71338606911949],"aabb_xy":[[-0.1980384166518255,0.9799519869082897],[-0.1530384176044107,1.024943881809531]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.41083774212960256,1.3009879520491912,0.71338606911949],"aabb_xy":[[-0.46083774249016857,1.2510079648395882],[-0.36083774176903644,1.350967939258794]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.4092574926485893,0.7309798751220851,0.71338606911949],"aabb_xy":[[-0.4592349095138429,0.6809798736328365],[-0.3592800757833357,0.7809798766113336]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.43371038918364047,1.327562696383486,0.71338606911949],"aabb_xy":[[0.411210389369738,1.3230880800130052],[0.4562103889975428,1.3320373127539666]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.5843099378582264,0.5017954489653067,0.71338606911949],"aabb_xy":[[-0.6341267173230611,0.45179545048100334],[-0.5344931583933916,0.5517954474496101]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.36973291738433467,-2.1521439955618145,0.71338606911949],"aabb_xy":[[0.3617389288066313,-2.160144075656904],[0.37772690596203806,-2.144143915466724]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.26674057061286927,-1.2078940754215295,0.71338606911949],"aabb_xy":[[0.17674057119449832,-1.241269572265719],[0.3567405700312401,-1.1745185785773395]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.24407912378175983,-1.5876715287042937,0.71338606911949],"aabb_xy":[[-0.324079120744799,-1.6647471703480672],[-0.16407912681872067,-1.5105958870605203]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.576058746573584,0.5901880689663779,0.71338606911949],"aabb_xy":[[0.5593816105804885,0.5734881449924476],[0.5927358825666795,0.6068879929403082]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.37586201331919644,0.843318528317329,0.71338606911949],"aabb_xy":[[-0.41336201189481725,0.8305822326537711],[-0.33836201474357563,0.856054823980887]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[-0.27299520769555297,1.5230846444961768,0.71338606911949],"aabb_xy":[[-0.3229944828639892,1.4730846432202294],[-0.22299593252711686,1.5730846457721237]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[-0.038367059718437235,0.915699206663005,0.71338606911949],"aabb_xy":[[-0.060867060230477825,0.8932073482976065],[-0.015867059206396632,0.9381910650284032]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[-0.5185936409807029,-2.311617482266766,0.71338606911949],"aabb_xy":[[-0.5490778911077331,-2.361617482048262],[-0.4881093908536728,-2.26161748248527]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[-0.2717525025932439,0.653716236123489,0.71338606911949],"aabb_xy":[[-0.3021506136923875,0.6233093341218193],[-0.24135439149410035,0.6841231381251583]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.09444163786418636,0.997965736160698,0.71338606911949],"aabb_xy":[[0.03944163868759687,0.9429760613857403],[0.14944163704077584,1.0529554109356556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957132046050121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9753.png","name":"9753"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9753.png","name":"9753"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/500.png","name":"500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5395.png","name":"5395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2684.png","name":"2684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":605.5897758051706,"rotation_z_degrees":46.42783542026652,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014329956205500344,-0.01899314838155509,0.017196768226107783]},{"name":"camera_2","offset_m":[0.0034702170491050753,-0.0007172532311450971,-0.01361735200612579]},{"name":"camera_3","offset_m":[0.003172635882901193,0.0032740810405253104,0.006958651878781717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014489677335827863,-0.0019505878010348642,0.0008527564606813699],"end_effector_yaw_offset_degrees":-0.09778651782198167},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007580886206261157,0.0012936059848335387,-0.0008045891860163801],"end_effector_yaw_offset_degrees":-0.9686210052031439},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007072945573132383,0.0014608552994321913,-0.00045868160138159324],"end_effector_yaw_offset_degrees":-0.9356765366220439}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015344810155734478,-0.0002700861453999899],"position_m":[0.2757655189844265,-0.06627008614539999,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034737792572695327,-0.00046397012659638286],"position_m":[0.25667377925726953,0.21823602987340363,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003701000470856271,-0.004901701161770338],"position_m":[0.34730100047085627,0.04289829883822967,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009457419284048373,0.0043764380787632015],"position_m":[0.11975425807159516,0.4037764380787632,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004199443258455036,0.0007788065154551195],"position_m":[0.2172800556741545,-0.43822119348454486,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"71092869f5b801d71d476444bb4396bc7cf10824951f96c1aaf0a7a32e0ef47d","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9753/tex_ceiling_textures_4229/tex_floor_textures_2684/tex_table_textures_500/tex_wall_textures_5395","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8450210129354150964,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8450210129354150964,"visual_seed":8450210129354150964,"scene_id":"lab_003","finished_at":"2026-09-03T17:34:49"} +{"episode_id":"ep_000005","started_at":"2026-09-03T17:38:26","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.6148945395800526,-1.4174382718059302,0.71338606911949],"aabb_xy":[[-0.6221557871504599,-1.4302252820694397],[-0.6076332920096452,-1.4046512615424207]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.3144417887500488,-1.174290928084175,0.71338606911949],"aabb_xy":[[0.29532948139207,-1.1934257069614171],[0.3335540961080277,-1.155156149206933]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.5737878075405273,-1.1760639408345934,0.71338606911949],"aabb_xy":[[-0.6287832853611866,-1.2310639422685001],[-0.5187923297198678,-1.1210639394006863]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.5904931176460599,-2.099279794075479,0.71338606911949],"aabb_xy":[[0.56527228078622,-2.124503544928365],[0.6157139545058994,-2.074056043222592]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.3345739715517799,0.63978369044389,0.71338606911949],"aabb_xy":[[0.3178968355586844,0.6230837664699598],[0.35125110754487543,0.6564836144178203]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.6064648145028839,0.22117074284236216,0.71338606911949],"aabb_xy":[[0.5889648152247969,0.20383264277601618],[0.6239648137809707,0.23850884290870808]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.23163343754443178,1.7545913456155753,0.71338606911949],"aabb_xy":[[0.16163343415286976,1.7192755719121442],[0.3016334409359937,1.789907119319006]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.3620700021911033,1.1166717635531884,0.71338606911949],"aabb_xy":[[-0.4420700001718884,1.1090702225913363],[-0.2820700042103183,1.1242733045150402]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.5223270199342316,1.620834596305516,0.71338606911949],"aabb_xy":[[0.4990451777361003,1.535834595008288],[0.5456088621323629,1.705834597602744]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.20887056766305506,1.2430872389022567,0.71338606911949],"aabb_xy":[[-0.2587532645407513,1.1930872396559822],[-0.1589878707853589,1.2930872381485317]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[0.3807154692986563,0.8639020810160813,0.71338606911949],"aabb_xy":[[0.3630398387100579,0.8462218647366785],[0.3983910998872546,0.881582297295484]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.3502136550654603,-1.2615685075691627,0.71338606911949],"aabb_xy":[[-0.40784412395273106,-1.3215685064958733],[-0.2925831861781894,-1.2015685086424521]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.05720965152463886,-1.830251210706059,0.71338606911949],"aabb_xy":[[0.007209650574106052,-1.86180035770958],[0.10720965247517167,-1.7987020637025373]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.5918772109484987,-1.7108240832899415,0.71338606911949],"aabb_xy":[[-0.6079391384070162,-1.7958240851025333],[-0.5758152834899809,-1.6258240814773497]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.10057022836336904,1.4781863141081275,0.71338606911949],"aabb_xy":[[0.09352991842983206,1.3981863147084563],[0.10761053829690606,1.5581863135077993]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.37331419086865303,-1.713080356068644,0.71338606911949],"aabb_xy":[[0.30931418765001517,-1.7598034679676524],[0.4373141940872909,-1.6663572441696357]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.1564241887482265,1.0698813998370134,0.71338606911949],"aabb_xy":[[0.11125287090005753,1.0058814026924752],[0.2015955065963955,1.133881396981552]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.5899278821419096,-2.354081774373228,0.71338606911949],"aabb_xy":[[0.580634263904759,-2.391581772861362],[0.5992215003790602,-2.316581775885094]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.15046685173295316,-2.5618031673237813,0.71338606911949],"aabb_xy":[[0.12796685122091256,-2.5842950256891792],[0.17296685224499375,-2.5393113089583825]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.02722448169278746,-1.428881257216293,0.71338606911949],"aabb_xy":[[-0.022752935172466123,-1.4788812587055415],[0.07720189855804103,-1.3788812557270445]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.2834927425193524,-0.519118918264053,0.71338606911949],"aabb_xy":[[-0.3734927419377233,-0.5524944151082426],[-0.19349274310098152,-0.48574342141986315]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.32866691977502493,-2.10498160663152,0.71338606911949],"aabb_xy":[[0.23866691609810664,-2.166414013208624],[0.41866692345194295,-2.0435492000544153]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.2265698208424568,-1.7220091671423847,0.71338606911949],"aabb_xy":[[0.18438540668162606,-1.7860091674195964],[0.26875423500328754,-1.658009166865174]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.4365017186963946,-1.9946118040923477,0.71338606911949],"aabb_xy":[[-0.44452798932702065,-2.0033632990697003],[-0.42847544806576865,-1.9858603091149951]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.06586075659246149,1.3022428450115093,0.71338606911949],"aabb_xy":[[-0.0746628119014342,1.29443151885658],[-0.057058701283488784,1.3100541711664382]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.3882554644757005,1.2652190506886192,0.71338606911949],"aabb_xy":[[-0.4056861795547069,1.2479469360247681],[-0.3708247493966939,1.2824911653524698]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.6205123978796487,-1.2117246888772413,0.71338606911949],"aabb_xy":[[0.6165985246842262,-1.220473704283798],[0.6244262710750711,-1.2029756734706845]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912849115591851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1934.png","name":"1934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1084.png","name":"1084"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":788.4267445003624,"rotation_z_degrees":14.439315600695686,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005187129082236978,0.013632201909238983,-0.012598064428316222]},{"name":"camera_2","offset_m":[0.00641814803058138,-0.01960122536459561,0.012737374187490196]},{"name":"camera_3","offset_m":[0.014395137858062953,0.010802009630907796,0.017967789170458947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013175809923220193,-0.0006740458023400419,0.0011737043889942767],"end_effector_yaw_offset_degrees":-0.24807693769578876},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008221860907709874,-0.00045118122340173194,-2.599950899580131e-05],"end_effector_yaw_offset_degrees":0.5090482698130467},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001076363947950179,-0.0009648804327937644,-0.00020501661633129582],"end_effector_yaw_offset_degrees":0.7205114257546064}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004710781956073489,-0.004809266304878297],"position_m":[0.2820107819560735,-0.0708092663048783,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011555175951500577,0.004861528526856343],"position_m":[0.25435551759515,0.22356152852685635,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004577574182649029,-0.00420056003515727],"position_m":[0.339022425817351,0.04359943996484273,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016749890982632291,-0.0006933217881639111],"position_m":[0.12237498909826323,0.3987066782118361,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003042565515158798,0.004577165079035787],"position_m":[0.2146574344848412,-0.43442283492096423,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b11c696a4f23106a42ce50d2f01fb0e300e5b9e6e424f3ed1f87bac069e9541","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_4568/tex_floor_textures_8714/tex_table_textures_1934/tex_wall_textures_1084","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2088680427697299062,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2088680427697299062,"visual_seed":2088680427697299062,"scene_id":"lab_003","finished_at":"2026-09-03T17:41:21"} +{"episode_id":"ep_000006","started_at":"2026-09-03T17:41:24","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.03161262965891953,0.3648003572015224,0.71338606911949],"aabb_xy":[[-0.056612629591437424,0.3579176889805991],[-0.006612629726401642,0.37168302542244575]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.5936103302174943,-0.8535588018155302,0.71338606911949],"aabb_xy":[[-0.6346282736038652,-0.9035588024464875],[-0.5525923868311234,-0.8035588011845728]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.6659279735410071,-2.02251410000722,0.71338606911949],"aabb_xy":[[0.6605903978750026,-2.0475141009363598],[0.6712655492070118,-1.9975140990780802]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.2039517131926275,-2.4015022081950743,0.71338606911949],"aabb_xy":[[-0.20998872619329226,-2.4075289092640224],[-0.1979147001919628,-2.3954755071261262]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.4209753973797257,-0.23307925061746237,0.71338606911949],"aabb_xy":[[-0.5106624736878411,-0.3230792508719129],[-0.33128832107161027,-0.1430792503630118]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.20375699891533994,-2.4822856860014233,0.71338606911949],"aabb_xy":[[0.14375699831932376,-2.537098158546647],[0.2637569995113561,-2.4274732134562003]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.22449349794347934,-0.4040216771979024,0.71338606911949],"aabb_xy":[[-0.2474092108285293,-0.42692597433432594],[-0.2015777850584295,-0.38111738006147894]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.20967037055467985,1.0188655373952908,0.71338606911949],"aabb_xy":[[-0.2240047956808433,1.006805321840752],[-0.1953359454285164,1.0309257529498297]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.4250097353141442,-1.4529288942056564,0.71338606911949],"aabb_xy":[[-0.44255643023026314,-1.4904288957699077],[-0.4074630403980253,-1.4154288926414051]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.6421967533140445,0.5500490602009576,0.71338606911949],"aabb_xy":[[0.6008922102503085,0.48604906063284037],[0.6835012963777805,0.6140490597690745]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.3926166395450918,1.1429280835559612,0.71338606911949],"aabb_xy":[[-0.45261663979649297,1.0886467585194965],[-0.3326166392936906,1.1972094085924259]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.6128309884257654,-2.52197814043963,0.71338606911949],"aabb_xy":[[-0.6627136853034616,-2.5719781396859047],[-0.5629482915480692,-2.4719781411933552]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.18325212604178798,-1.3404184928267409,0.71338606911949],"aabb_xy":[[0.17064942690471152,-1.3530138890516064],[0.19585482517886443,-1.3278230966018754]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.6046601282172126,0.8038565024546678,0.71338606911949],"aabb_xy":[[0.5446601283706458,0.7470378802616291],[0.6646601280637794,0.8606751246477065]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.5082208493997024,-0.6313626686166554,0.71338606911949],"aabb_xy":[[-0.5457208509153341,-0.6425894416328004],[-0.47072084788407065,-0.6201358956005103]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.21595824224249655,-1.7343678740841963,0.71338606911949],"aabb_xy":[[-0.22400160216845172,-1.8193678751795626],[-0.20791488231654137,-1.6493678729888297]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.13455027267027964,-1.255181595754506,0.71338606911949],"aabb_xy":[[0.11705027241094304,-1.269273137943279],[0.1520502729296163,-1.2410900535657337]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.3823675199328837,0.3416879256672809,0.71338606911949],"aabb_xy":[[-0.4042762020722347,0.3197872588471901],[-0.3604588377935326,0.3635885924873716]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.21062989099457918,0.6930650262659581,0.71338606911949],"aabb_xy":[[0.1456298931129314,0.6419413625594173],[0.27562988887622697,0.744188689972499]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.21475987068363894,-0.7321363734550534,0.71338606911949],"aabb_xy":[[-0.22356192599261163,-0.7399476996099825],[-0.2059578153746662,-0.7243250473001244]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.4622603287318141,1.2055070378976982,0.71338606911949],"aabb_xy":[[0.4510152731611963,1.194265240173603],[0.47350538430243194,1.2167488356217935]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.2950966318074289,-0.8545806204928736,0.71338606911949],"aabb_xy":[[-0.38509662854303905,-0.9077640838101682],[-0.20509663507181863,-0.8013971571755791]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.39426304877975055,1.4950617723898119,0.71338606911949],"aabb_xy":[[-0.4175448909778819,1.4100617710925833],[-0.3709812065816192,1.5800617736870395]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.4606039173680804,-1.8260417676043046,0.71338606911949],"aabb_xy":[[-0.4670177310112653,-1.8324515878519725],[-0.45419010372489543,-1.8196319473566358]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.4920724768802558,1.4500802627541414,0.71338606911949],"aabb_xy":[[0.47420336912580024,1.4362473547769306],[0.5099415846347113,1.4639131707313526]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[0.4577182092356775,-0.8200938284910584,0.71338606911949],"aabb_xy":[[0.4538043360402549,-0.8288428438976152],[0.46163208243109993,-0.8113448130845016]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[-0.5791415409528038,1.6985127666014566,0.71338606911949],"aabb_xy":[[-0.6431415413303374,1.648767499750644],[-0.5151415405752702,1.7482580334522686]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[-0.3366597788964792,-1.276501735049889,0.71338606911949],"aabb_xy":[[-0.34394209527314273,-1.3665017386593978],[-0.3293774625198154,-1.1865017314403798]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.43620392769311,1.3107357564315838,0.71338606911949],"aabb_xy":[[0.34620393119223813,1.2648241140131253],[0.5262039241939815,1.3566473988500418]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.5244572118829169,-2.2950296382587565,0.71338606911949],"aabb_xy":[[0.4744797950176633,-2.3450296397480046],[0.5744346287481704,-2.2450296367695075]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[-0.2675856496655208,1.5313867204478595,0.71338606911949],"aabb_xy":[[-0.30258564793564063,1.5243125927528711],[-0.23258565139540083,1.5384608481428474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930589072604195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6814.png","name":"6814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6814.png","name":"6814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9173.png","name":"9173"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7652.png","name":"7652"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8626.png","name":"8626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3418.png","name":"3418"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":732.615542280631,"rotation_z_degrees":166.42890128078542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003767948990122269,-0.0039713320216633145,0.00015879141403447525]},{"name":"camera_2","offset_m":[-0.006743040762557393,0.01593694171310982,-0.018158523893221434]},{"name":"camera_3","offset_m":[-0.00251990731150388,0.013575503732119378,0.013782755510627551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011873231470767168,0.00035080035399480793,1.8937140171205492e-05],"end_effector_yaw_offset_degrees":-0.27768337122026354},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010773999223378402,0.0016891746366907126,-0.001458522639457426],"end_effector_yaw_offset_degrees":0.4388689238606156},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018243331583979207,0.001903606073499982,0.0003781312206571786],"end_effector_yaw_offset_degrees":-0.26504697791520404}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028170215879609753,-9.983170016920288e-05],"position_m":[0.280117021587961,-0.06609983170016921,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033613212620451816,-0.0028818092497880842],"position_m":[0.2498386787379548,0.2158181907502119,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0020515432607276065,-0.0011135684812132542],"position_m":[0.3415484567392724,0.04668643151878675,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003420240969179201,0.00454101291684648],"position_m":[0.1241202409691792,0.4039410129168465,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030443979294182957,0.0017575660196092044],"position_m":[0.2146556020705817,-0.4372424339803908,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"86504b769d5701710d3ed9b625b152e0adee07cf2e579813d886c53d58c5b63b","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6814/tex_ceiling_textures_3418/tex_floor_textures_8626/tex_table_textures_9173/tex_wall_textures_7652","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":553418643039928112,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":553418643039928112,"visual_seed":553418643039928112,"scene_id":"lab_003","finished_at":"2026-09-03T17:44:37"} +{"episode_id":"ep_000007","started_at":"2026-09-03T17:44:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[0.3613302867350363,-0.8319551308106503,0.71338606911949],"aabb_xy":[[0.35321663206165915,-0.8400609472646794],[0.36944394140841336,-0.8238493143566212]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.1270927561405173,-2.131402909771143,0.71338606911949],"aabb_xy":[[0.09365258094449767,-2.1648465356020723],[0.16053293133653687,-2.0979592839402126]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.5234322443013795,-2.412971995227781,0.71338606911949],"aabb_xy":[[-0.5368787709354228,-2.426441846880872],[-0.5099857176673361,-2.3995021435746895]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.3802232691281666,0.9950598879724719,0.71338606911949],"aabb_xy":[[0.3731818181774191,0.9880331362346775],[0.38726472007891427,1.0020866397102663]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[-0.24885297453783445,-1.1869510812416648,0.71338606911949],"aabb_xy":[[-0.2592645332183181,-1.1922968145775632],[-0.2384414158573507,-1.1816053479057664]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.2937602836526678,1.3345837769504314,0.71338606911949],"aabb_xy":[[0.2562602831553096,1.3306150934023127],[0.33126028415002606,1.3385524604985497]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.04545678499622241,1.4762776295819315,0.71338606911949],"aabb_xy":[[-0.04454321442214848,1.4429021327377414],[0.1354567844145933,1.5096531264261208]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.5038384027201577,1.473185429389566,0.71338606911949],"aabb_xy":[[0.43883840483851,1.4220617656830252],[0.5688384006018056,1.5243090930961072]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.679915863635458,-1.4881472262251292,0.71338606911949],"aabb_xy":[[-0.6862279631717965,-1.4939141654783479],[-0.6736037640991195,-1.48238028697191]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.5312942247959573,0.8639034376462211,0.71338606911949],"aabb_xy":[[-0.6012942281875192,0.8285876639427902],[-0.4612942214043953,0.8992192113496519]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.7032843972862377,-0.6349593614306628,0.71338606911949],"aabb_xy":[[0.6978264516492175,-0.7149593647383218],[0.7087423429232577,-0.5549593581230036]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.5735065894912659,0.32832996578458085,0.71338606911949],"aabb_xy":[[0.5360065888266871,0.3126429077843586],[0.6110065901558445,0.344017023784803]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.500215350003129,-0.8778613868904217,0.71338606911949],"aabb_xy":[[0.4752153508374959,-0.8848136325957783],[0.5252153491687621,-0.8709091411850651]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.23586445327069822,-0.9889339160501016,0.71338606911949],"aabb_xy":[[-0.23998040338277085,-0.993049471082947],[-0.23174850315862552,-0.984818361017256]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.3349391461057156,-2.433185000775311,0.71338606911949],"aabb_xy":[[0.27093914751914316,-2.480191964174819],[0.3989391446922881,-2.3861780373758017]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[0.29151580903806895,-2.0079250040438965,0.71338606911949],"aabb_xy":[[0.24151580801893374,-2.0443912197817244],[0.34151581005720427,-1.9714587883060686]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.34730668150524663,-2.1195877050473215,0.71338606911949],"aabb_xy":[[-0.4273066801621327,-2.1340925639715844],[-0.2673066828483607,-2.1050828461230586]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.6870670137022006,-1.32922469231017,0.71338606911949],"aabb_xy":[[0.6777200061199053,-1.3435283145278138],[0.6964140212844958,-1.3149210700925258]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.5967928978418142,1.3695850483376724,0.71338606911949],"aabb_xy":[[-0.606548887350988,1.3598225142784377],[-0.5870369083326402,1.3793475823969066]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.6655990957477012,-1.6483785820114119,0.71338606911949],"aabb_xy":[[0.661168466392861,-1.6538269537460943],[0.6700297251025413,-1.642930210276729]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[0.5069986121890879,-1.53554960662478,0.71338606911949],"aabb_xy":[[0.4269986107589606,-1.6150667616373895],[0.586998613619215,-1.4560324516121705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951802348005671,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5564.png","name":"5564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5564.png","name":"5564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3376.png","name":"3376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/58.png","name":"58"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1414.png","name":"1414"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":541.1968188786063,"rotation_z_degrees":275.5108988656344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015420036912488664,0.0015931255132516711,0.019881131164776706]},{"name":"camera_2","offset_m":[-0.00013708188587981812,0.01900352844311459,-0.01053113752217616]},{"name":"camera_3","offset_m":[0.014549195383603882,-0.015639083818543537,0.0009515909054669293]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.383094327325339e-05,0.0012481801916299942,0.0011096386719906606],"end_effector_yaw_offset_degrees":0.22651511085601683},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010568629859619293,0.0003944760861863527,-0.0010981215708366593],"end_effector_yaw_offset_degrees":0.2871856669807735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015522641289251768,-0.001252912995075808,-0.0012890445921688127],"end_effector_yaw_offset_degrees":-0.7405880584554634}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003304888228223374,0.000620451443850388],"position_m":[0.2739951117717766,-0.06537954855614961,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00029578801690542927,-0.0034994166864028386],"position_m":[0.2534957880169054,0.21520058331359718,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0025715884270500243,0.0014119828891898632],"position_m":[0.34617158842705004,0.04921198288918986,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012129080730569185,0.004471297674846585],"position_m":[0.12191290807305692,0.4038712976748466,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003084047602569422,-0.0016454834558911036],"position_m":[0.2146159523974306,-0.4406454834558911,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4cfe922e3fc4dcbe035248d26310d637c2df2d32bd1c710643a510abc07d0764","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5564/tex_ceiling_textures_1414/tex_floor_textures_3492/tex_table_textures_3376/tex_wall_textures_58","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4980431005576686437,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4980431005576686437,"visual_seed":4980431005576686437,"scene_id":"lab_003","finished_at":"2026-09-03T17:47:27"} +{"episode_id":"ep_000008","started_at":"2026-09-03T17:47:30","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.48446211903898173,0.17992580279423231,0.71338606911949],"aabb_xy":[[0.41946212048190895,0.1501732693803497],[0.5494621175960546,0.20967833620811493]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.6246335384429893,-1.9935422606522621,0.71338606911949],"aabb_xy":[[0.5546335363115598,-2.016304226277957],[0.6946335405744188,-1.9707802950265658]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.5670316712916672,1.4774945876393644,0.71338606911949],"aabb_xy":[[0.48703166803382425,1.3974980798473802],[0.6470316745495102,1.5574910954313481]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.30584685275817414,0.7455811294040622,0.71338606911949],"aabb_xy":[[0.29269560678688483,0.7205811296473756],[0.31899809872946355,0.7705811291607488]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.25853701188851824,-2.4589774299228706,0.71338606911949],"aabb_xy":[[-0.27842805176885854,-2.4716332412075683],[-0.23864597200817805,-2.4463216186381747]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.30593840786224613,-0.956313608227122,0.71338606911949],"aabb_xy":[[-0.3512170227433954,-1.0203136075753054],[-0.26065979298109687,-0.8923136088789382]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.4029947675323635,-1.1569066259970204,0.71338606911949],"aabb_xy":[[0.35299549236392747,-1.2069066272729678],[0.4529940427007998,-1.1069066247210735]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.02451473691678896,-1.1748574635440718,0.71338606911949],"aabb_xy":[[-0.012985262900244599,-1.1794956748552134],[0.06201473673382252,-1.1702192522329298]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.6393911782311865,0.410151625846213,0.71338606911949],"aabb_xy":[[-0.6806957212949224,0.34615162627809587],[-0.5980866351674504,0.47415162541433004]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.5048865228950892,1.2121862949792277,0.71338606911949],"aabb_xy":[[0.4798865229625713,1.2053036267583046],[0.5298865228276071,1.2190689632001512]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.6500377526189691,-0.36435600373357246,0.71338606911949],"aabb_xy":[[0.632935674660601,-0.3814628092648422],[0.6671398305773373,-0.3472491982023027]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[0.4931208903308104,0.520121178809573,0.71338606911949],"aabb_xy":[[0.486808790794472,0.5143542395563542],[0.49943298986714885,0.5258881180627918]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.10863126048887195,0.08201917856179453,0.71338606911949],"aabb_xy":[[-0.1430936078870137,0.04752529616397181],[-0.07416891309073012,0.11651306095961719]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.5684261878462216,-1.6790449211506229,0.71338606911949],"aabb_xy":[[0.5341099106716036,-1.7290449211238008],[0.6027424650208395,-1.6290449211774454]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.5531717901652426,-2.2321622880481238,0.71338606911949],"aabb_xy":[[-0.5734560928886412,-2.2524449131908324],[-0.5328874874418437,-2.2118796629054143]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.5414726968378933,-1.3754145699942555,0.71338606911949],"aabb_xy":[[0.4614788732593351,-1.455414572587097],[0.6214665204164516,-1.295414567401414]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.10123318535693793,1.5142868618793908,0.71338606911949],"aabb_xy":[[0.03723318805459151,1.4699204349115338],[0.16523318265928433,1.5586532888472473]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.4910763796914226,-2.5561402190891527,0.71338606911949],"aabb_xy":[[0.4560763783399408,-2.576499955045973],[0.5260763810429042,-2.5357804831323314]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.04543229752379008,-1.7413247893432262,0.71338606911949],"aabb_xy":[[-0.07043229679575236,-1.7576701529393883],[-0.0204322982518278,-1.7249794257470636]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.5964534255719156,-1.0489753036290017,0.71338606911949],"aabb_xy":[[0.5514608388534652,-1.0939753029034507],[0.641446012290366,-1.0039753043545532]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.6099556959535575,0.4331154825978971,0.71338606911949],"aabb_xy":[[0.5599826304210421,0.3831154827853644],[0.659928761486073,0.4831154824104302]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.5015588017793479,-1.8943328317668287,0.71338606911949],"aabb_xy":[[-0.5566840074089385,-1.9543328332081158],[-0.44643359614975703,-1.8343328303255415]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.0479078141640108,1.0566899276999004,0.71338606911949],"aabb_xy":[[-0.06554064975753836,1.0390669816842772],[-0.03027497857048322,1.0743128737155232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958888875539223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9655.png","name":"9655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9655.png","name":"9655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8162.png","name":"8162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/977.png","name":"977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5406.png","name":"5406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5603.png","name":"5603"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.704365828854,"rotation_z_degrees":326.9958500377458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005594775057206937,0.002803285050451604,0.01831070759006136]},{"name":"camera_2","offset_m":[-0.00592024458245405,0.005921275959212147,0.011118023939446827]},{"name":"camera_3","offset_m":[0.019794986760216782,0.013195547519497034,0.0014272888017425184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004746487677201217,-0.0006951615828586974,0.001123864162244817],"end_effector_yaw_offset_degrees":0.5611567680195519},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001956291691649545,-4.4978051485098074e-05,-0.00013419507210608427],"end_effector_yaw_offset_degrees":-0.9862275572314336},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001703154496128304,-0.0018211137115237942,0.000654169370075874],"end_effector_yaw_offset_degrees":0.1813874884864879}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002994676902884728,-0.0033086617065611916],"position_m":[0.28029467690288473,-0.06930866170656119,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030515226249124014,-0.0037189634644409306],"position_m":[0.25014847737508755,0.21498103653555908,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004725698442882635,-0.003057702342378705],"position_m":[0.34832569844288264,0.0447422976576213,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-5.171810703438317e-05,0.002250607791860605],"position_m":[0.12064828189296561,0.40165060779186057,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017766053664022476,-0.0011665059528829192],"position_m":[0.21592339463359775,-0.4401665059528829,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"621739243ebe526fd082cb82139982181bf792c96206078ffa08addf02ee7e76","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9655/tex_ceiling_textures_5603/tex_floor_textures_5406/tex_table_textures_8162/tex_wall_textures_977","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":233395346790710539,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":233395346790710539,"visual_seed":233395346790710539,"scene_id":"lab_003","finished_at":"2026-09-03T17:50:23"} +{"episode_id":"ep_000009","started_at":"2026-09-03T17:50:26","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.6540708421729128,1.5679115169293838,0.71338606911949],"aabb_xy":[[-0.6890708413657309,1.556944470931721],[-0.6190708429800944,1.578878562927046]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.5476245171946381,-0.6882093504621642,0.71338606911949],"aabb_xy":[[0.5412107035514531,-0.6946191707098325],[0.554038330837823,-0.6817995302144958]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.09213315904936237,-1.0944068487596592,0.71338606911949],"aabb_xy":[[-0.10967985396548129,-1.1319068503239105],[-0.07458646413324342,-1.056906847195408]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.417999664313595,-0.8390937099336853,0.71338606911949],"aabb_xy":[[-0.4629996657798239,-0.884093566795166],[-0.37299966284736613,-0.7940938530722047]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.6680178310268237,-1.3094636525861023,0.71338606911949],"aabb_xy":[[0.6130246196896869,-1.3644636529248957],[0.7230110423639604,-1.2544636522473085]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.6115028759606114,-1.8235509000274743,0.71338606911949],"aabb_xy":[[0.5565028767840219,-1.8785405748024318],[0.6665028751372009,-1.7685612252525165]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.22685247643554624,-1.3243334089371126,0.71338606911949],"aabb_xy":[[-0.29085247834788863,-1.3802445581951233],[-0.16285247452320395,-1.2684222596791024]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.16527088029192694,-1.7824671002022732,0.71338606911949],"aabb_xy":[[0.16031486010704576,-1.804967100404395],[0.17022690047680816,-1.7599671000001518]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.28910476377709904,-2.334530728185771,0.71338606911949],"aabb_xy":[[-0.31909642651096937,-2.3645307275225713],[-0.2591131010432287,-2.3045307288489703]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.3936915797914862,0.7864225134151162,0.71338606911949],"aabb_xy":[[-0.41619158030352676,0.7639306550497177],[-0.37119157927944557,0.8089143717805144]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.27368965178765764,-2.0129536490302016,0.71338606911949],"aabb_xy":[[-0.3188609696358266,-2.07695364617474],[-0.22851833393948867,-1.9489536518856632]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.4689980222213759,-0.08059833991648402,0.71338606911949],"aabb_xy":[[0.45891631514280234,-0.16059833780859867],[0.4790797292999493,-0.0005983420243693555]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.4294455909060093,1.5691182343805647,0.71338606911949],"aabb_xy":[[0.3654455944786874,1.5219486105584685],[0.4934455873333312,1.6162878582026614]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.24112735734415625,-0.2934442022813646,0.71338606911949],"aabb_xy":[[-0.25299944035565736,-0.378444201975015],[-0.22925527433265516,-0.2084442025877143]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.17417146282097484,-0.6683981123251581,0.71338606911949],"aabb_xy":[[0.1356257699957738,-0.7069438833813467],[0.21271715564617588,-0.6298523412689695]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.269721588072455,1.3104403854223072,0.71338606911949],"aabb_xy":[[-0.27676189800599205,1.230440386022636],[-0.26268127813891806,1.3904403848219788]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.3454762298891314,-1.7219966684551888,0.71338606911949],"aabb_xy":[[-0.40046848052464246,-1.7769966701985018],[-0.2904839792536205,-1.6669966667118763]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[-0.5697934157919426,-1.768286118687426,0.71338606911949],"aabb_xy":[[-0.6072934159638146,-1.800986854070333],[-0.5322934156200707,-1.7355853833045187]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.13092447919213146,1.304299446775802,0.71338606911949],"aabb_xy":[[0.047202253692049,1.2142994432411058],[0.21464670469221392,1.3942994503104977]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[0.3652757389914314,-1.7239683912989723,0.71338606911949],"aabb_xy":[[0.35391400433814524,-1.7353368577052601],[0.37663747364471756,-1.712599924892684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959199887668902,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9882.png","name":"9882"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9882.png","name":"9882"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3125.png","name":"3125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6724.png","name":"6724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9505.png","name":"9505"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":515.8692059066587,"rotation_z_degrees":129.72105688770586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0046053113143278215,0.006817851231219363,-0.018733044703277472]},{"name":"camera_2","offset_m":[0.0011024652021775633,-0.011838187582846046,-0.004273082570283995]},{"name":"camera_3","offset_m":[0.000949670008184033,0.012855587824797097,0.018882301602321457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001321084056577563,-0.0004299379097024501,0.0019416582401863862],"end_effector_yaw_offset_degrees":-0.7825592658403171},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0002546740565751446,-0.0013424310415123637,0.0014351639574168244],"end_effector_yaw_offset_degrees":0.6627806192737036},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.8507101833043806e-05,-8.154263611176004e-05,-0.0016148067644301634],"end_effector_yaw_offset_degrees":0.44075968753182715}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001583201712346649,-0.0011592238339347607],"position_m":[0.27571679828765333,-0.06715922383393476,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025637777006730844,0.0046067979727768835],"position_m":[0.25576377770067305,0.2233067979727769,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0025394611492833077,0.0033089957051531385],"position_m":[0.34613946114928335,0.05110899570515314,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003443901997997369,-0.00021553348286697336],"position_m":[0.12414390199799737,0.399184466517133,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028848741954536202,0.004554102162574541],"position_m":[0.2205848741954536,-0.4344458978374255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c42da47c065579a2fdd06f697be32e4b44c0cfdd6b665513169fd1e16175968","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9882/tex_ceiling_textures_9505/tex_floor_textures_6724/tex_table_textures_2510/tex_wall_textures_3125","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6613490243565131708,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6613490243565131708,"visual_seed":6613490243565131708,"scene_id":"lab_003","finished_at":"2026-09-03T17:53:17"} +{"episode_id":"ep_000010","started_at":"2026-09-03T17:53:20","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.4819883008232285,-1.9072973055157916,0.71338606911949],"aabb_xy":[[-0.49214131637737785,-1.9433668470885312],[-0.4718352852690791,-1.8712277639430506]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6067654672620235,-0.07909630416661484,0.71338606911949],"aabb_xy":[[0.5974184596797284,-0.09339992638425888],[0.6161124748443189,-0.06479268194897082]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.5271885334482811,-0.890251908339232,0.71338606911949],"aabb_xy":[[0.463188534154113,-0.9542380487080862],[0.5911885327424494,-0.8262657679703778]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.36847292996902054,0.7709068169046911,0.71338606911949],"aabb_xy":[[-0.4234729295907664,0.7159231241172186],[-0.3134729303472747,0.825890509692164]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.2000381374563187,1.6868382100810808,0.71338606911949],"aabb_xy":[[0.1775381374461704,1.6727419904414775],[0.22253813746646697,1.700934429720684]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.4187973887774037,-0.6191617947382329,0.71338606911949],"aabb_xy":[[0.3812973884852289,-0.6232032701388365],[0.45629738906957856,-0.6151203193376292]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.47442238909632856,-0.685872149325798,0.71338606911949],"aabb_xy":[[-0.5243954546288443,-0.735872149138331],[-0.42444932356381326,-0.6358721495132652]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.44676638948039926,0.6147656764680853,0.71338606911949],"aabb_xy":[[-0.46192926245733645,0.5996002191729666],[-0.4316035165034623,0.6299311337632041]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.2044833377665748,-1.583654880154266,0.71338606911949],"aabb_xy":[[-0.22336772153508502,-1.602540804934619],[-0.18559895399806461,-1.5647689553739135]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.09780761293980245,-1.9488564079083317,0.71338606911949],"aabb_xy":[[0.0742224894759076,-2.0138564101537635],[0.1213927364036973,-1.8838564056629]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.13106856941321054,1.377843887377971,0.71338606911949],"aabb_xy":[[0.0410685708187406,1.3615933010645502],[0.2210685680076805,1.3940944736913923]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.684935102863232,0.8687533780332597,0.71338606911949],"aabb_xy":[[-0.6909016418039677,0.8627922333738957],[-0.6789685639224963,0.8747145226926237]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.5980518349291498,1.5633239662905045,0.71338606911949],"aabb_xy":[[-0.632642917783195,1.4983239660054732],[-0.5634607520751046,1.6283239665755354]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.15065973224305296,-0.5916159668713716,0.71338606911949],"aabb_xy":[[-0.1919085432729677,-0.646615966383589],[-0.10941092121313824,-0.5366159673591541]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[0.5168383778297241,0.42997014115600196,0.71338606911949],"aabb_xy":[[0.5064268191492404,0.42462440782010336],[0.5272499365102078,0.43531587449190035]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.45446421331034514,-2.4084598626132805,0.71338606911949],"aabb_xy":[[0.4481521137740067,-2.414226801866499],[0.4607763128466836,-2.402692923360062]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.4434636440417674,0.8629006654121238,0.71338606911949],"aabb_xy":[[0.4362198779955221,0.7829006672085215],[0.45070741008801274,0.9429006636157262]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.36481662224441735,-0.867268949887154,0.71338606911949],"aabb_xy":[[-0.4023166225926451,-0.8790603454682375],[-0.3273166218961896,-0.8554775543060704]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.14754829027282546,-0.8349527591943098,0.71338606911949],"aabb_xy":[[0.09754828898898547,-0.8849316135849318],[0.1975482915566654,-0.7849739048036876]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[0.4975788643292711,1.7890710225623567,0.71338606911949],"aabb_xy":[[0.48007893089528775,1.771571022642122],[0.5150787977632545,1.806571022482591]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.6281949086345702,-1.603417201907408,0.71338606911949],"aabb_xy":[[0.5906949102111697,-1.6165814158752387],[0.6656949070579704,-1.5902529879395773]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.5500506775651359,-0.5538106835458958,0.71338606911949],"aabb_xy":[[0.5155883301669939,-0.5883045659437183],[0.5845130249632775,-0.5193168011480729]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.20490680456864135,1.0362413071515406,0.71338606911949],"aabb_xy":[[-0.29490680690266036,0.958758952566428],[-0.11490680223462227,1.1137236617366533]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.5596528427750089,0.24264571630549936,0.71338606911949],"aabb_xy":[[-0.5921145436569363,0.2125128841905967],[-0.5271911418930814,0.27277854842040195]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.5821896330221907,1.4541678918136207,0.71338606911949],"aabb_xy":[[0.5596759411987335,1.384167891212613],[0.6047033248456479,1.524167892414628]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.2673728721966908,-1.1666352073875497,0.71338606911949],"aabb_xy":[[0.24520034522003997,-1.1888108745436725],[0.28954539917334166,-1.1444595402314264]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.37983087275066496,-1.0465356022130026,0.71338606911949],"aabb_xy":[[0.36899039452415,-1.0637218835036513],[0.3906713509771798,-1.0293493209223539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983342986193825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7298.png","name":"7298"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7366.png","name":"7366"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7535.png","name":"7535"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":513.386305512702,"rotation_z_degrees":359.68674461423484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032076424746130747,-0.005824597826855999,0.008954880199299024]},{"name":"camera_2","offset_m":[0.012123339220965094,-0.011495866691563413,-0.004578938865370766]},{"name":"camera_3","offset_m":[-0.012551917890138405,-0.011385434315314033,0.0035555400119939365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012506567949778966,-0.001944080927501619,-0.0013857055380601976],"end_effector_yaw_offset_degrees":-0.7872692522499702},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018696178702138125,0.0010306618375214584,0.0003422026870522391],"end_effector_yaw_offset_degrees":0.34831797771330364},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011039520842320723,-0.0013830219233729615,0.0005080813025738866],"end_effector_yaw_offset_degrees":-0.9100776187765667}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028662964363770386,-0.0014956016360165693],"position_m":[0.280166296436377,-0.06749560163601658,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012048268412281236,-0.001198063340892318],"position_m":[0.2544048268412281,0.2175019366591077,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004823542213944913,0.002566751648956516],"position_m":[0.34842354221394495,0.050366751648956515,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025727328286022193,0.004696382031938833],"position_m":[0.12327273282860222,0.4040963820319388,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.319306275255146e-05,-0.002946642974064523],"position_m":[0.21762680693724745,-0.4419466429740645,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30c6a99c9c4790803372c38b2daec5bbda9ed723a449c5c7a999876502be8e8b","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8754/tex_ceiling_textures_7535/tex_floor_textures_7366/tex_table_textures_7515/tex_wall_textures_7298","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6979240016136887881,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6979240016136887881,"visual_seed":6979240016136887881,"scene_id":"lab_003","finished_at":"2026-09-03T17:56:17"} +{"episode_id":"ep_000011","started_at":"2026-09-03T17:56:20","dimensions":{"distractor":{"count":23,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.25520665584369107,-1.593792353655466,0.71338606911949],"aabb_xy":[[0.17520665882944303,-1.6139269053288772],[0.335206652857939,-1.5736578019820546]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.551917072630042,-0.3635915863110708,0.71338606911949],"aabb_xy":[[-0.6319170758940551,-0.3771516186199842],[-0.47191706936602884,-0.3500315540021575]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.1863598901750787,1.648318878922041,0.71338606911949],"aabb_xy":[[-0.20824963776401953,1.5583188816327918],[-0.16447014258613793,1.73831887621129]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[0.0847284845911419,-2.4031716752916803,0.71338606911949],"aabb_xy":[[0.06722848433180528,-2.4172632174804534],[0.10222848485047854,-2.389080133102908]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.4777671577413911,1.593571236573195,0.71338606911949],"aabb_xy":[[0.4477996008315655,1.5635712362753094],[0.5077347146512168,1.6235712368710808]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.0765554276234286,-2.197335174163188,0.71338606911949],"aabb_xy":[[-0.08252196656416438,-2.2032963188225523],[-0.07058888868269281,-2.191374029503824]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.5761394785456402,-0.9272893259154369,0.71338606911949],"aabb_xy":[[0.5511394793800071,-0.9342415716207936],[0.6011394777112733,-0.9203370802100804]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.2331269225577765,0.4225576126273527,0.71338606911949],"aabb_xy":[[-0.28294370202261127,0.37255761414304944],[-0.18331014309294175,0.4725576111116562]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.43996491213243283,-0.5724741446745449,0.71338606911949],"aabb_xy":[[-0.4575977477259604,-0.5900970906901678],[-0.42233207653890525,-0.5548511986589219]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.47177772181271116,1.426928550357942,0.71338606911949],"aabb_xy":[[-0.5092777221048859,1.4228870749573386],[-0.4342777215205363,1.4309700257585456]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.21183215574115405,-1.2673550412889862,0.71338606911949],"aabb_xy":[[-0.261825267850346,-1.317355041963182],[-0.16183904363196217,-1.2173550406147908]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.6257759110525649,-1.0520430203231468,0.71338606911949],"aabb_xy":[[-0.6632759114007926,-1.0638344159042303],[-0.588275910704337,-1.0402516247420632]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.6139035494693639,0.9919499516845223,0.71338606911949],"aabb_xy":[[0.5339035525063247,0.9148743100407489],[0.693903546432403,1.0690255933282957]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.026429412843565148,1.528186592465603,0.71338606911949],"aabb_xy":[[-0.086429414486487,1.4761864431736589],[0.033570588799356704,1.5801867417575473]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.4005847774615612,1.3422403763350879,0.71338606911949],"aabb_xy":[[0.35345539845972546,1.278240375290686],[0.4477141564633968,1.4062403773794898]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.4396518197902068,1.2850690009404375,0.71338606911949],"aabb_xy":[[-0.5296518192085777,1.2516935040962476],[-0.3496518203718359,1.318444497784627]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.6318550400183627,1.1777725585382508,0.71338606911949],"aabb_xy":[[0.5768595621977033,1.1227725571043439],[0.6868505178390221,1.2327725599721577]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[0.5284946925362517,0.7731487138048023,0.71338606911949],"aabb_xy":[[0.45849469040482216,0.7503867481791066],[0.5984946946676812,0.7959106794304979]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.686420163644883,0.3911846479494949,0.71338606911949],"aabb_xy":[[0.6809622180078628,0.3111846446418358],[0.691878109281903,0.47118465125715403]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.35196040318346494,-1.3986459686587744,0.71338606911949],"aabb_xy":[[-0.35685969549002844,-1.426322887961343],[-0.34706111087690145,-1.3709690493562054]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.13443156009909252,-1.748596703879222,0.71338606911949],"aabb_xy":[[-0.2144315615292197,-1.8281138588918313],[-0.05443155866896529,-1.6690795488666124]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.3677794372813703,0.034376975659036635,0.71338606911949],"aabb_xy":[[-0.3899519642580211,0.012201308502913458],[-0.34560691030471946,0.05655264281515981]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.4892081946046699,-2.0641334953426598,0.71338606911949],"aabb_xy":[[-0.5532081960126606,-2.1159224468665845],[-0.4252081931966793,-2.012344543818735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968773935985445,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8979.png","name":"8979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2737.png","name":"2737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9585.png","name":"9585"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":587.4771553898479,"rotation_z_degrees":326.6592879509879,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005849183815101744,-0.007481311200441225,0.007874874378810851]},{"name":"camera_2","offset_m":[0.012375568223067786,0.013544197113476677,-0.010835242353537665]},{"name":"camera_3","offset_m":[-0.01919046081581415,-0.016221546712724227,0.012393197982770474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012246202625159528,-0.0005948138527837349,-0.0016998672867052315],"end_effector_yaw_offset_degrees":-0.27175066382739277},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[3.8708405671389855e-05,0.0014984804280580334,0.0009522697615913485],"end_effector_yaw_offset_degrees":-0.8694379524658953},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019171164256853628,0.00048198724172335804,0.0019347138399353793],"end_effector_yaw_offset_degrees":-0.2531698924238164}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014583870041099578,0.003278675691723275],"position_m":[0.27584161299589005,-0.06272132430827673,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035483452726862794,-0.0010723372662965495],"position_m":[0.2496516547273137,0.21762766273370346,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002428145144033492,-0.0027800862797925895],"position_m":[0.3411718548559665,0.045019913720207416,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00410097599840725,0.00015488388544794476],"position_m":[0.12480097599840725,0.3995548838854479,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018869200491578994,0.001780668250161913],"position_m":[0.2195869200491579,-0.43721933174983807,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ac10f2bd3d3dd2d004c36fcc312eb44af53c9c41649ac46cde44ad14de43b6e","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3815/tex_ceiling_textures_9585/tex_floor_textures_5527/tex_table_textures_8979/tex_wall_textures_2737","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8151955157521088898,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8151955157521088898,"visual_seed":8151955157521088898,"scene_id":"lab_003","finished_at":"2026-09-03T17:59:07"} +{"episode_id":"ep_000012","started_at":"2026-09-03T17:59:13","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.5558190326500903,0.16711460026608504,0.71338606911949],"aabb_xy":[[0.4708190339580156,0.1351287368712062],[0.6408190313421649,0.1991004636609639]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.22714414027191532,-0.30491612691551495,0.71338606911949],"aabb_xy":[[-0.24302863353724047,-0.319269067214339],[-0.21125964700659017,-0.2905631866166909]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.2746365564074086,0.4573424666523058,0.71338606911949],"aabb_xy":[[-0.27807723264746576,0.45348103367794146],[-0.2711958801673514,0.4612038996266704]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.598635852671645,1.1261858962766214,0.71338606911949],"aabb_xy":[[-0.6626358529321158,1.0811770969236931],[-0.5346358524111742,1.1711946956295491]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.5913601760446963,1.4460804985358249,0.71338606911949],"aabb_xy":[[0.5273601739949643,1.405986015446517],[0.6553601780944283,1.4861749816251328]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5796684011231847,1.371368597978865,0.71338606911949],"aabb_xy":[[-0.6412591603471778,1.3073685998698183],[-0.5180776418991921,1.4353685960879121]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.35164844181023286,-1.1449515940093598,0.71338606911949],"aabb_xy":[[-0.3618014573643822,-1.1810211355820999],[-0.3414954262560834,-1.1088820524366192]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.5059178366768087,0.9100701236615665,0.71338606911949],"aabb_xy":[[-0.5699178358465786,0.863303436542604],[-0.4419178375070388,0.956836810780529]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[0.14851680923407928,1.738749589633254,0.71338606911949],"aabb_xy":[[0.06851681064675984,1.6594339876950934],[0.2285168078213987,1.8180651915714152]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.6089882341530155,-1.8689668995242472,0.71338606911949],"aabb_xy":[[0.5752126749623225,-1.8830053947374124],[0.6427637933437085,-1.854928404311082]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.2791740498656271,-0.5384217602521812,0.71338606911949],"aabb_xy":[[0.2711477792350011,-0.547173255229534],[0.2872003204962531,-0.5296702652748287]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.680742768530247,1.6031912359683766,0.71338606911949],"aabb_xy":[[0.6681159812430506,1.5936451622668037],[0.6933695558174433,1.6127373096699495]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.5541317758182138,0.45815961057061694,0.71338606911949],"aabb_xy":[[-0.6378540013182963,0.36815960703592104],[-0.47040955031813136,0.5481596141053129]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.33266097781501863,-0.9998015471736628,0.71338606911949],"aabb_xy":[[-0.3508668014762663,-1.0108269477556546],[-0.31445515415377095,-0.9887761465916712]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.4071242713769221,0.7550838126334485,0.71338606911949],"aabb_xy":[[0.35712499620848587,0.7050838113575014],[0.4571235465453582,0.8050838139093958]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.4797929180764904,-0.10857754569673661,0.71338606911949],"aabb_xy":[[-0.5647929164939136,-0.1934518411590216],[-0.3947929196590671,-0.023703250234451648]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.3205906091102413,-2.2225005572165317,0.71338606911949],"aabb_xy":[[0.30541843982860795,-2.237669414144735],[0.33576277839187463,-2.2073317002883286]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.013218205245029035,-1.4574477235381726,0.71338606911949],"aabb_xy":[[-0.0682114165821658,-1.5124477238769665],[0.04177500609210772,-1.402447723199379]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.014475266486926097,1.568812505714869,0.71338606911949],"aabb_xy":[[-0.04952473062517959,1.5197801359204584],[0.07847526359903179,1.6178448755092796]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.6058008896099627,0.7707589458970072,0.71338606911949],"aabb_xy":[[0.6011657744577292,0.7668916108198583],[0.610436004762196,0.7746262809741556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694009993214001,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/371.png","name":"371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/371.png","name":"371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4107.png","name":"4107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3933.png","name":"3933"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/315.png","name":"315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":597.5580196101331,"rotation_z_degrees":250.92787801400172,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01597385235000615,-0.001138849938456414,-0.01787525424495301]},{"name":"camera_2","offset_m":[-0.017093155957553507,-0.0006768441138697047,-0.014979290408677008]},{"name":"camera_3","offset_m":[-0.018831889730477176,0.008788985076790455,-0.013601544346030767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007850504722260352,-0.001432928268401305,-4.875025428538525e-05],"end_effector_yaw_offset_degrees":0.17273330682211663},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012866498772703752,0.0017783132499586771,0.0005075778337218849],"end_effector_yaw_offset_degrees":-0.6070877590396317},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018434832632183218,0.001363876446896165,0.001868062899822504],"end_effector_yaw_offset_degrees":-0.7550007279844821}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003934191116637559,-0.0034443145053179515],"position_m":[0.2733658088833624,-0.06944431450531796,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016987300871502157,0.0029987520887344446],"position_m":[0.2548987300871502,0.22169875208873446,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0001442974742031644,-0.0024619133950543617],"position_m":[0.3437442974742032,0.04533808660494564,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026158434006932365,0.0015736245235803362],"position_m":[0.11808415659930677,0.4009736245235803,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004392015972692568,0.0034639225573375636],"position_m":[0.21726079840273074,-0.43553607744266243,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1d74d6dde886166949ca89cbb40857713fe4729af6b85dbddb2c018d4e0036fa","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_371/tex_ceiling_textures_7856/tex_floor_textures_315/tex_table_textures_4107/tex_wall_textures_3933","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1101265294433766092,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1101265294433766092,"visual_seed":1101265294433766092,"scene_id":"lab_003","finished_at":"2026-09-03T18:02:05"} +{"episode_id":"ep_000013","started_at":"2026-09-03T18:02:09","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.47625085300696846,1.596858077749021,0.71338606911949],"aabb_xy":[[0.4616074474529354,1.5821993580922367],[0.4908942585610014,1.6115167974058051]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.01610094262097239,-1.5922682630064662,0.71338606911949],"aabb_xy":[[-0.02139905772725537,-1.6040596585875495],[0.05360094296920015,-1.5804768674253824]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.30545385663008967,-2.2085108551251085,0.71338606911949],"aabb_xy":[[-0.369453858542432,-2.2644220043831194],[-0.24145385471774733,-2.1525997058670985]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.05437603743205588,1.7025699668782663,0.71338606911949],"aabb_xy":[[-0.07687517315828285,1.6800699661000034],[-0.0318769017058289,1.7250699676565293]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.4338469227174193,1.8117166536098854,0.71338606911949],"aabb_xy":[[0.41564109905617175,1.800691253027894],[0.4520527463786671,1.8227420541918773]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.46346494726670057,0.2817721973540652,0.71338606911949],"aabb_xy":[[-0.4694314862074363,0.2758110526947012],[-0.4574984083259647,0.28773334201342926]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.6062476796671994,0.1591586957821769,0.71338606911949],"aabb_xy":[[0.542247677989202,0.11064130430286268],[0.6702476813451967,0.20767608726149112]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.5634488292406954,0.013290601306454874,0.71338606911949],"aabb_xy":[[0.5334812723308697,-0.016709398991430868],[0.5934163861505211,0.04329060160434062]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.5156085736381126,-1.701602557852763,0.71338606911949],"aabb_xy":[[0.4787580257011249,-1.7391025586757969],[0.5524591215751001,-1.6641025570297294]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.12274192682051266,-1.4077925138106175,0.71338606911949],"aabb_xy":[[-0.17272073533082855,-1.4577925138163363],[-0.07276311831019676,-1.3577925138048987]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.46712289903794546,-0.27145668319747873,0.71338606911949],"aabb_xy":[[0.4171228980874126,-0.30300583020100014],[0.5171228999884783,-0.23990753619395733]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.6256530103713909,1.7208954448307723,0.71338606911949],"aabb_xy":[[-0.6896530117793815,1.6691064933068476],[-0.5616530089634002,1.772684396354697]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.28406600275375715,-0.8799367265010953,0.71338606911949],"aabb_xy":[[0.2697315776275937,-0.8919969420556341],[0.2984004278799206,-0.8678765109465564]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.3884441000987682,-0.69059910350045,0.71338606911949],"aabb_xy":[[0.30844409902564784,-0.7003771498378344],[0.4684441011718885,-0.6808210571630655]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.40759655196855005,0.8306988263373367,0.71338606911949],"aabb_xy":[[0.3276027283899918,0.7506988237444953],[0.48759037554710827,0.9106988289301784]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.3291665872347531,1.7066258365720866,0.71338606911949],"aabb_xy":[[-0.39316658749522393,1.6616170372191583],[-0.2651665869742823,1.7516346359250143]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.08752628184616407,-2.3667209419511073,0.71338606911949],"aabb_xy":[[0.007526284831916072,-2.3868554936245188],[0.16752627886041205,-2.3465863902776958]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.07420406208458397,1.2230315983298383,0.71338606911949],"aabb_xy":[[-0.1392040621188867,1.1763309216495113],[-0.00920406205028125,1.2697322750101658]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.5227682136206873,-1.650360847098244,0.71338606911949],"aabb_xy":[[-0.530804548321972,-1.6583989664026606],[-0.5147318789194023,-1.642322727793827]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.07622811543033936,1.5075826560221741,0.71338606911949],"aabb_xy":[[0.06376075732060373,1.4951173313888508],[0.08869547354007502,1.5200479806554978]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.4372197870742003,-0.9719836963916075,0.71338606911949],"aabb_xy":[[0.35721978381635733,-1.0519802041835915],[0.5172197903320432,-0.8919871885996236]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.628651313409563,-1.4487904444373805,0.71338606911949],"aabb_xy":[[0.6048150957689581,-1.5387904452458672],[0.6524875310501682,-1.358790443628894]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.535986699289571,-1.2174101559166404,0.71338606911949],"aabb_xy":[[0.4859866997132364,-1.2673907348687463],[0.5859866988659058,-1.1674295769645344]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.45831965967225896,-0.17040987553825637,0.71338606911949],"aabb_xy":[[0.4520075601359205,-0.1761768147914752],[0.4646317592085974,-0.16464293628503754]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.6837270255743959,-1.7530674781731763,0.71338606911949],"aabb_xy":[[-0.6910093419510593,-1.8430674817826849],[-0.676444709197732,-1.6630674745636669]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.4022381470819738,-2.320819429179648,0.71338606911949],"aabb_xy":[[0.3382424496868772,-2.3848194274803567],[0.4662338444770704,-2.2568194308789393]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.5377188524110457,-2.094714815474142,0.71338606911949],"aabb_xy":[[0.491633761156314,-2.1587148127266973],[0.5838039436657769,-2.030714818221587]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[0.21735096272171373,-1.8236256888759057,0.71338606911949],"aabb_xy":[[0.18387179546067278,-1.8571048022470127],[0.25083012998275467,-1.7901465755047987]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[0.40696881384388606,-1.9321667496334372,0.71338606911949],"aabb_xy":[[0.3938175678725968,-1.9571667493901237],[0.42012005981517553,-1.9071667498767506]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[0.3225209888775806,-2.1386407644026857,0.71338606911949],"aabb_xy":[[0.30246257726434034,-2.158705851311843],[0.3425794004908209,-2.1185756774935283]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[0.5576500489795269,1.267026109017873,0.71338606911949],"aabb_xy":[[0.5233531379617862,1.2327292228079314],[0.5919469599972673,1.301322995227814]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_31","position":[-0.19563886872463743,-0.3969030298775218,0.71338606911949],"aabb_xy":[[-0.26563887211619935,-0.4322188035809526],[-0.12563886533307542,-0.3615872561740909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921423523870379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4725.png","name":"4725"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1859.png","name":"1859"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":608.8638065124678,"rotation_z_degrees":96.53613588082233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010647847807181109,-0.012472928740835183,-0.006288371564330099]},{"name":"camera_2","offset_m":[0.016822932124776705,0.002292708847162546,0.019825336388602757]},{"name":"camera_3","offset_m":[0.017042069586279348,-0.011031403924431058,-0.012158625819801473]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00048739842291315415,0.0013103433570117568,0.0003059327687561491],"end_effector_yaw_offset_degrees":-0.30927081942740586},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018115054391188777,-0.0014493829457635585,0.0007830154379437964],"end_effector_yaw_offset_degrees":-0.36478156769697123},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002446846096658896,-0.0004806803769419577,-0.0009641268930559868],"end_effector_yaw_offset_degrees":-0.4385919850745852}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007357430728334646,0.004193234112320207],"position_m":[0.27803574307283346,-0.0618067658876798,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003095331647019082,0.002589144816379142],"position_m":[0.2528904668352981,0.22128914481637915,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0011593210625973705,-0.004509948267308349],"position_m":[0.34244067893740265,0.04329005173269165,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004427124578286644,-0.002366737265143052],"position_m":[0.11627287542171336,0.39703326273485695,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002640452833666953,0.0037106919599733173],"position_m":[0.21505954716633305,-0.4352893080400267,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"79138d82f67b47e59b158984c75abb12a6c7d234c1a8843e5998e6e5898081ba","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1800/tex_ceiling_textures_1859/tex_floor_textures_7723/tex_table_textures_4725/tex_wall_textures_3925","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1410038582510245730,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1410038582510245730,"visual_seed":1410038582510245730,"scene_id":"lab_003","finished_at":"2026-09-03T18:04:55"} +{"episode_id":"ep_000014","started_at":"2026-09-03T18:04:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.29484856853989794,0.7006883066090062,0.71338606911949],"aabb_xy":[[0.2308485721125761,0.6535186827869097],[0.3588485649672199,0.7478579304311026]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.3046009025164681,-1.2343680571139979,0.71338606911949],"aabb_xy":[[0.29926332685046353,-1.2593680580431377],[0.30993847818247267,-1.209368056184858]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.2452239893291418,-2.4342596627367246,0.71338606911949],"aabb_xy":[[-0.2820186224540481,-2.471165537833307],[-0.20842935620423553,-2.3973537876401423]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.6520011207159648,-1.2915362346305284,0.71338606911949],"aabb_xy":[[-0.6708855044844751,-1.3104221594108811],[-0.6331167369474547,-1.2726503098501756]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.3116379064046115,1.3694165321806637,0.71338606911949],"aabb_xy":[[-0.32033586869532676,1.3572915578731892],[-0.3029399441138962,1.3815415064881387]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.11468864204263396,0.4615315988241977,0.71338606911949],"aabb_xy":[[-0.17868864230310477,0.4165227994712697],[-0.05068864178216315,0.5065403981771257]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.34422306386787316,-2.5075984763590813,0.71338606911949],"aabb_xy":[[0.3336555842097741,-2.51814350647209],[0.3547905435259721,-2.4970534462460727]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.09901078183581868,1.2719603877030252,0.71338606911949],"aabb_xy":[[0.07683825485916784,1.2497847205469022],[0.12118330881246951,1.2941360548591483]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.049099553019802955,1.411627531408699,0.71338606911949],"aabb_xy":[[-0.005900445181941875,1.3711055647822612],[0.10409955122154779,1.4521494980351364]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.5819485876120449,-1.675333707492326,0.71338606911949],"aabb_xy":[[0.5756364880757066,-1.6811006467455452],[0.5882606871483833,-1.6695667682391073]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.5736382189457799,0.9268277865197958,0.71338606911949],"aabb_xy":[[-0.5969200611439112,0.8418277852225676],[-0.5503563767476485,1.0118277878170236]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.35420344497385914,0.5417687223466663,0.71338606911949],"aabb_xy":[[0.3192034467037392,0.5346945946516781],[0.389203443243979,0.5488428500416545]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.5637277778576615,1.5382958970332914,0.71338606911949],"aabb_xy":[[0.5505765318863721,1.5132958972766049],[0.5768790238289508,1.563295896789978]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.653343344852023,1.1607400436577722,0.71338606911949],"aabb_xy":[[0.5883433462949502,1.1309875102438895],[0.7183433434090959,1.1904925770716548]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.5144977179987771,-0.9167773361845066,0.71338606911949],"aabb_xy":[[-0.5744977196416989,-0.9687774854764508],[-0.45449771635585523,-0.8647771868925624]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.6282182252780635,-0.7817500576623602,0.71338606911949],"aabb_xy":[[-0.6481092651584037,-0.7944058689470572],[-0.6083271853977232,-0.7690942463776635]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.43606427562799543,-0.11053746859890357,0.71338606911949],"aabb_xy":[[-0.45356420906197886,-0.1280374685191381],[-0.4185643421940121,-0.09303746867866904]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.3040889770097155,1.1173790047563164,0.71338606911949],"aabb_xy":[[-0.3259787245986563,1.027379007467067],[-0.2821992294207747,1.2073790020455653]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.10995850367425564,-0.12175318915183597,0.71338606911949],"aabb_xy":[[-0.12506080513527368,-0.13685471078289774],[-0.09485620221323751,-0.10665166752077412]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.06797463412178284,-1.0664880524355014,0.71338606911949],"aabb_xy":[[-0.14797463738579597,-1.0800480847444147],[0.012025369142230291,-1.052928020126588]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.4878399191262298,0.09327480833304902,0.71338606911949],"aabb_xy":[[-0.5778399228031479,0.03184240175594464],[-0.3978399154493115,0.15470721491015332]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.17988192857296148,0.19091500039047915,0.71338606911949],"aabb_xy":[[-0.18472552333419148,0.18606334791149506],[-0.17503833381173153,0.1957666528694633]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.39506148076796976,-1.3409580724022079,0.71338606911949],"aabb_xy":[[0.36391456192438665,-1.410958071089015],[0.4262083996115529,-1.2709580737154007]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.674151949269328,0.4952783803324712,0.71338606911949],"aabb_xy":[[0.6512362363842782,0.47237408319604773],[0.697067662154378,0.5181826774688947]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.5830529601970968,-1.1617151838144275,0.71338606911949],"aabb_xy":[[0.5660428629070462,-1.1778496723127014],[0.6000630574871475,-1.1455806953161536]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.29394967771734964,0.17772797529068596,0.71338606911949],"aabb_xy":[[-0.29765293904648843,0.17402595698196807],[-0.29024641638821075,0.1814299935994038]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.5256969116193837,1.6862173646420984,0.71338606911949],"aabb_xy":[[-0.5481616815907887,1.6637173637632376],[-0.5032321416479785,1.7087173655209587]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[0.1851097973168101,0.992248197752736,0.71338606911949],"aabb_xy":[[0.13730362970304144,0.927248195045677],[0.23291596493057873,1.057248200459795]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[-0.09880479828868649,-2.199792650710555,0.71338606911949],"aabb_xy":[[-0.1363047998043182,-2.2110194237267002],[-0.06130479677305478,-2.18856587769441]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[0.08406022826395432,-2.3411547041503447,0.71338606911949],"aabb_xy":[[0.07872771360934133,-2.3464790323955804],[0.0893927429185673,-2.335830375905109]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[0.1548136689702887,0.7573041847592736,0.71338606911949],"aabb_xy":[[0.14756990292404334,0.6773041865556713],[0.162057435016534,0.837304182962876]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.4992895605068216,-0.35050536621815986,0.71338606911949],"aabb_xy":[[-0.5632895576189273,-0.3995377360125704],[-0.4352895633947159,-0.3014729964237492]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6952174913527467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7975.png","name":"7975"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7975.png","name":"7975"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5541.png","name":"5541"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/557.png","name":"557"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3094.png","name":"3094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/121.png","name":"121"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":664.6831511133311,"rotation_z_degrees":180.5049470919233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012139417735883565,-0.0005119708586771993,0.017654576272395594]},{"name":"camera_2","offset_m":[0.009862168124476982,-0.0030539625484523603,0.015501197563093528]},{"name":"camera_3","offset_m":[-0.01947034638168365,-0.0005216173731411623,0.010307791050583996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000624467093623216,-0.001064416024501191,0.00033085376696255974],"end_effector_yaw_offset_degrees":-0.3028991883470431},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004757989153560361,0.0010301470096314297,-0.0015380473961593708],"end_effector_yaw_offset_degrees":0.2288751926649868},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00041045664071909715,-0.001982823423507028,0.0014369571055498943],"end_effector_yaw_offset_degrees":-0.6441222749953945}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033334935153012616,-0.0025180101505058038],"position_m":[0.2739665064846987,-0.0685180101505058,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004636202017049905,0.00478790884472891],"position_m":[0.2578362020170499,0.2234879088447289,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012647951418462491,-0.0036360364836114847],"position_m":[0.34486479514184626,0.044163963516388516,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038510844581523184,0.0022444309974831026],"position_m":[0.12455108445815231,0.4016444309974831,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002785825238570251,-0.001340167031114311],"position_m":[0.21491417476142977,-0.44034016703111434,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37b0d5886ad5a399728c0b2984912f8a329b1964a2f78a241b7c18635a67f083","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7975/tex_ceiling_textures_121/tex_floor_textures_3094/tex_table_textures_5541/tex_wall_textures_557","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4431727504472707035,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4431727504472707035,"visual_seed":4431727504472707035,"scene_id":"lab_003","finished_at":"2026-09-03T18:08:05"} +{"episode_id":"ep_000015","started_at":"2026-09-03T18:11:16","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.19655280384482698,-1.2087224907546865,0.71338606911949],"aabb_xy":[[0.18679681433565307,-1.218485024813921],[0.20630879335400085,-1.198959956695452]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.22277022696515913,1.5570272121551976,0.71338606911949],"aabb_xy":[[-0.23592147293644852,1.5320272123985115],[-0.2096189809938698,1.5820272119118846]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.6502069212471344,-1.7311825535251275,0.71338606911949],"aabb_xy":[[0.6341449937886168,-1.816182555337719],[0.6662688487056521,-1.6461825517125355]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.21052520525788954,-0.5993303718494292,0.71338606911949],"aabb_xy":[[-0.2330243409841165,-0.6218303726276923],[-0.18802606953166257,-0.5768303710711663]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.6719278405361692,-1.0516746302937818,0.71338606911949],"aabb_xy":[[-0.6832895751894552,-1.0630430967000697],[-0.6605661058828829,-1.0403061638874935]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.3207831952164766,-1.142085677360256,0.71338606911949],"aabb_xy":[[-0.4107831938109465,-1.158336263673677],[-0.23078319662200664,-1.1258350910468349]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.6504595998748464,-0.2399124265759207,0.71338606911949],"aabb_xy":[[0.6148304439748867,-0.27554509333277366],[0.6860887557748062,-0.20427975981906774]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.07448039981086463,-2.054171844279842,0.71338606911949],"aabb_xy":[[0.05119855761273328,-2.1391718455770694],[0.09776224200899596,-1.9691718429826135]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.41016321906597514,0.16076149378814808,0.71338606911949],"aabb_xy":[[-0.4701632199267879,0.10933506378166165],[-0.3501632182051623,0.21218792379463441]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.45808555401726947,-2.0873352220948713,0.71338606911949],"aabb_xy":[[0.450091565439566,-2.095335302189961],[0.4660795425949728,-2.0793351419997808]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.4895285530738622,-2.458197469838562,0.71338606911949],"aabb_xy":[[-0.5395285544347495,-2.5081753744139776],[-0.439528551712975,-2.4082195652631464]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.04127306182952206,-2.230833317864366,0.71338606911949],"aabb_xy":[[-0.05881975674564099,-2.268333319428617],[-0.023726366913403123,-2.193333316300115]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.22603045576596448,-2.46576958324953,0.71338606911949],"aabb_xy":[[0.18478164473604974,-2.5207695827617473],[0.2672792667958792,-2.4107695837373124]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.0749829333845311,-1.4800923656525116,0.71338606911949],"aabb_xy":[[0.07154225714447394,-1.483953798626876],[0.07842360962458829,-1.476230932678147]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.15830706669220984,-0.40853438630872985,0.71338606911949],"aabb_xy":[[-0.16601025736628688,-0.41624375700746785],[-0.1506038760181328,-0.40082501560999184]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.12051756751012033,-1.5404613871269537,0.71338606911949],"aabb_xy":[[0.08301756908671996,-1.5536256010947842],[0.15801756593352068,-1.5272971731591227]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.2127805235926672,1.2130443166935208,0.71338606911949],"aabb_xy":[[0.16278052323210115,1.1630643294839178],[0.26278052395323326,1.2630243039031237]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.6423121897667665,-1.5850660998811412,0.71338606911949],"aabb_xy":[[0.6342758550654817,-1.5931042191855578],[0.6503485244680514,-1.5770279805767242]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[-0.026910883435861788,0.9042393760477148,0.71338606911949],"aabb_xy":[[-0.08691088328242857,0.8474207538546761],[0.033089116410705,0.9610579982407534]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.20302391258365904,0.9456102007327902,0.71338606911949],"aabb_xy":[[0.19932065125452014,0.9419081824240723],[0.20672717391279788,0.949312219041508]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.5287211248355244,0.7264108399407982,0.71338606911949],"aabb_xy":[[-0.5837211230372691,0.6858888733143605],[-0.47372112663377947,0.7669328065672357]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.4182455538560885,-0.4638872019179652,0.71338606911949],"aabb_xy":[[0.41433168066066595,-0.4726362173245219],[0.422159427051511,-0.45513818651140836]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.2552501224563216,-2.123624684823419,0.71338606911949],"aabb_xy":[[0.24798887488591426,-2.136411695086928],[0.2625113700267291,-2.110837674559909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972382716328741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5660.png","name":"5660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2264.png","name":"2264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7749.png","name":"7749"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/461.png","name":"461"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":642.8236758141672,"rotation_z_degrees":57.646790124877356,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018941414920086493,-0.01321756447280158,-0.006006089725728478]},{"name":"camera_2","offset_m":[-0.011377630864778871,-0.012099789161240899,-0.003652344764715952]},{"name":"camera_3","offset_m":[0.01901649261112109,-0.011341868278832044,0.018682864800346425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018015123545708418,0.0002193629126535034,-0.0016545007135929254],"end_effector_yaw_offset_degrees":0.5511223357471762},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009256753921571509,-0.001698277851357712,0.0017447996974169992],"end_effector_yaw_offset_degrees":-0.9635005895825735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[5.373138631745893e-05,-0.0016359079910899133,0.0012733323482627562],"end_effector_yaw_offset_degrees":-0.1273806761054186}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025149741815848293,-0.004429583303091724],"position_m":[0.2747850258184152,-0.07042958330309172,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023548464808632085,-0.0016994160351499945],"position_m":[0.2555548464808632,0.21700058396485,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003603069167818207,-0.00037892280103462087],"position_m":[0.3399969308321818,0.04742107719896538,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001363097221950417,-0.0033201388296121613],"position_m":[0.12206309722195041,0.3960798611703878,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030022351533372143,0.0025917462336570033],"position_m":[0.22070223515333723,-0.436408253766343,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0accb6d448c0666d6777b2dcef36b3f21bbcb718943673c907825de243d0689","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_289/tex_ceiling_textures_461/tex_floor_textures_7749/tex_table_textures_5660/tex_wall_textures_2264","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2318556378089429234,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2318556378089429234,"visual_seed":2318556378089429234,"scene_id":"lab_003","finished_at":"2026-09-03T18:14:11"} +{"episode_id":"ep_000016","started_at":"2026-09-03T18:14:14","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.5908360317797268,1.029694570836162,0.71338606911949],"aabb_xy":[[0.5831328411056498,1.0219852001374237],[0.5985392224538038,1.0374039415349]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.5260827340822318,0.29921569350078325,0.71338606911949],"aabb_xy":[[0.4997939097617911,0.27294425984613196],[0.5523715584026724,0.32548712715543443]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.24584070304104017,-2.07815138314662,0.71338606911949],"aabb_xy":[[-0.27632495316807026,-2.128151382928116],[-0.21535645291400998,-2.028151383365124]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[0.5480077172903288,0.1640385300915086,0.71338606911949],"aabb_xy":[[0.5230077181246957,0.15708628438615202],[0.5730077164559619,0.17099077579686517]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.129573313312893,-0.8289790280135205,0.71338606911949],"aabb_xy":[[0.11256321602284233,-0.8451135165117943],[0.14658341060294364,-0.8128445395152465]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.5414010581003099,-0.9295212156421784,0.71338606911949],"aabb_xy":[[0.4914010585239752,-0.9795017945942844],[0.5914010576766446,-0.8795406366900725]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.5807106580979835,-1.3799169262919522,0.71338606911949],"aabb_xy":[[0.56637623297182,-1.391977141846491],[0.595045083224147,-1.3678567107374133]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.4740583974492239,-1.273141615191479,0.71338606911949],"aabb_xy":[[-0.5540583979194398,-1.2814523228058274],[-0.394058396979008,-1.264830907577131]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.021072718027213,-0.989442513947826,0.71338606911949],"aabb_xy":[[-0.04292728114255694,-1.0362092010667885],[0.08507271719698294,-0.9426758268288636]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.2632061497907979,-1.3428214735252566,0.71338606911949],"aabb_xy":[[-0.32320615038681405,-1.39763394607048],[-0.2032061491947817,-1.2880090009800331]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.49838590462438104,-0.9640035502329634,0.71338606911949],"aabb_xy":[[-0.5483589701568966,-1.0140035500454965],[-0.4484128390918657,-0.9140035504204307]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.688088860635639,0.8059540676383228,0.71338606911949],"aabb_xy":[[0.6706581455566325,0.7886819529744719],[0.7055195757146455,0.8232261823021735]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.6715321333275395,-0.7199178264160428,0.71338606911949],"aabb_xy":[[0.6369410504734941,-0.7849178267010738],[0.7061232161815846,-0.6549178261310117]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.32149145828194303,-1.7843578949912804,0.71338606911949],"aabb_xy":[[0.2989914580384277,-1.7965625296510526],[0.3439914585254585,-1.7721532603315087]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.33073290921903764,0.5563481735261506,0.71338606911949],"aabb_xy":[[0.2807541007087217,0.5063481735204318],[0.38071171772935347,0.6063481735318694]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.6068924153973678,-1.9827024528132149,0.71338606911949],"aabb_xy":[[0.6005803158610294,-1.9884693920664338],[0.6132045149337062,-1.976935513559996]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.0978113987906516,1.3749144541706992,0.71338606911949],"aabb_xy":[[-0.10377793773138738,1.3689533095113349],[-0.0918448598499158,1.3808755988300632]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.23380421371839477,-0.7215212877088029,0.71338606911949],"aabb_xy":[[-0.2887996915390541,-0.7765212891427098],[-0.17880873589773533,-0.6665212862748959]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.20469513495526392,-2.0555039304018923,0.71338606911949],"aabb_xy":[[0.19540151671811332,-2.093003928890026],[0.21398875319241448,-2.0180039319137584]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.10563811009261548,0.7867749271380684,0.71338606911949],"aabb_xy":[[-0.16563811034401665,0.7324936021016036],[-0.04563810984121429,0.841056252174533]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[-0.49703839811489336,-0.5044120845964444,0.71338606911949],"aabb_xy":[[-0.5145383972492605,-0.5142917116340321],[-0.4795383989805262,-0.4945324575588565]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.22726955872763027,-1.7460917280280388,0.71338606911949],"aabb_xy":[[-0.30726955738451633,-1.7605965869523013],[-0.1472695600707443,-1.731586869103776]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.6314198818181516,-1.0868262698805475,0.71338606911949],"aabb_xy":[[-0.6648990490791926,-1.1203053832516545],[-0.5979407145571107,-1.0533471565094406]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.19938235408135763,-1.4619853538837748,0.71338606911949],"aabb_xy":[[-0.22188235459339822,-1.484477212249173],[-0.17688235356931703,-1.4394934955183762]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.21017081603052506,1.4412797520553569,0.71338606911949],"aabb_xy":[[-0.24767081460614584,1.428543456391799],[-0.17267081745490423,1.4540160477189148]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[-0.4056267614382775,-0.05772387963140968,0.71338606911949],"aabb_xy":[[-0.4360248725374211,-0.08813078163307919],[-0.37522865033913394,-0.027316977629740172]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[-0.2797700264328842,-2.347547496456057,0.71338606911949],"aabb_xy":[[-0.2837305102026185,-2.355215361041578],[-0.27580954266314983,-2.3398796318705366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934909460151745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7251.png","name":"7251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7251.png","name":"7251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1817.png","name":"1817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.635637454014,"rotation_z_degrees":180.31692994057195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014271659603532837,-0.004030315520732061,0.01623591879086211]},{"name":"camera_2","offset_m":[-0.001622509735374665,-0.014208364200071153,0.00884766866180315]},{"name":"camera_3","offset_m":[-0.01755858062607185,0.003565022871471063,0.01987206546524403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009109300016632541,-0.0004178922987509682,-0.000857875024409096],"end_effector_yaw_offset_degrees":0.2799084205299447},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001231737717235702,0.00044549999022656895,0.0009353751918779909],"end_effector_yaw_offset_degrees":0.7788951805531223},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00033612289950429777,-0.00016268435014847333,-0.0003856934023993275],"end_effector_yaw_offset_degrees":-0.7442118735992982}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002585537601531468,-0.0002140588755140194],"position_m":[0.27471446239846853,-0.06621405887551403,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004972525321554501,-0.0008869754665608966],"position_m":[0.24822747467844547,0.21781302453343912,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0028036051904730555,0.0029309275488740997],"position_m":[0.3464036051904731,0.0507309275488741,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018379731489878404,0.0034081494011218684],"position_m":[0.11886202685101216,0.40280814940112186,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002730296903898998,0.001459042863584916],"position_m":[0.214969703096101,-0.4375409571364151,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9ad8c97a4553ea1dcb9cbece3a010f0bf17f1ecebe2aa141e066ac56e9c2b7d2","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7251/tex_ceiling_textures_231/tex_floor_textures_1817/tex_table_textures_2015/tex_wall_textures_1884","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8789650413118598514,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8789650413118598514,"visual_seed":8789650413118598514,"scene_id":"lab_003","finished_at":"2026-09-03T18:17:08"} +{"episode_id":"ep_000017","started_at":"2026-09-03T18:20:28","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.612404326190789,-2.5343653687290977,0.71338606911949],"aabb_xy":[[0.5624269093255353,-2.584365370218346],[0.6623817430560425,-2.4843653672398487]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.4307197776731322,-0.33641615155872007,0.71338606911949],"aabb_xy":[[0.40822064194690516,-0.35891615233698304],[0.4532189133993591,-0.3139161507804571]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.18442268776549997,1.2325013527343316,0.71338606911949],"aabb_xy":[[-0.19000435939962873,1.220001352916556],[-0.1788410161313712,1.245001352552107]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.28425190353003843,-1.6190196056126007,0.71338606911949],"aabb_xy":[[-0.3215831800552811,-1.6536726604074532],[-0.2469206270047958,-1.5843665508177487]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[-0.17471725884055989,-2.3850983606055713,0.71338606911949],"aabb_xy":[[-0.2547110824191181,-2.465098363198413],[-0.09472343526200167,-2.3050983580127298]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.2511362128532171,-1.3562197418742221,0.71338606911949],"aabb_xy":[[0.18113621125093765,-1.36965253507588],[0.3211362144554966,-1.3427869486725648]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.35544280808117046,0.9983197557283199,0.71338606911949],"aabb_xy":[[0.3179428082641369,0.9936815444171779],[0.392942807898204,1.0029579670394617]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[0.6710850716481545,-0.006708020237433665,0.71338606911949],"aabb_xy":[[0.6638027552714906,-0.09670802384694265],[0.6783673880248179,0.08329198337207531]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[-0.6394479398737287,-2.4103072898932667,0.71338606911949],"aabb_xy":[[-0.6630330633376236,-2.475307292138699],[-0.6158628164098339,-2.3453072876478354]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.23150780546879557,-1.527504433656482,0.71338606911949],"aabb_xy":[[0.21459707303245376,-1.5409766392490962],[0.24841853790513732,-1.5140322280638674]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.15805508491777476,-0.962650125063198,0.71338606911949],"aabb_xy":[[-0.16201556868750913,-0.9703179896487187],[-0.15409460114804038,-0.9549822604776775]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.48529001264584604,-2.43105344244045,0.71338606911949],"aabb_xy":[[-0.4933263473471309,-2.439091561744867],[-0.4772536779445612,-2.423015323136033]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.4626015543635482,-2.5654206379990416,0.71338606911949],"aabb_xy":[[0.4474293850819148,-2.5805894949272448],[0.4777737236451815,-2.5502517810708385]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.0032299909593874743,-1.9302374993760794,0.71338606911949],"aabb_xy":[[-0.025138673098738518,-1.9521381661961699],[0.01867869117996357,-1.9083368325559884]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.3136504628116261,-2.187058235038621,0.71338606911949],"aabb_xy":[[0.23365046579737808,-2.2071927867120325],[0.39365045982587404,-2.1669236833652095]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.655229279220089,0.7879453178288962,0.71338606911949],"aabb_xy":[[-0.6729049098086872,0.7702651015494933],[-0.6375536486314906,0.8056255341082988]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[-0.582785512303975,0.5612012419177419,0.71338606911949],"aabb_xy":[[-0.6026765521843153,0.5485454306330452],[-0.5628944724236348,0.5738570532024388]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.2005726162883381,-1.1728346314351703,0.71338606911949],"aabb_xy":[[0.15109219507437932,-1.2368346293480221],[0.2500530375022969,-1.1088346335223185]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.2961069409403997,-0.4507833457873214,0.71338606911949],"aabb_xy":[[-0.3005375702952399,-0.456231717522004],[-0.29167631158555957,-0.4453349740526388]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.33527011979754495,-2.5455069328925175,0.71338606911949],"aabb_xy":[[0.28527011884701214,-2.5770560798960385],[0.38527012074807776,-2.5139577858889957]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.054242413793367916,0.8652137168594769,0.71338606911949],"aabb_xy":[[0.016742412277736207,0.853986943843332],[0.09174241530899963,0.8764404898756221]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.4220517148981351,1.2511028352475662,0.71338606911949],"aabb_xy":[[0.3720687647106557,1.2011028356050055],[0.47203466508561437,1.3011028348901263]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.3919907811778829,-1.0939102495251982,0.71338606911949],"aabb_xy":[[0.3544907805133041,-1.1095973075254202],[0.42949078184246153,-1.0782231915249758]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[0.6264343179815659,-1.9412074642592936,0.71338606911949],"aabb_xy":[[0.5842499038207353,-2.005207464536505],[0.6686187321423968,-1.8772074639820824]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[-0.5530306998292118,-2.158822971284658,0.71338606911949],"aabb_xy":[[-0.5673651249553753,-2.1708831868391965],[-0.5386962747030484,-2.146762755730119]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.49088731129292495,-0.3336627390714293,0.71338606911949],"aabb_xy":[[-0.4945905726220639,-0.3373647573801471],[-0.4871840499637861,-0.3299607207627114]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.0740950339965808,-0.7031150160683537,0.71338606911949],"aabb_xy":[[-0.14409503738814275,-0.7384307897717844],[-0.0040950306050188115,-0.6677992423649227]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.44523840507783546,-1.543726699969261,0.71338606911949],"aabb_xy":[[-0.4952172135881514,-1.59372669997498],[-0.39525959656751963,-1.4937266999635423]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_28","position":[0.678700111788691,1.3392629940558476,0.71338606911949],"aabb_xy":[[0.6487325548788654,1.3092629937579618],[0.7086676686985167,1.3692629943537333]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[0.4939196145792839,0.3343494263697844,0.71338606911949],"aabb_xy":[[0.4139196159919644,0.2550338244316234],[0.5739196131666032,0.4136650283079452]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.15494526083396754,1.6881899063574344,0.71338606911949],"aabb_xy":[[0.14403948474640482,1.6081899099586052],[0.16585103692153025,1.7681899027562635]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_31","position":[-0.12327612536513888,1.5710989593801359,0.71338606911949],"aabb_xy":[[-0.1872761257426725,1.5213536925293238],[-0.05927612498760526,1.6208442262309484]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695081989782399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/349.png","name":"349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/349.png","name":"349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3164.png","name":"3164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5422.png","name":"5422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1303.png","name":"1303"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":630.9925878930002,"rotation_z_degrees":244.80868493786463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01524950302257386,0.013447949813874201,0.0059182864481657875]},{"name":"camera_2","offset_m":[-0.017301879022546384,0.013736438889823763,0.001092399673424095]},{"name":"camera_3","offset_m":[0.01869846619323041,-0.006493518955882927,-0.0005121957321031836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001024850013474014,0.00031059864574229214,-0.0012037097763001041],"end_effector_yaw_offset_degrees":-0.7674698751162778},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[3.69970711225397e-06,0.0015086040101690906,-0.0008491411661987064],"end_effector_yaw_offset_degrees":-0.9783442446697528},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005218464939492338,0.0007881980895616298,-0.000771799385591593],"end_effector_yaw_offset_degrees":-0.526697088915913}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014104921527236425,-0.001160145492010791],"position_m":[0.27588950784727634,-0.0671601454920108,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016750781620824963,0.004648663338163645],"position_m":[0.25152492183791747,0.22334866333816364,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0018202087996209548,-0.0017750728192569656],"position_m":[0.34177979120037905,0.04602492718074304,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032131768497269753,-0.0025748532881690466],"position_m":[0.12391317684972698,0.39682514671183095,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016386209159861718,0.00027976871551599076],"position_m":[0.21606137908401382,-0.438720231284484,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c3b323d030da4d0350164cea74417c2bc6c1deb86c6bc3adadab1628215f50d4","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_349/tex_ceiling_textures_9127/tex_floor_textures_1303/tex_table_textures_3164/tex_wall_textures_5422","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5831496566790561044,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5831496566790561044,"visual_seed":5831496566790561044,"scene_id":"lab_003","finished_at":"2026-09-03T18:23:13"} +{"episode_id":"ep_000018","started_at":"2026-09-03T18:23:18","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.4262409014489794,1.3550509329271812,0.71338606911949],"aabb_xy":[[0.37635820457128333,1.3050509336809066],[0.4761235983266757,1.4050509321734561]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.5675231832641382,-1.3327997579703796,0.71338606911949],"aabb_xy":[[-0.5794559176259663,-1.345181910778239],[-0.5555904489023101,-1.3204176051625203]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.021243593777772296,-2.063883051634117,0.71338606911949],"aabb_xy":[[-0.030403472721648894,-2.070414269677654],[-0.012083714833895698,-2.0573518335905803]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.34428424961720977,-0.8284933895819078,0.71338606911949],"aabb_xy":[[-0.39426719980468905,-0.8784933892244678],[-0.2943012994297304,-0.778493389939347]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.6108569967346096,0.9496682077310239,0.71338606911949],"aabb_xy":[[-0.660856997753745,0.9132019919931961],[-0.5608569957154744,0.9861344234688519]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.21216260416567578,-0.8897630889136767,0.71338606911949],"aabb_xy":[[0.13216260090783283,-0.9697595967056606],[0.29216260742351874,-0.8097665811216926]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.11325541157968522,-2.508107955880678,0.71338606911949],"aabb_xy":[[-0.18325541497124717,-2.5434237295841085],[-0.04325540818812323,-2.4727921821772467]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.1673835109875318,-2.4858252785849406,0.71338606911949],"aabb_xy":[[0.13292116358938996,-2.520319160982763],[0.20184585838567357,-2.4513313961871175]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.05717400730796973,0.9697157353673513,0.71338606911949],"aabb_xy":[[-0.08716567004184006,0.9397157360305507],[-0.027182344574099404,0.9997157347041518]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.4423072057630557,-1.5720123119841167,0.71338606911949],"aabb_xy":[[0.392490426298221,-1.6220123104684203],[0.4921239852278905,-1.5220123134998136]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.1575287728583432,-2.2851010348521483,0.71338606911949],"aabb_xy":[[0.0935330754632466,-2.349101033152857],[0.22152447025343977,-2.2211010365514396]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.5861175165978274,1.6416716844378993,0.71338606911949],"aabb_xy":[[-0.5957491528182569,1.6320343716581904],[-0.5764858803773977,1.6513089972176083]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.27440619810189926,0.578163622557927,0.71338606911949],"aabb_xy":[[0.23737208867383955,0.5437864152242174],[0.311440307529959,0.6125408298916363]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.4780060078599914,1.5171262105868162,0.71338606911949],"aabb_xy":[[-0.5380060084560077,1.4623137380415927],[-0.41800600726397524,1.5719386831320397]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.037417770111156545,1.1378367350371605,0.71338606911949],"aabb_xy":[[-0.07960218427198729,1.0738367347599493],[0.004766644049674196,1.2018367353143717]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.6648028477415535,1.786384453020745,0.71338606911949],"aabb_xy":[[-0.6846938876218938,1.7737286417360483],[-0.6449118078612133,1.799040264305442]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.397467096464581,-1.1776800551178592,0.71338606911949],"aabb_xy":[[-0.4014275802343153,-1.1853479197033798],[-0.3935066126948466,-1.1700121905323386]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[-0.5241574883667233,0.8347034913595381,0.71338606911949],"aabb_xy":[[-0.5466574883768716,0.8206072717199349],[-0.501657488356575,0.8487997109991414]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.14288905162142418,-0.8131575201099159,0.71338606911949],"aabb_xy":[[-0.18038905019704496,-0.8258938157734738],[-0.10538905304580336,-0.8004212244463579]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.3549485961555513,1.1229700983970718,0.71338606911949],"aabb_xy":[[-0.39349428898075234,1.084424327340883],[-0.31640290333035026,1.1615158694532604]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.6184450526378834,-0.4173257384488567,0.71338606911949],"aabb_xy":[[-0.6225232105449331,-0.42140671869712],[-0.6143668947308335,-0.41324475820059337]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.5034672674405012,0.5686961726778548,0.71338606911949],"aabb_xy":[[-0.5369464347015421,0.5352170593067478],[-0.46998810017946024,0.6021752860489618]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.35653979999830887,-0.925781953731438,0.71338606911949],"aabb_xy":[[0.3510818543612888,-1.0057819570390971],[0.36199774563532894,-0.845781950423779]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[-0.3433988988659833,0.13110687166108104,0.71338606911949],"aabb_xy":[[-0.40739889803575324,0.08434018454211857],[-0.27939889969621334,0.17787355878004352]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[-0.1973394580412674,0.43984588353778475,0.71338606911949],"aabb_xy":[[-0.2613394573354356,0.37585974316893056],[-0.13333945874709918,0.503832023906639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963902886353097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4770.png","name":"4770"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4770.png","name":"4770"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9938.png","name":"9938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3024.png","name":"3024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4104.png","name":"4104"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":578.2444013358304,"rotation_z_degrees":81.43612065955932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005528059048093028,0.017068770594881846,-0.0012835119495903692]},{"name":"camera_2","offset_m":[-0.0029983011322389334,0.0037200339795478016,-0.007519809260942796]},{"name":"camera_3","offset_m":[-0.0008660137663354592,0.016553844724351206,-0.0023208325435656457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000980791408355596,0.001113155224030629,-0.001450832826657182],"end_effector_yaw_offset_degrees":-0.9377949995548653},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000321631863656855,-0.000958782964764556,0.0012664544125003787],"end_effector_yaw_offset_degrees":-0.33001737310756396},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006884100350609225,0.0014511002858764526,-0.001021225809662761],"end_effector_yaw_offset_degrees":-0.40105740368836607}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018980647155081,-0.0005428419567606703],"position_m":[0.2754019352844919,-0.06654284195676068,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004291960591362794,-0.0023042394176431623],"position_m":[0.25749196059136276,0.21639576058235685,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-8.095113481434643e-05,0.0036610609853414975],"position_m":[0.3435190488651857,0.0514610609853415,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00023956341481112114,-0.00045316048842380073],"position_m":[0.12046043658518887,0.39894683951157617,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031480924329873395,-0.0036298154511213866],"position_m":[0.21455190756701267,-0.4426298154511214,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30a726cad5e0be4e0e86e381a5ac5aa96371b12d175a6c8827ea4149a612ea11","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4770/tex_ceiling_textures_4104/tex_floor_textures_3024/tex_table_textures_951/tex_wall_textures_9938","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3226192150753466317,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3226192150753466317,"visual_seed":3226192150753466317,"scene_id":"lab_003","finished_at":"2026-09-03T18:25:59"} +{"episode_id":"ep_000019","started_at":"2026-09-03T18:26:02","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.008032479703684259,-0.8166028885605845,0.71338606911949],"aabb_xy":[[0.0003292890296072142,-0.8243122592593224],[0.0157356703777613,-0.8088935178618464]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.2741228793624426,-0.33748960543865625,0.71338606911949],"aabb_xy":[[-0.31061869998972136,-0.37397354786541376],[-0.23762705873516388,-0.3010056630118986]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.14037547992931443,-2.583040423178564,0.71338606911949],"aabb_xy":[[0.10287547943195618,-2.5870091067266823],[0.17787548042667267,-2.5790717396304452]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.537015323280547,0.4760419797762525,0.71338606911949],"aabb_xy":[[-0.5870153246414341,0.42606407520083694],[-0.48701532191965974,0.5260198843516681]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.4258249723168631,0.8208793506038559,0.71338606911949],"aabb_xy":[[-0.46332497298144176,0.8051922926036335],[-0.38832497165228436,0.8365664086040778]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.2690690089348956,-1.4538222727458021,0.71338606911949],"aabb_xy":[[-0.27396830124145904,-1.4814991920483707],[-0.26416971662833205,-1.4261453534432331]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.5850688885307433,0.1393356651018851,0.71338606911949],"aabb_xy":[[-0.5931122484566985,0.05433566400651865],[-0.5770255286047882,0.2243356661972515]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.15892781709056047,-1.031702515470304,0.71338606911949],"aabb_xy":[[-0.18251294055445533,-1.0967025177157357],[-0.13534269362666562,-0.9667025132248721]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.5562900112402844,0.9818714681822698,0.71338606911949],"aabb_xy":[[-0.6459770875483999,0.8918714679278191],[-0.466602934932169,1.0718714684367203]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.044612859255379056,0.5304759175481948,0.71338606911949],"aabb_xy":[[-0.06171493721374721,0.5133691120169251],[-0.0275107812970109,0.5475827230794647]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.5627842341071747,-2.511280676895058,0.71338606911949],"aabb_xy":[[0.5562825975991701,-2.521048498921368],[0.5692858706151793,-2.5015128548687486]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.5726852255450519,-0.853470480575343,0.71338606911949],"aabb_xy":[[-0.6626852252682258,-0.8765438331105228],[-0.4826852258218775,-0.8303971280401631]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.08162355144075828,-0.9780973421747896,0.71338606911949],"aabb_xy":[[-0.08570170934780802,-0.9821783224230528],[-0.07754539353370854,-0.9740163619265262]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.2426551367616414,-1.659963364846139,0.71338606911949],"aabb_xy":[[0.2058605036367351,-1.6968692399427214],[0.2794497698865477,-1.6230574897495569]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.6035305348075004,0.3412488745505593,0.71338606911949],"aabb_xy":[[0.5660305363841001,0.3280846605827286],[0.6410305332309008,0.3544130885183899]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.14995238882478812,-0.12481458175404025,0.71338606911949],"aabb_xy":[[-0.21995238523474986,-0.14525251740572195],[-0.07995239241482628,-0.10437664610235851]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.37906319586909754,0.8913032192863399,0.71338606911949],"aabb_xy":[[0.3312570282553288,0.8263032165792807],[0.4268693634828661,0.9563032219933987]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.11678521920797225,-2.457257181097969,0.71338606911949],"aabb_xy":[[0.10587944312040953,-2.537257177496798],[0.12769099529553496,-2.3772571846991397]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5260416803305481,1.2320617673329344,0.71338606911949],"aabb_xy":[[0.47104942969503727,1.1770617655896216],[0.5810339309660592,1.2870617690762471]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.1335084280105785,1.1860214337475234,0.71338606911949],"aabb_xy":[[-0.19750842529622714,1.1445147147946795],[-0.06950843072492985,1.2275281527003674]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.40778181198436103,-0.7688979965485367,0.71338606911949],"aabb_xy":[[0.34378180976395406,-0.813271080673825],[0.4717818142047681,-0.7245249124232485]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.014926784233579404,1.2411709257475714,0.71338606911949],"aabb_xy":[[-0.0025732150445074726,1.2238328256812252],[0.03242678351166628,1.258509025813917]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.6059363449766068,-2.295644313631005,0.71338606911949],"aabb_xy":[[-0.6609363431783515,-2.3361662802574426],[-0.5509363467748618,-2.2551223470045674]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.5582721499605511,-1.7960843850067254,0.71338606911949],"aabb_xy":[[-0.6222721523033524,-1.841025236250858],[-0.49427214761774935,-1.751143533762593]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.6319789888385394,1.580350504047336,0.71338606911949],"aabb_xy":[[-0.6662952660131574,1.5303505040741583],[-0.5976627116639215,1.6303505040205137]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.6658237334104599,-1.3208476991526876,0.71338606911949],"aabb_xy":[[-0.6759054404890331,-1.400847697044802],[-0.6557420263318862,-1.2408477012605728]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[0.3643396487712496,0.5692361492180824,0.71338606911949],"aabb_xy":[[0.30433964851984835,0.5149548241816176],[0.4243396490226507,0.623517474254547]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[-0.3616693637406869,0.11432754549609259,0.71338606911949],"aabb_xy":[[-0.4256693623272594,0.06732058209658386],[-0.29766936515411446,0.1613345088956013]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[0.10547034391880505,-1.5550271024151103,0.71338606911949],"aabb_xy":[[0.08297392248494095,-1.577527102221858],[0.12796676535266915,-1.5325271026083631]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933040614475999,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8221.png","name":"8221"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8221.png","name":"8221"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9385.png","name":"9385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9112.png","name":"9112"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":677.9829386457715,"rotation_z_degrees":60.807057327111096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007913104043008233,-0.01372935259285455,0.005523343761000148]},{"name":"camera_2","offset_m":[-0.01848105726095297,0.011760457509365583,0.005268539362880836]},{"name":"camera_3","offset_m":[0.01248221072168761,0.019289668488855282,0.01751672455530873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019197278418102738,0.0012236400950164012,-0.0009861282855664285],"end_effector_yaw_offset_degrees":0.18243150157711518},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015465935309799893,-0.0008473979729983095,-0.00045441569980745017],"end_effector_yaw_offset_degrees":-0.6643552602984439},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001874840917051619,0.0008710564548127775,-0.0009899559680094608],"end_effector_yaw_offset_degrees":0.18596271162380829}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00440643481300407,0.004754234539645521],"position_m":[0.28170643481300406,-0.061245765460354484,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00483382931057602,0.0013824032534813895],"position_m":[0.24836617068942396,0.22008240325348138,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006655126153567855,0.004294132068774228],"position_m":[0.3442655126153568,0.05209413206877423,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009752490098781643,0.00499979743120879],"position_m":[0.12167524900987817,0.40439979743120874,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00296144378556064,0.0014710350331742748],"position_m":[0.21473855621443935,-0.43752896496682575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"43b83f416668b85dae99c40c8d8aff1d32ae1a9881fb414df2c07678baeba359","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8221/tex_ceiling_textures_6619/tex_floor_textures_9112/tex_table_textures_950/tex_wall_textures_9385","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6184050609753495367,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6184050609753495367,"visual_seed":6184050609753495367,"scene_id":"lab_003","finished_at":"2026-09-03T18:28:49"} +{"episode_id":"ep_000020","started_at":"2026-09-03T18:28:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.2950850943635572,-0.5920510561054801,0.71338606911949],"aabb_xy":[[-0.35908509164920577,-0.6335577750583242],[-0.23108509707790847,-0.5505443371526363]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.5270392549464707,0.6441184129689836,0.71338606911949],"aabb_xy":[[-0.5495392547603731,0.6396437965985028],[-0.5045392551325684,0.6485930293394643]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.6100290583965767,-0.769730418455608,0.71338606911949],"aabb_xy":[[-0.6601265223776503,-0.8337304189654199],[-0.5599315944155031,-0.7057304179457963]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.12610319408647375,-1.1587748529362574,0.71338606911949],"aabb_xy":[[0.10581889136307497,-1.179057478078966],[0.14638749680987248,-1.1384922277935483]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.25975558604596183,-1.0636531879907019,0.71338606911949],"aabb_xy":[[0.2272938851640343,-1.093786020105604],[0.2922172869278892,-1.0335203558757988]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.37122868392723674,0.7237701457073844,0.71338606911949],"aabb_xy":[[0.3337286853516159,0.7110338500438265],[0.4087286825028575,0.7365064413709423]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.22948363289915796,-1.699598883879762,0.71338606911949],"aabb_xy":[[0.22402568726213787,-1.779598887187421],[0.234941578536178,-1.6195988805721029]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.09293717089059383,1.7044011027004333,0.71338606911949],"aabb_xy":[[-0.09707302722329403,1.6669011032560763],[-0.08880131455789364,1.7419011021447903]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.33808147006555594,0.17870491890696227,0.71338606911949],"aabb_xy":[[-0.4030814686226288,0.14895238549307963],[-0.2730814715084831,0.20845745232084487]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.024948068120727585,-0.5719359247989177,0.71338606911949],"aabb_xy":[[-0.029026226027777324,-0.5760169050471811],[-0.020869910213677845,-0.5678549445506544]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.6086647556676318,-1.9208647495787816,0.71338606911949],"aabb_xy":[[-0.6202337364145684,-1.9458647496957133],[-0.5970957749206952,-1.89586474946185]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.39194574845617014,-2.5708057289252118,0.71338606911949],"aabb_xy":[[0.38314369314719743,-2.5786170550801404],[0.40074780376514285,-2.5629944027702822]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.3877363264415134,-0.9230137834724947,0.71338606911949],"aabb_xy":[[-0.3938309543296318,-0.9315831780241635],[-0.38164169855339514,-0.914444388920826]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.6316625558872957,-0.15434530391110535,0.71338606911949],"aabb_xy":[[0.5716625550264827,-0.20577173391759168],[0.6916625567481083,-0.10291887390461892]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.20215533533817182,0.9964133740595926,0.71338606911949],"aabb_xy":[[-0.22737617219801146,0.9711896232067059],[-0.17693449847833212,1.0216371249124792]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.35247971713141313,1.2956817014439888,0.71338606911949],"aabb_xy":[[0.34378175484069784,1.283556727136514],[0.3611776794221284,1.3078066757514635]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.1455034894486089,-1.0007295089929182,0.71338606911949],"aabb_xy":[[0.10800348865661347,-1.0070973499511084],[0.18300349024060436,-0.9943616680347281]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.5121635312061302,0.9411574918925965,0.71338606911949],"aabb_xy":[[-0.5171195513910115,0.918657491690475],[-0.5072075110212492,0.9636574920947182]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.5397738619542161,-2.3354583404593847,0.71338606911949],"aabb_xy":[[-0.6047738629547166,-2.386244705614059],[-0.47477386095371554,-2.2846719753047093]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[-0.5261469082488128,0.050415388610237866,0.71338606911949],"aabb_xy":[[-0.5407903138028457,0.03575666895345358],[-0.5115035026947797,0.06507410826702215]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.020340351190005213,-1.7459532866648235,0.71338606911949],"aabb_xy":[[-0.02963294281325524,-1.7959532872193709],[0.07031364519326566,-1.6959532861102762]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.4021035683061358,1.6490444926087222,0.71338606911949],"aabb_xy":[[0.39484232073572834,1.636257482345213],[0.40936481587654316,1.661831502872232]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.17040796528200985,-2.143501827908229,0.71338606911949],"aabb_xy":[[-0.23440796239411554,-2.19253419770264],[-0.10640796816990417,-2.0944694581138186]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.32004861220093717,-0.8623123585619374,0.71338606911949],"aabb_xy":[[0.3024703100119903,-0.8798868481360425],[0.337626914389884,-0.8447378689878327]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.3980137793290454,-1.6545073369158128,0.71338606911949],"aabb_xy":[[-0.44799672951652475,-1.704507336558373],[-0.3480308291415661,-1.6045073372732521]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.4659637231657552,-0.5208072966550636,0.71338606911949],"aabb_xy":[[0.41883434416391946,-0.5848072976994655],[0.5130931021675909,-0.4568072956106616]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.13644818846621753,0.32889997365317125,0.71338606911949],"aabb_xy":[[-0.17394818998184924,0.3176732006370262],[-0.09894818695058583,0.3401267466693163]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.36868127634629033,0.7785228585066624,0.71338606911949],"aabb_xy":[[-0.39652631312689746,0.7477383597683507],[-0.3408362395656832,0.809307357244974]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[0.5792722744502112,0.9461857177197657,0.71338606911949],"aabb_xy":[[0.5615966438616128,0.9285055014403629],[0.5969479050388095,0.9638659339991684]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_29","position":[0.4958788215776708,-1.218602249523958,0.71338606911949],"aabb_xy":[[0.4857971144990973,-1.2986022474160723],[0.5059605286562443,-1.138602251631843]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_30","position":[-0.2669555717571697,-2.5118885518790615,0.71338606911949],"aabb_xy":[[-0.2851613954184174,-2.522913952461053],[-0.24874974809592204,-2.50086315129707]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[-0.24100297638314755,0.48111079545536084,0.71338606911949],"aabb_xy":[[-0.29081975584798225,0.4311107969710575],[-0.19118619691831276,0.5311107939396642]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[0.2950828971660502,-1.4411688453087832,0.71338606911949],"aabb_xy":[[0.21136067166596767,-1.5311688488434791],[0.3788051226661326,-1.3511688417740872]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_33","position":[-0.6040456752364199,-2.4860259151431343,0.71338606911949],"aabb_xy":[[-0.664045675487821,-2.540307240179599],[-0.5440456749850187,-2.4317445901066694]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932562485184486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8224.png","name":"8224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8224.png","name":"8224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6511.png","name":"6511"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9980.png","name":"9980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7383.png","name":"7383"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":720.3954259111158,"rotation_z_degrees":258.92797251605054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006735654770745007,0.013996084613269535,0.006634303453589809]},{"name":"camera_2","offset_m":[-0.006177256733777923,0.01487275907146349,0.005371143903795707]},{"name":"camera_3","offset_m":[0.0033285209939516412,-0.007350663084201585,0.011148643555873965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001659628278846164,-0.0011833909980338954,0.0007943783087582118],"end_effector_yaw_offset_degrees":-0.6597432453942917},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001158381219230563,0.0013497317543788895,0.00010755228318850901],"end_effector_yaw_offset_degrees":0.6422802784409984},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.2855419771487086e-05,-0.0005623677791835519,-0.0002459000652932147],"end_effector_yaw_offset_degrees":-0.22610039723576802}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000601905780455202,0.004562674818969644],"position_m":[0.2766980942195448,-0.06143732518103036,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001945659640987273,0.0023825675676781167],"position_m":[0.25125434035901273,0.22108256756767813,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0013263731943530064,0.0016828087035399208],"position_m":[0.34492637319435304,0.049482808703539924,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00296689230397961,-0.002417047279985487],"position_m":[0.1177331076960204,0.3969829527200145,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023816845161483834,0.0022605086316844223],"position_m":[0.2153183154838516,-0.4367394913683156,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b486963f11ea540e2ab6b841d3a38eb77ee8f802360fb54b2fc30f52c952b681","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8224/tex_ceiling_textures_1963/tex_floor_textures_7383/tex_table_textures_6511/tex_wall_textures_9980","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3334979929561767938,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3334979929561767938,"visual_seed":3334979929561767938,"scene_id":"lab_003","finished_at":"2026-09-03T18:31:43"} +{"episode_id":"ep_000021","started_at":"2026-09-03T18:31:47","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.5424858058003195,1.600204079843674,0.71338606911949],"aabb_xy":[[-0.5505120764309455,1.5914525848663215],[-0.5344595351696935,1.6089555748210267]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.5834218664433255,-0.6585257315900381,0.71338606911949],"aabb_xy":[[0.5484218672505072,-0.6694927775877006],[0.6184218656361438,-0.6475586855923754]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.5368200836928796,0.22621689598147476,0.71338606911949],"aabb_xy":[[0.4568200822627524,0.14669974096886532],[0.6168200851230068,0.30573405099408424]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.5616844424234451,0.503565445179281,0.71338606911949],"aabb_xy":[[-0.5735565254349462,0.4185654454856307],[-0.549812359411944,0.5885654448729314]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.04737143232270569,-1.8645414402439102,0.71338606911949],"aabb_xy":[[-0.0546326798931131,-1.87732845050742],[-0.04011018475229827,-1.851754429980401]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.5195167993003412,-0.7900318025699375,0.71338606911949],"aabb_xy":[[-0.5495084620342114,-0.8200318019067381],[-0.4895251365664708,-0.760031803233137]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.48436773297975,-2.4348363011767713,0.71338606911949],"aabb_xy":[[-0.554367736371312,-2.470152074880202],[-0.414367729588188,-2.3995205274733404]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.23241720793817977,-1.5598169235393993,0.71338606911949],"aabb_xy":[[-0.28229990481587597,-1.6098169227856742],[-0.18253451106048357,-1.5098169242931248]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.453423609745329,-2.070371277181207,0.71338606911949],"aabb_xy":[[-0.49092360956236253,-2.075009488492349],[-0.4159236099282954,-2.065733065870065]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.4183039404038731,1.2824592931825873,0.71338606911949],"aabb_xy":[[0.3837128575498278,1.217459292897556],[0.45289502325791825,1.3474592934676182]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.4205948079932216,-1.3764457601962077,0.71338606911949],"aabb_xy":[[0.37062174246070606,-1.4264457600087408],[0.47056787352573703,-1.326445760383675]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.3387532150771668,-2.041050542196045,0.71338606911949],"aabb_xy":[[0.25875939149860855,-2.121050544788887],[0.418747038655725,-1.961050539603204]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.3315372611691534,1.5418803599062918,0.71338606911949],"aabb_xy":[[-0.39553726046332166,1.4778942195374376],[-0.2675372618749852,1.605866500275146]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.39070854477767436,-1.2063212992607415,0.71338606911949],"aabb_xy":[[0.3007085424436553,-1.2838036538458542],[0.4807085471116934,-1.1288389446756288]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.15857466568648815,-0.4921108256310176,0.71338606911949],"aabb_xy":[[-0.20867212966756177,-0.5561108261408294],[-0.10847720170541453,-0.42811082512120574]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5562376380192822,-0.09525905183498606,0.71338606911949],"aabb_xy":[[0.47123763960185894,-0.18013334729727104],[0.6412376364367054,-0.010384756372701087]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.019302623145965425,0.29311678557162635,0.71338606911949],"aabb_xy":[[-0.03217452664690556,0.21311678515779017],[-0.006430719645025284,0.37311678598546244]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[-0.3010613643154949,-1.1305553412999616,0.71338606911949],"aabb_xy":[[-0.31773850030859035,-1.147255265273892],[-0.28438422832239935,-1.1138554173260315]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.5702664381261824,-0.9468456249037824,0.71338606911949],"aabb_xy":[[0.5052664399702633,-0.9731418694536945],[0.6352664362821014,-0.9205493803538701]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.37287935037266823,0.5995341218567902,0.71338606911949],"aabb_xy":[[-0.45287934902955423,0.5850292629325274],[-0.2928793517157822,0.614038980781053]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.46807823714751495,0.20890251043575958,0.71338606911949],"aabb_xy":[[-0.48813664876075513,0.18883742352660207],[-0.44801982553427455,0.22896759734491715]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.596827949299908,0.5071887766307976,0.71338606911949],"aabb_xy":[[0.5895456329232441,0.4171887730212885],[0.6041102656765714,0.5971887802403064]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.5672205632144367,0.7389920358864099,0.71338606911949],"aabb_xy":[[0.5072205633678699,0.6821734136933711],[0.6272205630610035,0.7958106580794485]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[0.62755654154946,-1.0572005912650717,0.71338606911949],"aabb_xy":[[0.6129131359954268,-1.0718593109218557],[0.6421999471034928,-1.0425418716082873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698741226488754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1652.png","name":"1652"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9383.png","name":"9383"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4890.png","name":"4890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2310.png","name":"2310"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.5103126932255,"rotation_z_degrees":125.95807993740645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006478409516466704,0.011075856624350618,-0.010596853905084429]},{"name":"camera_2","offset_m":[0.018493552831736756,-0.005978892889955359,0.0015138536139740338]},{"name":"camera_3","offset_m":[0.01284464439991934,-0.00424047775890898,0.004362939790025919]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00027059457207266385,8.340321975497736e-05,-0.001572945641373158],"end_effector_yaw_offset_degrees":-0.7508503136488296},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015553876108685128,0.0019752737715774743,-0.0009858281078093812],"end_effector_yaw_offset_degrees":0.022175401689670693},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002997427772639255,0.0013335008226018565,-0.0018776692512196482],"end_effector_yaw_offset_degrees":0.6840264736665274}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007949500614411976,0.0008711108918550495],"position_m":[0.2765050499385588,-0.06512888910814496,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004720899375526859,-0.004846282411406225],"position_m":[0.24847910062447312,0.21385371758859378,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002412063569514224,0.003959988625918276],"position_m":[0.34601206356951425,0.051759988625918275,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004907909758174761,-0.002617613119457656],"position_m":[0.11579209024182524,0.39678238688054235,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003797420568251897,0.0011817579537902892],"position_m":[0.2214974205682519,-0.4378182420462097,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7aeb44d8185a5720b7de0af22689aad67557dd4f1d80fbbb02c1d7e7e2592b30","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8417/tex_ceiling_textures_2310/tex_floor_textures_4890/tex_table_textures_1652/tex_wall_textures_9383","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2450162494805829177,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2450162494805829177,"visual_seed":2450162494805829177,"scene_id":"lab_003","finished_at":"2026-09-03T18:34:42"} +{"episode_id":"ep_000022","started_at":"2026-09-03T18:34:46","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.46012699614432767,-2.304708404678043,0.71338606911949],"aabb_xy":[[-0.5151202074814645,-2.359708405016837],[-0.405133784807191,-2.2497084043392497]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.40759903991604096,-1.3916352798532714,0.71338606911949],"aabb_xy":[[0.38569035777668986,-1.413535946673362],[0.42950772205539195,-1.3697346130331804]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.1043612236148328,0.871433531083432,0.71338606911949],"aabb_xy":[[-0.17436122542357824,0.8500797623192446],[-0.03436122180608736,0.8927872998476194]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.49259878592251005,-2.383617572269031,0.71338606911949],"aabb_xy":[[0.4817583076959951,-2.4008038535596796],[0.5034392641490248,-2.3664312909783822]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.4600339227500741,-1.9496797310729042,0.71338606911949],"aabb_xy":[[-0.5100339231106401,-1.999659718282507],[-0.41003392238950803,-1.8996997438633012]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.289114597758628,-1.5371625653775673,0.71338606911949],"aabb_xy":[[0.22511460064652233,-1.5861949351719782],[0.3531145948707337,-1.488130195583157]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.39282158748385154,1.1767902459234838,0.71338606911949],"aabb_xy":[[-0.41170597125236175,1.157904321143131],[-0.37393720371534134,1.1956761707038366]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.1464937866708783,-1.0821007390710815,0.71338606911949],"aabb_xy":[[0.1089937863787035,-1.086142214471685],[0.18399378696305313,-1.078059263670478]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.4050187149069252,0.03334731337861241,0.71338606911949],"aabb_xy":[[-0.46001871310867004,-0.007174653247825179],[-0.35001871670518037,0.07386928000504998]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.4666405318615794,-1.72364421487994,0.71338606911949],"aabb_xy":[[0.4490938369454605,-1.761144216444191],[0.4841872267776984,-1.6861442133156885]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.316051967066028,-1.9334098834449016,0.71338606911949],"aabb_xy":[[0.278551966960435,-1.9402320452978825],[0.3535519671716209,-1.9265877215919203]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.3396732645056604,-1.109786274387732,0.71338606911949],"aabb_xy":[[-0.4046732645399631,-1.1564869510680593],[-0.27467326447135765,-1.0630855977074047]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.10479910900236233,-0.6228472134949514,0.71338606911949],"aabb_xy":[[-0.16879910628801098,-0.6643539324477954],[-0.04079911171671369,-0.5813404945421075]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[-0.39469381874854675,0.2681766637262002,0.71338606911949],"aabb_xy":[[-0.40646200554320433,0.18317666382097866],[-0.3829256319538893,0.3531766636314218]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.2566406962124272,-1.4467048993695892,0.71338606911949],"aabb_xy":[[-0.3066181130776807,-1.4967049008588376],[-0.20666327934717357,-1.3967048978803405]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.4529893759541636,1.6348280527000418,0.71338606911949],"aabb_xy":[[-0.4768255935947687,1.5448280518915558],[-0.4291531583135586,1.7248280535085287]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.5040017771075742,0.5422577943511007,0.71338606911949],"aabb_xy":[[0.4696854999329563,0.49225779437792294],[0.5383180542821921,0.5922577943242784]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.7052497634886692,-2.3243412356812225,0.71338606911949],"aabb_xy":[[0.6951680564100957,-2.404341233573337],[0.7153314705672427,-2.244341237789108]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.22847211888777408,1.4842776197034673,0.71338606911949],"aabb_xy":[[-0.2534721180534072,1.4773253739981107],[-0.203472119722141,1.4912298654088239]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.510794079064767,0.31926075890627725,0.71338606911949],"aabb_xy":[[-0.5707940807076889,0.26726060961433307],[-0.4507940774218452,0.37126090819822144]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.3626051265977877,-0.401516261276222,0.71338606911949],"aabb_xy":[[-0.40010512778258045,-0.4059344839722824],[-0.32510512541299486,-0.39709803858016135]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.44110257434498645,0.4818038230751456,0.71338606911949],"aabb_xy":[[-0.5311025780219045,0.4203714164980412],[-0.3511025706680682,0.5432362296522499]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698133992544691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9466.png","name":"9466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6677.png","name":"6677"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1745.png","name":"1745"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4484.png","name":"4484"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":551.2657672047375,"rotation_z_degrees":109.48955425327934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01589043971060378,0.009566074221165496,-0.01360752632336788]},{"name":"camera_2","offset_m":[-0.017302045931869858,-0.012973166011562506,-0.006908841325708539]},{"name":"camera_3","offset_m":[0.012003473053807206,0.013962257060979377,0.0032850922162848267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006427447294730239,-0.0011846430145542272,0.00035437998915350015],"end_effector_yaw_offset_degrees":-0.09833450302650859},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013627890566799265,0.0006115824029931187,0.0011097550456617006],"end_effector_yaw_offset_degrees":0.7909302324829406},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001590572037501973,-0.0004917577302642013,-0.0004750391119712307],"end_effector_yaw_offset_degrees":-0.032534464795981766}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016677884761742215,-0.002835913402873482],"position_m":[0.2789677884761742,-0.06883591340287348,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027260342902053983,0.00020884830778612924],"position_m":[0.2559260342902054,0.21890884830778615,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012894062861835889,-0.0017838342396805209],"position_m":[0.3448894062861836,0.04601616576031948,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004183967274127765,0.0018121025807544058],"position_m":[0.12488396727412776,0.4012121025807544,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035567547851844683,-0.002975684236965296],"position_m":[0.21734432452148156,-0.4419756842369653,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ca57d4956a87b6a0a229c52754412214dc27233f07c1c454c111c872d681022","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1091/tex_ceiling_textures_4484/tex_floor_textures_1745/tex_table_textures_9466/tex_wall_textures_6677","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":9048527262120587978,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":9048527262120587978,"visual_seed":9048527262120587978,"scene_id":"lab_003","finished_at":"2026-09-03T18:37:32"} +{"episode_id":"ep_000023","started_at":"2026-09-03T18:37:35","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.38167603615899726,1.3020048312072476,0.71338606911949],"aabb_xy":[[0.366120266748732,1.2864543979628407],[0.3972318055692626,1.317555264451655]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.3162316716760794,-1.8649655190919272,0.71338606911949],"aabb_xy":[[-0.3662316712524141,-1.9149460980440332],[-0.2662316720997447,-1.8149849401398213]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.5242902661292681,-2.452861763594114,0.71338606911949],"aabb_xy":[[-0.558606543303886,-2.502861763567292],[-0.48997398895465016,-2.4028617636209364]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.4088172314040175,-2.3250724590742107,0.71338606911949],"aabb_xy":[[0.40060268628833345,-2.3337490493718516],[0.4170317765197014,-2.316395868776569]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.624311428910263,-1.9286424234930557,0.71338606911949],"aabb_xy":[[-0.6280146902394018,-1.9323444418017732],[-0.620608167581124,-1.9249404051843377]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.16122595964913233,-1.5234380489176085,0.71338606911949],"aabb_xy":[[-0.16921944944441436,-1.5314361808580843],[-0.1532324698538503,-1.515439916977133]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.3232776888502586,1.6572872755400474,0.71338606911949],"aabb_xy":[[-0.3872776859623643,1.608254905745637],[-0.2592776917381529,1.7063196453344582]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.5740907688795831,-1.1833652548538043,0.71338606911949],"aabb_xy":[[0.4940907702922636,-1.262680856791965],[0.6540907674669024,-1.1040496529156432]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.19543591366755209,1.2864483972614358,0.71338606911949],"aabb_xy":[[0.14543591271701925,1.2548992502579142],[0.24543591461808487,1.317997544264957]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.010757968759835812,-1.918290793135268,0.71338606911949],"aabb_xy":[[-0.04924203210097699,-1.9697172231417543],[0.0707579696206486,-1.8668643631287816]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.2549579459422767,-2.4243607828053046,0.71338606911949],"aabb_xy":[[0.20495794558171063,-2.4743407700149076],[0.30495794630284273,-2.3743807955957017]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.5020056488664901,-1.5783301622425245,0.71338606911949],"aabb_xy":[[0.47872380666835873,-1.6633301635397524],[0.5252874910646214,-1.4933301609452962]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.5262596002147787,1.17453418983838,0.71338606911949],"aabb_xy":[[-0.5375046557853965,1.1632923921142848],[-0.5150145446441609,1.1857759875624754]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.11078718764916773,-2.1056312975090785,0.71338606911949],"aabb_xy":[[0.0557871894474229,-2.146153264135516],[0.16578718585091257,-2.065109330882641]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.28178969492625594,-0.4794509835179852,0.71338606911949],"aabb_xy":[[-0.3122739450532861,-0.5294509832994811],[-0.2513054447992258,-0.4294509837364892]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.3811968893828035,-2.1572325607157516,0.71338606911949],"aabb_xy":[[0.33406751038096777,-2.221232561760153],[0.4283262683846391,-2.0932325596713492]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.3218028628123657,0.5696146912689581,0.71338606911949],"aabb_xy":[[0.2998941806730146,0.5477140244488674],[0.3437115449517167,0.5915153580890489]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.35838485341152493,0.696881082108078,0.71338606911949],"aabb_xy":[[-0.36442186641218965,0.6908543810391298],[-0.3523478404108602,0.7029077831770262]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.10911769209416844,-0.9660255268480191,0.71338606911949],"aabb_xy":[[0.0705719992689674,-1.0045712979042078],[0.14766338491936948,-0.9274797557918305]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.1006502470420102,-0.8097810466929205,0.71338606911949],"aabb_xy":[[-0.18065024731561719,-0.8827305945186372],[-0.020650246768403224,-0.7368314988672038]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.010329728052509979,-1.1971637513504874,0.71338606911949],"aabb_xy":[[-0.04782972840073774,-1.208955146931571],[0.02717027229571778,-1.1853723557694038]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.39174189993987013,-1.6917919226191436,0.71338606911949],"aabb_xy":[[-0.4292419007318656,-1.6981597635773336],[-0.3542418991478747,-1.6854240816609531]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.35886689602328603,1.3844833140752906,0.71338606911949],"aabb_xy":[[-0.40886190698273817,1.334483315039699],[-0.30887188506383406,1.4344833131108825]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.4470126885294474,-0.5998396295538346,0.71338606911949],"aabb_xy":[[0.3570126891110765,-0.6332151263980244],[0.5370126879478183,-0.5664641327096449]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.6103850603708734,1.0048542960900773,0.71338606911949],"aabb_xy":[[0.5203850617764035,0.9886037097766565],[0.7003850589653434,1.0211048824034985]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[0.32578758053980317,-0.4015440771215242,0.71338606911949],"aabb_xy":[[0.3169855252308304,-0.40935540327645314],[0.3345896358487758,-0.393732750966595]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[0.09239494126717884,0.9635073650975858,0.71338606911949],"aabb_xy":[[0.06989851983331474,0.9410073652908383],[0.11489136270104294,0.9860073649043332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6991094796606407,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8462.png","name":"8462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8462.png","name":"8462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4349.png","name":"4349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6887.png","name":"6887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2117.png","name":"2117"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3727.png","name":"3727"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":552.9347299756345,"rotation_z_degrees":149.14300878747244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018924226045964148,-0.0067550994920038444,0.01713396264802038]},{"name":"camera_2","offset_m":[0.004832244045750653,0.010818233396918137,-0.012648912579354969]},{"name":"camera_3","offset_m":[0.01958641179623539,-0.003867484178345936,-0.012209568993532276]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008875404271411307,-0.0019137438898734081,0.0019735448773501706],"end_effector_yaw_offset_degrees":-0.8056324487700917},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015322615636133565,0.0009523716413631232,-0.0018825659934287732],"end_effector_yaw_offset_degrees":-0.9876861163021831},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007434349179138012,-0.000747985795592983,0.000708630925536957],"end_effector_yaw_offset_degrees":0.5861437073225215}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004391933972909644,0.00029846599354096254],"position_m":[0.27290806602709033,-0.06570153400645903,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011210623846637279,0.0041492230560418114],"position_m":[0.25207893761533623,0.22284922305604182,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0028501051432027616,0.0025183877154778345],"position_m":[0.3464501051432028,0.050318387715477836,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004727958578217764,0.001589243742402031],"position_m":[0.11597204142178223,0.400989243742402,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035405759138226077,0.00027544916053214106],"position_m":[0.22124057591382262,-0.4387245508394679,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1a861bc579310517e2022a130d557724d7caae64bbdce0f755ac97a2f9758777","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8462/tex_ceiling_textures_3727/tex_floor_textures_2117/tex_table_textures_4349/tex_wall_textures_6887","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1238776152133411661,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1238776152133411661,"visual_seed":1238776152133411661,"scene_id":"lab_003","finished_at":"2026-09-03T18:40:19"} +{"episode_id":"ep_000024","started_at":"2026-09-03T18:40:22","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.602839203081805,-0.6728081218017494,0.71338606911949],"aabb_xy":[[-0.6728392048905505,-0.6941618905659369],[-0.5328392012730596,-0.6514543530375622]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.09790054968564021,-2.422332265928099,0.71338606911949],"aabb_xy":[[0.04290829905012928,-2.4773322676714122],[0.15289280032115118,-2.3673322641847867]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.21379482160354357,-2.0349716276659873,0.71338606911949],"aabb_xy":[[-0.22556300839820112,-2.1199716275712093],[-0.20202663480888608,-1.9499716277607662]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.45225379490718653,0.3695759868334725,0.71338606911949],"aabb_xy":[[-0.4723122065204268,0.34951089992431494],[-0.43219538329394624,0.38964107374263]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.3028181559481379,-2.3807088624730106,0.71338606911949],"aabb_xy":[[-0.33321626704728147,-2.4111157644746797],[-0.2724200448489943,-2.3503019604713407]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.605623291859304,0.23405613331231967,0.71338606911949],"aabb_xy":[[-0.6696232889714097,0.18502376351790906],[-0.5416232947471983,0.2830885031067303]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.25414065604390146,-0.7917312992027314,0.71338606911949],"aabb_xy":[[-0.2819856928245086,-0.8225157979410432],[-0.22629561926329433,-0.7609468004644199]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.42290759278156886,-1.457899522895689,0.71338606911949],"aabb_xy":[[0.39907137514096386,-1.5478995237041757],[0.446743810422174,-1.3678995220872026]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.38533519309665926,-0.6222178224622614,0.71338606911949],"aabb_xy":[[-0.3929594611868376,-0.6298510459988053],[-0.3777109250064811,-0.6145845989257178]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[0.044441399738399556,1.8034812778618643,0.71338606911949],"aabb_xy":[[0.041000723498342384,1.7996198448875003],[0.047882075978456735,1.8073427108362292]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.07843820182563,-1.725027823472804,0.71338606911949],"aabb_xy":[[0.04343820047414825,-1.7453875594296249],[0.11343820317711172,-1.7046680875159832]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.41521948959676824,1.4876366209985439,0.71338606911949],"aabb_xy":[[0.32521949100229824,1.4713860346851229],[0.5052194881912382,1.503887207311965]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.14203124182999805,-0.3913441840795975,0.71338606911949],"aabb_xy":[[-0.17953124200186996,-0.4240449194625046],[-0.10453124165812608,-0.35864344869669024]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.12864533001955103,-1.791852719895906,0.71338606911949],"aabb_xy":[[-0.13468234302021578,-1.7978794209648543],[-0.12260831701888633,-1.7858260188269581]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.6599513204759562,1.0998627250626631,0.71338606911949],"aabb_xy":[[0.609951319115069,1.0498848204872473],[0.7099513218368434,1.1498406296380785]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.18574484116176193,1.4524463247637303,0.71338606911949],"aabb_xy":[[0.17566313408318845,1.3724463268716152],[0.1958265482403354,1.5324463226558445]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.5045704978093297,-0.5719002432074278,0.71338606911949],"aabb_xy":[[0.49320876315604345,-0.5832687096137158],[0.5159322324626158,-0.5605317768011396]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.26880271226867614,-0.5742078727276021,0.71338606911949],"aabb_xy":[[0.2048027100482691,-0.6185809568528904],[0.33280271448908316,-0.5298347886023138]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.712051618454282,-0.7460190330162773,0.71338606911949],"aabb_xy":[[0.700118884092454,-0.7584011858241367],[0.7239843528161102,-0.733636880208418]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.18787204486198417,-1.5929274569189098,0.71338606911949],"aabb_xy":[[-0.21038573668544136,-1.6629274575199173],[-0.16535835303852697,-1.5229274563179023]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.6378503074979027,0.5942058722098329,0.71338606911949],"aabb_xy":[[0.5778503069018867,0.5393933996646094],[0.697850308093919,0.6490183447550564]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.14083556445421086,1.335787895524569,0.71338606911949],"aabb_xy":[[-0.1658355637261731,1.3194425319284064],[-0.11583556518224856,1.3521332591207311]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.6824801288298832,0.02864698475335903,0.71338606911949],"aabb_xy":[[0.6411755857661471,-0.035353014814758055],[0.7237846718936191,0.09264698432147611]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.5816495416491565,-0.7566830991110003,0.71338606911949],"aabb_xy":[[0.5603715335056842,-0.8216831014370732],[0.6029275497926287,-0.6916830967849271]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.1752881725204204,0.4051261492637068,0.71338606911949],"aabb_xy":[[-0.21278817403605213,0.3938993762475617],[-0.1377881710047887,0.4163529222798518]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[-0.02030628304240134,1.2344740548508084,0.71338606911949],"aabb_xy":[[-0.045306282594139824,1.2243315709856735],[0.004693716509337146,1.244616538715943]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.0759153549534688,-1.4977767332621752,0.71338606911949],"aabb_xy":[[0.06867158890722345,-1.5777767314657778],[0.0831591209997141,-1.417776735058573]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[-0.32656305557307297,0.8291534205160138,0.71338606911949],"aabb_xy":[[-0.4065630570032002,0.7496362655034042],[-0.24656305414294583,0.9086705755286232]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[0.413760087370979,-0.6408769658911819,0.71338606911949],"aabb_xy":[[0.40441307978868374,-0.6551805881088261],[0.4231070949532742,-0.626573343673538]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_29","position":[-0.12242488570337207,-2.1529303700466724,0.71338606911949],"aabb_xy":[[-0.13952696366174022,-2.170037175577942],[-0.10532280774500391,-2.1358235645154027]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[-0.44822467093967433,-0.8839658499239464,0.71338606911949],"aabb_xy":[[-0.4633875439166115,-0.8991313072190653],[-0.43306179796273736,-0.8688003926288278]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[0.3723209788281949,-2.0460654423028473,0.71338606911949],"aabb_xy":[[0.32732097736196614,-2.091065299164328],[0.4173209802944239,-2.0010655854413666]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[-0.47263296628504553,-0.512316964871522,0.71338606911949],"aabb_xy":[[-0.507095313683187,-0.5468108472693446],[-0.43817061888690356,-0.47782308247369926]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_33","position":[0.12987990759542067,-2.1897310481714025,0.71338606911949],"aabb_xy":[[0.07224943870814977,-2.2497310470981122],[0.18751037648269145,-2.129731049244691]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_34","position":[-0.3219970422988978,-0.36596890775449253,0.71338606911949],"aabb_xy":[[-0.3771222479284886,-0.4259689091957797],[-0.266871836669307,-0.3059689063132054]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6990626149543036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3048.png","name":"3048"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2262.png","name":"2262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9894.png","name":"9894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3828.png","name":"3828"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":736.7480383594564,"rotation_z_degrees":325.3772200127039,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004974340609819924,0.013210723743498878,-0.0030015478317963126]},{"name":"camera_2","offset_m":[0.010985734680067832,-0.007763929661708482,0.0005225984411211283]},{"name":"camera_3","offset_m":[-0.003876007126481517,-0.009096505359262382,-0.003983318640542563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009949476041623486,-0.0013562733752041766,-0.001436538913648957],"end_effector_yaw_offset_degrees":-0.9520800378670942},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013893017426045038,0.00043632209376317024,9.172773541497826e-05],"end_effector_yaw_offset_degrees":0.6642693270451436},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006040543517945567,-0.0012122271777150351,-0.0013499980497355163],"end_effector_yaw_offset_degrees":-0.039864021190046284}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017713703760442669,-0.0030346451384863273],"position_m":[0.27552862962395575,-0.06903464513848633,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009993553281542004,-0.0004069427996514245],"position_m":[0.2522006446718458,0.21829305720034858,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0004506455146689979,-0.0038862559399070193],"position_m":[0.343149354485331,0.043913744060092984,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007414620219633496,-0.003738588598193876],"position_m":[0.11995853797803666,0.3956614114018061,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003295567023696545,4.628704020537191e-05],"position_m":[0.22099556702369655,-0.43895371295979463,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"95605d59a971969fa553d0f812021d721a7ad8e770f62705ca571f5f6fb7b5f5","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2979/tex_ceiling_textures_3828/tex_floor_textures_9894/tex_table_textures_3048/tex_wall_textures_2262","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3464497341847541100,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3464497341847541100,"visual_seed":3464497341847541100,"scene_id":"lab_003","finished_at":"2026-09-03T18:43:02"} +{"episode_id":"ep_000025","started_at":"2026-09-03T18:43:05","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.22707590976075964,-1.5888145032908056,0.71338606911949],"aabb_xy":[[-0.25207590969327753,-1.5956971715117292],[-0.20207590982824178,-1.5819318350698826]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.11466513706935788,-1.7307973863738706,0.71338606911949],"aabb_xy":[[-0.1323407676579562,-1.7484776026532733],[-0.09698950648075953,-1.7131171700944678]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.355769147373426,1.7950926134054206,0.71338606911949],"aabb_xy":[[-0.38076914664538825,1.7787472498092582],[-0.3307691481014637,1.811437977001583]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.08359553294988087,-0.3014632087257145,0.71338606911949],"aabb_xy":[[-0.14759553462787822,-0.3499806002050287],[-0.019595531271883515,-0.25294581724640025]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.21435455692470223,0.30473709226269996,0.71338606911949],"aabb_xy":[[-0.21826843012012478,0.29598807685614315],[-0.21044068372927974,0.31348610766925666]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.1361577250867082,1.3371505477696797,0.71338606911949],"aabb_xy":[[0.04615772566833731,1.3037750509254897],[0.2261577245050791,1.3705260446138692]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.4834884842634486,-0.26720094031384,0.71338606911949],"aabb_xy":[[0.40348848398984155,-0.34015048813955673],[0.5634884845370555,-0.19425139248812331]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.6693247221822503,-1.3894022152294057,0.71338606911949],"aabb_xy":[[0.6524139897459084,-1.40287442082202],[0.6862354546185919,-1.3759300096367912]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.5799449253537856,0.7614465775062031,0.71338606911949],"aabb_xy":[[-0.6299449263729209,0.7249803617683752],[-0.5299449243346503,0.7979127932440312]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.04123920916988455,1.1094587514080096,0.71338606911949],"aabb_xy":[[-0.057301136628402194,1.0244587495954176],[-0.02517728171136691,1.1944587532206012]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.5191093917663074,-0.9613296975881294,0.71338606911949],"aabb_xy":[[0.5103073364573346,-0.9691410237430584],[0.52791144707528,-0.9535183714332003]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.5719911570667149,0.22274925284503055,0.71338606911949],"aabb_xy":[[0.4919911584793955,0.14343365090686966],[0.6519911556540343,0.30206485478319145]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.5738754689840586,-1.5430774408909638,0.71338606911949],"aabb_xy":[[-0.6378711663791552,-1.6070774391916722],[-0.509879771588962,-1.4790774425902549]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[0.08466639419576016,-0.8498605132343304,0.71338606911949],"aabb_xy":[[0.046120701370559146,-0.888406284290519],[0.12321208702096122,-0.8113147421781418]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.43942616228192,-0.4969036816728001,0.71338606911949],"aabb_xy":[[-0.5044261633878633,-0.5218690547409285],[-0.37442616117597677,-0.4719383086046719]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.08662409475147148,0.6867281333977067,0.71338606911949],"aabb_xy":[[-0.15062409205381788,0.6423617064298499],[-0.022624097449125066,0.7310945603655634]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.2029533146712153,-1.360659210130375,0.71338606911949],"aabb_xy":[[-0.2163998413052586,-1.3741290617834663],[-0.18950678803717194,-1.3471893584772836]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.49409588520365166,-0.6615838093318525,0.71338606911949],"aabb_xy":[[0.43250512597965884,-0.7255838074408993],[0.5556866444276445,-0.5975838112228056]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.5984623667459753,-2.145353292328259,0.71338606911949],"aabb_xy":[[-0.6086153823001246,-2.181422833900999],[-0.5883093511918258,-2.109283750755518]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.5535220711035841,-2.502529822664154,0.71338606911949],"aabb_xy":[[-0.6335220732663466,-2.5824850062902973],[-0.4735220689408216,-2.42257463903801]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.10511618069287043,-1.2984392466050996,0.71338606911949],"aabb_xy":[[-0.11474781691330005,-1.3080765593848083],[-0.09548454447244081,-1.2888019338253904]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.24189558418620632,0.08931501999704317,0.71338606911949],"aabb_xy":[[-0.2756711433768993,0.07527652478387813],[-0.20812002499551335,0.10335351521020818]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[0.5525090223513682,0.8855155085655557,0.71338606911949],"aabb_xy":[[0.48250902074908875,0.8720827153638983],[0.6225090239536477,0.8989483017672134]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.5759500732090379,-1.7185701441438268,0.71338606911949],"aabb_xy":[[0.48626299690092245,-1.8085701443982773],[0.6656371495171534,-1.6285701438893763]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.561066945297009,0.9332917176702091,0.71338606911949],"aabb_xy":[[-0.5645076215370661,0.9294302846958448],[-0.5576262690569518,0.9371531506445737]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.33018862437796653,-2.3287269657478786,0.71338606911949],"aabb_xy":[[-0.3410402306268421,-2.3395862564755294],[-0.3193370181290909,-2.317867675020228]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.27348349178029374,-1.0146461777031168,0.71338606911949],"aabb_xy":[[0.26578030110621664,-1.022355548401855],[0.28118668245437073,-1.0069368070043792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006779414206984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5830.png","name":"5830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5830.png","name":"5830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9315.png","name":"9315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7487.png","name":"7487"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9987.png","name":"9987"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":546.0229928380309,"rotation_z_degrees":316.75443062350786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0056299427713836885,-0.0052627085067664635,-0.000647122473205336]},{"name":"camera_2","offset_m":[-0.003703956992406981,0.012605516920689796,-0.009474833816207942]},{"name":"camera_3","offset_m":[-0.010587833895228807,-0.013266063428848524,-0.00629205641556768]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003948976215245642,0.0014841786497837815,0.0014171686269319277],"end_effector_yaw_offset_degrees":-0.3381960622714104},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013013779524199522,-0.0009334344353724485,-0.000445339079948969],"end_effector_yaw_offset_degrees":-0.30273209353252706},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001654470666242483,0.0009028906044900001,-0.0005159775440299725],"end_effector_yaw_offset_degrees":-0.9009060242394498}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004126811489183753,0.004716519635488783],"position_m":[0.28142681148918375,-0.06128348036451122,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009676773856765906,-0.0001351106896487174],"position_m":[0.2541676773856766,0.21856488931035128,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003984222967888435,-0.0005886931422465049],"position_m":[0.3396157770321116,0.047211306857753495,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003760049116251255,-0.004702222928342072],"position_m":[0.11693995088374874,0.39469777707165793,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002263323252758357,-0.0037905596914831054],"position_m":[0.21996332325275836,-0.4427905596914831,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a4f1b43150447f8fb68d3b0937228102503cd47dddefc86761aa2eb3e101efc0","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5830/tex_ceiling_textures_9987/tex_floor_textures_1407/tex_table_textures_9315/tex_wall_textures_7487","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":424953830574834691,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":424953830574834691,"visual_seed":424953830574834691,"scene_id":"lab_003","finished_at":"2026-09-03T18:45:47"} +{"episode_id":"ep_000026","started_at":"2026-09-03T18:45:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.14791760632576745,0.9433504920568301,0.71338606911949],"aabb_xy":[[-0.15325012098038043,0.9380261638115945],[-0.14258509167115446,0.9486748203020656]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.5906182072975359,-2.3417456964327057,0.71338606911949],"aabb_xy":[[-0.602490290309037,-2.426745696126356],[-0.5787461242860348,-2.2567456967390553]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.5241415562728013,-2.2515640985706558,0.71338606911949],"aabb_xy":[[0.46255079704880864,-2.3155640966797026],[0.5857323154967943,-2.187564100461609]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.5767530452138614,-1.2511381264755521,0.71338606911949],"aabb_xy":[[0.5548443630745102,-1.2730387932956428],[0.5986617273532123,-1.2292374596554614]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.4360296722966174,0.7394242440237728,0.71338606911949],"aabb_xy":[[-0.4910251501172767,0.6844242425898658],[-0.38103419447595793,0.7944242454576796]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.2674293422219682,-0.7777372631155781,0.71338606911949],"aabb_xy":[[-0.29194296631897404,-0.8020018564176146],[-0.24291571812496232,-0.7534726698135417]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.10717229073634948,-0.984047913467629,0.71338606911949],"aabb_xy":[[-0.14217229063236836,-0.9924221489795688],[-0.07217229084033061,-0.9756736779556889]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.18665801750791244,-1.7972788966635933,0.71338606911949],"aabb_xy":[[0.18202290235567903,-1.8011462317407416],[0.1912931326601458,-1.7934115615864445]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.568240269273687,-1.7430698385836374,0.71338606911949],"aabb_xy":[[0.5594590421264508,-1.7518495858721679],[0.5770214964209234,-1.7342900912951074]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.5393796099512709,-1.6163651610461915,0.71338606911949],"aabb_xy":[[-0.5540230155053039,-1.6310238807029755],[-0.5247362043972379,-1.601706441389407]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.4050376597548251,0.5372319714615696,0.71338606911949],"aabb_xy":[[0.38212194686977524,0.5143276743251461],[0.42795337263987504,0.5601362685979931]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.08587173535536319,-0.07996435362855925,0.71338606911949],"aabb_xy":[[-0.15587173695764267,-0.09339714683021681],[-0.015871733753083705,-0.06653156042690166]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.11311075116958047,-2.166117140079552,0.71338606911949],"aabb_xy":[[-0.16308955967989636,-2.21611714008527],[-0.06313194265926457,-2.1161171400738326]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.37525595116043553,1.3606934314927481,0.71338606911949],"aabb_xy":[[-0.46525594766130723,1.3147817890742897],[-0.2852559546595637,1.4066050739112061]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.26906501214649936,-0.8323265973473797,0.71338606911949],"aabb_xy":[[0.23051931932129832,-0.8708723684035683],[0.3076107049717004,-0.7937808262911911]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.3660359071547655,-2.048661499417708,0.71338606911949],"aabb_xy":[[-0.40194941157975517,-2.0845750076344625],[-0.3301224027297758,-2.012747991200953]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.6000222079173667,-0.1483115950881011,0.71338606911949],"aabb_xy":[[-0.607265973963612,-0.22831159329170347],[-0.5927784418711214,-0.06831159688449873]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.6571201360553331,0.4606418447109051,0.71338606911949],"aabb_xy":[[0.6161021926689623,0.4106418440799477],[0.698138079441704,0.5106418453418624]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.517105836047955,-1.7339769701453287,0.71338606911949],"aabb_xy":[[-0.5546058367125336,-1.7496640281455507],[-0.47960583538337626,-1.7182899121451063]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.6555921627149564,-1.124420479244043,0.71338606911949],"aabb_xy":[[-0.6905921609850763,-1.1314946069390313],[-0.6205921644448364,-1.117346351549055]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.0373104341184759,0.057965400081782636,0.71338606911949],"aabb_xy":[[-0.07078960137951684,0.024486286710675632],[-0.003831266857434963,0.09144451345288965]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.36073803037846913,-1.8733080848164332,0.71338606911949],"aabb_xy":[[-0.39122228050549934,-1.923308084597929],[-0.33025378025143903,-1.823308085034937]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.4068817912109357,-0.1705762217939788,0.71338606911949],"aabb_xy":[[-0.4229437186694533,-0.25557622360657056],[-0.390819863752418,-0.08557621998138697]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.2349511730668173,-0.5185722563353377,0.71338606911949],"aabb_xy":[[-0.24755387220389374,-0.5311676525602032],[-0.22234847392974083,-0.5059768601104722]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.009624862556584235,-1.5794868769046895,0.71338606911949],"aabb_xy":[[-0.07037513603073518,-1.6588024788428501],[0.08962486114390365,-1.5001712749665284]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[0.17857580207014623,1.4523414210709977,0.71338606911949],"aabb_xy":[[0.09857580466655279,1.3723488498728147],[0.2585757994737396,1.5323339922691803]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.02570998943100755,1.0561701307416738,0.71338606911949],"aabb_xy":[[-0.07568305496352302,1.006170130929141],[0.024263076101507918,1.1061701305542069]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.6108528045716791,-0.7579946555740691,0.71338606911949],"aabb_xy":[[-0.6202702791415418,-0.7674108327117881],[-0.6014353300018163,-0.7485784784363501]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[0.10064597654633156,-0.6230253033211692,0.71338606911949],"aabb_xy":[[0.0631459764407386,-0.6298474651741502],[0.13814597665192452,-0.616203141468188]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[-0.657498381691038,-0.45193473490116887,0.71338606911949],"aabb_xy":[[-0.6657129268067219,-0.46061132519881004],[-0.6492838365753539,-0.44325814460352747]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[-0.09840327162285256,-2.452613467816197,0.71338606911949],"aabb_xy":[[-0.16240327200038618,-2.502358734667009],[-0.034403271245318945,-2.4028682009653846]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[0.1984442953683223,0.7981219383573959,0.71338606911949],"aabb_xy":[[0.13344429748667452,0.746998274650855],[0.2634442932499701,0.8492456020639368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696181311839519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2256.png","name":"2256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2547.png","name":"2547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2081.png","name":"2081"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.8570710765508,"rotation_z_degrees":38.149041912724016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008006218174682403,-0.009119479889883899,0.009444888334034326]},{"name":"camera_2","offset_m":[-0.019415488020034084,0.01790428393436751,0.011622837424905452]},{"name":"camera_3","offset_m":[0.005591475898365301,-0.008591948802532778,-0.008150165939444717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008709774541011011,-0.0010855073705655447,1.6811751959097242e-05],"end_effector_yaw_offset_degrees":-0.8886607702363716},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00019421299140952655,0.0015363054367109534,-0.001311053100512141],"end_effector_yaw_offset_degrees":0.6697856892431686},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008376670964952188,-0.0013687626464933067,0.00012078221274531859],"end_effector_yaw_offset_degrees":-0.4397165247187389}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019386438648341577,0.00044125340779512315],"position_m":[0.2774938643864834,-0.06555874659220488,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026981716557959523,-0.0011560554745195383],"position_m":[0.25050182834420404,0.21754394452548045,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0004916483529505862,0.004836108910233225],"position_m":[0.34310835164704945,0.05263610891023323,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003746661904254298,0.0017186238159299146],"position_m":[0.12107466619042544,0.4011186238159299,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005740759210811353,0.0012624496244199599],"position_m":[0.21827407592108114,-0.43773755037558004,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dfb8cc26e790462829da389cedabb307545e8090a2af09833fb9a87c24379166","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1432/tex_ceiling_textures_2081/tex_floor_textures_2547/tex_table_textures_2256/tex_wall_textures_3818","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2012044419277286570,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2012044419277286570,"visual_seed":2012044419277286570,"scene_id":"lab_003","finished_at":"2026-09-03T18:48:29"} +{"episode_id":"ep_000027","started_at":"2026-09-03T18:48:32","dimensions":{"distractor":{"count":26,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.6532694396877694,1.4241672628341928,0.71338606911949],"aabb_xy":[[-0.6613127996137246,1.3391672617388264],[-0.6452260797618142,1.5091672639295592]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.2571793797343988,1.426840939779574,0.71338606911949],"aabb_xy":[[-0.3371793771379922,1.3468483685813912],[-0.17717938233080535,1.5068335109777569]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.37171570602700726,-2.0687925064507677,0.71338606911949],"aabb_xy":[[-0.44171570941856925,-2.104108280154198],[-0.3017157026354453,-2.0334767327473364]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.4339565427259793,1.5914091230707084,0.71338606911949],"aabb_xy":[[0.42982068639327914,1.5539091236263516],[0.4380923990586795,1.6289091225150656]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.3087053210314912,-0.07340403503872217,0.71338606911949],"aabb_xy":[[-0.3316210339165411,-0.0963083321751457],[-0.2857896081464413,-0.05049973790229868]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.2815570886020412,-0.9288183973154951,0.71338606911949],"aabb_xy":[[0.24030827757212644,-0.9838183968277124],[0.3228058996319559,-0.8738183978032775]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.5005938002537672,-1.233152871040136,0.71338606911949],"aabb_xy":[[-0.5805938013268875,-1.2429309173775205],[-0.4205937991806469,-1.2233748247027516]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.6103765192297805,-0.8586931174731405,0.71338606911949],"aabb_xy":[[0.540376517627501,-0.872125910674798],[0.68037652083206,-0.8452603242714829]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.47843732865728034,-2.5010715466112203,0.71338606911949],"aabb_xy":[[-0.48665187377296426,-2.509748136908861],[-0.4702227835415963,-2.492394956313578]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.40417546040250985,-2.1719895602934534,0.71338606911949],"aabb_xy":[[0.3841170487892695,-2.192054647202611],[0.4242338720157501,-2.151924473384296]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.2596579653456187,0.9850214249559808,0.71338606911949],"aabb_xy":[[-0.27399239047178214,0.9729612094014419],[-0.24532354021945524,0.9970816405105196]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.5035299660163681,-0.2766707179565069,0.71338606911949],"aabb_xy":[[-0.5675299682367752,-0.32104380208179517],[-0.4395299637959611,-0.2322976338312186]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.08457945793739996,0.8300902789385263,0.71338606911949],"aabb_xy":[[0.0789977863032712,0.8175902791207506],[0.09016112957152872,0.8425902787563015]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.3764642050895708,-1.2141149697592772,0.71338606911949],"aabb_xy":[[0.3314716183711204,-1.2591149690337258],[0.4214567918080212,-1.1691149704848283]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.2210383527056951,0.2405492490541108,0.71338606911949],"aabb_xy":[[-0.2493680626542354,0.23608850686039373],[-0.19270864275715494,0.24500999124782785]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.47713539969805896,-2.2034454201596696,0.71338606911949],"aabb_xy":[[0.4684214306481243,-2.225945420818857],[0.4858493687479933,-2.1809454195004805]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.3287088515257328,-1.949586069155303,0.71338606911949],"aabb_xy":[[0.2637088514914301,-1.9962867458356301],[0.39370885156003554,-1.9028853924749756]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.528435093725497,-1.0456348360749372,0.71338606911949],"aabb_xy":[[-0.5784350933018318,-1.0956154150270432],[-0.4784350941491624,-0.9956542571228313]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.14912115165531825,-1.0398981823017988,0.71338606911949],"aabb_xy":[[-0.1667539872488458,-1.0575211283174215],[-0.13148831606179065,-1.0222752362861756]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.14365410176410653,-1.3630902461321157,0.71338606911949],"aabb_xy":[[0.0636541037833215,-1.3706917870939677],[0.2236540997448916,-1.3554887051702638]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.06012976453059149,-0.5044296680043665,0.71338606911949],"aabb_xy":[[-0.07530193381222483,-0.5195985249325699],[-0.044957595248958156,-0.48926081107616315]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.4338029018457039,-1.3969957498994208,0.71338606911949],"aabb_xy":[[-0.4516720096001594,-1.4108286578766318],[-0.4159337940912484,-1.3831628419222097]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.2031040649711875,-2.3419190918016697,0.71338606911949],"aabb_xy":[[-0.26710406136676057,-2.4058823802204032],[-0.13910406857561441,-2.277955803382936]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.46792523634018873,0.9813436632537171,0.71338606911949],"aabb_xy":[[-0.48680962010869894,0.9624577384733644],[-0.44904085257167853,1.00022958803407]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[0.1670531557960585,0.9169751788578946,0.71338606911949],"aabb_xy":[[0.1170531548455257,0.8854260318543732],[0.2170531567465913,0.948524325861416]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[0.5637102161454242,-0.18587190355730954,0.71338606911949],"aabb_xy":[[0.5302310488843832,-0.21935101692841658],[0.5971893834064651,-0.15239279018620255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951690332054409,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6697.png","name":"6697"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4630.png","name":"4630"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2814.png","name":"2814"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1898.png","name":"1898"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":570.6493567645266,"rotation_z_degrees":325.949073042504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01048919882373307,0.00454279860168421,-0.00040468017416433327]},{"name":"camera_2","offset_m":[-0.014408446391805314,0.015375205501132857,0.014587728560033899]},{"name":"camera_3","offset_m":[-0.011738487331458174,-0.011318046312588348,0.0008224101593912771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029932504491501943,-0.0001718080864718764,-0.00019819296243423152],"end_effector_yaw_offset_degrees":-0.1052430805228215},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001013029600644971,-0.0004143569274431616,-0.0009770398367695888],"end_effector_yaw_offset_degrees":-0.8118968001969189},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012810614938574016,-1.9826848449148744e-05,-0.0006423418270767179],"end_effector_yaw_offset_degrees":-0.29803961965895387}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013280892207685837,0.0009557092719446767],"position_m":[0.2759719107792314,-0.06504429072805533,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004882550319242138,0.0017143145815619642],"position_m":[0.2580825503192421,0.22041431458156197,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004646396879017152,-0.0034424573799979995],"position_m":[0.34824639687901715,0.044357542620002,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009074547700255323,-0.004572211754872123],"position_m":[0.12160745477002553,0.3948277882451279,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003998361072369472,-0.0027411365968333123],"position_m":[0.21370163892763053,-0.44174113659683334,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9fba309d57c135391bef35131887848793a0260da16a3d64d5615669f53ad2c0","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1872/tex_ceiling_textures_1898/tex_floor_textures_2814/tex_table_textures_6697/tex_wall_textures_4630","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2766076187463701762,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2766076187463701762,"visual_seed":2766076187463701762,"scene_id":"lab_003","finished_at":"2026-09-03T18:51:10"} +{"episode_id":"ep_000028","started_at":"2026-09-03T18:51:13","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.14691282556372498,1.5017729941803135,0.71338606911949],"aabb_xy":[[-0.1529498385643897,1.4957462931113654],[-0.14087581256306025,1.5077996952492618]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.10251220361134294,1.7628191882467896,0.71338606911949],"aabb_xy":[[-0.16651220000691602,1.698855899828056],[-0.03851220721576987,1.8267824766655232]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.5132430306132952,0.09934171605603925,0.71338606911949],"aabb_xy":[[-0.530153763049637,0.08586951046342471],[-0.4963322981769535,0.11281392164865377]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.5191591761010415,-0.6385066684723131,0.71338606911949],"aabb_xy":[[0.45515917898893576,-0.6875390382667238],[0.5831591732131471,-0.5894742986779026]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[0.4124143792546602,1.5726869057999608,0.71338606911949],"aabb_xy":[[0.3324143806673407,1.4933713038618002],[0.49241437784197956,1.652002507738122]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.2081836951391305,-1.629576376555147,0.71338606911949],"aabb_xy":[[0.17133314720214288,-1.6670763773781807],[0.2450342430761181,-1.5920763757321132]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.32566663002517904,1.4719125635236847,0.71338606911949],"aabb_xy":[[-0.3330790855665675,1.4660613531020568],[-0.31825417448379056,1.4777637739453127]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.3211147623232884,1.1250580725530983,0.71338606911949],"aabb_xy":[[0.2739853833214526,1.0610580715086961],[0.36824414132512395,1.1890580735975]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.3084265353897109,-1.462044668592351,0.71338606911949],"aabb_xy":[[-0.35824331485454564,-1.5120446670766543],[-0.2586097559248761,-1.4120446701080476]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.3809677022338183,-1.6382075960841374,0.71338606911949],"aabb_xy":[[-0.44596770011546616,-1.6893312597906787],[-0.31596770435217053,-1.587083932377597]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.2749087258806542,1.1234662678936358,0.71338606911949],"aabb_xy":[[-0.28312327099633805,1.114789677595994],[-0.2666941807649701,1.1321428581912767]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[0.38778384433503854,-1.9120001758685055,0.71338606911949],"aabb_xy":[[0.337686380353965,-1.9760001763783173],[0.4378813083161122,-1.8480001753586937]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.25868770598504104,-0.8547910735766919,0.71338606911949],"aabb_xy":[[-0.3047727972397725,-0.9187910708292472],[-0.21260261473030959,-0.7907910763241369]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.198785794932742,0.6228467489988656,0.71338606911949],"aabb_xy":[[-0.24878507010117817,0.5728467477229184],[-0.14878651976430585,0.6728467502748128]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[0.4906111532876969,-1.6915977042196269,0.71338606911949],"aabb_xy":[[0.48618052393285677,-1.6970460759543093],[0.4950417826425371,-1.6861493324849444]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.6709391232454771,-0.040304289721942776,0.71338606911949],"aabb_xy":[[0.6520547394769669,-0.05919021450229555],[0.6898235070139873,-0.02141836494158999]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.12022594408701859,1.0667441576501306,0.71338606911949],"aabb_xy":[[-0.17522142190767798,1.0117441562162235],[-0.0652304662663592,1.1217441590840374]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.06965401656696013,0.9594448748934088,0.71338606911949],"aabb_xy":[[0.03587845737626716,0.9454063796802439],[0.1034295757576531,0.9734833701065739]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.5511374720927504,1.4652884821254486,0.71338606911949],"aabb_xy":[[-0.5854537492673684,1.4152884821522707],[-0.5168211949181325,1.515288482098626]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.5681615655257679,-1.6188731561770964,0.71338606911949],"aabb_xy":[[0.544325347885163,-1.708873156985583],[0.5919977831663731,-1.5288731553686101]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.5298621462095499,-1.1847897014911883,0.71338606911949],"aabb_xy":[[0.5122293106160222,-1.2024126475068113],[0.5474949818030773,-1.1671667554755654]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.010815500505825915,-2.1108439838115345,0.71338606911949],"aabb_xy":[[-0.023775582348219297,-2.175843984096565],[0.045406583359871126,-2.045843983526503]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.15374753364280824,1.4595586483297942,0.71338606911949],"aabb_xy":[[0.11624753369904184,1.4512655582949576],[0.19124753358657465,1.4678517383646308]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.6653909720037474,1.4643469440323211,0.71338606911949],"aabb_xy":[[0.6370612620552072,1.4598862018386043],[0.6937206819522876,1.4688076862260384]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.26775244479372884,0.938297304198958,0.71338606911949],"aabb_xy":[[-0.3045470779186351,0.9013914291023756],[-0.23095781166882257,0.9752031792955401]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.08969681293386966,-2.210431131708582,0.71338606911949],"aabb_xy":[[-0.10054841918274526,-2.2212904224362333],[-0.07884520668499406,-2.199571840980931]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.6840679539564056,-2.0812247146636587,0.71338606911949],"aabb_xy":[[0.6673908179633102,-2.097924638637589],[0.7007450899495012,-2.0645247906897284]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[-0.42403970374192507,-0.21683659200224836,0.71338606911949],"aabb_xy":[[-0.43338671132422024,-0.23114021421989242],[-0.4146926961596298,-0.20253296978460436]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.5712344751211588,-1.4069923820177153,0.71338606911949],"aabb_xy":[[-0.6362344761216593,-1.4577787471723902],[-0.5062344741206583,-1.3562060168630403]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.1956825714968914,-0.524729801047898,0.71338606911949],"aabb_xy":[[-0.21311328657589787,-0.5420019157117487],[-0.17825185641788485,-0.5074576863840471]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918490598940055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7790.png","name":"7790"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7790.png","name":"7790"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9718.png","name":"9718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":832.0674450292538,"rotation_z_degrees":199.31856506374965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006889249833110695,0.01940144500527576,-0.01754163990038853]},{"name":"camera_2","offset_m":[0.016573610514651383,-0.019992443893280573,-0.007871148269534002]},{"name":"camera_3","offset_m":[-0.0017016649074352713,0.013782141960096802,0.0035700529319260717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016397804273482089,0.0008122816430920503,-0.0018244826920087078],"end_effector_yaw_offset_degrees":-0.32055865970116826},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00020798597811884844,-0.000507311259112814,0.0009451485928636161],"end_effector_yaw_offset_degrees":-0.4230088666068039},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00015747636739479268,0.0010733956968699966,0.0013106712627687306],"end_effector_yaw_offset_degrees":-0.6631834891187958}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004556519988921886,0.0006965205984080939],"position_m":[0.28185651998892186,-0.06530347940159191,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023780520556989752,0.004142500139632553],"position_m":[0.25557805205569895,0.22284250013963255,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0001725669184221932,0.0037561333585393606],"position_m":[0.34377256691842223,0.05155613335853936,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.129596585024462e-05,-0.00015444809636533906],"position_m":[0.12065870403414976,0.39924555190363464,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002324239957287707,0.004568811731672778],"position_m":[0.2153757600427123,-0.4344311882683272,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7fb820437c299f668c19900684b823c49a8d63e29bd869cc754fa8eb4cb11cf6","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7790/tex_ceiling_textures_2480/tex_floor_textures_7516/tex_table_textures_9718/tex_wall_textures_3016","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6837489994659932289,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6837489994659932289,"visual_seed":6837489994659932289,"scene_id":"lab_003","finished_at":"2026-09-03T18:53:58"} +{"episode_id":"ep_000029","started_at":"2026-09-03T18:54:01","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.13766832747307212,1.6786130846258227,0.71338606911949],"aabb_xy":[[0.07766832762650536,1.6217944624327842],[0.19766832731963893,1.7354317068188616]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.6229787711946131,0.7557921466373885,0.71338606911949],"aabb_xy":[[0.5854787704026175,0.7494243056791984],[0.6604787719866084,0.7621599875955786]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.23760798532007876,1.568992872506581,0.71338606911949],"aabb_xy":[[-0.2751079854919507,1.5362921371236735],[-0.20010798514820682,1.601693607889488]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.6815065969431784,0.5783421407483549,0.71338606911949],"aabb_xy":[[0.644006596999412,0.5700490507135183],[0.7190065968869448,0.5866352307831915]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.02123676127553098,0.023843046245013433,0.71338606911949],"aabb_xy":[[-0.03557118640169443,0.011782830690474588],[-0.006902336149367524,0.03590326179955228]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.2904924305555425,1.7459027365201085,0.71338606911949],"aabb_xy":[[0.28657855736012,1.737153721113552],[0.29440630375096505,1.7546517519266656]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.6050433794654198,-1.7000696498799106,0.71338606911949],"aabb_xy":[[0.5213211539653373,-1.7900696534146066],[0.6887656049655022,-1.6100696463452147]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.29383090737422646,-2.283775748472547,0.71338606911949],"aabb_xy":[[0.28120412008703005,-2.2933218221741196],[0.30645769466142275,-2.2742296747709743]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.12016733241209032,0.967872112335749,0.71338606911949],"aabb_xy":[[0.11366569590408569,0.9581042903094393],[0.12666896892009494,0.9776399343620589]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.5256807435319202,-2.3342756006131498,0.71338606911949],"aabb_xy":[[0.4881807437148865,-2.3389138119242916],[0.5631807433489536,-2.329637389302008]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.11045166968694908,-1.9414634715895907,0.71338606911949],"aabb_xy":[[0.09868348289229159,-2.0264634714948127],[0.12221985648160663,-1.8564634716843695]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.37367689490667927,-1.3372717747611003,0.71338606911949],"aabb_xy":[[-0.38452850115555487,-1.3481310654887513],[-0.36282528865780367,-1.3264124840334492]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.3158148778091786,0.10637716161171484,0.71338606911949],"aabb_xy":[[-0.33587328942241884,0.0863120747025573],[-0.29575646619593826,0.12644224852087238]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.5020814934521654,0.3122272925055709,0.71338606911949],"aabb_xy":[[0.43808149634005955,0.26319492271116035],[0.5660814905642709,0.3612596622999816]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.715097955187266,-1.3359496791155632,0.71338606911949],"aabb_xy":[[0.709765440532653,-1.341274007360799],[0.7204304698418791,-1.3306253508703278]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.04040928645205666,1.4038588221722401,0.71338606911949],"aabb_xy":[[-0.104409288364399,1.3479476729142297],[0.023590715460285683,1.4597699714302506]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.006063745037863,-1.0125628831561433,0.71338606911949],"aabb_xy":[[-0.03143625525431182,-1.0166043585567466],[0.04356374533003782,-1.0085214077555396]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.16221236868780442,0.6307680251621774,0.71338606911949],"aabb_xy":[[0.14471236842846782,0.6166764829734049],[0.17971236894714107,0.6448595673509502]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.22076163661477732,-0.6822099852133223,0.71338606911949],"aabb_xy":[[0.1567616373206091,-0.7461961255821764],[0.28476163590894554,-0.618223844844468]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.1784657577843577,0.5539347097638934,0.71338606911949],"aabb_xy":[[-0.25846575825457363,0.5456240021495451],[-0.09846575731414176,0.5622454173782419]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.22592268327635434,-1.4331960725801045,0.71338606911949],"aabb_xy":[[-0.2899226865660624,-1.4765309915840221],[-0.1619226799866462,-1.389861153576187]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.36986390969779004,1.744574882345311,0.71338606911949],"aabb_xy":[[0.35318677370469453,1.7278749583713808],[0.38654104569088554,1.7612748063192414]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.3976616509151982,-0.7353813436458483,0.71338606911949],"aabb_xy":[[-0.44766092608363434,-0.7853813449217955],[-0.347662375746762,-0.6853813423699011]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[0.6051130539701686,-0.38931520197002145,0.71338606911949],"aabb_xy":[[0.5942072778826059,-0.46931519836885055],[0.6160188300577313,-0.30931520557119224]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.37874462379671325,-1.887092367463341,0.71338606911949],"aabb_xy":[[-0.44274462547471055,-1.9356097589426553],[-0.31474462211871584,-1.8385749759840269]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.1576359430740102,-0.7753992406856105,0.71338606911949],"aabb_xy":[[-0.1677889586281595,-0.8114687822583506],[-0.14748292751986075,-0.73932969911287]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[0.016842872011583077,0.9938259319886291,0.71338606911949],"aabb_xy":[[-0.03313042199167737,0.9438259314340814],[0.06681616601484353,1.043825932543176]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[-0.47845690686236436,-2.1151915924970948,0.71338606911949],"aabb_xy":[[-0.5020420303262592,-2.180191594742527],[-0.4548717833984695,-2.0501915902516634]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_28","position":[-0.3814069357392245,-1.0826738816770707,0.71338606911949],"aabb_xy":[[-0.43140693517942014,-1.132641806161387],[-0.3314069362990289,-1.0327059571927544]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.31171485144228717,-1.9609287740050338,0.71338606911949],"aabb_xy":[[0.30035311678900095,-1.972297240411322],[0.32307658609557327,-1.9495603075987458]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.1381308688597267,-2.1333647747885576,0.71338606911949],"aabb_xy":[[-0.160630868869875,-2.147460994428161],[-0.1156308688495784,-2.1192685551489543]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_31","position":[-0.30870443991895913,1.7845217996577651,0.71338606911949],"aabb_xy":[[-0.31740240220967436,1.7723968253502904],[-0.3000064776282438,1.7966467739652399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701203478326603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8551.png","name":"8551"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6837.png","name":"6837"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5321.png","name":"5321"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9494.png","name":"9494"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":747.2198293605577,"rotation_z_degrees":99.20685850600756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010124330890031539,0.011902281407211762,-0.013316299348997154]},{"name":"camera_2","offset_m":[0.0004396575643401575,0.0030960687343829993,-0.015873647669472572]},{"name":"camera_3","offset_m":[0.001960909366254874,-0.019781315448765477,-0.012546642033700529]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019488179177988125,-0.0011496542680717648,-0.0013560127435511165],"end_effector_yaw_offset_degrees":0.9040594747843766},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0009499745733279157,-0.0013730088860441562,0.0012441020961401735],"end_effector_yaw_offset_degrees":-0.4044826535884256},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009417316366496849,-0.0008206654997056733,-0.001762013331355259],"end_effector_yaw_offset_degrees":0.8453507748899411}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001755326306073805,-0.0019286428675058189],"position_m":[0.27747553263060737,-0.06792864286750583,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028155851300026382,-0.002564663315123328],"position_m":[0.25038441486999735,0.21613533668487667,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0037287039589564298,0.0019106925868074068],"position_m":[0.3398712960410436,0.04971069258680741,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005766551488261551,-0.0031292078825711413],"position_m":[0.12127665514882616,0.3962707921174288,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003083680848519516,-0.0036156300711461834],"position_m":[0.22078368084851951,-0.4426156300711462,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa0322a2faed94061e9ba8bc6e8d6f3c129a3317d5e88b879137b7f15eb55527","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_425/tex_ceiling_textures_9494/tex_floor_textures_5321/tex_table_textures_8551/tex_wall_textures_6837","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5689801036908331840,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5689801036908331840,"visual_seed":5689801036908331840,"scene_id":"lab_003","finished_at":"2026-09-03T18:56:41"} +{"episode_id":"ep_000030","started_at":"2026-09-03T18:56:45","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.06604403671871462,-0.7855296113826649,0.71338606911949],"aabb_xy":[[-0.07425858183439857,-0.7942062016803061],[-0.057829491603030615,-0.7768530210850234]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.001090493927973446,1.1808945120933951,0.71338606911949],"aabb_xy":[[-0.01151220520910301,1.1682991158685296],[0.013693193065049902,1.1934899083182606]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.6295810083786064,0.8277170856901366,0.71338606911949],"aabb_xy":[[0.5655810092088365,0.780950398571174],[0.6935810075483764,0.874483772809099]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.517018023084708,-2.2501674765177775,0.71338606911949],"aabb_xy":[[-0.5240583330182451,-2.3301674759174493],[-0.5099777131511711,-2.1701674771181065]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.6048780556118709,-1.4010868032441703,0.71338606911949],"aabb_xy":[[0.5976342895656256,-1.4810868014477727],[0.6121218216581162,-1.321086805040568]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.2576960163711263,1.04311285625062,0.71338606911949],"aabb_xy":[[-0.2809778585692576,0.9581128549533918],[-0.23441417417299495,1.1281128575478478]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.4312371802746913,0.7105239336372526,0.71338606911949],"aabb_xy":[[-0.4405307985118419,0.6730239351491186],[-0.42194356203754074,0.7480239321253864]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.6246830095234759,-0.2804919655042868,0.71338606911949],"aabb_xy":[[0.5994621726636361,-0.3057157163571735],[0.6499038463833154,-0.2552682146514]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.030795990142410523,1.3484057996359424,0.71338606911949],"aabb_xy":[[-0.01908670673528568,1.2984058003896677],[0.08067868702010673,1.3984057988822172]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.2605247830804617,-1.6563930337688757,0.71338606911949],"aabb_xy":[[0.24737353710917237,-1.6813930335255622],[0.2736760290517511,-1.6313930340121892]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[-0.09684147855481928,-1.845596264092934,0.71338606911949],"aabb_xy":[[-0.11434147881415593,-1.8596878062817073],[-0.07934147829548267,-1.831504721904162]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.30513196426080613,0.9676071297603741,0.71338606911949],"aabb_xy":[[0.28263196425065784,0.9535109101207707],[0.3276319642709544,0.9817033493999773]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.16291359571370556,-1.0828499354491414,0.71338606911949],"aabb_xy":[[0.1494670690796622,-1.0963197871022325],[0.17636012234774887,-1.0693800837960503]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.4709780907409886,0.32925904978358345,0.71338606911949],"aabb_xy":[[0.43347809007640986,0.31357199178336115],[0.5084780914055672,0.3449461077838055]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.13798630242968457,-1.4531465476915906,0.71338606911949],"aabb_xy":[[-0.20798630423843,-1.474500316455778],[-0.06798630062093913,-1.4317927789274032]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.1430362131177899,0.6056185679528583,0.71338606911949],"aabb_xy":[[-0.16292725299813018,0.5929627566681615],[-0.1231451732374497,0.6182743792375551]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.2134917390803901,1.699731677608988,0.71338606911949],"aabb_xy":[[-0.26129790669415875,1.6347316749019287],[-0.16568557146662144,1.7647316803160467]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.7078405639493652,1.4075509431864983,0.71338606911949],"aabb_xy":[[0.7005582475727015,1.3175509395769889],[0.7151228803260288,1.4975509467960069]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.5597500542737708,0.12686888922381634,0.71338606911949],"aabb_xy":[[0.5096525902926972,0.06286888871400453],[0.6098475182548444,0.19086888973362814]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.5056738294800821,-0.4322284388239641,0.71338606911949],"aabb_xy":[[-0.509751987387132,-0.43630941907222737],[-0.5015956715730324,-0.42814745857570075]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[0.6133826443913188,0.9257625834105312,0.71338606911949],"aabb_xy":[[0.5758826435993234,0.919394742452341],[0.6508826451833143,0.9321304243687212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959928160855918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2496.png","name":"2496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4918.png","name":"4918"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":534.5177087605068,"rotation_z_degrees":322.3737639196627,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01257671734244294,-0.013629461581489092,0.007448877323249302]},{"name":"camera_2","offset_m":[-0.0036135260235637782,0.0055177793534717835,-0.0030003371264189574]},{"name":"camera_3","offset_m":[0.017573129907481066,0.009934987989796359,0.008229407293878575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016747981386045262,-0.0014054816448998881,-0.0015199983366484203],"end_effector_yaw_offset_degrees":-0.7785292170884677},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[6.356866219872376e-05,0.0011489694430759285,-0.000388807554810624],"end_effector_yaw_offset_degrees":0.9472188870449454},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017844320070673522,0.0018481466675231654,0.00036667574391107717],"end_effector_yaw_offset_degrees":-0.6058263076794923}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038318848771485402,0.004912554793672932],"position_m":[0.27346811512285146,-0.06108744520632707,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004152564297626713,0.004071409040271898],"position_m":[0.2573525642976267,0.2227714090402719,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0013191573674859423,0.0013426903620762402],"position_m":[0.34491915736748596,0.04914269036207624,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001054646297032437,0.0039562611941876364],"position_m":[0.12175464629703243,0.4033562611941876,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004523275582872861,-0.0046715609590984915],"position_m":[0.21317672441712715,-0.4436715609590985,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a1376c3fbbdcdb161f762661bda7d33200e554e7d9156e041df308d7dd91ca2b","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2546/tex_ceiling_textures_4918/tex_floor_textures_2496/tex_table_textures_568/tex_wall_textures_7708","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8636036702189693276,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8636036702189693276,"visual_seed":8636036702189693276,"scene_id":"lab_003","finished_at":"2026-09-03T18:59:29"} +{"episode_id":"ep_000031","started_at":"2026-09-03T18:59:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[0.3245721811453288,1.576096408119167,0.71338606911949],"aabb_xy":[[0.2605721807677952,1.5263511412683546],[0.38857218152286244,1.6258416749699791]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.6357000442620515,1.587736035147128,0.71338606911949],"aabb_xy":[[0.5780695753747804,1.527736036220417],[0.6933305131493221,1.6477360340738383]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.3071111850364068,1.125688691690205,0.71338606911949],"aabb_xy":[[0.2725201021823615,1.0606886914051734],[0.34170226789045194,1.1906886919752355]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.6994997057133439,0.17887832066163245,0.71338606911949],"aabb_xy":[[0.6868729184261474,0.16933224696005952],[0.7121264930005401,0.18842439436320532]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.5889365841221834,0.2143547811445483,0.71338606911949],"aabb_xy":[[-0.6389365850727161,0.18280563414102688],[-0.5389365831716505,0.2459039281480697]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.4740419840384149,-0.022351195631676646,0.71338606911949],"aabb_xy":[[0.4676281703952299,-0.028761015879344983],[0.4804557976815998,-0.0159413753840083]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.6533849759955848,0.7522217188426144,0.71338606911949],"aabb_xy":[[0.6229868648964412,0.7218148168409447],[0.6837830870947283,0.7826286208442838]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.26635896917344937,0.821825848267709,0.71338606911949],"aabb_xy":[[0.25627726209487584,0.7418258503755942],[0.2764406762520228,0.9018258461598235]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.33194249826332434,0.5131234695521192,0.71338606911949],"aabb_xy":[[0.2669424982290216,0.4664227928717918],[0.39694249829762707,0.5598241462324464]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.17411965140280206,-1.9598796756143146,0.71338606911949],"aabb_xy":[[0.15661965114346543,-1.9739712178030875],[0.1916196516621387,-1.9457881334255422]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.4753674583149975,-2.1840809384115976,0.71338606911949],"aabb_xy":[[-0.4866125138856153,-2.1953227361356924],[-0.46412240274437966,-2.172839140687502]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.5013851910459348,-0.791961801145147,0.71338606911949],"aabb_xy":[[-0.5216694937693335,-0.8122444262878558],[-0.481100888322536,-0.7716791760024381]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.06353973553264136,-1.8485775209877442,0.71338606911949],"aabb_xy":[[-0.08054983282269201,-1.864712009486018],[-0.04652963824259071,-1.83244303248947]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.6421858943523902,-1.3354644600700278,0.71338606911949],"aabb_xy":[[0.5721858927501108,-1.3488972532716854],[0.7121858959546697,-1.3220316668683703]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[0.33668247141621976,1.2840168927038556,0.71338606911949],"aabb_xy":[[0.33225184206137964,1.278568520969173],[0.34111310077106,1.289465264438538]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.10721426565648529,-1.5262619596744798,0.71338606911949],"aabb_xy":[[-0.18721426892049842,-1.5398219919833929],[-0.027214262392472155,-1.5127019273655662]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.44365356907569903,-1.2567260861103016,0.71338606911949],"aabb_xy":[[-0.45652547257663917,-1.3367260865241375],[-0.4307816655747589,-1.1767260856964652]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.07305722096356071,-1.7955799709372644,0.71338606911949],"aabb_xy":[[0.013057220455707797,-1.8524267046231855],[0.13305722147141363,-1.7387332372513429]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.2832365199310716,-1.5085740025303591,0.71338606911949],"aabb_xy":[[0.27979584369101435,-1.5124354355047238],[0.2866771961711287,-1.5047125695559949]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.2979426060469262,1.4269972033589542,0.71338606911949],"aabb_xy":[[-0.3779364296254844,1.3469972007661126],[-0.21794878246836796,1.5069972059517958]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.32478548048880684,1.7227427901409338,0.71338606911949],"aabb_xy":[[-0.40478548374664974,1.64274628234895],[-0.24478547723096383,1.802739297932918]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.24082575820807262,1.767223468450792,0.71338606911949],"aabb_xy":[[0.1768257589139044,1.7032373280819377],[0.30482575750224083,1.8312096088196461]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.5302288582285604,-1.885831106583651,0.71338606911949],"aabb_xy":[[-0.5842444545104603,-1.949831109475908],[-0.47621326194666025,-1.8218311036913937]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.1706679770715721,-0.019742970605218346,0.71338606911949],"aabb_xy":[[-0.18381922304286147,-0.04474297036190489],[-0.15751673110028275,0.0052570291514682]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.0630468881321955,1.6919900400091366,0.71338606911949],"aabb_xy":[[0.031899969288612384,1.6219900413223292],[0.09419380697577862,1.7619900386959435]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.40719393772010015,-0.8776779321803867,0.71338606911949],"aabb_xy":[[0.3431939354996931,-0.9220510163056749],[0.4711939399405072,-0.8333048480550983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994208315291658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5535.png","name":"5535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9760.png","name":"9760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6308.png","name":"6308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1108.png","name":"1108"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":635.8723120071237,"rotation_z_degrees":179.2439541979453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006224583900300687,0.01372200739813514,0.004164325847915654]},{"name":"camera_2","offset_m":[-0.0027980418673122683,0.013370485576196228,-0.005969734755880571]},{"name":"camera_3","offset_m":[-0.00826746217457413,0.007408441784309772,0.016783158291950418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003979815189031491,-0.0006109892321753954,-0.0010767351495242898],"end_effector_yaw_offset_degrees":-0.446040487958032},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017160648147471528,-0.000735295537689244,0.0017968533242278335],"end_effector_yaw_offset_degrees":-0.47088029270440535},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015671405824574619,-0.00024150088366002142,-0.00026689301860586927],"end_effector_yaw_offset_degrees":0.733395546400057}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024630455207404244,0.00010466449031293432],"position_m":[0.27976304552074044,-0.06589533550968707,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004488636118878611,0.0019499826370224628],"position_m":[0.24871136388112136,0.22064998263702246,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0032755631759857256,-0.003747411329490251],"position_m":[0.3468755631759857,0.04405258867050975,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003884497814545255,0.002313468357917364],"position_m":[0.11681550218545475,0.4017134683579173,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[5.030800151774404e-05,-0.004510936268456912],"position_m":[0.21775030800151776,-0.4435109362684569,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8499f313f17c740250c61f098e6997c49a5e6396867485ea128651b52783acaf","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2504/tex_ceiling_textures_1108/tex_floor_textures_6308/tex_table_textures_5535/tex_wall_textures_9760","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1053055974276154318,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1053055974276154318,"visual_seed":1053055974276154318,"scene_id":"lab_003","finished_at":"2026-09-03T19:02:20"} +{"episode_id":"ep_000032","started_at":"2026-09-03T19:02:23","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.4955654951186401,-0.863945299753609,0.71338606911949],"aabb_xy":[[0.42556549351636064,-0.8773780929552667],[0.5655654967209196,-0.8505125065519515]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.05142541928916977,0.7550812785702203,0.71338606911949],"aabb_xy":[[0.043399148658543774,0.7463297835928677],[0.05945168991979577,0.763832773547573]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.622707192491423,0.20331178284113927,0.71338606911949],"aabb_xy":[[-0.6595018256163293,0.166405907744557],[-0.5859125593665168,0.24021765793772154]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.2885563518187184,-0.8869906678740642,0.71338606911949],"aabb_xy":[[0.25396526896467314,-0.951990668159095],[0.3231474346727636,-0.8219906675890329]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.6256654562469643,0.4062607638453466,0.71338606911949],"aabb_xy":[[0.618421690200719,0.3262607656417442],[0.6329092222932097,0.48626076204894897]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.05545130892344585,-2.107878047454062,0.71338606911949],"aabb_xy":[[0.02045130757196412,-2.1282377834108823],[0.09045131027492759,-2.0875183114972407]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.10732979556526745,0.7772609807565782,0.71338606911949],"aabb_xy":[[-0.17132979594280107,0.7275157139057659],[-0.04332979518773382,0.8270062476073904]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.6131267746329269,-2.0800161140957543,0.71338606911949],"aabb_xy":[[-0.6259986781338669,-2.16001611450959],[-0.6002548711319866,-2.0000161136819177]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.37495319126089255,-1.5117311083015945,0.71338606911949],"aabb_xy":[[0.2949531907906766,-1.520041815915943],[0.45495319173110854,-1.5034204006872465]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.14535592627502403,-1.7386633759290924,0.71338606911949],"aabb_xy":[[-0.1497865556298642,-1.7441117476637753],[-0.14092529692018385,-1.7332150041944099]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.5129451090885448,-0.14453701415237852,0.71338606911949],"aabb_xy":[[0.4479451081314177,-0.19648522608608407],[0.5779451100456721,-0.09258880221867292]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.004390507962458656,1.4942246678886595,0.71338606911949],"aabb_xy":[[-0.006971226690827504,1.4828562014823714],[0.015752242615744816,1.5055931342949476]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.0781836833671935,-0.36736406711283687,0.71338606911949],"aabb_xy":[[-0.10068368289090089,-0.3898600145634576],[-0.05568368384348609,-0.34486811966221603]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.26122956070862224,-1.1984763589111094,0.71338606911949],"aabb_xy":[[-0.2763924336855593,-1.2136418162062281],[-0.24606668773168516,-1.1833109016159906]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.3917660462884762,0.7849299451889369,0.71338606911949],"aabb_xy":[[-0.4557660495781843,0.7415950261850193],[-0.32776604299876805,0.8282648641928545]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.001564743064785823,1.397269799050262,0.71338606911949],"aabb_xy":[[-0.023656093795053842,1.372046048197375],[0.026785579924625488,1.4224935499031486]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.3878157075382387,0.9909034980040712,0.71338606911949],"aabb_xy":[[0.36281570837260557,0.9839512522987146],[0.4128157067038718,0.9978557437094278]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.4180593845126037,-1.7866990912849365,0.71338606911949],"aabb_xy":[[0.3680764343251243,-1.8366990909274967],[0.468042334700083,-1.736699091642376]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.2476616105741274,-0.4126380630442088,0.71338606911949],"aabb_xy":[[-0.31166160974389734,-0.4594047501631712],[-0.18366161140435747,-0.36587137592524627]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.27847934796474594,1.2074161065655415,0.71338606911949],"aabb_xy":[[-0.36220157346482834,1.1174161030308454],[-0.19475712246466342,1.2974161101002373]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.5212330703460829,-1.2421256214560767,0.71338606911949],"aabb_xy":[[-0.5321388464336456,-1.322125617854906],[-0.5103272942585202,-1.1621256250572476]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.5222288188746559,1.1224854468279561,0.71338606911949],"aabb_xy":[[-0.5565450960492738,1.0724854468547784],[-0.48791254170003795,1.1724854468011339]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.12315948202581828,-1.0891292852355803,0.71338606911949],"aabb_xy":[[-0.1574563930435589,-1.1234261714455214],[-0.08886257100807764,-1.0548323990256387]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.5274913147007347,1.0801928803715057,0.71338606911949],"aabb_xy":[[0.5177353251915607,1.070430346312271],[0.5372473042099085,1.08995541443074]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.26918072855939223,1.583605530741139,0.71338606911949],"aabb_xy":[[0.24626501567434234,1.560701233604716],[0.29209644144444213,1.606509827877563]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.021856478023890347,-2.320218432722111,0.71338606911949],"aabb_xy":[[0.003987370269434853,-2.334051340699322],[0.03972558577834584,-2.3063855247449]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.17335456644049052,-1.8334619235496628,0.71338606911949],"aabb_xy":[[-0.198354565992229,-1.8436044074147973],[-0.14835456688875204,-1.8233194396845278]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.28260887579972127,-0.6588047822198295,0.71338606911949],"aabb_xy":[[0.22761339797906183,-0.7138047836537365],[0.3376043536203806,-0.6038047807859226]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[0.4716527080928743,1.3596307724639898,0.71338606911949],"aabb_xy":[[0.45474197565653246,1.346158566871375],[0.488563440529216,1.3731029780566042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977815131520745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2629.png","name":"2629"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2629.png","name":"2629"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2877.png","name":"2877"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8777.png","name":"8777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1146.png","name":"1146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7717.png","name":"7717"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":786.7687758432255,"rotation_z_degrees":191.92337795355962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004357136971031371,-0.0005250717011447831,-0.01523055470793078]},{"name":"camera_2","offset_m":[0.005725485110513569,0.00896715371545927,-0.017473757651167342]},{"name":"camera_3","offset_m":[0.012019103242062113,-0.012131890132353971,-0.002997616287870458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007988208013187167,-0.0009121489491563343,0.0010245276730848178],"end_effector_yaw_offset_degrees":-0.24776491258399824},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009409431467708523,0.0013568640512883318,-0.0009409382754425799],"end_effector_yaw_offset_degrees":0.8642501527790492},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011372327952736457,-0.00042861023348252656,0.0015670019356031082],"end_effector_yaw_offset_degrees":-0.17175947590812135}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015434104408265869,-0.004180157559861011],"position_m":[0.2757565895591734,-0.07018015755986101,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010969137153599732,-0.0048208653936483836],"position_m":[0.25429691371535995,0.21387913460635163,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004061970496823423,0.001312834361557367],"position_m":[0.34766197049682346,0.04911283436155737,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042802227684698565,0.00011528512041645515],"position_m":[0.12498022276846986,0.39951528512041645,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019489564260004987,-0.004362109170120365],"position_m":[0.21575104357399952,-0.44336210917012037,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"73115d97fa03ff5b919175cd2036d707648afb6f30b18043690a4208a3edd191","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2629/tex_ceiling_textures_7717/tex_floor_textures_1146/tex_table_textures_2877/tex_wall_textures_8777","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6537575305534922706,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6537575305534922706,"visual_seed":6537575305534922706,"scene_id":"lab_003","finished_at":"2026-09-03T19:05:11"} +{"episode_id":"ep_000033","started_at":"2026-09-03T19:05:14","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.013371717360608493,0.2454438362334499,0.71338606911949],"aabb_xy":[[-0.020632964931015907,0.23265682596994042],[-0.0061104697902010785,0.2582308464969594]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.255859683069579,-2.489347635763485,0.71338606911949],"aabb_xy":[[-0.301031000917748,-2.5533476329080234],[-0.21068836522141005,-2.4253476386189465]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[-0.3608583087980088,1.453710065649505,0.71338606911949],"aabb_xy":[[-0.42485831047600614,1.4051926741701908],[-0.29685830712001143,1.5022274571288192]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.48395637482883164,-0.8752997208448658,0.71338606911949],"aabb_xy":[[-0.5189563739587872,-0.88104494192053],[-0.4489563756988759,-0.8695544997692017]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.3827358118543125,0.6622641957508733,0.71338606911949],"aabb_xy":[[0.3187358115938416,0.6172553963979451],[0.44673581211478325,0.7072729951038011]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.5321088715811765,-0.0757833117215081,0.71338606911949],"aabb_xy":[[-0.5472717445581137,-0.09094876901662688],[-0.5169459986042395,-0.06061785442638937]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.04358952017461781,0.8855059294953924,0.71338606911949],"aabb_xy":[[-0.12358951876193724,0.8061903275572315],[0.036410478412701605,0.9648215314335533]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.2714579417516305,-2.2949247006036866,0.71338606911949],"aabb_xy":[[0.20645794359571146,-2.321220945153599],[0.3364579399075496,-2.2686284560537744]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.11613406164919438,-0.4440590208973223,0.71338606911949],"aabb_xy":[[-0.1801340649389025,-0.48739393990123986],[-0.052134058359486264,-0.4007241018934046]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.4138132914771967,-1.1017297515349822,0.71338606911949],"aabb_xy":[[-0.44881329282867843,-1.1220894874918028],[-0.37881329012571496,-1.0813700155781611]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.45104662320009603,1.1170449351845066,0.71338606911949],"aabb_xy":[[0.44708613943036163,1.109377070598986],[0.4550071069698303,1.1247127997700272]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.19143919315967206,-1.7913155475134142,0.71338606911949],"aabb_xy":[[0.1576636339689791,-1.805354042726579],[0.22521475235036503,-1.7772770523002492]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.27870963478279315,-1.1918476304423817,0.71338606911949],"aabb_xy":[[-0.29899393750619185,-1.2121302555850904],[-0.25842533205939433,-1.1715650052996727]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.598769863763684,0.6061937694385691,0.71338606911949],"aabb_xy":[[0.5187698605058411,0.5261972616465851],[0.678769867021527,0.686190277230553]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.5381519237446388,-1.9585031529518897,0.71338606911949],"aabb_xy":[[-0.5458551144187157,-1.9662125236506276],[-0.5304487330705617,-1.9507937822531514]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[-0.006349099068370223,1.6334410572337208,0.71338606911949],"aabb_xy":[[-0.055829520282329015,1.569441059320869],[0.04313132214558857,1.6974410551465726]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.29642915941034986,-2.090900792215463,0.71338606911949],"aabb_xy":[[0.2835572559094097,-2.170900792629299],[0.30930106291129,-2.010900791801627]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.43748104236353225,-0.5494111035010971,0.71338606911949],"aabb_xy":[[0.42784940614310263,-0.559048416280806],[0.44711267858396186,-0.5397737907213882]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.6258498305621021,-1.7906139406551578,0.71338606911949],"aabb_xy":[[0.5358498338264918,-1.843797403972452],[0.7158498272977122,-1.737430477337863]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.5616622016849363,-0.6664461361976992,0.71338606911949],"aabb_xy":[[-0.5669947163395492,-0.6717704644429348],[-0.5563296870303234,-0.6611218079524637]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.6271360643457944,-0.2593344081735416,0.71338606911949],"aabb_xy":[[-0.6402873103170839,-0.2843344079302282],[-0.6139848183745051,-0.2343344084168551]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.08762191510784889,-1.8598576135676157,0.71338606911949],"aabb_xy":[[-0.15162191427761884,-1.9066243006865782],[-0.02362191593807895,-1.8130909264486532]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.6279253087061372,0.8880612202674318,0.71338606911949],"aabb_xy":[[-0.6929253113439306,0.836581621567985],[-0.5629253060683437,0.9395408189668789]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.16996469009223403,1.669340868201426,0.71338606911949],"aabb_xy":[[-0.18687542252857578,1.655868662608811],[-0.15305395765589222,1.6828130737940403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926751711919429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5968.png","name":"5968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/597.png","name":"597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4712.png","name":"4712"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":591.2745988909285,"rotation_z_degrees":271.28626768322647,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012591744932577528,-0.0037915086984821877,0.01955153157654738]},{"name":"camera_2","offset_m":[0.006138810177947356,0.0024204920547180805,0.00938829804204834]},{"name":"camera_3","offset_m":[-0.013494722160498417,-0.017302055269312576,-0.014460662881285353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.316392279630137e-05,-0.0017423692270526283,-0.000573687820158503],"end_effector_yaw_offset_degrees":0.7065207452734719},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002956785381031514,0.0014463255576823222,0.0010400776387340213],"end_effector_yaw_offset_degrees":0.8146208005507329},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007238577518332047,-0.0007719493318010687,-0.0007331255228042594],"end_effector_yaw_offset_degrees":-0.276313835360563}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037713574258051684,0.000606591941725766],"position_m":[0.27692286425741947,-0.06539340805827423,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010414128223817454,0.004738331757049719],"position_m":[0.25215858717761824,0.22343833175704972,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0034943274046713014,-0.00433349051089659],"position_m":[0.3401056725953287,0.04346650948910341,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003505907915366064,0.002319419786126763],"position_m":[0.12420590791536607,0.40171941978612674,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016602218087023103,0.004076200157244814],"position_m":[0.2160397781912977,-0.4349237998427552,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"925efda219a3ad9e79d134b5f6b48a056a294d63dc3058adaceef20948d94119","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6551/tex_ceiling_textures_4712/tex_floor_textures_597/tex_table_textures_5968/tex_wall_textures_5953","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3032446284549756678,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3032446284549756678,"visual_seed":3032446284549756678,"scene_id":"lab_003","finished_at":"2026-09-03T19:08:05"} +{"episode_id":"ep_000034","started_at":"2026-09-03T19:11:10","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.5301364574911651,-2.323713709735256,0.71338606911949],"aabb_xy":[[-0.5772658364930007,-2.387713710779657],[-0.48300707848932933,-2.259713708690853]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.35841365862398145,1.601182975225416,0.71338606911949],"aabb_xy":[[0.34833195154540786,1.5211829773333012],[0.3684953657025548,1.6811829731175305]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.67908708119237,1.6485611658920578,0.71338606911949],"aabb_xy":[[-0.6942499541693071,1.6333957085969393],[-0.663924208215433,1.6637266231871768]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.37210234458292435,-0.4499013309201496,0.71338606911949],"aabb_xy":[[0.32991793042209366,-0.5139013311973608],[0.41428675874375515,-0.3859013306429384]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.4214305831862709,0.3231179409886429,0.71338606911949],"aabb_xy":[[-0.48543058540667794,0.2787448568633546],[-0.3574305809658639,0.36749102511393117]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.23903761560451764,-1.44804892859696,0.71338606911949],"aabb_xy":[[-0.2803421586682536,-1.512048928165077],[-0.19773307254078162,-1.384048929028843]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.2344752339760705,-1.3828890024270046,0.71338606911949],"aabb_xy":[[0.1744752337246693,-1.4371703274634688],[0.2944752342274717,-1.3286076773905395]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.36479499369207047,-1.9642582651339198,0.71338606911949],"aabb_xy":[[0.35738253815068205,-1.9701094755555475],[0.372207449233459,-1.9584070547122916]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.30784833653092314,-1.9980985412424181,0.71338606911949],"aabb_xy":[[-0.32605416019217087,-2.00912394182441],[-0.2896425128696755,-1.9870731406604265]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.5729006463636296,0.45866748423427905,0.71338606911949],"aabb_xy":[[-0.5784823179977582,0.44616748441650345],[-0.5673189747295008,0.47116748405205444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.1367895276286173,-2.3600137395203227,0.71338606911949],"aabb_xy":[[-0.15436782981756414,-2.3775882290944272],[-0.11921122543967044,-2.342439249946217]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.577448691277909,1.046906288770031,0.71338606911949],"aabb_xy":[[-0.5815268491849588,1.0428253085217676],[-0.5733705333708592,1.0509872690182942]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.650002219865486,-0.7385810619333308,0.71338606911949],"aabb_xy":[[0.6275022196219707,-0.7507856965931029],[0.6725022201090015,-0.726376427273559]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.4322435156715969,-2.253738826108201,0.71338606911949],"aabb_xy":[[0.3522435153979899,-2.326688373933918],[0.5122435159452039,-2.1807892782824845]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.5299144647273144,0.5819641607002608,0.71338606911949],"aabb_xy":[[-0.5477835724817699,0.5681312527230499],[-0.5120453569728589,0.5957970686774717]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.5811631626946469,1.2664313006727879,0.71338606911949],"aabb_xy":[[-0.6309799421594816,1.2164313021884845],[-0.5313463832298121,1.3164312991570912]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.449347173316873,0.8573371596086248,0.71338606911949],"aabb_xy":[[-0.49934200624481456,0.8073371607133814],[-0.39935234038893136,0.9073371585038684]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.05273908800888971,-2.0987027104651546,0.71338606911949],"aabb_xy":[[0.030274318037484586,-2.121202711344015],[0.07520385798029483,-2.076202709586294]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.14949357908655503,-1.0948136438119915,0.71338606911949],"aabb_xy":[[-0.1794611359963807,-1.1248136441098773],[-0.11952602217672936,-1.0648136435141058]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.5150380701075771,1.5565832808042877,0.71338606911949],"aabb_xy":[[-0.5238401254165497,1.5487719546493584],[-0.5062360147986043,1.5643946069592165]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.21462075105166423,-1.0571584201447786,0.71338606911949],"aabb_xy":[[0.206493062858351,-1.0660720285554863],[0.22274843924497745,-1.0482448117340712]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.3200344267087727,0.9643765721989612,0.71338606911949],"aabb_xy":[[0.2303473504006573,0.8743765719445107],[0.4097215030168882,1.0543765724534118]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.565176113143144,-0.903076000194327,0.71338606911949],"aabb_xy":[[-0.6291761123129139,-0.9498426873132895],[-0.501176113973374,-0.8563093130753645]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[-0.504955161921742,-0.6148175338839528,0.71338606911949],"aabb_xy":[[-0.5155226415798408,-0.6253625639969613],[-0.4943876822636428,-0.6042725037709442]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.33070370637698043,0.5506060472857244,0.71338606911949],"aabb_xy":[[-0.3431710644867161,0.538140722652401],[-0.3182363482672448,0.563071371919048]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[0.26332158440205844,1.470219821817102,0.71338606911949],"aabb_xy":[[0.22582158445829204,1.4619267317822653],[0.30082158434582484,1.4785129118519384]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.4257186713311395,-1.5721832671697886,0.71338606911949],"aabb_xy":[[-0.4757186726920268,-1.6221611717452042],[-0.37571866997025233,-1.522205362594373]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.18596593141243634,-2.080945493953508,0.71338606911949],"aabb_xy":[[0.1359659319722407,-2.1309134184378244],[0.23596593085263193,-2.030977569469192]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.43154996541599244,-2.4626620667519026,0.71338606911949],"aabb_xy":[[0.4141192503369858,-2.479934181415753],[0.44898068049499884,-2.445389952088051]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[-0.4045765190901528,-1.2961993138831627,0.71338606911949],"aabb_xy":[[-0.46957651724607186,-1.3224955584330746],[-0.33957652093423374,-1.2699030693332503]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.047640702846976635,-1.7071336934461057,0.71338606911949],"aabb_xy":[[-0.01235929766087628,-1.7639804271320267],[0.10764070335482956,-1.6502869597601841]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[-0.26556909220607744,1.6907269251941428,0.71338606911949],"aabb_xy":[[-0.2769308268593636,1.6793584587878547],[-0.2542073575527913,1.7020953916004309]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_32","position":[0.4084729509678868,1.1831554286620296,0.71338606911949],"aabb_xy":[[0.35847294968404675,1.1331765742714073],[0.4584729522517267,1.2331342830526515]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_33","position":[0.6228683075296708,-0.2892760259541616,0.71338606911949],"aabb_xy":[[0.6155859911530069,-0.37927602956367046],[0.6301506239063343,-0.1992760223446525]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_34","position":[0.07204233909821123,1.606310187346835,0.71338606911949],"aabb_xy":[[0.06262486452834848,1.5968940102091158],[0.08145981366807398,1.6157263644845539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924378988662313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1889.png","name":"1889"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1889.png","name":"1889"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3660.png","name":"3660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":682.7375339778004,"rotation_z_degrees":263.0887898497534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01951632763332866,-0.0019397665503079094,-0.0011804158776737052]},{"name":"camera_2","offset_m":[0.008471652927386063,-0.0041920773384883855,-0.01757522117412948]},{"name":"camera_3","offset_m":[-0.012171607982226803,-0.014431554871770414,0.017301123458898723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010841413231252547,-0.0009329459777181576,-0.0012003097501013587],"end_effector_yaw_offset_degrees":-0.03812768439391534},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013796587489641465,0.00029472199804649393,-0.001034222803185195],"end_effector_yaw_offset_degrees":-0.9260839965386864},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009591928294869767,-5.920414051323688e-05,-0.001995315473203906],"end_effector_yaw_offset_degrees":0.8878067824705247}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029675781251443005,0.0032487906009018306],"position_m":[0.2802675781251443,-0.06275120939909817,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004388201823376344,-0.0018810914269961564],"position_m":[0.24881179817662363,0.21681890857300384,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004051669707615777,0.000819428883405254],"position_m":[0.3476516697076158,0.04861942888340526,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.157061198315943e-05,-0.0012721223993142315],"position_m":[0.12077157061198317,0.39812787760068574,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004951470925695533,0.0004024331409892305],"position_m":[0.21274852907430447,-0.43859756685901075,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"48baf76325fedecf6fac2eba59c81c7fdb934168eb3e48187e916936d3904a65","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1889/tex_ceiling_textures_1322/tex_floor_textures_3055/tex_table_textures_3660/tex_wall_textures_4850","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8233403256516531788,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8233403256516531788,"visual_seed":8233403256516531788,"scene_id":"lab_003","finished_at":"2026-09-03T19:13:53"} +{"episode_id":"ep_000035","started_at":"2026-09-03T19:13:56","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.3953092543252432,-1.6237636265558402,0.71338606911949],"aabb_xy":[[0.37030925505328094,-1.6401089901520023],[0.4203092535972055,-1.6074182629596776]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.18880862041293456,0.6318831870150299,0.71338606911949],"aabb_xy":[[0.1652234969490397,0.5668831847695982],[0.2123937438768294,0.6968831892604618]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.5491197478220579,0.036312873551164415,0.71338606911949],"aabb_xy":[[-0.5743405846818973,0.011089122698277663],[-0.523898910962218,0.06153662440405116]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.027927147367017624,1.3175860918112234,0.71338606911949],"aabb_xy":[[-0.042072854764411916,1.2948241261855273],[0.09792714949844716,1.3403480574369186]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.6509368800579729,1.5926219679001323,0.71338606911949],"aabb_xy":[[-0.6728455621973239,1.5707213010800414],[-0.6290281979186219,1.6145226347202228]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.1351407528720947,-0.40905162047214505,0.71338606911949],"aabb_xy":[[-0.19914075015774335,-0.45055833942498896],[-0.07114075558644606,-0.367544901519301]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.4468350285370398,0.267152277060998,0.71338606911949],"aabb_xy":[[-0.4843350287089117,0.2344515416780908],[-0.40933502836516783,0.29985301244390516]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.4907995416024522,1.2173163334316892,0.71338606911949],"aabb_xy":[[0.4741224056093567,1.200616409457759],[0.5074766775955477,1.2340162574056195]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.7104820738960207,1.2695143108453317,0.71338606911949],"aabb_xy":[[0.7039804373880161,1.2597464888190222],[0.7169837104040253,1.2792821328716417]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.26295254664611545,1.1379380858656574,0.71338606911949],"aabb_xy":[[-0.3229525471539683,1.0810913521797358],[-0.2029525461382625,1.1947848195515784]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.4512760355272776,-1.2395516644930624,0.71338606911949],"aabb_xy":[[0.4463767432207141,-1.267228583795631],[0.45617532783384107,-1.2118747451904934]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.31849661413126645,-0.4943104655664956,0.71338606911949],"aabb_xy":[[-0.3414123270163163,-0.5172147627029192],[-0.2955809012462165,-0.4714061684300722]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.562714534543818,-0.43417910975617424,0.71338606911949],"aabb_xy":[[0.5402497645724129,-0.45667911063503475],[0.5851793045152232,-0.41167910887731374]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.590086293004753,-2.312091519642807,0.71338606911949],"aabb_xy":[[-0.6016552737516897,-2.337091519759739],[-0.5785173122578166,-2.2870915195258754]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.4669398816088628,1.6859900220373336,0.71338606911949],"aabb_xy":[[0.45822591255892825,1.663490021378145],[0.47565385065879723,1.7084900226965214]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.23076291517142777,-1.2401604998496545,0.71338606911949],"aabb_xy":[[0.21255709151018007,-1.2511859004316461],[0.24896873883267542,-1.2291350992676628]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.0016613374359100153,-1.307032097616225,0.71338606911949],"aabb_xy":[[-0.009700397217376144,-1.3184005640225132],[0.013023072089196175,-1.295663631209937]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.554322210125637,-2.0533966998988715,0.71338606911949],"aabb_xy":[[-0.6343160337041952,-2.133396702491713],[-0.47432838654707876,-1.97339669730603]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.22896325658745975,-1.3676192483598257,0.71338606911949],"aabb_xy":[[0.19333410068750004,-1.4032519151166787],[0.2645924124874195,-1.3319865816029728]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.41833240849332487,-2.517740985920405,0.71338606911949],"aabb_xy":[[0.36070193960605396,-2.5777409848471153],[0.4759628773805956,-2.457740986993694]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[0.4174512343442838,0.799690023797917,0.71338606911949],"aabb_xy":[[0.3524512333437832,0.748903658643242],[0.48245123534478423,0.8504763889525919]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.06851185575128338,-0.7444432246201622,0.71338606911949],"aabb_xy":[[-0.08361415721230145,-0.7595447462512238],[-0.05340955429026526,-0.7293417029891002]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.30335639867804365,-1.590807277840279,0.71338606911949],"aabb_xy":[[-0.3833564019420567,-1.6043673101491924],[-0.22335639541403046,-1.5772472455313657]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[0.5700024697095241,1.5329655044345762,0.71338606911949],"aabb_xy":[[0.5620791894707757,1.510465504196573],[0.5779257499482724,1.5554655046725798]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.2385858264984395,0.5152184061031622,0.71338606911949],"aabb_xy":[[-0.30358582465435857,0.48892216155324997],[-0.17358582834252045,0.5415146506530744]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[0.6384848158648686,1.7710491196631986,0.71338606911949],"aabb_xy":[[0.5744848154873349,1.7213038528123863],[0.7024848162424021,1.8207943865140108]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.5443882596960317,-1.168648744784234,0.71338606911949],"aabb_xy":[[-0.6083882617457637,-1.208743227873542],[-0.48038825764629967,-1.128554261694926]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.633073820730617,0.9711033929167159,0.71338606911949],"aabb_xy":[[0.5962232727936294,0.9336033920936821],[0.6699243686676046,1.0086033937397496]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[-0.6093677159783516,-0.42774311197590675,0.71338606911949],"aabb_xy":[[-0.6318677164903921,-0.45023497034130505],[-0.5868677154663109,-0.40525125361050834]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.2807178099004733,0.9077055919874288,0.71338606911949],"aabb_xy":[[-0.34471780629604637,0.8437423035686953],[-0.21671781350490021,0.9716688804061624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6998183360829267,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3074.png","name":"3074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3074.png","name":"3074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7653.png","name":"7653"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":686.9430463545857,"rotation_z_degrees":260.9143851360969,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002536708151122745,0.014626200211968591,-0.003171835762266567]},{"name":"camera_2","offset_m":[-0.019168484276147337,0.011782024768606316,0.014132345857635158]},{"name":"camera_3","offset_m":[-0.0074567361692105694,-0.006181822658062903,-0.012157116144405405]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013921171786290833,0.00018108642899170718,0.00036371099907877864],"end_effector_yaw_offset_degrees":-0.4731702837710643},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006221150128259264,0.0011697394226942042,-0.0011524798023707134],"end_effector_yaw_offset_degrees":-0.9339676590432022},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001123524812741946,-0.000669616710800316,0.0012033161303504694],"end_effector_yaw_offset_degrees":-0.14513230707340008}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026791913189203086,0.0010827920876547957],"position_m":[0.2799791913189203,-0.0649172079123452,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004922518928891506,0.004541378499832602],"position_m":[0.24827748107110847,0.2232413784998326,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0041785701712797685,-0.0043283026949507905],"position_m":[0.3477785701712798,0.04347169730504921,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004098552163153929,0.0042694970694905415],"position_m":[0.12479855216315393,0.4036694970694905,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00087042867752398,-0.0041370228539994135],"position_m":[0.218570428677524,-0.4431370228539994,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b07f74026905598c5c425f25708d1b52e7cff2ab5c9749c04f86947678cfa550","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3074/tex_ceiling_textures_7653/tex_floor_textures_1759/tex_table_textures_4040/tex_wall_textures_5357","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7558666871144267748,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7558666871144267748,"visual_seed":7558666871144267748,"scene_id":"lab_003","finished_at":"2026-09-03T19:16:22"} +{"episode_id":"ep_000036","started_at":"2026-09-03T19:16:25","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5344489211972444,0.9539616439821632,0.71338606911949],"aabb_xy":[[-0.6044489245888063,0.9186458702787322],[-0.46444891780568237,0.989277417685594]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.17055801159945805,-0.1274868031081664,0.71338606911949],"aabb_xy":[[-0.17467396171153068,-0.13160235814101187],[-0.16644206148738536,-0.12337124807532088]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.1324438517278158,-1.5228856594865532,0.71338606911949],"aabb_xy":[[-0.14994378516179915,-1.5403856594067875],[-0.11494391829383241,-1.5053856595663184]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.6498316255717276,-0.1019440572155923,0.71338606911949],"aabb_xy":[[0.6321987899782,-0.11956700323121526],[0.6674644611652552,-0.08432111119996931]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.5205752167386046,0.35186347502777915,0.71338606911949],"aabb_xy":[[0.45657521962649894,0.30283110523336854],[0.5845752138507103,0.40089584482218976]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.2410718588669999,-1.319709648964655,0.71338606911949],"aabb_xy":[[-0.26607185803263295,-1.3266618946700117],[-0.21607185970136672,-1.3127574032592986]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.15484492339526024,0.9184234028093003,0.71338606911949],"aabb_xy":[[-0.17984492294699872,0.9082809189441656],[-0.12984492384352175,0.9285658866744351]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.001194261098354743,-2.0621987395486876,0.71338606911949],"aabb_xy":[[-0.02447610329648608,-2.147198740845915],[0.022087581099776595,-1.9771987382514593]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.6689114983178979,-0.2538338842895973,0.71338606911949],"aabb_xy":[[0.6189166653899563,-0.30383388318484084],[0.7189063312458395,-0.20383388539435376]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.2654343746910678,1.0924974363151545,0.71338606911949],"aabb_xy":[[0.175434378190196,1.046585793896696],[0.3554343711919395,1.1384090787336125]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.5290928839421061,0.03826029682664789,0.71338606911949],"aabb_xy":[[-0.5790878949015581,-0.011739702208943836],[-0.47909787298265405,0.0882602958622396]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.5489665319601293,-2.049835307125205,0.71338606911949],"aabb_xy":[[0.5396195243778341,-2.064138929342849],[0.5583135395424246,-2.035531684907561]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.24237401081072707,-1.112049003715225,0.71338606911949],"aabb_xy":[[-0.24834054975146289,-1.118010148374589],[-0.2364074718699913,-1.1060878590558612]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.4682980511091053,-2.397609386228813,0.71338606911949],"aabb_xy":[[0.43329805197914956,-2.403354607304477],[0.5032980502390609,-2.391864165153149]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.3883719696463022,-1.013382458146686,0.71338606911949],"aabb_xy":[[-0.4783719690646731,-1.0467579549908756],[-0.2983719702279313,-0.9800069613024962]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.14754348625097935,1.6594416104155152,0.71338606911949],"aabb_xy":[[0.08754348640441256,1.6026229882224765],[0.20754348609754614,1.7162602326085539]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.1938981006755055,-0.41864313209156734,0.71338606911949],"aabb_xy":[[-0.2578980979778519,-0.4630095590594241],[-0.12989810337315913,-0.3742767051237106]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.19305115972825126,-1.9926931534833274,0.71338606911949],"aabb_xy":[[-0.199088172728916,-1.9987198545522757],[-0.1870141467275865,-1.9866664524143796]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.591366770506521,-0.7678130092357967,0.71338606911949],"aabb_xy":[[-0.5969484421406496,-0.7803130090535721],[-0.5857850988723922,-0.7553130094180212]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.10252373644661483,1.4103893450102767,0.71338606911949],"aabb_xy":[[0.09175076252524705,1.375389346791238],[0.11329671036798261,1.445389343229316]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.25240646129596106,1.295246848936633,0.71338606911949],"aabb_xy":[[-0.2774064605679233,1.2789014853404708],[-0.22740646202399875,1.3115922125327955]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.3037150153177183,1.432198214349231,0.71338606911949],"aabb_xy":[[0.2387150126799248,1.380718615649784],[0.36871501795551176,1.4836778130486779]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.09372456398616613,-0.5354123330637135,0.71338606911949],"aabb_xy":[[-0.11073466127621677,-0.5515468215619873],[-0.07671446669611547,-0.5192778445654395]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.6731847443436993,1.1505230067756473,0.71338606911949],"aabb_xy":[[0.6319359333137846,1.0955230072634297],[0.7144335553736141,1.2055230062878646]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.6115868658231602,-1.659884988361966,0.71338606911949],"aabb_xy":[[0.5465868676672411,-1.6861812329118782],[0.6765868639790792,-1.6335887438120538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963994629840167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7696.png","name":"7696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7696.png","name":"7696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3861.png","name":"3861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3981.png","name":"3981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2876.png","name":"2876"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":659.0413684706116,"rotation_z_degrees":238.9636346534605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015636664418034924,0.006549954459204272,-0.01439563355468191]},{"name":"camera_2","offset_m":[0.008635827269383056,-0.019002646219523647,-0.009731611592428288]},{"name":"camera_3","offset_m":[0.000954221878063443,-0.012873128164636653,0.0005592565647651974]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003537980679294442,0.0017638914294593393,0.00110689573326326],"end_effector_yaw_offset_degrees":-0.8526298736785825},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013943909032869523,-0.0001255172129575701,0.0014518187197275442],"end_effector_yaw_offset_degrees":0.18297808544245875},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006042925707321033,-0.0013499437098422216,0.0010423988775499458],"end_effector_yaw_offset_degrees":-0.0790925314719717}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019509749442702695,-0.0019814936141159035],"position_m":[0.2753490250557297,-0.0679814936141159,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032990567167245676,0.0023718990956563815],"position_m":[0.25649905671672457,0.2210718990956564,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0021824425763610203,-0.0011499425827292253],"position_m":[0.341417557423639,0.046650057417270775,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004658811454330159,-0.001019678935007793],"position_m":[0.12023411885456699,0.39838032106499216,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019652061931272682,0.0026401742518528558],"position_m":[0.21966520619312727,-0.43635982574814713,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f9567223450e69fc9e6deacbfe9f15b96f0bfc251a7325b72d5dc217fefb4b7f","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7696/tex_ceiling_textures_2876/tex_floor_textures_1000/tex_table_textures_3861/tex_wall_textures_3981","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5016051419498143910,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5016051419498143910,"visual_seed":5016051419498143910,"scene_id":"lab_003","finished_at":"2026-09-03T19:18:52"} +{"episode_id":"ep_000037","started_at":"2026-09-03T19:18:55","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.12219666185421785,-1.6582495500999002,0.71338606911949],"aabb_xy":[[-0.202196658817257,-1.7353251917436736],[-0.04219666489117867,-1.5811739084561267]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.33078500116849435,0.29477113952667056,0.71338606911949],"aabb_xy":[[-0.3729694153293251,0.23077113924945936],[-0.2886005870076636,0.35877113980388176]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.18636530172432075,1.5900827562925461,0.71338606911949],"aabb_xy":[[-0.20404093231291906,1.5724025400131432],[-0.1686896711357224,1.6077629725719487]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.135475666213694,-2.4159063409878216,0.71338606911949],"aabb_xy":[[0.12360358320219289,-2.500906340681472],[0.1473477492251951,-2.3309063412941713]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.20553218100705056,-1.2369508768208415,0.71338606911949],"aabb_xy":[[-0.2430321812992254,-1.240992352221445],[-0.16803218071487577,-1.232909401420238]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.25713881063938837,-1.7091826397508556,0.71338606911949],"aabb_xy":[[0.24779180305709314,-1.7234862619684999],[0.2664858182216836,-1.6948790175332118]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.21700108399241036,0.70381951908786,0.71338606911949],"aabb_xy":[[0.19711004411207014,0.6911637078031633],[0.23689212387275063,0.716475330372557]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.4114294250275622,-1.4112589794555699,0.71338606911949],"aabb_xy":[[-0.4168873706645822,-1.491258982763229],[-0.40597147939054207,-1.3312589761479108]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.5416175500918458,-0.7830019356587137,0.71338606911949],"aabb_xy":[[-0.5507774290357224,-0.7895331537022509],[-0.5324576711479692,-0.7764707176151767]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.13559363969819926,-0.7564899245292016,0.71338606911949],"aabb_xy":[[0.11307994787474204,-0.8264899251302091],[0.15810733152165643,-0.6864899239281941]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.20689547527716867,-0.6004048564023929,0.71338606911949],"aabb_xy":[[-0.24791341866353955,-0.6504048570333503],[-0.1658775318907978,-0.5504048557714356]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.4531575836742089,1.3498698733497525,0.71338606911949],"aabb_xy":[[-0.47565758348811127,1.3453952569792718],[-0.4306575838603065,1.3543444897202332]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.57012069592443,-1.8756651210566129,0.71338606911949],"aabb_xy":[[-0.5781141857197122,-1.8836632529970891],[-0.5621272061291481,-1.867666989116138]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.011277732298548337,-2.2846306349612635,0.71338606911949],"aabb_xy":[[-0.03853904716628642,-2.3346306334455673],[0.0610945117633831,-2.2346306364769606]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.20406164830736284,1.105912757613217,0.71338606911949],"aabb_xy":[[-0.22412005992060316,1.0858476707040599],[-0.18400323669412258,1.1259778445223747]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.6620905987259118,-0.6614968549150788,0.71338606911949],"aabb_xy":[[0.6245905975411188,-0.6659150776111392],[0.6995905999107044,-0.6570786322190182]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.5593428243053598,-1.939549433814445,0.71338606911949],"aabb_xy":[[0.5218428257297388,-1.952285729478003],[0.5968428228809805,-1.926813138150887]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.23487618198850135,-1.4323807027701023,0.71338606911949],"aabb_xy":[[0.17088048459340477,-1.496380701070811],[0.29887187938359794,-1.3683807044693936]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[-0.4562438575405523,-0.5234534285506962,0.71338606911949],"aabb_xy":[[-0.46760559219383846,-0.5348218949569842],[-0.44488212288726614,-0.512084962144408]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.19110504110704596,0.8658021022676254,0.71338606911949],"aabb_xy":[[-0.2389112087208146,0.8008020995605664],[-0.1432988734932773,0.9308021049746843]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.28885823743450123,-1.228983634890456,0.71338606911949],"aabb_xy":[[0.24386565071605076,-1.2739836341649047],[0.3338508241529516,-1.1839836356160072]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.6243542425142395,-2.4666249122950967,0.71338606911949],"aabb_xy":[[-0.6783698387961395,-2.530624915187354],[-0.5703386462323395,-2.4026249094028396]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.44635012418051234,-2.1916743461842856,0.71338606911949],"aabb_xy":[[-0.4838501226039126,-2.204838560152116],[-0.4088501257571119,-2.1785101322164544]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.6946081076785218,1.4944779601390343,0.71338606911949],"aabb_xy":[[0.6721081081548143,1.4719820126884136],[0.7171081072022291,1.5169739075896551]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[-0.492505750415281,-1.189508623915098,0.71338606911949],"aabb_xy":[[-0.5575057530530746,-1.240988222614545],[-0.4275057477774876,-1.138029025215651]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[-0.002299558914575006,-1.418141280173583,0.71338606911949],"aabb_xy":[[-0.08602178441465747,-1.508141283708279],[0.08142266658550745,-1.3281412766388871]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.1200776693486083,0.49633131265049935,0.71338606911949],"aabb_xy":[[-0.20007767042172864,0.4865532663131149],[-0.04007766827548799,0.5061093589878838]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.2782397474307349,-2.095417945457384,0.71338606911949],"aabb_xy":[[0.2674667735093671,-2.130417943676423],[0.28901272135210265,-2.060417947238345]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[-0.09110643505221805,-2.0878745489368242,0.71338606911949],"aabb_xy":[[-0.0952223851642907,-2.0919901039696693],[-0.08699048494014537,-2.0837589939039782]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_29","position":[0.19075960770227574,-1.8200403264982739,0.71338606911949],"aabb_xy":[[0.17325960842418883,-1.8373784265646198],[0.20825960698036258,-1.802702226431928]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[-0.549565748653463,-0.503034352285205,0.71338606911949],"aabb_xy":[[-0.5870657493180416,-0.5187214102854271],[-0.5120657479888842,-0.48734729428498275]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[-0.3124424982945927,1.6095856469019076,0.71338606911949],"aabb_xy":[[-0.3410918306550088,1.5809400876248316],[-0.28379316593417636,1.6382312061789832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7002688462191313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1381.png","name":"1381"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1381.png","name":"1381"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2291.png","name":"2291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8513.png","name":"8513"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9968.png","name":"9968"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1519.png","name":"1519"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":652.8716275165413,"rotation_z_degrees":13.727993250925188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018278416200154256,0.01642118989747061,-0.009711484818396659]},{"name":"camera_2","offset_m":[-0.003932607394588797,0.018523230475453536,0.019739909268710828]},{"name":"camera_3","offset_m":[-0.0016784703746592147,0.01283475153302233,-0.013230163599328134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009834302802279185,-0.0011989219889863185,-0.0016406128113688975],"end_effector_yaw_offset_degrees":-0.20253953951697512},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018794727825978495,-0.0004148606528332009,-0.0015836472488966376],"end_effector_yaw_offset_degrees":0.66440550523612},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002493063446683719,-0.00021821686168786952,-0.0005700694007942215],"end_effector_yaw_offset_degrees":0.7140048742325695}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00356565714243566,0.002750140964303918],"position_m":[0.2737343428575643,-0.06324985903569609,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034468319918028647,0.00013585418554019554],"position_m":[0.2497531680081971,0.2188358541855402,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0010587452155331927,-0.0015386950456698347],"position_m":[0.3446587452155332,0.04626130495433017,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001029776457331778,0.002176008825110845],"position_m":[0.12172977645733178,0.4015760088251108,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001228449000854389,-0.004410881050319115],"position_m":[0.2189284490008544,-0.4434108810503191,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1e0b47560296e9d01c5740ba372d4800068f7a353077aec921c552de91716f0c","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1381/tex_ceiling_textures_1519/tex_floor_textures_9968/tex_table_textures_2291/tex_wall_textures_8513","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6206237554866977405,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6206237554866977405,"visual_seed":6206237554866977405,"scene_id":"lab_003","finished_at":"2026-09-03T19:21:28"} +{"episode_id":"ep_000038","started_at":"2026-09-03T19:21:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.0448457273251508,-2.009549275210391,0.71338606911949],"aabb_xy":[[0.022332035501693603,-2.0795492758113987],[0.06735941914860799,-1.9395492746093836]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.4114862547543168,-1.3445709093840847,0.71338606911949],"aabb_xy":[[-0.45665757260248585,-1.4085709065286234],[-0.36631493690614786,-1.2805709122395466]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.35263311811812376,1.3140649678215195,0.71338606911949],"aabb_xy":[[-0.372524157998464,1.3014091565368229],[-0.3327420782377835,1.3267207791062166]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.003080547081900531,-1.8148882656529395,0.71338606911949],"aabb_xy":[[-0.04058054689893409,-1.8195264769640813],[0.03441945273513303,-1.8102500543417976]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.1484685750762762,-0.8565175874408917,0.71338606911949],"aabb_xy":[[0.09346857589968668,-0.9115072622158493],[0.20346857425286566,-0.801527912665934]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.31394595247174883,-1.0661002334858602,0.71338606911949],"aabb_xy":[[-0.37894595035339673,-1.1172238971924013],[-0.2489459545901011,-1.0149765697793196]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.19246793696544384,-1.91016475069594,0.71338606911949],"aabb_xy":[[0.13845234068354384,-1.974164753588197],[0.24648353324734384,-1.8461647478036827]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.13722443569189635,1.2917204153266484,0.71338606911949],"aabb_xy":[[-0.153286363150414,1.2067204135140566],[-0.12116250823337872,1.3767204171392402]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.5739631525275359,1.232956485307986,0.71338606911949],"aabb_xy":[[0.4939631514544156,1.2231784389706015],[0.6539631536006563,1.2427345316453704]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[0.4773332881941095,1.5327006263193552,0.71338606911949],"aabb_xy":[[0.39733328772389365,1.5243899187050074],[0.5573332886643255,1.541011333933704]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.01416905981269323,-2.2682928642681586,0.71338606911949],"aabb_xy":[[-0.02145137618935688,-2.358292867877667],[-0.006886743436029572,-2.178292860658649]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.09229713238138049,-2.0695597251430513,0.71338606911949],"aabb_xy":[[-0.14227594089169637,-2.11955972514877],[-0.0423183238710646,-2.0195597251373325]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.34339040557882283,-1.511842797030099,0.71338606911949],"aabb_xy":[[0.33182142483188626,-1.5368427971470306],[0.3549593863257594,-1.4868427969131672]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.49848114778091096,0.6888538545164011,0.71338606911949],"aabb_xy":[[-0.5045757756690292,0.6802844599647323],[-0.4923865198927926,0.6974232490680697]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.12323702170987139,-1.702980066545392,0.71338606911949],"aabb_xy":[[0.11979634546981424,-1.706841499519757],[0.12667769794992859,-1.699118633571028]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.3491428295203926,-0.5241288198944156,0.71338606911949],"aabb_xy":[[-0.39694899713416115,-0.5891288226014746],[-0.3013366619066239,-0.45912881718735665]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.6373702660671967,-1.2096953241070474,0.71338606911949],"aabb_xy":[[0.5723702650666963,-1.2604816892617223],[0.7023702670676973,-1.1589089589523724]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.5260825469700325,-1.2976386448083739,0.71338606911949],"aabb_xy":[[-0.5429932794063742,-1.3111108504009883],[-0.5091718145336906,-1.284166439215759]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.3460511304029159,-1.5423175452051572,0.71338606911949],"aabb_xy":[[-0.354164785076293,-1.5504233616591863],[-0.3379374757295388,-1.534211728751128]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.1752189289210292,1.3410268690605993,0.71338606911949],"aabb_xy":[[0.15163380545713434,1.2760268668151677],[0.19880405238492405,1.4060268713060313]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.33002402656583385,0.8385953357414597,0.71338606911949],"aabb_xy":[[-0.3675240251414546,0.8258590400779017],[-0.292524027990213,0.8513316314050176]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961891271872179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9082.png","name":"9082"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3316.png","name":"3316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2878.png","name":"2878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4054.png","name":"4054"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":791.2640862651442,"rotation_z_degrees":20.167205051975785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01771017834433153,-0.0037484562036259605,-0.009665060952037998]},{"name":"camera_2","offset_m":[-0.01837004449649834,0.016076306684227954,-0.0012697191290747464]},{"name":"camera_3","offset_m":[-0.005195421326484215,0.006456188495359404,0.0017847731492880228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004603517102390619,0.0012764827758572329,-0.001550800317105432],"end_effector_yaw_offset_degrees":-0.051756787998020304},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014251806346200339,-0.0017906715359080967,0.0012046173121972657],"end_effector_yaw_offset_degrees":-0.0927201619529332},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000825221428265245,-0.001981697143725646,-0.00048282504194828413],"end_effector_yaw_offset_degrees":0.26151006395022125}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012376696253910526,0.004172673527564344],"position_m":[0.27853766962539106,-0.06182732647243566,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00473940071669074,-0.0017796197407683513],"position_m":[0.25793940071669075,0.21692038025923166,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002626392240884492,0.0017713186260311375],"position_m":[0.3409736077591155,0.04957131862603114,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035454467102036067,-1.698151686953947e-05],"position_m":[0.11715455328979639,0.39938301848313046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003657852345780978,9.031755804496128e-05],"position_m":[0.21733421476542192,-0.43890968244195505,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b9f6b415fee9b61604e1673e23d8fd46c4e9e3118fab0699a4f0f2bbca6f30da","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5560/tex_ceiling_textures_4054/tex_floor_textures_2878/tex_table_textures_9082/tex_wall_textures_3316","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5664933687832815646,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5664933687832815646,"visual_seed":5664933687832815646,"scene_id":"lab_003","finished_at":"2026-09-03T19:24:04"} +{"episode_id":"ep_000039","started_at":"2026-09-03T19:27:06","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.5430107163205113,-1.635469004484678,0.71338606911949],"aabb_xy":[[-0.5659264292055612,-1.658373301621102],[-0.5200950034354614,-1.612564707348255]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.04730172805227173,-1.972134383805779,0.71338606911949],"aabb_xy":[[-0.05121560124769425,-1.980883399212336],[-0.0433878548568492,-1.9633853683992224]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.37834483381909756,-1.8311963876307045,0.71338606911949],"aabb_xy":[[0.2946226083190151,-1.9211963911654],[0.46206705931918,-1.741196384096008]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.5403823313583063,-0.4580875465247356,0.71338606911949],"aabb_xy":[[0.505791248504261,-0.5230875468097665],[0.5749734142123515,-0.3930875462397045]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.33455478548505946,-1.732117960843353,0.71338606911949],"aabb_xy":[[-0.3379954617251166,-1.7359793938177177],[-0.33111410924500223,-1.7282565278689888]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[-0.0484902518622049,1.6368439447511087,0.71338606911949],"aabb_xy":[[-0.07039893400155595,1.614943277931018],[-0.026581569722853852,1.6587446115711995]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.04766734713401788,-1.865670974708677,0.71338606911949],"aabb_xy":[[-0.01633264997808781,-1.9147033445030877],[0.11166734424612357,-1.8166386049142664]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.05634652841302357,-1.071585334158571,0.71338606911949],"aabb_xy":[[0.050251900524905246,-1.0801547287102398],[0.06244115630114189,-1.0630159396069023]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.3690888404746215,-2.22596773390355,0.71338606911949],"aabb_xy":[[-0.3810215748364495,-2.2383498867114096],[-0.35715610611279336,-2.213585581095691]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.10238175355775503,-2.5288721505490446,0.71338606911949],"aabb_xy":[[0.09842126978802064,-2.536540015134565],[0.10634223732748939,-2.521204285963524]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.18095239648799344,1.6958194327068923,0.71338606911949],"aabb_xy":[[0.17087068940941993,1.6158194348147776],[0.1910341035665669,1.775819430599007]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.6716578703997615,-1.6853879544989723,0.71338606911949],"aabb_xy":[[0.6491578705858592,-1.689862570869453],[0.6941578702136639,-1.6809133381284915]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.2883425326247653,-2.173346921361242,0.71338606911949],"aabb_xy":[[-0.310232280213706,-2.263346918650491],[-0.2664527850358244,-2.083346924071993]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[0.01933650982488333,1.0021886193545364,0.71338606911949],"aabb_xy":[[-0.03565670151225343,0.9471886190157428],[0.07432972116202008,1.05718861969333]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.6590872969336798,-0.677431845835589,0.71338606911949],"aabb_xy":[[0.6553840356045408,-0.6811338641443069],[0.6627905582628186,-0.6737298275268712]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.391681722790119,0.7214919896816334,0.71338606911949],"aabb_xy":[[-0.4169025596499586,0.6962682388287464],[-0.36646088593027926,0.74671574053452]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.579764548979431,-1.3719819721837794,0.71338606911949],"aabb_xy":[[0.5297645486188649,-1.4219619593933819],[0.629764549339997,-1.322001984974176]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.06136613920306033,-0.6569703456232692,0.71338606911949],"aabb_xy":[[-0.09699529510302007,-0.6926030123801221],[-0.02573698330310059,-0.6213376788664162]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.4678251734125318,1.0253596626046209,0.71338606911949],"aabb_xy":[[0.45971151873915467,1.0172538461505918],[0.47593882808590887,1.03346547905865]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.33177915210863773,-0.6353206333570702,0.71338606911949],"aabb_xy":[[0.26777915352206527,-0.6823275967565791],[0.3957791506952102,-0.5883136699575616]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.027225681537064617,-1.5959326052490526,0.71338606911949],"aabb_xy":[[-0.007774317655753652,-1.6068996512467149],[0.06222568072988288,-1.5849655592513898]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.3841627006779227,-1.0950093195358763,0.71338606911949],"aabb_xy":[[0.3466626994931298,-1.0994275422319366],[0.42166270186271537,-1.0905910968398156]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.3072072650733425,-1.0833976510642938,0.71338606911949],"aabb_xy":[[-0.37120296246843903,-1.1473976493650022],[-0.24321156767824587,-1.0193976527635848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6971699387702887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7108.png","name":"7108"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7108.png","name":"7108"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4376.png","name":"4376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3926.png","name":"3926"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/120.png","name":"120"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":595.5941821757949,"rotation_z_degrees":277.85580246605326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029990731554078304,-0.010785384647948626,0.014989709338417232]},{"name":"camera_2","offset_m":[-0.006276680317689593,-0.0008345252197085561,0.018813771128532195]},{"name":"camera_3","offset_m":[-0.008488744569851044,-0.01896132223516061,0.007306982536695171]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018520939965883652,0.0007549130428208825,0.00016453546529822177],"end_effector_yaw_offset_degrees":0.05731705712425872},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006597350658826989,0.0013574369376434638,-0.0007149932399537059],"end_effector_yaw_offset_degrees":0.0703737914484539},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019248644178961802,0.00035385411476138336,0.001106906799937565],"end_effector_yaw_offset_degrees":-0.002616384081312706}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004854425115073907,-0.003862609283771905],"position_m":[0.2821544251150739,-0.06986260928377191,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0045368770075239285,0.0022938342379316768],"position_m":[0.24866312299247606,0.22099383423793167,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0014634792439208255,-0.0005323853699086955],"position_m":[0.34506347924392083,0.047267614630091305,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004771354650666655,0.0030080427755498585],"position_m":[0.12547135465066667,0.4024080427755498,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019106783680967864,0.001344000939357928],"position_m":[0.21961067836809678,-0.43765599906064206,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5471343e70beb84f789cc27555cb12737fdd8034f97b63102aa7380f978c1f5f","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7108/tex_ceiling_textures_120/tex_floor_textures_3926/tex_table_textures_825/tex_wall_textures_4376","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8024814322426482073,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8024814322426482073,"visual_seed":8024814322426482073,"scene_id":"lab_003","finished_at":"2026-09-03T19:29:45"} +{"episode_id":"ep_000040","started_at":"2026-09-03T19:29:48","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.330855897145103,1.3410361144721663,0.71338606911949],"aabb_xy":[[0.32070288159095356,1.3049665728994257],[0.3410089126992523,1.3771056560449064]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.242179656973889,-1.6842412242125606,0.71338606911949],"aabb_xy":[[0.1621796595702955,-1.7642337954107432],[0.3221796543774823,-1.6042486530143776]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[0.47014479654363606,-1.4465566751253778,0.71338606911949],"aabb_xy":[[0.46481228188902307,-1.4518810033706135],[0.47547731119824904,-1.4412323468801425]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.11488390657157199,-0.8352899766772599,0.71338606911949],"aabb_xy":[[0.09787380928152134,-0.8514244651755338],[0.13189400386162264,-0.819155488178986]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.5035596179682961,-0.7851140506682059,0.71338606911949],"aabb_xy":[[-0.5153278047629536,-0.8701140505734276],[-0.49179143117363855,-0.7001140507629844]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[-0.4617995610161405,-1.7645224747648902,0.71338606911949],"aabb_xy":[[-0.5117926731253325,-1.814522475439086],[-0.41180644890694873,-1.7145224740906948]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.3977322271530731,-1.9123118442454414,0.71338606911949],"aabb_xy":[[-0.40702584539022363,-1.949811842733575],[-0.38843860891592247,-1.8748118457573073]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.43305534621963115,-2.25150272492375,0.71338606911949],"aabb_xy":[[0.38307653770931516,-2.3015027249294686],[0.48303415472994693,-2.201502724918031]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.2028986239121151,1.075717360456268,0.71338606911949],"aabb_xy":[[0.1428986236607139,1.021436035419803],[0.2628986241635163,1.1299986854927324]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.16622121778990362,1.5577673075421772,0.71338606911949],"aabb_xy":[[0.15809352959659037,1.5488536991314694],[0.1743489059832168,1.566680915952885]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.2750725295392543,-2.3080638179532706,0.71338606911949],"aabb_xy":[[0.22518983266155812,-2.3580638171995454],[0.3249552264169505,-2.258063818706996]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.11243204520606243,-0.4559467219646449,0.71338606911949],"aabb_xy":[[-0.12849397266458007,-0.5409467237772367],[-0.09637011774754478,-0.3709467201520531]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.047432827703732694,0.47543920792800165,0.71338606911949],"aabb_xy":[[-0.05469407527414011,0.4626521976644922],[-0.04017158013332528,0.4882262181915112]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[-0.297572377558632,1.6523287435789702,0.71338606911949],"aabb_xy":[[-0.3069898521284947,1.6429125664412514],[-0.2881549029887692,1.6617449207166894]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.5772426727223976,0.9706092511058166,0.71338606911949],"aabb_xy":[[-0.5881484488099603,0.8906092547069874],[-0.5663368966348349,1.0506092475046458]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.2409807407961243,-0.8794770091304693,0.71338606911949],"aabb_xy":[[-0.2510624478746978,-0.9594770070225839],[-0.2308990337175508,-0.7994770112383546]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.44684051411173464,-0.18534249979337059,0.71338606911949],"aabb_xy":[[-0.47206135097157426,-0.21056625064625728],[-0.4216196772518949,-0.16011874894048378]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[0.3442774137251947,1.1535460710373076,0.71338606911949],"aabb_xy":[[0.31976378962818885,1.1292814777352709],[0.3687910378222006,1.1778106643393438]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.38902459542951257,-0.9478147290574126,0.71338606911949],"aabb_xy":[[-0.4093088981529112,-0.9680973542001213],[-0.3687402927061137,-0.9275321039147036]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.591531280742817,0.4867388951380218,0.71338606911949],"aabb_xy":[[0.5726468969743068,0.467852970357669],[0.6104156645113272,0.5056248199183746]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.641927182967216,-0.8873503198130708,0.71338606911949],"aabb_xy":[[0.631359703309117,-0.8978953499260792],[0.652494662625315,-0.8768052897000621]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.5755034153175776,1.132106341388495,0.71338606911949],"aabb_xy":[[-0.5848504228998729,1.117802719170851],[-0.5661564077352824,1.1464099636061391]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.05098204412637808,-2.3512271222062076,0.71338606911949],"aabb_xy":[[-0.013017956134092725,-2.3962359215591356],[0.11498204438684889,-2.3062183228532795]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.010640169621701778,-0.7762155241938493,0.71338606911949],"aabb_xy":[[-0.07464017196450333,-0.8211563754379817],[0.05335983272109978,-0.7312746729497167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700082386065582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/735.png","name":"735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6295.png","name":"6295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5921.png","name":"5921"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":790.6855779479386,"rotation_z_degrees":181.58124608652685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008694295901995556,-0.010777004805510493,-0.005369207691187188]},{"name":"camera_2","offset_m":[0.019983078163759892,0.00038570733641902014,0.00025655206917845827]},{"name":"camera_3","offset_m":[0.0021649208763920257,-0.014832524863902217,0.006864806311497832]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012266689634667424,-0.00025848518456904074,-0.0010848087463063974],"end_effector_yaw_offset_degrees":-0.5890808888875771},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0002018726677406016,-0.0010506849582721611,-0.00032791879918276485],"end_effector_yaw_offset_degrees":0.29162218940670215},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017106880231506079,0.0014747408422176264,0.001839695646950086],"end_effector_yaw_offset_degrees":0.08093423554396995}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003583161935219752,-0.0034895359235860325],"position_m":[0.27371683806478025,-0.06948953592358603,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022410192588355237,0.001793692346330136],"position_m":[0.2554410192588355,0.22049369234633015,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0013508742224491942,0.0001564871913027387],"position_m":[0.34224912577755084,0.047956487191302744,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005482198303465692,0.0010874223904525108],"position_m":[0.12124821983034657,0.4004874223904525,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014178465465182564,-0.0038845987689613117],"position_m":[0.21911784654651825,-0.4428845987689613,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d88b6cddf5b5586ba25851a34f63cc83590c82e142bd2805921193fc050b0a0","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9864/tex_ceiling_textures_231/tex_floor_textures_5921/tex_table_textures_735/tex_wall_textures_6295","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":573893482950996430,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":573893482950996430,"visual_seed":573893482950996430,"scene_id":"lab_003","finished_at":"2026-09-03T19:32:22"} +{"episode_id":"ep_000041","started_at":"2026-09-03T19:32:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.2483245467739068,-0.8399042663505762,0.71338606911949],"aabb_xy":[[-0.31232454594367676,-0.8866709534695387],[-0.18432454760413686,-0.7931375792316138]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.23471370492164934,-2.236178321671511,0.71338606911949],"aabb_xy":[[0.2270105142475723,-2.243887692370249],[0.24241689559572638,-2.228468950972773]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.5136445830363876,1.7748293488794222,0.71338606911949],"aabb_xy":[[0.4911445832224852,1.7703547325089413],[0.53614458285029,1.7793039652499028]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.08573680073570267,-1.2488747611261504,0.71338606911949],"aabb_xy":[[-0.09581850781427614,-1.328874759018265],[-0.07565509365712919,-1.1688747632340357]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.12580262445366408,1.259268745322463,0.71338606911949],"aabb_xy":[[-0.15577018136348975,1.2292687450245772],[-0.09583506754383841,1.2892687456203487]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.05756835366290769,-2.0856156290370946,0.71338606911949],"aabb_xy":[[0.036290345519435434,-2.1506156313631677],[0.07884636180637994,-2.0206156267110216]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.0731842183147744,1.7120261846982312,0.71338606911949],"aabb_xy":[[-0.08188218060548969,1.6999012103907565],[-0.06448625602405911,1.724151159005706]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.5648759629234934,-0.07220896742915617,0.71338606911949],"aabb_xy":[[0.47987596423141876,-0.10419483082403502],[0.649875961615568,-0.04022310403427731]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.3351080317660638,-1.9164627890710748,0.71338606911949],"aabb_xy":[[-0.35253874684507025,-1.9337349037349256],[-0.31767731668705723,-1.899190674407224]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.15184917543781762,-0.11523457890546895,0.71338606911949],"aabb_xy":[[-0.15835081194582223,-0.12500240093177872],[-0.145347538929813,-0.1054667568791592]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.5732476442202952,0.03358233016884071,0.71338606911949],"aabb_xy":[[-0.6532476412345432,0.013447778495429441],[-0.4932476472060472,0.053716881842251984]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.3873724571662391,1.5179706324364788,0.71338606911949],"aabb_xy":[[-0.43735540735371836,1.467970632793918],[-0.3373895069787597,1.5679706320790388]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.0651721078060834,-1.7022834428312477,0.71338606911949],"aabb_xy":[[-0.12917210818361702,-1.7520287096820597],[-0.0011721074285497707,-1.6525381759804352]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.5276955153123992,-0.6062036654777998,0.71338606911949],"aabb_xy":[[0.5196692446817733,-0.6149551604551524],[0.5357217859430253,-0.5974521705004472]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.23421356641376623,1.6091350121124814,0.71338606911949],"aabb_xy":[[-0.24938573569539957,1.593966155184278],[-0.2190413971321329,1.6243038690406848]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[-0.17573668725856806,-0.3304954029925917,0.71338606911949],"aabb_xy":[[-0.2397366879620374,-0.37651378546551284],[-0.11173668655509869,-0.2844770205196708]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.5582223454350317,-2.4190867206943047,0.71338606911949],"aabb_xy":[[-0.6132155567721684,-2.4740867210330983],[-0.5032291340978949,-2.364086720355511]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.12241141610073092,0.9246757511227397,0.71338606911949],"aabb_xy":[[0.11707384043472635,0.8996757501935999],[0.1277489917667355,0.9496757520518795]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[-0.2646017304203249,-2.2162323485208315,0.71338606911949],"aabb_xy":[[-0.3246017306717261,-2.270513673557297],[-0.20460173016892375,-2.161951023484367]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.5498469830324402,-1.5550530773359603,0.71338606911949],"aabb_xy":[[-0.6298408066109984,-1.635053079928802],[-0.46985315945388195,-1.4750530747431188]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.41567592134137793,0.5413028726590605,0.71338606911949],"aabb_xy":[[-0.4656759230028727,0.49130443040335775],[-0.36567591967988317,0.5913013149147631]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.5816831370990501,-1.966699861404957,0.71338606911949],"aabb_xy":[[0.57622519146203,-2.0466998647126156],[0.5871410827360701,-1.8866998580972976]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[0.611971902594578,1.0991626560620498,0.71338606911949],"aabb_xy":[[0.5621551231297431,1.0491626575777464],[0.6617886820594127,1.1491626545463531]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.3160325443061911,0.8184572516842734,0.71338606911949],"aabb_xy":[[-0.38103254526331826,0.7665090397505677],[-0.25103254334906383,0.8704054636179789]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.21609334852334272,-0.6914362458750196,0.71338606911949],"aabb_xy":[[-0.2385924842495697,-0.7139362466532826],[-0.19359421279711575,-0.6689362450967566]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.020860039867261926,-0.41796819043180466,0.71338606911949],"aabb_xy":[[-0.030019918811138524,-0.42449940847534173],[-0.011700160923385328,-0.4114369723882677]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[0.639146894987058,-1.7781840395719324,0.71338606911949],"aabb_xy":[[0.569146898577096,-1.7986219752236137],[0.7091468913970196,-1.7577461039202502]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.6455303277027926,1.3259521953412303,0.71338606911949],"aabb_xy":[[0.5815303274288144,1.2758860951439424],[0.7095303279767708,1.3760182955385183]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_28","position":[-0.06007277641189945,-1.8658447244052123,0.71338606911949],"aabb_xy":[[-0.1022571905727302,-1.9298447246824237],[-0.017888362251068705,-1.8018447241280013]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.034490000988635194,-1.2676568771995385,0.71338606911949],"aabb_xy":[[0.006160291040094967,-1.2721176193932555],[0.06281971093717542,-1.2631961350058214]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_30","position":[-0.5257227471533127,-2.2164458172036503,0.71338606911949],"aabb_xy":[[-0.615409823461428,-2.306445817458101],[-0.4360356708451971,-2.1264458169491998]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[0.19640138502877758,1.2797059104331452,0.71338606911949],"aabb_xy":[[0.13240138476830676,1.234697111080217],[0.2604013852892484,1.324714709786073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973306718549673,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4274.png","name":"4274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2407.png","name":"2407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/387.png","name":"387"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.6189227170636,"rotation_z_degrees":306.84244550785695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014616382751124878,-0.0032827864108406005,-0.00032115197956164576]},{"name":"camera_2","offset_m":[0.018919307286251772,0.015058213596199212,0.019311190226798457]},{"name":"camera_3","offset_m":[0.0021074444202637994,-0.018883148186317724,-0.014758644279180704]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006365462200505329,0.000812147484553404,0.0013844551736633213],"end_effector_yaw_offset_degrees":-0.454574863585125},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001868549866939614,-0.0016029585279570503,-0.0018914119433200841],"end_effector_yaw_offset_degrees":0.7836705780362845},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00039772994892884727,0.0014143069160430103,0.0016088944701791448],"end_effector_yaw_offset_degrees":-0.950598764076158}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014736597388567245,0.00018953460585845357],"position_m":[0.2787736597388567,-0.06581046539414155,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001121211927336824,0.004970208044390553],"position_m":[0.2543212119273368,0.22367020804439056,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0027789043749293996,-0.0025763108774579436],"position_m":[0.3463789043749294,0.04522368912254206,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003832982851619101,0.0006499005230895007],"position_m":[0.12453298285161911,0.4000499005230895,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035277193466413557,0.003099469343606596],"position_m":[0.22122771934664137,-0.4359005306563934,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a597bb9c3f69c4d1752628b4ac8a083d5721183501045932df01148baa453c62","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3538/tex_ceiling_textures_387/tex_floor_textures_3827/tex_table_textures_4274/tex_wall_textures_2407","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4467792130839745097,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4467792130839745097,"visual_seed":4467792130839745097,"scene_id":"lab_003","finished_at":"2026-09-03T19:35:05"} +{"episode_id":"ep_000042","started_at":"2026-09-03T19:35:10","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.2658295854171743,1.24375019395915,0.71338606911949],"aabb_xy":[[-0.3298295840037467,1.1967432305596413],[-0.20182958683060176,1.2907571573586587]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.23002352988918212,-1.0572237070553394,0.71338606911949],"aabb_xy":[[-0.26117044873276524,-1.1272237057421466],[-0.198876611045599,-0.9872237083685322]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.4250289146268635,-1.1974233556835525,0.71338606911949],"aabb_xy":[[-0.4311235425149818,-1.2059927502352215],[-0.41893428673874517,-1.188853961131884]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.5440300017396764,0.5982316581603739,0.71338606911949],"aabb_xy":[[0.4940300004558364,0.5482528037697517],[0.5940300030235163,0.6482105125509959]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.05940725056660934,1.2374449489013863,0.71338606911949],"aabb_xy":[[-0.11940725116262552,1.182632476356163],[0.0005927500294068411,1.29225742144661]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.3689019821426271,1.0603549674290007,0.71338606911949],"aabb_xy":[[-0.379742460369142,1.0431686861383518],[-0.3580615039161122,1.0775412487196492]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.23977640667954925,-1.4230986771305962,0.71338606911949],"aabb_xy":[[0.20980884976972358,-1.453098677428482],[0.2697439635893749,-1.3930986768327105]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.08516843651506356,0.6919096529746835,0.71338606911949],"aabb_xy":[[0.03519514251180311,0.6419096524201361],[0.135141730518324,0.7419096535292308]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.46114857562292105,-0.21174200546174315,0.71338606911949],"aabb_xy":[[-0.4984798521481637,-0.24639506025659547],[-0.4238172990976784,-0.17708895066689084]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[0.0338009171272039,-1.7809432617144987,0.71338606911949],"aabb_xy":[[0.028901624820640397,-1.8086201810170672],[0.03870020943376739,-1.7532663424119297]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.38935999867370874,-0.9326650952263602,0.71338606911949],"aabb_xy":[[-0.4072291064281643,-0.9464980032035711],[-0.3714908909192533,-0.9188321872491493]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.5953203297103515,1.2778343766076978,0.71338606911949],"aabb_xy":[[0.5912421718033017,1.2737533963594345],[0.5993984876174011,1.2819153568559611]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.3005297834825288,-1.7428444854751053,0.71338606911949],"aabb_xy":[[0.23652978180453138,-1.7913618769544193],[0.3645297851605261,-1.6943270939957908]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.6349010113126439,-1.8129636490281638,0.71338606911949],"aabb_xy":[[0.599901011336148,-1.8224282650757804],[0.6699010112891397,-1.8034990329805471]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.48279279429428645,-2.149681535217034,0.71338606911949],"aabb_xy":[[0.4452927958708861,-2.1628457491848643],[0.5202927927176868,-2.136517321249203]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.3241961066383632,-1.2921050999285373,0.71338606911949],"aabb_xy":[[-0.3418289422318907,-1.30972804594416],[-0.30656327104483555,-1.274482153912914]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.12089489813297394,-2.268335168566619,0.71338606911949],"aabb_xy":[[0.08386078870491423,-2.3027123759003283],[0.15792900756103365,-2.2339579612329095]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.202581285176765,0.836866948909361,0.71338606911949],"aabb_xy":[[0.1773604483169253,0.8116431980564741],[0.22780212203660463,0.8620906997622476]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.010175040082411435,-2.410276914177227,0.71338606911949],"aabb_xy":[[-0.05965546129637023,-2.4742769120900787],[0.03930538113154736,-2.346276916264375]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.44162099707168134,-1.0802876619829052,0.71338606911949],"aabb_xy":[[0.3716209954694019,-1.0937204551845627],[0.5116209986739608,-1.0668548687812476]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.09115960789166166,-1.1055076202612362,0.71338606911949],"aabb_xy":[[0.05365960759948686,-1.1095490956618397],[0.12865960818383648,-1.1014661448606327]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.3372189135257781,1.3872369635404165,0.71338606911949],"aabb_xy":[[-0.4272189121202481,1.3709863772269957],[-0.2472189149313082,1.4034875498538377]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.6327555353528838,-2.525552743860005,0.71338606911949],"aabb_xy":[[0.577762324015747,-2.5805527441987985],[0.6877487466900205,-2.4705527435212113]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.5620275138759077,-0.9314514217103367,0.71338606911949],"aabb_xy":[[-0.5796058160648545,-0.9490259112844415],[-0.5444492116869608,-0.9138769321362317]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.5752434639575055,0.03138037467684507,0.71338606911949],"aabb_xy":[[-0.5831667441962538,0.00888037443884171],[-0.5673201837187571,0.05388037491484843]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.5338851207046895,0.8759609329946061,0.71338606911949],"aabb_xy":[[0.48390217051721024,0.8259609333520455],[0.5838680708921689,0.9259609326371663]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[-0.41631920853531834,-0.5651619504839567,0.71338606911949],"aabb_xy":[[-0.42561282677246887,-0.6026619489720906],[-0.4070255902981677,-0.5276619519958228]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[0.6122173768280497,-2.0724360811363978,0.71338606911949],"aabb_xy":[[0.54221737469662,-2.095198046762093],[0.6822173789594791,-2.0496741155107014]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[0.546331757212775,0.3244847706795855,0.71338606911949],"aabb_xy":[[0.49633175626224213,0.292935623676064],[0.5963317581633077,0.3560339176831068]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[0.2737982059942847,1.5213164082725563,0.71338606911949],"aabb_xy":[[0.2508824931092348,1.4984121111361328],[0.2967139188793346,1.54422070540898]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.24928580347590318,-1.6782019749239927,0.71338606911949],"aabb_xy":[[-0.27175057344730835,-1.7007019758028532],[-0.2268210335044981,-1.6557019740451322]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_31","position":[-0.3410895969361037,-2.1532375066639964,0.71338606911949],"aabb_xy":[[-0.3745687641971447,-2.1867166200351034],[-0.3076104296750628,-2.1197583932928894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969824454914816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/847.png","name":"847"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2939.png","name":"2939"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7397.png","name":"7397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6352.png","name":"6352"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.0464104527792,"rotation_z_degrees":181.92187552238983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0002473613330851582,0.01733059920054888,-0.01832051390330696]},{"name":"camera_2","offset_m":[0.003623289051657968,0.011168639054692085,0.0015280598999284842]},{"name":"camera_3","offset_m":[-0.011531039526291522,-0.0018826023461812058,-0.018656193008060384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001074447699923734,-0.0007849693411859896,-0.00046128985872822626],"end_effector_yaw_offset_degrees":-0.6991485226301286},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010561487583994854,0.0019338300749402728,-0.001104587378096076],"end_effector_yaw_offset_degrees":0.935987691150648},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001493139329872549,-0.0006058630509146571,-0.0008369919767081976],"end_effector_yaw_offset_degrees":0.8236990890292053}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037583371358476604,0.0041984194162772845],"position_m":[0.2735416628641523,-0.06180158058372272,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029575851770114714,0.004141566383748512],"position_m":[0.25024241482298853,0.22284156638374852,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004624319308918003,-0.0011994294128861048],"position_m":[0.348224319308918,0.0466005705871139,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004023542257743827,0.0021857593260292494],"position_m":[0.12472354225774383,0.40158575932602925,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006360444146885887,-0.0014985078150931363],"position_m":[0.2170639555853114,-0.44049850781509314,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c97796179d1a48a8c5a32484a7e49b22404d07b0c6861793d7b72aa29b674c71","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4530/tex_ceiling_textures_6352/tex_floor_textures_7397/tex_table_textures_847/tex_wall_textures_2939","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":717787680578417142,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":717787680578417142,"visual_seed":717787680578417142,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:55"} +{"episode_id":"ep_000043","started_at":"2026-09-03T19:37:58","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.17518608442618733,-1.350032148703113,0.71338606911949],"aabb_xy":[[-0.25518608301350676,-1.429347750641274],[-0.09518608583886791,-1.2707165467649522]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.3136894739357965,0.3701612959499898,0.71338606911949],"aabb_xy":[[-0.34417372406282665,0.3201612961684939],[-0.28320522380876634,0.4201612957314858]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.49171051934537213,-1.9241387491431479,0.71338606911949],"aabb_xy":[[0.44172628363719485,-1.9741387479566435],[0.5416947550535494,-1.8741387503296523]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[0.4279882031689053,1.0596068767501339,0.71338606911949],"aabb_xy":[[0.39298820489878533,1.0525327490551455],[0.46298820143902514,1.0666810044451218]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.10611579313814823,0.7123583451161619,0.71338606911949],"aabb_xy":[[0.06861579278992046,0.7005669495350784],[0.143615793486376,0.7241497406972455]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.01478838153515949,-1.2135226762606828,0.71338606911949],"aabb_xy":[[-0.03978838108689797,-1.2236651601258177],[0.010211618016578994,-1.2033801923955483]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.09992855983237237,-2.010927219788435,0.71338606911949],"aabb_xy":[[-0.11509143280930947,-2.0260926770835543],[-0.0847656868554353,-1.9957617624933168]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.4057048578090843,0.6477989644943896,0.71338606911949],"aabb_xy":[[0.3944598022384664,0.6365571667702943],[0.41694991337970205,0.6590407622184848]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.22313580616395556,-1.9861437066035603,0.71338606911949],"aabb_xy":[[-0.2606358064561304,-1.9901851820041638],[-0.18563580587178072,-1.9821022312029568]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.28881246920466785,-0.7616011469511905,0.71338606911949],"aabb_xy":[[0.28277545620400313,-0.7676278480201388],[0.2948494822053326,-0.7555744458822424]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.15193012887423918,0.7110940561019983,0.71338606911949],"aabb_xy":[[-0.18622703989197978,0.6767971698920568],[-0.11763321785649852,0.7453909423119395]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5575437929972296,-1.1512128821497716,0.71338606911949],"aabb_xy":[[0.507548960069288,-1.2012128810450151],[0.6075386259251712,-1.101212883254528]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.635423932752828,-0.44616667894025097,0.71338606911949],"aabb_xy":[[-0.6724580421808878,-0.4805438862739604],[-0.5983898233247683,-0.41178947160654145]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.2102843208231906,0.07009522305942317,0.71338606911949],"aabb_xy":[[-0.21832065552447544,0.06205710375500639],[-0.20224798612190575,0.07813334236383995]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.5120249796630918,0.016126843687699566,0.71338606911949],"aabb_xy":[[0.4943493490744934,-0.00155337259170318],[0.52970061025169,0.033807059967102315]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.21082862055469975,-1.6285302491614781,0.71338606911949],"aabb_xy":[[0.13082862315110627,-1.708522820359661],[0.29082861795829307,-1.5485376779632953]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.19086225496064368,1.5727508002956054,0.71338606911949],"aabb_xy":[[-0.20865576189556012,1.554951054699808],[-0.17306874802572725,1.5905505458914033]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.6392258421744077,-2.3798156108559465,0.71338606911949],"aabb_xy":[[-0.6804746532043223,-2.4348156103681635],[-0.5979770311444929,-2.3248156113437286]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.08814309421315136,0.3974257231452829,0.71338606911949],"aabb_xy":[[-0.10803413409349163,0.3847699118605861],[-0.06825205433281113,0.4100815344299798]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.5047349713206707,0.26823505840177875,0.71338606911949],"aabb_xy":[[-0.5687349715811415,0.2232262590488507],[-0.44073497106019993,0.3132438577547067]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.6253604084778999,-0.7869781621893979,0.71338606911949],"aabb_xy":[[0.5353604061438808,-0.8644605167745106],[0.7153604108119189,-0.7094958076042853]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.4766216826874534,-1.539152730966531,0.71338606911949],"aabb_xy":[[-0.485915300924604,-1.5766527294546646],[-0.46732806445030284,-1.5016527324783968]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.34582980098176563,0.13606111275214428,0.71338606911949],"aabb_xy":[[-0.39100111882993466,0.07206111560760588],[-0.30065848313359667,0.20006110989668274]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.6310016753253517,-0.6283264480940047,0.71338606911949],"aabb_xy":[[-0.6685016752691181,-0.6366195381288413],[-0.5935016753815853,-0.6200333580591681]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[0.4767254524377851,1.4922671655202877,0.71338606911949],"aabb_xy":[[0.3967254513646648,1.4824891191829035],[0.5567254535109054,1.5020452118576724]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.41502419325701934,-0.13344515288055092,0.71338606911949],"aabb_xy":[[-0.4203617689230239,-0.1584451538096907],[-0.40968661759101477,-0.10844515195141113]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.24937102553706003,-1.5154072955675884,0.71338606911949],"aabb_xy":[[-0.2828112007330796,-1.5488509213985184],[-0.2159308503410404,-1.4819636697366583]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.5767058693636159,-0.8933421189823749,0.71338606911949],"aabb_xy":[[-0.6407058714133479,-0.9334366020716829],[-0.5127058673138839,-0.853247635893067]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_28","position":[0.16356016399989204,-1.4014732491971984,0.71338606911949],"aabb_xy":[[0.14845786253887389,-1.4165747708282599],[0.17866246546091008,-1.3863717275661365]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[0.460402599738706,0.46484177641229296,0.71338606911949],"aabb_xy":[[0.3704026003203352,0.43146627956810324],[0.5504025991570769,0.4982172732564827]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[-0.4927047890305082,-1.8968492627610316,0.71338606911949],"aabb_xy":[[-0.5478299946600989,-1.9568492642023185],[-0.43757958340091735,-1.8368492613197442]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_31","position":[-0.20016190645495752,-1.8081791008976182,0.71338606911949],"aabb_xy":[[-0.2651619046108766,-1.8344753454475304],[-0.13516190829903846,-1.781882856347706]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_32","position":[0.10625754214617666,1.6348570930438702,0.71338606911949],"aabb_xy":[[0.08934680970983486,1.6213848874512555],[0.12316827458251842,1.6483292986364848]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[0.4740124089908362,-1.6962617543394491,0.71338606911949],"aabb_xy":[[0.46596904906488107,-1.7812617554348154],[0.4820557689167914,-1.6112617532440825]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_34","position":[0.3846700404770107,1.2016078642810832,0.71338606911949],"aabb_xy":[[0.3296700422752658,1.1610858976546456],[0.4396700386787555,1.2421298309075208]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980191634749189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5180.png","name":"5180"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5180.png","name":"5180"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5545.png","name":"5545"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2716.png","name":"2716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/503.png","name":"503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2232.png","name":"2232"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":807.5840216482682,"rotation_z_degrees":310.2833330784268,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010198555462522255,0.002665060358903331,0.0026647151080901876]},{"name":"camera_2","offset_m":[-0.0069500769360346,-0.005694849814914527,-0.01614446694667874]},{"name":"camera_3","offset_m":[-0.019916273279346485,-0.019637926351241,0.008715065133677521]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019375074617790887,0.0007404192004882813,-0.0005245709845436832],"end_effector_yaw_offset_degrees":-0.9068211291892765},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010113935982422597,-0.0012510665419154087,-0.001157869070311885],"end_effector_yaw_offset_degrees":0.26226678510009327},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010073611988348215,0.0011832246142944457,0.0015874459815029968],"end_effector_yaw_offset_degrees":0.14032623955165313}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010453102577062945,-0.0007541694634434241],"position_m":[0.2762546897422937,-0.06675416946344342,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000734271547908334,0.003930949294940087],"position_m":[0.2539342715479083,0.2226309492949401,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0027031005986640757,0.0017217532878487348],"position_m":[0.3463031005986641,0.04952175328784874,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015093667608493287,-0.004068745793852144],"position_m":[0.12220936676084933,0.39533125420614784,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000254427668504433,-0.0026704094636701404],"position_m":[0.21744557233149558,-0.44167040946367014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01f5fa5d714276f62b5641d7ab7c569cc9fa2b712fce1329149634a265bb8487","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5180/tex_ceiling_textures_2232/tex_floor_textures_503/tex_table_textures_5545/tex_wall_textures_2716","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8383412330848077416,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8383412330848077416,"visual_seed":8383412330848077416,"scene_id":"lab_003","finished_at":"2026-09-03T19:40:51"} +{"episode_id":"ep_000044","started_at":"2026-09-03T19:40:54","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.560270012811771,-1.7258461074801046,0.71338606911949],"aabb_xy":[[0.5175033059323508,-1.789846110901907],[0.6030367196911912,-1.6618461040583021]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.6132290488050662,-2.257709515475498,0.71338606911949],"aabb_xy":[[0.5907299130788393,-2.2802095162537603],[0.6357281845312932,-2.235209514697235]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.15843454492801223,-2.4116636227550012,0.71338606911949],"aabb_xy":[[0.11130516592617654,-2.4756636237994023],[0.20556392392984787,-2.3476636217105984]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.4961797805617274,-1.934430539357046,0.71338606911949],"aabb_xy":[[0.4461955448535502,-1.9844305381705414],[0.5461640162699046,-1.8844305405435502]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.5490223902435492,-2.4134663711484436,0.71338606911949],"aabb_xy":[[-0.566522389521636,-2.430804471214789],[-0.5315223909654623,-2.3961282710820972]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.3253613658364558,-1.9044893761519588,0.71338606911949],"aabb_xy":[[0.28019004798828684,-1.9684893732964974],[0.3705326836846248,-1.8404893790074206]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.5850695175593275,0.9897585940704028,0.71338606911949],"aabb_xy":[[0.5691850242940022,0.9754056537715787],[0.6009540108246525,1.0041115343692268]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.2532133698260387,1.106304567998834,0.71338606911949],"aabb_xy":[[0.21977319463001901,1.0728609421679034],[0.2866535450220582,1.1397481938297636]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.5196270063190283,-0.3763143526801245,0.71338606911949],"aabb_xy":[[0.5115906716177433,-0.38435247198454126],[0.527663341020313,-0.3682762333757077]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[0.36371291838078923,-1.4478911015284692,0.71338606911949],"aabb_xy":[[0.34182317079184843,-1.5378910988177183],[0.38560266596973003,-1.35789110423922]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.6540335187095261,1.3611003864130016,0.71338606911949],"aabb_xy":[[0.6040561018442724,1.3111003849237528],[0.7040109355747796,1.41110038790225]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.5643804806472787,-0.7576550380474918,0.71338606911949],"aabb_xy":[[-0.6143804815978116,-0.7892041850510131],[-0.5143804796967459,-0.7261058910439703]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.33363068779471905,0.7243077285490105,0.71338606911949],"aabb_xy":[[0.27363068719870287,0.669495256003787],[0.39363068839073523,0.779120201094234]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.41662189021595,1.0886087943107063,0.71338606911949],"aabb_xy":[[0.40732827197879934,1.0511087958225724],[0.4259155084531005,1.1261087927988402]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[-0.517685922603029,-1.0387013470639053,0.71338606911949],"aabb_xy":[[-0.5637710138577605,-1.1027013443164604],[-0.4716008313482976,-0.9747013498113503]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.31498247972566906,1.6225727021399323,0.71338606911949],"aabb_xy":[[0.26498247936510294,1.5725927149303291],[0.3649824800862351,1.672552689349535]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.6197991965373092,0.2897438022142116,0.71338606911949],"aabb_xy":[[-0.6583448893625102,0.2511980311580229],[-0.5812535037121082,0.32828957327040026]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.6114733126026728,0.09489127202454206,0.71338606911949],"aabb_xy":[[-0.656751927483822,0.03089127267635837],[-0.5661946977215235,0.15889127137272574]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.2793650243043452,1.4472436677289138,0.71338606911949],"aabb_xy":[[0.2243913022680123,1.3922436681646806],[0.33433874634067806,1.502243667293147]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.5656610186546588,-1.535938578565297,0.71338606911949],"aabb_xy":[[-0.5832393208436056,-1.5535130681394018],[-0.5480827164657119,-1.5183640889911922]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[-0.2416702612363113,-2.2406331598741662,0.71338606911949],"aabb_xy":[[-0.26795908555675185,-2.2669045935288175],[-0.21538143691587058,-2.214361726219515]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.027135886527728026,1.765351636301181,0.71338606911949],"aabb_xy":[[-0.10713588368730331,1.7538040353433635],[0.05286411063184726,1.7768992372589976]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.04294753266065521,1.4530511163022442,0.71338606911949],"aabb_xy":[[-0.05430926731394136,1.441682649895956],[-0.03158579800736904,1.4644195827085322]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[-0.562814835178905,0.6875746864355201,0.71338606911949],"aabb_xy":[[-0.5978148334896004,0.6798596715119744],[-0.5278148368682095,0.6952897013590656]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.7157279292625303,-0.07457428989924786,0.71338606911949],"aabb_xy":[[0.7076845693365752,-0.1595742909946143],[0.7237712891884855,0.01042571119611857]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[0.3051761160420725,1.2930399494457796,0.71338606911949],"aabb_xy":[[0.2411761156645389,1.2432946825949673],[0.3691761164196061,1.3427852162965919]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.4811370950419005,-2.362056395202868,0.71338606911949],"aabb_xy":[[0.40113709457168456,-2.370367102817217],[0.5611370955121164,-2.3537456875885203]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.24514181537584367,-1.4534220788055814,0.71338606911949],"aabb_xy":[[-0.31514181801243,-1.4735269438014467],[-0.1751418127392573,-1.4333172138097157]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.05561143239970123,0.5702876727193753,0.71338606911949],"aabb_xy":[[-0.09311143289705948,0.5663189891712569],[-0.018111431902342982,0.5742563562674937]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.509167964374966,0.45201381638705307,0.71338606911949],"aabb_xy":[[-0.5290590042553064,0.4393580051023563],[-0.4892769244946259,0.46466962767174996]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[-0.24446332930312925,-0.963063486790537,0.71338606911949],"aabb_xy":[[-0.27946332927962514,-0.9725281028381536],[-0.20946332932663347,-0.9535988707429204]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[-0.5331542144238051,0.9723986349730485,0.71338606911949],"aabb_xy":[[-0.5676165618219466,0.9379047525752255],[-0.4986918670256631,1.0068925173708707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700343657486799,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4706.png","name":"4706"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4706.png","name":"4706"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3841.png","name":"3841"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4045.png","name":"4045"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2500.png","name":"2500"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":551.6125526359078,"rotation_z_degrees":169.57787588977146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00593033796582278,-0.007879103509286249,0.014767612403907806]},{"name":"camera_2","offset_m":[0.014194078129473969,0.004986604609498801,0.012040393699864285]},{"name":"camera_3","offset_m":[0.009991348902393806,-0.013985761771275085,0.0099261565379638]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001947861510191909,0.001615919941007534,0.0016177467657610802],"end_effector_yaw_offset_degrees":-0.813387048621711},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007573946401094713,0.00011520439987695646,0.0002638723091174049],"end_effector_yaw_offset_degrees":-0.7092083162655147},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012323588023949914,0.0009161313428193347,0.0014153578366419184],"end_effector_yaw_offset_degrees":-0.3210282425734483}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003990421152302201,-0.0002744123978296433],"position_m":[0.2733095788476978,-0.06627441239782965,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002162828419186749,-0.0038457909739759845],"position_m":[0.2553628284191867,0.21485420902602403,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003832758626202074,-0.004316638800797991],"position_m":[0.3474327586262021,0.043483361199202014,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00494957820401242,0.0038800405299427116],"position_m":[0.11575042179598759,0.4032800405299427,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011991619219191034,-0.004564803096291482],"position_m":[0.2188991619219191,-0.4435648030962915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13d7d24017aa07b9ef3f9a12ddd0aa77cf06b13cd3213aa21868786c1b0533ac","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4706/tex_ceiling_textures_2500/tex_floor_textures_4045/tex_table_textures_3841/tex_wall_textures_2409","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3635712500188543931,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3635712500188543931,"visual_seed":3635712500188543931,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:38"} +{"episode_id":"ep_000045","started_at":"2026-09-03T19:43:42","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.046045015479019624,0.916642433397707,0.71338606911949],"aabb_xy":[[-0.0034354057349391676,0.8526424354848553],[0.09552543669297842,0.980642431310559]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.4511758181939638,-1.1824598879890817,0.71338606911949],"aabb_xy":[[0.37117581953707784,-1.1969647469133444],[0.5311758168508498,-1.167955029064819]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.49870744643722476,0.8695681101467843,0.71338606911949],"aabb_xy":[[0.4622116258099459,0.8330841677200267],[0.5352032670645034,0.9060520525735418]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.5158086015984218,1.1361660769889999,0.71338606911949],"aabb_xy":[[0.49389991945907075,1.114265410168909],[0.5377172837377728,1.1580667438090904]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[0.4907079392307552,0.4494051852520018,0.71338606911949],"aabb_xy":[[0.4257079391964525,0.4027045085716745],[0.5557079392650579,0.4961058619323291]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.6156646291513521,1.7513994032222358,0.71338606911949],"aabb_xy":[[-0.6706578404884889,1.6963994028834424],[-0.5606714178142154,1.8063994035610296]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.016117257893900727,-1.9475084120586164,0.71338606911949],"aabb_xy":[[-0.04388274195266606,-2.004327034251655],[0.07611725774046751,-1.8906897898655777]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.5311331216777148,-0.6196914147799988,0.71338606911949],"aabb_xy":[[-0.5404267399148653,-0.6571914132681327],[-0.5218395034405642,-0.5821914162918649]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.20086234773363976,0.15052653771993807,0.71338606911949],"aabb_xy":[[-0.2134650468707162,0.13793114149507257],[-0.1882596485965633,0.16312193394480357]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.5359120184821471,-2.439046886654103,0.71338606911949],"aabb_xy":[[0.5055139073830033,-2.469453788655772],[0.5663101295812905,-2.408639984652433]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.013247826095182047,1.1382657913232834,0.71338606911949],"aabb_xy":[[-0.03074782634023143,1.1207660034837166],[0.004252174149867337,1.1557655791628503]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.1695025975719595,1.4531951070090616,0.71338606911949],"aabb_xy":[[0.15825754200134168,1.4419533092849663],[0.18074765314257735,1.464436904733157]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.6576940534680626,-1.2877373049973304,0.71338606911949],"aabb_xy":[[0.6242148862070217,-1.3212164183684374],[0.6911732207291036,-1.2542581916262234]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.3853651032012493,1.3475734216380877,0.71338606911949],"aabb_xy":[[0.2953651067003775,1.3016617792196292],[0.47536509970212104,1.3934850640565457]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.49510219042622683,-2.3393504645408147,0.71338606911949],"aabb_xy":[[-0.5591021875383325,-2.3883828343352254],[-0.43110219331412114,-2.290318094746404]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.55258107751828,0.26388403781238523,0.71338606911949],"aabb_xy":[[0.5343752538570323,0.2528586372303936],[0.5707869011795277,0.27490943839437687]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.3139028897521372,0.7990879788426914,0.71338606911949],"aabb_xy":[[0.27958661257751927,0.7490879788695137],[0.34821916692675514,0.8490879788158692]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[0.21204502469022657,0.7263376744041179,0.71338606911949],"aabb_xy":[[0.20017294167872543,0.6413376747104675],[0.22391710770172765,0.8113376740977682]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.1367673888009694,-1.1661025518506778,0.71338606911949],"aabb_xy":[[-0.1867673897515022,-1.1976516988541992],[-0.08676738785043658,-1.1345534048471564]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.35774025578501045,-1.354736654891268,0.71338606911949],"aabb_xy":[[-0.3952402561332382,-1.3665280504723516],[-0.3202402554367827,-1.3429452593101845]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.05752562960071872,-1.2955221351986395,0.71338606911949],"aabb_xy":[[0.05102399309271412,-1.3052899572249494],[0.06402726610872335,-1.28575431317233]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.04989379320802689,1.2854124821755009,0.71338606911949],"aabb_xy":[[0.03674254723673753,1.2604124824188143],[0.06304503917931625,1.3104124819321874]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.435095896144033,0.90757613736029,0.71338606911949],"aabb_xy":[[-0.45801160902908294,0.8846718402238665],[-0.41218018325898315,0.9304804344967135]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.05442513703114116,1.4432611223852203,0.71338606911949],"aabb_xy":[[-0.10441824914033307,1.393261121711025],[-0.0044320249219492675,1.4932611230594162]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.13212654907633659,-1.1110908388076286,0.71338606911949],"aabb_xy":[[0.08213153811688458,-1.1610908378432205],[0.18212156003578864,-1.061090839772037]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[-0.17467882177215255,-0.4520513273729829,0.71338606911949],"aabb_xy":[[-0.1807158347728173,-0.45807802844193113],[-0.16864180877148785,-0.4460246263040347]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.31080387856609365,-0.8800748948188979,0.71338606911949],"aabb_xy":[[-0.37480388185580177,-0.9234098138228155],[-0.24680387527638556,-0.8367399758149803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6917493518327062,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/980.png","name":"980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6910.png","name":"6910"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9220.png","name":"9220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8678.png","name":"8678"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":648.6546728834536,"rotation_z_degrees":111.18695295385845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0023992319481416537,0.0008435519629697782,-0.01801470679845388]},{"name":"camera_2","offset_m":[-0.018825058132420986,-0.00787881410311202,0.012510778562835497]},{"name":"camera_3","offset_m":[0.00785692297954817,0.010878225940434982,-0.004066396026018545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015317070094529902,0.0010113996470174627,0.0005469803431464495],"end_effector_yaw_offset_degrees":0.03979393736888848},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00162605433701816,0.001180657950327286,-0.001326469757652697],"end_effector_yaw_offset_degrees":-0.564809657902994},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005858558950208982,-0.0003121600595042309,-0.0015532157898156972],"end_effector_yaw_offset_degrees":0.47512021073464794}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010819077103600165,0.0018417314801978946],"position_m":[0.27838190771036003,-0.06415826851980211,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00291134370525165,0.0021243222280547536],"position_m":[0.25028865629474834,0.22082432222805476,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008617331928016296,-0.0011152540499709354],"position_m":[0.3427382668071984,0.04668474595002907,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009350238955045656,0.0028834007852841367],"position_m":[0.12163502389550457,0.40228340078528413,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003217849150973998,0.0036220051966951534],"position_m":[0.214482150849026,-0.43537799480330486,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2bf3c52d6acf31d69d472e8e83ea87a1133bbb0ef549c68a00770e0bec9d3a54","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_980/tex_ceiling_textures_8678/tex_floor_textures_9268/tex_table_textures_6910/tex_wall_textures_9220","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3851729649269214330,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3851729649269214330,"visual_seed":3851729649269214330,"scene_id":"lab_003","finished_at":"2026-09-03T19:46:18"} +{"episode_id":"ep_000046","started_at":"2026-09-03T19:46:21","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.15544728152878107,-2.416804691312276,0.71338606911949],"aabb_xy":[[0.07544728412518763,-2.496797262510458],[0.23544727893237447,-2.3368121201140926]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.4886880367345221,-1.4406320934064485,0.71338606911949],"aabb_xy":[[0.46368803718278356,-1.4507745772715832],[0.5136880362862606,-1.4304896095413138]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.16426178912756506,-1.3908927040528818,0.71338606911949],"aabb_xy":[[-0.20176178770318584,-1.4036289997164397],[-0.12676179055194423,-1.3781564083893239]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.3989452243520243,-0.46437801369472353,0.71338606911949],"aabb_xy":[[-0.45894522485987715,-0.5212247473806447],[-0.3389452238441713,-0.4075312800088022]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.19773248577200264,-1.54332376616624,0.71338606911949],"aabb_xy":[[-0.21964116791135366,-1.5652244329863305],[-0.17582380363265157,-1.521423099346149]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.6254317428375238,-1.2670000814762683,0.71338606911949],"aabb_xy":[[0.6125598393365835,-1.3470000818901042],[0.6383036463384638,-1.187000081062432]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.1735421119950401,-1.6936619691454862,0.71338606911949],"aabb_xy":[[0.16160937763321206,-1.7060441219533455],[0.1854748463568682,-1.6812798163376268]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.45515402349608114,0.5967529045582034,0.71338606911949],"aabb_xy":[[0.4479102574498358,0.516752906354601],[0.46239778954232647,0.6767529027618058]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.19527430356543635,-0.9056325912580416,0.71338606911949],"aabb_xy":[[-0.230274302695392,-0.9113778123337056],[-0.16027430443548069,-0.8998873701823774]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.6242841233428194,-0.016248998766021927,0.71338606911949],"aabb_xy":[[-0.6542516802526449,-0.04624899906390767],[-0.5943165664329936,0.013751001531863816]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.02063678333097252,-1.097001087903301,0.71338606911949],"aabb_xy":[[-0.038136782609059394,-1.114339187969647],[-0.0031367840528856404,-1.079662987836955]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.0843089908660748,0.4033439661273266,0.71338606911949],"aabb_xy":[[-0.09555404643669262,0.3921021684032313],[-0.07306393529545695,0.4145857638514219]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.28128705355353817,-0.21447079204507435,0.71338606911949],"aabb_xy":[[-0.34528705677217597,-0.2611939039440827],[-0.21728705033490026,-0.167747680146066]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.04230233076410317,0.8407004164500234,0.71338606911949],"aabb_xy":[[-0.01269766743764166,0.8001784498235858],[0.097302328965848,0.881222383076461]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.06113519598832329,-1.2556735337021199,0.71338606911949],"aabb_xy":[[-0.06457587222838046,-1.2595349666764843],[-0.05769451974826612,-1.2518121007277554]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.3019861028425156,0.40675957881742697,0.71338606911949],"aabb_xy":[[-0.3111459817863922,0.4002283607738899],[-0.292826223898639,0.4132907968609639]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.1935839846707048,-2.0214699327514385,0.71338606911949],"aabb_xy":[[0.1385917340351939,-2.0764699344947517],[0.2485762353062158,-1.9664699310081262]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.16103776315774654,-1.475439768624901,0.71338606911949],"aabb_xy":[[0.12424313003284027,-1.512345643721483],[0.1978323962826528,-1.4385338935283185]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[-0.41203374088569783,-0.8640553824074355,0.71338606911949],"aabb_xy":[[-0.4180002798264336,-0.8700165270667995],[-0.40606720194496204,-0.8580942377480715]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.5695176600619835,0.45267535266547654,0.71338606911949],"aabb_xy":[[-0.5775111498572655,0.444677220725001],[-0.5615241702667014,0.4606734846059523]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.5922790028391558,0.6203201634095716,0.71338606911949],"aabb_xy":[[-0.6722790050019182,0.540364979783428],[-0.5122790006763932,0.7002753470357153]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.27199951592837324,1.4001597677539785,0.71338606911949],"aabb_xy":[[-0.3359995182711748,1.355218916509846],[-0.2079995135855717,1.445100618998111]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[0.598620226412617,1.5981871459807144,0.71338606911949],"aabb_xy":[[0.5346202291102705,1.5538207190128577],[0.6626202237149633,1.6425535729485712]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.578521467861469,-2.3110127192105345,0.71338606911949],"aabb_xy":[[0.5235214682397231,-2.3659964119980073],[0.6335214674832148,-2.256029026423062]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.45417616003047545,1.207000124873919,0.71338606911949],"aabb_xy":[[0.374176161443156,1.127684522935758],[0.5341761586177949,1.2863157268120797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695502894538542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9756.png","name":"9756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9756.png","name":"9756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6962.png","name":"6962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/766.png","name":"766"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.8945463805788,"rotation_z_degrees":132.57756973939053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008855491859983793,0.013141905893695464,-0.013468231951246818]},{"name":"camera_2","offset_m":[0.012707572699431739,-0.009042537456529942,0.013376565135189988]},{"name":"camera_3","offset_m":[0.0011924841965565494,0.0047320088762432405,0.017040677580384068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017944480746174569,0.00189598293455274,-0.0019175648815491781],"end_effector_yaw_offset_degrees":-0.4454412007790194},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006842679595572929,0.00097021506082191,-0.0014160769770001041],"end_effector_yaw_offset_degrees":-0.49295171154875317},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[2.0064613467871313e-05,-0.0014255196702275671,-0.001361045911971393],"end_effector_yaw_offset_degrees":-0.6956864860335847}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004106540841899683,0.004406758314379241],"position_m":[0.2814065408418997,-0.06159324168562076,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030349332250241097,0.0030646512869364354],"position_m":[0.2562349332250241,0.22176465128693645,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004479828359298678,0.0038847415770337677],"position_m":[0.3480798283592987,0.05168474157703377,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003750935356133596,-0.0018205788819554004],"position_m":[0.1244509353561336,0.39757942111804456,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013697969569610932,0.003330503033173432],"position_m":[0.2190697969569611,-0.43566949696682655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3cdfb787a34d5865a9a55d6cbd1d8bd3eb17101bb931417868789d7ffc327353","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9756/tex_ceiling_textures_766/tex_floor_textures_5557/tex_table_textures_6962/tex_wall_textures_7537","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1098664090632376815,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1098664090632376815,"visual_seed":1098664090632376815,"scene_id":"lab_003","finished_at":"2026-09-03T19:49:07"} +{"episode_id":"ep_000047","started_at":"2026-09-03T19:49:11","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.10535178831817527,1.3760925850447818,0.71338606911949],"aabb_xy":[[-0.140980944218135,1.3404599182879289],[-0.06972263241821552,1.4117252518016348]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[0.07311974653845987,-0.6638222475728024,0.71338606911949],"aabb_xy":[[0.0031197439018735146,-0.6839271125686679],[0.14311974917504622,-0.6437173825769369]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.27208085170755275,1.1246495733202382,0.71338606911949],"aabb_xy":[[-0.32205391724006827,1.0746495735077055],[-0.22210778617503735,1.1746495731327713]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.6628151198719168,0.24146928966591075,0.71338606911949],"aabb_xy":[[0.625315119579742,0.23742781426530718],[0.7003151201640916,0.24551076506651437]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[-0.4274566310602586,0.7372268947489777,0.71338606911949],"aabb_xy":[[-0.4924566320173859,0.6852786828152722],[-0.36245663010313145,0.7891751066826833]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.006732059389096268,0.9967092310113443,0.71338606911949],"aabb_xy":[[-0.07326793762515171,0.976574679337933],[0.08673205640334425,1.0168437826847554]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.2596086620854292,0.9986364295201366,0.71338606911949],"aabb_xy":[[0.22514618407234144,0.9919727523372136],[0.294071140098517,1.0053001067030591]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.2740055130550746,-1.1582918027987552,0.71338606911949],"aabb_xy":[[0.2652034577461019,-1.1661031289536843],[0.2828075683640473,-1.1504804766438261]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.03707315052668403,1.5781371008695992,0.71338606911949],"aabb_xy":[[-0.05618545788466289,1.5590023219923572],[-0.017960843168705165,1.5972718797468413]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.11262404836785478,-1.8712511857612095,0.71338606911949],"aabb_xy":[[0.032624046205092294,-1.9512063693873531],[0.19262405053061726,-1.791296002135066]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.3448213208376143,-2.5207578660604653,0.71338606911949],"aabb_xy":[[-0.3549743363917636,-2.5568274076332047],[-0.33466830528346486,-2.484688324487724]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.5986833386230814,-1.7090999022266922,0.71338606911949],"aabb_xy":[[-0.604649877563817,-1.715061046886056],[-0.5927167996823456,-1.7031387575673278]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.0975083119168042,1.470709739735168,0.71338606911949],"aabb_xy":[[-0.10284082657141719,1.4653854114899327],[-0.09217579726219122,1.4760340679804038]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.5274104756498503,-0.055288378659111626,0.71338606911949],"aabb_xy":[[0.50735206403661,-0.07535346556826916],[0.5474688872630906,-0.03522329174995408]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.1196501779988598,-0.42945693947417096,0.71338606911949],"aabb_xy":[[-0.17965017859487598,-0.4842694120193945],[-0.05965017740284362,-0.37464446692894754]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.35235327081678336,-1.683632375662456,0.71338606911949],"aabb_xy":[[0.3425972813076094,-1.6933949097216905],[0.3621092603259572,-1.6738698416032216]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.582141268939584,-2.4957172576978164,0.71338606911949],"aabb_xy":[[-0.6071412681052171,-2.502669503403173],[-0.5571412697739508,-2.48876501199246]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.6322920787108691,-2.0809437616142907,0.71338606911949],"aabb_xy":[[-0.6775706935920184,-2.1449437609624744],[-0.5870134638297199,-2.016943762266107]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.4795357442378464,-0.3543818063952662,0.71338606911949],"aabb_xy":[[-0.5217201583986771,-0.4183818066724774],[-0.43735133007701565,-0.290381806118055]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.411663545920761,-1.8941995358472572,0.71338606911949],"aabb_xy":[[-0.41968981655138693,-1.9029510308246096],[-0.40363727529013493,-1.8854480408699044]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.5997152942198798,1.5286483677628904,0.71338606911949],"aabb_xy":[[0.5879471074252223,1.4436483678576688],[0.6114834810145373,1.6136483676681121]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.5607654725991492,0.0918160593795192,0.71338606911949],"aabb_xy":[[-0.5982654737839418,0.08739783668345864],[-0.5232654714143562,0.09623428207557973]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.5789200162612764,-0.8001444119946206,0.71338606911949],"aabb_xy":[[-0.601420016773317,-0.8226362703600189],[-0.5564200157492358,-0.7776525536292221]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.23623063311058212,-0.3877041622778927,0.71338606911949],"aabb_xy":[[-0.24664219179106583,-0.3930498956137911],[-0.2258190744300984,-0.3823584289419941]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.45442621427752794,-2.2981945450250976,0.71338606911949],"aabb_xy":[[-0.45988415991454795,-2.3781945483327562],[-0.4489682686405078,-2.218194541717438]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.5529106231017049,0.6401633796902724,0.71338606911949],"aabb_xy":[[0.4977854174721142,0.580163378248985],[0.6080358287312957,0.7001633811315593]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.06183635894773798,-1.2588731805106919,0.71338606911949],"aabb_xy":[[0.04055835080426572,-1.323873182836765],[0.08311436709121023,-1.1938731781846188]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.10425337000424761,0.2381786407641866,0.71338606911949],"aabb_xy":[[-0.1401668744292373,0.20226513254743198],[-0.06833986557925793,0.2740921489809412]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.47970095746663377,-1.722879317605512,0.71338606911949],"aabb_xy":[[0.42470774612949713,-1.7778793179443058],[0.5346941688037706,-1.6678793172667186]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[-0.5239080831623362,0.2911516836623602,0.71338606911949],"aabb_xy":[[-0.6089080818544108,0.25916582026748136],[-0.43890808447026153,0.32313754705723907]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[0.2714868396111967,-1.0868156076268078,0.71338606911949],"aabb_xy":[[0.24902206963979157,-1.1093156085056681],[0.2939516095826018,-1.0643156067479471]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[-0.2740487353580579,-0.1624336736295824,0.71338606911949],"aabb_xy":[[-0.30851108275619965,-0.19692755602740508],[-0.23958638795991608,-0.1279397912317597]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_32","position":[0.5220999602009673,-1.8880394400741423,0.71338606911949],"aabb_xy":[[0.5045999599416308,-1.902130982262915],[0.539599960460304,-1.8739478978853699]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_33","position":[0.3721865536697888,0.7325189793792184,0.71338606911949],"aabb_xy":[[0.3071865525638456,0.7075536063110901],[0.43718655477573215,0.7574843524473467]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_34","position":[-0.6285985932987559,-0.5494374866872489,0.71338606911949],"aabb_xy":[[-0.6510977290249829,-0.571937487465512],[-0.6060994575725289,-0.526937485908986]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929907215398488,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9078.png","name":"9078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2077.png","name":"2077"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2738.png","name":"2738"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":792.4620028142821,"rotation_z_degrees":129.012985685106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003375253375530362,-0.011322259821289583,-0.014639050208856613]},{"name":"camera_2","offset_m":[-0.018784988235343567,0.0024858447929188947,0.01672610504501325]},{"name":"camera_3","offset_m":[0.01037141307845809,0.0023704695895889853,0.009884177672471822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011929767680927197,-0.001717970089074115,-0.0005700120730856883],"end_effector_yaw_offset_degrees":0.8850510234718345},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000807746098147261,0.0014784918572478844,-0.0005511853987565547],"end_effector_yaw_offset_degrees":0.8202590462276445},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018011974686651033,0.0017961122823326402,-0.00047030250137669637],"end_effector_yaw_offset_degrees":0.06892189423511064}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.555272748781557e-05,-0.0007195132866054423],"position_m":[0.2772544472725122,-0.06671951328660544,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0040243099098678055,-0.004250261872631467],"position_m":[0.2572243099098678,0.21444973812736853,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0035982338130444427,-0.0021982270516359517],"position_m":[0.3400017661869556,0.04560177294836405,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014535365193148611,0.0027331869678564203],"position_m":[0.12215353651931486,0.4021331869678564,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002576328283154996,0.00244204507694961],"position_m":[0.21512367171684502,-0.4365579549230504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"65fef7b8f65bac5137204178a6ae949a9c44df0597265c92d0953c327c5f9313","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6937/tex_ceiling_textures_2738/tex_floor_textures_9693/tex_table_textures_9078/tex_wall_textures_2077","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8742835106201163577,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8742835106201163577,"visual_seed":8742835106201163577,"scene_id":"lab_003","finished_at":"2026-09-03T19:51:47"} +{"episode_id":"ep_000048","started_at":"2026-09-03T19:51:49","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.41372009486587297,-2.474015919393339,0.71338606911949],"aabb_xy":[[-0.4245605730923879,-2.491202200683987],[-0.4028796166393581,-2.4568296381026897]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.5793782015895772,1.1763335585578116,0.71338606911949],"aabb_xy":[[-0.6243707883080276,1.1313335592833629],[-0.5343856148711268,1.2213335578322604]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.6115081020051989,0.7950805074737861,0.71338606911949],"aabb_xy":[[0.5615081006443116,0.7451026028983705],[0.661508103366086,0.8450584120492017]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.3511599828877079,-0.5910835018436551,0.71338606911949],"aabb_xy":[[0.32067573276067773,-0.641083501625151],[0.38164423301473804,-0.5410835020621592]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.3455611496592423,1.3104247993057139,0.71338606911949],"aabb_xy":[[-0.35485476789639286,1.2729248008175797],[-0.3362675314220917,1.3479247977938476]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.47128044667616276,-0.9544668902951303,0.71338606911949],"aabb_xy":[[-0.5037421475580901,-0.9845997224100328],[-0.43881874579423524,-0.9243340581802276]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.2455165842533933,-1.66700224806269,0.71338606911949],"aabb_xy":[[0.23304922614365764,-1.6794675726960133],[0.25798394236312894,-1.6545369234293663]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.5324036617059811,0.26141388767392204,0.71338606911949],"aabb_xy":[[0.5206354749113237,0.1764138877687005],[0.5441718485006387,0.34641388757914365]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.41317773639390376,0.7485834781201604,0.71338606911949],"aabb_xy":[[0.39068131496003966,0.7260834783134129],[0.43567415782776786,0.7710834779269078]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.05441974805766259,-2.3949217755370817,0.71338606911949],"aabb_xy":[[-0.005580253585259272,-2.4469219248290255],[0.11441974970058444,-2.342921626245137]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.047280810882462276,-1.511743146374003,0.71338606911949],"aabb_xy":[[-0.06717185076280253,-1.5243989576587],[-0.02738977100212204,-1.4990873350893061]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.1460073518762437,1.6453490344143762,0.71338606911949],"aabb_xy":[[0.1366603442939485,1.6310454121967322],[0.15535435945853895,1.6596526566320202]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.6512851680864551,1.0847165688805842,0.71338606911949],"aabb_xy":[[0.5912851675786022,1.0278698351946627],[0.711285168594308,1.1415633025665053]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[0.01503881772366411,-1.1081662990588106,0.71338606911949],"aabb_xy":[[-0.03995343291184684,-1.1631663008021234],[0.07003106835917507,-1.0531662973154978]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.45838225967881474,-0.270488135329352,0.71338606911949],"aabb_xy":[[0.39438226256670905,-0.3195205051237626],[0.5223822567909204,-0.2214557655349414]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.5182720888573515,-0.7425255421637671,0.71338606911949],"aabb_xy":[[-0.536065595792268,-0.7603252877595646],[-0.5004785819224351,-0.7247257965679693]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.11367103595958084,-0.13180532575904014,0.71338606911949],"aabb_xy":[[-0.13867103551131932,-0.14194780962417486],[-0.08867103640784235,-0.12166284189390542]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.616506860379989,-0.3953621934063887,0.71338606911949],"aabb_xy":[[0.5952288522365167,-0.46036219573246173],[0.6377848685234612,-0.3303621910803156]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.1298797156595528,0.8216190708018956,0.71338606911949],"aabb_xy":[[0.04987971458643248,0.8118410244645111],[0.20987971673267314,0.83139711713928]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.608019990639501,0.2830027894714626,0.71338606911949],"aabb_xy":[[-0.6152637566857462,0.20300279126786025],[-0.6007762245932555,0.363002787675065]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.10404724924801323,-2.3137153464503606,0.71338606911949],"aabb_xy":[[-0.13904725059949496,-2.334075082407181],[-0.0690472478965315,-2.2933556104935393]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[-0.3305211443660081,-1.0227114889398785,0.71338606911949],"aabb_xy":[[-0.385494866402341,-1.077711488504112],[-0.2755474223296752,-0.9677114893756456]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.32327576221289145,0.9571954879655444,0.71338606911949],"aabb_xy":[[0.3013860146239506,0.8671954906762954],[0.3451655098018322,1.0471954852547936]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.6407827974159919,-0.06683351988260133,0.71338606911949],"aabb_xy":[[-0.6907827969923266,-0.11681409883470728],[-0.5907827978396571,-0.016852940930495386]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.24810184628083798,-2.4461204836433916,0.71338606911949],"aabb_xy":[[0.1881018456848218,-2.500932956188615],[0.30810184687685416,-2.391308011098168]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.2941912205363303,1.3338434734252442,0.71338606911949],"aabb_xy":[[0.2566912221129299,1.3206792594574133],[0.3316912189597306,1.3470076873930747]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.5485629216496504,0.8772772626803556,0.71338606911949],"aabb_xy":[[-0.5636652231106684,0.8621757410492937],[-0.5334606201886322,0.8923787843114174]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965157931554277,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2549.png","name":"2549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1312.png","name":"1312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/682.png","name":"682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":517.6330007808454,"rotation_z_degrees":15.53287414878843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014852090740259963,0.009129011194083946,-0.010780424207297822]},{"name":"camera_2","offset_m":[-0.005259322724514726,-0.006574736136808394,0.01685662166510037]},{"name":"camera_3","offset_m":[-0.0011596707815712988,0.003171286346988666,-0.019918673689484932]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005635548831998292,-0.0018179032210009689,-0.0014299422446066505],"end_effector_yaw_offset_degrees":-0.5071262488362396},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016726042055885994,0.0012824912133824347,0.000915440235810294],"end_effector_yaw_offset_degrees":0.19330415660514633},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008064249065042133,0.0007954797083651382,0.0011060352013175893],"end_effector_yaw_offset_degrees":-0.8810603193712914}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002730042211636945,-0.0030071198300248058],"position_m":[0.2800300422116369,-0.0690071198300248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008794624320262153,-0.0005477434892806089],"position_m":[0.25407946243202617,0.2181522565107194,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0047697433792953685,-0.003551092432341282],"position_m":[0.3483697433792954,0.04424890756765872,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032572499637551896,0.0017271499933592047],"position_m":[0.12395724996375519,0.4011271499933592,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003321019376175385,-0.0040370977447605535],"position_m":[0.21437898062382463,-0.4430370977447606,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2db6c14aa379bd7234b9d72fd0d163665f88b6f916e297417860dc16331097a5","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6759/tex_ceiling_textures_8422/tex_floor_textures_682/tex_table_textures_2549/tex_wall_textures_1312","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4096588109944670783,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4096588109944670783,"visual_seed":4096588109944670783,"scene_id":"lab_003","finished_at":"2026-09-03T19:54:30"} +{"episode_id":"ep_000049","started_at":"2026-09-03T19:54:33","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.5737097260762722,-1.405969988834344,0.71338606911949],"aabb_xy":[[0.5512133046424081,-1.4284699886410914],[0.5962061475101363,-1.3834699890275965]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.3804972436018532,-1.3146665185925603,0.71338606911949],"aabb_xy":[[0.34803554271992565,-1.3447993507074627],[0.41295894448378057,-1.2845336864776575]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.04030883003508934,-1.5601236290643983,0.71338606911949],"aabb_xy":[[-0.04438698794213908,-1.5642046093126614],[-0.0362306721280396,-1.5560426488161347]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.6594197877182351,-2.1560651743282726,0.71338606911949],"aabb_xy":[[0.631090077769695,-2.16052591652199],[0.6877494976667754,-2.151604432134556]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.6373220375476747,-1.594344698171569,0.71338606911949],"aabb_xy":[[0.5573220342836616,-1.6079047304804823],[0.7173220408116878,-1.5807846658626556]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.41475316795430733,-2.207315541396193,0.71338606911949],"aabb_xy":[[-0.4276250714552474,-2.2873155418100293],[-0.40188126445336714,-2.127315540982357]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.4318186056688915,-2.228896907489288,0.71338606911949],"aabb_xy":[[0.4143186065345243,-2.2387765345268753],[0.44931860480325864,-2.2190172804516997]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.1522302527054693,-2.476433419504297,0.71338606911949],"aabb_xy":[[-0.15819679164620506,-2.4823945641636613],[-0.1462637137647335,-2.470472274844933]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.47513780665959193,0.5057120486314797,0.71338606911949],"aabb_xy":[[0.45822707422325004,0.4922398430388651],[0.4920485390959336,0.5191842542240941]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.34244173267851385,-2.046346806318562,0.71338606911949],"aabb_xy":[[0.29246866714599845,-2.0963468061310953],[0.3924147982110294,-1.9963468065060295]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.5342339980074555,1.5847195716408664,0.71338606911949],"aabb_xy":[[0.511733998483748,1.5622236241902454],[0.5567339975311628,1.607215519091487]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.03471468687908186,1.2605177637601082,0.71338606911949],"aabb_xy":[[0.01915891746881659,1.2449673305157012],[0.05027045628934713,1.2760681970045156]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.6145856816940484,-0.5556999610916313,0.71338606911949],"aabb_xy":[[-0.6645856826445811,-0.5872491080951526],[-0.5645856807435155,-0.5241508140881098]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.5138587039498872,-1.8762729524052848,0.71338606911949],"aabb_xy":[[-0.5314053988660062,-1.913772953969536],[-0.4963120090337684,-1.8387729508410335]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.29629598301930526,1.0009882578349054,0.71338606911949],"aabb_xy":[[0.21629598254908938,0.9926775502205573],[0.3762959834895213,1.009298965449254]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.5702503460386807,-1.1054531372816994,0.71338606911949],"aabb_xy":[[0.5528196309596741,-1.12272525194555],[0.5876810611176871,-1.0881810226178483]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.3562739234840744,1.526043520856898,0.71338606911949],"aabb_xy":[[0.2946831642600816,1.4620435227478512],[0.41786468270806726,1.590043518965945]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.1323753160148623,-2.237319542893419,0.71338606911949],"aabb_xy":[[-0.1556571582129936,-2.322319544190647],[-0.10909347381673094,-2.152319541596191]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.5187604417491035,-2.3866638341894912,0.71338606911949],"aabb_xy":[[-0.588760443880533,-2.4094257998151862],[-0.44876043961767387,-2.3639018685637945]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.17500142952314113,0.21573685826706424,0.71338606911949],"aabb_xy":[[-0.18299491931842315,0.20773872632658863],[-0.1670079397278591,0.22373499020753995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945065444115145,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7175.png","name":"7175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/867.png","name":"867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.5066672295884,"rotation_z_degrees":99.8257389935743,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009038666425231656,0.010596931877839104,0.019352238405501248]},{"name":"camera_2","offset_m":[0.016289542669082124,0.0019960857725467747,0.0008256510129267015]},{"name":"camera_3","offset_m":[0.00859212988038939,0.006188675994056331,0.013906182678092998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014397342461287708,-0.0011925082303205587,-0.0008921988281787674],"end_effector_yaw_offset_degrees":0.7498217304692918},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015992040096296574,-0.0008543983511829314,0.0009397817150289109],"end_effector_yaw_offset_degrees":0.6793976411226856},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016692546471956367,0.00147758106956126,0.0006365756669810237],"end_effector_yaw_offset_degrees":0.6100339698520452}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005602850503343901,-0.003035951921910505],"position_m":[0.2767397149496656,-0.0690359519219105,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027012535914787607,0.003576460300538477],"position_m":[0.2504987464085212,0.2222764603005385,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00325935049071117,0.0048981026443583155],"position_m":[0.3468593504907112,0.05269810264435832,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010273525378847008,0.003719383257320032],"position_m":[0.1217273525378847,0.40311938325732,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033498098785561038,-0.0009067568487432258],"position_m":[0.2143501901214439,-0.43990675684874325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"298bd66c386e986d8d142708010ec747634db481c2e86ae112d8f46345d13565","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2592/tex_ceiling_textures_1594/tex_floor_textures_3023/tex_table_textures_7175/tex_wall_textures_867","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5925112098677636668,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5925112098677636668,"visual_seed":5925112098677636668,"scene_id":"lab_003","finished_at":"2026-09-03T19:57:20"} +{"episode_id":"ep_000050","started_at":"2026-09-03T19:57:23","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.35111393604599184,1.2728508045709774,0.71338606911949],"aabb_xy":[[0.287113932827354,1.226127692671969],[0.4151139392646297,1.3195739164699858]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.5223263680475762,1.5129410867597515,0.71338606911949],"aabb_xy":[[-0.5509757004079923,1.4842955274826757],[-0.4936770356871598,1.5415866460368273]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.4268950055592945,0.2276859460858871,0.71338606911949],"aabb_xy":[[-0.4908950058197653,0.18267714673295907],[-0.3628950052988237,0.27269474543881506]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.253084649412769,-1.8847969602896015,0.71338606911949],"aabb_xy":[[0.20308464805188178,-1.9347748648650172],[0.3030846507736562,-1.834819055714186]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.4366078037460917,-2.247986456781833,0.71338606911949],"aabb_xy":[[-0.4604440213866968,-2.3379864575903198],[-0.4127715861054867,-2.157986455973347]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.38309021867395154,-1.3003803359274444,0.71338606911949],"aabb_xy":[[0.3280979680384406,-1.3553803376707574],[0.43808246930946254,-1.2453803341841319]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.21741553728462643,-1.6874900778866546,0.71338606911949],"aabb_xy":[[-0.28141553962742794,-1.7324309291307871],[-0.15341553494182483,-1.6425492266425221]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.17454896111627238,-1.3681662922285125,0.71338606911949],"aabb_xy":[[-0.2120489595396727,-1.381330506196343],[-0.137048962692872,-1.3550020782606815]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.4967854346008993,0.7065088280387664,0.71338606911949],"aabb_xy":[[0.4327897372058026,0.6425088297380577],[0.5607811319959958,0.770508826339475]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.5149670363405574,-0.3242371717980119,0.71338606911949],"aabb_xy":[[-0.6049670400174754,-0.3856695783751162],[-0.424967032663639,-0.2628047652209075]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.2622664285443268,-1.704459201994231,0.71338606911949],"aabb_xy":[[0.22780408114618497,-1.7389530843920535],[0.29672877594246855,-1.6699653195964081]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[-0.5807185388091787,-2.163975856002722,0.71338606911949],"aabb_xy":[[-0.6032149602430428,-2.1864758558094692],[-0.5582221173753146,-2.1414758561959744]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.2876326209294521,-2.284901611784223,0.71338606911949],"aabb_xy":[[0.265723938790101,-2.306802278604313],[0.30954130306880306,-2.2630009449641317]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.04247664695273434,0.42871703195841127,0.71338606911949],"aabb_xy":[[-0.04988910249412282,0.4228658215367833],[-0.03506419141134587,0.4345682423800392]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.5658255681499121,1.7753603189248568,0.71338606911949],"aabb_xy":[[-0.5699415182619847,1.771244763892011],[-0.5617096180378394,1.7794758739577021]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.5273378729320894,0.45750443029918,0.71338606911949],"aabb_xy":[[-0.5367553475019521,0.44808825316146095],[-0.5179203983622266,0.466920607436899]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.5835821005473655,1.2875915577976897,0.71338606911949],"aabb_xy":[[-0.5870227767874228,1.2837301248233253],[-0.5801414243073084,1.2914529907720542]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.21903595870583698,-2.494939818285536,0.71338606911949],"aabb_xy":[[-0.2565359590540648,-2.506731213866619],[-0.18153595835760925,-2.483148422704452]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.6339145857678543,1.0374543431232546,0.71338606911949],"aabb_xy":[[-0.6707092188927606,1.000548468026672],[-0.597119952642948,1.0743602182198366]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.26238934541962233,-2.077307864292794,0.71338606911949],"aabb_xy":[[0.19838934683304982,-2.1243148276923023],[0.32638934400619474,-2.030300900893285]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.1391056494835966,-0.4390219951594716,0.71338606911949],"aabb_xy":[[-0.17660564958918956,-0.4458441570124526],[-0.10160564937800366,-0.43219983330649037]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.5435401613517701,-0.14926301062054836,0.71338606911949],"aabb_xy":[[0.537126347708585,-0.1556728308682167],[0.5499539749949549,-0.14285319037288002]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.6630850641930128,-1.4835799203755633,0.71338606911949],"aabb_xy":[[0.625585065617392,-1.496316216039121],[0.7005850627686336,-1.4708436247120051]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.5340727015077389,-1.6023220815258226,0.71338606911949],"aabb_xy":[[0.5189005322261054,-1.617490938454026],[0.5492448707893721,-1.5871532245976192]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.40281786739046616,0.046234114954342154,0.71338606911949],"aabb_xy":[[-0.452298288604425,-0.01776588295850967],[-0.3533374461765074,0.11023411286719398]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011173650440561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9799.png","name":"9799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5447.png","name":"5447"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":562.7186512306255,"rotation_z_degrees":175.8799396882669,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013683060657191262,-0.008928053470422205,0.0021126219509195673]},{"name":"camera_2","offset_m":[-0.0010387818906458478,0.009174034127583136,-0.016842590535946084]},{"name":"camera_3","offset_m":[-0.017163655972132583,0.011052082890053688,-0.017294588421981817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003931719144893383,0.0004740774322292882,-0.0018121404776043702],"end_effector_yaw_offset_degrees":0.7341059966354955},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[9.529969583791211e-05,-0.0006313804856166692,0.0009181961563311022],"end_effector_yaw_offset_degrees":0.9762810750441901},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008013564732695104,0.0012885368770637735,-0.0016708288051375752],"end_effector_yaw_offset_degrees":0.8470998619840975}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001677665522306008,-0.0021340380994765242],"position_m":[0.27562233447769396,-0.06813403809947653,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003685027368347967,-0.004485330965819839],"position_m":[0.249514972631652,0.21421466903418016,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001121469724818613,-0.00120458307953216],"position_m":[0.34472146972481865,0.04659541692046784,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004410384724481021,-0.003461716108056129],"position_m":[0.12511038472448102,0.39593828389194385,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038700050755539296,-0.0025109902895698376],"position_m":[0.22157000507555394,-0.44151099028956986,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"54eb008a65e55d6721b0c7c25f9e3a74753844c72d6c48d1d09636cab6ad0371","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7894/tex_ceiling_textures_5447/tex_floor_textures_9799/tex_table_textures_5637/tex_wall_textures_3082","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":946425745957987368,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":946425745957987368,"visual_seed":946425745957987368,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:09"} +{"episode_id":"ep_000051","started_at":"2026-09-03T20:03:21","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.008195853373265005,-0.8380057098609563,0.71338606911949],"aabb_xy":[[-0.004271504736470644,-0.8504710344942799],[0.020663211483000654,-0.8255403852276328]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.005132459553527258,-1.7152826960747043,0.71338606911949],"aabb_xy":[[-0.0211563647669134,-1.7415541297293553],[0.03142128387396791,-1.6890112624200528]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.5017918805604793,0.9226099670059189,0.71338606911949],"aabb_xy":[[-0.507129456226484,0.8976099660767792],[-0.49645430489447484,0.9476099679350588]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.08808741946221654,-0.8484519170097178,0.71338606911949],"aabb_xy":[[0.08365679010737638,-0.8539002887444006],[0.09251804881705673,-0.8430035452750354]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.512172142573603,-0.8358795956147365,0.71338606911949],"aabb_xy":[[-0.5296721417079701,-0.8457592226523243],[-0.49467214343923577,-0.8259999685771486]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.2572796513637516,-1.7263734631394019,0.71338606911949],"aabb_xy":[[-0.322279654001545,-1.7778530618388488],[-0.19227964872595804,-1.674893864439955]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.6720458266548566,-1.6494332051866585,0.71338606911949],"aabb_xy":[[0.665004375704109,-1.656459956924453],[0.6790872776056042,-1.642406453448864]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.06142396880347445,-1.9568798518342057,0.71338606911949],"aabb_xy":[[-0.11140691899095376,-2.006879851476765],[-0.011441018615995105,-1.9068798521916448]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.43246309859524756,-2.363738018595288,0.71338606911949],"aabb_xy":[[-0.48758830422483834,-2.423738020036575],[-0.3773378929656568,-2.3037380171540005]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.1424399366650443,-0.5043026975862461,0.71338606911949],"aabb_xy":[[-0.15368499223566215,-0.5155444953103414],[-0.13119488109442648,-0.49306089986215085]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.3140559459592126,1.4186389977244525,0.71338606911949],"aabb_xy":[[-0.3840559475614921,1.405206204522795],[-0.24405594435693312,1.4320717909261103]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.2628404816647909,-2.540004999127778,0.71338606911949],"aabb_xy":[[-0.34284047964557596,-2.54760654008963],[-0.18284048368400588,-2.532403458165926]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.27371282403340347,0.7918128881528195,0.71338606911949],"aabb_xy":[[0.22371282445706875,0.7418323092007135],[0.3237128236097382,0.8417934671049254]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.3590911840296962,-0.7511395254353077,0.71338606911949],"aabb_xy":[[0.2950911867273498,-0.7955059524031644],[0.4230911813320426,-0.7067730984674508]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.16384560961629813,-0.07999960873597134,0.71338606911949],"aabb_xy":[[-0.20515015268003411,-0.14399960830408842],[-0.12254106655256214,-0.01599960916785427]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.6283428959177229,-0.20253764924472417,0.71338606911949],"aabb_xy":[[0.5983512331838525,-0.23253764858152468],[0.6583345586515932,-0.1725376499079236]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.22437634963095449,0.2445373063900509,0.71338606911949],"aabb_xy":[[-0.2793718274516138,0.18953730495614393],[-0.16938087181029507,0.2995373078239578]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.10752065533717925,0.6156532631995129,0.71338606911949],"aabb_xy":[[-0.143149811237139,0.5800205964426598],[-0.07189149943721951,0.6512859299563657]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.5872129907008612,-2.1997258610836568,0.71338606911949],"aabb_xy":[[0.5322129924991162,-2.240247827710094],[0.6422129889026059,-2.1592038944572187]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.4044369855495914,-0.9301738190959243,0.71338606911949],"aabb_xy":[[-0.454414402414845,-0.9801738205851729],[-0.3544595686843378,-0.8801738176066758]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.6746789145147876,-1.0189909237874204,0.71338606911949],"aabb_xy":[[0.6707184307450532,-1.026658788372941],[0.6786393982845219,-1.0113230592018998]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.6000274780962038,0.23544280089552894,0.71338606911949],"aabb_xy":[[0.5200274778225968,0.16249325306981222],[0.6800274783698108,0.30839234872124566]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.0713060883299258,0.7641067135235011,0.71338606911949],"aabb_xy":[[-0.14130608473988754,0.7436687778718193],[-0.001306091919963989,0.7845446491751827]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.021599772800637074,-2.4974233269449755,0.71338606911949],"aabb_xy":[[-0.043772299777287915,-2.5195989941010986],[0.0005727541760137642,-2.4752476597888524]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.35489633036113744,1.7826061505486224,0.71338606911949],"aabb_xy":[[0.32989633108917515,1.76626078695246],[0.3798963296330997,1.7989515141447847]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.4918353842417571,0.9253045166071958,0.71338606911949],"aabb_xy":[[0.4268353831358138,0.9003391435390675],[0.5568353853477004,0.9502698896753241]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.661661055832626,-1.0235157632988796,0.71338606911949],"aabb_xy":[[-0.6748123018039155,-1.0485157630555664],[-0.6485098098613368,-0.9985157635421933]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.24956342336250326,-0.5581534259425354,0.71338606911949],"aabb_xy":[[0.16956342620292794,-0.5697010269003524],[0.32956342052207854,-0.5466058249847183]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.24466501522077333,1.7536494955317807,0.71338606911949],"aabb_xy":[[-0.2554379891421411,1.7186494973127417],[-0.23389204129940555,1.7886494937508197]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.5819368782820324,-2.3019049324930085,0.71338606911949],"aabb_xy":[[-0.6319299903912244,-2.351904933167204],[-0.5319437661728407,-2.251904931818813]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_30","position":[-0.43872108721441283,-1.8616126246914464,0.71338606911949],"aabb_xy":[[-0.4576054709829231,-1.8804985494717994],[-0.4198367034459027,-1.8427266999110938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6982947903886536,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6313.png","name":"6313"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6313.png","name":"6313"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3114.png","name":"3114"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5301.png","name":"5301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3944.png","name":"3944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9520.png","name":"9520"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.87755956758065,"rotation_z_degrees":199.98681618907685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01784469488694804,-0.01912947763915933,0.015210402696866358]},{"name":"camera_2","offset_m":[0.018955778431301907,-0.006495784771632396,0.009660029876964692]},{"name":"camera_3","offset_m":[0.01472407209185118,0.0166763592943952,0.0009705813919130973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019967885585819734,-0.0019807961843158737,-0.00031444474637242295],"end_effector_yaw_offset_degrees":-0.07930557932693283},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011764776089019427,-0.00042239377013864716,-0.0001523147755965711],"end_effector_yaw_offset_degrees":0.2875516608697546},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001792803727599325,-0.0006894087627418056,-0.0008424181804823491],"end_effector_yaw_offset_degrees":-0.20831921434196787}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00440288687299951,-0.0044940917824192106],"position_m":[0.2817028868729995,-0.07049409178241921,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004785057621189403,0.00189748734875514],"position_m":[0.2579850576211894,0.22059748734875514,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0006251675224436329,0.0041629718117176225],"position_m":[0.34422516752244364,0.05196297181171763,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019555004162429956,0.0011344945837792365],"position_m":[0.122655500416243,0.4005344945837792,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015741199459269632,-0.0008608874644411698],"position_m":[0.21927411994592697,-0.4398608874644412,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"874fee49e086bbf2e477270e1dc0558b2bcee7ead589118cedce59ad5e502ef0","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6313/tex_ceiling_textures_9520/tex_floor_textures_3944/tex_table_textures_3114/tex_wall_textures_5301","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5062816469967310741,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5062816469967310741,"visual_seed":5062816469967310741,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:01"} +{"episode_id":"ep_000052","started_at":"2026-09-03T20:06:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.18439920526594844,0.7616762284282705,0.71338606911949],"aabb_xy":[[0.14877004936598867,0.7260435616714176],[0.22002836116590815,0.7973088951851235]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.5557961149012978,0.9366174273794008,0.71338606911949],"aabb_xy":[[0.5246491960577147,0.8666174286925935],[0.5869430337448809,1.006617426066208]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.5010556530523247,-1.63007331255569,0.71338606911949],"aabb_xy":[[-0.5910556516467947,-1.6463238988691111],[-0.41105565445785486,-1.613822726242269]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.3810088484342711,-1.798593386507216,0.71338606911949],"aabb_xy":[[0.3170088460914695,-1.8435342377513484],[0.44500885077707264,-1.7536525352630834]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.5803261735557188,-2.023637999178386,0.71338606911949],"aabb_xy":[[-0.6153261726856745,-2.0293832202540503],[-0.5453261744257631,-2.017892778102722]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.5508986078885391,-0.4985040877938913,0.71338606911949],"aabb_xy":[[-0.5883986078323055,-0.5067971778287279],[-0.5133986079447727,-0.49021099775905475]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.26446148896565447,0.8857339904517207,0.71338606911949],"aabb_xy":[[-0.29946148886167334,0.8773597549397807],[-0.22946148906963562,0.8941082259636606]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.21055611767981564,-2.0214637659863617,0.71338606911949],"aabb_xy":[[-0.2203121071889895,-2.031226300045596],[-0.20080012817064172,-2.0117012319271272]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.6266516426896708,0.04500502920233673,0.71338606911949],"aabb_xy":[[-0.6639829192149134,0.010351974407484435],[-0.5893203661644282,0.07965808399718904]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.3797724773451434,1.3799822200465242,0.71338606911949],"aabb_xy":[[-0.4147724773216393,1.3705176039989078],[-0.34477247736864763,1.389446836094141]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.09694053659122492,-2.3891574918310603,0.71338606911949],"aabb_xy":[[-0.15193278722673587,-2.444157493574373],[-0.041948285955713975,-2.3341574900877475]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.37171120620193027,0.7419922688213698,0.71338606911949],"aabb_xy":[[-0.3895803139563857,0.7281593608441589],[-0.3538420984474747,0.7558251767985807]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.4663436044927387,-1.5403759040311342,0.71338606911949],"aabb_xy":[[-0.47097871964497207,-1.5442432391082825],[-0.46170848934050535,-1.5365085689539855]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.3588439576374412,-1.3903612090690878,0.71338606911949],"aabb_xy":[[-0.3933063050355829,-1.42485509146691],[-0.3243816102392993,-1.3558673266712646]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.33482167906314847,-1.2781215162505983,0.71338606911949],"aabb_xy":[[-0.404821681194578,-1.3008834818762938],[-0.26482167693171893,-1.2553595506249025]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.5171846770606101,-2.4123371698867957,0.71338606911949],"aabb_xy":[[-0.5671676272480892,-2.4623371695293557],[-0.4672017268731306,-2.362337170244235]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.05796639562751771,1.3379345963849372,0.71338606911949],"aabb_xy":[[-0.02575582987256475,1.2479345928502412],[0.14168862112760017,1.4279345999196331]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.078748252568134,-2.3505402000612206,0.71338606911949],"aabb_xy":[[0.023752774747474614,-2.405540201495127],[0.1337437303887934,-2.295540198627313]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.6471942830620049,-2.4072349813877376,0.71338606911949],"aabb_xy":[[-0.675039319842612,-2.4380194801260497],[-0.6193492462813978,-2.3764504826494264]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.05910346069248196,-0.8712517075292168,0.71338606911949],"aabb_xy":[[-0.11407718272881484,-0.9262517070934501],[-0.00412973865614908,-0.8162517079649837]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.21519382745835297,-1.4102719091234008,0.71338606911949],"aabb_xy":[[-0.2791938245704587,-1.4593042789178112],[-0.1511938303462473,-1.36123953932899]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.6063952475356053,0.43722431340959655,0.71338606911949],"aabb_xy":[[-0.6347249574841455,0.4327635712158795],[-0.578065537587065,0.4416850556033136]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.3291610590145697,-0.9238622821824285,0.71338606911949],"aabb_xy":[[0.27918364214931607,-0.9738622836716769],[0.37913847587982324,-0.8738622806931798]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.5598383677352394,1.417583399184689,0.71338606911949],"aabb_xy":[[-0.5670821337814848,1.3375834009810865],[-0.5525946016889941,1.4975833973882913]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[-0.40355271051876973,-2.1542656017764847,0.71338606911949],"aabb_xy":[[-0.4149144451720559,-2.165634068182773],[-0.39219097586548357,-2.1428971353701964]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.4245508699241096,-2.137294144881486,0.71338606911949],"aabb_xy":[[0.3870508715007092,-2.150458358849317],[0.4620508683475099,-2.1241299309136554]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.6693853192476001,-1.7059570842967218,0.71338606911949],"aabb_xy":[[-0.6918990110710571,-1.775957084897729],[-0.6468716274241427,-1.635957083695714]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.45117003510190856,0.4332508385780658,0.71338606911949],"aabb_xy":[[-0.5011488436122244,0.383250838572347],[-0.4011912265915927,0.4832508385837846]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[-0.20845924007252892,0.33192707844131153,0.71338606911949],"aabb_xy":[[-0.2583419369502251,0.2819270791950368],[-0.15857654319483272,0.3819270776875863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981225703330786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1362.png","name":"1362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7153.png","name":"7153"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7803.png","name":"7803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/750.png","name":"750"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.9933729141181,"rotation_z_degrees":0.1934665461867091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01507374011267527,-0.007972303063216364,0.005003688512135184]},{"name":"camera_2","offset_m":[-0.005520116917528793,0.015095045256953567,-0.0023615375036684094]},{"name":"camera_3","offset_m":[-0.009238711666905845,0.01481095212664284,0.01258249124572099]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015779547976861145,0.0011462416824842025,-0.000769399249678496],"end_effector_yaw_offset_degrees":-0.3412990095054538},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00179839703367224,0.0012000044353182304,-0.0005615641373439098],"end_effector_yaw_offset_degrees":0.4441536965662125},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012373502654795302,0.0005729687982096751,-0.0007568800600834718],"end_effector_yaw_offset_degrees":-0.2781288153388266}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000726408060355668,-0.004800752984363367],"position_m":[0.2765735919396443,-0.07080075298436336,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004550995665435399,-0.004124372991673364],"position_m":[0.24864900433456458,0.21457562700832664,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003660044118830608,0.004629972498603685],"position_m":[0.33993995588116943,0.052429972498603684,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00033893338751759573,0.0031375813920344548],"position_m":[0.1203610666124824,0.40253758139203444,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014015458378806855,-0.000800258760694372],"position_m":[0.2191015458378807,-0.4398002587606944,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"80198e5af49632723c6a0024a5f8d8bc5cd5635a4546c1024a0998052d6e1bd6","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9902/tex_ceiling_textures_750/tex_floor_textures_7803/tex_table_textures_1362/tex_wall_textures_7153","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4825894324567941263,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4825894324567941263,"visual_seed":4825894324567941263,"scene_id":"lab_003","finished_at":"2026-09-03T20:08:40"} +{"episode_id":"ep_000053","started_at":"2026-09-03T20:08:43","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.5244853005680006,-0.01952181830319688,0.71338606911949],"aabb_xy":[[0.5068096699794022,-0.03720203458259962],[0.5421609311565989,-0.0018416020237941309]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.6487644902649696,-0.35313225022662653,0.71338606911949],"aabb_xy":[[0.6328799969996446,-0.3674851905254506],[0.6646489835302949,-0.3387793099278025]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.32384663961647475,-1.2785293536902644,0.71338606911949],"aabb_xy":[[0.2893842922183329,-1.3130232360880867],[0.3583089870146165,-1.2440354712924413]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.337551947805546,-0.8521919270283009,0.71338606911949],"aabb_xy":[[0.3025519486755903,-0.8579371481039649],[0.37255194693550164,-0.8464467059526367]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.045923931714162425,-1.3856722319985313,0.71338606911949],"aabb_xy":[[-0.015666827509830387,-1.4496722301075784],[0.10751469093815524,-1.3216722338894846]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.055361023232441964,-0.4011770107089876,0.71338606911949],"aabb_xy":[[-0.059496879565142165,-0.43867701015334465],[-0.05122516689974178,-0.36367701126463065]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.3068669990783273,0.7849602905946327,0.71338606911949],"aabb_xy":[[-0.31390730901186437,0.7049602911949615],[-0.2998266891447904,0.8649602899943044]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.24828463855381755,-1.5859467169012125,0.71338606911949],"aabb_xy":[[0.2196353061934013,-1.6145922761782883],[0.2769339709142338,-1.5573011576241367]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.5646232629077835,0.5631847772611671,0.71338606911949],"aabb_xy":[[-0.5957701817513666,0.49318477857435983],[-0.5334763440642004,0.6331847759479742]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.4882804955169757,0.261840501438833,0.71338606911949],"aabb_xy":[[0.4332850176963162,0.20684050000492604],[0.543275973337635,0.3168405028727399]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.1963381791948159,-1.3031258339445093,0.71338606911949],"aabb_xy":[[-0.2088055373045515,-1.3155911585778328],[-0.1838708210850802,-1.2906605093111858]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.6050339452365707,-1.6517876909043783,0.71338606911949],"aabb_xy":[[0.5551512483588746,-1.7017876901506532],[0.654916642114267,-1.6017876916581038]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.5291194213775741,-0.3578739542101981,0.71338606911949],"aabb_xy":[[0.521005766704197,-0.36597977066422716],[0.5372330760509512,-0.349768137756169]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.2781183410642878,1.1632648116488005,0.71338606911949],"aabb_xy":[[0.26054003887534094,1.1456903220746955],[0.29569664325323464,1.1808393012229055]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.10439149799964953,-1.552069752261254,0.71338606911949],"aabb_xy":[[0.06689149942402871,-1.5648060479248118],[0.1418914965752703,-1.539333456597696]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.14527231454130995,-2.102442684123539,0.71338606911949],"aabb_xy":[[0.09527748161336835,-2.1524426830187826],[0.19526714746925156,-2.0524426852282955]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.23854806877568646,1.3267095238274154,0.71338606911949],"aabb_xy":[[0.2085564060418161,1.2967095244906148],[0.2685397315095568,1.356709523164216]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.3889928746967664,1.753974003589065,0.71338606911949],"aabb_xy":[[-0.414213711556606,1.728750252736178],[-0.3637720378369267,1.7791977544419515]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.5979358903411547,-1.4250128072862824,0.71338606911949],"aabb_xy":[[-0.6431072081893238,-1.4890128044308208],[-0.5527645724929858,-1.361012810141744]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.4198500615500761,-0.923170383941831,0.71338606911949],"aabb_xy":[[-0.45670060948706365,-0.9606703847648648],[-0.3829995136130884,-0.8856703831187973]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.6593565181139596,-1.397259738972871,0.71338606911949],"aabb_xy":[[0.6310268081654195,-1.401720481166588],[0.6876862280624999,-1.3927989967791539]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.4341072576534275,1.1239277697481147,0.71338606911949],"aabb_xy":[[0.4212353541524874,1.0439277693342783],[0.4469791611543677,1.2039277701619506]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.5251205622904118,-1.8669665174231715,0.71338606911949],"aabb_xy":[[0.4601205611844684,-1.8919318904912998],[0.590120563396355,-1.8420011443550433]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.5275418335579073,-0.8952542349077683,0.71338606911949],"aabb_xy":[[-0.5409883601919505,-0.9087240865608596],[-0.5140953069238638,-0.8817843832546771]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[0.41794228297921565,-0.3574336838583121,0.71338606911949],"aabb_xy":[[0.39544228273570026,-0.36963831851808404],[0.44044228322273105,-0.34522904919854014]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.27503063452956755,-2.2340356616990547,0.71338606911949],"aabb_xy":[[-0.3350306353903803,-2.2854620917055404],[-0.21503063366875472,-2.182609231692568]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.17128340540518383,-2.496215748756659,0.71338606911949],"aabb_xy":[[0.11128340555861704,-2.553034370949698],[0.23128340525175062,-2.4393971265636205]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.47517007320736865,1.2831200675232046,0.71338606911949],"aabb_xy":[[-0.5451700696173304,1.2626821318715225],[-0.4051700767974068,1.303558003174886]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_28","position":[0.1728545856943544,1.0588381072514457,0.71338606911949],"aabb_xy":[[0.13183664230798353,1.0088381066204886],[0.2138725290807253,1.1088381078824032]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[-0.32676474523855586,0.35670729812431956,0.71338606911949],"aabb_xy":[[-0.3907647416658778,0.3095376743022232],[-0.262764748811234,0.40387692194641606]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[0.5894930615405831,0.5047355662549307,0.71338606911949],"aabb_xy":[[0.519493058149021,0.46941979255149974],[0.659493064932145,0.5400513399583614]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.5325837335548211,-2.4083705842312253,0.71338606911949],"aabb_xy":[[0.45258373489793513,-2.4228754431554886],[0.6125837322117071,-2.393865725306963]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_32","position":[-0.35811355949398016,0.10891971219418117,0.71338606911949],"aabb_xy":[[-0.38061355950412845,0.0948234925545779],[-0.33561355948383187,0.12301593183378447]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[0.6814266526946218,-0.6726206350687538,0.71338606911949],"aabb_xy":[[0.6464266544245019,-0.6796947627637419],[0.7164266509647417,-0.6655465073737655]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_34","position":[0.41017500747724767,0.8131569495348465,0.71338606911949],"aabb_xy":[[0.34617500606925694,0.7613679980109218],[0.4741750088852383,0.8649459010587712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905421505124663,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3983.png","name":"3983"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3983.png","name":"3983"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5339.png","name":"5339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5116.png","name":"5116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2515.png","name":"2515"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.2341545369765,"rotation_z_degrees":217.19207631841076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011976063756058235,0.002173507421296534,0.0004277425349044593]},{"name":"camera_2","offset_m":[0.0044940028766924,-0.014331016623761884,0.00048122926811428393]},{"name":"camera_3","offset_m":[-0.007796813165030128,0.0032837616329172807,-0.01946335466453772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001309647152880249,0.0019554857043395137,-0.0006159766922064454],"end_effector_yaw_offset_degrees":0.39827975746162503},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001108024704845413,-0.0002470753543804406,-9.055970945918068e-05],"end_effector_yaw_offset_degrees":0.5082918254476272},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009347065320994669,-0.0010509988206403964,-0.0019241219746927874],"end_effector_yaw_offset_degrees":0.31348494886129563}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026392276419356063,0.0022087139922419086],"position_m":[0.2799392276419356,-0.06379128600775809,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004653199619746644,0.0024439589645987173],"position_m":[0.24854680038025334,0.22114395896459874,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00464103503626058,-0.003084148208022478],"position_m":[0.33895896496373945,0.044715851791977526,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.1806519615049855e-05,0.0034469421111565307],"position_m":[0.12072180651961505,0.4028469421111565,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004111546071117161,0.004436637787130577],"position_m":[0.21358845392888284,-0.4345633622128694,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"80fe7585f094255e98301e5962b80497055e8084a01836b92584dce4611f6a1a","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3983/tex_ceiling_textures_2515/tex_floor_textures_65/tex_table_textures_5339/tex_wall_textures_5116","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":202812398079589058,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":202812398079589058,"visual_seed":202812398079589058,"scene_id":"lab_003","finished_at":"2026-09-03T20:11:20"} +{"episode_id":"ep_000054","started_at":"2026-09-03T20:14:19","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.06371955404203244,-1.1044598670936843,0.71338606911949],"aabb_xy":[[-0.016274269536525776,-1.1844598696865258],[0.14371337762059067,-1.0244598645008427]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.582662306550064,-0.43058022504623006,0.71338606911949],"aabb_xy":[[-0.6726623059684348,-0.4639557218904197],[-0.492662307131693,-0.3972047282020403]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.2989702172686811,-1.4713881558678998,0.71338606911949],"aabb_xy":[[0.27647108154245414,-1.4938881566461628],[0.3214693529949081,-1.4488881550896369]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.20465664322570987,0.8210569127449512,0.71338606911949],"aabb_xy":[[0.1546566428651438,0.771076925535348],[0.25465664358627593,0.8710368999545539]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.5925953632857504,-1.3481992208047493,0.71338606911949],"aabb_xy":[[0.5275953651298313,-1.3744954653546615],[0.6575953614416694,-1.321902976254837]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.6504690752434373,-1.6689675775183268,0.71338606911949],"aabb_xy":[[-0.6879690754153092,-1.701668312901234],[-0.6129690750715653,-1.6362668421354196]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[0.09764598718602957,-2.498550549311966,0.71338606911949],"aabb_xy":[[0.03364599079045649,-2.5625138377306995],[0.16164598358160265,-2.4345872608932324]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.22081500527152487,1.4004528813786759,0.71338606911949],"aabb_xy":[[-0.25459056446221784,1.3864143861655112],[-0.18703944608083192,1.414491376591841]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.2989500686049126,-1.89795109345751,0.71338606911949],"aabb_xy":[[0.21395006991283788,-1.9299369568523885],[0.38395006729698716,-1.8659652300626308]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.481993061807362,1.536201497592074,0.71338606911949],"aabb_xy":[[0.4621020219270219,1.5235456863073775],[0.5018841016877024,1.5488573088767712]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.04143162414887691,-0.9425885180526001,0.71338606911949],"aabb_xy":[[0.028828925011800455,-0.9551839142774659],[0.05403432328595337,-0.9299931218277349]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.30117843113604015,-2.126024757811835,0.71338606911949],"aabb_xy":[[-0.35117770630447637,-2.1760247590877824],[-0.25117915596760404,-2.076024756535888]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.4792455666394898,-1.630531477014359,0.71338606911949],"aabb_xy":[[-0.5167455664565233,-1.6351696883255007],[-0.4417455668224562,-1.625893265703217]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[0.6976015969344525,-1.078106090983361,0.71338606911949],"aabb_xy":[[0.6888203697872162,-1.0868858382718913],[0.7063828240816887,-1.0693263436948313]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.5722790591873494,1.1059623290847376,0.71338606911949],"aabb_xy":[[0.5082790600175795,1.059195641965775],[0.6362790583571194,1.1527290162037]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.11521273638644935,-1.1924214488511304,0.71338606911949],"aabb_xy":[[-0.15271273667862417,-1.196462924251734],[-0.07771273609427454,-1.188379973450527]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.5663782276480633,-1.7045789309640553,0.71338606911949],"aabb_xy":[[0.5488782285136962,-1.714458558001643],[0.5838782267824305,-1.6946993039264673]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.43601887558144936,0.7334173850537984,0.71338606911949],"aabb_xy":[[0.4311752808202194,0.7285657325748145],[0.44086247034267934,0.7382690375327827]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.6262308908317558,-2.172369967555525,0.71338606911949],"aabb_xy":[[0.6181875309058005,-2.257369968650891],[0.6342742507577108,-2.087369966460158]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.4477837530263329,-1.697544105228634,0.71338606911949],"aabb_xy":[[0.44386987983091036,-1.7062931206351908],[0.4516976262217554,-1.6887950898220772]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.1961370403309055,1.5283105579236165,0.71338606911949],"aabb_xy":[[0.17855873814195866,1.5107360683495115],[0.21371534251985236,1.5458850474977215]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.31064274078803633,-2.028278518938033,0.71338606911949],"aabb_xy":[[0.2556495294508995,-2.083278519276827],[0.365635952125173,-1.9732785185992396]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.4303046983423011,-1.2287458218469696,0.71338606911949],"aabb_xy":[[0.42326438840876424,-1.308745821246641],[0.4373450082758382,-1.1487458224472982]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.6914031313500408,-2.393551900179013,0.71338606911949],"aabb_xy":[[0.6579239640889999,-2.4270310135501205],[0.7248822986110818,-2.3600727868079066]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.4730143619807661,0.8788766301923538,0.71338606911949],"aabb_xy":[[0.43446866915556503,0.8403308591361652],[0.5115600548059671,0.9174224012485425]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.20043167384287952,-0.8507356463681774,0.71338606911949],"aabb_xy":[[-0.2426160880037103,-0.9147356466453886],[-0.1582472596820488,-0.7867356460909662]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[-0.589544731262988,-2.4205816672927054,0.71338606911949],"aabb_xy":[[-0.6695447282772359,-2.4407162189661165],[-0.5095447342487399,-2.4004471156192944]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.13803718991070035,0.2700802375014586,0.71338606911949],"aabb_xy":[[-0.1421153478177501,0.2659992572531953],[-0.1339590320036506,0.2741612177497219]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_28","position":[0.6626386484240967,-0.5939288118039738,0.71338606911949],"aabb_xy":[[0.6126436374646447,-0.6439288108395657],[0.7126336593835487,-0.5439288127683822]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.6311782042769875,-1.139475180969664,0.71338606911949],"aabb_xy":[[-0.6761707909954378,-1.1844751802441127],[-0.5861856175585369,-1.0944751816952152]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[0.19395674269887797,1.3325827877352867,0.71338606911949],"aabb_xy":[[0.18574219758319394,1.3239061974376451],[0.2021712878145619,1.3412593780329278]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[-0.4042523335242663,-1.818761942825431,0.71338606911949],"aabb_xy":[[-0.4261420811132071,-1.90876194011468],[-0.3823625859353255,-1.7287619455361818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006927406142618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1652.png","name":"1652"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1652.png","name":"1652"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8735.png","name":"8735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3226.png","name":"3226"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":632.2342708166377,"rotation_z_degrees":319.7659301458328,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017798940025595365,-0.004715844143203781,-0.001016014570026754]},{"name":"camera_2","offset_m":[-0.0034244789347103698,0.010084190632312112,-0.011232616705955718]},{"name":"camera_3","offset_m":[0.013282685573481025,-0.018230975068385395,-0.006350230744493146]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009388287476308904,0.0003223127550319254,-0.001705916059056408],"end_effector_yaw_offset_degrees":0.8200919568087701},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007223227810782161,-0.001819199822632163,0.0010245823569216],"end_effector_yaw_offset_degrees":0.15530565854650513},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010212788547156182,0.00047049562781311706,0.0009674019472104152],"end_effector_yaw_offset_degrees":-0.7761440971998743}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004790190021662038,-0.003921408393963071],"position_m":[0.27250980997833796,-0.06992140839396307,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004826822378704048,-0.003726319794143831],"position_m":[0.24837317762129593,0.21497368020585617,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.001372010837203892,0.00027562039895669046],"position_m":[0.3422279891627961,0.048075620398956694,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015243025239497048,-0.003909218392720638],"position_m":[0.12222430252394971,0.39549078160727935,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004006131786697978,-0.0016681606077451482],"position_m":[0.22170613178669799,-0.44066816060774516,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"340b28dc037554787558bb6a6b341527805383f603ac5ea4be77659138dca79a","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1652/tex_ceiling_textures_3226/tex_floor_textures_9484/tex_table_textures_9846/tex_wall_textures_8735","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5448206940799111183,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5448206940799111183,"visual_seed":5448206940799111183,"scene_id":"lab_003","finished_at":"2026-09-03T20:16:55"} +{"episode_id":"ep_000055","started_at":"2026-09-03T20:16:58","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.38067329558803187,-1.2613202512660484,0.71338606911949],"aabb_xy":[[0.361560988230053,-1.2804550301432904],[0.39978560294601073,-1.2421854723888064]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.3103700725214018,-2.0949080616520748,0.71338606911949],"aabb_xy":[[0.2903116609081615,-2.114973148561232],[0.3304284841346421,-2.0748429747429173]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.22275202638308467,1.2875138582573982,0.71338606911949],"aabb_xy":[[0.19278446947325897,1.2575138579595124],[0.25271958329291033,1.317513858555284]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.6185124431822454,1.5756210918644364,0.71338606911949],"aabb_xy":[[-0.6535124414929409,1.5679060769408908],[-0.58351244487155,1.583336106787982]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.19515644193849874,-0.8187696043610906,0.71338606911949],"aabb_xy":[[-0.28515644561541686,-0.8802020109381947],[-0.1051564382615805,-0.757337197783986]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.326062316086688,1.7358842904493241,0.71338606911949],"aabb_xy":[[0.26206231467869734,1.6840953389253994],[0.3900623174946787,1.7876732419732488]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.322636871820873,-1.5609862745028884,0.71338606911949],"aabb_xy":[[-0.36013687192646593,-1.5678084363558693],[-0.28513687171528,-1.554164112649907]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.5783100559406826,1.1904890081190285,0.71338606911949],"aabb_xy":[[0.5133100548347393,1.1655236350509002],[0.6433100570466259,1.2154543811871568]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.5825449106378573,1.7690977615962438,0.71338606911949],"aabb_xy":[[0.4925449112194863,1.735722264752054],[0.6725449100562281,1.8024732584404335]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.18409139620671622,-1.4565542368150661,0.71338606911949],"aabb_xy":[[0.14659139541472077,-1.4629220777732561],[0.22159139699871166,-1.4501863958568761]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[0.6745579307034635,-0.9957505324942273,0.71338606911949],"aabb_xy":[[0.6584960032449457,-1.0807505343068189],[0.690619858161981,-0.9107505306816355]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.1806151148456514,-2.2254254177263157,0.71338606911949],"aabb_xy":[[-0.20445133248625652,-2.3154254185348027],[-0.15677889720504637,-2.1354254169178297]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.2885094787327188,0.4210567470460682,0.71338606911949],"aabb_xy":[[-0.34350947790930825,0.3660670722711105],[-0.23350947955612927,0.4760464218210258]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.4007817529719435,0.600176704023903,0.71338606911949],"aabb_xy":[[0.3888490186101155,0.5877945512160435],[0.41271448733377164,0.6125588568317623]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.4846488114680653,-0.03604712810653776,0.71338606911949],"aabb_xy":[[-0.5341292326820242,-0.10004712601938959],[-0.43516839025410653,0.027952869806314062]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.660269178519957,-0.03896935349615083,0.71338606911949],"aabb_xy":[[0.6509221709376618,-0.05327297571379486],[0.6696161861022523,-0.024665731278506797]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.0171883387926981,-1.7397884352857353,0.71338606911949],"aabb_xy":[[-0.030617828821070548,-1.804788437992794],[0.06499450640646674,-1.6747884325786762]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.06901662546988119,1.3563441202465167,0.71338606911949],"aabb_xy":[[0.04610091258483128,1.3334398231100935],[0.09193233835493109,1.3792484173829405]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.42698809658881287,-1.814356766642526,0.71338606911949],"aabb_xy":[[0.42235298143657946,-1.8182241017196743],[0.4316232117410462,-1.8104894315653768]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.49367269505203826,-1.9862532729809992,0.71338606911949],"aabb_xy":[[0.4872588814088532,-1.9926630932286673],[0.5000865086952231,-1.9798434527333306]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.6343427723223751,0.6476452945396165,0.71338606911949],"aabb_xy":[[-0.689316494358708,0.5926452949753833],[-0.5793690502860422,0.7026452941038497]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.4512723187076786,-0.23347475611877533,0.71338606911949],"aabb_xy":[[0.44334903846893026,-0.2559747563567787],[0.4591955989464269,-0.21097475588077197]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.2204923519550518,-0.8094586311833982,0.71338606911949],"aabb_xy":[[0.15549235095455127,-0.8602449963380732],[0.2854923529555523,-0.7586722660287233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969592543056558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2896.png","name":"2896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2896.png","name":"2896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/93.png","name":"93"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5841.png","name":"5841"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":771.4154129791141,"rotation_z_degrees":27.234182331932352,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007327767600694429,0.014698577498214602,0.0029583002715677584]},{"name":"camera_2","offset_m":[-0.00029346906919364493,0.008607387505277897,0.0024550028776444723]},{"name":"camera_3","offset_m":[-0.009787849775568423,-0.0017880587965806924,-0.0018991641309115716]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004946775323477585,-0.00033429959540511815,-0.00014136000338873514],"end_effector_yaw_offset_degrees":-0.5092854623658298},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012419821063084067,0.001997679568512961,0.001223182289628867],"end_effector_yaw_offset_degrees":-0.8660322697422702},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010074104599987863,-0.0013410884601790483,-7.418100666865433e-05],"end_effector_yaw_offset_degrees":0.2703928992669393}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029451122422508493,0.0033066371803103017],"position_m":[0.27435488775774913,-0.06269336281968971,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046379765861131045,0.0024668186651534705],"position_m":[0.2485620234138869,0.22116681866515348,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003014517675979693,-0.002433279069703447],"position_m":[0.3405854823240203,0.045366720930296554,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003463679748465038,-0.004483967405918541],"position_m":[0.12416367974846504,0.3949160325940814,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003779354239035175,0.004008696685690756],"position_m":[0.22147935423903517,-0.43499130331430924,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6f31a678694277dcfcf1d851ae6017788b7227945681f00e88b48f703848e43b","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2896/tex_ceiling_textures_5841/tex_floor_textures_93/tex_table_textures_7011/tex_wall_textures_1530","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3673481720867020686,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3673481720867020686,"visual_seed":3673481720867020686,"scene_id":"lab_003","finished_at":"2026-09-03T20:19:39"} +{"episode_id":"ep_000056","started_at":"2026-09-03T20:19:42","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.553962421443819,-0.69464027628682,0.71338606911949],"aabb_xy":[[0.49896694362315963,-0.7496402777207269],[0.6089578992644784,-0.6396402748529131]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.4774810785742143,-1.987932924622744,0.71338606911949],"aabb_xy":[[0.4694875887789323,-1.99593105656322],[0.4854745683694964,-1.9799347926822688]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.47656498552500215,-0.41155271885459666,0.71338606911949],"aabb_xy":[[-0.5015649850767406,-0.4216952027197313],[-0.45156498597326367,-0.4014102349894619]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.2696924724083128,-1.5708065103276796,0.71338606911949],"aabb_xy":[[-0.31967670811649,-1.6208065091411752],[-0.21970823670013556,-1.520806511514184]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.12666942655956093,1.699364195637306,0.71338606911949],"aabb_xy":[[-0.17664272056282138,1.6493641950827584],[-0.07669613255630048,1.7493641961918531]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.5869073864181433,-1.8210496522922324,0.71338606911949],"aabb_xy":[[-0.6469073869259961,-1.8778963859781537],[-0.5269073859102903,-1.764202918606311]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.1958000671262906,-2.3089543410345423,0.71338606911949],"aabb_xy":[[0.14080781649077967,-2.363954342777855],[0.25079231776180155,-2.2539543392912296]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[0.3803753951194262,-2.2895364016423514,0.71338606911949],"aabb_xy":[[0.3643134676609085,-2.374536403454943],[0.3964373225779438,-2.2045363998297596]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.25809306937005416,-0.7968562517493327,0.71338606911949],"aabb_xy":[[0.2230930702400985,-0.8026014728249967],[0.2930930685000098,-0.7911110306736685]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.7013230683986973,-0.5294436205007989,0.71338606911949],"aabb_xy":[[0.6976198070695583,-0.5331456388095166],[0.7050263297278361,-0.5257416021920809]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.7138110839207297,-1.2395294773048973,0.71338606911949],"aabb_xy":[[0.7084735082547252,-1.264529478234037],[0.7191486595867344,-1.2145294763757575]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.43694205026905264,0.9864533658552666,0.71338606911949],"aabb_xy":[[0.3469420465921344,0.9250209592781619],[0.5269420539459707,1.0478857724323705]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.4828099856974089,1.673061099698971,0.71338606911949],"aabb_xy":[[-0.5306161533111774,1.6080610969919118],[-0.43500381808364014,1.7380611024060297]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.5334169022757812,-1.3894770907508864,0.71338606911949],"aabb_xy":[[-0.5525292096337602,-1.4086118696281287],[-0.5143045949178024,-1.3703423118736446]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.007667024685075408,-1.4455814579335295,0.71338606911949],"aabb_xy":[[-0.02521371960119434,-1.4830814594977808],[0.009879670231043525,-1.4080814563692783]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.4710540825810412,-0.2261963532658875,0.71338606911949],"aabb_xy":[[-0.5286845514683118,-0.28619635219259804],[-0.4134236136937702,-0.16619635433917687]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.6326667912831753,-1.1628581108646447,0.71338606911949],"aabb_xy":[[-0.6669637023009156,-1.1971549970745858],[-0.5983698802654345,-1.1285612246547032]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.5153066321279625,-1.2390057904362517,0.71338606911949],"aabb_xy":[[-0.5287531587620058,-1.2524756420893428],[-0.5018601054939191,-1.2255359387831601]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.40035197283885315,-0.7353910490705602,0.71338606911949],"aabb_xy":[[0.39639148906911875,-0.7430589136560809],[0.40431245660858744,-0.7277231844850397]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.6346032313499474,0.8148405417043292,0.71338606911949],"aabb_xy":[[0.5646032349399853,0.7944026060526472],[0.7046032277599089,0.8352784773560107]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.18820727753394584,1.3550322756035502,0.71338606911949],"aabb_xy":[[-0.2682072778075528,1.2820827277778335],[-0.1082072772603389,1.427981823429267]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.11631065290333553,-0.9140811166902754,0.71338606911949],"aabb_xy":[[-0.1256042711404861,-0.9515811151784092],[-0.10701703466618494,-0.8765811182021414]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.05484707982414172,1.0436076835198005,0.71338606911949],"aabb_xy":[[-0.05898293615684192,1.0061076840754435],[-0.05071122349144153,1.0811076829641575]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.3468190905839918,0.05325464027069815,0.71338606911949],"aabb_xy":[[-0.3548453612146178,0.04450314529334554],[-0.3387928199533658,0.06200613524805077]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.05661160816171851,-1.76307578929941,0.71338606911949],"aabb_xy":[[0.0347218605727777,-1.8530757865886593],[0.0785013557506593,-1.673075792010161]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.46001385472984213,0.5125714322541906,0.71338606911949],"aabb_xy":[[-0.5250138547641449,0.46587075557386326],[-0.3950138546955394,0.5592721089345178]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[-0.2935160589053183,-0.48698341304542625,0.71338606911949],"aabb_xy":[[-0.327978536918406,-0.4936470902283491],[-0.25905358089223046,-0.4803197358625034]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.43756449286657534,-0.7252124327226259,0.71338606911949],"aabb_xy":[[-0.47256449205939355,-0.7361794787202884],[-0.402564493673757,-0.7142453867249632]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[0.3042070268775846,0.7602528935288277,0.71338606911949],"aabb_xy":[[0.2242132032990264,0.6802528909359862],[0.38420085045614283,0.8402528961216693]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[-0.3796687524650566,-1.3810881439336344,0.71338606911949],"aabb_xy":[[-0.39555324573038175,-1.3954410842324585],[-0.36378425919973145,-1.3667352036348104]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_30","position":[-0.5826179282461378,-1.5178009556304242,0.71338606911949],"aabb_xy":[[-0.6172090111001829,-1.5828009559154548],[-0.5480268453920925,-1.4528009553453927]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[-0.2419700006673422,0.11029021946863171,0.71338606911949],"aabb_xy":[[-0.25443735877707785,0.0978248948353082],[-0.22950264255760658,0.1227555441019552]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.09868023297203754,-2.5658208607126376,0.71338606911949],"aabb_xy":[[-0.1324557921627305,-2.579859355925802],[-0.06490467378134457,-2.5517823654994722]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[0.5167854125922429,-0.3362574340101574,0.71338606911949],"aabb_xy":[[0.4527854123182645,-0.38632353420744536],[0.580785412866221,-0.28619133381286943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987567524018345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4291.png","name":"4291"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4291.png","name":"4291"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6360.png","name":"6360"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2580.png","name":"2580"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2945.png","name":"2945"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6064.png","name":"6064"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":590.4371850909866,"rotation_z_degrees":244.47839266357917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004311695259483415,-0.009775935286120859,0.002134239485704365]},{"name":"camera_2","offset_m":[-0.010496434743004768,-0.004781250662851986,-0.0029964701654075117]},{"name":"camera_3","offset_m":[-0.019163198328516803,-0.018316180028105086,0.013889682555384645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013125337984501062,-0.0002670082767244515,1.0157853545074685e-05],"end_effector_yaw_offset_degrees":-0.06700356566391874},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[4.372194583918045e-05,-0.0007106110465021009,-0.00015634137301908345],"end_effector_yaw_offset_degrees":-0.950453304321188},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014230834445250072,-0.0008712060784354066,-0.000516262695604858],"end_effector_yaw_offset_degrees":-0.8349021418794684}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003601660422942735,0.002837922366121146],"position_m":[0.28090166042294273,-0.06316207763387886,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002745474758352254,0.0023091976027372367],"position_m":[0.25292545252416476,0.22100919760273724,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015374020554711145,-0.0036358358130265766],"position_m":[0.3420625979445289,0.04416416418697343,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007487577603684618,-0.003050089701284818],"position_m":[0.11995124223963154,0.39634991029871514,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.612522352884888e-05,-0.0036174442226015314],"position_m":[0.21762387477647116,-0.4426174442226015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"22dafacc06edb588561c2156bc5d7f6f6aabaaf96fd6b2f6516518ad24f08234","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4291/tex_ceiling_textures_6064/tex_floor_textures_2945/tex_table_textures_6360/tex_wall_textures_2580","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8988796011355746192,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8988796011355746192,"visual_seed":8988796011355746192,"scene_id":"lab_003","finished_at":"2026-09-03T20:22:16"} +{"episode_id":"ep_000057","started_at":"2026-09-03T20:22:19","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.020834370967475424,-1.7038283324780545,0.71338606911949],"aabb_xy":[[-0.014165630384006306,-1.7241880684348752],[0.05583437231895716,-1.6834685965212335]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.43583140686535304,0.3603599324812694,0.71338606911949],"aabb_xy":[[0.4277950721640682,0.3523218131768526],[0.4438677415666379,0.3683980517856862]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.6894570147677921,1.3607123351441075,0.71338606911949],"aabb_xy":[[0.6776888279731347,1.2757123352388862],[0.7012252015624497,1.4457123350493293]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.32514212091052785,0.5085033902061862,0.71338606911949],"aabb_xy":[[-0.40514212416837075,0.4285068824142022],[-0.24514211765268484,0.5884998979981702]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.4740962138138351,1.6354935350276567,0.71338606911949],"aabb_xy":[[-0.4965962140573506,1.623288900367885],[-0.4515962135703198,1.6476981696874289]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.16910560267522534,-2.081341371182761,0.71338606911949],"aabb_xy":[[-0.2066056034672208,-2.0877092121409513],[-0.1316056018832299,-2.074973530224571]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.5088983525472763,-0.1984816512208165,0.71338606911949],"aabb_xy":[[-0.5728983547676832,-0.2428547353461048],[-0.4448983503268692,-0.15410856709552823]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.16591284797656558,1.4983998730824344,0.71338606911949],"aabb_xy":[[0.14339915615310836,1.4283998724814266],[0.18842653980002275,1.5683998736834417]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.06674543579978165,-2.3436176251208054,0.71338606911949],"aabb_xy":[[0.04685439591944141,-2.3562734364055022],[0.08663647568012191,-2.3309618138361086]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.11379515389933248,-1.0577345335775898,0.71338606911949],"aabb_xy":[[0.1022261731523959,-1.0827345336945216],[0.12536413464626905,-1.0327345334606581]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.1597511412925361,-1.5900135257689278,0.71338606911949],"aabb_xy":[[-0.2397511384521114,-1.6015611267267447],[-0.07975114413296083,-1.5784659248111106]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.3592681395467545,-2.3697445493116716,0.71338606911949],"aabb_xy":[[-0.3767680729807379,-2.387244549231906],[-0.34176820611277114,-2.352244549391437]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.056119494209180054,-0.8012778255368194,0.71338606911949],"aabb_xy":[[0.05066154857215998,-0.8812778288444785],[0.061577439846200115,-0.7212778222291603]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.22075356702114712,-1.1336203597496541,0.71338606911949],"aabb_xy":[[0.17078027301788665,-1.1836203603042013],[0.2707268610244076,-1.0836203591951066]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.6859601183710688,-1.6479103104522093,0.71338606911949],"aabb_xy":[[0.6484601178737106,-1.6518789940003276],[0.7234601188684271,-1.6439416269040905]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.4997631373140645,1.0042426285684418,0.71338606911949],"aabb_xy":[[0.46226313889066417,0.991078414600611],[0.5372631357374649,1.0174068425362723]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.5193853500144185,-1.424999376513303,0.71338606911949],"aabb_xy":[[0.45538534860642793,-1.4767883280372276],[0.5833853514224092,-1.3732104249893782]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.6534005004324006,-2.418353439511704,0.71338606911949],"aabb_xy":[[0.5894004987544033,-2.4668708309910183],[0.717400502110398,-2.36983604803239]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.5623855047112154,0.7736334083358951,0.71338606911949],"aabb_xy":[[0.49738550467691256,0.7269327316555677],[0.627385504745518,0.8203340850162223]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.27120268126004676,-2.370019238530824,0.71338606911949],"aabb_xy":[[0.20720698386495018,-2.4340192368315323],[0.33519837865514335,-2.306019240230115]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.4465015922265949,-1.9086836542055965,0.71338606911949],"aabb_xy":[[-0.4715015921591128,-1.9155663224265198],[-0.421501592294077,-1.9018009859846732]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.42689372320370034,-1.3173219596275192,0.71338606911949],"aabb_xy":[[-0.46189372147382024,-1.3243960873225074],[-0.39189372493358043,-1.310247831932531]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.5814109129820285,-1.0857790373505203,0.71338606911949],"aabb_xy":[[-0.6314109139325612,-1.1173281843540417],[-0.5314109120314956,-1.0542298903469989]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938422415644069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3668.png","name":"3668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3668.png","name":"3668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5345.png","name":"5345"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2036.png","name":"2036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/83.png","name":"83"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":557.1672952251585,"rotation_z_degrees":240.53584573620105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007612082796018008,-0.010803545395037814,0.010433103892383073]},{"name":"camera_2","offset_m":[0.01383562891125471,-0.0018364087996524878,0.01746537821667313]},{"name":"camera_3","offset_m":[-0.005883114574783792,0.008237649783873601,0.002992295188616382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002599915460791305,0.0008482011262698013,0.0012886632544790765],"end_effector_yaw_offset_degrees":-0.8587461104321288},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005993104659384825,-0.0011532062839428726,0.0015256377909745838],"end_effector_yaw_offset_degrees":0.44140494825954923},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000470487614211228,-0.0012954122900265754,0.0017345102057206574],"end_effector_yaw_offset_degrees":0.47061511195178296}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[1.7512915844896358e-05,0.001057073138396352],"position_m":[0.2773175129158449,-0.06494292686160365,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004253390778205105,0.0014626144986288614],"position_m":[0.25745339077820506,0.22016261449862887,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009350874166198639,-0.0039025493785415245],"position_m":[0.34266491258338017,0.04389745062145848,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038756678120621295,0.003287276645287861],"position_m":[0.12457566781206213,0.40268727664528786,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012865289807886702,0.002681544233343774],"position_m":[0.21641347101921132,-0.43631845576665623,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c9b9c7e685067b4dd97cbf688734f1783f14ceb9bc46a400acb59b90fde3793","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3668/tex_ceiling_textures_83/tex_floor_textures_2036/tex_table_textures_9453/tex_wall_textures_5345","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5788034832241330459,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5788034832241330459,"visual_seed":5788034832241330459,"scene_id":"lab_003","finished_at":"2026-09-03T20:25:01"} +{"episode_id":"ep_000058","started_at":"2026-09-03T20:25:04","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.25959079433924775,1.6087210778893657,0.71338606911949],"aabb_xy":[[-0.3145840056763845,1.5537210775505723],[-0.204597583002111,1.6637210782281595]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.5062823888459421,1.0749361065325602,0.71338606911949],"aabb_xy":[[-0.5712823914837356,1.0234565078331135],[-0.44128238620814864,1.1264157052320074]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.4482987572477219,1.4957865150208653,0.71338606911949],"aabb_xy":[[-0.49048317140855263,1.4317865147436544],[-0.40611434308689115,1.5597865152980768]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[0.5130352632686295,-1.055091011701204,0.71338606911949],"aabb_xy":[[0.495166155514174,-1.068923919678415],[0.530904371023085,-1.041258103723993]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.3367527209900166,0.4684830028421376,0.71338606911949],"aabb_xy":[[-0.4267527204083874,0.4351075059979479],[-0.24675272157164563,0.5018584996863273]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.11639499559599586,1.7156522559002876,0.71338606911949],"aabb_xy":[[0.08048149117100618,1.679738747683533],[0.15230850002098556,1.7515657641170421]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.5057881206327302,-0.1346593097318145,0.71338606911949],"aabb_xy":[[0.455788845464294,-0.18465931100776165],[0.5557873958011663,-0.0846593084558673]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.38368886174024974,-1.0831331579088723,0.71338606911949],"aabb_xy":[[-0.42977395299498117,-1.1471331551614272],[-0.3376037704855182,-1.019133160656317]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.2487409821192832,-2.4905086911782153,0.71338606911949],"aabb_xy":[[0.24378496193440202,-2.513008691380337],[0.25369700230416437,-2.4680086909760934]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.6492232912567695,-2.4824518654600345,0.71338606911949],"aabb_xy":[[0.6333387979914443,-2.4968048057588588],[0.6651077845220946,-2.46809892516121]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.11162428702220006,0.04256462506780112,0.71338606911949],"aabb_xy":[[-0.1966242857142747,0.010578761672922259],[-0.02662428833012541,0.07455048846267998]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.6018451905079535,1.6236029313229428,0.71338606911949],"aabb_xy":[[-0.6126967967568291,1.6127436405952915],[-0.5909935842590779,1.6344622220505935]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.6402989852370733,-1.3592369870085168,0.71338606911949],"aabb_xy":[[0.5931696062352374,-1.4232369880529185],[0.6874283642389087,-1.2952369859641146]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.38283954510770424,-1.7062900895183237,0.71338606911949],"aabb_xy":[[-0.44283954495427097,-1.7631087117113624],[-0.3228395452611374,-1.649471467325285]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.439761090676969,-2.5312606954226213,0.71338606911949],"aabb_xy":[[-0.4702453408039991,-2.5812606952041173],[-0.4092768405499388,-2.4812606956411254]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.586934666421294,0.509017966163372,0.71338606911949],"aabb_xy":[[0.5813529947871652,0.4965179663455966],[0.5925163380554228,0.5215179659811475]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.55651359689567,-2.5552646489343123,0.71338606911949],"aabb_xy":[[0.5215135969191742,-2.564729264981929],[0.5915135968721659,-2.5458000328866963]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.40414589630274445,0.7166957729925096,0.71338606911949],"aabb_xy":[[0.34915364566723356,0.661695771249197],[0.4591381469382555,0.7716957747358226]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.26748616618306675,-2.4536513464802474,0.71338606911949],"aabb_xy":[[-0.347479989761625,-2.533651349073089],[-0.18749234260450853,-2.373651343887406]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.45032359584380177,-1.4208691649337648,0.71338606911949],"aabb_xy":[[-0.48491467869784693,-1.4858691652187956],[-0.4157325129897565,-1.3558691646487335]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.353069448265323,0.17608562459218158,0.71338606911949],"aabb_xy":[[-0.3706161431814419,0.13858562302793034],[-0.33552275334920406,0.21358562615643287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697437409907939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4124.png","name":"4124"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4124.png","name":"4124"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2403.png","name":"2403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9890.png","name":"9890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4488.png","name":"4488"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":694.0751615069373,"rotation_z_degrees":269.05289381625835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009000676365177172,0.004088704005072025,-0.0058849963601274174]},{"name":"camera_2","offset_m":[0.0011758714371636232,-0.0018416061947921815,0.018124548789311076]},{"name":"camera_3","offset_m":[-0.001805173164188472,0.010073613961595923,-0.01941686252447581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013658986858071558,0.0010533236480411885,-0.0011095346064927303],"end_effector_yaw_offset_degrees":0.9628188511775684},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001772424743446519,-0.0013811993836197836,0.0009984779525845032],"end_effector_yaw_offset_degrees":-0.6085502059569006},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015098614700694785,-0.0006253519998488208,0.00043516919623664803],"end_effector_yaw_offset_degrees":0.37455950206176003}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003253804606140981,0.0019578279558070486],"position_m":[0.274046195393859,-0.06404217204419295,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001666538843523906,-0.0034186912616333918],"position_m":[0.25153346115647607,0.21528130873836662,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002983743298065621,0.0003763988196060332],"position_m":[0.3406162567019344,0.04817639881960604,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001968561249637304,-0.002161805850225532],"position_m":[0.1187314387503627,0.39723819414977446,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014158222985607592,-0.0031708640387802735],"position_m":[0.21628417770143923,-0.44217086403878025,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24b5796e589429eb7540e2a7b16ea7c979397838938155322180f1a88e57f7f6","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4124/tex_ceiling_textures_4488/tex_floor_textures_9890/tex_table_textures_8786/tex_wall_textures_2403","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6796509560275480848,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6796509560275480848,"visual_seed":6796509560275480848,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:39"} +{"episode_id":"ep_000059","started_at":"2026-09-03T20:27:42","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.5780117214882503,-1.6751531198797538,0.71338606911949],"aabb_xy":[[0.4980117235074653,-1.6827546608416055],[0.6580117194690354,-1.6675515789179016]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.23263042468811423,0.9150256280562181,0.71338606911949],"aabb_xy":[[0.187351809806965,0.8510256287080343],[0.2779090395692635,0.9790256274044017]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.2829466514236267,-0.32416887948191153,0.71338606911949],"aabb_xy":[[-0.3005794870171542,-0.3417918254975345],[-0.26531381583009905,-0.30654593346628856]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.5926244396893147,-1.864946516058643,0.71338606911949],"aabb_xy":[[-0.6427219036703884,-1.9289465165684545],[-0.5425269757082412,-1.800946515548831]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.02143684950403324,-1.5266031227740195,0.71338606911949],"aabb_xy":[[-0.08643685050453376,-1.5773894879286947],[0.04356315149646728,-1.4758167576193448]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.5478494942137602,-0.16862895305567882,0.71338606911949],"aabb_xy":[[-0.5645266302068557,-0.1853288770296091],[-0.5311723582206647,-0.15192902908174855]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.26417895634295974,-0.6155532416967187,0.71338606911949],"aabb_xy":[[0.26004310001025954,-0.6530532411410758],[0.26831481267565993,-0.5780532422523618]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.5026154894794321,-2.4138880367065476,0.71338606911949],"aabb_xy":[[-0.52761548941195,-2.4207707049274716],[-0.47761548954691424,-2.4070053684856245]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.63219246498551,-2.161380482403258,0.71338606911949],"aabb_xy":[[0.594692463800717,-2.165798705099318],[0.6696924661703026,-2.156962259707197]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.4974011344779517,-1.535981538761453,0.71338606911949],"aabb_xy":[[-0.5342516824149393,-1.5734815395844868],[-0.4605505865409641,-1.4984815379384193]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.08471119199057864,-1.9185674505850383,0.71338606911949],"aabb_xy":[[0.04721119169840382,-1.9226089259856418],[0.12221119228275346,-1.9145259751844348]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.5475881356191594,1.141475607653467,0.71338606911949],"aabb_xy":[[0.5300881353598229,1.1273840654646947],[0.5650881358784962,1.15556714984224]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.2577921480007309,-0.8839496239693629,0.71338606911949],"aabb_xy":[[0.20266694237114016,-0.94394962541065],[0.3129173536303217,-0.8239496225280757]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.45397316288212874,-1.87043855015706,0.71338606911949],"aabb_xy":[[-0.46038697652531363,-1.876848370404728],[-0.44755934923894375,-1.8640287299093914]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.2413791910273343,1.5053542315597395,0.71338606911949],"aabb_xy":[[0.17737919032386495,1.4593358490868185],[0.30537919173080363,1.5513726140326607]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.22050189785671048,-2.0114596771311017,0.71338606911949],"aabb_xy":[[0.15650189463807265,-2.05818278903011],[0.28450190107534834,-1.9647365652320934]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.43479980625491216,-0.6811530972363162,0.71338606911949],"aabb_xy":[[-0.5147998095127551,-0.7611496050283002],[-0.35479980299706915,-0.6011565894443323]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.24460145864681176,0.1346798362530821,0.71338606911949],"aabb_xy":[[-0.3246014572341312,0.055364234314921205],[-0.16460146005949236,0.21399543819124298]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.3383883750421071,-0.20398742996100072,0.71338606911949],"aabb_xy":[[-0.37588837485914073,-0.20862564127214261],[-0.3008883752250736,-0.19934921864985888]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.5585227663156294,1.352560581033559,0.71338606911949],"aabb_xy":[[-0.5657665323618746,1.2725605828299567],[-0.5512790002693839,1.4325605792371614]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.6577637207915132,-0.20411042707857252,0.71338606911949],"aabb_xy":[[0.5937680233964167,-0.2681104253792812],[0.7217594181866098,-0.1401104287778638]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.5827225442895572,-1.0344268065920605,0.71338606911949],"aabb_xy":[[-0.592478533798731,-1.0441893406512948],[-0.5729665547803833,-1.0246642725328259]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.39995590515754675,0.8867109305490626,0.71338606911949],"aabb_xy":[[0.3653648223035014,0.8217109302640314],[0.43454698801159186,0.9517109308340935]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.0473805175249592,0.934370312582602,0.71338606911949],"aabb_xy":[[0.013901350263918255,0.9008911992114951],[0.08085968478600014,0.967849425953709]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[-0.43345551364076784,0.199025138575736,0.71338606911949],"aabb_xy":[[-0.483439749348945,0.14902513976224038],[-0.38347127793259056,0.24902513738923157]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.4802527322515875,1.5232899787353467,0.71338606911949],"aabb_xy":[[-0.4858344038857163,1.5107899789175714],[-0.4746710606174588,1.5357899785531224]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[0.33986499637793366,-0.7434645456510869,0.71338606911949],"aabb_xy":[[0.33260374880752624,-0.7562515559145963],[0.3471262439483411,-0.7306775353875773]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_27","position":[0.1543691163983345,-2.2504753592427527,0.71338606911949],"aabb_xy":[[0.14827448851021618,-2.259044753794421],[0.16046374428645283,-2.2419059646910835]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[0.3598735135175377,-1.2691480743572847,0.71338606911949],"aabb_xy":[[0.32237351316930996,-1.280939469938368],[0.39737351386576547,-1.257356678776201]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[0.47009258543293586,0.13089229245419176,0.71338606911949],"aabb_xy":[[0.4396083353059057,0.08089229267269582],[0.500576835559966,0.1808922922356877]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.47127273493926136,0.40357156594883037,0.71338606911949],"aabb_xy":[[-0.521272734379457,0.35360364146451406],[-0.4212727354990657,0.4535394904331467]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[-0.2116842870820746,-2.23907394497181,0.71338606911949],"aabb_xy":[[-0.22989011074332227,-2.250099345553802],[-0.19347846342082692,-2.228048544389819]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_32","position":[-0.3077558020741313,-2.0516073657929996,0.71338606911949],"aabb_xy":[[-0.35773875226161056,-2.10160736543556],[-0.2577728518866519,-2.001607366150439]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981118825810617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8022.png","name":"8022"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8022.png","name":"8022"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7378.png","name":"7378"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6457.png","name":"6457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3814.png","name":"3814"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4409.png","name":"4409"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":537.5613106163097,"rotation_z_degrees":334.7799282125343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017742920270852915,-0.01830567492555409,-0.011038165453406164]},{"name":"camera_2","offset_m":[-0.0019862154884633214,0.00427756084442172,0.019699842845861962]},{"name":"camera_3","offset_m":[0.0056566235514292,0.003035933240511296,-0.00742759419168125]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002930842620777123,-0.0015966977156325792,9.573217672245596e-05],"end_effector_yaw_offset_degrees":-0.1395823084440806},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017995717619680085,-0.0008558047945155724,-0.0011369327101316048],"end_effector_yaw_offset_degrees":0.31429438667485443},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014540011134498193,0.0019675635937357093,0.0004191969125972141],"end_effector_yaw_offset_degrees":-0.42818142389519465}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020657057357893775,-0.002168586925495224],"position_m":[0.2793657057357894,-0.06816858692549523,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018555147963095868,0.004697501552513211],"position_m":[0.25505551479630956,0.22339750155251323,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002209975651866785,0.0028185634410655197],"position_m":[0.34139002434813326,0.05061856344106552,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032828885149193644,-0.0009524692175346796],"position_m":[0.12398288851491937,0.3984475307824653,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023370678632534574,0.00037251381290994735],"position_m":[0.22003706786325347,-0.4386274861870901,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd95cb1bac8c096684341df63089391b2b0d07a7bad23fa8ca686b50228875e2","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8022/tex_ceiling_textures_4409/tex_floor_textures_3814/tex_table_textures_7378/tex_wall_textures_6457","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":9124744548885201803,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":9124744548885201803,"visual_seed":9124744548885201803,"scene_id":"lab_003","finished_at":"2026-09-03T20:30:30"} +{"episode_id":"ep_000060","started_at":"2026-09-03T20:30:33","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.06848394169957861,0.45798266930823983,0.71338606911949],"aabb_xy":[[-0.132483939001925,0.4136162423403831],[-0.004483944397232209,0.5023490962760966]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.06841768206228072,0.08232936481769126,0.71338606911949],"aabb_xy":[[-0.07932345814984341,0.002329368418862096],[-0.05751190597471799,0.16232936121652042]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.13848470624382103,-1.362991948589728,0.71338606911949],"aabb_xy":[[-0.17598470634941396,-1.369814110442709],[-0.10098470613822806,-1.3561697867367468]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.6793951830231949,-0.6861761273463567,0.71338606911949],"aabb_xy":[[-0.6870983736972719,-0.6938854980450947],[-0.6716919923491177,-0.6784667566476187]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.3926497304359251,0.4395468117680772,0.71338606911949],"aabb_xy":[[0.33501926154865425,0.3795468128413665],[0.4502801993231959,0.4995468106947877]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.027525112531872065,-1.3019785540684523,0.71338606911949],"aabb_xy":[[-0.00677179848586856,-1.3362754402783934],[0.06182202354961268,-1.2676816678585108]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.6606627158169243,-1.2144168367656565,0.71338606911949],"aabb_xy":[[0.6271835485558834,-1.2478959501367635],[0.6941418830779653,-1.1809377233945495]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.06079714970378314,1.3077674839359434,0.71338606911949],"aabb_xy":[[-0.08579714963630103,1.3008848157150201],[-0.03579714977126525,1.3146501521568668]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.5510435254906976,-1.4756842347778267,0.71338606911949],"aabb_xy":[[-0.5563811011567021,-1.5006842357069667],[-0.545705949824693,-1.4506842338486872]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.6614287466504057,1.7081538611269047,0.71338606911949],"aabb_xy":[[-0.6836012736270566,1.6859781939707814],[-0.6392562196737549,1.7303295282830276]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.3258372177048417,1.699746171409379,0.71338606911949],"aabb_xy":[[-0.38083721732658754,1.6447624786219064],[-0.27083721808309585,1.7547298641968518]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.2253811456919676,0.7321535089033517,0.71338606911949],"aabb_xy":[[-0.2675655598527984,0.6681535086261405],[-0.18319673153113689,0.7961535091805629]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[-0.5883307174386316,0.017527799199029914,0.71338606911949],"aabb_xy":[[-0.6533307155945508,-0.008768445350882278],[-0.5233307192827127,0.04382404374894211]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.6573427502562146,-2.3653005058157963,0.71338606911949],"aabb_xy":[[0.6073696847236992,-2.4153005056283297],[0.7073158157887302,-2.315300506003264]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.3833162873841358,-2.13390424821816,0.71338606911949],"aabb_xy":[[0.37690247374095076,-2.1403140684658286],[0.38973010102732064,-2.1274944279704915]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.6160837875072727,1.0579734547905852,0.71338606911949],"aabb_xy":[[0.6073025603600364,1.049193707502055],[0.6248650146545089,1.0667532020791155]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.13321651880391439,-1.149544736230543,0.71338606911949],"aabb_xy":[[-0.19721651519948744,-1.2135080246492767],[-0.06921652240834128,-1.0855814478118095]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.4724440320177177,1.2908723396151207,0.71338606911949],"aabb_xy":[[0.44744403246597914,1.280729855749986],[0.4974440315694561,1.3010148234802554]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.47694041362063255,-1.5619062432532993,0.71338606911949],"aabb_xy":[[0.4319478269021821,-1.6069062425277478],[0.521933000339083,-1.5169062439788503]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.3026903980633366,-0.8213714433184602,0.71338606911949],"aabb_xy":[[-0.3826903994934638,-0.9008885983310695],[-0.2226903966332094,-0.7418542883058505]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.46159589475750873,-0.3914295973103057,0.71338606911949],"aabb_xy":[[-0.5265958926391565,-0.4425532610168466],[-0.396595896875861,-0.3403059336037648]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.07062875802629309,-1.7260075572625904,0.71338606911949],"aabb_xy":[[-0.12062187013548499,-1.7760075579367864],[-0.020635645917101198,-1.6760075565883952]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.3749001241420093,-2.186538016820986,0.71338606911949],"aabb_xy":[[-0.38567309806337713,-2.221538015040025],[-0.36412715022064157,-2.151538018601947]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.5401890193234886,1.418546507116662,0.71338606911949],"aabb_xy":[[-0.5851890207897176,1.3735466502551814],[-0.4951890178572599,1.4635463639781428]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.5891478663133578,-0.7186955927358585,0.71338606911949],"aabb_xy":[[-0.6043200355949911,-0.7338644496640618],[-0.5739756970317245,-0.7035267358076551]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.12309948665693815,1.661086954826167,0.71338606911949],"aabb_xy":[[-0.17309948609713377,1.6111190303418506],[-0.07309948721674253,1.7110548793104832]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[-0.4000324746629297,-1.2719010927707337,0.71338606911949],"aabb_xy":[[-0.4059990136036654,-1.2778622374300974],[-0.39406593572219384,-1.2659399481113696]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_27","position":[0.5601585843126478,-2.0440141284891764,0.71338606911949],"aabb_xy":[[0.5422894765581923,-2.0578470364663874],[0.5780276920671032,-2.0301812205119654]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[-0.5339993200290071,-2.2934204009454002,0.71338606911949],"aabb_xy":[[-0.5684616674271487,-2.327914283343222],[-0.4995369726308651,-2.2589265185475766]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[-0.30475039098094103,-0.21950504977444885,0.71338606911949],"aabb_xy":[[-0.36475039184175373,-0.27093147978093524],[-0.24475039012012814,-0.16807861976796246]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_30","position":[-0.14317640873927429,-0.649506008888737,0.71338606911949],"aabb_xy":[[-0.20817640729634712,-0.6792585423026195],[-0.07817641018220145,-0.6197534754748543]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007585007458607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9001.png","name":"9001"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":615.2071690715175,"rotation_z_degrees":191.98441892650422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004274558439699625,0.0005461525825013885,0.00657368444603882]},{"name":"camera_2","offset_m":[-0.007859957248417824,0.006006210639875085,0.012987569520761574]},{"name":"camera_3","offset_m":[-0.011252219003507431,-0.00933806702039759,-0.008600221143067825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011153792668018693,-0.0015907557538717772,-0.00023305389705875973],"end_effector_yaw_offset_degrees":0.7572475092735569},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015769104370964076,0.0007251234020253768,-0.0018349157054081985],"end_effector_yaw_offset_degrees":-0.5290660752495251},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010624312454487511,0.0007743615186512729,0.0008621262074607096],"end_effector_yaw_offset_degrees":0.9229684028071556}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000987852408317673,-0.0028332518343699166],"position_m":[0.2763121475916823,-0.06883325183436992,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031444746366469474,-0.0008756175349010379],"position_m":[0.25634447463664695,0.21782438246509897,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004301668503175918,0.0028731630871159817],"position_m":[0.34790166850317594,0.05067316308711598,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000633259255408262,-0.00010848306689415811],"position_m":[0.12133325925540826,0.39929151693310583,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004105675457345821,-0.0016496577125701141],"position_m":[0.22180567545734584,-0.44064965771257014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6bd9229adc7a99677b41266c78eb940b5f97242ca2b7c0eb7aa105e704683023","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1419/tex_ceiling_textures_9001/tex_floor_textures_2388/tex_table_textures_2857/tex_wall_textures_8577","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":9164366073729331087,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":9164366073729331087,"visual_seed":9164366073729331087,"scene_id":"lab_003","finished_at":"2026-09-03T20:33:14"} +{"episode_id":"ep_000061","started_at":"2026-09-03T20:33:18","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.20929060533064597,1.5677778330969692,0.71338606911949],"aabb_xy":[[-0.273290607380378,1.5276833500076614],[-0.145290603280914,1.6078723161862774]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.15404148896024616,1.73658186420109,0.71338606911949],"aabb_xy":[[-0.21804148966371556,1.6905634817281692],[-0.09004148825677684,1.7826002466740112]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.3823707718973823,-2.2810409609934563,0.71338606911949],"aabb_xy":[[-0.4048707721408976,-2.2932455956532283],[-0.3598707716538668,-2.2688363263336844]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.06075376535164223,-1.0097913337825388,0.71338606911949],"aabb_xy":[[-0.003246233942525989,-1.0737774741513932],[0.12475376464581045,-0.9458051934136849]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.08706360978485961,-1.608364564652078,0.71338606911949],"aabb_xy":[[-0.09842534443814575,-1.619733031058366],[-0.07570187513157343,-1.5969960982457898]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.20132078140253062,1.1242006312925454,0.71338606911949],"aabb_xy":[[-0.26132078191038355,1.0673538976066241],[-0.1413207808946777,1.1810473649784667]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.6971152288017206,0.1619327537343347,0.71338606911949],"aabb_xy":[[0.6891217390064387,0.15393462179385908],[0.7051087185970027,0.1699308856748104]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.45932883886506337,-2.07088445327361,0.71338606911949],"aabb_xy":[[0.3953288356464255,-2.1176075651726185],[0.5233288420837012,-2.024161341374602]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[0.17232650621845746,-2.3430239540175695,0.71338606911949],"aabb_xy":[[0.1498273704922305,-2.365523954795832],[0.19482564194468444,-2.3205239532393067]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.5479110724395424,0.37028824400156335,0.71338606911949],"aabb_xy":[[-0.5803727733214697,0.34015541188666065],[-0.5154493715576148,0.40042107611646593]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.6285604413848314,-2.0937232197297484,0.71338606911949],"aabb_xy":[[0.5935604400333496,-2.114082955686569],[0.6635604427363131,-2.073363483772927]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.25125540167125665,-1.6152685725818312,0.71338606911949],"aabb_xy":[[-0.2887554017768496,-1.6220907344348123],[-0.21375540156566372,-1.60844641072885]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.6793010970665578,-0.10976760393052931,0.71338606911949],"aabb_xy":[[0.6560192548684265,-0.19476760522775735],[0.7025829392646892,-0.02476760263330124]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.5520540748543066,-0.8201755525749685,0.71338606911949],"aabb_xy":[[0.5345541414203231,-0.8376755524952031],[0.5695540082882898,-0.802675552654734]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.6985845749383892,-0.2719402108429301,0.71338606911949],"aabb_xy":[[0.6880170952802902,-0.28248524095593863],[0.7091520545964882,-0.2613951807299215]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.6004737926073085,1.6768167283093285,0.71338606911949],"aabb_xy":[[-0.6129411507170441,1.664351403676005],[-0.5880064344975728,1.689282052942652]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.35863340606801797,-0.21436929500412916,0.71338606911949],"aabb_xy":[[-0.39309575346615966,-0.24886317740195182],[-0.32417105866987606,-0.17987541260630643]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.009580907299749697,-2.0386362465064356,0.71338606911949],"aabb_xy":[[-0.04006515742677985,-2.0886362462879315],[0.020903342827280458,-1.9886362467249397]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.4087713620097204,0.37229467612107525,0.71338606911949],"aabb_xy":[[-0.4437713603204158,0.3645796611975296],[-0.3737713636990249,0.3800096910446209]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.06598167865088378,-0.7171280038840873,0.71338606911949],"aabb_xy":[[0.015998728463404454,-0.7671280035266476],[0.11596462883836312,-0.6671280042415267]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.5115348880305858,-0.8123509218373786,0.71338606911949],"aabb_xy":[[-0.5755348894385763,-0.8641398733613033],[-0.44753488662259505,-0.7605619703134539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970502810895228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3224.png","name":"3224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3224.png","name":"3224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8805.png","name":"8805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/209.png","name":"209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3331.png","name":"3331"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4519.png","name":"4519"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":616.1966187001354,"rotation_z_degrees":337.1166369015896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019136467033679706,-0.012851742624753597,0.019650558557030826]},{"name":"camera_2","offset_m":[0.005270348878585195,0.007660122234702037,-0.005518161383359654]},{"name":"camera_3","offset_m":[-0.005384958657796868,-0.008249801854257374,0.0004039069931736257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003654123635820788,0.001892445120959782,-0.0015295516811190755],"end_effector_yaw_offset_degrees":-0.6344714305767933},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011392776459491238,0.001840579701993909,0.0015100679721691515],"end_effector_yaw_offset_degrees":-0.8406896643341291},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003494854491481016,0.000598550350114638,-0.0018947820916440687],"end_effector_yaw_offset_degrees":-0.8218087902918432}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00026906040917999436,-0.0029770339498279464],"position_m":[0.27703093959082,-0.06897703394982795,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00017138284270987094,-0.002968271726720483],"position_m":[0.2533713828427098,0.21573172827327952,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0049451459390312475,0.0001539668479004488],"position_m":[0.34854514593903124,0.04795396684790045,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004136373719771499,-0.0006125793189182263],"position_m":[0.1165636262802285,0.39878742068108175,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00047379230047233517,-0.00024182363722056836],"position_m":[0.21817379230047235,-0.4392418236372206,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc550b4ebd65e641ff09aae4f0b9e4e8e4c2e13f82b2733c5f99e79986f99ce4","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3224/tex_ceiling_textures_4519/tex_floor_textures_3331/tex_table_textures_8805/tex_wall_textures_209","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8178620911346314358,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8178620911346314358,"visual_seed":8178620911346314358,"scene_id":"lab_003","finished_at":"2026-09-03T20:36:09"} +{"episode_id":"ep_000062","started_at":"2026-09-03T20:36:12","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.5939031343090722,1.4019578410816025,0.71338606911949],"aabb_xy":[[0.5812763470218758,1.3924117673800296],[0.6065299215962685,1.4115039147831754]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.6010912714429629,-1.5185221688259372,0.71338606911949],"aabb_xy":[[-0.6091276061442478,-1.5265602881303537],[-0.5930549367416781,-1.5104840495215202]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.06423033781776177,-1.53800887340392,0.71338606911949],"aabb_xy":[[-0.005769665573800208,-1.5733246471073505],[0.13423034120932373,-1.5026930997004888]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.26962378328945724,-0.9475863710822054,0.71338606911949],"aabb_xy":[[-0.34962378654730025,-1.0275828788741894],[-0.18962378003161434,-0.8675898632902215]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.23949813835597777,1.0491379148294167,0.71338606911949],"aabb_xy":[[0.17549814107032916,1.0076311958765727],[0.3034981356416264,1.0906446337822606]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.0907669750110549,-0.5177705763103857,0.71338606911949],"aabb_xy":[[-0.10632274442132018,-0.5333210095547929],[-0.07521120560078964,-0.5022201430659785]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.6016836193963329,0.5240428558408365,0.71338606911949],"aabb_xy":[[-0.6072652910304617,0.511542856023061],[-0.596101947762204,0.536542855658612]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.16187415209119183,-0.757967914765779,0.71338606911949],"aabb_xy":[[-0.22587415376918918,-0.8064853062450931],[-0.09787415041319447,-0.7094505232864646]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.4686387419837802,-0.26010800506791476,0.71338606911949],"aabb_xy":[[-0.47409668762080026,-0.34010800837557387],[-0.4631807963467601,-0.18010800176025565]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.18163761921007937,-0.34165754848441754,0.71338606911949],"aabb_xy":[[-0.2315203160877756,-0.39165754773069233],[-0.13175492233238317,-0.2916575492381428]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.07720848080419651,1.350178585248278,0.71338606911949],"aabb_xy":[[0.041294976379206816,1.3142650770315232],[0.11312198522918618,1.3860920934650323]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.25970700303239747,-1.5040193084424902,0.71338606911949],"aabb_xy":[[-0.3237070063221056,-1.5473542274464076],[-0.19570699974268937,-1.4606843894385724]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.2761906721935724,0.8175678900338061,0.71338606911949],"aabb_xy":[[0.24754133983315613,0.7889223307567302],[0.3048400045539886,0.8462134493108818]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.09039840418338796,1.2745973848016163,0.71338606911949],"aabb_xy":[[-0.10504180973742094,1.259938665144832],[-0.07575499862935497,1.2892561044584006]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.5454678408280313,-1.8708957172668632,0.71338606911949],"aabb_xy":[[0.5084337313999716,-1.9052729246005724],[0.5825019502560911,-1.8365185099331536]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.11080206726848574,-1.9122891039550889,0.71338606911949],"aabb_xy":[[-0.13580206654044802,-1.9286344675512512],[-0.08580206799652346,-1.8959437403589265]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[0.1534273184784961,-1.759261268310314,0.71338606911949],"aabb_xy":[[0.06342731875532191,-1.7823346208454935],[0.24342731820167027,-1.7361879157751339]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.5535982520666061,-0.4510896251428185,0.71338606911949],"aabb_xy":[[0.5036249580633456,-0.5010896256973658],[0.6035715460698665,-0.4010896245882711]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.3772392752873506,-1.1870729311368862,0.71338606911949],"aabb_xy":[[0.35973927504230113,-1.204572718976453],[0.3947392755323999,-1.1695731432973193]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.33647368273243017,0.5787128618960504,0.71338606911949],"aabb_xy":[[-0.3817522976135794,0.5147128625478666],[-0.2911950678512809,0.642712861244234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928724918466681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5155.png","name":"5155"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/848.png","name":"848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6643.png","name":"6643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":701.4308607954688,"rotation_z_degrees":221.36587129209852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019602794214335025,0.0173048927726111,-0.017082718234594646]},{"name":"camera_2","offset_m":[0.016361422920292756,-0.004352903577184937,-0.01727497850105702]},{"name":"camera_3","offset_m":[-0.008535150223076396,0.007617051001414285,0.007900451244125986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010860154475919792,0.001859788412357496,9.531039293180464e-05],"end_effector_yaw_offset_degrees":0.41729820549926844},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018148646958036974,0.0008795877600428778,-0.0009905762098991638],"end_effector_yaw_offset_degrees":-0.5748211105402492},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001937963688283968,-0.000558324954634962,0.0006146891587170901],"end_effector_yaw_offset_degrees":0.7882975719985685}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004682693766058294,-0.004939112611037418],"position_m":[0.2819826937660583,-0.07093911261103743,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005331782540036077,-0.0014079703793650998],"position_m":[0.2537331782540036,0.2172920296206349,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0019736004370742386,-0.00044454888084598763],"position_m":[0.34557360043707425,0.04735545111915401,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003757011614536285,0.003447736072089979],"position_m":[0.12445701161453629,0.40284773607208996,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014750801335265086,0.003991434665312685],"position_m":[0.2162249198664735,-0.4350085653346873,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd99bc84df2d022bead6afd756817885bebd03a0385a2722fc1f0c9ba219ea0f","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8694/tex_ceiling_textures_3494/tex_floor_textures_6643/tex_table_textures_5155/tex_wall_textures_848","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6341176193555990016,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6341176193555990016,"visual_seed":6341176193555990016,"scene_id":"lab_003","finished_at":"2026-09-03T20:38:52"} +{"episode_id":"ep_000063","started_at":"2026-09-03T20:38:55","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.03573604636808059,-1.4062980216370713,0.71338606911949],"aabb_xy":[[0.023109259080884237,-1.4158440953386442],[0.04836283365527694,-1.3967519479354984]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.19820768499229835,-0.626019622957142,0.71338606911949],"aabb_xy":[[-0.24601385260606698,-0.6910196256642008],[-0.1504015173785297,-0.5610196202500829]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.15346455153296046,-1.3211939071577443,0.71338606911949],"aabb_xy":[[-0.21346455317588234,-1.3731940564496885],[-0.09346454989003863,-1.2691937578658001]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.4263154844217312,-1.338868716613792,0.71338606911949],"aabb_xy":[[0.4165594949125572,-1.3486312506730262],[0.436071473930905,-1.3291061825545574]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.3934777397198246,-0.9760352441089519,0.71338606911949],"aabb_xy":[[0.33847774054323504,-1.0310249188839096],[0.448477738896414,-0.9210455693339943]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.01261944751267674,-2.225710089027311,0.71338606911949],"aabb_xy":[[-0.01965975744621374,-2.305710088426983],[-0.0055791375791397506,-2.14571008962764]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.0818383493616679,-0.7581067305405891,0.71338606911949],"aabb_xy":[[0.06923565022459145,-0.7707021267654546],[0.09444104849874436,-0.7455113343157236]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.5088897297447996,0.872564484252647,0.71338606911949],"aabb_xy":[[0.4738897306148441,0.8668192631769829],[0.5438897288747554,0.8783097053283111]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.6006296759001244,0.2774723516160531,0.71338606911949],"aabb_xy":[[0.5109425995920089,0.18747235136160256],[0.6903167522082398,0.36747235187050364]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[0.4151683341932606,-1.6143242530376982,0.71338606911949],"aabb_xy":[[0.3314461086931781,-1.7043242565723942],[0.498890559693343,-1.5243242495030023]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[-0.16081760279080493,1.5666449740881592,0.71338606911949],"aabb_xy":[[-0.2107964113011208,1.5166449740824401],[-0.11083879428048904,1.6166449740938778]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.526764231530116,-1.8388601510394378,0.71338606911949],"aabb_xy":[[0.5092642312707795,-1.8529516932282106],[0.5442642317894527,-1.8247686088506654]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.6434298764103861,-1.0246727084330172,0.71338606911949],"aabb_xy":[[0.6259298772760188,-1.0345523354706048],[0.6609298755447531,-1.0147930813954291]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.35219311324110414,0.9621239533705395,0.71338606911949],"aabb_xy":[[-0.36652753836726754,0.9500637378160005],[-0.33785868811494063,0.9741841689250782]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.21218874705563734,1.118403880035585,0.71338606911949],"aabb_xy":[[-0.2921887442152126,1.1068562790777678],[-0.13218874989606205,1.129951480993402]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.04139416116484418,-2.5225150142321744,0.71338606911949],"aabb_xy":[[-0.09139416218397944,-2.5589812299700028],[0.008605839854291095,-2.486048798494347]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.5039585688347495,-0.14309570980732644,0.71338606911949],"aabb_xy":[[-0.5158306518462507,-0.2280957095009768],[-0.49208648582324843,-0.05809571011367609]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.2755120282962906,-2.1670892269076645,0.71338606911949],"aabb_xy":[[0.22603160708233183,-2.2310892248205167],[0.3249924495102494,-2.103089228994813]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.12474204109487952,-0.9251640847939684,0.71338606911949],"aabb_xy":[[-0.204742043257642,-1.005119268420112],[-0.044742038932117034,-0.8452089011678248]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.5855449163521361,0.7510850596867393,0.71338606911949],"aabb_xy":[[-0.6355449180136308,0.7010866174310365],[-0.5355449146906412,0.8010835019424419]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.23929421751584007,1.3416899956525388,0.71338606911949],"aabb_xy":[[-0.31929421617272613,1.3271851367282759],[-0.1592942188589541,1.3561948545768017]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.45079120596322575,1.573678974272989,0.71338606911949],"aabb_xy":[[0.4435474399169803,1.4936789760693867],[0.45803497200947096,1.6536789724765915]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[0.5325539311855589,-0.4306730116180808,0.71338606911949],"aabb_xy":[[0.4685539279669211,-0.47739612351708915],[0.5965539344041968,-0.38394989971907245]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.29675161726057675,0.7861801690259695,0.71338606911949],"aabb_xy":[[0.2582059244353757,0.7476343979697809],[0.3352973100857778,0.8247259400821582]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[0.11221872172893788,-2.39093042953969,0.71338606911949],"aabb_xy":[[0.08838250408833281,-2.480930430348177],[0.13605493936954294,-2.300930428731204]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[-0.5603637146886674,1.6599602314416875,0.71338606911949],"aabb_xy":[[-0.6243637111159893,1.6127906076195913],[-0.4963637182613455,1.7071298552637841]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.30808604934171335,-1.0470113885407952,0.71338606911949],"aabb_xy":[[-0.3256643515306602,-1.0645858781149],[-0.2905077471527665,-1.0294368989666904]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.0999829287110573,0.03121744467388554,0.71338606911949],"aabb_xy":[[-0.12782796549166442,0.0004329459355738585],[-0.07213789193045017,0.062001943412197225]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[0.5903580502817689,1.7260857973257635,0.71338606911949],"aabb_xy":[[0.5203580476451825,1.705980932329898],[0.6603580529183551,1.746190662321629]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.34293845143498447,1.037433323222619,0.71338606911949],"aabb_xy":[[0.2929384527890633,0.9875137795631566],[0.39293845008090567,1.0873528668820813]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.6112264166337871,1.2463887202861041,0.71338606911949],"aabb_xy":[[-0.6612256918022232,1.196388719010157],[-0.5612271414653509,1.2963887215620513]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_31","position":[-0.34280596755308923,-0.1336702284738278,0.71338606911949],"aabb_xy":[[-0.39777968958942217,-0.188670228038061],[-0.2878322455167564,-0.07867022890959463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699439600479069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2961.png","name":"2961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6827.png","name":"6827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":730.4488164291608,"rotation_z_degrees":349.42773527200256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0148944934616583,-0.008663713631971489,0.007112644315449616]},{"name":"camera_2","offset_m":[0.0038523755805690563,-0.019636599228815332,-0.007094642166711433]},{"name":"camera_3","offset_m":[0.01731334778743653,0.008744296477508594,0.006871238699631802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010856533635571074,0.000710571906090497,-0.0012699037289201683],"end_effector_yaw_offset_degrees":-0.04508008628223226},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-7.166871461847181e-05,-0.0009714279630268624,-0.0007385429407886885],"end_effector_yaw_offset_degrees":-0.8698926876043578},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007946405737609666,-0.0015679550073634282,-0.001973564629559723],"end_effector_yaw_offset_degrees":-0.8605736434984292}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00235934590477238,-0.0027039383515050663],"position_m":[0.27965934590477237,-0.06870393835150507,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001986526533913935,0.0031447126387732895],"position_m":[0.251213473466086,0.22184471263877328,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0020886788419084553,4.132461702340256e-05],"position_m":[0.34568867884190846,0.0478413246170234,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003129520485675809,-0.0007489480172037143],"position_m":[0.1175704795143242,0.39865105198279627,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032315527739415475,-0.0006330489024239053],"position_m":[0.22093155277394155,-0.4396330489024239,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca33732b2726391bef6b1905c8731993741f90070d222d2e03a762b5ca49c39e","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0070.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5522/tex_ceiling_textures_5077/tex_floor_textures_6827/tex_table_textures_2961/tex_wall_textures_5657","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5200011010869002711,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5200011010869002711,"visual_seed":5200011010869002711,"scene_id":"lab_003","finished_at":"2026-09-03T20:41:40"} +{"episode_id":"ep_000064","started_at":"2026-09-03T20:41:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.20503956447562605,0.44099227275937913,0.71338606911949],"aabb_xy":[[-0.22059533388589134,0.425441839514972],[-0.1894837950653608,0.4565427060037864]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.4323215057520533,0.7958094570745682,0.71338606911949],"aabb_xy":[[0.4282055556399806,0.7916939020417225],[0.4364374558641259,0.7999250121074136]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.5185110183988844,0.520868821888691,0.71338606911949],"aabb_xy":[[-0.5259234739402727,0.5150176114670632],[-0.5110985628574958,0.526720032310319]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.6107014957535881,-2.225398704530846,0.71338606911949],"aabb_xy":[[-0.6474961288784944,-2.262304579627428],[-0.5739068626286818,-2.1884928294342636]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.268926042013083,0.4979711076087612,0.71338606911949],"aabb_xy":[[0.25113253507816663,0.48017136201296345],[0.2867195489479995,0.5157708532045588]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.0887119056248109,-1.0738621864229922,0.71338606911949],"aabb_xy":[[0.05874434871498524,-1.103862186720878],[0.11867946253463657,-1.0438621861251065]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.3188383770655484,-0.828487577233098,0.71338606911949],"aabb_xy":[[-0.33626909214455486,-0.8457596918969487],[-0.30140766198654184,-0.811215462569247]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.5171659288783288,0.09865489730940924,0.71338606911949],"aabb_xy":[[-0.5971659268591138,0.0910533563475573],[-0.4371659308975438,0.1062564382712612]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.19317719664144195,1.115680958002362,0.71338606911949],"aabb_xy":[[0.10317720014057015,1.0697693155839036],[0.2831771931423136,1.1615926004208201]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.6677944477993627,-1.6611636335611015,0.71338606911949],"aabb_xy":[[0.6502945143653792,-1.6786636334813358],[0.685294381233346,-1.6436636336408668]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.163419032988938,0.6985413450145894,0.71338606911949],"aabb_xy":[[0.07841903457151478,0.6136670495523044],[0.24841903140636123,0.7834156404768744]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.24218941945726058,-0.9169332841838542,0.71338606911949],"aabb_xy":[[0.1921894177957658,-0.9669317264395567],[0.2921894211187553,-0.8669348419281513]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.22577407788004222,-2.3829464101007725,0.71338606911949],"aabb_xy":[[-0.26168758230503186,-2.418859918317527],[-0.1898605734550525,-2.3470329018840173]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.48594005035576315,-2.11003026515585,0.71338606911949],"aabb_xy":[[0.477826395682386,-2.118136081609878],[0.4940537050291402,-2.1019244487018205]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.5883174670239799,-1.0584403597120666,0.71338606911949],"aabb_xy":[[0.5571705481803968,-1.1284403583988736],[0.619464385867563,-0.9884403610252592]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.01091335044726216,1.1529247861696472,0.71338606911949],"aabb_xy":[[-0.022565816813778776,1.1194456727985402],[0.044392517708303096,1.1864038995407542]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.427403445571338,-1.9504159828738623,0.71338606911949],"aabb_xy":[[0.4158344648244015,-1.9754159829907942],[0.43897242631827466,-1.9254159827569308]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.621896377218674,0.7613585505164377,0.71338606911949],"aabb_xy":[[-0.6454815006825687,0.696358548271006],[-0.598311253754779,0.8263585527618695]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.11541926290772986,-0.6759487637308461,0.71338606911949],"aabb_xy":[[-0.18541926554431615,-0.6960536287267116],[-0.04541926027114347,-0.6558438987349806]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[0.20253493706256676,1.3551932506705588,0.71338606911949],"aabb_xy":[[0.1125349347285477,1.2777108960854462],[0.2925349393965858,1.4326756052556715]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.24295448223253824,-1.4901370381962515,0.71338606911949],"aabb_xy":[[-0.27741682963068,-1.5246309205940738],[-0.2084921348343964,-1.4556431557984284]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.5696717343280857,-1.4174638363102938,0.71338606911949],"aabb_xy":[[0.5323404578028431,-1.452116891105146],[0.6070030108533283,-1.3828107815154416]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.501845258225273,-1.7812056755331371,0.71338606911949],"aabb_xy":[[0.42184526082167956,-1.8611982467313197],[0.5818452556288664,-1.701213104334954]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[-0.22330920565858664,1.342105400311385,0.71338606911949],"aabb_xy":[[-0.24080920591792332,1.3280138581226126],[-0.20580920539925007,1.3561969425001579]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926420679733731,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3967.png","name":"3967"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3967.png","name":"3967"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5934.png","name":"5934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6371.png","name":"6371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6105.png","name":"6105"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2837.png","name":"2837"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":679.6021659176087,"rotation_z_degrees":157.33006976961153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002493880410474575,-0.002645054140168676,-0.00114607093673735]},{"name":"camera_2","offset_m":[-0.010298128592376945,-0.0172580752750369,0.015011946663013986]},{"name":"camera_3","offset_m":[-0.008335852337744672,0.01897338802357192,0.012997244914458823]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008877450650360435,-0.0014026143421609358,-0.0008165044112890345],"end_effector_yaw_offset_degrees":-0.6342094973077528},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012374773152101066,0.00011806408517859007,0.0015016665582141256],"end_effector_yaw_offset_degrees":-0.05601561524113108},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001848408375786596,-0.0009321459376328365,-0.0007269584003924208],"end_effector_yaw_offset_degrees":-0.4041341919702872}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001399568434819247,-0.00485777556070969],"position_m":[0.27869956843481924,-0.0708577755607097,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016429875223837268,0.001163909751171882],"position_m":[0.2548429875223837,0.2198639097511719,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0008596698029828985,0.0009192834799344437],"position_m":[0.3444596698029829,0.04871928347993445,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045305226145665525,0.0020263939256988626],"position_m":[0.11616947738543346,0.40142639392569884,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011539176633453352,0.004757318902992022],"position_m":[0.21654608233665468,-0.434242681097008,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f571167e69cb1c3ab834c78f60db41654ad7431604fd604e7b5b790cdd380fc7","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3967/tex_ceiling_textures_2837/tex_floor_textures_6105/tex_table_textures_5934/tex_wall_textures_6371","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4316610206642501357,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4316610206642501357,"visual_seed":4316610206642501357,"scene_id":"lab_003","finished_at":"2026-09-03T20:44:30"} +{"episode_id":"ep_000065","started_at":"2026-09-03T20:44:33","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.13362868599274014,-1.2102737182369354,0.71338606911949],"aabb_xy":[[-0.15612868600288843,-1.2243699378765387],[-0.11112868598259185,-1.1961774985973321]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.5139047211509296,-1.7063553870143187,0.71338606911949],"aabb_xy":[[0.4640879416860947,-1.7563553854986218],[0.5637215006157642,-1.656355388530015]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.6284400290835099,1.5244366213424034,0.71338606911949],"aabb_xy":[[0.6051581868853785,1.439436620045175],[0.6517218712816412,1.609436622639631]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.3372075630608957,0.5600364338160184,0.71338606911949],"aabb_xy":[[-0.34134341939359597,0.5225364343716615],[-0.3330717067281956,0.5975364332603755]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.3196175861275602,-2.4414620141517798,0.71338606911949],"aabb_xy":[[-0.3542086689816053,-2.506462014436811],[-0.28502650327351486,-2.3764620138667487]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.6033139853236569,-1.3578031547864382,0.71338606911949],"aabb_xy":[[-0.6184861546052902,-1.3729720117146416],[-0.5881418160420235,-1.3426342978582348]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.20423231363866634,1.3282354093567545,0.71338606911949],"aabb_xy":[[0.17901147677882664,1.3030116585038676],[0.22945315049850598,1.353459160209641]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.3177652978161404,-0.96336695101755,0.71338606911949],"aabb_xy":[[-0.3677495335243176,-1.0133669498310454],[-0.26778106210796315,-0.9133669522040543]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.15378883507840846,1.4446401403424658,0.71338606911949],"aabb_xy":[[-0.16105008264881587,1.4318531300789563],[-0.14652758750800104,1.4574271506059753]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.47603793136733186,0.9006377346418621,0.71338606911949],"aabb_xy":[[-0.498502701338737,0.8781377337630015],[-0.45357316139592674,0.9231377355207225]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.4289824839674079,0.7325402025726881,0.71338606911949],"aabb_xy":[[0.41651512585767225,0.7200748779393646],[0.44144984207714355,0.7450055272060117]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.41236121207972215,-1.3540565537383256,0.71338606911949],"aabb_xy":[[-0.43486121259176275,-1.3765484121037237],[-0.38986121156768155,-1.331564695372927]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[-0.5769253929997891,-0.8891702215170603,0.71338606911949],"aabb_xy":[[-0.6112223040175295,-0.9234671077270014],[-0.5426284819820484,-0.8548733353071187]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.24929933745147598,0.9961368279755174,0.71338606911949],"aabb_xy":[[-0.2903172808378468,0.9461368273445602],[-0.20828139406510504,1.0461368286064747]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.590780021047426,-0.4002169479849953,0.71338606911949],"aabb_xy":[[-0.654780023267833,-0.44459003211028353],[-0.526780018827019,-0.35584386385970695]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.04944872187651761,1.5490964763952637,0.71338606911949],"aabb_xy":[[-0.09943167206399693,1.4990964767527033],[0.0005342283109617262,1.5990964760378241]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.28485078100762706,0.6863989970142543,0.71338606911949],"aabb_xy":[[-0.2957023872565026,0.6755397062866033],[-0.2739991747587514,0.6972582877419053]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.292372588996479,-2.5220789581657734,0.71338606911949],"aabb_xy":[[0.22737258803935181,-2.574027170099479],[0.3573725899536062,-2.470130746232068]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.6215349538018224,-2.1715293616511744,0.71338606911949],"aabb_xy":[[-0.6306948327456989,-2.1780605796947112],[-0.6123750748579457,-2.1649981436076375]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.2745499622088377,-1.9816678381003192,0.71338606911949],"aabb_xy":[[-0.33854996455163927,-2.0266086893444513],[-0.21054995986603617,-1.9367269868561867]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.5631057494631504,0.19404752223950839,0.71338606911949],"aabb_xy":[[0.5395206259992554,0.12904751999407663],[0.5866908729270451,0.2590475244849402]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.6280356291591268,0.1858964470636768,0.71338606911949],"aabb_xy":[[-0.656684961519543,0.157250887786601],[-0.5993862967987106,0.2145420063407526]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.5438053590655547,-1.4803360999742312,0.71338606911949],"aabb_xy":[[0.513407247966411,-1.5107430019759005],[0.5742034701646982,-1.4499291979725615]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.547177408723869,-0.38657931083215624,0.71338606911949],"aabb_xy":[[0.4970799447427954,-0.45057931134196805],[0.5972748727049426,-0.32257931032234444]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.5020373760159371,-1.9703690139187815,0.71338606911949],"aabb_xy":[[-0.5820373746032566,-2.0496846158569424],[-0.42203737742861774,-1.8910534119806206]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.23461845780918372,0.7973495927854755,0.71338606911949],"aabb_xy":[[-0.2714690057461714,0.7598495919624417],[-0.19776790987219614,0.8348495936085092]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.48930741017804746,-1.5734398967586845,0.71338606911949],"aabb_xy":[[0.4737516407677823,-1.588990330003092],[0.5048631795883128,-1.5578894635142777]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.6952436943731823,0.3952143520544751,0.71338606911949],"aabb_xy":[[0.6702436952075492,0.3882621063491185],[0.7202436935388155,0.40216659775983166]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[-0.5731390656924454,0.7284712646194516,0.71338606911949],"aabb_xy":[[-0.6231178742027613,0.6784712646137326],[-0.5231602571821296,0.7784712646251702]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[0.15949940380615546,-2.034978353244733,0.71338606911949],"aabb_xy":[[0.06949940408298126,-2.058051705779913],[0.24949940352932962,-2.0119050007095534]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_30","position":[-0.4180896326201409,1.7002888254913322,0.71338606911949],"aabb_xy":[[-0.49808963588415406,1.6867287931824189],[-0.3380896293561278,1.7138488578002455]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_31","position":[-0.1536475769887381,-0.1573265391881864,0.71338606911949],"aabb_xy":[[-0.19114757733696586,-0.16911793476926995],[-0.11614757664051034,-0.14553514360710285]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[0.4083056960432103,1.0289851801982013,0.71338606911949],"aabb_xy":[[0.3531804904136195,0.968985178756914],[0.46343090167280104,1.0889851816394882]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_33","position":[-0.41209358312969896,1.1006837159770502,0.71338606911949],"aabb_xy":[[-0.4620935825698946,1.0507157914927339],[-0.36209358368950334,1.1506516404613665]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_34","position":[0.3632925758860521,-2.152016239028415,0.71338606911949],"aabb_xy":[[0.32596129936080953,-2.1866692938232677],[0.4006238524112947,-2.117363184233563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011785343426308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1720.png","name":"1720"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1720.png","name":"1720"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9253.png","name":"9253"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7116.png","name":"7116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3526.png","name":"3526"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/832.png","name":"832"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":715.9414971791284,"rotation_z_degrees":298.7801096750836,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00411404476863602,0.010167791946091315,0.013641870850250832]},{"name":"camera_2","offset_m":[0.015221868592400916,-0.005671654330273661,-0.0020547943562453062]},{"name":"camera_3","offset_m":[-0.006566222398486294,0.00045714017065181384,0.0006868286222699166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001998537723254929,0.0011526410605909297,0.0006117080137860681],"end_effector_yaw_offset_degrees":-0.8871398819202689},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001070107844066167,0.0004303599421057614,0.0013168960498959343],"end_effector_yaw_offset_degrees":-0.6003241682380553},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019210571636886498,-0.0017802243284993264,-0.00048270555272972044],"end_effector_yaw_offset_degrees":-0.23367381524214204}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002780210793239277,-0.0049019797635180265],"position_m":[0.28008021079323925,-0.07090197976351803,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011227595683053248,-0.004721377870435669],"position_m":[0.2543227595683053,0.21397862212956434,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-2.7548845071008465e-05,0.0008860202889093057],"position_m":[0.343572451154929,0.04868602028890931,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009879329456281925,-0.0017173593048339418],"position_m":[0.1216879329456282,0.397682640695166,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027695576441648054,-0.003961828545786521],"position_m":[0.22046955764416482,-0.44296182854578653,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"359b6789e5972a920e579e3e305b5aadc661b5feb44f6528f676eeacf157120f","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1720/tex_ceiling_textures_832/tex_floor_textures_3526/tex_table_textures_9253/tex_wall_textures_7116","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1075941659933093930,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1075941659933093930,"visual_seed":1075941659933093930,"scene_id":"lab_003","finished_at":"2026-09-03T20:47:05"} +{"episode_id":"ep_000066","started_at":"2026-09-03T20:47:09","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.35608335141232944,-0.02094058953755429,0.71338606911949],"aabb_xy":[[-0.3621203644129942,-0.026967290606502495],[-0.35004633841166477,-0.014913888468606085]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.5232411493446347,-1.7537119634168459,0.71338606911949],"aabb_xy":[[-0.5319391116353501,-1.7658369377243204],[-0.5145431870539195,-1.741586989109371]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.643970334580403,0.0339425891291234,0.71338606911949],"aabb_xy":[[-0.6526843036303372,0.011442588469935169],[-0.6352563655304683,0.05644258978831161]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.5081941784616988,-1.3795350348304314,0.71338606911949],"aabb_xy":[[0.48435796082109384,-1.4695350356389179],[0.532030396102304,-1.289535034021945]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.042839979115681714,1.3300717896153955,0.71338606911949],"aabb_xy":[[-0.021160024174026393,1.286736870611478],[0.10683998240538983,1.3734067086193131]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.4820706259769971,0.4478689269948033,0.71338606911949],"aabb_xy":[[-0.5170706251698154,0.4369018809971406],[-0.4470706267841788,0.45883597299246587]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[-0.3347480134748409,-2.481066396879186,0.71338606911949],"aabb_xy":[[-0.3526171212292964,-2.494899304856397],[-0.3168789057203854,-2.467233488901975]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.41543241363588645,-1.2136306227071845,0.71338606911949],"aabb_xy":[[0.39352373149653536,-1.2355312895272752],[0.43734109577523744,-1.1917299558870937]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.3823439134725499,0.8566129079357361,0.71338606911949],"aabb_xy":[[0.3328634922585912,0.7926129100228843],[0.43182433468650877,0.9206129058485879]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.33633548221356224,-1.3388516571324065,0.71338606911949],"aabb_xy":[[0.29883548069793053,-1.3500784301485516],[0.37383548372919395,-1.3276248841162615]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.48675579975830185,-1.879274735320441,0.71338606911949],"aabb_xy":[[0.4804437002219634,-1.8850416745736598],[0.4930678992946403,-1.873507796067222]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.14060315762844344,1.6384850449105,0.71338606911949],"aabb_xy":[[0.0954318397802745,1.5744850477659618],[0.18577447547661244,1.7024850420550386]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.25885375010853756,-0.8577412791200927,0.71338606911949],"aabb_xy":[[-0.2636973448697676,-0.8625929315990769],[-0.25401015534730764,-0.8528896266411087]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.09264158103330433,0.8805059968223699,0.71338606911949],"aabb_xy":[[-0.1052683683205007,0.870959923120797],[-0.080014793746108,0.8900520705239428]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.04704226507244402,-0.8883080755356887,0.71338606911949],"aabb_xy":[[-0.007957733129300806,-0.9288300421621262],[0.10204226327418886,-0.847786108909251]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.6184353828443123,-0.8563486997792489,0.71338606911949],"aabb_xy":[[-0.6684353814902335,-0.9062682434387113],[-0.5684353841983911,-0.8064291561197865]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.3404374287512708,-0.4125750086264368,0.71338606911949],"aabb_xy":[[0.3288684480043343,-0.4375750087433685],[0.35200640949820744,-0.3875750085095051]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.560756723734285,0.9441509172276237,0.71338606911949],"aabb_xy":[[0.49675672139148347,0.8992100659834912],[0.6247567260770865,0.9890917684717562]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.14552579866457593,1.0296972998692144,0.71338606911949],"aabb_xy":[[0.0905325873274392,0.9746972995304211],[0.20051901000171274,1.0846973002080083]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.31110985835110333,-0.1917113518475979,0.71338606911949],"aabb_xy":[[-0.3911098588213194,-0.20002205946194632],[-0.23110985788088745,-0.18340064423324953]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.012914016613793433,-2.2077988532851296,0.71338606911949],"aabb_xy":[[-0.032364598267355826,-2.2717988526333137],[0.05819263149494269,-2.1437988539369464]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.47652993897058193,1.3472690434483976,0.71338606911949],"aabb_xy":[[0.43902993915354843,1.3426308321372558],[0.5140299387876155,1.3519072547595394]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.2944662660021863,-0.9961857346637792,0.71338606911949],"aabb_xy":[[0.27929409672055294,-1.0113545915919826],[0.3096384352838196,-0.9810168777355759]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.09548472258046814,1.471942513334883,0.71338606911949],"aabb_xy":[[-0.1207055594403078,1.446718762481996],[-0.07026388572062846,1.4971662641877694]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[-0.22371796735165084,1.2731441827444678,0.71338606911949],"aabb_xy":[[-0.2877136647467474,1.209144184443759],[-0.15972226995655422,1.3371441810451763]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_25","position":[0.06021421027021823,-1.6618999434001736,0.71338606911949],"aabb_xy":[[-0.0037857899902525856,-1.7069087427531013],[0.12421421053068903,-1.6168911440472453]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.1449204514568948,0.3791718135954052,0.71338606911949],"aabb_xy":[[-0.15779235495783495,0.299171813181569],[-0.13204854795595466,0.4591718140092413]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.4969289920492628,-0.854421178384952,0.71338606911949],"aabb_xy":[[0.441928992427517,-0.9094048711724247],[0.5519289916710086,-0.7994374855974793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994235451141524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3548.png","name":"3548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3548.png","name":"3548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3340.png","name":"3340"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2529.png","name":"2529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7613.png","name":"7613"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":830.0271436123946,"rotation_z_degrees":298.46409436688555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016035767128607336,-0.01208499514256276,0.017801803471841623]},{"name":"camera_2","offset_m":[0.0011211458954449582,0.014587298810611053,-0.010321072910675268]},{"name":"camera_3","offset_m":[0.018488194611519775,0.013103345402259162,-0.0050312427352439786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019860189450460787,0.0015689134074202875,-0.0010604762534055113],"end_effector_yaw_offset_degrees":-0.17909338883228032},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015923217746035819,-0.001773684594959199,-0.001541842558865168],"end_effector_yaw_offset_degrees":-0.6705213122333398},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015054696057872955,0.0016807847925748333,-0.00010873557686147482],"end_effector_yaw_offset_degrees":0.8430638337575966}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004807227065087887,-2.245435066363516e-05],"position_m":[0.2724927729349121,-0.06602245435066365,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004559359659945215,0.003529141128143446],"position_m":[0.24864064034005476,0.22222914112814346,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0037194101816494076,0.0004604582783606769],"position_m":[0.3398805898183506,0.04826045827836068,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019975207657932825,0.0024014229971080266],"position_m":[0.11870247923420672,0.401801422997108,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018090194568010608,-0.004796994191913555],"position_m":[0.2175190980543199,-0.44379699419191354,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a6e0f9cc88ead555ab5b37c91aa6db07fabfb7f8d5f075de5931c4978fc426a9","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3548/tex_ceiling_textures_7613/tex_floor_textures_2529/tex_table_textures_2369/tex_wall_textures_3340","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3082814905440138454,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3082814905440138454,"visual_seed":3082814905440138454,"scene_id":"lab_003","finished_at":"2026-09-03T20:49:54"} +{"episode_id":"ep_000067","started_at":"2026-09-03T20:49:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.3268492171179374,-0.5982418631888899,0.71338606911949],"aabb_xy":[[-0.3768484922863736,-0.6482418644648372],[-0.2768499419495013,-0.5482418619129429]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.40395565305983405,-2.3260861340653,0.71338606911949],"aabb_xy":[[0.39318267913846633,-2.361086132284339],[0.4147286269812019,-2.291086135846261]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.48129722500239724,0.20625280379296962,0.71338606911949],"aabb_xy":[[0.4636215944137989,0.18857258751356684],[0.4989728555909956,0.22393302007237234]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.09595935061794869,1.6937069204186321,0.71338606911949],"aabb_xy":[[0.07345935080404632,1.6892323040481512],[0.11845935043185109,1.6981815367891127]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.1447151108051511,-2.519360805693559,0.71338606911949],"aabb_xy":[[0.10786456286816348,-2.5568608065165925],[0.1815656587421387,-2.481860804870525]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.03725849192934605,-0.044409106617457894,0.71338606911949],"aabb_xy":[[-0.05546431559059373,-0.055434507199449534],[-0.01905266826809837,-0.033383706035466254]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.19836379424810763,0.4563964571006105,0.71338606911949],"aabb_xy":[[-0.22027247638745864,0.43449579028051977],[-0.17645511210875656,0.47829712392070123]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.06385857116867277,-1.9805800003592833,0.71338606911949],"aabb_xy":[[-0.11885404898933215,-2.03558000179319],[-0.00886309334801337,-1.9255799989253761]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.566929943959045,-1.91865958065648,0.71338606911949],"aabb_xy":[[0.5620306516524814,-1.9463364999590484],[0.5718292362656084,-1.890982661353911]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.6354494642195303,1.3980189239076557,0.71338606911949],"aabb_xy":[[0.6294829252787945,1.3920577792482915],[0.6414160031602659,1.4039800685670198]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.28148001422932967,0.9660278270714513,0.71338606911949],"aabb_xy":[[0.2174800125513323,0.917510435592137],[0.345480015907327,1.0145452185507655]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.671293856673336,-1.5135819380832218,0.71338606911949],"aabb_xy":[[-0.6887938569183852,-1.5310817259227885],[-0.6537938564282865,-1.4960821502436548]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.635648669309782,1.4559730021980228,0.71338606911949],"aabb_xy":[[-0.6699649464843999,1.4059730022248451],[-0.601332392135164,1.5059730021712006]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.38218548933371105,-1.3566069894280275,0.71338606911949],"aabb_xy":[[-0.4461854886278792,-1.4205931297968817],[-0.3181854900395428,-1.2926208490591733]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.4941317048015948,1.4093468444613952,0.71338606911949],"aabb_xy":[[-0.515409712945067,1.344346842135322],[-0.47285369665812255,1.474346846787468]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.5906814898941155,0.0647590845391468,0.71338606911949],"aabb_xy":[[0.5521357970689145,0.02621331348295816],[0.6292271827193165,0.10330485559533548]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.18614149189943963,0.3610701850654281,0.71338606911949],"aabb_xy":[[-0.2661414890590149,0.349522584107611],[-0.10614149473986434,0.3726177860232451]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.4134633781489008,0.5531525429254165,0.71338606911949],"aabb_xy":[[-0.4934633768057868,0.5386476840011538],[-0.33346337949201477,0.5676574018496794]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.3596443224684718,1.673802138110824,0.71338606911949],"aabb_xy":[[0.32464432257245285,1.6654279025988838],[0.3946443223644906,1.682176373622764]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.333955834400245,0.17760460964548974,0.71338606911949],"aabb_xy":[[-0.38395583384044063,0.1276366851611734],[-0.2839558349600494,0.22757253412980602]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.45288318392518956,-0.08064387458768474,0.71338606911949],"aabb_xy":[[-0.5328831809394374,-0.10077842626109601],[-0.3728831869109415,-0.06050932291427347]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.6813769714077782,-0.1603679629620829,0.71338606911949],"aabb_xy":[[0.6685050679068378,-0.240367963375919],[0.6942488749087181,-0.08036796254824673]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.4416291301527435,0.5019380085677958,0.71338606911949],"aabb_xy":[[0.4260733607424783,0.4863875753233886],[0.45718489956300884,0.517488441812203]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.26346353447527016,-2.282675427213386,0.71338606911949],"aabb_xy":[[-0.26987734811845504,-2.289085247461054],[-0.25704972083208516,-2.276265606965717]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[-0.44658653308075935,0.8428319236784438,0.71338606911949],"aabb_xy":[[-0.506586532927326,0.7860133014854053],[-0.3865865332341925,0.8996505458714826]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.4215330521025395,-2.3278664103037436,0.71338606911949],"aabb_xy":[[-0.4559953995006812,-2.3623602927015654],[-0.3870707047043976,-2.29337252790592]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.6084966880597403,-0.5781711961216875,0.71338606911949],"aabb_xy":[[-0.645996689244533,-0.582589418817748],[-0.5709966868749474,-0.5737529734256269]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.04594925497296398,-1.5125344189971934,0.71338606911949],"aabb_xy":[[-0.009050744648781861,-1.567518111784666],[0.10094925459470983,-1.4575507262097205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694290799175798,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8585.png","name":"8585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8678.png","name":"8678"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7234.png","name":"7234"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":628.8851410115484,"rotation_z_degrees":164.66959045521185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027041227546457797,-0.019063001388114672,0.015114168192238767]},{"name":"camera_2","offset_m":[-0.012172618082541877,0.0183367950361036,0.0025842917812619465]},{"name":"camera_3","offset_m":[0.002908862992757607,-0.013012142877619676,0.010256433618230459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001275709918012102,-0.0013227424608324469,0.0018242902630880601],"end_effector_yaw_offset_degrees":-0.734773830372077},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0003099798473865877,-0.0018369526554693533,-0.0015490011510071208],"end_effector_yaw_offset_degrees":0.19816177547812241},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019308818997744752,0.0004974630293567966,-0.0016957002073189665],"end_effector_yaw_offset_degrees":-0.02967358660884467}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038090971500653703,0.0010109314475294931],"position_m":[0.2734909028499346,-0.06498906855247051,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030146929530338994,-0.002565699007639194],"position_m":[0.25018530704696607,0.2161343009923608,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0005694753186939261,-0.004638606661775813],"position_m":[0.34416947531869396,0.04316139333822419,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002728540957311231,-0.0029874980961381373],"position_m":[0.12342854095731123,0.39641250190386185,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-6.60566434676638e-05,0.0034794613235106095],"position_m":[0.21763394335653233,-0.4355205386764894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"be8c70bad2f78cee385fb694def2a5265b42ebdc199926858350b9436f34dbca","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6802/tex_ceiling_textures_7234/tex_floor_textures_8678/tex_table_textures_8585/tex_wall_textures_4356","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8657533258410586217,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8657533258410586217,"visual_seed":8657533258410586217,"scene_id":"lab_003","finished_at":"2026-09-03T20:52:35"} +{"episode_id":"ep_000068","started_at":"2026-09-03T20:52:38","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.29770933119428733,-1.8158585859625367,0.71338606911949],"aabb_xy":[[0.28027861611528077,-1.8331307006263873],[0.3151400462732938,-1.7985864712986857]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.5603171615510762,-0.6457413929485418,0.71338606911949],"aabb_xy":[[-0.6243171588534226,-0.6901078199163986],[-0.49631716424872985,-0.6013749659806851]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.37573132274307075,-1.6433999661844538,0.71338606911949],"aabb_xy":[[-0.45573132490583323,-1.7233551498105972],[-0.29573132058030827,-1.56344478255831]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.1565295117528327,-1.5759159465402928,0.71338606911949],"aabb_xy":[[0.14136663877589561,-1.5910814038354117],[0.17169238472976978,-1.5607504892451742]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.4664453000172377,0.9726167733071254,0.71338606911949],"aabb_xy":[[0.37644529768321866,0.8951344187220126],[0.5564453023512568,1.050099127892238]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.33809296671395794,0.4315999283399803,0.71338606911949],"aabb_xy":[[-0.3980929675747707,0.38017349833349384],[-0.2780929658531451,0.4830263583464666]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[0.03188226612971312,-2.2293850088846563,0.71338606911949],"aabb_xy":[[-0.029708493094279698,-2.2933850069937036],[0.09347302535370594,-2.16538501077561]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.47274166369806525,1.3574841644954332,0.71338606911949],"aabb_xy":[[-0.5177416651642941,1.3124843076339525],[-0.42774166223183646,1.4024840213569139]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.3946261356334205,1.0434157475648536,0.71338606911949],"aabb_xy":[[-0.4445088325111168,0.9934157483185788],[-0.34474343875572433,1.0934157468111283]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.24009577421928074,1.2956318088374577,0.71338606911949],"aabb_xy":[[0.20563342682113891,1.2611379264396345],[0.2745581216174225,1.33012569123528]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.14816108538413753,-1.415480581127813,0.71338606911949],"aabb_xy":[[-0.17267470948114336,-1.4397451744298497],[-0.12364746128713164,-1.3912159878257768]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.26306082631249966,-2.3072588679299924,0.71338606911949],"aabb_xy":[[-0.30407876969887054,-2.3572588685609497],[-0.22204288292612878,-2.257258867299035]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.3139050882629766,-0.6986785831626079,0.71338606911949],"aabb_xy":[[0.3057914335895995,-0.706784399616637],[0.3220187429363537,-0.6905727667085788]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.24059204746563168,0.5138738629394557,0.71338606911949],"aabb_xy":[[0.23259855767034968,0.5058757309989802],[0.24858553726091373,0.5218719948799314]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.5767455625499411,-2.037780370238653,0.71338606911949],"aabb_xy":[[0.5489005257693341,-2.068564868976965],[0.6045905993305484,-2.0069958715003415]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.7024060980767908,-0.2891988220143409,0.71338606911949],"aabb_xy":[[0.6918386184186918,-0.2997438521273495],[0.7129735777348898,-0.2786537919013324]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.5946909587502422,1.0590869597322632,0.71338606911949],"aabb_xy":[[-0.6646909621418041,1.023771186028832],[-0.5246909553586802,1.0944027334356938]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.19859448972923904,1.5974198384290692,0.71338606911949],"aabb_xy":[[-0.278594490002846,1.5244702906033527],[-0.11859448945563207,1.6703693862547861]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.5509122076704276,0.19422175372401407,0.71338606911949],"aabb_xy":[[-0.6346344331705099,0.10422175018931809],[-0.467189982170345,0.28422175725871]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.5987383874016979,0.9040908544831923,0.71338606911949],"aabb_xy":[[-0.6237383866736602,0.8877454908870299],[-0.5737383881297357,0.9204362180793546]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.6900549150147457,-2.1682974300699263,0.71338606911949],"aabb_xy":[[0.6678823880380949,-2.1904730972260493],[0.7122274419913965,-2.146121762913803]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.18331958358445188,-0.3588103309849524,0.71338606911949],"aabb_xy":[[-0.20118869133890735,-0.3726432389621633],[-0.16545047582999636,-0.3449774230077414]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.48237224217781466,-1.966076911605052,0.71338606911949],"aabb_xy":[[-0.5523722437800942,-1.9795097048067098],[-0.41237224057553523,-1.9526441184033947]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.149811737822236,-0.2241897711101979,0.71338606911949],"aabb_xy":[[-0.16731167125621935,-0.24168977103043243],[-0.1323118043882526,-0.20668977118996334]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.3020174900302082,-0.332765351803022,0.71338606911949],"aabb_xy":[[-0.35201749039077423,-0.3827453390126249],[-0.2520174896696421,-0.282785364593419]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.629510245780359,1.714782316094991,0.71338606911949],"aabb_xy":[[-0.6794931959678381,1.6647823164524305],[-0.5795272955928794,1.7647823157375513]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[0.5282001473947662,-2.5096967438408795,0.71338606911949],"aabb_xy":[[0.4432001487026914,-2.541682607235758],[0.6132001460868407,-2.477710880446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929288750213264,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3367.png","name":"3367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2539.png","name":"2539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9631.png","name":"9631"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":696.4850124678318,"rotation_z_degrees":153.43846001633722,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009809107429707331,0.00263807207324317,0.005892853705123505]},{"name":"camera_2","offset_m":[0.010316478816617063,0.004274120882100468,-0.011313245221524437]},{"name":"camera_3","offset_m":[0.018325594215488638,0.017660110463790717,0.007895573450321922]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018630655983949283,0.000419914105624209,0.00027150067497797763],"end_effector_yaw_offset_degrees":-0.26066528422714663},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009568542949572527,-0.000445626685173699,-0.0015617194631223534],"end_effector_yaw_offset_degrees":-0.8769908314422243},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012001625871764076,-0.0013385672848739852,0.0004543051642948372],"end_effector_yaw_offset_degrees":0.6793322001187785}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031267606030954227,-0.004807717189413919],"position_m":[0.2804267606030954,-0.07080771718941392,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013195995973692308,-0.0010149853801210817],"position_m":[0.25188040040263077,0.21768501461987894,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004159935350965642,0.0003924923660714305],"position_m":[0.33944006464903437,0.048192492366071434,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004359552314723822,0.0010972636915401726],"position_m":[0.12505955231472382,0.40049726369154015,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003657300544941757,0.001210691254870503],"position_m":[0.21404269945505824,-0.4377893087451295,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c2c69baeb858bfcda3a3a0550c3e6c442f0a5d8cb4dcfd85edb60ce461d8621","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7979/tex_ceiling_textures_9631/tex_floor_textures_2539/tex_table_textures_3367/tex_wall_textures_4887","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1258416317746429836,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1258416317746429836,"visual_seed":1258416317746429836,"scene_id":"lab_003","finished_at":"2026-09-03T20:55:24"} +{"episode_id":"ep_000069","started_at":"2026-09-03T20:55:27","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.5989228311318708,0.4529210736589895,0.71338606911949],"aabb_xy":[[-0.6324019983929118,0.4194419602878825],[-0.5654436638708299,0.48640018703009646]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.4111170561960864,1.5019947527869149,0.71338606911949],"aabb_xy":[[0.33111705821530135,1.4943932118250627],[0.49111705417687146,1.5095962937487666]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.36737375818933243,0.3527297148550601,0.71338606911949],"aabb_xy":[[-0.4373737603207619,0.32996774922936434],[-0.29737375605790284,0.37549168048075565]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.08763539161448941,1.2144335643962219,0.71338606911949],"aabb_xy":[[-0.12513539172008234,1.2076114025432407],[-0.05013539150889645,1.221255726249203]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.02665104809364649,-1.1807225209443184,0.71338606911949],"aabb_xy":[[-0.09065104448921957,-1.2446858093630517],[0.03734894830192659,-1.1167592325255846]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.23354277856901812,1.5803191561418592,0.71338606911949],"aabb_xy":[[-0.29754277997700873,1.5285302046179345],[-0.16954277716102742,1.632108107665784]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.03758528027924346,1.534553308688984,0.71338606911949],"aabb_xy":[[-0.06258527955120573,1.5182079450928216],[-0.012585281007281178,1.5508986722851463]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.613095541787605,-1.1031800800950031,0.71338606911949],"aabb_xy":[[-0.6498901749125112,-1.1400859551915854],[-0.5763009086626987,-1.0662742049984208]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.20117522498949447,-1.1668860436903339,0.71338606911949],"aabb_xy":[[0.1511803920615529,-1.2168860425855774],[0.2511700579174361,-1.1168860447950903]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.5993583927492565,1.1491002463691333,0.71338606911949],"aabb_xy":[[-0.6368583934138352,1.133413188368911],[-0.5618583920846778,1.1647873043693553]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.5765968350495831,-1.4517713535966907,0.71338606911949],"aabb_xy":[[0.5664438194954337,-1.4878408951694309],[0.5867498506037324,-1.4157018120239502]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.6365336113168638,0.12172948343963341,0.71338606911949],"aabb_xy":[[0.6143610843402129,0.0995538162835102],[0.6587061382935145,0.14390515059575656]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.40796590395627885,0.982922380694788,0.71338606911949],"aabb_xy":[[0.36671709292636406,0.9279223811825704],[0.44921471498619353,1.0379223802070052]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.3734748422706988,-0.7998980276312924,0.71338606911949],"aabb_xy":[[0.3662135947002914,-0.812685037894802],[0.38073608984110624,-0.787111017367783]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.6222709467909195,-2.2447918263290783,0.71338606911949],"aabb_xy":[[0.6117034671328204,-2.255336856442087],[0.6328384264490184,-2.2342467962160697]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.299433800237502,1.133834535149493,0.71338606911949],"aabb_xy":[[0.2761519580393706,1.0488345338522647],[0.3227156424356333,1.2188345364467208]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.594991305736362,1.1847913648800255,0.71338606911949],"aabb_xy":[[0.5399990551008512,1.129791363136713],[0.6499835563718731,1.2397913666233384]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.3148695012278826,1.0676214856330706,0.71338606911949],"aabb_xy":[[-0.32749628851507895,1.0580754119314975],[-0.30224271394068625,1.0771675593346433]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.5967357184439259,-0.22279517761891476,0.71338606911949],"aabb_xy":[[0.5067357217083156,-0.2759786409362092],[0.686735715179536,-0.1696117143016202]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.5323537543861736,-1.2480282910235339,0.71338606911949],"aabb_xy":[[0.5104640067972328,-1.3380282883127828],[0.5542435019751144,-1.1580282937342845]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.07274144561991747,-0.9891578877271492,0.71338606911949],"aabb_xy":[[-0.13274144726283932,-1.0411580370190934],[-0.012741443976995614,-0.9371577384352051]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.30648575682768564,-2.1688016308897478,0.71338606911949],"aabb_xy":[[-0.34398575732504394,-2.1727703144378663],[-0.26898575633032745,-2.1648329473416292]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.627480619885618,1.5216101876046193,0.71338606911949],"aabb_xy":[[0.6235667466901955,1.5128611721980623],[0.6313944930810405,1.530359203011176]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[-0.49396804281945417,-2.531974597670155,0.71338606911949],"aabb_xy":[[-0.5083024679456176,-2.5440348132246937],[-0.4796336176932907,-2.5199143821156165]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.6544383887837245,-2.047235549365742,0.71338606911949],"aabb_xy":[[-0.6593376810902879,-2.0749124686683103],[-0.6495390964771609,-2.0195586300631727]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.28435578748853835,1.3234588944211385,0.71338606911949],"aabb_xy":[[-0.34835578953827034,1.2833644113318305],[-0.22035578543880635,1.3635533775104465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911426775590692,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5016.png","name":"5016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1295.png","name":"1295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5287.png","name":"5287"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.5753688087473,"rotation_z_degrees":136.13654288192723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008969407076085744,0.015943620660812955,-0.016145717854030614]},{"name":"camera_2","offset_m":[0.013237693080779506,0.005522271405678358,-0.0029155632449952597]},{"name":"camera_3","offset_m":[-0.011365781630348848,-0.004300963467580798,-0.001326520474917027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015361854990927903,-0.001344536714492354,-0.0009142953908062336],"end_effector_yaw_offset_degrees":0.8282630875904462},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001284339507367609,-0.001200633388787062,0.0015329241639795163],"end_effector_yaw_offset_degrees":-0.4971036999523091},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002240772021224009,-0.0008848966953279595,0.001584022432085926],"end_effector_yaw_offset_degrees":-0.3266238680310223}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029474363031822314,-0.002556989886482125],"position_m":[0.2802474363031822,-0.06855698988648212,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018724195505336275,-0.0009947514963984626],"position_m":[0.2550724195505336,0.21770524850360154,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0007435051075451162,-0.002953587948728077],"position_m":[0.3428564948924549,0.044846412051271926,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016282429907265462,-0.004063832505402548],"position_m":[0.12232824299072655,0.39533616749459743,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033695378263534784,0.004398916312926038],"position_m":[0.2143304621736465,-0.43460108368707395,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b69423423905452f32e9134968cda40874afd64f16022d6c36705d1d772029e7","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0076.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5039/tex_ceiling_textures_5287/tex_floor_textures_2490/tex_table_textures_5016/tex_wall_textures_1295","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2221496337388774642,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2221496337388774642,"visual_seed":2221496337388774642,"scene_id":"lab_003","finished_at":"2026-09-03T20:58:04"} +{"episode_id":"ep_000070","started_at":"2026-09-03T20:58:06","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.48772910432591154,0.2009349485817693,0.71338606911949],"aabb_xy":[[0.47009626873238397,0.18331200256614633],[0.5053619399194391,0.21855789459739228]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.6060206260711766,-1.091914897016157,0.71338606911949],"aabb_xy":[[-0.6406117089252218,-1.156914897301188],[-0.5714295432171314,-1.026914896731126]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.5653350218657744,-0.9139466443823958,0.71338606911949],"aabb_xy":[[-0.5878350223778149,-0.936438502747794],[-0.5428350213537337,-0.8914547860169973]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.1686656888526361,-1.42051632196292,0.71338606911949],"aabb_xy":[[0.10366568774669285,-1.4454816950310483],[0.23366568995857942,-1.3955509488947917]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.12058318817762514,0.7058928437394805,0.71338606911949],"aabb_xy":[[0.11714251193756797,0.702031410765116],[0.12402386441768232,0.709754276713845]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.5080091342189306,0.3205059760465283,0.71338606911949],"aabb_xy":[[0.4905784191399241,0.30323386138267744],[0.5254398492979371,0.33777809071037906]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.5753414727513577,0.9981047202141493,0.71338606911949],"aabb_xy":[[-0.6553414697656057,0.977970168540738],[-0.49534147573710974,1.0182392718875606]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.5841228435693917,-1.3900144198108004,0.71338606911949],"aabb_xy":[[-0.596749630856588,-1.399560493512373],[-0.5714960562821954,-1.3804683461092273]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.3627810085528618,0.5218120353618834,0.71338606911949],"aabb_xy":[[0.3579374137916318,0.5169603828828992],[0.36762460331409175,0.5266636878408675]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.6137251708892189,-1.2882143064559448,0.71338606911949],"aabb_xy":[[0.5637251695283316,-1.3381922110313604],[0.6637251722501061,-1.2382364018805292]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.44038399137232176,1.618042772781361,0.71338606911949],"aabb_xy":[[0.38038399152575497,1.5612241505883226],[0.5003839912188885,1.6748613949744]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.4055440207147824,-0.3376384051654182,0.71338606911949],"aabb_xy":[[-0.41877496624946364,-0.3508658241874175],[-0.39231307518010106,-0.3244109861434187]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.46706227741979944,-1.523643719091875,0.71338606911949],"aabb_xy":[[0.41206227779805354,-1.5786274118793477],[0.5220622770415453,-1.4686600263044023]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.12409193767836213,-2.547467964446051,0.71338606911949],"aabb_xy":[[0.08659193773459574,-2.5557610544808878],[0.16159193762212853,-2.5391748744112146]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.6724645650524665,-0.6051880854280811,0.71338606911949],"aabb_xy":[[0.6644282303511817,-0.6132262047324978],[0.6805008997537514,-0.5971499661236642]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.24420104574311258,-1.8964634066671702,0.71338606911949],"aabb_xy":[[-0.2514833621197762,-1.9864634102766787],[-0.2369187293664489,-1.8064634030576607]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.08072319429242669,-2.4032953564392936,0.71338606911949],"aabb_xy":[[0.07441109475608826,-2.4090622956925127],[0.08703529382876513,-2.3975284171860753]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.42491438896314576,1.442247319453314,0.71338606911949],"aabb_xy":[[-0.5049143922209887,1.3622508116613299],[-0.34491438570530275,1.5222438272452978]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.05484130798096298,-1.3446818878116387,0.71338606911949],"aabb_xy":[[0.04691802774221465,-1.367181888049642],[0.06276458821971131,-1.3221818875736353]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.565034719412886,-2.041855841737621,0.71338606911949],"aabb_xy":[[-0.6350347158228475,-2.0622937773893018],[-0.495034723002924,-2.0214179060859383]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.3944956341325643,-2.1426097405113063,0.71338606911949],"aabb_xy":[[0.3766265263781088,-2.1564426484885173],[0.41236474188701977,-2.128776832534095]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.1533934836478713,-0.6569817834192078,0.71338606911949],"aabb_xy":[[-0.17556601062452215,-0.6791574505753308],[-0.13122095667122047,-0.6348061162630845]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.38045894235419403,-1.6618907231486337,0.71338606911949],"aabb_xy":[[-0.4091082747146102,-1.6905362824257093],[-0.35180960999377775,-1.6332451638715577]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.24293119764333332,-2.1959394054662007,0.71338606911949],"aabb_xy":[[-0.3069311940706553,-2.243109029288297],[-0.17893120121601147,-2.1487697816441043]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.47074885126794097,1.577592093635094,0.71338606911949],"aabb_xy":[[-0.4957488512004589,1.5707094254141707],[-0.44574885133542314,1.5844747618560173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6991153092405321,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8585.png","name":"8585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5984.png","name":"5984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9893.png","name":"9893"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7338.png","name":"7338"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":551.4454925750015,"rotation_z_degrees":332.9157195606366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006430234642274667,-0.019460628881631407,-0.019561941155269404]},{"name":"camera_2","offset_m":[0.0184935464013477,0.009283912568916516,0.006235868801595438]},{"name":"camera_3","offset_m":[-0.00221187031640091,0.009824618766765582,0.015327413454967822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001359425178989254,-0.0009957158910772709,-0.001706223924641869],"end_effector_yaw_offset_degrees":0.755651035624519},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002584719804895558,-0.0013693432340203353,0.0019210610790859894],"end_effector_yaw_offset_degrees":0.26830060799492617},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018388041674871497,0.0007750546870722427,-0.0007727767234707011],"end_effector_yaw_offset_degrees":0.0023639106040895808}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029896278030841616,0.0020100370160917444],"position_m":[0.27431037219691584,-0.06398996298390826,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029927337303267097,-0.002425050519479367],"position_m":[0.25020726626967327,0.21627494948052065,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003565578030731418,-0.004980071827238698],"position_m":[0.3400344219692686,0.042819928172761305,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00026378064660750964,-0.00022275099960128095],"position_m":[0.12043621935339249,0.3991772490003987,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003186814575040996,-0.00017235635440500299],"position_m":[0.220886814575041,-0.439172356354405,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a3144b1471eb051b377a43410d947c3a515893d2e54b695b4e7ca557a1139490","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8454/tex_ceiling_textures_7338/tex_floor_textures_9893/tex_table_textures_8585/tex_wall_textures_5984","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5755060584649007204,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5755060584649007204,"visual_seed":5755060584649007204,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:43"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:00:47","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.5754717099279248,-0.8498747606105974,0.71338606911949],"aabb_xy":[[-0.6304717091045142,-0.904864435385555],[-0.5204717107513352,-0.7948850858356398]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.14053856881547788,-0.907048513183697,0.71338606911949],"aabb_xy":[[-0.19566377444506863,-0.9670485146249841],[-0.08541336318588709,-0.8470485117424098]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.5247905987720594,0.8456881705724131,0.71338606911949],"aabb_xy":[[-0.5585661579627523,0.831649675359248],[-0.4910150395813664,0.8597266657855781]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.5646771750683983,-2.1510705676644024,0.71338606911949],"aabb_xy":[[0.5470443394748706,-2.1686935136800254],[0.5823100106619258,-2.1334476216487794]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.07038613183669062,1.6595641096045477,0.71338606911949],"aabb_xy":[[0.0420564218881504,1.6551033674108306],[0.09871584178523085,1.6640248517982648]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.33023648392927507,1.4741409482718946,0.71338606911949],"aabb_xy":[[0.3209428656921245,1.4366409497837604],[0.33953010216642565,1.5116409467600282]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.4464386703703236,-1.0652623813987567,0.71338606911949],"aabb_xy":[[-0.4686111973469744,-1.0874380485548798],[-0.4242661433936727,-1.0430867142426337]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.052464356684331914,0.10131075724129257,0.71338606911949],"aabb_xy":[[-0.08809351258429166,0.06567809048443962],[-0.016835200784372173,0.13694342399814552]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.24421175559612773,1.4345190340252496,0.71338606911949],"aabb_xy":[[-0.2852296989824986,1.3845190333942923],[-0.20319381220975688,1.484519034656207]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.4051449294144998,-0.15315097228190178,0.71338606911949],"aabb_xy":[[-0.45513976234244147,-0.2031509711771453],[-0.35515009648655826,-0.10315097338665824]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.11876326563577766,-1.3103370041687383,0.71338606911949],"aabb_xy":[[0.05476326920845577,-1.357506627990835],[0.18276326206309956,-1.263167380346642]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.12841012523063633,1.2281776605735186,0.71338606911949],"aabb_xy":[[-0.16591012674626804,1.2169508875573736],[-0.09091012371500462,1.2394044335896637]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.5649900889443267,-0.8811499386763666,0.71338606911949],"aabb_xy":[[0.5530573545824986,-0.893532091484226],[0.5769228233061547,-0.8687677858685072]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.4089663633104883,-1.8308216680021219,0.71338606911949],"aabb_xy":[[0.3439663606726948,-1.8823012667015686],[0.4739663659482818,-1.7793420693026747]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.7052375292508675,-0.2845641868054982,0.71338606911949],"aabb_xy":[[0.6971098410575544,-0.2934777952162059],[0.7133652174441808,-0.27565057839479057]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.43145720511135655,-2.532389939247403,0.71338606911949],"aabb_xy":[[-0.4539572056233971,-2.5548817976128015],[-0.4089572045993159,-2.509898080882005]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.416084217614856,-2.135230040610361,0.71338606911949],"aabb_xy":[[-0.4312563868964894,-2.150398897538565],[-0.4009120483332227,-2.1200611836821577]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.028804064889703995,-1.7727318575347075,0.71338606911949],"aabb_xy":[[0.014469639763540543,-1.7847920730892464],[0.04313849001586745,-1.7606716419801687]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.2422992626841698,1.5587810683370056,0.71338606911949],"aabb_xy":[[0.23427299205354382,1.5500295733596532],[0.2503255333147958,1.5675325633143584]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.3188227890069753,0.7114893483286027,0.71338606911949],"aabb_xy":[[-0.3339250904679933,0.6963878266975406],[-0.3037204875459571,0.7265908699596643]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.23024232346475382,-0.39139382061628547,0.71338606911949],"aabb_xy":[[-0.25478853908750454,-0.4216427171653225],[-0.20569610784200312,-0.36114492406724835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010656358543985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2833.png","name":"2833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2833.png","name":"2833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7357.png","name":"7357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4656.png","name":"4656"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9168.png","name":"9168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8960.png","name":"8960"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":651.8376224758035,"rotation_z_degrees":138.27596527729028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010355654483182687,0.001574233787950713,-0.0012058006128430228]},{"name":"camera_2","offset_m":[0.015913588408306135,-0.01640136916908817,0.014392767987783352]},{"name":"camera_3","offset_m":[0.006614745388403769,0.01087986293842082,0.006534431920412823]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012082770059528933,0.0016581673459096554,-0.0010030192413328224],"end_effector_yaw_offset_degrees":0.20955160515915394},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013610062002986324,-0.00043122843219526577,-0.0012460721665228896],"end_effector_yaw_offset_degrees":-0.28121003209349826},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014846049255063162,4.599783094071455e-06,4.3468686839154193e-05],"end_effector_yaw_offset_degrees":-0.382111778036639}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00023482772440446692,0.0005109101018131142],"position_m":[0.2770651722755955,-0.06548908989818689,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004887171826044398,0.0011692336353235312],"position_m":[0.2580871718260444,0.21986923363532354,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004676119729505973,0.0032854591459886865],"position_m":[0.338923880270494,0.051085459145988686,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004434319656933121,0.0031518223359982772],"position_m":[0.1251343196569331,0.40255182233599823,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002284076976471393,-0.004378369589197501],"position_m":[0.2199840769764714,-0.4433783695891975,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"66a8d475adfbdc056bf69dcb2875c85daf86570c87335433d3090409f9721597","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2833/tex_ceiling_textures_8960/tex_floor_textures_9168/tex_table_textures_7357/tex_wall_textures_4656","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1472123419645032741,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1472123419645032741,"visual_seed":1472123419645032741,"scene_id":"lab_003","finished_at":"2026-09-03T21:03:21"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:03:24","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.20394297623346214,-0.6199369905284655,0.71338606911949],"aabb_xy":[[0.15613680861969348,-0.6849369932355245],[0.2517491438472308,-0.5549369878214065]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.45594089331187115,0.1548995137950957,0.71338606911949],"aabb_xy":[[0.44790455861058626,0.14686139449067892],[0.46397722801315594,0.16293763309951248]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.5866783325078597,-0.9977154970581226,0.71338606911949],"aabb_xy":[[0.570616405049342,-1.0827154988707142],[0.6027402599663773,-0.9127154952455306]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.31537046635515764,0.29546368533997924,0.71338606911949],"aabb_xy":[[-0.3328011814341641,0.2781915706761284],[-0.2979397512761511,0.31273580000383]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.5093995638482514,-1.5670109102114362,0.71338606911949],"aabb_xy":[[-0.5468995653638831,-1.5782376832275813],[-0.47189956233261965,-1.5557841371952912]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.0019576354460769663,0.8921493400501204,0.71338606911949],"aabb_xy":[[-0.008609844212022044,0.8816043099371117],[0.012525115104175977,0.9026943701631288]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.2534281391352362,-1.0924820699518498,0.71338606911949],"aabb_xy":[[0.24550485889648793,-1.1149820701898532],[0.2613514193739846,-1.0699820697138465]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.1674732312583327,-1.2942546248685176,0.71338606911949],"aabb_xy":[[0.11748899555015546,-1.3442546236820132],[0.21745746696650992,-1.244254626055022]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.05182499460992274,0.4858641026986872,0.71338606911949],"aabb_xy":[[-0.06053896365985722,0.46336410203949885],[-0.04311102555998824,0.5083641033578752]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.4149322011777339,-0.38126184995921575,0.71338606911949],"aabb_xy":[[0.3899322019057716,-0.3976072135553781],[0.43993220044969616,-0.3649164863630534]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.17565983262572482,0.8115831022659985,0.71338606911949],"aabb_xy":[[-0.19783235960237563,0.7894074351098752],[-0.15348730564907398,0.8337587694221216]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.5747326807778594,-0.5312882769807632,0.71338606911949],"aabb_xy":[[0.5402702027647716,-0.537951954163686],[0.6091951587909471,-0.5246245997978404]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.111383692657676,-0.3148654535009894,0.71338606911949],"aabb_xy":[[-0.1613666428451553,-0.36486545314354973],[-0.06140074247019666,-0.2648654538584289]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.21942069304359474,1.1267746348405372,0.71338606911949],"aabb_xy":[[-0.28942069568018103,1.1066697698446715],[-0.14942069040700837,1.1468794998364025]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.5798841194837925,1.5395447453896574,0.71338606911949],"aabb_xy":[[-0.6398841199916453,1.482698011703736],[-0.5198841189759394,1.5963914790755787]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.04505504537385341,-2.099754437464303,0.71338606911949],"aabb_xy":[[-0.04494495434932077,-2.1228277899994823],[0.13505504509702757,-2.0766810849291226]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.4659973254347597,1.1143885944031364,0.71338606911949],"aabb_xy":[[-0.5072461364646743,1.0593885948909187],[-0.42474851440484496,1.1693885939153537]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.2526571759357733,1.5520166166514415,0.71338606911949],"aabb_xy":[[0.1886571755582397,1.5022713498006295],[0.3166571763133069,1.601761883502254]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.45517048483727307,-0.31966648022806465,0.71338606911949],"aabb_xy":[[-0.4776704853493136,-0.34215833859346295],[-0.4326704843252324,-0.29717462186266624]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.6343878858789685,1.4120123860025573,0.71338606911949],"aabb_xy":[[-0.6510650218720639,1.395312462028627],[-0.6177107498858729,1.4287123099764876]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.2674742675796988,-1.279604471032842,0.71338606911949],"aabb_xy":[[-0.3172910470445336,-1.3296044695171452],[-0.21765748811486407,-1.2296044725485384]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.37674643712948264,-1.9573983818089395,0.71338606911949],"aabb_xy":[[0.36794438182050987,-1.9652097079638686],[0.3855484924384553,-1.9495870556540105]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.4834949873171963,-1.5911063152309204,0.71338606911949],"aabb_xy":[[0.4334949859563091,-1.641084219806336],[0.5334949886780835,-1.5411284106555048]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.43390920804560984,1.5777957682929684,0.71338606911949],"aabb_xy":[[-0.4601980323660504,1.5515243346383172],[-0.40762038372516907,1.6040672019476196]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.2778931147454968,-0.2553967706469584,0.71338606911949],"aabb_xy":[[-0.29076501824643697,-0.3353967710607945],[-0.2650212112445567,-0.17539677023312225]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.35744238696229,0.540902098187432,0.71338606911949],"aabb_xy":[[0.2774423866886831,0.4679525503617152],[0.43744238723589707,0.6138516460131486]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[-0.3553632453400573,-2.1320343686314533,0.71338606911949],"aabb_xy":[[-0.40144833659478885,-2.1960343658840085],[-0.3092781540853259,-2.0680343713788982]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.2052449684917551,-1.525905084148851,0.71338606911949],"aabb_xy":[[0.16845033536684884,-1.5628109592454331],[0.24203960161666138,-1.4889992090522686]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[0.030752441669437025,-1.6563730678122188,0.71338606911949],"aabb_xy":[[0.006206226046686302,-1.686621964361256],[0.05529865729218774,-1.626124171263182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979273271698441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7375.png","name":"7375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/548.png","name":"548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5843.png","name":"5843"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":762.4068755296632,"rotation_z_degrees":236.84097139310887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018444267814935175,0.017092899960721362,0.012369094544409636]},{"name":"camera_2","offset_m":[-0.008697857800742398,0.003544465362512912,0.015206639777478565]},{"name":"camera_3","offset_m":[-0.0005511311851290404,0.010388356253234914,-0.0013297425394420415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009970215448510977,0.0006608140226658466,-0.0009374303867253509],"end_effector_yaw_offset_degrees":-0.6769968715120422},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00048815708068330153,-0.0006806115071988793,-0.0004581563637443553],"end_effector_yaw_offset_degrees":-0.34776504365190064},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014644610738765466,-0.0005661786728613928,-0.001683446217745781],"end_effector_yaw_offset_degrees":0.24115609916334035}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001253875581245856,-0.0030877312838941307],"position_m":[0.27604612441875415,-0.06908773128389413,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009599155828637464,0.0008449016287477825],"position_m":[0.25224008441713625,0.2195449016287478,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003986906912110212,-0.0023710595279801106],"position_m":[0.3396130930878898,0.04542894047201989,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018713246464908892,-0.002640618961807273],"position_m":[0.1225713246464909,0.3967593810381927,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004677380156593479,0.0035818747890134705],"position_m":[0.22237738015659347,-0.43541812521098655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b861c4a2c9bc2062d8536986d75414da213b747f17fa14d461b5282a25ce9141","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3078/tex_ceiling_textures_2324/tex_floor_textures_5843/tex_table_textures_7375/tex_wall_textures_548","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1576929199952066015,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1576929199952066015,"visual_seed":1576929199952066015,"scene_id":"lab_003","finished_at":"2026-09-03T21:05:59"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:06:02","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.185891848808328,-1.7768118151087022,0.71338606911949],"aabb_xy":[[-0.22865855568774818,-1.8408118185305047],[-0.1431251419289078,-1.7128118116868998]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.6063857508400357,0.7949689186755506,0.71338606911949],"aabb_xy":[[-0.6241792577749521,0.7771691730797531],[-0.5885922439051192,0.8127686642713484]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.4152539178317652,-0.7641234753308725,0.71338606911949],"aabb_xy":[[-0.4232479064094685,-0.7721235554259629],[-0.40725992925406174,-0.7561233952357822]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.4253957950683431,-0.14848038624584303,0.71338606911949],"aabb_xy":[[-0.4830262639556138,-0.20848038517255357],[-0.36776532618107216,-0.08848038731913242]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.24381555932956417,-1.321601172753467,0.71338606911949],"aabb_xy":[[-0.30781555572513725,-1.3855644611722004],[-0.1798155629339911,-1.2576378843347333]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.3538445925870421,-2.0934384748491466,0.71338606911949],"aabb_xy":[[-0.3608860435377897,-2.100465226586941],[-0.3468031416362945,-2.086411723111352]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.18817274045053467,0.8635836651907605,0.71338606911949],"aabb_xy":[[-0.26817273761010996,0.8520360642329434],[-0.10817274329095938,0.8751312661485775]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.1771121120697834,-1.7553441632788713,0.71338606911949],"aabb_xy":[[0.11311210885114553,-1.8020672751778797],[0.24111211528842125,-1.708621051379863]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.33580425444745154,-1.5750495040400778,0.71338606911949],"aabb_xy":[[0.30080425525463317,-1.5860165500377403],[0.3708042536402697,-1.5640824580424149]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.11078646889618993,0.06710314127824812,0.71338606911949],"aabb_xy":[[-0.13943580125660615,0.03845758200117233],[-0.0821371365357737,0.09574870055532392]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.5527334286553546,1.6930395000272553,0.71338606911949],"aabb_xy":[[-0.6327334273122406,1.6785346411029927],[-0.47273342999846857,1.7075443589515185]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.641052730626233,-1.9979104809659605,0.71338606911949],"aabb_xy":[[-0.6693824405747733,-2.0023712231596775],[-0.6127230206776928,-1.9934497387722434]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.3651426217701755,-0.6716724572378141,0.71338606911949],"aabb_xy":[[-0.3840270055386857,-0.690558382018167],[-0.3462582380016653,-0.6527865324574614]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.31957902488018786,-2.4667581445256315,0.71338606911949],"aabb_xy":[[-0.4092661011883033,-2.556758144780082],[-0.2298919485720724,-2.376758144271181]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.6447688584713844,-2.2215301457671806,0.71338606911949],"aabb_xy":[[0.614777195737514,-2.2515301451039806],[0.6747605212052546,-2.1915301464303796]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.5280270762367505,-1.021931627995934,0.71338606911949],"aabb_xy":[[-0.5505270764802658,-1.034136262655706],[-0.505527075993235,-1.0097269933361621]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.15279562156354032,1.1607619359801724,0.71338606911949],"aabb_xy":[[-0.17779562083550257,1.14441657238401],[-0.127795622291578,1.1771072995763348]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.23235323548852893,1.2962003620341576,0.71338606911949],"aabb_xy":[[-0.2873487133091883,1.2412003606002504],[-0.17735775766786951,1.3512003634680643]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.010774631386094247,1.6948718138094399,0.71338606911949],"aabb_xy":[[-0.09077463281622145,1.61535465879683],[0.06922537004403295,1.7743889688220489]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.3784443187221238,-1.844030728977458,0.71338606911949],"aabb_xy":[[0.37041804809149786,-1.8527822239548108],[0.38647058935274986,-1.8352792340001056]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.29249167073666393,-1.4669285541869266,0.71338606911949],"aabb_xy":[[0.2559958501093852,-1.503412496613684],[0.3289874913639427,-1.4304446117601688]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.24792089505924575,-0.16172683829665235,0.71338606911949],"aabb_xy":[[-0.257267902641541,-0.1760304605142964],[-0.2385738874769505,-0.14742321607900835]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.6602010165072663,-1.4146521565454504,0.71338606911949],"aabb_xy":[[0.6553574217460364,-1.4195038090244347],[0.6650446112684963,-1.4098005040664665]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[-0.5806755680041182,1.481417260354529,0.71338606911949],"aabb_xy":[[-0.6506755698128637,1.4600634915903414],[-0.5106755661953728,1.5027710291187162]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.470564342134574,-1.0498407130380527,0.71338606911949],"aabb_xy":[[0.3805643435401041,-1.0660912993514735],[0.5605643407290439,-1.0335901267246315]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.3459096565066295,-0.914311540246237,0.71338606911949],"aabb_xy":[[-0.4259096567802365,-0.9872610880719537],[-0.26590965623302254,-0.8413619924205202]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.2844519642428079,1.613574889362177,0.71338606911949],"aabb_xy":[[-0.2931499265335232,1.6014499150547024],[-0.2757540019520926,1.6256998636696518]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.5583756575564862,-1.4949032309214798,0.71338606911949],"aabb_xy":[[0.5524091186157505,-1.5008643755808437],[0.564342196497222,-1.4889420862621159]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935422531846216,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5937.png","name":"5937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4786.png","name":"4786"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4438.png","name":"4438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":809.6300583792233,"rotation_z_degrees":323.1464247110274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011002158906032632,0.0006312083317143516,0.018103265500564177]},{"name":"camera_2","offset_m":[0.013580078680285868,-0.014811239585719897,0.0025112356011109532]},{"name":"camera_3","offset_m":[0.011725736733390616,-0.00314569583197637,0.013270939110202353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008144308994215267,-0.0017691864651354218,0.0011095643759890979],"end_effector_yaw_offset_degrees":0.012329191614706136},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004751724131849392,-0.00038367864175238575,-0.0013845248776417503],"end_effector_yaw_offset_degrees":-0.11314006834287071},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00037724042107221576,0.001693504920305875,-4.5960694843639495e-05],"end_effector_yaw_offset_degrees":0.1125966760150019}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003626986614503426,-0.0016506003277205494],"position_m":[0.27367301338549654,-0.06765060032772055,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014737566890795544,-0.0003287740514610815],"position_m":[0.25467375668907954,0.21837122594853892,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0024200023943313,-0.004675175535334847],"position_m":[0.3411799976056687,0.04312482446466515,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033924167401039483,0.0021584484269270114],"position_m":[0.11730758325989606,0.401558448426927,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002474107087836862,0.0016928834422142193],"position_m":[0.21522589291216315,-0.43730711655778576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"39f33103f989521588fcfb6f1d80a2ce378c572e5dc0946e3d720722cd4f9516","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_747/tex_ceiling_textures_9425/tex_floor_textures_4438/tex_table_textures_5937/tex_wall_textures_4786","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7920298262975709976,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7920298262975709976,"visual_seed":7920298262975709976,"scene_id":"lab_003","finished_at":"2026-09-03T21:08:17"} +{"episode_id":"ep_000074","started_at":"2026-09-03T21:08:20","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.6188137474318453,-2.282271923872445,0.71338606911949],"aabb_xy":[[-0.6241513230978498,-2.3072719248015847],[-0.6134761717658407,-2.257271922943305]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.16134436396348717,-1.6956097218146544,0.71338606911949],"aabb_xy":[[0.14887700585375155,-1.708075046447978],[0.17381172207322285,-1.683144397181331]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.1925270876972759,-1.8710113563508268,0.71338606911949],"aabb_xy":[[0.18602545118927127,-1.8807791783771364],[0.19902872420528053,-1.8612435343245168]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.002298194539406162,-1.9744494333417522,0.71338606911949],"aabb_xy":[[-0.04354700556932089,-2.0294494328539696],[0.038950616490508565,-1.919449433829535]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.6428227015639079,0.6096244375267155,0.71338606911949],"aabb_xy":[[-0.6928227028477478,0.5596455831360932],[-0.5928227002800679,0.6596032919173375]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.46762571479029913,1.1109812648422275,0.71338606911949],"aabb_xy":[[-0.5010658899863187,1.0775376390112972],[-0.4341855395942795,1.1444248906731573]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.4952564592289651,0.4541612285551859,0.71338606911949],"aabb_xy":[[-0.5652564618655513,0.4340563635593203],[-0.4252564565923787,0.4742660935510513]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.699833371348489,-0.9329364209773607,0.71338606911949],"aabb_xy":[[0.6866024258138076,-0.9461638399993602],[0.7130643168831702,-0.9197090019553613]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.07290460655416575,1.1835058856267664,0.71338606911949],"aabb_xy":[[-0.12290460599436136,1.13353796114245],[-0.02290460711397012,1.2334738101110827]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.0820653471119045,0.4106576973915512,0.71338606911949],"aabb_xy":[[-0.12061103993710552,0.37211192633536255],[-0.04351965428670345,0.4492034684477399]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.6311660576638787,1.2528544003729651,0.71338606911949],"aabb_xy":[[-0.6686660580121063,1.2410630047918814],[-0.5936660573156508,1.2646457959540485]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.14953660868046692,-0.19319719384607126,0.71338606911949],"aabb_xy":[[-0.16942764856080716,-0.20585300513076815],[-0.12964556880012668,-0.18054138256137445]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.4786358588486135,-0.5052634010801551,0.71338606911949],"aabb_xy":[[0.44866830193878776,-0.5352634013780407],[0.5086034157584391,-0.47526340078226925]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.48111941124252405,1.6242823930846906,0.71338606911949],"aabb_xy":[[-0.5282487902443597,1.5602823920402884],[-0.4339900322406883,1.6882823941290923]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.2717743411512595,-2.2778056419549957,0.71338606911949],"aabb_xy":[[-0.3086248890882471,-2.31530564277803],[-0.23492379321427187,-2.2403056411319624]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.31156494562993975,-0.28048758654457373,0.71338606911949],"aabb_xy":[[-0.3715649458813409,-0.33476891158103833],[-0.2515649453785386,-0.22620626150810902]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.25531141818359804,-1.9433142904984264,0.71338606911949],"aabb_xy":[[0.2328114183696956,-1.9477889068689074],[0.27781141799750037,-1.938839674127946]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.15489001318643414,-0.6404974982651281,0.71338606911949],"aabb_xy":[[-0.219890011743507,-0.6702500316790106],[-0.08989001462936133,-0.6107449648512454]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.31943158326440374,1.7469116337607775,0.71338606911949],"aabb_xy":[[-0.3834315796599768,1.682948345342044],[-0.25543158686883066,1.810874922179511]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.14045955572037216,-1.4517146965781151,0.71338606911949],"aabb_xy":[[-0.15131116196924776,-1.4625739873057662],[-0.12960794947149656,-1.4408554058504641]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.15457934352460867,0.21681147087808483,0.71338606911949],"aabb_xy":[[-0.2045526375278691,0.16681147032353746],[-0.1046060495213482,0.2668114714326322]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.5435351644441302,-1.1956306196457893,0.71338606911949],"aabb_xy":[[0.4535351650257592,-1.2290061164899788],[0.633535163862501,-1.1622551228015994]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.5607996276064715,1.48681503644374,0.71338606911949],"aabb_xy":[[0.5389098800175306,1.3968150391544907],[0.5826893751954122,1.576815033732989]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.05913423177381516,-1.7236448659468708,0.71338606911949],"aabb_xy":[[-0.07668092668993409,-1.7611448675111219],[-0.04158753685769622,-1.6861448643826193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943977431296146,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3325.png","name":"3325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6444.png","name":"6444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1826.png","name":"1826"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.0131099674722,"rotation_z_degrees":24.496808378313773,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0045169599362256015,0.01997222326097221,-0.0044546672292233944]},{"name":"camera_2","offset_m":[-0.006368417633311526,0.011074471380638204,0.005354564370733478]},{"name":"camera_3","offset_m":[0.01112583569042428,-0.0008573761287553779,0.017861913218288377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.358756633598192e-05,-0.001413436834384964,-0.001140274778716882],"end_effector_yaw_offset_degrees":0.9045345061617389},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009477397966019408,0.0006058525196377101,0.00040469961668040564],"end_effector_yaw_offset_degrees":0.15496460048584026},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015216946395314956,0.0005819628769883362,0.0019033772094980035],"end_effector_yaw_offset_degrees":-0.0321828623176208}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034763772188008135,-0.000840916798600818],"position_m":[0.2738236227811992,-0.06684091679860082,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014019619655194814,-0.004573339223808114],"position_m":[0.2546019619655195,0.21412666077619188,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004135890247324285,0.004488067773628553],"position_m":[0.3477358902473243,0.05228806777362856,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004896309541234149,-0.00023812183027454008],"position_m":[0.11580369045876585,0.3991618781697254,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004802130413514233,-0.002503910099912391],"position_m":[0.21289786958648577,-0.4415039100999124,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9038eb87910e547b1902fca20b2a7fe12dfc3e6d2a431880fde4f942aafdcc62","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_192/tex_ceiling_textures_7534/tex_floor_textures_1826/tex_table_textures_3325/tex_wall_textures_6444","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8460769851950234495,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8460769851950234495,"visual_seed":8460769851950234495,"scene_id":"lab_003","finished_at":"2026-09-03T21:10:38"} +{"episode_id":"ep_000075","started_at":"2026-09-03T21:10:43","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.08583486669754004,-1.5612579146015126,0.71338606911949],"aabb_xy":[[-0.1336410343113087,-1.6262579173085714],[-0.038028699083771385,-1.4962579118944537]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.5153025184819917,-1.448108558869083,0.71338606911949],"aabb_xy":[[-0.5398161425789976,-1.4723731521711194],[-0.49078889438498585,-1.4238439655670465]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.5331155592052185,1.3916935036688907,0.71338606911949],"aabb_xy":[[-0.5931155597130713,1.3348467699829694],[-0.4731155586973655,1.448540237354812]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.04522207600199213,-0.7813626693865758,0.71338606911949],"aabb_xy":[[-0.1052220762533933,-0.8356439944230405],[0.014777924249409047,-0.7270813443501112]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.421709250132728,-0.47670460398472336,0.71338606911949],"aabb_xy":[[0.4124156318955774,-0.5142046024728573],[0.43100286836987856,-0.4392046054965894]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.18107961549552276,-1.1795995913037467,0.71338606911949],"aabb_xy":[[-0.2196253083207238,-1.2181453623599354],[-0.14253392267032172,-1.141053820247558]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.19880556332111343,0.4056298579078659,0.71338606911949],"aabb_xy":[[-0.24868826019880969,0.35562985866159114],[-0.14892286644341726,0.45562985715414067]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.6116123121124744,-1.3917860546465184,0.71338606911949],"aabb_xy":[[0.5216123123893,-1.4148594071816982],[0.7016123118356483,-1.3687127021113386]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.20356711156312818,1.3750152685561718,0.71338606911949],"aabb_xy":[[-0.2485596982815786,1.3300152692817229],[-0.15857452484467777,1.4200152678306204]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[0.4556134935544498,0.6345109853964401,0.71338606911949],"aabb_xy":[[0.4334409665777989,0.6123353182403168],[0.4777860205311006,0.6566866525525632]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.4993322331740244,-0.7100471462134006,0.71338606911949],"aabb_xy":[[0.484160063892391,-0.725216003141604],[0.5145044024556578,-0.6948782892851972]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.06747944015416096,0.5588704918089311,0.71338606911949],"aabb_xy":[[-0.0849794404134976,0.5447789496201586],[-0.049979439894824354,0.5729620339977038]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.3001358633667791,-0.5418855921607411,0.71338606911949],"aabb_xy":[[0.2651358620152973,-0.5622453281175618],[0.3351358647182608,-0.5215258562039201]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.5719861671508377,0.692458012897998,0.71338606911949],"aabb_xy":[[-0.6094861655742381,0.6792937989301673],[-0.5344861687274374,0.7056222268658285]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.4954772357366437,-0.8356073851748067,0.71338606911949],"aabb_xy":[[0.4304772347361432,-0.8863937503294815],[0.5604772367371442,-0.7848210200201317]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.13689841581119844,-1.3544423579761118,0.71338606911949],"aabb_xy":[[0.08189841663460892,-1.4094320327510692],[0.1918984149877879,-1.299452683201154]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.03329187936266487,-1.094221476982811,0.71338606911949],"aabb_xy":[[-0.0972918796366431,-1.1442875771800989],[0.030708120911313364,-1.044155376785523]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.42718652645875865,-1.0520917983402733,0.71338606911949],"aabb_xy":[[-0.4871865273195714,-1.1035182283467595],[-0.3671865255979458,-1.0006653683337867]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[0.24968596215419148,1.3398818374980985,0.71338606911949],"aabb_xy":[[0.2336240346956738,1.2548818356855065],[0.26574788961270907,1.4248818393106901]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[0.039274607453157584,1.141400325115086,0.71338606911949],"aabb_xy":[[-0.010720225474784018,1.0914003262198424],[0.08926944038109919,1.1914003240103295]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.4444154525730166,-1.1779804337317437,0.71338606911949],"aabb_xy":[[0.38942320193750574,-1.2329804354750564],[0.4994077032085276,-1.122980431988431]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.47069407991407874,0.4162181669677163,0.71338606911949],"aabb_xy":[[-0.4881940791921656,0.3988800669013703],[-0.45319408063599187,0.4335562670340622]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.33594786918112407,-2.524811311304954,0.71338606911949],"aabb_xy":[[-0.3709478674918195,-2.5325263262284996],[-0.3009478708704286,-2.5170962963814083]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.44103704258731863,0.3081537227496418,0.71338606911949],"aabb_xy":[[-0.44975101163725306,0.2856537220904535],[-0.4323230735373841,0.3306537234088299]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.548120091587504,-1.9804527368044067,0.71338606911949],"aabb_xy":[[0.5325643221772388,-1.9960031700488143],[0.5636758609977693,-1.96490230356]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994503058047443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8165.png","name":"8165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8165.png","name":"8165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7678.png","name":"7678"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4501.png","name":"4501"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8259.png","name":"8259"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":528.1767301402972,"rotation_z_degrees":126.70093303453393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003818696261803027,-0.01709033740217651,-0.008763455347944614]},{"name":"camera_2","offset_m":[0.012171285675282983,0.004337083772629095,0.012817605819410504]},{"name":"camera_3","offset_m":[-0.005072533580752787,-0.008201343675674164,0.0030085556455456963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001085229337622663,0.0006032376056177703,-0.0016512587388456269],"end_effector_yaw_offset_degrees":0.04625733033185031},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00034374230730345933,-0.0011611682740802931,-0.0010678074104298956],"end_effector_yaw_offset_degrees":0.05775750717474426},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002952736342767346,0.0009097302388779279,-0.00035685842687063914],"end_effector_yaw_offset_degrees":0.8229400217513709}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009629609683660337,-0.0023342543286077456],"position_m":[0.276337039031634,-0.06833425432860775,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00357676547546267,-0.0010087697180851786],"position_m":[0.2496232345245373,0.21769123028191484,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003834004263791402,-0.0037900700824070157],"position_m":[0.33976599573620864,0.044009929917592984,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004346017709894246,0.0004986233720205161],"position_m":[0.11635398229010575,0.3998986233720205,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00217255310716435,-0.0019571796504709504],"position_m":[0.21987255310716436,-0.44095717965047093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1ed60bb16c662e905551b32e1e047274be5d1099bc22f7d82d80bba7a23eb8ba","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8165/tex_ceiling_textures_8259/tex_floor_textures_4501/tex_table_textures_1972/tex_wall_textures_7678","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2039637887013665620,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2039637887013665620,"visual_seed":2039637887013665620,"scene_id":"lab_003","finished_at":"2026-09-03T21:13:24"} +{"episode_id":"ep_000076","started_at":"2026-09-03T21:13:27","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.4444522047258005,0.9155148067153647,0.71338606911949],"aabb_xy":[[-0.4944522063872952,0.8655163644596618],[-0.3944522030643057,0.9655132489710673]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[-0.4433026449974996,0.28928195662943823,0.71338606911949],"aabb_xy":[[-0.46073336007650606,0.27200984196558736],[-0.42587192991849304,0.306554071293289]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.4802118670756894,-2.3777260788417625,0.71338606911949],"aabb_xy":[[0.4002118690949043,-2.385327619803614],[0.5602118650564744,-2.37012453787991]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.5519936834825563,-0.3174410064860793,0.71338606911949],"aabb_xy":[[-0.5718847233628966,-0.33009681777077615],[-0.5321026436022162,-0.3047851952013825]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.2870370969307241,-1.6584349383645305,0.71338606911949],"aabb_xy":[[-0.3039478293670658,-1.6719071439571445],[-0.27012636449438227,-1.6449627327719156]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.584821635661037,1.5972397362645903,0.71338606911949],"aabb_xy":[[0.5623216351489964,1.574747877899192],[0.6073216361730776,1.6197315946299886]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.5926725640627959,0.8911861004723627,0.71338606911949],"aabb_xy":[[0.5865779361746776,0.8826167059206941],[0.5987671919509142,0.8997554950240315]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.5598932416581688,-2.029833956235297,0.71338606911949],"aabb_xy":[[0.5549939493516052,-2.0575108755378655],[0.5647925339647322,-2.002157036932728]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.4502505549318627,-0.40530975475804976,0.71338606911949],"aabb_xy":[[0.3802505585219008,-0.42574769040973137],[0.5202505513418243,-0.3848718191063679]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.17938513717962434,0.8066476295078209,0.71338606911949],"aabb_xy":[[-0.2206896802433603,0.7426476299397037],[-0.13808059411588833,0.8706476290759378]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.29104264915557154,-1.1094878925427814,0.71338606911949],"aabb_xy":[[0.2804751694974725,-1.12003292265579],[0.3016101288136705,-1.0989428624297728]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.24500570574302188,-1.8112001333247418,0.71338606911949],"aabb_xy":[[-0.29902130202492194,-1.8752001362169988],[-0.1909901094611219,-1.7472001304324845]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.21354836562049834,-0.762891553904478,0.71338606911949],"aabb_xy":[[-0.25963345687522976,-0.8268915511570332],[-0.16746327436576686,-0.6988915566519229]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.0876313303116133,0.944084935035844,0.71338606911949],"aabb_xy":[[0.07821385574175053,0.934668757898125],[0.09704880488147603,0.953501112173563]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.1721232088561302,-2.2471905863848924,0.71338606911949],"aabb_xy":[[0.12214579199087659,-2.297190587874141],[0.22210062572138375,-2.197190584895644]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.39790408580730374,-0.8696462440941677,0.71338606911949],"aabb_xy":[[0.3279040842050243,-0.8830790372958254],[0.4679040874095833,-0.8562134508925102]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[0.6633868180049234,-2.0760385250406266,0.71338606911949],"aabb_xy":[[0.6133919850769818,-2.12603852393587],[0.713381650932865,-2.026038526145383]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.2939720633320322,1.7635417725205227,0.71338606911949],"aabb_xy":[[-0.35797206370956575,1.7137965056697104],[-0.2299720629544985,1.813287039371335]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.4074730487692959,-1.3162439043679635,0.71338606911949],"aabb_xy":[[0.3699730503458955,-1.3294081183357938],[0.4449730471926962,-1.3030796904001327]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.4149170861703748,-0.10506353840333205,0.71338606911949],"aabb_xy":[[-0.4517117192952811,-0.14196941349991432],[-0.37812245304546854,-0.06815766330674976]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.5299586588198459,0.5184760567073812,0.71338606911949],"aabb_xy":[[-0.5939586552471678,0.47130643288528484],[-0.46595866239252404,0.5656456805294777]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.6280515684423027,-0.1210053633777175,0.71338606911949],"aabb_xy":[[-0.6625139158404443,-0.15549924577554014],[-0.5935892210441607,-0.08651148097989478]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.48329040295269254,-0.5601519527785488,0.71338606911949],"aabb_xy":[[0.44579040266051767,-0.5641934281791524],[0.5207904032448674,-0.5561104773779452]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.26405505994862555,0.6108179472691782,0.71338606911949],"aabb_xy":[[0.21405506130270435,0.5608984036097158],[0.31405505859454674,0.6607374909286405]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.4680732969031094,1.139719421995986,0.71338606911949],"aabb_xy":[[0.45995964222973224,1.1316136055419572],[0.47618695157648644,1.1478252384500154]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.4645605515972635,0.8529871592093814,0.71338606911949],"aabb_xy":[[0.4407243339566585,0.7629871584008951],[0.4883967692378686,0.9429871600178681]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.3999688049900077,0.5238935175982502,0.71338606911949],"aabb_xy":[[-0.40875003213724403,0.5151137703097202],[-0.3911875778427716,0.5326732648867805]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.3681121851270064,-1.6198342076431913,0.71338606911949],"aabb_xy":[[0.3435659695042556,-1.6500831041922286],[0.39265840074975705,-1.5895853110941545]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[0.7058476273505985,-1.550605629117106,0.71338606911949],"aabb_xy":[[0.688171996762,-1.5682858453965085],[0.7235232579391967,-1.532925412837703]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[0.5287582807144897,-2.547329232196939,0.71338606911949],"aabb_xy":[[0.4487582774504766,-2.5608892645058523],[0.6087582839785028,-2.5337691998880256]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[0.24831557924664793,-1.4968008610690025,0.71338606911949],"aabb_xy":[[0.1683155805897619,-1.5113057199932651],[0.32831557790353394,-1.4822960021447398]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_31","position":[-0.22921362795105527,-0.10076182729403849,0.71338606911949],"aabb_xy":[[-0.28421362615280005,-0.14128379392047608],[-0.1742136297493104,-0.06023986066760092]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6997175042700383,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9706.png","name":"9706"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9706.png","name":"9706"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7579.png","name":"7579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/523.png","name":"523"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8506.png","name":"8506"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":796.73255703467,"rotation_z_degrees":298.36945448864464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005821749173413937,-0.007123307323720084,0.0027485680866434006]},{"name":"camera_2","offset_m":[0.012067742201171194,-0.01834791546717726,0.013113241206149043]},{"name":"camera_3","offset_m":[0.01880123522446336,0.005895580225141979,-0.015674280116742483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019881185034100477,-0.001964846771196378,-0.0007277530875067115],"end_effector_yaw_offset_degrees":-0.37448862300322516},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-6.562579865584256e-06,-0.0002613559860618793,-0.0014221566635389004],"end_effector_yaw_offset_degrees":0.022043140563144048},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007503201799127211,0.0005967183757624233,-0.001899455131092251],"end_effector_yaw_offset_degrees":-0.504414673226927}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004262252568291499,0.003593075607891831],"position_m":[0.2730377474317085,-0.062406924392108175,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012266972604410712,-0.0035545997820131837],"position_m":[0.25442669726044104,0.2151454002179868,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0030396127682061095,0.0043200644350393684],"position_m":[0.34663961276820615,0.05212006443503937,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014116184887938395,0.004981038370506864],"position_m":[0.12211161848879384,0.4043810383705068,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003814072239825975,-0.004575021237097691],"position_m":[0.21808140722398262,-0.4435750212370977,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"263b5258de296d6ea65f33275c97f27c05effcdeaa2bfbe87021a3dd463a93a2","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9706/tex_ceiling_textures_8506/tex_floor_textures_1819/tex_table_textures_7579/tex_wall_textures_523","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7681809541844642301,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7681809541844642301,"visual_seed":7681809541844642301,"scene_id":"lab_003","finished_at":"2026-09-03T21:15:59"} +{"episode_id":"ep_000077","started_at":"2026-09-03T21:16:02","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.1602232383936928,0.04962255958676787,0.71338606911949],"aabb_xy":[[-0.17776993330981175,0.012122558022516605],[-0.14267654347757389,0.08712256115101913]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.25175614953778175,0.8157961124315314,0.71338606911949],"aabb_xy":[[-0.2739286765144326,0.7936204452754081],[-0.2295836225611309,0.8379717795876545]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.06714837582844269,1.3993284632847809,0.71338606911949],"aabb_xy":[[0.017165425640963333,1.34932846364222],[0.117131326015922,1.4493284629273409]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.4583889029238728,-2.4674586515685926,0.71338606911949],"aabb_xy":[[-0.5383889039969931,-2.477236697905977],[-0.37838890185075247,-2.457680605231208]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.06075247985093579,-2.2073909488572756,0.71338606911949],"aabb_xy":[[-0.07539588540496878,-2.2220496685140594],[-0.04610907429690281,-2.192732229200491]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.13093677445914742,0.7939809015152757,0.71338606911949],"aabb_xy":[[0.12497023551841163,0.7880197568559115],[0.1369033133998832,0.7999420461746396]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.5267908840809068,0.17803904247740254,0.71338606911949],"aabb_xy":[[-0.5907908813832532,0.13367261550954576],[-0.4627908867785604,0.22240546944525927]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.36277836058494817,-0.6924712420125609,0.71338606911949],"aabb_xy":[[0.3127995520746323,-0.7424712420182796],[0.41275716909526405,-0.642471242006842]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.5845062098288085,0.1281815100707311,0.71338606911949],"aabb_xy":[[0.4945062133279366,0.08226986765227283],[0.6745062063296801,0.1740931524891893]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.5662319764110183,-1.6366703857791827,0.71338606911949],"aabb_xy":[[-0.6302319766849965,-1.6867364859764706],[-0.5022319761370401,-1.5866042855818947]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.26812976773062086,-0.9007310677958791,0.71338606911949],"aabb_xy":[[-0.2900195153195616,-0.9907310650851281],[-0.24624002014168003,-0.8107310705066298]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.6033193444080154,-1.704967771657095,0.71338606911949],"aabb_xy":[[0.5728350942809852,-1.754967771438591],[0.6338035945350455,-1.654967771875599]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.02789099474884793,0.8376471239836021,0.71338606911949],"aabb_xy":[[-0.006405916268892697,0.8033502377736605],[0.062187905766588544,0.8719440101935432]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.11059711274226425,1.2570822873389669,0.71338606911949],"aabb_xy":[[-0.17459711300273506,1.2120734879860386],[-0.04659711248179344,1.3020910866918947]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.15921345018734923,0.7711190205898664,0.71338606911949],"aabb_xy":[[-0.18171345019749752,0.7570228009502631],[-0.13671345017720093,0.7852152402294696]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.24041440733702013,1.7050030548609505,0.71338606911949],"aabb_xy":[[0.2029144068396619,1.701034371312832],[0.2779144078343784,1.708971738409069]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.6773844515444172,1.1979918626882071,0.71338606911949],"aabb_xy":[[0.6405898184195109,1.1610859875916248],[0.7141790846693234,1.2348977377847894]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.30840797986448,1.4789297075005243,0.71338606911949],"aabb_xy":[[-0.39840798354139806,1.4174973009234197],[-0.21840797618756175,1.5403621140776282]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.020797671676758278,-1.2994111835394533,0.71338606911949],"aabb_xy":[[-0.06356437855617847,-1.3634111869612557],[0.021969035202661913,-1.2354111801176508]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.3571958826676181,-0.3319589004293628,0.71338606911949],"aabb_xy":[[-0.37708692254795845,-0.34461471171405966],[-0.3373048427872779,-0.319303089144666]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.2324355307703423,-1.4883993231910988,0.71338606911949],"aabb_xy":[[0.19540142134228253,-1.522776530524808],[0.26946964019840197,-1.4540221158573892]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.5181543633095174,-2.3209273919217015,0.71338606911949],"aabb_xy":[[0.5128167876435128,-2.3459273928508413],[0.5234919389755219,-2.2959273909925617]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.233112176507003,-2.050518202655307,0.71338606911949],"aabb_xy":[[0.16911217580353366,-2.096536585128228],[0.29711217721047234,-2.004499820182386]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.05754305399212456,1.1401275937559254,0.71338606911949],"aabb_xy":[[-0.0064569483506770045,1.0951867425117927],[0.12154305633492611,1.1850684450000577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000900290064366,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/250.png","name":"250"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/250.png","name":"250"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5936.png","name":"5936"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9441.png","name":"9441"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":727.5373137850729,"rotation_z_degrees":133.74231286084063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010088492342741597,-0.019767796443369387,-0.019661265369430518]},{"name":"camera_2","offset_m":[0.009833301877653928,0.005343798698863082,0.01911810552537351]},{"name":"camera_3","offset_m":[0.0033497366058223635,0.019987877950669513,-0.00786391730033872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019302519180579695,0.0005922611702470111,0.0018080741887228132],"end_effector_yaw_offset_degrees":-0.3937006919360191},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-8.664138537955459e-05,0.0015047512754741525,0.0002185853442187198],"end_effector_yaw_offset_degrees":-0.8034375131744742},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015289301036966187,0.00036578943724325554,0.00117081153035269],"end_effector_yaw_offset_degrees":0.9262203093072627}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[9.072942428986226e-05,0.004847594686503256],"position_m":[0.27739072942428983,-0.06115240531349675,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009422256755694395,0.0019654024105644676],"position_m":[0.25225777432443053,0.22066540241056448,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[1.979467004029154e-05,-0.003219579533157443],"position_m":[0.34361979467004033,0.04458042046684256,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001852052485509609,-0.0011031340463584505],"position_m":[0.12255205248550961,0.39829686595364155,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021421568702024293,-0.003008531409185512],"position_m":[0.21984215687020242,-0.4420085314091855,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"211b37671ffd7a71645c537ac9ca69b8262b681803b8433de600b6aaa1388c4e","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_250/tex_ceiling_textures_2390/tex_floor_textures_9441/tex_table_textures_5936/tex_wall_textures_9972","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7326828680234861178,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7326828680234861178,"visual_seed":7326828680234861178,"scene_id":"lab_003","finished_at":"2026-09-03T21:18:35"} +{"episode_id":"ep_000078","started_at":"2026-09-03T21:18:40","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.5646033995482163,-0.8578320994134427,0.71338606911949],"aabb_xy":[[0.48460339738545377,-0.9377872830395864],[0.6446034017109787,-0.7778769157872991]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.1309860845631695,0.7577934949495075,0.71338606911949],"aabb_xy":[[-0.17598608602939836,0.7127936380880269],[-0.08598608309694065,0.8027933518109883]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.16766860557409746,-0.25105155436016835,0.71338606911949],"aabb_xy":[[-0.20897314863783345,-0.31505155392828543],[-0.12636406251036147,-0.18705155479205127]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.39584197038903013,-2.089404729487787,0.71338606911949],"aabb_xy":[[-0.41834197039917836,-2.1035009491273904],[-0.3733419703788818,-2.075308509848184]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.4878917463471375,-1.7144828712786233,0.71338606911949],"aabb_xy":[[0.4238917449391469,-1.766271822802548],[0.5518917477551282,-1.6626939197546986]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.6589405414275888,0.9234022780793159,0.71338606911949],"aabb_xy":[[0.6161738345481687,0.8594022746575134],[0.701707248307009,0.9874022815011183]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.38614986075223723,-2.470146771797123,0.71338606911949],"aabb_xy":[[-0.40132203003387057,-2.485315628725326],[-0.3709776914706039,-2.4549779148689197]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.47208348421833096,0.481858111494887,0.71338606911949],"aabb_xy":[[-0.49662969984108174,0.45160921494585],[-0.4475372685955803,0.5121070080439241]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.42150292655007426,-1.1207478240465953,0.71338606911949],"aabb_xy":[[0.38400292588549556,-1.1364348820468173],[0.45900292721465297,-1.105060766046373]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.08898300837657647,1.1975432947055142,0.71338606911949],"aabb_xy":[[-0.001016991041794424,1.1641677978613243],[0.17898300779494736,1.2309187915497037]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.2577622763728641,-1.3045917982588853,0.71338606911949],"aabb_xy":[[0.19376227566939475,-1.3506101807318065],[0.3217622770763334,-1.2585734157859645]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.3284631350948415,0.7175710504941772,0.71338606911949],"aabb_xy":[[-0.3364566248901235,0.7095729185537016],[-0.32046964529955946,0.7255691824346528]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.5962222902897487,-0.9355978566937722,0.71338606911949],"aabb_xy":[[-0.6384067044505796,-0.9995978569709835],[-0.5540378761289181,-0.8715978564165611]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.6484262472696636,-2.1545814722490384,0.71338606911949],"aabb_xy":[[0.6442903909369635,-2.1920814716933954],[0.6525621036023639,-2.1170814728046814]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.1559379078180252,-0.8202763332995213,0.71338606911949],"aabb_xy":[[0.12479098897444205,-0.8902763319863284],[0.18708482666160828,-0.750276334612714]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.6246022821121174,-2.148185877907216,0.71338606911949],"aabb_xy":[[-0.6745755761153778,-2.198185878461763],[-0.5746289881088569,-2.0981858773526683]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.020579985497095277,-1.7832589693406922,0.71338606911949],"aabb_xy":[[-0.10430221099717774,-1.873258972875388],[0.06314224000298718,-1.693258965805996]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.5394185471471444,0.700138294937461,0.71338606911949],"aabb_xy":[[0.521918613713161,0.6826382950172264],[0.5569184805811277,0.7176382948576955]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.5796871351438372,-1.6248833409785615,0.71338606911949],"aabb_xy":[[-0.6496871377804234,-1.6449882059744267],[-0.5096871325072507,-1.6047784759826957]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.12933843746641516,-0.9677245327988249,0.71338606911949],"aabb_xy":[[-0.19333843784394877,-1.017469799649637],[-0.06533843708888154,-0.9179792659480124]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.5649436091272297,-2.3163634961194273,0.71338606911949],"aabb_xy":[[0.5567290640115456,-2.3250400864170677],[0.5731581542429136,-2.307686905821785]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.2955527168433222,-1.6193846385715487,0.71338606911949],"aabb_xy":[[0.23055271828624935,-1.6491371719854313],[0.360552715400395,-1.589632105157666]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.5637384213967327,-1.7006067074455293,0.71338606911949],"aabb_xy":[[-0.5741499800772163,-1.7059524407814277],[-0.5533268627162489,-1.695260974109631]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.5513974447011497,0.6701821695977497,0.71338606911949],"aabb_xy":[[-0.6213974480927116,0.6348663958943187],[-0.48139744130958767,0.7054979433011804]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.18584051137725455,0.5753684350320154,0.71338606911949],"aabb_xy":[[-0.26584051280738175,0.4958512800194059],[-0.10584050994712732,0.6548855900446249]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.6503109116222334,-0.32748101248365424,0.71338606911949],"aabb_xy":[[0.5863109145101277,-0.37651338227806486],[0.7143109087343391,-0.27844864268924363]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[0.28244315189807445,1.326259637780335,0.71338606911949],"aabb_xy":[[0.23244315053718725,1.2762817332049194],[0.3324431532589617,1.3762375423557507]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[0.4015740619072734,-0.7989737284785323,0.71338606911949],"aabb_xy":[[0.3967304671460435,-0.8038253809575164],[0.40641765666850344,-0.7941220759995482]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[0.0762670664032894,-1.5739520849483792,0.71338606911949],"aabb_xy":[[0.030988451522140123,-1.637952084296563],[0.12154568128443864,-1.5099520856001956]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[-0.044955635820144835,1.444159965542791,0.71338606911949],"aabb_xy":[[-0.08245563616837258,1.4323685699617072],[-0.007455635471917063,1.4559513611238744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959637817031991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5620.png","name":"5620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5620.png","name":"5620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6939.png","name":"6939"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7372.png","name":"7372"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/728.png","name":"728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3748.png","name":"3748"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":795.0086380437367,"rotation_z_degrees":96.61397989606432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002769757827430483,-0.00828275471580625,-7.337751993646141e-05]},{"name":"camera_2","offset_m":[0.008316609642895652,0.004509464294221215,0.014852364361048438]},{"name":"camera_3","offset_m":[0.009469484284660056,-0.012860549471704067,0.00993989968562406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015053984807600292,0.0001401624970248528,-0.0007576276364849041],"end_effector_yaw_offset_degrees":0.2531363838398031},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001152017751604493,-0.0014634516455113646,0.000901031070071744],"end_effector_yaw_offset_degrees":-0.9641226325750094},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001421186734536502,-0.00037156548185801825,-0.0012986552195933098],"end_effector_yaw_offset_degrees":0.014853839160740234}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003673326562028471,0.0016970799541934714],"position_m":[0.27362667343797153,-0.06430292004580654,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028914862304903295,-0.002857905372295553],"position_m":[0.25609148623049033,0.21584209462770446,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0011881303271977436,-0.0008220975923834617],"position_m":[0.34478813032719774,0.04697790240761654,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002341186247128819,-0.0026600078392655614],"position_m":[0.11835881375287119,0.3967399921607344,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010590625335230516,-0.0004050498883908984],"position_m":[0.21664093746647695,-0.4394050498883909,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5761804ce6298b3d89e2a9796f85e275c5cbb23b06b26502fa90b08a6c391916","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5620/tex_ceiling_textures_3748/tex_floor_textures_728/tex_table_textures_6939/tex_wall_textures_7372","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6184515099637132096,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6184515099637132096,"visual_seed":6184515099637132096,"scene_id":"lab_003","finished_at":"2026-09-03T21:21:12"} +{"episode_id":"ep_000079","started_at":"2026-09-03T21:21:16","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.1515527211540676,-0.886421475626773,0.71338606911949],"aabb_xy":[[0.0875527218598994,-0.9504076159956272],[0.21555272044823584,-0.8224353352579188]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.028812739665107445,-1.995887146509457,0.71338606911949],"aabb_xy":[[-0.04391504112612553,-2.0109886681405182],[-0.01371043820408934,-1.980785624878395]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.4131013752081727,1.7889059585719926,0.71338606911949],"aabb_xy":[[0.37810137523167686,1.779441342524376],[0.4481013751846685,1.7983705746196093]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.5955958752850842,1.6896804656318616,0.71338606911949],"aabb_xy":[[-0.6052275115055138,1.6800431528521527],[-0.5859642390646546,1.6993177784115705]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.5236161349719817,1.001936039716524,0.71338606911949],"aabb_xy":[[-0.5736003706801589,0.9519360409030284],[-0.47363189926380445,1.0519360385300196]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.6036920967446971,-0.6284588231031922,0.71338606911949],"aabb_xy":[[-0.6225764805132075,-0.647344747883545],[-0.584807712976187,-0.6095728983228395]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.15368888890037669,1.606464120006851,0.71338606911949],"aabb_xy":[[0.13118888908647428,1.6019895036363703],[0.17618888871427904,1.6109387363773318]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.46992829355978083,-0.48920502219083684,0.71338606911949],"aabb_xy":[[0.3899282955789958,-0.4968065631526888],[0.5499282915405659,-0.4816034812289849]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.5269518204864808,1.191409742478529,0.71338606911949],"aabb_xy":[[-0.5909518221644783,1.1428923509992148],[-0.4629518188084836,1.2399271339578433]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.5526617137574614,-0.3678574875292866,0.71338606911949],"aabb_xy":[[-0.6142524729814544,-0.43185748563833354],[-0.4910709545334687,-0.30385748942023977]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.7116641984906809,-2.4244923817412185,0.71338606911949],"aabb_xy":[[0.7075482483786081,-2.428607936774064],[0.7157801486027534,-2.420376826708373]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.4250377734698414,-2.115089285478312,0.71338606911949],"aabb_xy":[[-0.432320089846505,-2.2050892890878204],[-0.4177554570931777,-2.0250892818688024]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.5797973482205185,0.5561029046965515,0.71338606911949],"aabb_xy":[[-0.6297802984079978,0.506102905053991],[-0.5298143980330391,0.6061029043391118]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.5054562309323386,1.7464417812607853,0.71338606911949],"aabb_xy":[[-0.5136707760480225,1.7377651909631437],[-0.49724168581665457,1.7551183715584264]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.38544736737214813,-0.681498941592459,0.71338606911949],"aabb_xy":[[0.3504473682421924,-0.687244162668123],[0.42044736650210374,-0.6757537205167948]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.21027569257449374,0.6335228779613704,0.71338606911949],"aabb_xy":[[0.1302756915013734,0.623744831623986],[0.2902756936476141,0.6433009242987549]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.1163724102256638,-1.808438968266175,0.71338606911949],"aabb_xy":[[0.10912864417941846,-1.8884389664697774],[0.12361617627190911,-1.7284389700625726]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[0.5804785482011487,-0.09140838565355658,0.71338606911949],"aabb_xy":[[0.5571967060030174,-0.17640838695078465],[0.6037603903992801,-0.0064083843563285245]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.22324830522124806,-0.6352715563467954,0.71338606911949],"aabb_xy":[[0.18824830386976632,-0.6556312923036164],[0.2582483065727298,-0.6149118203899747]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.19517375285747374,-2.0926709777221526,0.71338606911949],"aabb_xy":[[0.17017375358551143,-2.109016341318315],[0.220173752129436,-2.0763256141259903]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.20272232017461067,0.4826583748959652,0.71338606911949],"aabb_xy":[[-0.2526956141778711,0.4326583743414178],[-0.1527490261713502,0.5326583754505125]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.019116144072230612,0.9213630626138016,0.71338606911949],"aabb_xy":[[-0.05088385753004887,0.9079302694121442],[0.0891161456745101,0.9347958558154593]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.28155084968872895,1.446574499537363,0.71338606911949],"aabb_xy":[[-0.37155085202274807,1.3690921449522504],[-0.19155084735470995,1.5240568541224757]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.08969622860456883,0.12886555061841953,0.71338606911949],"aabb_xy":[[-0.1734184541046513,0.038865547083723584],[-0.0059740031044863695,0.21886555415311548]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.09607868635724981,-1.4812574093541924,0.71338606911949],"aabb_xy":[[-0.10685166027861759,-1.5162574075732314],[-0.08530571243588203,-1.4462574111351534]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.5168268516767276,-0.6271970568445424,0.71338606911949],"aabb_xy":[[-0.5406630693173328,-0.7171970576530289],[-0.49299063403612264,-0.5371970560360559]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.38543917824239415,-1.4492102276919119,0.71338606911949],"aabb_xy":[[-0.4079039482137992,-1.4717102285707722],[-0.362974408270989,-1.4267102268130512]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[0.6169026560459328,-1.185002129501774,0.71338606911949],"aabb_xy":[[0.5669026546850455,-1.2349800340771897],[0.66690265740682,-1.1350242249263585]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.10871388305998853,-2.54878943168496,0.71338606911949],"aabb_xy":[[-0.12621388330503788,-2.566289219524527],[-0.09121388281493913,-2.531289643845393]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.37675424589805573,-0.9024304018167026,0.71338606911949],"aabb_xy":[[0.34842453594951556,-0.9068911440104196],[0.405083955846596,-0.8979696596229855]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[-0.2219718404185036,-1.9951366806433173,0.71338606911949],"aabb_xy":[[-0.22989512065725196,-2.0176366808813206],[-0.2140485601797553,-1.9726366804053141]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[0.40286780499482955,-1.2856020196541849,0.71338606911949],"aabb_xy":[[0.3618498616084586,-1.3356020202851422],[0.4438857483812004,-1.2356020190232275]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694389745285617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5529.png","name":"5529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5529.png","name":"5529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8580.png","name":"8580"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1264.png","name":"1264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7401.png","name":"7401"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.3561523842982,"rotation_z_degrees":332.83179886931225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00758463025013378,0.010573792487155988,-0.01366196664841179]},{"name":"camera_2","offset_m":[-0.0021829958076630615,-0.017293575981605875,0.00857777401387895]},{"name":"camera_3","offset_m":[-0.012088854808330347,-0.018417659705291724,0.011112619939283083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003397252072273372,-0.0007224421631932096,0.0019418123227572899],"end_effector_yaw_offset_degrees":-0.7014534236687706},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00016305189704243035,-0.001915699470986664,0.0018302055730516783],"end_effector_yaw_offset_degrees":0.8980450109373839},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013612065311646498,0.001280515139990643,-0.00022310591182188896],"end_effector_yaw_offset_degrees":-0.09521107103592552}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000447285080840085,0.0005383245867535804],"position_m":[0.2768527149191599,-0.06546167541324642,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003990239109422987,-0.0011720303992924772],"position_m":[0.25719023910942296,0.21752796960070753,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002068851988908084,0.00430506471261998],"position_m":[0.3456688519889081,0.05210506471261998,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003658815042294733,0.0009121308493676454],"position_m":[0.11704118495770527,0.4003121308493676,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000591224374052529,0.004138710813411105],"position_m":[0.21829122437405254,-0.4348612891865889,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f673c84371f06f4de49a5f988fc57601bfbea43c49b97f3d30b89acf18533911","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5529/tex_ceiling_textures_7401/tex_floor_textures_1264/tex_table_textures_8580/tex_wall_textures_3000","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":400823132895267264,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":400823132895267264,"visual_seed":400823132895267264,"scene_id":"lab_003","finished_at":"2026-09-03T21:23:55"} +{"episode_id":"ep_000080","started_at":"2026-09-03T21:24:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.3811930098875793,1.1376295276026887,0.71338606911949],"aabb_xy":[[0.3636147076986325,1.1200550380285836],[0.3987713120765262,1.1552040171767937]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.31075295965560384,1.8025020072471025,0.71338606911949],"aabb_xy":[[-0.390752962919617,1.788941974938189],[-0.2307529563915907,1.8160620395560156]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.21367412334168623,-2.34671889142973,0.71338606911949],"aabb_xy":[[-0.22884629262331957,-2.361887748357933],[-0.1985019540600529,-2.3315500345015265]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.5611378980558162,-0.026703835477958293,0.71338606911949],"aabb_xy":[[-0.5685503535972046,-0.032555045899586244],[-0.5537254425144277,-0.020852625056330346]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.4968692351905103,-2.5034419691684433,0.71338606911949],"aabb_xy":[[-0.5145020707840378,-2.521064915184066],[-0.4792363995969827,-2.48581902315282]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.43092789705349,0.4652910617478496,0.71338606911949],"aabb_xy":[[0.3693371378294972,0.40129106363880274],[0.4925186562774828,0.5292910598568965]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.09538845436738153,0.7742119088805852,0.71338606911949],"aabb_xy":[[-0.13288845588301323,0.7629851358644402],[-0.057888452851749816,0.7854386818967303]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.07636415378013506,-2.4375463165640197,0.71338606911949],"aabb_xy":[[-0.12636415514102226,-2.487524221139435],[-0.02636415241924783,-2.3875684119886036]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.09283451560844391,-2.0110671194484655,0.71338606911949],"aabb_xy":[[0.0328345147476311,-2.0624935494549512],[0.1528345164692567,-1.959640689441979]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.407962446931907,-1.704252460800041,0.71338606911949],"aabb_xy":[[-0.4579624463721025,-1.7542203852843565],[-0.35796244749171124,-1.654284536315724]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.35924116591409283,-0.3751157243185639,0.71338606911949],"aabb_xy":[[-0.409241164560014,-0.4250352679780262],[-0.30924116726817164,-0.32519618065910144]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.6166302816450906,1.6967987311172261,0.71338606911949],"aabb_xy":[[-0.6274032555664584,1.6617987328981871],[-0.6058573077237228,1.731798729336265]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.21026754039881218,-2.146242654960878,0.71338606911949],"aabb_xy":[[-0.2175113064450575,-2.2262426531644803],[-0.20302377435256685,-2.0662426567572756]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.20592357771338127,0.39915676470501804,0.71338606911949],"aabb_xy":[[-0.22841999914724537,0.37665676489827055],[-0.18342715627951717,0.4216567645117654]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.5445271167281278,1.1037147421447173,0.71338606911949],"aabb_xy":[[-0.5619578318071342,1.0864426274808663],[-0.5270964016491212,1.120986856808568]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.6542121107857757,-0.8886402372264415,0.71338606911949],"aabb_xy":[[-0.6787583264085263,-0.9188891337754784],[-0.6296658951630248,-0.8583913406774043]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.4797679897830305,1.0413721833611502,0.71338606911949],"aabb_xy":[[0.409767988180751,1.0279393901594926],[0.54976799138531,1.0548049765628078]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.6348301744186979,0.6982779468771452,0.71338606911949],"aabb_xy":[[0.5847327104376244,0.6342779463673334],[0.6849276383997717,0.762277947386957]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.4660807172997814,-1.0483083990147521,0.71338606911949],"aabb_xy":[[0.4457964145763826,-1.0685910241574608],[0.4863650200231801,-1.028025773872043]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.4480337129126575,-2.4646001633545156,0.71338606911949],"aabb_xy":[[0.44099340297912054,-2.544600162754187],[0.4550740228461945,-2.384600163954844]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.27458238842036775,-0.9353843216200097,0.71338606911949],"aabb_xy":[[-0.28016406005449646,-0.9478843214377853],[-0.26900071678623894,-0.9228843218022343]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.1470965719560623,1.0616263998377633,0.71338606911949],"aabb_xy":[[-0.19318166321079377,0.9976264025852083],[-0.10101148070133083,1.1256263970903184]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.2450169927031306,1.2240534031177845,0.71338606911949],"aabb_xy":[[0.1950169916839954,1.1875871873799566],[0.2950169937222659,1.2605196188556125]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.15368419411568857,-0.7174508730649236,0.71338606911949],"aabb_xy":[[-0.1749622022591608,-0.7824508753909966],[-0.1324061859722163,-0.6524508707388504]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.2064268475166255,-1.6166936344443075,0.71338606911949],"aabb_xy":[[-0.22422035445154193,-1.634493380040105],[-0.18863334058170905,-1.5988938888485096]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[0.614496344847119,0.41073440816417595,0.71338606911949],"aabb_xy":[[0.6095970525405554,0.3830574888616072],[0.6193956371536824,0.4384113274667447]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7029286317520709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6924.png","name":"6924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4178.png","name":"4178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9030.png","name":"9030"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":633.8514363431954,"rotation_z_degrees":234.1578081037509,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005784714395224003,0.000344130966195233,-0.007914296649043733]},{"name":"camera_2","offset_m":[-0.0027542551331500714,-0.014032121399144058,-0.008387127390051341]},{"name":"camera_3","offset_m":[-0.01107496364342691,0.011757751039460116,-0.0006829272445902819]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003574354193189384,-0.0012038184952523749,-0.0016448614128959779],"end_effector_yaw_offset_degrees":0.4213215280337923},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00180178939039223,-9.61970629074309e-05,-0.0005936248560520778],"end_effector_yaw_offset_degrees":0.8744317330705269},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00023447506700622484,0.0006130356459860603,-0.0013976580008884568],"end_effector_yaw_offset_degrees":0.9246870704325993}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015607776040128707,0.0012613858645771601],"position_m":[0.27573922239598714,-0.06473861413542284,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001057040513062102,0.0031232499993632213],"position_m":[0.2521429594869379,0.22182324999936323,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0028976344221655426,0.0017920234274759507],"position_m":[0.3464976344221656,0.049592023427475956,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014830856974632923,-0.0025173087532808624],"position_m":[0.11921691430253671,0.3968826912467191,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004350466161957845,-0.004792111788909539],"position_m":[0.22205046616195784,-0.44379211178890954,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e21bbd69a141aac25534d2754d1d361da143b78165cf8b9d0c4205dfde54d93","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8327/tex_ceiling_textures_9030/tex_floor_textures_339/tex_table_textures_6924/tex_wall_textures_4178","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6431694267119691456,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6431694267119691456,"visual_seed":6431694267119691456,"scene_id":"lab_003","finished_at":"2026-09-03T21:26:34"} +{"episode_id":"ep_000081","started_at":"2026-09-03T21:26:37","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.328082431031673,-0.8694136370345766,0.71338606911949],"aabb_xy":[[0.25808242764011097,-0.9047294107380075],[0.39808243442323493,-0.8340978633311458]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.26546537151644845,-0.5305448339542811,0.71338606911949],"aabb_xy":[[0.24296537127293305,-0.542749468614053],[0.28796537175996384,-0.5183401992945091]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.3536975423459297,0.5957286565492361,0.71338606911949],"aabb_xy":[[-0.3703746783390252,0.5790287325753057],[-0.3370204063528342,0.6124285805231663]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5225680207301663,0.20999622316889077,0.71338606911949],"aabb_xy":[[-0.6075680191475895,0.1251219277066058],[-0.43756802231274305,0.29487051863117575]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.6517327736518561,-0.49322717317151854,0.71338606911949],"aabb_xy":[[0.6318417337715159,-0.5058829844562156],[0.6716238135321964,-0.48057136188682187]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.5540077036859282,-2.1721770121121606,0.71338606911949],"aabb_xy":[[-0.5950256470722991,-2.222177012743118],[-0.5129897602995573,-2.1221770114812033]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.4473373016094858,1.435061103564935,0.71338606911949],"aabb_xy":[[-0.48483730195771346,1.4232697079838514],[-0.40983730126125795,1.4468524991460185]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.5875397759220665,-0.5221346316689166,0.71338606911949],"aabb_xy":[[-0.6353459435358351,-0.5871346343759756],[-0.5397336083082978,-0.45713462896185764]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.5154350649057027,1.546516850342139,0.71338606911949],"aabb_xy":[[-0.5195510150177752,1.5424012953092932],[-0.5113191147936299,1.5506324053749843]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.04344175447976317,1.5464532736122147,0.71338606911949],"aabb_xy":[[-0.06595544630322037,1.476453273011207],[-0.02092806265630598,1.616453274213222]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.6278724330307381,-1.6254758589772467,0.71338606911949],"aabb_xy":[[0.5905411565054955,-1.6601289137720991],[0.6652037095559807,-1.5908228041823946]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.05032016708236331,-2.3547439792973663,0.71338606911949],"aabb_xy":[[-0.0998005882963221,-2.418743977210218],[-0.0008397458684045178,-2.2907439813845145]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.1801237102277794,1.1589299114161666,0.71338606911949],"aabb_xy":[[0.1721302204324974,1.1509317794756913],[0.18811720002306148,1.1669280433566425]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.6494901916085636,1.1446062761562747,0.71338606911949],"aabb_xy":[[0.5996734121437288,1.0946062776719714],[0.6993069710733983,1.1946062746405781]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.1259312009404091,-1.4046823007590816,0.71338606911949],"aabb_xy":[[0.06193120056287546,-1.454427567609894],[0.1899312013179427,-1.3549370339082694]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[-0.28316877872942064,-1.6828550313639046,0.71338606911949],"aabb_xy":[[-0.3283400965775896,-1.7468550285084432],[-0.23799746088125168,-1.6188550342193664]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.3172387773401102,0.6481259836653459,0.71338606911949],"aabb_xy":[[0.26723877776377547,0.59814540471324],[0.3672387769164449,0.6981065626174519]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.4396340198873041,-2.0388018321431582,0.71338606911949],"aabb_xy":[[-0.44567103288796894,-2.044828533212107],[-0.4335970068866395,-2.0327751310742106]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.039057818040655445,-0.9766193379460715,0.71338606911949],"aabb_xy":[[-0.04547163168384037,-0.9830291581937397],[-0.03264400439747049,-0.970209517698403]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.23256250284469487,1.1389592040437728,0.71338606911949],"aabb_xy":[[-0.2965625031186731,1.0888931038464846],[-0.16856250257071664,1.1890253042410606]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.5910065675300746,-2.5477774789367635,0.71338606911949],"aabb_xy":[[-0.6560065656859937,-2.5740737234866757],[-0.5260065693741556,-2.5214812343868513]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.07682130519776154,-0.7667073984425192,0.71338606911949],"aabb_xy":[[-0.12681441730695342,-0.8167073991167151],[-0.026828193088569645,-0.7167073977683237]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.22838006469536043,-0.7437459813430412,0.71338606911949],"aabb_xy":[[-0.25338006396732266,-0.7600913449392035],[-0.20338006542339812,-0.7274006177468788]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.5528692639798987,-1.989627919036777,0.71338606911949],"aabb_xy":[[-0.5873316113780404,-2.024121801434599],[-0.5184069165817567,-1.955134036638954]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[-0.201219135701506,-1.9875227627177219,0.71338606911949],"aabb_xy":[[-0.22954884565004627,-1.9919835049114392],[-0.17288942575296581,-1.983062020524005]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.3370670577880109,-1.19123865298175,0.71338606911949],"aabb_xy":[[-0.38704447465326447,-1.2412386544709983],[-0.2870896409227573,-1.1412386514925013]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.17562965290862154,-0.10702732060718567,0.71338606911949],"aabb_xy":[[-0.24562965471736697,-0.12838108937137305],[-0.1056296510998761,-0.08567355184299831]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_27","position":[-0.4726630839766641,0.40144692269328575,0.71338606911949],"aabb_xy":[[-0.5366630853846548,0.349657971169361],[-0.4086630825686735,0.4532358742172104]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[0.5726362697783247,1.5601893881175726,0.71338606911949],"aabb_xy":[[0.5691955935382675,1.5563279551432083],[0.5760769460183819,1.5640508210919373]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[-0.294700680176227,1.3368426196135235,0.71338606911949],"aabb_xy":[[-0.3138129875342059,1.3177078407362817],[-0.27558837281824816,1.3559773984907657]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[-0.5657459103164066,1.6374191430239047,0.71338606911949],"aabb_xy":[[-0.5701765396712468,1.6319707712892226],[-0.5613152809615665,1.6428675147585876]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[0.36222563927814866,-1.7895816225787922,0.71338606911949],"aabb_xy":[[0.3072333886426378,-1.844581624322105],[0.4172178899136597,-1.7345816208354794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983436290283483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3874.png","name":"3874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3874.png","name":"3874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8198.png","name":"8198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9244.png","name":"9244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1348.png","name":"1348"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":743.4894681733196,"rotation_z_degrees":348.3405817707506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00017974991531039333,-0.01298952782321967,0.005666893771340758]},{"name":"camera_2","offset_m":[0.012237935683055142,0.008391864098900765,-0.016360423238779044]},{"name":"camera_3","offset_m":[0.0022304863452975027,0.007446948845164579,0.008871621136741226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013466486272257594,-0.0008621296188306947,-0.0006876310292222602],"end_effector_yaw_offset_degrees":0.034452096970233326},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016069538358429237,0.0012327395223067816,-0.0004975252101605374],"end_effector_yaw_offset_degrees":0.8328472589883547},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001108559177012173,0.0011048902299163198,-0.0001948575337440367],"end_effector_yaw_offset_degrees":-0.5018794080968831}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003764739684676324,-0.003188925118687618],"position_m":[0.27353526031532366,-0.06918892511868763,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007625519467957332,-0.0019004074665104286],"position_m":[0.2524374480532042,0.21679959253348957,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004626119996796413,0.004485140309149903],"position_m":[0.3482261199967964,0.05228514030914991,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018288185470310301,-0.0019679208407168856],"position_m":[0.11887118145296897,0.3974320791592831,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009750553319102448,-0.0016758790025621908],"position_m":[0.21867505533191026,-0.44067587900256217,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d76d7ff645cbf2663fd60b38fe95dc3a008f51b2896b1e277877fcf600f9ed53","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3874/tex_ceiling_textures_1348/tex_floor_textures_6964/tex_table_textures_8198/tex_wall_textures_9244","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2776882356867084447,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2776882356867084447,"visual_seed":2776882356867084447,"scene_id":"lab_003","finished_at":"2026-09-03T21:29:13"} +{"episode_id":"ep_000082","started_at":"2026-09-03T21:29:17","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.010620076055259164,1.3254614923967951,0.71338606911949],"aabb_xy":[[0.003578625104511568,1.3184347406590007],[0.01766152700600676,1.3324882441345896]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.19912947561534478,-2.305444178914898,0.71338606911949],"aabb_xy":[[0.1616294748233493,-2.3118120198730883],[0.2366294764073402,-2.299076337956708]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.04580004639981616,0.9451887894307949,0.71338606911949],"aabb_xy":[[-0.0041930657093757285,0.8951887887565992],[0.09579315850900808,0.9951887901049905]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[0.036813785367698415,1.6693654284731854,0.71338606911949],"aabb_xy":[[-0.013186214208636304,1.6193848495210796],[0.08681378494403313,1.7193460074252915]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.39770270152533116,-1.0749498464979217,0.71338606911949],"aabb_xy":[[0.3337027012648603,-1.1199586458508497],[0.4617027017858019,-1.0299410471449937]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.5744045201707322,-2.5164469173295236,0.71338606911949],"aabb_xy":[[0.5561986965094845,-2.5274723179115157],[0.5926103438319799,-2.5054215167475324]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.5653806989746066,-0.5237310616812967,0.71338606911949],"aabb_xy":[[-0.5903806981402397,-0.5306833073866534],[-0.5403806998089735,-0.5167788159759402]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.12526019516581766,-2.4409226462657903,0.71338606911949],"aabb_xy":[[0.06126019877024458,-2.504885934684524],[0.18926019156139073,-2.3769593578470567]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.26191775932032224,-0.27300841996443825,0.71338606911949],"aabb_xy":[[-0.2818087992006625,-0.2856642312491351],[-0.242026719439982,-0.2603526086797414]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.28683593747750535,-1.8590067884974468,0.71338606911949],"aabb_xy":[[0.23735551626354656,-1.9230067864102989],[0.33631635869146415,-1.7950067905845952]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.1451438823842055,-2.2226565291374123,0.71338606911949],"aabb_xy":[[-0.15255633792559398,-2.2285077395590402],[-0.13773142684281703,-2.2168053187157843]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[0.18428763499710477,-1.5451675765813564,0.71338606911949],"aabb_xy":[[0.14678763642148393,-1.5579038722449141],[0.22178763357272555,-1.5324312809177982]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.4488262973132878,-1.49935514515388,0.71338606911949],"aabb_xy":[[-0.4988262983324231,-1.5358213608917082],[-0.39882629629415256,-1.462888929416052]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.10106913276548901,-1.6259348037463814,0.71338606911949],"aabb_xy":[[-0.13856913258252257,-1.6305730150575235],[-0.06356913294845545,-1.6212965924352398]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.5507198224492675,1.0208530368629232,0.71338606911949],"aabb_xy":[[0.4707198219790516,1.0125423292485751],[0.6307198229194835,1.0291637444772717]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.2304074542221879,1.3477058315964112,0.71338606911949],"aabb_xy":[[0.22632929631513812,1.3436248513481477],[0.2344856121292376,1.3517868118446743]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.4054457670412054,1.0775346810637938,0.71338606911949],"aabb_xy":[[-0.4183176705421456,0.9975346806499578],[-0.3925738635402653,1.15753468147763]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.41526734421938705,0.6239908480584804,0.71338606911949],"aabb_xy":[[0.38412042537580393,0.5539908493716732],[0.44641426306297016,0.6939908467452875]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.6578689367834303,-1.3710524194234173,0.71338606911949],"aabb_xy":[[0.6481129472742564,-1.3808149534826517],[0.6676249262926042,-1.3612898853641828]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.2656145488491005,1.0162466050247514,0.71338606911949],"aabb_xy":[[-0.2875042964380413,0.9262466077355022],[-0.24372480126015975,1.1062466023140003]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.5096096103129595,-1.2896192261252573,0.71338606911949],"aabb_xy":[[0.5015833396823336,-1.2983707211026099],[0.5176358809435856,-1.2808677311479046]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.6593385539587495,-1.7860074666868249,0.71338606911949],"aabb_xy":[[0.6529247403155645,-1.792417286934493],[0.6657523676019343,-1.7795976464391563]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.29792955314513897,0.09358064015829282,0.71338606911949],"aabb_xy":[[-0.3080825686992883,0.05751109858555245],[-0.28777653759098953,0.1296501817310331]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.5735252772389432,-1.172575732181022,0.71338606911949],"aabb_xy":[[0.5647232219299704,-1.1803870583359508],[0.5823273325479158,-1.1647644060260927]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[-0.17572954837210464,1.3045970836587895,0.71338606911949],"aabb_xy":[[-0.2457295517636666,1.2692813099553586],[-0.10572954498054264,1.3399128573622203]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.08804257843516705,-2.1523240235959493,0.71338606911949],"aabb_xy":[[0.02404257652282471,-2.2082351728539598],[0.1520425803475094,-2.096412874337939]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.07189236211818428,-0.062190260117521934,0.71338606911949],"aabb_xy":[[-0.10533253731420388,-0.095633885948452],[-0.03845218692216467,-0.02874663428659185]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[-0.6164219316749662,-2.0614112712561905,0.71338606911949],"aabb_xy":[[-0.6281901184696237,-2.1464112711614125],[-0.6046537448803087,-1.9764112713509694]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_28","position":[0.29882117836128075,-2.5126718696944805,0.71338606911949],"aabb_xy":[[0.29070752368790365,-2.520777686148509],[0.30693483303465785,-2.5045660532404512]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[-0.10784166848713972,1.1313174984224315,0.71338606911949],"aabb_xy":[[-0.12217609361330316,1.1192572828678924],[-0.09350724336097625,1.14337771397697]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.17251948942324857,-1.9716749534731284,0.71338606911949],"aabb_xy":[[-0.1885814168817662,-2.0566749552857195],[-0.1564575619647309,-1.8866749516605363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700830926263081,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9098.png","name":"9098"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9098.png","name":"9098"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3404.png","name":"3404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9751.png","name":"9751"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2163.png","name":"2163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4169.png","name":"4169"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.0138482697918,"rotation_z_degrees":63.48289158375944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012286301871059542,0.0022165341081724667,0.0077582260259857205]},{"name":"camera_2","offset_m":[-0.0037240164068257364,0.019251376741988024,0.003167661069962878]},{"name":"camera_3","offset_m":[-0.01235005528130003,-0.0070115508344854496,-0.007146434175803318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008694791374472578,-0.0009788393808872029,0.0019868394681555827],"end_effector_yaw_offset_degrees":0.5252835737063746},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000553957962970939,-0.0007009592603939715,0.00064329962285061],"end_effector_yaw_offset_degrees":-0.1757692024710602},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-2.037400960396658e-05,-0.000693749224925632,0.0016985656591773268],"end_effector_yaw_offset_degrees":-0.7050412875810201}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003555760970316463,-0.00441149604866316],"position_m":[0.27374423902968353,-0.07041149604866316,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004433433443140078,0.0041738291085714465],"position_m":[0.2487665665568599,0.22287382910857145,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0005730343087809201,-0.0035735689836411764],"position_m":[0.34417303430878093,0.04422643101635883,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018326608237536133,0.001977006853526272],"position_m":[0.1188673391762464,0.40137700685352623,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003031223633214228,-0.003089728628159829],"position_m":[0.22073122363321424,-0.4420897286281598,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4c302534b36d3249732106adf4c66580f634e955bede8f10ab0df5119fc2ad55","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9098/tex_ceiling_textures_4169/tex_floor_textures_2163/tex_table_textures_3404/tex_wall_textures_9751","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":650919456704411292,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":650919456704411292,"visual_seed":650919456704411292,"scene_id":"lab_003","finished_at":"2026-09-03T21:32:00"} +{"episode_id":"ep_000083","started_at":"2026-09-03T21:32:03","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.6828977413972324,1.2779141929531832,0.71338606911949],"aabb_xy":[[0.6747700532039193,1.2690005845424754],[0.6910254295905457,1.286827801363891]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[0.6534192799581673,-1.8419330485231087,0.71338606911949],"aabb_xy":[[0.5834192783558878,-1.8553658417247663],[0.7234192815604468,-1.828500255321451]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.1418796879377464,1.431731670989842,0.71338606911949],"aabb_xy":[[0.06187968746753046,1.423420963375494],[0.22187968840796238,1.4400423786041905]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.4667177767742168,1.1578838015624973,0.71338606911949],"aabb_xy":[[0.4027177748618745,1.1019726523044868],[0.5307177786865591,1.2137949508205077]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.5735253554561235,-0.5883085299844546,0.71338606911949],"aabb_xy":[[0.5095253581537771,-0.6326749569523112],[0.6375253527584699,-0.5439421030165977]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.4306915603223356,0.3225209234837765,0.71338606911949],"aabb_xy":[[0.4188194773108344,0.23752092379012613],[0.44256364333383663,0.40752092317742683]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.6295856952848351,-1.729104492061656,0.71338606911949],"aabb_xy":[[-0.6534219129254402,-1.8191044928701428],[-0.60574947764423,-1.6391044912531698]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.5901448592472758,-2.372545004219943,0.71338606911949],"aabb_xy":[[-0.597388625293521,-2.4525450024235456],[-0.5829010932010303,-2.292545006016341]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.3767286387192281,1.4234097295827417,0.71338606911949],"aabb_xy":[[0.3067286423092662,1.4029717939310598],[0.4467286351291898,1.4438476652344232]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.25323698688969115,0.1620738417187626,0.71338606911949],"aabb_xy":[[-0.2612309754673945,0.15407376162367223],[-0.2452429983119877,0.17007392181385292]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.5750955637700206,0.6741132207501179,0.71338606911949],"aabb_xy":[[-0.5897389693240535,0.6594545010933337],[-0.5604521582159875,0.6887719404069022]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.2695681401306018,1.7950591688283137,0.71338606911949],"aabb_xy":[[0.24456814085863957,1.7787138052321514],[0.2945681394025641,1.811404532424476]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.5935976552417341,1.2172497476839363,0.71338606911949],"aabb_xy":[[0.5896371714719998,1.209581883098416],[0.5975581390114685,1.2249176122694572]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.6831776909939629,-1.0235908349846035,0.71338606911949],"aabb_xy":[[0.658664066896957,-1.04785542828664],[0.7076913150909687,-0.999326241682567]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.17949178165942092,1.2356740296420385,0.71338606911949],"aabb_xy":[[-0.21699178215677917,1.23170534609392],[-0.14199178116206268,1.239642713190157]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.6517026427764037,-1.3422732370880168,0.71338606911949],"aabb_xy":[[0.6463650671103992,-1.3672732380171568],[0.6570402184424083,-1.3172732361588773]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.5624587871806308,0.4896713685348759,0.71338606911949],"aabb_xy":[[0.5544224524793457,0.4816332492304592],[0.5704951218819154,0.49770948783929275]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.05722041460485683,0.7589958738986615,0.71338606911949],"aabb_xy":[[-0.027779583812566407,0.6741215784363767],[0.14222041302228006,0.8438701693609466]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.48841651018865395,-1.7347707927711673,0.71338606911949],"aabb_xy":[[0.41841650755206755,-1.7548756577670324],[0.5584165128252403,-1.7146659277753014]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.013618886865277346,-2.0070635229426084,0.71338606911949],"aabb_xy":[[0.0009920995780809978,-2.016609596644181],[0.026245674152473697,-1.9975174492410355]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.11669714740769921,-1.0723543073184998,0.71338606911949],"aabb_xy":[[0.1106601344070345,-1.0783810083874479],[0.12273416040836395,-1.0663276062495517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904941533056463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3259.png","name":"3259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8559.png","name":"8559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":538.4532487681382,"rotation_z_degrees":164.7885224305078,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013345201488541795,-0.009022942848447464,0.018048938761396415]},{"name":"camera_2","offset_m":[-0.01445038171420343,-0.019987986178544154,0.016935626029888438]},{"name":"camera_3","offset_m":[0.013759830976223884,0.009733959152121316,-0.01574886576571019]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004932214485334936,0.0011606588579219177,0.00170709175379568],"end_effector_yaw_offset_degrees":0.8001281938019338},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016319849901023377,0.0005666334926251507,-0.0011977249971774717],"end_effector_yaw_offset_degrees":-0.6199218739714829},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000777140755473851,0.00036685670264375615,0.001817520843933809],"end_effector_yaw_offset_degrees":0.12563972079896635}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00032931355625585336,-0.0011855068225201239],"position_m":[0.27762931355625586,-0.06718550682252013,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004306186932042368,0.0047393305154949964],"position_m":[0.25750618693204236,0.223439330515495,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-7.824153350977948e-05,-0.003911361059213002],"position_m":[0.34352175846649025,0.043888638940787,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.5509861355001675e-05,-0.0008016683355075846],"position_m":[0.120755509861355,0.3985983316644924,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004267868025913932,0.004319905104871301],"position_m":[0.21343213197408606,-0.4346800948951287,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb04fe4171eea6359ba75770dcaf601bb378275e60ce66dd347d8854960c090a","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_826/tex_ceiling_textures_1200/tex_floor_textures_8559/tex_table_textures_5981/tex_wall_textures_3259","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2870566398598645245,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2870566398598645245,"visual_seed":2870566398598645245,"scene_id":"lab_003","finished_at":"2026-09-03T21:34:41"} +{"episode_id":"ep_000084","started_at":"2026-09-03T21:34:44","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.006494799421672526,1.50952218791921,0.71338606911949],"aabb_xy":[[-0.07049480012514188,1.4635038054462892],[0.05750520128179683,1.5555405703921314]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.296080940740837,-2.115559223253913,0.71338606911949],"aabb_xy":[[-0.36108093862248486,-2.1666828869604537],[-0.2310809428591893,-2.064435559547372]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.5159964546231285,-2.3885740353919753,0.71338606911949],"aabb_xy":[[-0.5573009976868645,-2.4525740349600924],[-0.4746919115593925,-2.3245740358238582]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.2864495984652605,-1.7241308677939207,0.71338606911949],"aabb_xy":[[-0.30394959759962764,-1.7340104948315083],[-0.2689495993308933,-1.7142512407563326]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.4091979622057797,0.11870518290581478,0.71338606911949],"aabb_xy":[[-0.45196466908519983,0.05470517948401232],[-0.36643125532635945,0.18270518632761723]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.4739023057356202,1.5142496058864086,0.71338606911949],"aabb_xy":[[0.45401126585528007,1.5015937946017122],[0.49379334561596055,1.5269054171711058]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.04035803254326509,1.0688951506208086,0.71338606911949],"aabb_xy":[[-0.09024072942096129,1.0188951513745341],[0.009524664334431119,1.1188951498670836]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.035371995798727296,0.8781149335711786,0.71338606911949],"aabb_xy":[[0.009083171478286632,0.8518434999165274],[0.06166082011916795,0.9043863672258299]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.5123356789688067,-1.0354673872139508,0.71338606911949],"aabb_xy":[[0.5027040427483771,-1.0451046999936597],[0.5219673151892363,-1.025830074434242]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.5205113470842819,-1.502547060518036,0.71338606911949],"aabb_xy":[[-0.5244718308540164,-1.5102149251035566],[-0.5165508633145477,-1.4948791959325154]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.6595590016993744,-1.5641370495665288,0.71338606911949],"aabb_xy":[[0.6095590021230397,-1.6141176285186347],[0.7095590012757091,-1.5141564706144228]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.19248598457582256,-2.33921464549197,0.71338606911949],"aabb_xy":[[0.16748598502408407,-2.3493571293571045],[0.21748598412756104,-2.329072161626835]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.2984673358386372,0.9630442976720999,0.71338606911949],"aabb_xy":[[-0.31596733609797384,0.9489527554833274],[-0.2809673355793006,0.9771358398608726]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.2062606937814878,1.0761122914058845,0.71338606911949],"aabb_xy":[[0.1751137749379047,1.0061122927190773],[0.23740761262507093,1.1461122900926917]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.5391628621474986,-1.8311042898846455,0.71338606911949],"aabb_xy":[[0.47516286486185,-1.8726110088374894],[0.6031628594331473,-1.7895975709318015]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.6543942804110068,-1.2868500371377605,0.71338606911949],"aabb_xy":[[0.59940106907387,-1.341850037476554],[0.7093874917481435,-1.2318500367989669]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.16438229778974855,-1.2889712224259786,0.71338606911949],"aabb_xy":[[0.14921942481281147,-1.3041366797210976],[0.17954517076668564,-1.27380576513086]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.15062960888932786,1.519017940526696,0.71338606911949],"aabb_xy":[[0.12812960864581244,1.506813305866924],[0.17312960913284323,1.5312225751864679]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.216177807209754,1.2250310433924736,0.71338606911949],"aabb_xy":[[0.21021126826901823,1.2190698987331094],[0.2221443461504898,1.2309921880518377]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.06627786019311044,-1.902616392235013,0.71338606911949],"aabb_xy":[[0.028777859695752195,-1.9065850757831313],[0.10377786069046868,-1.8986477086868943]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.5441654818981317,0.16740577699754766,0.71338606911949],"aabb_xy":[[-0.5816654826901273,0.16103793603935757],[-0.5066654811061364,0.17377361795573776]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.05673711242204549,-0.9336032487080217,0.71338606911949],"aabb_xy":[[-0.07436994801557306,-0.9512261947236446],[-0.039104276828517914,-0.9159803026923986]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.46496060866283373,-0.15374679630067734,0.71338606911949],"aabb_xy":[[-0.5549606123397519,-0.21517920287778164],[-0.37496060498591555,-0.09231438972357296]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.31205407910271976,-0.8589917074535895,0.71338606911949],"aabb_xy":[[0.250463319878727,-0.9229917055626364],[0.37364483832671264,-0.7949917093445427]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.6149898416088888,0.11949250618254359,0.71338606911949],"aabb_xy":[[0.5249898392748698,0.042010151597430934],[0.7049898439429079,0.19697486076765625]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[0.1843910151227509,-1.7879530324195874,0.71338606911949],"aabb_xy":[[0.17880934348862215,-1.800453032237363],[0.18997268675687967,-1.775453032601812]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.09717225968873866,-1.0605923869553335,0.71338606911949],"aabb_xy":[[-0.1871722582832086,-1.0768429732687546],[-0.007172261094268703,-1.0443418006419125]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.11143296518480028,-0.057941404996368906,0.71338606911949],"aabb_xy":[[-0.17143296578081646,-0.11275387754159238],[-0.0514329645887841,-0.0031289324511454206]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[-0.5160382351005892,-0.3150791601079548,0.71338606911949],"aabb_xy":[[-0.5385382356126298,-0.3375710184733531],[-0.4935382345885486,-0.29258730174255637]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[0.1451706783806248,0.7117493608395478,0.71338606911949],"aabb_xy":[[0.09518772819314546,0.6617493611969872],[0.19515362856810411,0.7617493604821081]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[-0.45323923100005037,0.5065187978894592,0.71338606911949],"aabb_xy":[[-0.4707392302781372,0.48918069782311324],[-0.43573923172196344,0.5238568979558051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962054114450962,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8754.png","name":"8754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/959.png","name":"959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":654.1592017794235,"rotation_z_degrees":28.173764722005554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009819354632950224,-0.008885954334590896,-0.00397807861793421]},{"name":"camera_2","offset_m":[0.00609402305598962,-0.008805285197601594,-0.0058785185636337466]},{"name":"camera_3","offset_m":[-0.007197125016676496,0.012273506037543135,0.012463478121484937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005463016727787575,0.001074522545983211,0.0018489490808772076],"end_effector_yaw_offset_degrees":-0.2545309007615284},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011374225301816212,-0.000630929420468655,0.0010997999554848079],"end_effector_yaw_offset_degrees":0.17427394125214057},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013204016776243435,0.000303815616840977,-0.0019147926322968126],"end_effector_yaw_offset_degrees":0.9399561001678545}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00021317891218381683,-0.004360957103815767],"position_m":[0.2775131789121838,-0.07036095710381576,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004339993429755227,-0.0006505036201185773],"position_m":[0.2575399934297552,0.21804949637988144,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00024931243480791777,0.004073153164140989],"position_m":[0.34384931243480793,0.05187315316414099,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015533367169024803,-0.004915679924952412],"position_m":[0.11914666328309752,0.3944843200750476,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012796149678240875,-0.001058172494933153],"position_m":[0.21642038503217592,-0.4400581724949332,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"73cab2c5e03f339aad85e6190eeda7fe231868c4b406ce7477a9cef544f4e8ed","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8754/tex_ceiling_textures_50/tex_floor_textures_4880/tex_table_textures_959/tex_wall_textures_4944","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6397871671682388804,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6397871671682388804,"visual_seed":6397871671682388804,"scene_id":"lab_003","finished_at":"2026-09-03T21:37:33"} +{"episode_id":"ep_000085","started_at":"2026-09-03T21:37:37","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.2664290257189592,-0.7892670437200131,0.71338606911949],"aabb_xy":[[0.25178562016492617,-0.8039257633767972],[0.28107243127299214,-0.7746083240632288]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.24283769608058492,1.6885765664983112,0.71338606911949],"aabb_xy":[[-0.28502211024141566,1.6245765662211002],[-0.2006532819197542,1.7525765667755226]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.44308373255285294,-0.3174143950083286,0.71338606911949],"aabb_xy":[[0.4080837334228973,-0.3231596160839927],[0.4780837316828086,-0.31166917393266447]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.3576057434407867,-1.011019517675044,0.71338606911949],"aabb_xy":[[-0.4476057431639609,-1.0340928702102237],[-0.26760574371761253,-0.9879461651398641]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.2010791989794123,-1.6829909629675464,0.71338606911949],"aabb_xy":[[0.1901734228918496,-1.7629909593663753],[0.21198497506697503,-1.602990966568717]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.02553535675456753,-1.993556595907968,0.71338606911949],"aabb_xy":[[-0.10553535391414282,-2.0051041968657852],[0.05446464040500776,-1.982008994950151]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.4984258397762038,1.4080786528745781,0.71338606911949],"aabb_xy":[[0.4574078963898329,1.358078652243621],[0.5394437831625747,1.4580786535055357]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.12078201250279874,1.6743780699704351,0.71338606911949],"aabb_xy":[[0.09556117564295907,1.649154319117548],[0.1460028493626384,1.6996018208233215]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.2670370185307621,1.614836593663211,0.71338606911949],"aabb_xy":[[0.26170450387614913,1.6095122654179757],[0.2723695331853751,1.6201609219084467]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.31820846762573485,1.4009147967899676,0.71338606911949],"aabb_xy":[[0.28361738477168963,1.3359147965049365],[0.35279955047978007,1.4659147970749986]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.518227785642205,-0.6978489563801011,0.71338606911949],"aabb_xy":[[-0.5682008511747205,-0.747848956192634],[-0.4682547201096896,-0.6478489565675682]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.2880202927716561,1.0972240493775485,0.71338606911949],"aabb_xy":[[0.23802029319532136,1.0472434704254427],[0.3380202923479908,1.1472046283296546]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.4674740326725319,0.2922516538469817,0.71338606911949],"aabb_xy":[[-0.547474030653317,0.28465011288512976],[-0.3874740346917469,0.29985319480883366]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.5769512204286216,-0.06465570016070465,0.71338606911949],"aabb_xy":[[0.5169512201772203,-0.11893702519716931],[0.6369512206800226,-0.010374375124239998]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.03687645643262638,0.5044398351428634,0.71338606911949],"aabb_xy":[[-0.061422672055377096,0.4741909385938264],[-0.012330240809875657,0.5346887316919005]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.2775572761793945,-1.2561724197433008,0.71338606911949],"aabb_xy":[[-0.3203239830588147,-1.3201724231651033],[-0.23479056929997433,-1.1921724163214984]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.3292758109844296,-1.1129561283393863,0.71338606911949],"aabb_xy":[[0.24927580991130927,-1.1227341746767707],[0.4092758120575499,-1.1031780820020018]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.20309055532079878,-1.5606583194679398,0.71338606911949],"aabb_xy":[[-0.283084378899357,-1.6406583220607813],[-0.12309673174224059,-1.4806583168750982]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.6055269874034181,-1.2329340253708416,0.71338606911949],"aabb_xy":[[-0.6605224652240774,-1.2879340268047483],[-0.5505315095827586,-1.1779340239369345]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.642147695354899,-2.499569694170106,0.71338606911949],"aabb_xy":[[0.6232633115863888,-2.5184556189504583],[0.6610320791234092,-2.4806837693897528]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.2875497783448113,-0.6486276152209178,0.71338606911949],"aabb_xy":[[0.2225497783105086,-0.695328291901245],[0.35254977837911405,-0.6019269385405904]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.2915739774204993,-1.8831463388648402,0.71338606911949],"aabb_xy":[[-0.29691155308650385,-1.9081463397939802],[-0.2862364017544947,-1.8581463379357006]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.4699720643595251,0.5998502700095001,0.71338606911949],"aabb_xy":[[-0.5299720642060919,0.5430316478164614],[-0.4099720645129583,0.6566688922025388]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.4460809540046972,-0.5626219586245402,0.71338606911949],"aabb_xy":[[-0.47108095317033033,-0.5695742043298968],[-0.4210809548390641,-0.5556697129191837]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.3138913716269399,-2.100775013682864,0.71338606911949],"aabb_xy":[[-0.4038913702214099,-2.117025599996285],[-0.22389137303247003,-2.0845244273694434]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.06065251885226941,-2.321649443318303,0.71338606911949],"aabb_xy":[[0.03813882702881222,-2.3916494439193103],[0.0831662106757266,-2.2516494427172953]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.5112614054785409,-0.05563835267003725,0.71338606911949],"aabb_xy":[[-0.5268171748888062,-0.07118878591444446],[-0.49570563606827567,-0.040087919425630066]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[0.16762843843068587,-1.4670648117309828,0.71338606911949],"aabb_xy":[[0.1620467667965571,-1.4795648115487583],[0.17321011006481463,-1.4545648119132073]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.5836487043853185,0.11554700373452764,0.71338606911949],"aabb_xy":[[-0.6209799809105611,0.08089394893967534],[-0.5463174278600759,0.15020005852937995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941545850912276,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7111.png","name":"7111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4445.png","name":"4445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3359.png","name":"3359"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7127.png","name":"7127"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":767.5246763144332,"rotation_z_degrees":203.59911467678808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007946837731541456,-0.015113155203903706,0.01653186311687407]},{"name":"camera_2","offset_m":[0.01015958610524114,-0.011938625090375856,0.006387387677559735]},{"name":"camera_3","offset_m":[-0.012380247955470908,0.007927300494781731,-0.007262109481259511]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001744104164473336,-0.001335111743637401,-0.0010470703190018841],"end_effector_yaw_offset_degrees":-0.0029985326890500374},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00032990555713219164,0.0007968140675396491,0.0004268243690970894],"end_effector_yaw_offset_degrees":0.05307972074369438},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-3.5380333821495406e-05,0.00011642454465996335,0.0014689613690263116],"end_effector_yaw_offset_degrees":-0.25856399163401567}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004914273674594685,0.0004817287865390022],"position_m":[0.2822142736745947,-0.065518271213461,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033778605024237652,-0.004817836299905387],"position_m":[0.24982213949757623,0.2138821637000946,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001295703429883552,0.004745035430302574],"position_m":[0.34489570342988357,0.052545035430302575,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007143542842529679,0.004270182575856876],"position_m":[0.12141435428425297,0.40367018257585685,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006638762902560942,0.0029551302092961284],"position_m":[0.2170361237097439,-0.4360448697907039,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2970df4b147db65d37ab77ab731267bf636a69788152bc1a62b6c4f5f9fec2a","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9879/tex_ceiling_textures_7127/tex_floor_textures_3359/tex_table_textures_7111/tex_wall_textures_4445","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8615758882945215249,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8615758882945215249,"visual_seed":8615758882945215249,"scene_id":"lab_003","finished_at":"2026-09-03T21:40:18"} +{"episode_id":"ep_000086","started_at":"2026-09-03T21:40:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.287441413494376,1.2104443408775443,0.71338606911949],"aabb_xy":[[-0.2962226406416123,1.2016645935890142],[-0.27866018634713985,1.2192240881660747]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.5864193569112852,-0.12522716927312016,0.71338606911949],"aabb_xy":[[-0.6564193590427146,-0.1479891348988158],[-0.5164193547798556,-0.10246520364742448]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.10310671550226369,1.0170761725760338,0.71338606911949],"aabb_xy":[[0.07927049786165863,0.9270761717675473],[0.12694293314286875,1.1070761733845202]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.6690382588730048,-1.0246331317624817,0.71338606911949],"aabb_xy":[[0.634038258896509,-1.0340977478100983],[0.7040382588495007,-1.015168515714865]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.18087380108046947,1.6976778294892996,0.71338606911949],"aabb_xy":[[0.13087379979662944,1.6476989750986772],[0.23087380236430938,1.7476566838799215]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.1656730926864407,-1.1245805143014493,0.71338606911949],"aabb_xy":[[0.14317309287253832,-1.12905513067193],[0.1881730925003431,-1.1201058979309686]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.4877283760104485,-1.653479603488468,0.71338606911949],"aabb_xy":[[0.4377283765702529,-1.7034475279727843],[0.5377283754506441,-1.6035116790041517]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.3792922035935466,-0.4053966769615127,0.71338606911949],"aabb_xy":[[-0.4592922022504326,-0.4199015358857755],[-0.2992922049366606,-0.3908918180372499]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.025523241088019177,-1.40447251168025,0.71338606911949],"aabb_xy":[[-0.01197675940933907,-1.4084411952283682],[0.06302324158537742,-1.4005038281321311]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.45859044981225594,-0.797241795172837,0.71338606911949],"aabb_xy":[[0.3945904494347223,-0.8469870620236493],[0.5225904501897896,-0.7474965283220247]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.21317416967223274,1.398722240172598,0.71338606911949],"aabb_xy":[[-0.24432108851581585,1.3287222414857907],[-0.18202725082864962,1.468722238859405]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.21782768299212285,-2.121596099299192,0.71338606911949],"aabb_xy":[[0.21249010732611825,-2.146596100228332],[0.2231652586581274,-2.0965960983700525]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.19698070859535366,-1.8535835339741324,0.71338606911949],"aabb_xy":[[0.16268379757761298,-1.8878804201840735],[0.23127761961309423,-1.819286647764191]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.5245140379668272,-2.4361957214219965,0.71338606911949],"aabb_xy":[[-0.5745140389859624,-2.4726619371598244],[-0.4745140369476919,-2.3997295056841685]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.40009374544008364,0.77649655277264,0.71338606911949],"aabb_xy":[[-0.4650937465460269,0.7515311797045118],[-0.33509374433414035,0.8014619258407684]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.683382208830174,-0.15283023083525604,0.71338606911949],"aabb_xy":[[0.6787470936779405,-0.15669756591240466],[0.6880173239824072,-0.14896289575810737]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.22509267722035925,-2.498412419524638,0.71338606911949],"aabb_xy":[[-0.24252339229936573,-2.5156845341884884],[-0.2076619621413527,-2.4811403048607863]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.6997595653763102,0.6554692887935465,0.71338606911949],"aabb_xy":[[0.6900035758671362,0.6457067547343119],[0.709515554885484,0.6652318228527808]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.6488776846232206,-0.26850328191223927,0.71338606911949],"aabb_xy":[[-0.6640405576001577,-0.283668739207358],[-0.6337148116462835,-0.2533378246171205]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.6215070000869647,-1.124738634921504,0.71338606911949],"aabb_xy":[[-0.6855069993811329,-1.1887247752903582],[-0.5575070007927965,-1.0607524945526499]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.18607456313835447,-1.9657422622862857,0.71338606911949],"aabb_xy":[[-0.20357456241644137,-1.9830803623526316],[-0.16857456386026762,-1.9484041622199397]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.4802333123537142,1.013632654238748,0.71338606911949],"aabb_xy":[[-0.484311470260764,1.0095516739904846],[-0.4761551544466645,1.0177136344870112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960306860049454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1477.png","name":"1477"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1272.png","name":"1272"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7499.png","name":"7499"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":699.31970002176,"rotation_z_degrees":242.5891376764938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007914868058653615,0.00942379163692918,0.004471394066503532]},{"name":"camera_2","offset_m":[-0.009942167043912896,0.01823381076058993,0.004806577096358497]},{"name":"camera_3","offset_m":[-0.010969967823606673,-0.004153971635660256,-0.003092385733253225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010165448336060374,0.0013537271448942866,-0.0001977903529768925],"end_effector_yaw_offset_degrees":-0.08610566668010633},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0014210706762590264,-0.0008098212282315234,-0.001253452516227424],"end_effector_yaw_offset_degrees":-0.33465013117462816},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007257098713513654,0.0016958393301816908,-0.001038276318582706],"end_effector_yaw_offset_degrees":-0.5597366681832603}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033536175546272275,-0.0043216653245777125],"position_m":[0.2739463824453728,-0.07032166532457772,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014039378531976177,-0.0013167693288281567],"position_m":[0.2517960621468024,0.21738323067117185,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0032789294541889545,0.0024925385231858374],"position_m":[0.34032107054581107,0.05029253852318584,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012319959798659007,-0.0030152770546604747],"position_m":[0.1194680040201341,0.3963847229453395,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004632170634583859,-0.0048625271441886655],"position_m":[0.21306782936541616,-0.44386252714418867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"be4e81aa57ab206fc725fcc48b625abedd566f7318a8cca23052518bba373375","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9727/tex_ceiling_textures_7499/tex_floor_textures_9652/tex_table_textures_1477/tex_wall_textures_1272","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5710462393389123080,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5710462393389123080,"visual_seed":5710462393389123080,"scene_id":"lab_003","finished_at":"2026-09-03T21:42:56"} +{"episode_id":"ep_000087","started_at":"2026-09-03T21:42:59","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.2893115469241422,-1.3639238881073834,0.71338606911949],"aabb_xy":[[-0.35331155014278004,-1.4106470000063918],[-0.22531154370550432,-1.317200776208375]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.18451595654346242,1.4082686942268916,0.71338606911949],"aabb_xy":[[-0.2020159558215493,1.3909305941605454],[-0.16701595726537555,1.4256067942932373]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.5772597047226518,1.3531313685893527,0.71338606911949],"aabb_xy":[[0.5272767545351722,1.3031313689467923],[0.6272426549101309,1.403131368231913]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.2559001869029419,-1.5550593612003643,0.71338606911949],"aabb_xy":[[0.19190018979083617,-1.6040917309947749],[0.31990018401504755,-1.5060269914059536]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.25823228716246627,1.329848059539155,0.71338606911949],"aabb_xy":[[0.2540964308297661,1.292348060094798],[0.26236814349516646,1.367348058983512]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.35291806037141665,1.0908009348702694,0.71338606911949],"aabb_xy":[[-0.3904180615562094,1.0863827121742085],[-0.3154180591866238,1.0952191575663295]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.24644619670128642,-1.3963566435333699,0.71338606911949],"aabb_xy":[[0.20911492017604383,-1.4310096983282221],[0.283777473226529,-1.3617035887385176]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.5267853238221205,-0.8923566857550982,0.71338606911949],"aabb_xy":[[0.4917853239261017,-0.9007309212670382],[0.5617853237181394,-0.8839824502431584]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.6418060358134422,-2.171526653746405,0.71338606911949],"aabb_xy":[[-0.6511530433957374,-2.185830275964049],[-0.632459028231147,-2.157223031528761]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.4837772735419006,-1.6955369965100777,0.71338606911949],"aabb_xy":[[0.4037834499633424,-1.7755369991029193],[0.5637710971204588,-1.6155369939172362]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.40258000722960463,-1.3766094981654913,0.71338606911949],"aabb_xy":[[0.37758000795764235,-1.3929548617616536],[0.4275800065015669,-1.360264134569329]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.5678923426069014,0.43203527762907035,0.71338606911949],"aabb_xy":[[0.5428923426743835,0.4251526094081471],[0.5928923425394192,0.4389179458499937]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.5971323266860558,-0.23276984312607718,0.71338606911949],"aabb_xy":[[0.549326159072287,-0.2977698458331361],[0.6449384942998243,-0.16776984041901818]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.0006940440633480538,1.4825956712124344,0.71338606911949],"aabb_xy":[[-0.03376843394973972,1.4759319940295115],[0.035156522076435825,1.489259348395357]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.2571001630576849,-0.8086699711841516,0.71338606911949],"aabb_xy":[[0.2071001644117637,-0.858589514843614],[0.3071001617036061,-0.7587504275246892]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.4993924742523448,0.8007883412181398,0.71338606911949],"aabb_xy":[[0.4618924743085784,0.7924952511833032],[0.5368924741961112,0.8090814312529764]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.4507398284334996,-0.7830169742340363,0.71338606911949],"aabb_xy":[[0.41323982985787877,-0.7957532698975941],[0.4882398270091204,-0.7702806785704782]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.20501801896259414,-1.8998565988689367,0.71338606911949],"aabb_xy":[[-0.21824896449727543,-1.9130840178909359],[-0.19178707342791285,-1.886629179846937]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.6508766013890026,1.093444503596806,0.71338606911949],"aabb_xy":[[0.6140819682640964,1.0565386285002236],[0.687671234513909,1.1303503786933882]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.056264962536622276,-2.3736470456372745,0.71338606911949],"aabb_xy":[[-0.07654926526002104,-2.393929670779983],[-0.035980659813223514,-2.353364420494565]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.3128519515382153,-1.095349986414992,0.71338606911949],"aabb_xy":[[0.2950584446032989,-1.1131497320107897],[0.33064545847313176,-1.0775502408191944]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.023911755162370207,-2.5057553676189546,0.71338606911949],"aabb_xy":[[-0.07391175618150549,-2.5422215833567825],[0.026088245856765068,-2.4692891518811266]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.1946717557179255,0.9802086077199856,0.71338606911949],"aabb_xy":[[0.17478071583758525,0.9675527964352889],[0.21456279559826577,0.9928644190046826]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.013759362565090139,-1.734683394981706,0.71338606911949],"aabb_xy":[[0.0033478038846064245,-1.740029128317604],[0.02417092124557385,-1.7293376616458072]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.3587445574191799,-0.9394321246906208,0.71338606911949],"aabb_xy":[[0.336572030442529,-0.9616077918467437],[0.3809170843958306,-0.9172564575344974]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.44260484717176185,0.9660601721828068,0.71338606911949],"aabb_xy":[[0.42014007720035673,0.9435601713039462],[0.46506961714316697,0.9885601730616672]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[0.0893313786647667,-0.90225673173491,0.71338606911949],"aabb_xy":[[0.08525322075771695,-0.9063377119831734],[0.09340953657181643,-0.8981757514866467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968120551406242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7531.png","name":"7531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7531.png","name":"7531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4931.png","name":"4931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7180.png","name":"7180"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6058.png","name":"6058"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":801.1371858494042,"rotation_z_degrees":202.20251914575164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006769685588839414,0.0038665505768798875,0.002793535855756861]},{"name":"camera_2","offset_m":[-0.00894887082195471,-0.0036876169614872417,0.014436344242773114]},{"name":"camera_3","offset_m":[0.005665222710235871,-0.013977798887775072,0.016786847570939508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005560182756230772,-8.21742445374328e-05,-0.00038866041422218204],"end_effector_yaw_offset_degrees":0.6145267775328904},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0014857076031407658,0.0008250514274247742,-0.0008977028138341377],"end_effector_yaw_offset_degrees":-0.7960137263265994},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003122394901152168,-0.0009101801791258431,0.0019676103137220465],"end_effector_yaw_offset_degrees":0.33991794265347863}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003795744853240712,0.0021362369296447636],"position_m":[0.2810957448532407,-0.06386376307035524,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037295193731670456,-0.0005060751370612989],"position_m":[0.25692951937316705,0.2181939248629387,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0020035168166191606,0.0028158486164724756],"position_m":[0.3415964831833809,0.050615848616472475,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030003033451610006,0.0021764735086285004],"position_m":[0.117699696654839,0.40157647350862846,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036797862841019633,-0.00493710266032852],"position_m":[0.21402021371589805,-0.44393710266032854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac97445822c66672b590e801929b6eb2fbd3369606e848351921fd14f334366f","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7531/tex_ceiling_textures_6058/tex_floor_textures_7180/tex_table_textures_188/tex_wall_textures_4931","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7144524085722402268,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7144524085722402268,"visual_seed":7144524085722402268,"scene_id":"lab_003","finished_at":"2026-09-03T21:45:36"} +{"episode_id":"ep_000088","started_at":"2026-09-03T21:45:40","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.6204419713047937,0.6377316045145154,0.71338606911949],"aabb_xy":[[0.5404419691420311,0.5577764208883716],[0.7004419734675561,0.7176867881406589]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.11608085219426034,-1.775415877349758,0.71338606911949],"aabb_xy":[[-0.18008085246823857,-1.825481977547046],[-0.052080851920282126,-1.7253497771524702]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.4862797004130359,0.008466371490053248,0.71338606911949],"aabb_xy":[[0.45181722239994815,0.0018026943071304223],[0.5207421784261237,0.015130048672976067]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.17832913421398222,-0.44940244960473397,0.71338606911949],"aabb_xy":[[-0.18574158975537072,-0.4552536600263619],[-0.17091667867259377,-0.443551239183106]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.27052816571466703,-1.232529194840095,0.71338606911949],"aabb_xy":[[-0.288074860630786,-1.2700291964043462],[-0.25298147079854816,-1.1950291932758437]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.14051257058442157,-0.8224262762005241,0.71338606911949],"aabb_xy":[[0.07651256853468955,-0.8625207592898321],[0.20451257263415354,-0.7823317931112161]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.5813025752879812,-1.2371590906774579,0.71338606911949],"aabb_xy":[[0.569940840634695,-1.2485275570837457],[0.5926643099412673,-1.2257906242711696]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.20059158964397206,-1.8360409594432485,0.71338606911949],"aabb_xy":[[0.1935501386932245,-1.843067711181043],[0.20763304059471968,-1.829014207705454]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.46162707046272966,1.2943710735767597,0.71338606911949],"aabb_xy":[[0.4144976914608939,1.2303710725323576],[0.5087564494645652,1.3583710746211615]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.4463619616062783,0.3254343302921394,0.71338606911949],"aabb_xy":[[-0.4516944762608913,0.3201100020469038],[-0.44102944695166535,0.330758658537375]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.6189434083797523,-1.3435648903071487,0.71338606911949],"aabb_xy":[[-0.653943408275771,-1.3519391258190885],[-0.5839434084837333,-1.3351906547952084]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.18780660330140986,-0.9440860854900197,0.71338606911949],"aabb_xy":[[-0.2478066049443317,-0.9960862347819639],[-0.127806601658488,-0.8920859361980755]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.18944017195904428,1.6694179396877842,0.71338606911949],"aabb_xy":[[0.18074220966832902,1.65729296538031],[0.19813813424975962,1.6815429139952593]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.5065183203328631,-1.2681576825517944,0.71338606911949],"aabb_xy":[[-0.5130199568408678,-1.2779255045781044],[-0.5000166838248585,-1.2583898605254848]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.022382683590329244,-1.3850063368978827,0.71338606911949],"aabb_xy":[[-0.10238268386393622,-1.4579558847235994],[0.05761731668327773,-1.312056789072166]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.5876137704768911,0.8313689928918606,0.71338606911949],"aabb_xy":[[-0.6046238677669417,0.8152345043935867],[-0.5706036731868404,0.8475034813901345]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.1098429660672734,1.1483200406591436,0.71338606911949],"aabb_xy":[[-0.13342808953116825,1.083320038413712],[-0.08625784260337854,1.2133200429045756]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.2525626033636337,0.8186852676795291,0.71338606911949],"aabb_xy":[[0.1725626028934177,0.8103745600651809],[0.3325626038338496,0.8269959752938777]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.058327275470594575,-0.802965282355983,0.71338606911949],"aabb_xy":[[-0.09582727557618752,-0.8097874442089641],[-0.020827275365001615,-0.7961431205030018]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.1661624650302138,1.6500079567049712,0.71338606911949],"aabb_xy":[[-0.21615557713940572,1.6000079560307758],[-0.11616935292102193,1.700007957379167]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[-0.4156965310467,1.780288439581501,0.71338606911949],"aabb_xy":[[-0.479696533267107,1.7359153554562126],[-0.35169652882629293,1.8246615237067891]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.5293261959714075,-1.7452262997205432,0.71338606911949],"aabb_xy":[[0.465326198669061,-1.7895927266883997],[0.5933261932737538,-1.7008598727526862]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.06635496325565948,-2.1365220376785716,0.71338606911949],"aabb_xy":[[-0.10385496307269304,-2.141160248989713],[-0.028854963438625925,-2.1318838263674293]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.49663617787708003,1.487641046815511,0.71338606911949],"aabb_xy":[[0.47141534101724036,1.462417295962624],[0.5218570147369197,1.5128647976683975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957326127853731,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/365.png","name":"365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/365.png","name":"365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1272.png","name":"1272"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/58.png","name":"58"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7712.png","name":"7712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":767.9306281693976,"rotation_z_degrees":58.94005491773855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018050328708361554,-0.014827910843221366,-0.0005812423002490193]},{"name":"camera_2","offset_m":[0.015652311203624845,0.007369322383156383,-0.015390861354609249]},{"name":"camera_3","offset_m":[0.007635715485688616,0.015573305406446785,0.01015680253372718]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005552312788051688,-0.0017340366234279356,0.001998923618298564],"end_effector_yaw_offset_degrees":0.940739915905848},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0001015634381483989,-0.00046289303142149846,0.00041050897314863326],"end_effector_yaw_offset_degrees":-0.9819954312986234},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014982537057247817,-0.0008169049737227843,0.00030799663136530644],"end_effector_yaw_offset_degrees":0.27430118556170147}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007388813724548979,0.001995393484651664],"position_m":[0.27656111862754507,-0.06400460651534834,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009257297179238247,0.0011977751927759288],"position_m":[0.2541257297179238,0.21989777519277592,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0003884241445192048,-0.0032295391417036245],"position_m":[0.34398842414451924,0.04457046085829638,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028490382785515507,-0.004920576764123319],"position_m":[0.12354903827855156,0.39447942323587665,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025279882538492794,0.004407791333955058],"position_m":[0.2202279882538493,-0.4345922086660449,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e83f829e6b1257276052b49ce6bac19f81a0c3df157ab2c994510c4f11ceb1e","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_365/tex_ceiling_textures_6734/tex_floor_textures_7712/tex_table_textures_1272/tex_wall_textures_58","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2543517986150278436,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2543517986150278436,"visual_seed":2543517986150278436,"scene_id":"lab_003","finished_at":"2026-09-03T21:48:21"} +{"episode_id":"ep_000089","started_at":"2026-09-03T21:48:24","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.5859996302778754,-1.7430394845720258,0.71338606911949],"aabb_xy":[[-0.6197751894685684,-1.757077979785191],[-0.5522240710871824,-1.7290009893588607]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.6993367075853603,0.7711815004996572,0.71338606911949],"aabb_xy":[[0.6933701686446245,0.7652203558402931],[0.705303246526096,0.7771426451590212]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.36111300886637593,-1.5115812163425824,0.71338606911949],"aabb_xy":[[-0.39570409172042104,-1.5765812166276134],[-0.3265219260123306,-1.4465812160575513]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.06970320420922416,0.9458672699892294,0.71338606911949],"aabb_xy":[[0.06170971441394214,0.937869138048754],[0.0776966940045062,0.9538654019297053]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.10708948429063958,-1.4694598786591384,0.71338606911949],"aabb_xy":[[0.06975820776539694,-1.5041129334539907],[0.14442076081588218,-1.4348068238642862]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.2713838797193032,1.5684487426594234,0.71338606911949],"aabb_xy":[[0.260022145066017,1.5570802762531353],[0.2827456143725893,1.5798172090657114]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.21919484076160967,0.5648837417917338,0.71338606911949],"aabb_xy":[[0.20835436253509473,0.547697460501085],[0.23003531898812454,0.5820700230823826]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.23735775945693638,-1.426825967151142,0.71338606911949],"aabb_xy":[[0.2023577611462409,-1.4345409820746875],[0.2723577577676318,-1.4191109522275962]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.24510307824159583,-1.1996941658317775,0.71338606911949],"aabb_xy":[[0.18110307589879426,-1.24463501707591],[0.3091030805843974,-1.154753314587645]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.6395614775808487,0.8480024177532601,0.71338606911949],"aabb_xy":[[0.6323177115346033,0.7680024195496578],[0.6468052436270939,0.9280024159568625]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.19377913291364401,-0.3788369980932025,0.71338606911949],"aabb_xy":[[-0.238950450761813,-0.442836995237741],[-0.14860781506547505,-0.3148370009486641]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.44419286176369105,1.4896089463998492,0.71338606911949],"aabb_xy":[[-0.4616928620230277,1.4755174042110766],[-0.4266928615043544,1.503700488588622]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.1698613656501342,0.8788127387521971,0.71338606911949],"aabb_xy":[[0.14602514800952915,0.7888127379437109],[0.1936975832907393,0.9688127395606838]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.43669820283023913,-0.19823013498501663,0.71338606911949],"aabb_xy":[[-0.4966982026768059,-0.2550487571780553],[-0.37669820298367235,-0.14141151279197792]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.46575615477517557,0.5295759057694878,0.71338606911949],"aabb_xy":[[-0.5557561571091947,0.4520935511843751],[-0.3757561524411565,0.6070582603546004]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.07445771816934121,-2.0620529859111576,0.71338606911949],"aabb_xy":[[-0.07979529383534578,-2.0870529868402974],[-0.06912014250333665,-2.037052984982018]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.6290029019666763,1.7448852109778952,0.71338606911949],"aabb_xy":[[0.606502901956528,1.730788991338292],[0.6515029019768246,1.7589814306174985]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.5408816976265165,-1.253849898809915,0.71338606911949],"aabb_xy":[[0.47088169423495446,-1.2891656725133458],[0.6108817010180784,-1.218534125106484]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.15346143412400104,-1.3441974606070968,0.71338606911949],"aabb_xy":[[0.1305457212389511,-1.36710175774352],[0.1763771470090509,-1.321293163470673]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.6662367455062523,-0.9642561439198258,0.71338606911949],"aabb_xy":[[-0.6780049323009099,-1.0492561438250476],[-0.6544685587115948,-0.8792561440146045]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[0.5775238715500248,0.17965532747868673,0.71338606911949],"aabb_xy":[[0.5325238700837961,0.1346554706172061],[0.6225238730162538,0.22465518434016746]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.41462025354508264,-1.885913669030624,0.71338606911949],"aabb_xy":[[-0.4786202499724046,-1.9330832928527208],[-0.3506202571177608,-1.838744045208528]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.23660370626420635,-0.7771958907697487,0.71338606911949],"aabb_xy":[[0.19910370591597856,-0.7889872863508322],[0.2741037066124341,-0.765404495188665]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.42276695654947827,-1.8005802726168831,0.71338606911949],"aabb_xy":[[0.37277212362153667,-1.8505802715121262],[0.47276178947741987,-1.7505802737216392]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.35698793302723675,1.433934108084459,0.71338606911949],"aabb_xy":[[0.31844224020203565,1.3953883370282703],[0.39553362585243773,1.4724798791406477]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.5690704356814507,-2.069311367573481,0.71338606911949],"aabb_xy":[[-0.5867032712749781,-2.0869343135891034],[-0.551437600087923,-2.0516884215578575]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.2612393854573216,-2.4692874524576744,0.71338606911949],"aabb_xy":[[0.21124437449786965,-2.519287451493266],[0.3112343964167737,-2.4192874534220827]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[0.42631119794103123,1.046858160117817,0.71338606911949],"aabb_xy":[[0.34631120092678325,1.0267236084444058],[0.5063111949552792,1.0669927117912283]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[-0.04838105161980044,0.9115825948816232,0.71338606911949],"aabb_xy":[[-0.057674669856951015,0.8740825963934892],[-0.039087433382649854,0.949082593369757]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[-0.14289408851840435,-1.6494064363282561,0.71338606911949],"aabb_xy":[[-0.21289408492836612,-1.6698443719799376],[-0.07289409210844254,-1.6289685006765742]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[0.5625328835591026,-1.7581414958817962,0.71338606911949],"aabb_xy":[[0.5531154089892398,-1.7675576730195153],[0.5719503581289653,-1.7487253187440772]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_31","position":[-0.20238609321291479,1.4599576796570841,0.71338606911949],"aabb_xy":[[-0.2256679354110461,1.3749576783598563],[-0.17910425101478342,1.5449576809543124]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[-0.07313796507722903,-1.8195367317482811,0.71338606911949],"aabb_xy":[[-0.08194002038620173,-1.82734805790321],[-0.0643359097682563,-1.8117254055933518]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_33","position":[0.40870783364244145,0.5882984571800409,0.71338606911949],"aabb_xy":[[0.35873476810992605,0.538298457367508],[0.458680899174957,0.6382984569925738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003394044870587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":723.5856728157061,"rotation_z_degrees":262.61134619423353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013777203873318973,-0.0104158896675342,0.015746542868299514]},{"name":"camera_2","offset_m":[0.014756642681070267,-0.003713012466146432,0.013029835723820628]},{"name":"camera_3","offset_m":[-0.01837332641241484,-0.011163541849891497,-0.007523677301666169]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021929487333685257,-0.000978621336339217,-0.0008124547169093641],"end_effector_yaw_offset_degrees":0.17909922442462878},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014490195155081632,7.341767198677449e-05,-0.0002804390454957755],"end_effector_yaw_offset_degrees":0.22784296206084775},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010085693000788792,-0.001210069682398144,-0.0003616668047848738],"end_effector_yaw_offset_degrees":0.31542552703298}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0042753388459574335,0.0028484987942162037],"position_m":[0.2815753388459574,-0.0631515012057838,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021054947116574243,-0.0033362667530358924],"position_m":[0.2553054947116574,0.21536373324696412,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0027736730049310668,-0.001833716995508241],"position_m":[0.3463736730049311,0.045966283004491765,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019232846061803437,0.0024494000455375685],"position_m":[0.12262328460618034,0.40184940004553754,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010154386518568363,-0.004782472551814016],"position_m":[0.21871543865185683,-0.443782472551814,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50b90f385363e3b72337eb28a3e45b8198846e145acb7c3ce2b3f91d7d52c1b0","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1606/tex_ceiling_textures_2985/tex_floor_textures_2493/tex_table_textures_5850/tex_wall_textures_6938","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2171419002222308270,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2171419002222308270,"visual_seed":2171419002222308270,"scene_id":"lab_003","finished_at":"2026-09-03T21:51:00"} +{"episode_id":"ep_000090","started_at":"2026-09-03T21:51:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.40304442692822184,0.28917226968012244,0.71338606911949],"aabb_xy":[[0.397077887987486,0.28321112502075835],[0.4090109658689576,0.2951334143394864]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.47809079453846626,-2.024085177431786,0.71338606911949],"aabb_xy":[[0.4281175005352057,-2.074085177986333],[0.5280640885417266,-1.9740851768772383]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.12891805535525347,0.4275607821407159,0.71338606911949],"aabb_xy":[[-0.1440203568162715,0.41245926050965404],[-0.11381575389423533,0.4426623037717777]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.09259215075165683,0.86163998241613,0.71338606911949],"aabb_xy":[[0.0029050744435413778,0.7716399821616795],[0.1822792270597723,0.9516399826705806]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.2717321047721757,1.2029332030655442,0.71338606911949],"aabb_xy":[[0.2117321045207745,1.1486518780290795],[0.33173210502357686,1.2572145281020088]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.1626541636363047,0.8887001941655579,0.71338606911949],"aabb_xy":[[-0.17241015314547858,0.8789376601063233],[-0.1528981741271308,0.8984627282247922]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.6128574966434801,0.8272627506300387,0.71338606911949],"aabb_xy":[[-0.6503574964605137,0.8226245393188968],[-0.5753574968264465,0.8319009619411805]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.10180914744768688,-0.3383101511623354,0.71338606911949],"aabb_xy":[[-0.10726709308470694,-0.4183101544699945],[-0.09635120181066681,-0.25831014785467626]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.6112899976879116,-1.7579876548508773,0.71338606911949],"aabb_xy":[[0.531289995525149,-1.8379428384770211],[0.691289999850674,-1.6780324712247339]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[0.0688982551385302,-0.6855471770494372,0.71338606911949],"aabb_xy":[[0.04435203951577948,-0.7157960735984743],[0.09344447076128092,-0.6552982805004002]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.663581531215275,-1.7333471875534476,0.71338606911949],"aabb_xy":[[-0.676453434716215,-1.8133471879672838],[-0.6507096277143347,-1.6533471871396115]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.5817641516675852,-0.6966942131907383,0.71338606911949],"aabb_xy":[[-0.6018225632808254,-0.7167593000998959],[-0.5617057400543448,-0.6766291262815808]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.18271188431353824,0.7984672013080503,0.71338606911949],"aabb_xy":[[-0.20521102003976519,0.7759672005297873],[-0.16021274858731124,0.8209672020863132]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.15816725578740254,-1.2516643516833936,0.71338606911949],"aabb_xy":[[0.09416725720083008,-1.2986713150829023],[0.222167254373975,-1.204657388283885]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.6279951286526533,1.2306627899615643,0.71338606911949],"aabb_xy":[[0.6058226016760024,1.2084871228054412],[0.6501676556293041,1.2528384571176874]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.18024338219061797,-1.8452979335672661,0.71338606911949],"aabb_xy":[[-0.18966085676048072,-1.8547141107049852],[-0.17082590762075522,-1.835881756429547]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.381778817201534,1.40678285160149,0.71338606911949],"aabb_xy":[[-0.40424358717293907,1.3842828507226295],[-0.35931404723012883,1.4292828524803505]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.4804981984507717,-1.3589000617347085,0.71338606911949],"aabb_xy":[[0.46443627099225404,-1.4439000635473],[0.49656012590928933,-1.2739000599221164]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.2022375210142835,-1.969229595992334,0.71338606911949],"aabb_xy":[[0.1122375212911093,-1.9923029485275139],[0.2922375207374576,-1.9461562434571542]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.43945033401947453,1.5149190625868791,0.71338606911949],"aabb_xy":[[-0.4762449671443808,1.4780131874902969],[-0.40265570089456826,1.5518249376834614]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.4031886287260321,-0.12608919696391885,0.71338606911949],"aabb_xy":[[-0.4581886279026216,-0.1810788717388765],[-0.34818862954944263,-0.0710995221889612]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.24064659653391424,-2.0419034858292653,0.71338606911949],"aabb_xy":[[-0.2774971444709019,-2.079403486652299],[-0.20379604859692665,-2.0044034850062316]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[0.19470582351604693,-1.84230192356494,0.71338606911949],"aabb_xy":[[0.18861119562792864,-1.850871318116609],[0.20080045140416528,-1.8337325290132716]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.1135891192731967,-1.3719777246648004,0.71338606911949],"aabb_xy":[[-0.17758912118553905,-1.4278888739228108],[-0.04958911736085436,-1.31606657540679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696789769855706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/463.png","name":"463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/463.png","name":"463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7457.png","name":"7457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7091.png","name":"7091"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3362.png","name":"3362"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.7373827168244,"rotation_z_degrees":345.8610785461309,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010813339398666253,-0.0069996792852168276,-0.010725012827235827]},{"name":"camera_2","offset_m":[-0.009059148511017207,-0.00400160083728061,0.01181520670900613]},{"name":"camera_3","offset_m":[0.015790793285037467,-0.006519663954272122,0.0025265712585600363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007491454209738629,-0.0016408652127154642,-0.001518595191561539],"end_effector_yaw_offset_degrees":-0.666013810470325},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0016128569826404707,-0.0005583543276553402,0.0009391583750747393],"end_effector_yaw_offset_degrees":0.07294811451436711},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003168744943235443,-0.0015865092094825024,0.0007154255901756883],"end_effector_yaw_offset_degrees":0.4879364081862634}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027439206820689963,-0.003939052537001675],"position_m":[0.280043920682069,-0.06993905253700168,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012327163226039397,-0.002887875176729702],"position_m":[0.251967283677396,0.2158121248232703,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004488569389368125,0.003706377942951612],"position_m":[0.34808856938936816,0.05150637794295161,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00046559086511978234,-0.0003656358735624442],"position_m":[0.12116559086511978,0.39903436412643756,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00015039805620815049,-0.00022685592351409743],"position_m":[0.21785039805620815,-0.4392268559235141,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3a7fc44c0f5d46c376206d908a5a9e93c9c2233f04c4f70551c9c9e08ed64853","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_463/tex_ceiling_textures_3362/tex_floor_textures_7091/tex_table_textures_9337/tex_wall_textures_7457","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6575943688501347098,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6575943688501347098,"visual_seed":6575943688501347098,"scene_id":"lab_003","finished_at":"2026-09-03T21:53:45"} +{"episode_id":"ep_000091","started_at":"2026-09-03T21:56:49","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5890485243369452,-0.9188306698230018,0.71338606911949],"aabb_xy":[[-0.638528945550904,-0.9828306677358536],[-0.5395681031229864,-0.8548306719101499]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.36496137008697976,0.18897882155889478,0.71338606911949],"aabb_xy":[[-0.40199547951503944,0.15460161422518529],[-0.32792726065892,0.22335602889260417]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.37371596297085646,-1.6918460589871525,0.71338606911949],"aabb_xy":[[-0.4237090750800484,-1.7418460596613485],[-0.3237228508616646,-1.6418460583129573]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.6025106412679302,1.4498315501023336,0.71338606911949],"aabb_xy":[[0.5906385582564292,1.3648315504086832],[0.6143827242794314,1.534831549795984]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.4706117325498399,1.126456568433286,0.71338606911949],"aabb_xy":[[-0.4813847064712076,1.0914565702142467],[-0.45983875862847207,1.1614565666523247]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.5039951383659267,-1.7042580905306743,0.71338606911949],"aabb_xy":[[0.46649513757393124,-1.7106259314888645],[0.5414951391579221,-1.6978902495724841]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.2316939807522801,-1.1681697789521233,0.71338606911949],"aabb_xy":[[-0.2541939812643207,-1.1906616373175216],[-0.20919398024023947,-1.145677920586725]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.10646936661923923,-1.1582720294107651,0.71338606911949],"aabb_xy":[[0.08018054229879855,-1.1845434630654161],[0.13275819093967986,-1.1320005957561137]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.15087482253065188,0.39352382861347657,0.71338606911949],"aabb_xy":[[-0.21487482290818546,0.34377856176266425],[-0.08687482215311823,0.4432690954642888]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.33676287764211965,-2.4517551248413807,0.71338606911949],"aabb_xy":[[-0.3417188978270008,-2.4742551250435025],[-0.3318068574572385,-2.4292551246392597]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.612395666232832,-0.39791489634175337,0.71338606911949],"aabb_xy":[[0.5523956663862654,-0.4547335185347921],[0.6723956660793989,-0.34109627414871474]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.5472550663637235,-2.090244359907217,0.71338606911949],"aabb_xy":[[-0.581717413761865,-2.1247382423050394],[-0.5127927189655814,-2.055750477509394]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.6219864811513689,-2.5248020388989296,0.71338606911949],"aabb_xy":[[0.5920189242415432,-2.5548020391968147],[0.6519540380611946,-2.4948020386010437]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.4683502253307137,-0.9816570439676728,0.71338606911949],"aabb_xy":[[0.3883502266738277,-0.9961619028919356],[0.5483502239875997,-0.96715218504341]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.2950021745149229,-1.3896287334693012,0.71338606911949],"aabb_xy":[[-0.31828401671305423,-1.4746287347665292],[-0.27172033231679155,-1.304628732172073]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.6835724605279843,-1.338840487686595,0.71338606911949],"aabb_xy":[[0.6476589561029945,-1.3747539959033495],[0.7194859649529738,-1.3029269794698404]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.6203956300778328,0.6627587519948808,0.71338606911949],"aabb_xy":[[0.5663800337959328,0.5987587491026236],[0.6744112263597328,0.7267587548871379]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.5178762212112897,1.716610739830403,0.71338606911949],"aabb_xy":[[0.4828762213152709,1.7082365043184629],[0.5528762211073086,1.724984975342343]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.06743105490870416,1.7620151222019786,0.71338606911949],"aabb_xy":[[-0.08493105515375353,1.7445153343624118],[-0.049931054663654766,1.7795149100415455]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.5308460924559535,1.211077008795801,0.71338606911949],"aabb_xy":[[0.44584609376387885,1.179091145400922],[0.6158460911480281,1.2430628721906798]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[-0.1995348218881396,-1.3246606553623377,0.71338606911949],"aabb_xy":[[-0.20557183488880437,-1.3306873564312862],[-0.19349780888747492,-1.3186339542933896]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.21354112777471868,0.7479626510234567,0.71338606911949],"aabb_xy":[[-0.27753682516981526,0.6839626527227479],[-0.14954543037962206,0.8119626493241653]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.5797493818294772,-1.3382509232292294,0.71338606911949],"aabb_xy":[[0.575788898059743,-1.3459187878147498],[0.5837098655992117,-1.3305830586437086]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.5336415395812493,1.4894700587423801,0.71338606911949],"aabb_xy":[[-0.5686415387740675,1.4785030127447174],[-0.498641540388431,1.5004371047400424]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.06515258586415806,-1.6077547515761093,0.71338606911949],"aabb_xy":[[0.05170605923011473,-1.6212246032292006],[0.0785991124982014,-1.594284899923018]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937081689806017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4672.png","name":"4672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6003.png","name":"6003"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/155.png","name":"155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9372.png","name":"9372"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":719.3392952931474,"rotation_z_degrees":199.38961661544886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002012574279557384,0.010806660769802322,0.006609705594528021]},{"name":"camera_2","offset_m":[-0.008368650472300012,-0.007917628851851237,0.013052712239548927]},{"name":"camera_3","offset_m":[-0.016779348348358737,-0.015064383186654876,-0.009133381362723418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008696490879920864,0.0012439992593852498,0.0007133289970507606],"end_effector_yaw_offset_degrees":-0.4148808339067984},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00055025676187363,0.0013781941176592423,-0.001789437858952255],"end_effector_yaw_offset_degrees":0.7624274747709687},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013371000014414558,-0.00041856934330397133,0.0002914456862572346],"end_effector_yaw_offset_degrees":-0.5930757793112018}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021480198135455995,0.002200740559995932],"position_m":[0.27515198018645437,-0.06379925944000407,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029170567761054216,0.0032713553930136625],"position_m":[0.2561170567761054,0.22197135539301366,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0022915975757730224,-0.0029099777694942862],"position_m":[0.34589159757577304,0.04489002223050571,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019143472068915111,0.004694568098312607],"position_m":[0.11878565279310849,0.40409456809831257,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003688076983057601,0.004950437774939955],"position_m":[0.21806880769830578,-0.43404956222506,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"afbc6138b53cd13fb1c0b1a1b64bc575bbd6217534304a69254c769fb227375e","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6393/tex_ceiling_textures_9372/tex_floor_textures_155/tex_table_textures_4672/tex_wall_textures_6003","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2769656919095656680,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2769656919095656680,"visual_seed":2769656919095656680,"scene_id":"lab_003","finished_at":"2026-09-03T21:59:35"} +{"episode_id":"ep_000092","started_at":"2026-09-03T21:59:39","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.4387575473208014,-1.9676033637741863,0.71338606911949],"aabb_xy":[[-0.44246080864994025,-1.9713053820829038],[-0.43505428599166246,-1.9639013454654684]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.38539040943086467,0.060461149913431544,0.71338606911949],"aabb_xy":[[-0.3898210387857049,0.05501277817874895],[-0.38095978007602455,0.06590952164811414]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.504538963827234,-1.0126221209832016,0.71338606911949],"aabb_xy":[[-0.5418702403524766,-1.0472751757780538],[-0.46720768730199136,-0.9779690661883493]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.17359955526859205,-2.1327581133221263,0.71338606911949],"aabb_xy":[[-0.22369701924966567,-2.196758113831938],[-0.12350209128751843,-2.0687581128123145]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.5955952609869306,1.3686086615422126,0.71338606911949],"aabb_xy":[[-0.6010532066239506,1.2886086582345533],[-0.5901373153499104,1.4486086648498715]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.12273723844779072,-1.7218585453826498,0.71338606911949],"aabb_xy":[[-0.17773271626845008,-1.7768585468165565],[-0.0677417606271313,-1.6668585439487427]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.5919361919866095,-0.5931437178386114,0.71338606911949],"aabb_xy":[[0.5694225001631521,-0.6631437184396188],[0.6144498838100665,-0.5231437172376038]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.3094373602825109,0.5925992988611357,0.71338606911949],"aabb_xy":[[0.24543736169593838,0.5455923354616269],[0.3734373588690833,0.6396062622606443]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.6809444031483219,-0.06801137962812653,0.71338606911949],"aabb_xy":[[-0.6889807378496067,-0.0760494989325433],[-0.672908068447037,-0.05997326032370974]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.18430624671601759,0.8028403290152224,0.71338606911949],"aabb_xy":[[-0.24930624487193664,0.7765440844653101],[-0.11930624856009853,0.8291365735651345]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.14052354244040566,-0.7765182243393085,0.71338606911949],"aabb_xy":[[-0.204523544118403,-0.8250356158186225],[-0.0765235407624083,-0.7280008328599941]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.48841437693022505,1.5238401627109606,0.71338606911949],"aabb_xy":[[-0.5378947981441838,1.4598401647981085],[-0.43893395571626626,1.5878401606238122]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.16688275766074323,0.9269397328611819,0.71338606911949],"aabb_xy":[[-0.20391686708880294,0.8925625255274723],[-0.12984864823268352,0.9613169401948911]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.5695212265593308,-1.4057327655872744,0.71338606911949],"aabb_xy":[[-0.6495212251466501,-1.4850483675254351],[-0.4895212279720113,-1.3264171636491133]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.4727920450700056,-2.322555348031991,0.71338606911949],"aabb_xy":[[0.4087920486426837,-2.3697249718540876],[0.5367920414973275,-2.2753857242098947]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.36604332887047786,-0.6436136139453841,0.71338606911949],"aabb_xy":[[0.2860433314668844,-0.7236061851435669],[0.44604332627407123,-0.5636210427472013]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.5968269274362195,-2.433579667247033,0.71338606911949],"aabb_xy":[[-0.6468098776236986,-2.4835796668895926],[-0.5468439772487399,-2.383579667604472]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.14357593870134877,-0.6656159225896796,0.71338606911949],"aabb_xy":[[-0.16548462084069981,-0.6875165894097702],[-0.12166725656199773,-0.6437152557695888]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.01679245833655363,-2.118732562247455,0.71338606911949],"aabb_xy":[[-0.005707541906961766,-2.130937196907227],[0.03929245858006902,-2.106527927587683]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.5190399396726038,0.35461335784243264,0.71338606911949],"aabb_xy":[[0.5081883334237282,0.3437540671147817],[0.5298915459214794,0.3654726485700837]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.015010582443053533,1.6410248925235522,0.71338606911949],"aabb_xy":[[-0.04898941781741727,1.596016093170624],[0.07901058270352433,1.68603369187648]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.12962253218520936,-1.926824918712293,0.71338606911949],"aabb_xy":[[-0.13520420381933812,-1.9393249185300685],[-0.12404086055108061,-1.9143249188945175]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.36371766384526816,1.482331907028715,0.71338606911949],"aabb_xy":[[0.3563052083038797,1.476480696607087],[0.37113011938665663,1.4881831174503428]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.3399930475875177,1.1436118799737343,0.71338606911949],"aabb_xy":[[0.3034972269602389,1.1071279375469765],[0.3764888682147964,1.1800958224004916]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[0.45375454520174463,0.5978675067338761,0.71338606911949],"aabb_xy":[[0.4336961335885044,0.5778024198247186],[0.473812956814985,0.6179325936430337]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.4648248737838512,0.5247054361481913,0.71338606911949],"aabb_xy":[[-0.5288248756961935,0.468794286890181],[-0.4008248718715089,0.5806165854062019]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[0.616054635363716,1.3520151151051292,0.71338606911949],"aabb_xy":[[0.578554636788095,1.3392788194415712],[0.6535546339393367,1.3647514107686871]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[0.6271926921031465,-2.445941075659769,0.71338606911949],"aabb_xy":[[0.6223490973419167,-2.4507927281387536],[0.6320362868643766,-2.4410894231807854]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[0.625831577754534,-1.9622304018955758,0.71338606911949],"aabb_xy":[[0.6211964626023005,-1.9660977369727246],[0.6304666929067673,-1.958363066818427]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[0.30603383854721233,-1.5807076923564012,0.71338606911949],"aabb_xy":[[0.29087096557027525,-1.5958731496515204],[0.3211967115241494,-1.5655422350612829]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[-0.18075672982611568,-0.9311904810352849,0.71338606911949],"aabb_xy":[[-0.19592889910774905,-0.9463593379634883],[-0.16558456054448237,-0.9160216241070815]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[-0.1789018049020905,-2.4276155646426445,0.71338606911949],"aabb_xy":[[-0.24290180819179863,-2.4709504836465617],[-0.1149018016123824,-2.3842806456387264]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_32","position":[-0.6099705885071309,0.812991773853379,0.71338606911949],"aabb_xy":[[-0.6275172834232499,0.7754917722891277],[-0.592423893591012,0.8504917754176302]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_33","position":[-0.608408570022996,0.22792778545202896,0.71338606911949],"aabb_xy":[[-0.620341304384824,0.2155456326441696],[-0.5964758356611679,0.24030993825988833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964974653900307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5274.png","name":"5274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5274.png","name":"5274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1356.png","name":"1356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9675.png","name":"9675"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3111.png","name":"3111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.2190370647055,"rotation_z_degrees":289.6880278960928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005012552753738374,-0.005963421055086808,-0.018434055309451875]},{"name":"camera_2","offset_m":[0.0037807768881554134,-0.01844599934772668,-0.004860865672228426]},{"name":"camera_3","offset_m":[-0.01747455287185573,-0.011216348790185435,-0.003556094646130409]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001298316479512457,0.0013383957106285053,-0.001763602640374765],"end_effector_yaw_offset_degrees":-0.47336501394701114},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006497578197267808,-0.00018388935757970826,-0.0016639755602300453],"end_effector_yaw_offset_degrees":0.49355174983572625},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006070359976501005,-0.0006526044548117126,0.0007113350512626508],"end_effector_yaw_offset_degrees":-0.31679875669500235}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003290313790556283,0.002199406276338773],"position_m":[0.2740096862094437,-0.06380059372366123,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033650182583180623,-0.004288095953236808],"position_m":[0.24983498174168192,0.2144119040467632,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003272170351489803,-0.0018185113991421751],"position_m":[0.3468721703514898,0.04598148860085783,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003492493235240204,-0.004305830653139964],"position_m":[0.1172075067647598,0.39509416934686004,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037643379179549174,-0.004545546667308513],"position_m":[0.2139356620820451,-0.4435455466673085,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec75226a2db276677d4631dfa40c0d39cb7c560049a3840284682a67ff96ac97","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5274/tex_ceiling_textures_2900/tex_floor_textures_3111/tex_table_textures_1356/tex_wall_textures_9675","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6647997533957565474,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6647997533957565474,"visual_seed":6647997533957565474,"scene_id":"lab_003","finished_at":"2026-09-03T22:02:20"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:02:25","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.6703891917791849,-1.6071375819932092,0.71338606911949],"aabb_xy":[[0.6640770922428465,-1.6129045212464284],[0.6767012913155233,-1.6013706427399905]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.0013798506242491682,-1.61358266567362,0.71338606911949],"aabb_xy":[[-0.023840986235590497,-1.6388064165265066],[0.026600687484088833,-1.588358914820733]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.39321153576785894,-0.736888848858086,0.71338606911949],"aabb_xy":[[0.35729803134286925,-0.7728023570748406],[0.42912504019284864,-0.7009753406413313]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.4904800184873257,-0.8006931185162214,0.71338606911949],"aabb_xy":[[0.47957424239976293,-0.8806931149150505],[0.5013857945748883,-0.7206931221173922]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.6266285078566172,-1.1668520627523493,0.71338606911949],"aabb_xy":[[-0.667646451242988,-1.2168520633833066],[-0.5856105644702463,-1.116852062121392]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.6202891152105421,0.9950988425699516,0.71338606911949],"aabb_xy":[[-0.6251884075171054,0.9674219232673829],[-0.6153898229039784,1.0227757618725204]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.036706457309763074,-2.3526758483248997,0.71338606911949],"aabb_xy":[[-0.04084231364246327,-2.390175847769257],[-0.03257060097706288,-2.315175848880543]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.6281423902129233,-0.7424380929187449,0.71338606911949],"aabb_xy":[[0.56314238910698,-0.7674034659868731],[0.6931423913188666,-0.7174727198506166]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.24657181368779935,1.555167687153951,0.71338606911949],"aabb_xy":[[0.1965718142476037,1.5051997626696345],[0.29657181312799497,1.6051356116382671]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.08280060359651875,-0.9640898320573177,0.71338606911949],"aabb_xy":[[-0.09981070088656939,-0.9802243205555916],[-0.06579050630646809,-0.9479553435590438]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.14037491406545555,1.7528650097480276,0.71338606911949],"aabb_xy":[[-0.17892060689065659,1.7143192386918389],[-0.10182922124025451,1.7914107808042163]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.184236727229673,0.7204805163671688,0.71338606911949],"aabb_xy":[[0.1202367301175673,0.6714481465727583],[0.24823672434177868,0.7695128861615795]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.4410763892061043,-2.3388879090199195,0.71338606911949],"aabb_xy":[[-0.5010763898021204,-2.3937003815651434],[-0.3810763886100882,-2.2840754364746965]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.2131495256648674,-0.21881288317194603,0.71338606911949],"aabb_xy":[[-0.2931495259384744,-0.29176243099766275],[-0.13314952539126043,-0.1458633353462293]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.41457865245504255,0.3317906292234305,0.71338606911949],"aabb_xy":[[0.3909935289911477,0.2667906269779987],[0.4381637759189374,0.3967906314688623]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.04754618959505996,-1.3458212899963493,0.71338606911949],"aabb_xy":[[0.014106014399040355,-1.3792649158272792],[0.08098636479107955,-1.312377664165419]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.5613266924533158,-0.48318043837965696,0.71338606911949],"aabb_xy":[[0.519142278292485,-0.5471804386568682],[0.6035111066141465,-0.4191804381024458]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.49173638171184153,1.0642932764119841,0.71338606911949],"aabb_xy":[[-0.4989801477580869,0.984293278208382],[-0.48449261566559626,1.1442932746155867]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.6529889413145684,1.756379720910037,0.71338606911949],"aabb_xy":[[0.6186920302968277,1.7220828347000956],[0.6872858523323089,1.7906766071199782]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.27316856010870505,-2.258093306174735,0.71338606911949],"aabb_xy":[[-0.3347593193326979,-2.3220933042837824],[-0.21157780088471229,-2.1940933080656886]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.37887747574689795,1.18888997085697,0.71338606911949],"aabb_xy":[[-0.4010500027235488,1.166714303700847],[-0.35670494877024717,1.211065638013093]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.09807437362715254,-1.9795755004084001,0.71338606911949],"aabb_xy":[[-0.14806938458660457,-2.029575499443992],[-0.04807936266770052,-1.9295755013728084]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.06031434176303585,-0.8674618198020583,0.71338606911949],"aabb_xy":[[0.04844225875153474,-0.9524618194957085],[0.07218642477453696,-0.7824618201084078]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.5988313631972919,0.41109123457549845,0.71338606911949],"aabb_xy":[[0.5862286640602153,0.398495838350633],[0.6114340623343683,0.423686630800364]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.11453353343737771,-0.5088189637337743,0.71338606911949],"aabb_xy":[[-0.14884981061199565,-0.5588189637069519],[-0.08021725626275977,-0.4588189637605965]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.47673646063338193,0.4070231965366973,0.71338606911949],"aabb_xy":[[-0.5267364592793031,0.3571036528772349],[-0.42673646198746074,0.45694274019615966]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[0.0198350365631087,-1.756616174838555,0.71338606911949],"aabb_xy":[[0.015756878656058963,-1.7606971550868182],[0.023913194470158442,-1.7525351945902916]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.6080109191321457,-0.21737654395462425,0.71338606911949],"aabb_xy":[[0.5580160862042041,-0.2673765428498678],[0.6580057520600873,-0.1673765450593807]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.5853615437561621,0.806541756623167,0.71338606911949],"aabb_xy":[[0.5053615415933996,0.7265865729970233],[0.6653615459189246,0.8864969402493106]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[0.16052151211344456,-1.258232090375982,0.71338606911949],"aabb_xy":[[0.1392435039699723,-1.3232320927020549],[0.18179952025691679,-1.1932320880499088]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[0.2374432990383638,-0.6982267430960347,0.71338606911949],"aabb_xy":[[0.2301820514679564,-0.7110137533595442],[0.24470454660877122,-0.6854397328325252]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[0.6389027421056568,1.0433978924465999,0.71338606911949],"aabb_xy":[[0.5789027412448438,0.9919714624401134],[0.6989027429664694,1.094824322453086]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[-0.022261816184262262,1.0386040265286143,0.71338606911949],"aabb_xy":[[-0.03106387149323497,1.030792700373685],[-0.013459760875289549,1.0464153526835431]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958840054412806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1136.png","name":"1136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1136.png","name":"1136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4414.png","name":"4414"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9901.png","name":"9901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5950.png","name":"5950"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":704.7913681741838,"rotation_z_degrees":338.0000121879823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0049157319982785445,0.0010822862989082957,-0.011016348281154534]},{"name":"camera_2","offset_m":[0.009120682413812382,-0.00589899653612707,0.00739131365486519]},{"name":"camera_3","offset_m":[0.014208762275497135,-0.00029588287407659314,0.0031518972352846918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00038403832488260645,0.001547633670293919,0.0011931455538039966],"end_effector_yaw_offset_degrees":0.5730823960710814},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004404604244264685,0.0015619352912232777,0.0014330263109889742],"end_effector_yaw_offset_degrees":0.6414228413116232},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005663845052810586,-0.0008442529446368802,-0.0019080873942362783],"end_effector_yaw_offset_degrees":0.10887663032122097}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001811021910075229,-0.004318802728558304],"position_m":[0.2754889780899248,-0.07031880272855831,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010053772678084967,-0.003011513664982115],"position_m":[0.2521946227321915,0.2156884863350179,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0034023013660534835,0.001714127692631441],"position_m":[0.3470023013660535,0.04951412769263144,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004178697489406376,-0.0012436525394396423],"position_m":[0.12487869748940637,0.39815634746056033,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011713522501689442,-0.0004166080126651404],"position_m":[0.21652864774983105,-0.43941660801266513,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5954bb89d93c18fb93dc03d23a81ed57625a30e9589ee0d24c69049d6c5db336","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1136/tex_ceiling_textures_7320/tex_floor_textures_5950/tex_table_textures_4414/tex_wall_textures_9901","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2263299758391683893,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2263299758391683893,"visual_seed":2263299758391683893,"scene_id":"lab_003","finished_at":"2026-09-03T22:05:06"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:05:10","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.5273343636207387,1.6621957630150574,0.71338606911949],"aabb_xy":[[-0.6173343659547578,1.5847134084299446],[-0.43733436128671965,1.7396781176001699]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.08704736670615887,-0.8160927055470133,0.71338606911949],"aabb_xy":[[-0.1370473661463545,-0.8660606300313296],[-0.037047367265963235,-0.766124781062697]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.6567118144590383,-0.9218530109263003,0.71338606911949],"aabb_xy":[[-0.6718141159200561,-0.9369545325573619],[-0.6416095129980199,-0.9067514892952383]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.11631058600614752,-1.6012590496705892,0.71338606911949],"aabb_xy":[[0.07776489318094648,-1.639804820726778],[0.15485627883134856,-1.5627132786144005]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.5948402272537114,-1.121805800919209,0.71338606911949],"aabb_xy":[[0.5535356841899755,-1.185805800487326],[0.6361447703174474,-1.0578058013510918]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.21144989921339896,-1.8036760004486883,0.71338606911949],"aabb_xy":[[0.206117384558786,-1.809000328693924],[0.21678241386801197,-1.798351672203453]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.2290077463116803,-1.069310774884816,0.71338606911949],"aabb_xy":[[0.2209643863857251,-1.1543107759801825],[0.23705110623763545,-0.9843107737894496]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.03022852586931446,1.7488365925259433,0.71338606911949],"aabb_xy":[[-0.033771475808682894,1.7003192010466293],[0.09422852754731181,1.7973539840052577]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[0.5951746387592058,0.6045891242437511,0.71338606911949],"aabb_xy":[[0.5869600936435216,0.5959125339461095],[0.6033891838748896,0.6132657145413922]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.5805096959226909,-2.3226113499478895,0.71338606911949],"aabb_xy":[[-0.6283158635364596,-2.387611352654948],[-0.5327035283089223,-2.25761134724083]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.42439519346428284,-1.5030716287136343,0.71338606911949],"aabb_xy":[[-0.4843951933108496,-1.559890250906673],[-0.36439519361771605,-1.4462530065205956]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.0016028355477707423,-1.2212014126771988,0.71338606911949],"aabb_xy":[[-0.04356848230039823,-1.2852014098217373],[0.04677415339593972,-1.1572014155326604]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.11997781839917421,-0.8155207647586815,0.71338606911949],"aabb_xy":[[0.10956625971869045,-0.8208664980945799],[0.13038937707965786,-0.8101750314227829]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.4381466999785366,0.0032970463674431016,0.71338606911949],"aabb_xy":[[0.42943273092860207,-0.01920295429174512],[0.44686066902847105,0.025797047026631322]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.609858260149067,-0.4602738243214288,0.71338606911949],"aabb_xy":[[-0.6432984353450864,-0.49371745015235885],[-0.5764180849530471,-0.4268301984904987]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.11581527766008004,-0.2446156400277486,0.71338606911949],"aabb_xy":[[-0.1370932858035523,-0.30961564235382166],[-0.09453726951660778,-0.17961563770167555]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.1684037115219641,0.4447712900199545,0.71338606911949],"aabb_xy":[[-0.2334037100790369,0.4150187566060719],[-0.10340371296489123,0.47452382343383714]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.27182355290971605,0.7282738462913398,0.71338606911949],"aabb_xy":[[0.26174184583114257,0.6482738483992252],[0.2819052599882895,0.8082738441834545]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.46615366677046766,-0.096913903379654,0.71338606911949],"aabb_xy":[[-0.4944833767190079,-0.10137464557337107],[-0.43782395682192743,-0.09245316118593695]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.31886363340758367,-0.7673174939161842,0.71338606911949],"aabb_xy":[[-0.3276656887165563,-0.7751288200711131],[-0.3100615780986109,-0.7595061677612549]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.23845385458355361,-1.6768367318065989,0.71338606911949],"aabb_xy":[[-0.3184538515465928,-1.7539123734503723],[-0.15845385762051445,-1.5997610901628254]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.27363600459919113,0.12493500249522338,0.71338606911949],"aabb_xy":[[-0.2806774555499387,0.11790825075742883],[-0.26659455364844353,0.13196175423301792]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.15697492783446843,-1.3196154165265004,0.71338606911949],"aabb_xy":[[0.11947492733711015,-1.3235841000746187],[0.19447492833182664,-1.315646732978382]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.4136379101777123,0.07994795354061468,0.71338606911949],"aabb_xy":[[-0.43113790945579916,0.06260985347426871],[-0.3961379108996254,0.09728605360696062]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[0.4185598337172687,0.5319548715996363,0.71338606911949],"aabb_xy":[[0.3545598314968617,0.487581787474348],[0.48255983593767576,0.5763279557249246]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[0.45484044557473546,-2.2640515256734752,0.71338606911949],"aabb_xy":[[0.450205330422502,-2.267918860750623],[0.4594755607269687,-2.2601841905963256]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.6033308663822865,-0.7818357948194663,0.71338606911949],"aabb_xy":[[0.5857841714661676,-0.8193357963837175],[0.6208775612984054,-0.7443357932552149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954697170004775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/559.png","name":"559"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4431.png","name":"4431"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/382.png","name":"382"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7732.png","name":"7732"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":545.0460955923166,"rotation_z_degrees":228.98796067305912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01873602077247735,0.017795185567485054,-0.006702551890321465]},{"name":"camera_2","offset_m":[0.015081829669009287,0.005596022648188054,0.009070164741295648]},{"name":"camera_3","offset_m":[0.003714619998892041,0.014175880187525854,0.008553415788155418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003235159620442122,-0.0008977896190108905,0.0019388066624980906],"end_effector_yaw_offset_degrees":0.5119712261524476},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001972800291299752,-0.0013312036468121646,0.00177309816834987],"end_effector_yaw_offset_degrees":-0.24893551970308514},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011277062333067125,-0.001228750957562504,0.00146101336866658],"end_effector_yaw_offset_degrees":0.7966679440144517}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034689134802705114,-0.0002711800699175789],"position_m":[0.2738310865197295,-0.06627118006991758,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038689216917520445,0.0029059396206651484],"position_m":[0.25706892169175205,0.22160593962066516,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00016454645728904496,0.0009489576583350456],"position_m":[0.343435453542711,0.04874895765833505,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00252619458837833,-0.0034741399367588053],"position_m":[0.11817380541162167,0.39592586006324115,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028883477624730915,-0.0018633811631347842],"position_m":[0.2148116522375269,-0.4408633811631348,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8adce237b13308e27699193f88bcb06e8276b2a51fd2175b5098a290924e942d","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0102.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9286/tex_ceiling_textures_7732/tex_floor_textures_382/tex_table_textures_559/tex_wall_textures_4431","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8427783645422801668,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8427783645422801668,"visual_seed":8427783645422801668,"scene_id":"lab_003","finished_at":"2026-09-03T22:07:47"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:07:50","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.3248774802302838,-0.1692639745764195,0.71338606911949],"aabb_xy":[[-0.34678616236963483,-0.1911646413965102],[-0.30296879809093274,-0.14736330775632875]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.2869344220452761,0.9958217276000627,0.71338606911949],"aabb_xy":[[0.2751662352506186,0.9108217276948414],[0.29870260883993366,1.0808217275052845]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.09556852022468443,-0.0868321731541033,0.71338606911949],"aabb_xy":[[-0.10613599988278342,-0.09737720326711184],[-0.0850010405665854,-0.07628714304109473]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.6245584163545865,0.18398238789022603,0.71338606911949],"aabb_xy":[[0.592096715472659,0.15384955577532336],[0.6570201172365139,0.2141152200051286]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.27245441030131223,1.2171560577309615,0.71338606911949],"aabb_xy":[[0.207454409195369,1.1921906846628332],[0.3374544114072556,1.2421214307990898]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.6166084670061237,-1.4964396949720935,0.71338606911949],"aabb_xy":[[-0.6444535037867307,-1.5272241937104054],[-0.5887634302255165,-1.465655196233782]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.549212584969454,1.208505883221028,0.71338606911949],"aabb_xy":[[-0.5663146629278223,1.1913990776897585],[-0.532110507011086,1.225612688752298]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.18069446115499854,0.9020065690406245,0.71338606911949],"aabb_xy":[[-0.21569446250648028,0.8816468330838035],[-0.1456944598035168,0.9223663049974452]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.5029885433102739,0.441762725445515,0.71338606911949],"aabb_xy":[[0.46798854341425505,0.433388489933575],[0.5379885432062927,0.45013696095745487]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[0.1565215075331392,1.4506984072654334,0.71338606911949],"aabb_xy":[[0.07652150427529625,1.3707018994734494],[0.23652151079098216,1.5306949150574174]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.6350480363277851,-1.3557055660889004,0.71338606911949],"aabb_xy":[[0.5975480379043846,-1.3688697800567304],[0.6725480347511853,-1.3425413521210694]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.2851242465522814,0.6355247645619007,0.71338606911949],"aabb_xy":[[0.22353348732828865,0.5715247664528539],[0.3467150057762743,0.6995247626709477]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.5290194424707915,1.5047782022851899,0.71338606911949],"aabb_xy":[[-0.5387754319799654,1.4950156682259552],[-0.5192634529616176,1.514540736344424]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.36286001284393365,-1.237661899348068,0.71338606911949],"aabb_xy":[[-0.44285383642249193,-1.3176619019409095],[-0.2828661892653755,-1.1576618967552263]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.5501832321808353,-1.0983273815908385,0.71338606911949],"aabb_xy":[[-0.5542613900878849,-1.1024083618391018],[-0.5461050742737855,-1.0942464013425752]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.4330361025743108,-0.7647564960163431,0.71338606911949],"aabb_xy":[[0.4250421139966074,-0.7727565761114334],[0.4410300911520142,-0.7567564159212528]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.3859900628536245,-0.43473567611789354,0.71338606911949],"aabb_xy":[[-0.4359730130411038,-0.48473567576045395],[-0.33600711266614514,-0.38473567647533313]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.7161681822380352,0.5016911484668034,0.71338606911949],"aabb_xy":[[0.7122076984683009,0.4940232838812828],[0.7201286660077696,0.509359013052324]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[-0.16582162880376505,0.06380392775050625,0.71338606911949],"aabb_xy":[[-0.21190672005849653,-0.00019606950204885396],[-0.11973653754903359,0.12780392500306137]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.05906815269903276,-1.0689938960851582,0.71338606911949],"aabb_xy":[[-0.0646498243331615,-1.0814938959029334],[-0.053486481064903994,-1.0564938962673824]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.32400768504506733,-1.5008720846947217,0.71338606911949],"aabb_xy":[[-0.388007685422601,-1.5506173515455337],[-0.26000768466753377,-1.4511268178439092]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.5283152339918027,-1.9869919016718685,0.71338606911949],"aabb_xy":[[0.5241992838797299,-1.9911074567047138],[0.5324311841038752,-1.9828763466390227]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.12123666741433592,-1.5861582297702685,0.71338606911949],"aabb_xy":[[-0.1338393665514124,-1.598753625995134],[-0.10863396827725949,-1.573562833545403]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[-0.2703937494718121,1.4679226127384992,0.71338606911949],"aabb_xy":[[-0.2878937497311488,1.4538310705497266],[-0.25289374921247554,1.4820141549272718]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.5003203441085606,0.29736234944059214,0.71338606911949],"aabb_xy":[[0.49290788856717227,0.2915111390189642],[0.5077327996499492,0.3032135598622201]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.20400555441220702,-1.2036098256859638,0.71338606911949],"aabb_xy":[[0.1736074433130634,-1.234016727687633],[0.23440366551135058,-1.173202923684294]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.5025317514205627,-1.710533621681228,0.71338606911949],"aabb_xy":[[-0.5725317548121246,-1.7458493953846586],[-0.4325317480290007,-1.6752178479777968]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.637212724601488,-0.3979133976397873,0.71338606911949],"aabb_xy":[[-0.6922059359386248,-0.45291339797858093],[-0.5822195132643513,-0.3429133973009937]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.4589594125374509,-0.09498198377540401,0.71338606911949],"aabb_xy":[[-0.5229594127979216,-0.139990783128332],[-0.39495941227698,-0.049973184422475996]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962462977475768,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2874.png","name":"2874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2874.png","name":"2874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6054.png","name":"6054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":829.876980756475,"rotation_z_degrees":74.2395268857184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009869472036753861,-9.425145989282527e-05,-0.00866821377335686]},{"name":"camera_2","offset_m":[0.0074460400979936975,0.009605350739458559,0.007749239916704811]},{"name":"camera_3","offset_m":[-0.01021463291342927,0.015114683308028367,0.002947436277594296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00056913924671471,0.0018343011649151965,0.0005232318035336622],"end_effector_yaw_offset_degrees":-0.007293249444580763},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0013276275770066723,-0.0005093432675588895,-0.0009044717126552473],"end_effector_yaw_offset_degrees":0.9625934503909244},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011224480400294867,0.0018612377384873142,-0.0001261055865148953],"end_effector_yaw_offset_degrees":-0.5485717153365841}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001040307242180424,0.0012368345817681224],"position_m":[0.2762596927578196,-0.06476316541823188,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025703879420106612,3.045653405748215e-05],"position_m":[0.25062961205798934,0.21873045653405748,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0031645532888439137,-0.0037511637154421943],"position_m":[0.3467645532888439,0.04404883628455781,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032597593247558143,-0.0003307736600356038],"position_m":[0.11744024067524418,0.3990692263399644,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028212874870178982,-0.0030058123151159768],"position_m":[0.2148787125129821,-0.442005812315116,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"453db058d1a05561bd4d44d27393806a90cf4d583ac8eaf5c9bd99b238587544","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0103.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2874/tex_ceiling_textures_5061/tex_floor_textures_4727/tex_table_textures_6054/tex_wall_textures_7194","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8237825514922833317,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8237825514922833317,"visual_seed":8237825514922833317,"scene_id":"lab_003","finished_at":"2026-09-03T22:10:32"} +{"episode_id":"ep_000096","started_at":"2026-09-03T22:10:35","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.672760335552524,1.1198058659768542,0.71338606911949],"aabb_xy":[[0.6359657024276177,1.082899990880272],[0.7095549686774303,1.1567117410734364]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.09450887247036643,-0.8096472669186152,0.71338606911949],"aabb_xy":[[0.05700887229849448,-0.8423480023015223],[0.13200887264223837,-0.7769465315357079]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.19932060992081146,0.13321182000308873,0.71338606911949],"aabb_xy":[[-0.22315682756141658,0.04321181919460227],[-0.17548439228020643,0.22321182081157526]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.5687787865998565,1.1143185651787855,0.71338606911949],"aabb_xy":[[-0.6487787845806414,1.1067170242169335],[-0.48877878861907137,1.1219201061406374]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.35019530626823636,-2.4472633860913806,0.71338606911949],"aabb_xy":[[0.336964360733555,-2.4604908051133796],[0.3634262518029176,-2.4340359670693807]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.4903667868598425,-2.289338232816346,0.71338606911949],"aabb_xy":[[-0.555366789497636,-2.340817831515793],[-0.425366784222049,-2.237858634116899]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.07459771699097706,0.1261106953315121,0.71338606911949],"aabb_xy":[[-0.09751342987602697,0.10320639819508859],[-0.05168200410592716,0.1490149924679356]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.508103609080558,0.4341063050182359,0.71338606911949],"aabb_xy":[[-0.5580810259458115,0.38410630352898734],[-0.45812619221530443,0.48410630650748443]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.16596889731291808,-1.487875924137305,0.71338606911949],"aabb_xy":[[-0.21309827631475373,-1.5518759251817067],[-0.11883951831108239,-1.4238759230929028]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.5197690112991895,1.8093372619586163,0.71338606911949],"aabb_xy":[[-0.5353247807094549,1.7937868287142094],[-0.5042132418889244,1.8248876952030237]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.6787229354938882,1.6646222435472855,0.71338606911949],"aabb_xy":[[0.647576016650305,1.5946222448604783],[0.7098698543374712,1.7346222422340927]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.49221773932177526,-0.10548884348235932,0.71338606911949],"aabb_xy":[[0.44221774067585407,-0.1554083871418217],[0.5422177379676965,-0.055569299822896934]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.022464539797181438,-0.7294582095913347,0.71338606911949],"aabb_xy":[[0.018348589685108767,-0.7335737646241801],[0.026580489909254094,-0.725342654558489]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.32851718175303635,-0.9696607993855584,0.71338606911949],"aabb_xy":[[-0.3834909037893693,-1.0246607989497916],[-0.2735434597167035,-0.9146607998213253]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.4553365003166885,1.7583971822891677,0.71338606911949],"aabb_xy":[[0.4331639733400376,1.7362215151330445],[0.47750902729333927,1.7805728494452906]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.16435170660936915,-1.9055608355179703,0.71338606911949],"aabb_xy":[[0.11435669564991716,-1.9555608345535624],[0.21434671756882123,-1.855560836482379]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.29146245997426456,-0.7894483127597012,0.71338606911949],"aabb_xy":[[0.28183082375383495,-0.7990856255394101],[0.3010940961946942,-0.7798109999799923]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.5390152887406405,-2.000343529258503,0.71338606911949],"aabb_xy":[[-0.6190091123191988,-2.0803435318513444],[-0.4590214651620823,-1.9203435266656612]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.10954040227548134,1.0602091404192286,0.71338606911949],"aabb_xy":[[-0.1270404025205307,1.0427093525796618],[-0.09204040203043194,1.0777089282587955]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.006883069788147567,-1.5454198723214772,0.71338606911949],"aabb_xy":[[-0.03188306895378068,-1.5523721180268337],[0.018116929377485547,-1.5384676266161206]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.4792959799257359,0.733666344327446,0.71338606911949],"aabb_xy":[[-0.5167959797427694,0.7290281330163042],[-0.44179598010870225,0.7383045556385879]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.21702975221635706,-0.3562212940734759,0.71338606911949],"aabb_xy":[[-0.28102974951870346,-0.4005877210413326],[-0.15302975491401066,-0.3118548671056191]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.5993784456229769,-0.26599370052100824,0.71338606911949],"aabb_xy":[[0.5643784464301586,-0.2769607465186708],[0.6343784448157951,-0.25502665452334555]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.2358475993864395,-0.6074447683673014,0.71338606911949],"aabb_xy":[[0.21334759986273208,-0.6299407158179221],[0.25834759891014686,-0.5849488209166805]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[0.5334190365968134,-0.35510819095694934,0.71338606911949],"aabb_xy":[[0.5254255468015315,-0.36310632289742506],[0.5414125263920956,-0.34711005901647374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6971878770697867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3154.png","name":"3154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3154.png","name":"3154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4402.png","name":"4402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2614.png","name":"2614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9810.png","name":"9810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3527.png","name":"3527"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.196194792845,"rotation_z_degrees":50.07840989637957,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009376351844199023,-0.013609911925618449,0.010382135700135221]},{"name":"camera_2","offset_m":[0.012573427341011693,0.013206986229027728,-0.005838191622028246]},{"name":"camera_3","offset_m":[-0.009256333644336033,0.016273267187827293,0.0019211273188124746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002624121038276371,0.0008259718089510164,-0.00033048757662741354],"end_effector_yaw_offset_degrees":-0.23500552909876204},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[7.544018616724652e-05,-0.00018050242912467517,0.0013244514477288158],"end_effector_yaw_offset_degrees":0.13188702240022265},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011933487391421432,0.0016556485430648414,0.0013168301683870146],"end_effector_yaw_offset_degrees":0.728041740757325}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00026838994410188777,0.0031258494249957114],"position_m":[0.2775683899441019,-0.0628741505750043,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002449628658429872,0.00018835650225277473],"position_m":[0.252955037134157,0.21888835650225277,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00405097086536263,0.0045684157110559695],"position_m":[0.33954902913463736,0.05236841571105597,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033761576410089303,0.0019109551052657178],"position_m":[0.11732384235899107,0.4013109551052657,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015182729315005514,0.0008293468878389334],"position_m":[0.21921827293150056,-0.4381706531121611,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"130191981378ff69ba7bd7dec49d5ec14b520413550a31d117a8c509ae0979e1","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3154/tex_ceiling_textures_3527/tex_floor_textures_9810/tex_table_textures_4402/tex_wall_textures_2614","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1250154626979321562,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1250154626979321562,"visual_seed":1250154626979321562,"scene_id":"lab_003","finished_at":"2026-09-03T22:13:10"} +{"episode_id":"ep_000097","started_at":"2026-09-03T22:13:13","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.19275381122886692,-1.3226925748102427,0.71338606911949],"aabb_xy":[[0.1677538120632338,-1.3296448205155993],[0.21775381039450004,-1.3157403291048861]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.47466172077034485,1.6511057885510216,0.71338606911949],"aabb_xy":[[-0.5546617222004719,1.571588633538412],[-0.3946617193402176,1.7306229435636309]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.3393305563203808,-2.255424044702052,0.71338606911949],"aabb_xy":[[0.3110008463718406,-2.2598847868957694],[0.36766026626892107,-2.2509633025083353]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.35907719277202244,-2.4670461863697293,0.71338606911949],"aabb_xy":[[0.2990771911291006,-2.5190463356616735],[0.4190771944149443,-2.415046037077785]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.3150120313396902,0.5627542134572714,0.71338606911949],"aabb_xy":[[-0.4050120307580611,0.5293787166130816],[-0.2250120319213193,0.596129710301461]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.42476035553598546,-2.1224051170849374,0.71338606911949],"aabb_xy":[[-0.42872083930571986,-2.1300729816704584],[-0.42079987176625117,-2.1147372524994172]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.4126189407650638,0.5704479455438687,0.71338606911949],"aabb_xy":[[0.4007468577535627,0.48544794585021833],[0.42449102377656495,0.655447945237519]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.5280169403542312,1.340557743447711,0.71338606911949],"aabb_xy":[[0.5226793646882266,1.3155577425185712],[0.5333545160202358,1.3655577443768507]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.12885240796143493,-1.3738816938001506,0.71338606911949],"aabb_xy":[[-0.15385240751317344,-1.3840241776652853],[-0.10385240840969648,-1.3637392099350159]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.12150375362118304,1.4719222258989446,0.71338606911949],"aabb_xy":[[0.0415037525480627,1.4621441795615602],[0.20150375469430337,1.481700272236329]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5752279797522177,0.519342877572031,0.71338606911949],"aabb_xy":[[0.5670134346365336,0.5106662872743896],[0.5834425248679016,0.5280194678696722]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.13243176191924955,0.31164026046451276,0.71338606911949],"aabb_xy":[[-0.18644735820114952,0.24764025757225555],[-0.07841616563734952,0.37564026335676987]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.343801840383825,-1.924917182149065,0.71338606911949],"aabb_xy":[[0.279801841214055,-1.9716838692680274],[0.4078018395535949,-1.8781504950301025]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.4265551690317266,-1.9868801328277694,0.71338606911949],"aabb_xy":[[-0.4726402602864581,-2.0508801300803245],[-0.38047007777699515,-1.9228801355752143]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.24628026832716055,1.7214649239554123,0.71338606911949],"aabb_xy":[[-0.29628026697308174,1.67154538029595],[-0.19628026968123935,1.7713844676148747]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.4472706055855864,-1.403529361704564,0.71338606911949],"aabb_xy":[[-0.45097386691472524,-1.4072313800132819],[-0.44356734425644745,-1.399827343395846]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.4766916474740108,0.3542690642577928,0.71338606911949],"aabb_xy":[[0.4266916464548756,0.3178028485199649],[0.5266916484931461,0.3907352799956208]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.25281933278789737,-1.6141535780094012,0.71338606911949],"aabb_xy":[[0.24792004048133387,-1.6418304973119697],[0.25771862509446086,-1.5864766587068322]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.5231919685595814,-1.1872942266142819,0.71338606911949],"aabb_xy":[[-0.5881919695167085,-1.2392424385479874],[-0.4581919676024541,-1.1353460146805763]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.1867757832771797,-0.886484607309578,0.71338606911949],"aabb_xy":[[0.18193218851594975,-0.8913362597885622],[0.1916193780384097,-0.881632954830594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6982333702551065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4208.png","name":"4208"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4208.png","name":"4208"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4926.png","name":"4926"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6003.png","name":"6003"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":815.9820348915114,"rotation_z_degrees":21.54699509779551,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002614692602124928,-0.017555759929802323,0.007457806275082586]},{"name":"camera_2","offset_m":[-0.019754812805932373,0.008887678750857244,0.015519051491964624]},{"name":"camera_3","offset_m":[0.012198853857847556,-0.0005887006400380652,0.01908022947882611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.111328497729936e-06,0.0009881342809577006,0.0015616071854352262],"end_effector_yaw_offset_degrees":0.5092751471210017},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009949051865520376,-3.8319070431620805e-05,0.0016121196782129935],"end_effector_yaw_offset_degrees":0.6469707786889871},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007677019091641109,0.0006654403601686343,1.2716827350575059e-05],"end_effector_yaw_offset_degrees":0.3280625369692318}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002403867201299272,0.0006096876270199206],"position_m":[0.27970386720129925,-0.06539031237298008,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012671391290504175,-0.00024209077288210416],"position_m":[0.2544671391290504,0.2184579092271179,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0011120297880546624,-0.004388519285800403],"position_m":[0.3424879702119454,0.0434114807141996,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005872761475015,-0.001375781747413857],"position_m":[0.1201127238524985,0.3980242182525861,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044337043922087925,0.0027867732382278647],"position_m":[0.2221337043922088,-0.43621322676177215,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ab9caf856ce51b2d9d2f5c22dfae220d8a52655e249f170770be79f7233f8328","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0105.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4208/tex_ceiling_textures_6003/tex_floor_textures_4926/tex_table_textures_4763/tex_wall_textures_6711","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5354119495248693040,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5354119495248693040,"visual_seed":5354119495248693040,"scene_id":"lab_003","finished_at":"2026-09-03T22:15:57"} +{"episode_id":"ep_000098","started_at":"2026-09-03T22:16:01","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.6690725339587432,0.035214418752851806,0.71338606911949],"aabb_xy":[[-0.6915716696849702,0.012714417974588832],[-0.6465733982325162,0.05771441953111478]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.0726294896510411,-1.5518024337211818,0.71338606911949],"aabb_xy":[[-0.11790810453219035,-1.6158024330693652],[-0.027350874769891828,-1.4878024343729979]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.47306287027061766,0.9971429638659979,0.71338606911949],"aabb_xy":[[-0.5230578812300697,0.9471429648304064],[-0.42306785931116564,1.0471429629015898]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.2690177195634923,1.1042492351189237,0.71338606911949],"aabb_xy":[[0.26031975727277706,1.092124260811449],[0.27771568185420764,1.1163742094263984]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.6478656182505016,0.8322009607336422,0.71338606911949],"aabb_xy":[[0.5838656150318637,0.7854778488346339],[0.7118656214691395,0.8789240726326506]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.2705102978483311,-1.9739688452832964,0.71338606911949],"aabb_xy":[[-0.295510297780849,-1.9808515135042197],[-0.2455102979158132,-1.967086177062373]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.6152667607439115,-1.261810078616176,0.71338606911949],"aabb_xy":[[0.6039050260906254,-1.2731785450224637],[0.6266284953971977,-1.2504416122098876]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.40752704147338314,1.4788138936136144,0.71338606911949],"aabb_xy":[[0.4026277491668196,1.4511369743110456],[0.4124263337799466,1.5064908129161831]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.5808790006398,0.5450362062754541,0.71338606911949],"aabb_xy":[[-0.6358712512753111,0.4900362045321415],[-0.5258867500042892,0.600036208018767]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.32161439782541046,-2.219480220175585,0.71338606911949],"aabb_xy":[[0.28411439940201005,-2.2326444341434155],[0.35911439624881075,-2.206316006207754]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.01298946899229414,-2.1314461347767217,0.71338606911949],"aabb_xy":[[-0.02451053167228456,-2.1471331927769435],[0.050489469656872836,-2.115759076776499]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.58483715217197,-1.6075597295285955,0.71338606911949],"aabb_xy":[[0.5298416743513105,-1.6625597309625024],[0.6398326299926292,-1.5525597280946886]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.5327658815879392,-1.4810932075744228,0.71338606911949],"aabb_xy":[[-0.5390779811242776,-1.4868601468276417],[-0.5264537820516009,-1.4753262683212038]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.30925430096104933,-2.5145637053786976,0.71338606911949],"aabb_xy":[[-0.3227008275950926,-2.528033557031789],[-0.29580777432700595,-2.501093853725606]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.2880603644264302,-0.7496168035050661,0.71338606911949],"aabb_xy":[[-0.32936490749016617,-0.8136168030731832],[-0.2467558213626942,-0.685616803936949]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.1812113956918453,1.451841405793711,0.71338606911949],"aabb_xy":[[0.13902698153101456,1.3878414055165],[0.22339580985267604,1.5158414060709224]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.7124265348274141,-0.266204032131395,0.71338606911949],"aabb_xy":[[0.7004938004655861,-0.27858618493925436],[0.7243592691892422,-0.2538218793235356]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.24430500194022298,0.8690841533913587,0.71338606911949],"aabb_xy":[[0.15430500520461274,0.8159006900740642],[0.3343049986758332,0.9222676167086532]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5839042968898907,0.3007699589421984,0.71338606911949],"aabb_xy":[[0.5576154725694499,0.27449852528754703],[0.6101931212103312,0.3270413925968495]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.06884254730696382,-2.3366517316752344,0.71338606911949],"aabb_xy":[[0.05193181487062203,-2.3501239372678486],[0.08575327974330559,-2.3231795260826194]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.34568682441691767,-1.8694935803388635,0.71338606911949],"aabb_xy":[[-0.37068682396865615,-1.8796360642039982],[-0.3206868248651792,-1.8593510964737288]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.48738467565468874,0.1835985050209974,0.71338606911949],"aabb_xy":[[-0.5513846759151594,0.13858970566806939],[-0.42338467539421787,0.2286073043739254]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.40013169585258335,-1.0462917847822697,0.71338606911949],"aabb_xy":[[0.3952881010913534,-1.0511434372612538],[0.4049752906138134,-1.0414401323032856]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.06826652459005089,0.784664441325555,0.71338606911949],"aabb_xy":[[-0.07951158016066873,0.7734226436014597],[-0.05702146901943306,0.7959062390496503]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.5474552876930352,0.5130912252700708,0.71338606911949],"aabb_xy":[[0.5295861799385797,0.49925831729285985],[0.5653243954474907,0.5269241332472817]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[-0.005388072254674192,-1.0637273566501322,0.71338606911949],"aabb_xy":[[-0.02567237497807295,-1.0840099817928408],[0.014896230468724566,-1.0434447315074231]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.14237850295786003,1.014320489001916,0.71338606911949],"aabb_xy":[[0.11987850244581943,0.9918286306365174],[0.16487850346990063,1.036812347367314]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699941606445765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8922.png","name":"8922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3709.png","name":"3709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9364.png","name":"9364"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":563.8971627292151,"rotation_z_degrees":129.35488584905428,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013696838070938296,0.01777576017320406,-0.014922260721630946]},{"name":"camera_2","offset_m":[0.011711253018838168,0.0020562497369981565,0.018663346608527472]},{"name":"camera_3","offset_m":[-0.010927242689247616,0.0013528205792088521,-0.015319437293629164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013500214946219839,-0.0006213238702409854,0.0011885752477882074],"end_effector_yaw_offset_degrees":0.8547988779910445},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005370045125444949,0.0006188123314251628,0.0006042079636072385],"end_effector_yaw_offset_degrees":0.2742121556141106},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003000197078745683,-0.0016259637421777043,-0.0013916938748351074],"end_effector_yaw_offset_degrees":0.7697868496890745}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006691590327656807,-0.0008732323858398269],"position_m":[0.27796915903276564,-0.06687323238583984,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006788353033348052,0.003628572076469368],"position_m":[0.25387883530333477,0.22232857207646936,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00044106591200127575,-0.0014347598302901741],"position_m":[0.3440410659120013,0.04636524016970983,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019419975125343422,-0.0025809063328331608],"position_m":[0.12264199751253435,0.39681909366716683,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002130643683018776,-0.0027875621270244044],"position_m":[0.21983064368301877,-0.4417875621270244,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ecb7a2078b46f073e04c25232ce6438ff4fb9de53a4ee50e0935e718ecd206a","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1363/tex_ceiling_textures_9364/tex_floor_textures_3709/tex_table_textures_747/tex_wall_textures_8922","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4668627449932905530,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4668627449932905530,"visual_seed":4668627449932905530,"scene_id":"lab_003","finished_at":"2026-09-03T22:18:42"} +{"episode_id":"ep_000099","started_at":"2026-09-03T22:18:44","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.33007138999210345,-1.5679608307230926,0.71338606911949],"aabb_xy":[[-0.37787755760587205,-1.6329608334301513],[-0.2822652223783348,-1.5029608280160334]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.048620128073640356,1.0471990018363795,0.71338606911949],"aabb_xy":[[-0.06124691536083671,1.0376529281348066],[-0.035993340786444006,1.0567450755379524]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.6159477745702409,-0.974206525276945,0.71338606911949],"aabb_xy":[[0.6063161383498112,-0.9838438380566539],[0.6255794107906705,-0.964569212497236]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[-0.3895126767597404,1.3080463357938221,0.71338606911949],"aabb_xy":[[-0.47323490225982284,1.2180463322591262],[-0.3057904512596579,1.398046339328518]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.19396344153870138,1.677319894718885,0.71338606911949],"aabb_xy":[[-0.24396344018462254,1.6274003510594226],[-0.14396344289278015,1.7272394383783474]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.17501389688675306,-1.289100462352868,0.71338606911949],"aabb_xy":[[-0.19389828065526327,-1.3079863871332207],[-0.15612951311824286,-1.2702145375725151]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.6504009281866767,0.78898659610577,0.71338606911949],"aabb_xy":[[0.6385288451751756,0.7039865964121196],[0.6622730111981778,0.8739865957994203]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.5082042252955276,-1.360770627373413,0.71338606911949],"aabb_xy":[[-0.5722042217228496,-1.4079402511955095],[-0.44420422886820576,-1.3136010035513166]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.2774695588530314,-0.9664383778407974,0.71338606911949],"aabb_xy":[[-0.3079538089800615,-1.0164383776222934],[-0.24698530872600122,-0.9164383780593015]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.0750976833893997,-1.9774161497986635,0.71338606911949],"aabb_xy":[[-0.08587065731076748,-2.012416148017703],[-0.06432470946803193,-1.9424161515796248]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.5532481997549656,0.24069810227681376,0.71338606911949],"aabb_xy":[[-0.603248200774101,0.20423188653898583],[-0.5032481987358305,0.2771643180146417]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.49498630015505707,-0.8700659715704793,0.71338606911949],"aabb_xy":[[-0.5401576180032261,-0.9340659687150178],[-0.44981498230688816,-0.806065974425941]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.5223305625787492,-0.22833261154954743,0.71338606911949],"aabb_xy":[[-0.5352024660796894,-0.3083326119633835],[-0.5094586590778091,-0.14833261113571125]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.2087161653199366,0.8296864081389561,0.71338606911949],"aabb_xy":[[-0.25871616476013215,0.7797184836546397],[-0.15871616587974094,0.8796543326232723]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.4792788553183913,-1.605822101401495,0.71338606911949],"aabb_xy":[[0.42927885365689655,-1.6558205436571978],[0.5292788569798861,-1.5558236591457923]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.2613817657222861,-0.8878730430816109,0.71338606911949],"aabb_xy":[[0.22794159052626647,-0.9213166689125408],[0.29482194091830566,-0.8544294172506807]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.40375616073272885,0.8115287293169664,0.71338606911949],"aabb_xy":[[-0.41253738787996513,0.8027489820284365],[-0.3949749335854927,0.8203084766054968]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.3761579177481694,-0.6068467843529708,0.71338606911949],"aabb_xy":[[-0.44015791802214765,-0.6569128845502588],[-0.3121579174741912,-0.5567806841556828]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.1609262974636595,-1.6950245959409131,0.71338606911949],"aabb_xy":[[-0.18877133424426662,-1.7258090946792248],[-0.13308126068305237,-1.6642400972026015]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.3660236287854102,0.6901622441218946,0.71338606911949],"aabb_xy":[[-0.3859146686657506,0.6775064328371979],[-0.34613258890507004,0.7028180554065916]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.6163297157310647,-0.43978028301353245,0.71338606911949],"aabb_xy":[[-0.680329713033411,-0.48414670998138915],[-0.5523297184287183,-0.39541385604567564]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.28407155995427424,1.005618849084117,0.71338606911949],"aabb_xy":[[-0.3186626428083194,0.940618848799086],[-0.249480477100229,1.070618849369148]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.5269716131050197,-0.5941961489902208,0.71338606911949],"aabb_xy":[[0.5118693116440014,-0.6092976706212824],[0.5420739145660376,-0.5790946273591587]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.2329663794881297,-0.8004724587757364,0.71338606911949],"aabb_xy":[[-0.24066957016220672,-0.8081818294744744],[-0.22526318881405263,-0.7927630880769984]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.5377061462488388,1.2354381562883212,0.71338606911949],"aabb_xy":[[0.45770614826805384,1.227836615326469],[0.6177061442296239,1.243039697250173]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.39139701846135844,0.6411009533998526,0.71338606911949],"aabb_xy":[[0.3313970179535055,0.5842542197139312],[0.45139701896921136,0.6979476870857738]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[-0.5925417784047697,0.9840945912177217,0.71338606911949],"aabb_xy":[[-0.6270042564178574,0.9774309140347989],[-0.5580793003916819,0.9907582684006445]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.19128614990557335,0.9249266439657604,0.71338606911949],"aabb_xy":[[0.1808745912250896,0.9195809106298618],[0.201697708586057,0.9302723773016588]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[0.5110209357239432,1.5177516099374428,0.71338606911949],"aabb_xy":[[0.5047088361876049,1.511984670684224],[0.5173330352602816,1.5235185491906618]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.39020518934406834,-2.2700519293472183,0.71338606911949],"aabb_xy":[[-0.39484030449630164,-2.2739192644243666],[-0.3855700741918349,-2.266184594270069]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[0.4699622559234604,-1.2426015755811368,0.71338606911949],"aabb_xy":[[0.4324622556312856,-1.2466430509817403],[0.5074622562156352,-1.2385601001805333]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003505777109615,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/536.png","name":"536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5733.png","name":"5733"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":801.6559025803053,"rotation_z_degrees":188.38889978471033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016584204082075518,0.010018192120276024,0.007634400460312985]},{"name":"camera_2","offset_m":[0.017818885303881798,-0.00785163039734118,0.018692131512770462]},{"name":"camera_3","offset_m":[0.017811382409924224,-0.019245669486220144,0.019737630902312283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014878947095744478,-0.000681551090931312,-5.658285639301001e-05],"end_effector_yaw_offset_degrees":-0.5680744327356817},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013802226109385337,-8.345639076725187e-05,-0.0017142493441764592],"end_effector_yaw_offset_degrees":-0.10885524545735481},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000674704018838844,0.00011216591019599757,-0.00045469484550960857],"end_effector_yaw_offset_degrees":0.6682828387718844}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013268622639238522,0.0033881526757555272],"position_m":[0.27862686226392386,-0.06261184732424448,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003986192969350656,0.004088087738322063],"position_m":[0.25718619296935064,0.22278808773832207,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0033546531863255413,-0.0034016909432326202],"position_m":[0.34024534681367447,0.04439830905676738,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007980298858950938,-0.00454130245613304],"position_m":[0.1214980298858951,0.39485869754386693,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019128972189794953,-0.003702264041304143],"position_m":[0.2196128972189795,-0.44270226404130414,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8a0b8d7b787264d58caf2fa7875b1059735cc0bc1cf81b9b444929564c3ad5d0","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/dataset/episode_0107.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5956/tex_ceiling_textures_5733/tex_floor_textures_536/tex_table_textures_5566/tex_wall_textures_226","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":9059571746287789876,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":9059571746287789876,"visual_seed":9059571746287789876,"scene_id":"lab_003","finished_at":"2026-09-03T22:21:22"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ef9b8c2bd83b4721516af7dee4046659b6f5eb9e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00014 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00014 + reproducibility: + enabled: true + layout_id: layout_00014 + action_seed: 6428506004157355875 + step_seeds: + - 4947227672382490837 + - 8216466612410408910 + - 5552583258780378057 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2773 + - 0.2773 + 'y': + - -0.066 + - -0.066 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2532 + - 0.2532 + 'y': + - 0.2187 + - 0.2187 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3436 + - 0.3436 + 'y': + - 0.0478 + - 0.0478 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1207 + - 0.1207 + 'y': + - 0.3994 + - 0.3994 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2177 + - 0.2177 + 'y': + - -0.439 + - -0.439 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d92207b71bcd7a644572aac526a163365f4a0f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3007204849180734, + -0.06594477232589852, + 1.001847177579994 + ], + "current_z": 1.001847177579994, + "required_z": 0.8611065815438097, + "initial_z": 0.7611065815438097, + "lift_margin": 0.14074059603618427, + "gripper_z": 1.0041404690668785, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29620552422954505, + -0.07031043709110957, + 1.0041404690668785 + ], + "object_minus_gripper": [ + 0.004514960688528358, + 0.0043656647652110525, + -0.002293291486884508 + ], + "object_to_gripper_xy": 0.006280437792157624, + "object_to_gripper_z": -0.002293291486884508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3007204849180734, + -0.09032428716262961, + 1.001847177579994 + ], + "finger_b": [ + 0.29007248056942525, + -0.06594477232589852, + 1.001847177579994 + ], + "finger_midpoint": [ + 0.2953964827437493, + -0.07813452974426406, + 1.001847177579994 + ], + "object_minus_finger_midpoint": [ + 0.005324002174324105, + 0.012189757418365546, + 0.0 + ], + "finger_gap": 0.026603397156814795, + "fingertip_max_gap": 0.0924413131414473, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013301698578407408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001847177579994, + "object_top_z": 1.0517973270611936, + "finger_top_clearance": 0.04995014948119958, + "fingertip_min_top_clearance": 0.014985044844359873, + "object_projection_between_fingers": 0.8398000988844334, + "object_to_finger_line_xy": 0.009757895898379554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872065657072365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0341574527273245, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36461514499426845, + 0.05166808015125304, + 0.7701464264284027 + ], + "gripper_position": [ + 0.3555862727491862, + 0.014670488020339115, + 1.0405684227654373 + ], + "target_minus_gripper": [ + 0.009028872245082253, + 0.03699759213091393, + -0.27042199633703456 + ], + "held_position": [ + 0.36015018544349464, + 0.018931853700300354, + 1.0382039871299003 + ], + "held_minus_target": [ + -0.004464959550773806, + -0.032736226450952685, + 0.26805756070149755 + ], + "held_minus_gripper": [ + 0.004563912694308447, + 0.00426136567996124, + -0.00236443563553701 + ], + "xy_dist": 0.03808336063825619, + "held_xy_dist": 0.033039315762256646, + "held_gripper_dist": 0.006676757627338184, + "max_held_gripper_dist": 0.006795341570143982, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464264284027, + "held_z": 1.0382039871299003, + "required_height": 0.8001464264284027, + "gripper_z": 1.0405684227654373, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.94053404839332, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.516458791561093, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.151126160344122, + "max_source_tilt_deg": 89.66477556407233, + "source_upright_tilt_deg": 2.474734675246485, + "max_source_upright_tilt_deg": 89.67234926200871, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.151126160344122, + "source_upright_return_tilt_deg": 2.474734675246485, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.43434286601194e-08, + "max_target_xy_drift": 1.4850059534823197e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.05595290722070787, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 3.035402462505872e-05, + "max_target_tilt_deg": 0.00020356012107324869, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3646, + 0.0517, + 0.7701 + ], + "controller_target_position": [ + 0.3646, + 0.0517, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + 0.0009, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3626, + 0.0274, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001988512745871348, + 0.0008857113272981248, + 0.0018033821929215729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.474760483872998, + "source_return_step_error_deg": 2.1511455651062965, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4729462177368426, + "source_return_best_wrist_position": -1.6085673570632935, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6085673570632935 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3646, + 0.0517, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3646, + 0.0517, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + 0.0009, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3626, + 0.0274, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001988512745871348, + 0.0008857113272981248, + 0.0018033821929215729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.474760483872998, + "pour_controller_source_return_step_error_deg": 2.1511455651062965, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4729462177368426, + "pour_controller_source_return_best_wrist_position": -1.6085673570632935, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6085673570632935, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03808336063825619, + "valid_pour_held_xy_dist": 0.033039315762256646, + "valid_pour_held_gripper_dist": 0.006676757627338184, + "valid_pour_required_height": 0.8001464264284027, + "valid_pour_held_z": 1.0382039871299003, + "valid_pour_source_tilt_deg": 2.151126160344122, + "valid_pour_source_upright_tilt_deg": 2.474734675246485, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.43434286601194e-08, + "valid_pour_target_tilt_deg": 3.035402462505872e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36015018544349464, + -0.005070795136923158, + 1.0382039871299003 + ], + "valid_pour_held_grasp_finger_b": [ + 0.34974182090470285, + 0.018931853700300354, + 1.0382039871299003 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35494600317409875, + 0.006930529281688598, + 1.0382039871299003 + ], + "valid_pour_held_grasp_object_position": [ + 0.36015018544349464, + 0.018931853700300354, + 1.0382039871299003 + ], + "valid_pour_held_grasp_finger_gap": 0.026162209455155842, + "valid_pour_held_grasp_max_gap": 0.12496588885784149, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02429389852026259, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030133008777533887, + -0.9990673672260125, + 0.030925677455746252 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055756598319533805, + "valid_pour_held_grasp_line_xy_max_dist": 0.047482944428920745, + "valid_pour_held_grasp_object_top_z": 0.049720749258995056, + "valid_pour_held_grasp_top_clearance": 0.03788743533887094, + "valid_pour_held_grasp_min_top_clearance": 0.014916224777698515, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36015018544349464, + -0.005070795136923158, + 1.0382039871299003 + ], + "held_grasp_finger_b": [ + 0.34974182090470285, + 0.018931853700300354, + 1.0382039871299003 + ], + "held_grasp_midpoint": [ + 0.35494600317409875, + 0.006930529281688598, + 1.0382039871299003 + ], + "held_grasp_object_position": [ + 0.36015018544349464, + 0.018931853700300354, + 1.0382039871299003 + ], + "held_grasp_finger_gap": 0.026162209455155842, + "held_grasp_max_gap": 0.12496588885784149, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02429389852026259, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030133008777533887, + -0.9990673672260125, + 0.030925677455746252 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055756598319533805, + "held_grasp_line_xy_max_dist": 0.047482944428920745, + "held_grasp_object_top_z": 0.049720749258995056, + "held_grasp_top_clearance": 0.03788743533887094, + "held_grasp_min_top_clearance": 0.014916224777698515, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28266396388499293, + -0.07549191698716894, + 0.7611128300178996 + ], + "target_position": [ + 0.2769135709046745, + -0.06941957495844531, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008363035163258545, + "xy_threshold": 0.08, + "gripper_dist": 0.22005062704642742, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611128300178996, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543957709112634, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513621777928408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18937265295931185, + "release_required_pad_clearance": 0.05256810888964204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19779877859355072, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "052083f0400e8a713e341d05aa1a57a57c902658119c7c3847c65514a6e5a886", + "visual_seed": 456469537941455340, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ced454fd2a7d99bef3c509551810373e3e18c347 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29780487004737505, + -0.05959568630828184, + 1.000512066540124 + ], + "current_z": 1.000512066540124, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.13940549892071308, + "gripper_z": 1.002430002933314, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2934630184435452, + -0.06390815282640959, + 1.002430002933314 + ], + "object_minus_gripper": [ + 0.004341851603829827, + 0.00431246651812775, + -0.001917936393190045 + ], + "object_to_gripper_xy": 0.006119562306215414, + "object_to_gripper_z": -0.001917936393190045, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29780487004737505, + -0.08375158434514406, + 1.000512066540124 + ], + "finger_b": [ + 0.2870795529083482, + -0.05959568630828184, + 1.000512066540124 + ], + "finger_midpoint": [ + 0.29244221147786165, + -0.07167363532671295, + 1.000512066540124 + ], + "object_minus_finger_midpoint": [ + 0.005362658569513401, + 0.012077949018431108, + 0.0 + ], + "finger_gap": 0.02642990423175966, + "fingertip_max_gap": 0.09298791664082903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013214952115879818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000512066540124, + "object_top_z": 1.0505257805010126, + "finger_top_clearance": 0.05001371396088872, + "fingertip_min_top_clearance": 0.015004114188266615, + "object_projection_between_fingers": 0.8353244560661578, + "object_to_finger_line_xy": 0.009802520090557851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899395832041452, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4067046757427253, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36873457944456983, + 0.0459871244119928, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3660715415375536, + 0.014855793514212748, + 1.0438540722251526 + ], + "target_minus_gripper": [ + 0.002663037907016219, + 0.03113133089778005, + -0.27370762282389627 + ], + "held_position": [ + 0.3703728555485424, + 0.019166613656092377, + 1.0418714207265822 + ], + "held_minus_target": [ + 0.0016382761039725469, + -0.02682051075590042, + 0.2717249713253259 + ], + "held_minus_gripper": [ + 0.004301314010988766, + 0.0043108201418796295, + -0.0019826514985703536 + ], + "xy_dist": 0.03124502415363573, + "held_xy_dist": 0.026870499545044144, + "held_gripper_dist": 0.006404325060577941, + "max_held_gripper_dist": 0.0064968759886501306, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0418714207265822, + "required_height": 0.8001464494012563, + "gripper_z": 1.0438540722251526, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.1313627036143, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7606033767080878, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7241064770547907, + "max_source_tilt_deg": 89.8902508056702, + "source_upright_tilt_deg": 3.91947512826409, + "max_source_upright_tilt_deg": 89.87532782430836, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7241064770547907, + "source_upright_return_tilt_deg": 3.91947512826409, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1828894262453654e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3687, + 0.046, + 0.7701 + ], + "controller_target_position": [ + 0.3687, + 0.046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0002, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3694, + 0.0206, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006497578197267808, + -0.00018388935757970826, + -0.0016639755602300453 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9194793537721786, + "source_return_step_error_deg": 2.7241070842952717, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9359579491978396, + "source_return_best_wrist_position": -1.6103482246398926, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6103482246398926 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3687, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3687, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0002, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3694, + 0.0206, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006497578197267808, + -0.00018388935757970826, + -0.0016639755602300453 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9194793537721786, + "pour_controller_source_return_step_error_deg": 2.7241070842952717, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9359579491978396, + "pour_controller_source_return_best_wrist_position": -1.6103482246398926, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6103482246398926, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03124502415363573, + "valid_pour_held_xy_dist": 0.026870499545044144, + "valid_pour_held_gripper_dist": 0.006404325060577941, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0418714207265822, + "valid_pour_source_tilt_deg": 2.7241064770547907, + "valid_pour_source_upright_tilt_deg": 3.91947512826409, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1828894262453654e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3703728555485424, + -0.004249863403364987, + 1.0418714207265822 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3594171930938909, + 0.019166613656092377, + 1.0418714207265822 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3648950243212167, + 0.007458375126363695, + 1.0418714207265822 + ], + "valid_pour_held_grasp_object_position": [ + 0.3703728555485424, + 0.019166613656092377, + 1.0418714207265822 + ], + "valid_pour_held_grasp_finger_gap": 0.025852619551920704, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023996053684168385, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0579011211270515, + -0.9976611121321205, + 0.03632857706449722 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006160862161325098, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03835656836682474, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3703728555485424, + -0.004249863403364987, + 1.0418714207265822 + ], + "held_grasp_finger_b": [ + 0.3594171930938909, + 0.019166613656092377, + 1.0418714207265822 + ], + "held_grasp_midpoint": [ + 0.3648950243212167, + 0.007458375126363695, + 1.0418714207265822 + ], + "held_grasp_object_position": [ + 0.3703728555485424, + 0.019166613656092377, + 1.0418714207265822 + ], + "held_grasp_finger_gap": 0.025852619551920704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023996053684168385, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0579011211270515, + -0.9976611121321205, + 0.03632857706449722 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006160862161325098, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03835656836682474, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2696510686875857, + -0.06121923098821259, + 0.7611066218694593 + ], + "target_position": [ + 0.2740096862094437, + -0.06380059372366123, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005065666814330624, + "xy_threshold": 0.08, + "gripper_dist": 0.2127221049724242, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066218694593, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540959685070427, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09255795403212917, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1848531663876464, + "release_required_pad_clearance": 0.05627897701606459, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.861381965094158, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec75226a2db276677d4631dfa40c0d39cb7c560049a3840284682a67ff96ac97", + "visual_seed": 6647997533957565474, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4671ad03af5a60e7521146e5541c398754983e85 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_101_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29895712422277004, + -0.06557776369769396, + 1.0030692514650852 + ], + "current_z": 1.0030692514650852, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.141962803054964, + "gripper_z": 1.0052095968695427, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29472770840399576, + -0.06998688562281814, + 1.0052095968695427 + ], + "object_minus_gripper": [ + 0.004229415818774285, + 0.0044091219251241875, + -0.002140345404457511 + ], + "object_to_gripper_xy": 0.006109690198259563, + "object_to_gripper_z": -0.002140345404457511, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29895712422277004, + -0.08942990483521458, + 1.0030692514650852 + ], + "finger_b": [ + 0.28784801654720593, + -0.06557776369769396, + 1.0030692514650852 + ], + "finger_midpoint": [ + 0.29340257038498796, + -0.07750383426645427, + 1.0030692514650852 + ], + "object_minus_finger_midpoint": [ + 0.0055545538377820836, + 0.011926070568760314, + 0.0 + ], + "finger_gap": 0.0263122957985707, + "fingertip_max_gap": 0.09249064744232957, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013156147899285361, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030692514650852, + "object_top_z": 1.0529833952245684, + "finger_top_clearance": 0.04991414375948322, + "fingertip_min_top_clearance": 0.014974243127844932, + "object_projection_between_fingers": 0.8217453503769646, + "object_to_finger_line_xy": 0.010070425105355607, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874532372116479, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.447120270746039, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3688662163025562, + 0.04952148613207795, + 0.7701463897966114 + ], + "gripper_position": [ + 0.36481505155018434, + 0.017370992786025566, + 1.0476537131970933 + ], + "target_minus_gripper": [ + 0.004051164752371883, + 0.03215049334605238, + -0.2775073234004819 + ], + "held_position": [ + 0.3690888191392019, + 0.021681052286550623, + 1.0454212408093417 + ], + "held_minus_target": [ + 0.00022260283664565783, + -0.027840433845527326, + 0.2752748510127303 + ], + "held_minus_gripper": [ + 0.004273767589017541, + 0.004310059500525057, + -0.002232472387751594 + ], + "xy_dist": 0.03240472431984909, + "held_xy_dist": 0.0278413237603758, + "held_gripper_dist": 0.00646727417580826, + "max_held_gripper_dist": 0.006569891429937453, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0454212408093417, + "required_height": 0.8001463897966115, + "gripper_z": 1.0476537131970933, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.5687953388186, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9663420727970864, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2038570002472033, + "max_source_tilt_deg": 89.71064837031278, + "source_upright_tilt_deg": 2.6784087580586147, + "max_source_upright_tilt_deg": 89.87233298854618, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2038570002472033, + "source_upright_return_tilt_deg": 2.6784087580586147, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.337970882724225e-08, + "max_target_xy_drift": 1.592752212765213e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3689, + 0.0495, + 0.7701 + ], + "controller_target_position": [ + 0.3689, + 0.0495, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0016, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3684, + 0.0259, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004404604244264685, + 0.0015619352912232777, + 0.0014330263109889742 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6784109618222556, + "source_return_step_error_deg": 2.203867204683454, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.682876414487588, + "source_return_best_wrist_position": -1.6125138998031616, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125138998031616 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3689, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3689, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0016, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3684, + 0.0259, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004404604244264685, + 0.0015619352912232777, + 0.0014330263109889742 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6784109618222556, + "pour_controller_source_return_step_error_deg": 2.203867204683454, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.682876414487588, + "pour_controller_source_return_best_wrist_position": -1.6125138998031616, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125138998031616, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03240472431984909, + "valid_pour_held_xy_dist": 0.0278413237603758, + "valid_pour_held_gripper_dist": 0.00646727417580826, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0454212408093417, + "valid_pour_source_tilt_deg": 2.2038570002472033, + "valid_pour_source_upright_tilt_deg": 2.6784087580586147, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.337970882724225e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3690888191392019, + -0.0018098300031319688, + 1.0454212408093417 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3582069053338334, + 0.021681052286550623, + 1.0454212408093417 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3636478622365177, + 0.009935611141709327, + 1.0454212408093417 + ], + "valid_pour_held_grasp_object_position": [ + 0.3690888191392019, + 0.021681052286550623, + 1.0454212408093417 + ], + "valid_pour_held_grasp_finger_gap": 0.025888947425787553, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02386571331182856, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03680357455049275, + -0.9989075632185507, + 0.028795434448599215 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058791152166263625, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038187886740168694, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3690888191392019, + -0.0018098300031319688, + 1.0454212408093417 + ], + "held_grasp_finger_b": [ + 0.3582069053338334, + 0.021681052286550623, + 1.0454212408093417 + ], + "held_grasp_midpoint": [ + 0.3636478622365177, + 0.009935611141709327, + 1.0454212408093417 + ], + "held_grasp_object_position": [ + 0.3690888191392019, + 0.021681052286550623, + 1.0454212408093417 + ], + "held_grasp_finger_gap": 0.025888947425787553, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02386571331182856, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03680357455049275, + -0.9989075632185507, + 0.028795434448599215 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058791152166263625, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038187886740168694, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28015838570668916, + -0.06869779626959872, + 0.7611064676984614 + ], + "target_position": [ + 0.2754889780899248, + -0.07031880272855831, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00494277547856322, + "xy_threshold": 0.08, + "gripper_dist": 0.21683091967771967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064676984614, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557303990226126, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669569731324879, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18753312836322028, + "release_required_pad_clearance": 0.0533478486566244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7123029550985587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5954bb89d93c18fb93dc03d23a81ed57625a30e9589ee0d24c69049d6c5db336", + "visual_seed": 2263299758391683893, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e508aae6a5d88c28de9d853d52b1ebe52100ddf3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_102_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2973607774971062, + -0.06410685944998971, + 1.0039658963672844 + ], + "current_z": 1.0039658963672844, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.142859447957163, + "gripper_z": 1.006104995174873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29317229525121147, + -0.068460594289785, + 1.006104995174873 + ], + "object_minus_gripper": [ + 0.004188482245894742, + 0.004353734839795287, + -0.0021390988075886685 + ], + "object_to_gripper_xy": 0.006041389788734274, + "object_to_gripper_z": -0.0021390988075886685, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2973607774971062, + -0.0879328015713041, + 1.0039658963672844 + ], + "finger_b": [ + 0.2863191884443842, + -0.06410685944998971, + 1.0039658963672844 + ], + "finger_midpoint": [ + 0.2918399829707452, + -0.07601983051064691, + 1.0039658963672844 + ], + "object_minus_finger_midpoint": [ + 0.005520794526361006, + 0.011912971060657196, + 0.0 + ], + "finger_gap": 0.02626008771457959, + "fingertip_max_gap": 0.09299436580945733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013130043857289796, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039658963672844, + "object_top_z": 1.0539717374859308, + "finger_top_clearance": 0.050005841118646366, + "fingertip_min_top_clearance": 0.015001752335593909, + "object_projection_between_fingers": 0.8232046597815703, + "object_to_finger_line_xy": 0.010018102930838019, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899718290472867, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5190394404637013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3652989677197163, + 0.048755540369682084, + 0.770146389796612 + ], + "gripper_position": [ + 0.36009144092973855, + 0.013785142979032161, + 1.0484843413881948 + ], + "target_minus_gripper": [ + 0.005207526789977768, + 0.03497039739064992, + -0.2783379515915828 + ], + "held_position": [ + 0.36438794600196667, + 0.017974016241968878, + 1.0462533967991323 + ], + "held_minus_target": [ + -0.0009110217177496494, + -0.030781524127713206, + 0.27610700700252033 + ], + "held_minus_gripper": [ + 0.004296505072228118, + 0.004188873262936717, + -0.002230944589062478 + ], + "xy_dist": 0.03535600414255422, + "held_xy_dist": 0.03079500264970279, + "held_gripper_dist": 0.006401853544723997, + "max_held_gripper_dist": 0.006509987051324835, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0462533967991323, + "required_height": 0.800146389796612, + "gripper_z": 1.0484843413881948, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.52249348643508, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9686996436807498, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2164772539342827, + "max_source_tilt_deg": 89.81197270461773, + "source_upright_tilt_deg": 2.155438968402307, + "max_source_upright_tilt_deg": 89.88167448797904, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2164772539342827, + "source_upright_return_tilt_deg": 2.155438968402307, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.6429332696795422e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3653, + 0.0488, + 0.7701 + ], + "controller_target_position": [ + 0.3653, + 0.0488, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + -0.0013, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3633, + 0.0222, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001972800291299752, + -0.0013312036468121646, + 0.00177309816834987 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.155091712019645, + "source_return_step_error_deg": 2.2162335135095454, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2216423670963565, + "source_return_best_wrist_position": -1.6114519834518433, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6114519834518433 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3653, + 0.0488, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3653, + 0.0488, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + -0.0013, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3633, + 0.0222, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001972800291299752, + -0.0013312036468121646, + 0.00177309816834987 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.155091712019645, + "pour_controller_source_return_step_error_deg": 2.2162335135095454, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2216423670963565, + "pour_controller_source_return_best_wrist_position": -1.6114519834518433, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6114519834518433, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03535600414255422, + "valid_pour_held_xy_dist": 0.03079500264970279, + "valid_pour_held_gripper_dist": 0.006401853544723997, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0462533967991323, + "valid_pour_source_tilt_deg": 2.2164772539342827, + "valid_pour_source_upright_tilt_deg": 2.155438968402307, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36438794600196667, + -0.005756461566322298, + 1.0462533967991323 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3539217525295929, + 0.017974016241968878, + 1.0462533967991323 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3591548492657798, + 0.0061087773378232894, + 1.0462533967991323 + ], + "valid_pour_held_grasp_object_position": [ + 0.36438794600196667, + 0.017974016241968878, + 1.0462533967991323 + ], + "valid_pour_held_grasp_finger_gap": 0.02593601324049167, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023952788324224424, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02284501594645449, + -0.9992924777588783, + 0.029877234492637794 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005514084677435946, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03798295626475791, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36438794600196667, + -0.005756461566322298, + 1.0462533967991323 + ], + "held_grasp_finger_b": [ + 0.3539217525295929, + 0.017974016241968878, + 1.0462533967991323 + ], + "held_grasp_midpoint": [ + 0.3591548492657798, + 0.0061087773378232894, + 1.0462533967991323 + ], + "held_grasp_object_position": [ + 0.36438794600196667, + 0.017974016241968878, + 1.0462533967991323 + ], + "held_grasp_finger_gap": 0.02593601324049167, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023952788324224424, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02284501594645449, + -0.9992924777588783, + 0.029877234492637794 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005514084677435946, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03798295626475791, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2783798862586082, + -0.06550497856561804, + 0.761106257251193 + ], + "target_position": [ + 0.2738310865197295, + -0.06627118006991758, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004612878039750679, + "xy_threshold": 0.08, + "gripper_dist": 0.21873633102437098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106257251193, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586208611580658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789724059694841, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1889614768648454, + "release_required_pad_clearance": 0.053948620298474206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9074764571628333, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8adce237b13308e27699193f88bcb06e8276b2a51fd2175b5098a290924e942d", + "visual_seed": 8427783645422801668, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..360686bef553df63469fac7001169081bdf3b913 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_103_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2998617711533883, + -0.05996853121378779, + 1.0026792394741655 + ], + "current_z": 1.0026792394741655, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14157285066868908, + "gripper_z": 1.0044599195454302, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2956280711932332, + -0.06425016661689613, + 1.0044599195454302 + ], + "object_minus_gripper": [ + 0.004233699960155102, + 0.004281635403108337, + -0.0017806800712647508 + ], + "object_to_gripper_xy": 0.006021346782719627, + "object_to_gripper_z": -0.0017806800712647508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2998617711533883, + -0.08391843501554143, + 1.0026792394741655 + ], + "finger_b": [ + 0.2890209883332147, + -0.05996853121378779, + 1.0026792394741655 + ], + "finger_midpoint": [ + 0.29444137974330153, + -0.07194348311466461, + 1.0026792394741655 + ], + "object_minus_finger_midpoint": [ + 0.005420391410086767, + 0.011974951900876822, + 0.0 + ], + "finger_gap": 0.026289170094687737, + "fingertip_max_gap": 0.09332678092806437, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013144585047343862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026792394741655, + "object_top_z": 1.0527084462347949, + "finger_top_clearance": 0.050029206760629386, + "fingertip_min_top_clearance": 0.015008762028188781, + "object_projection_between_fingers": 0.8299535634807996, + "object_to_finger_line_xy": 0.009876146897894133, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916339046403219, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5828571365130886, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3686278275257771, + 0.04405506592863061, + 0.7701464494012565 + ], + "gripper_position": [ + 0.36395230569284687, + 0.010304322467722907, + 1.045810532836645 + ], + "target_minus_gripper": [ + 0.004675521832930241, + 0.0337507434609077, + -0.2756640834353884 + ], + "held_position": [ + 0.3681618557602797, + 0.014559149442049635, + 1.043943300358968 + ], + "held_minus_target": [ + -0.00046597176549739716, + -0.029495916486580974, + 0.27379685095771145 + ], + "held_minus_gripper": [ + 0.0042095500674328434, + 0.004254826974326728, + -0.00186723247767695 + ], + "xy_dist": 0.03407305663679458, + "held_xy_dist": 0.02949959693062941, + "held_gripper_dist": 0.006269802347552417, + "max_held_gripper_dist": 0.006347742765328931, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.043943300358968, + "required_height": 0.8001464494012566, + "gripper_z": 1.045810532836645, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.24534490048347, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9908671037583807, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4123337152371573, + "max_source_tilt_deg": 89.89812773148633, + "source_upright_tilt_deg": 3.634533407274639, + "max_source_upright_tilt_deg": 89.72043606263652, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4123337152371573, + "source_upright_return_tilt_deg": 3.634533407274639, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0058283805847168e-07, + "max_target_xy_drift": 1.7791917825131942e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3686, + 0.0441, + 0.7701 + ], + "controller_target_position": [ + 0.3686, + 0.0441, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0005, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3673, + 0.0183, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013276275770066723, + -0.0005093432675588895, + -0.0009044717126552473 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6345109467716568, + "source_return_step_error_deg": 2.4123005692901733, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.627432153254884, + "source_return_best_wrist_position": -1.6119191646575928, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6119191646575928 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3686, + 0.0441, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3686, + 0.0441, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0005, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3673, + 0.0183, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013276275770066723, + -0.0005093432675588895, + -0.0009044717126552473 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6345109467716568, + "pour_controller_source_return_step_error_deg": 2.4123005692901733, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.627432153254884, + "pour_controller_source_return_best_wrist_position": -1.6119191646575928, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6119191646575928, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03407305663679458, + "valid_pour_held_xy_dist": 0.02949959693062941, + "valid_pour_held_gripper_dist": 0.006269802347552417, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.043943300358968, + "valid_pour_source_tilt_deg": 2.4123337152371573, + "valid_pour_source_upright_tilt_deg": 3.634533407274639, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0058283805847168e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3681618557602797, + -0.008806686046067254, + 1.043943300358968 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35720863142708503, + 0.014559149442049635, + 1.043943300358968 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36268524359368237, + 0.002876231697991191, + 1.043943300358968 + ], + "valid_pour_held_grasp_object_position": [ + 0.3681618557602797, + 0.014559149442049635, + 1.043943300358968 + ], + "valid_pour_held_grasp_finger_gap": 0.025805724003620408, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02391114724207846, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05407605920742736, + -0.997988710756078, + 0.03308040241617404 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006112284700005208, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0383569836566099, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3681618557602797, + -0.008806686046067254, + 1.043943300358968 + ], + "held_grasp_finger_b": [ + 0.35720863142708503, + 0.014559149442049635, + 1.043943300358968 + ], + "held_grasp_midpoint": [ + 0.36268524359368237, + 0.002876231697991191, + 1.043943300358968 + ], + "held_grasp_object_position": [ + 0.3681618557602797, + 0.014559149442049635, + 1.043943300358968 + ], + "held_grasp_finger_gap": 0.025805724003620408, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02391114724207846, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05407605920742736, + -0.997988710756078, + 0.03308040241617404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006112284700005208, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0383569836566099, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27589533912800895, + -0.06766267802266338, + 0.7611062721970039 + ], + "target_position": [ + 0.2762596927578196, + -0.06476316541823188, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002922315333911334, + "xy_threshold": 0.08, + "gripper_dist": 0.21428620635363882, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062721970039, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532346525658853, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513142201117806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18509658519027158, + "release_required_pad_clearance": 0.05256571100558903, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782343373683928, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "453db058d1a05561bd4d44d27393806a90cf4d583ac8eaf5c9bd99b238587544", + "visual_seed": 8237825514922833317, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1571b0539e4a6c0bd4881d5c19ec54c6bfa89530 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_104_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30136503753823807, + -0.059218456344797846, + 1.0018868506326517 + ], + "current_z": 1.0018868506326517, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14078034261788552, + "gripper_z": 1.0037022997659426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2970576863950454, + -0.06354449284653661, + 1.0037022997659426 + ], + "object_minus_gripper": [ + 0.004307351143192695, + 0.004326036501738767, + -0.0018154491332909029 + ], + "object_to_gripper_xy": 0.006104741246370693, + "object_to_gripper_z": -0.0018154491332909029, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30136503753823807, + -0.08330727323164729, + 1.0018868506326517 + ], + "finger_b": [ + 0.29055605823871666, + -0.059218456344797846, + 1.0018868506326517 + ], + "finger_midpoint": [ + 0.29596054788847737, + -0.07126286478822257, + 1.0018868506326517 + ], + "object_minus_finger_midpoint": [ + 0.005404489649760702, + 0.01204440844342472, + 0.0 + ], + "finger_gap": 0.026402748578616676, + "fingertip_max_gap": 0.09289893865156354, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013201374289308338, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018868506326517, + "object_top_z": 1.0519194816996178, + "finger_top_clearance": 0.05003263106696609, + "fingertip_min_top_clearance": 0.015009789320089811, + "object_projection_between_fingers": 0.8324011285391932, + "object_to_finger_line_xy": 0.009861682479936667, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894946932578177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2641262886985025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36141277468268335, + 0.05237529319398857, + 0.7701463897966118 + ], + "gripper_position": [ + 0.35869580613604946, + 0.018132481140549314, + 1.0478558789528856 + ], + "target_minus_gripper": [ + 0.002716968546633891, + 0.03424281205343926, + -0.2777094891562738 + ], + "held_position": [ + 0.3630274565826587, + 0.022391937662283503, + 1.0459588514799565 + ], + "held_minus_target": [ + 0.0016146818999753787, + -0.02998335553170507, + 0.2758124616833447 + ], + "held_minus_gripper": [ + 0.00433165044660927, + 0.004259456521734189, + -0.0018970274729290804 + ], + "xy_dist": 0.03435043078930107, + "held_xy_dist": 0.030026801470998156, + "held_gripper_dist": 0.006364344324846189, + "max_held_gripper_dist": 0.006451437970723782, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0459588514799565, + "required_height": 0.8001463897966118, + "gripper_z": 1.0478558789528856, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.055902773664, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.583449661805523, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0785349645246383, + "max_source_tilt_deg": 89.93336634026927, + "source_upright_tilt_deg": 2.8477102245605574, + "max_source_upright_tilt_deg": 89.82598461462221, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0785349645246383, + "source_upright_return_tilt_deg": 2.8477102245605574, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.028863677424642e-08, + "max_target_xy_drift": 1.959941750461743e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3614, + 0.0524, + 0.7701 + ], + "controller_target_position": [ + 0.3614, + 0.0524, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0002, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3615, + 0.027, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.544018616724652e-05, + -0.00018050242912467517, + 0.0013244514477288158 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.847709874022617, + "source_return_step_error_deg": 2.078524024180005, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8613958110702837, + "source_return_best_wrist_position": -1.609007477760315, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609007477760315 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3614, + 0.0524, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3614, + 0.0524, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0002, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3615, + 0.027, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.544018616724652e-05, + -0.00018050242912467517, + 0.0013244514477288158 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.847709874022617, + "pour_controller_source_return_step_error_deg": 2.078524024180005, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8613958110702837, + "pour_controller_source_return_best_wrist_position": -1.609007477760315, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609007477760315, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03435043078930107, + "valid_pour_held_xy_dist": 0.030026801470998156, + "valid_pour_held_gripper_dist": 0.006364344324846189, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0459588514799565, + "valid_pour_source_tilt_deg": 2.0785349645246383, + "valid_pour_source_upright_tilt_deg": 2.8477102245605574, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.028863677424642e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3630274565826587, + -0.001314024072863228, + 1.0459588514799565 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3523399365647933, + 0.022391937662283503, + 1.0459588514799565 + ], + "valid_pour_held_grasp_midpoint": [ + 0.357683696573726, + 0.010538956794710137, + 1.0459588514799565 + ], + "valid_pour_held_grasp_object_position": [ + 0.3630274565826587, + 0.022391937662283503, + 1.0459588514799565 + ], + "valid_pour_held_grasp_finger_gap": 0.026003763303039724, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02408184994887059, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03790984011740341, + -0.9987651223885353, + 0.032110346034990626 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005801547255552142, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03808448727078859, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3630274565826587, + -0.001314024072863228, + 1.0459588514799565 + ], + "held_grasp_finger_b": [ + 0.3523399365647933, + 0.022391937662283503, + 1.0459588514799565 + ], + "held_grasp_midpoint": [ + 0.357683696573726, + 0.010538956794710137, + 1.0459588514799565 + ], + "held_grasp_object_position": [ + 0.3630274565826587, + 0.022391937662283503, + 1.0459588514799565 + ], + "held_grasp_finger_gap": 0.026003763303039724, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02408184994887059, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03790984011740341, + -0.9987651223885353, + 0.032110346034990626 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005801547255552142, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03808448727078859, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27863482049499966, + -0.06392456091846963, + 0.7611063984570418 + ], + "target_position": [ + 0.2775683899441019, + -0.0628741505750043, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0014968754155062762, + "xy_threshold": 0.08, + "gripper_dist": 0.21773479934427042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063984570418, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583256704358401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556074754165773, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1877393707924402, + "release_required_pad_clearance": 0.052780373770828864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6090912516172452, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "130191981378ff69ba7bd7dec49d5ec14b520413550a31d117a8c509ae0979e1", + "visual_seed": 1250154626979321562, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6513cb6aab6a57f04ab7285b9be7a5caa30cb7d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_105_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30309249578434905, + -0.06131119325237256, + 1.0039420164330695 + ], + "current_z": 1.0039420164330695, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1428355680229484, + "gripper_z": 1.005580928328644, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29900997421010844, + -0.06560060819046803, + 1.005580928328644 + ], + "object_minus_gripper": [ + 0.004082521574240605, + 0.004289414938095475, + -0.0016389118955746351 + ], + "object_to_gripper_xy": 0.005921660486324473, + "object_to_gripper_z": -0.0016389118955746351, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30309249578434905, + -0.08507683255354824, + 1.0039420164330695 + ], + "finger_b": [ + 0.29215490065288363, + -0.06131119325237256, + 1.0039420164330695 + ], + "finger_midpoint": [ + 0.29762369821861634, + -0.0731940129029604, + 1.0039420164330695 + ], + "object_minus_finger_midpoint": [ + 0.005468797565732708, + 0.011882819650587843, + 0.0 + ], + "finger_gap": 0.026161739213084477, + "fingertip_max_gap": 0.0928032113647689, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080869606542242, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039420164330695, + "object_top_z": 1.0538673959201534, + "finger_top_clearance": 0.049925379487083976, + "fingertip_min_top_clearance": 0.014977613846125159, + "object_projection_between_fingers": 0.825212463075152, + "object_to_finger_line_xy": 0.00993584327859583, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048901605682384455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4939841678219907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36435164129797853, + 0.043418473421268235, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3602460283296326, + 0.009812501340873483, + 1.0483573371473562 + ], + "target_minus_gripper": [ + 0.00410561296834594, + 0.03360597208039475, + -0.27821094735074436 + ], + "held_position": [ + 0.36436659003019256, + 0.014022563382371692, + 1.0466337781497819 + ], + "held_minus_target": [ + 1.4948732214026261e-05, + -0.029395910038896543, + 0.27648738835317 + ], + "held_minus_gripper": [ + 0.004120561700559966, + 0.004210062041498208, + -0.0017235589975743704 + ], + "xy_dist": 0.03385583284035591, + "held_xy_dist": 0.029395913839843343, + "held_gripper_dist": 0.006137939942644052, + "max_held_gripper_dist": 0.006203240630462754, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0466337781497819, + "required_height": 0.8001463897966119, + "gripper_z": 1.0483573371473562, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.30867441446783, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9488202792951854, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.145916527242542, + "max_source_tilt_deg": 89.6955642372219, + "source_upright_tilt_deg": 2.8002951786527768, + "max_source_upright_tilt_deg": 89.94823766623684, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.145916527242542, + "source_upright_return_tilt_deg": 2.8002951786527768, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.365778852490731e-08, + "max_target_xy_drift": 1.6340398941112148e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3644, + 0.0434, + 0.7701 + ], + "controller_target_position": [ + 0.3644, + 0.0434, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3634, + 0.0182, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009949051865520376, + -3.8319070431620805e-05, + 0.0016121196782129935 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8003036286757736, + "source_return_step_error_deg": 2.145926911216424, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8087133592485967, + "source_return_best_wrist_position": -1.6120319366455078, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120319366455078 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3644, + 0.0434, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3644, + 0.0434, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3634, + 0.0182, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009949051865520376, + -3.8319070431620805e-05, + 0.0016121196782129935 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8003036286757736, + "pour_controller_source_return_step_error_deg": 2.145926911216424, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8087133592485967, + "pour_controller_source_return_best_wrist_position": -1.6120319366455078, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120319366455078, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03385583284035591, + "valid_pour_held_xy_dist": 0.029395913839843343, + "valid_pour_held_gripper_dist": 0.006137939942644052, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0466337781497819, + "valid_pour_source_tilt_deg": 2.145916527242542, + "valid_pour_source_upright_tilt_deg": 2.8002951786527768, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.365778852490731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36436659003019256, + -0.00940214669033987, + 1.0466337781497819 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35364992002149037, + 0.014022563382371692, + 1.0466337781497819 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35900825502584144, + 0.0023102083460159106, + 1.0466337781497819 + ], + "valid_pour_held_grasp_object_position": [ + 0.36436659003019256, + 0.014022563382371692, + 1.0466337781497819 + ], + "valid_pour_held_grasp_finger_gap": 0.025759737150561367, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023807378400164305, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.038317865550730815, + -0.9988058937333513, + 0.03030722394343799 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005813848361854083, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822720079055791, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36436659003019256, + -0.00940214669033987, + 1.0466337781497819 + ], + "held_grasp_finger_b": [ + 0.35364992002149037, + 0.014022563382371692, + 1.0466337781497819 + ], + "held_grasp_midpoint": [ + 0.35900825502584144, + 0.0023102083460159106, + 1.0466337781497819 + ], + "held_grasp_object_position": [ + 0.36436659003019256, + 0.014022563382371692, + 1.0466337781497819 + ], + "held_grasp_finger_gap": 0.025759737150561367, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023807378400164305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.038317865550730815, + -0.9988058937333513, + 0.03030722394343799 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005813848361854083, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822720079055791, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2811613387071642, + -0.06751792938410144, + 0.7611064992853777 + ], + "target_position": [ + 0.27970386720129925, + -0.06539031237298008, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0025789488820876613, + "xy_threshold": 0.08, + "gripper_dist": 0.21599550371228413, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064992853777, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566246304222164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08804286846394409, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18613295130059326, + "release_required_pad_clearance": 0.054021434231972046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.054524868677733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab9caf856ce51b2d9d2f5c22dfae220d8a52655e249f170770be79f7233f8328", + "visual_seed": 5354119495248693040, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_106_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0127b5976a8320a404f6ae4eb45b7ba4143d90ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_106_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30128805293638605, + -0.06430426598191152, + 1.0030785530191064 + ], + "current_z": 1.0030785530191064, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1419719853996957, + "gripper_z": 1.0051549339972332, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2972072895253167, + -0.06864204826391888, + 1.0051549339972332 + ], + "object_minus_gripper": [ + 0.0040807634110693325, + 0.00433778228200736, + -0.0020763809781267906 + ], + "object_to_gripper_xy": 0.005955584366224628, + "object_to_gripper_z": -0.0020763809781267906, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30128805293638605, + -0.08798409974122486, + 1.0030785530191064 + ], + "finger_b": [ + 0.29018986153326853, + -0.06430426598191152, + 1.0030785530191064 + ], + "finger_midpoint": [ + 0.2957389572348273, + -0.07614418286156818, + 1.0030785530191064 + ], + "object_minus_finger_midpoint": [ + 0.005549095701558759, + 0.011839916879656659, + 0.0 + ], + "finger_gap": 0.026151565522716743, + "fingertip_max_gap": 0.09275995765611669, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013075782761358365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030785530191064, + "object_top_z": 1.0532154465958343, + "finger_top_clearance": 0.0501368935767279, + "fingertip_min_top_clearance": 0.015041068073018403, + "object_projection_between_fingers": 0.8199019392911464, + "object_to_finger_line_xy": 0.010049238820007838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887997882805835, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2835370254577225, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3659048489338583, + 0.046372103362016456, + 0.7701465090059012 + ], + "gripper_position": [ + 0.36191544171584605, + 0.013280153691262717, + 1.0471103372351769 + ], + "target_minus_gripper": [ + 0.00398940721801222, + 0.03309194967075374, + -0.2769638282292757 + ], + "held_position": [ + 0.3660893361975472, + 0.017471901588865437, + 1.0449444504593848 + ], + "held_minus_target": [ + 0.000184487263688915, + -0.02890020177315102, + 0.2747979414534836 + ], + "held_minus_gripper": [ + 0.004173894481701135, + 0.0041917478976027205, + -0.002165886775792103 + ], + "xy_dist": 0.03333155416362739, + "held_xy_dist": 0.028900790613395073, + "held_gripper_dist": 0.006299461175924741, + "max_held_gripper_dist": 0.006405587020897807, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0449444504593848, + "required_height": 0.8001465090059012, + "gripper_z": 1.0471103372351769, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.53133858141025, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8115481799690882, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2219839360763083, + "max_source_tilt_deg": 89.86030693185222, + "source_upright_tilt_deg": 2.0116730110213634, + "max_source_upright_tilt_deg": 89.8924205644795, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2219839360763083, + "source_upright_return_tilt_deg": 2.0116730110213634, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2351741790771484e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3659, + 0.0464, + 0.7701 + ], + "controller_target_position": [ + 0.3659, + 0.0464, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.0006, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3654, + 0.0218, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005370045125444949, + 0.0006188123314251628, + 0.0006042079636072385 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0116739365954204, + "source_return_step_error_deg": 2.222007358933545, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.22019567358891, + "source_return_best_wrist_position": -1.612352967262268, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612352967262268 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3659, + 0.0464, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3659, + 0.0464, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.0006, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3654, + 0.0218, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005370045125444949, + 0.0006188123314251628, + 0.0006042079636072385 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0116739365954204, + "pour_controller_source_return_step_error_deg": 2.222007358933545, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.22019567358891, + "pour_controller_source_return_best_wrist_position": -1.612352967262268, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612352967262268, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03333155416362739, + "valid_pour_held_xy_dist": 0.028900790613395073, + "valid_pour_held_gripper_dist": 0.006299461175924741, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0449444504593848, + "valid_pour_source_tilt_deg": 2.2219839360763083, + "valid_pour_source_upright_tilt_deg": 2.0116730110213634, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2351741790771484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3660893361975472, + -0.006044500623695437, + 1.0449444504593848 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3554887875691294, + 0.017471901588865437, + 1.0449444504593848 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36078906188333826, + 0.005713700482585, + 1.0449444504593848 + ], + "valid_pour_held_grasp_object_position": [ + 0.3660893361975472, + 0.017471901588865437, + 1.0449444504593848 + ], + "valid_pour_held_grasp_finger_gap": 0.02579520893976997, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0237370218607703, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02217929807569262, + -0.9993837033635024, + 0.027208311015586302 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005568864096167396, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03808685186750547, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3660893361975472, + -0.006044500623695437, + 1.0449444504593848 + ], + "held_grasp_finger_b": [ + 0.3554887875691294, + 0.017471901588865437, + 1.0449444504593848 + ], + "held_grasp_midpoint": [ + 0.36078906188333826, + 0.005713700482585, + 1.0449444504593848 + ], + "held_grasp_object_position": [ + 0.3660893361975472, + 0.017471901588865437, + 1.0449444504593848 + ], + "held_grasp_finger_gap": 0.02579520893976997, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0237370218607703, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02217929807569262, + -0.9993837033635024, + 0.027208311015586302 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005568864096167396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03808685186750547, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2831299962486705, + -0.06640292893186142, + 0.7611065676194109 + ], + "target_position": [ + 0.27796915903276564, + -0.06687323238583984, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005182222120663379, + "xy_threshold": 0.08, + "gripper_dist": 0.21821585305908853, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065676194109, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584900620446737, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18807937780105274, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ecb7a2078b46f073e04c25232ce6438ff4fb9de53a4ee50e0935e718ecd206a", + "visual_seed": 4668627449932905530, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c15efc2d3ca439f3efe43fcdf0e880f1b9b0117 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_107_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30217983940355325, + -0.06012214314426467, + 1.0017696845011512 + ], + "current_z": 1.0017696845011512, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14066323609103004, + "gripper_z": 1.0039330724841615, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2978985542445396, + -0.0643938829634109, + 1.0039330724841615 + ], + "object_minus_gripper": [ + 0.004281285159013659, + 0.004271739819146234, + -0.002163387983010301 + ], + "object_to_gripper_xy": 0.006047905728040915, + "object_to_gripper_z": -0.002163387983010301, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30217983940355325, + -0.08426178647067513, + 1.0017696845011512 + ], + "finger_b": [ + 0.2915621819287693, + -0.06012214314426467, + 1.0017696845011512 + ], + "finger_midpoint": [ + 0.2968710106661613, + -0.0721919648074699, + 1.0017696845011512 + ], + "object_minus_finger_midpoint": [ + 0.0053088287373919685, + 0.012069821663205221, + 0.0 + ], + "finger_gap": 0.02637151929977012, + "fingertip_max_gap": 0.09289810027723902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013185759649885056, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017696845011512, + "object_top_z": 1.0516511821601615, + "finger_top_clearance": 0.04988149765901029, + "fingertip_min_top_clearance": 0.014964449297703103, + "object_projection_between_fingers": 0.8378984676839673, + "object_to_finger_line_xy": 0.009719063262521784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894905013861951, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.527436596660147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3621089867359821, + 0.04440533634894348, + 0.7701464494012563 + ], + "gripper_position": [ + 0.35980443660928907, + 0.010963192227721796, + 1.0450028735602352 + ], + "target_minus_gripper": [ + 0.0023045501266930057, + 0.033442144121221686, + -0.27485642415897893 + ], + "held_position": [ + 0.36410542741643676, + 0.015161357701484118, + 1.0427545478401359 + ], + "held_minus_target": [ + 0.001996440680454681, + -0.029243978647459364, + 0.27260809843887956 + ], + "held_minus_gripper": [ + 0.0043009908071476866, + 0.004198165473762321, + -0.0022483257200993645 + ], + "xy_dist": 0.03352145514011889, + "held_xy_dist": 0.029312046372159582, + "held_gripper_dist": 0.00641701517934306, + "max_held_gripper_dist": 0.0065231340124801435, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0427545478401359, + "required_height": 0.8001464494012563, + "gripper_z": 1.0450028735602352, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.09792209743792, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.984088223945806, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1976831851299954, + "max_source_tilt_deg": 89.73550015649415, + "source_upright_tilt_deg": 3.142543319930593, + "max_source_upright_tilt_deg": 89.89333535046813, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1976831851299954, + "source_upright_return_tilt_deg": 3.142543319930593, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.2128666487410446e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3621, + 0.0444, + 0.7701 + ], + "controller_target_position": [ + 0.3621, + 0.0444, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0001, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3635, + 0.0191, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013802226109385337, + -8.345639076725187e-05, + -0.0017142493441764592 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.14254299076336, + "source_return_step_error_deg": 2.1977004025224987, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1549756304979333, + "source_return_best_wrist_position": -1.6122875213623047, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122875213623047 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3621, + 0.0444, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3621, + 0.0444, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0001, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3635, + 0.0191, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013802226109385337, + -8.345639076725187e-05, + -0.0017142493441764592 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.14254299076336, + "pour_controller_source_return_step_error_deg": 2.1977004025224987, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1549756304979333, + "pour_controller_source_return_best_wrist_position": -1.6122875213623047, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122875213623047, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03352145514011889, + "valid_pour_held_xy_dist": 0.029312046372159582, + "valid_pour_held_gripper_dist": 0.00641701517934306, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0427545478401359, + "valid_pour_source_tilt_deg": 2.1976831851299954, + "valid_pour_source_upright_tilt_deg": 3.142543319930593, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36410542741643676, + -0.008517318456220623, + 1.0427545478401359 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35357119870413717, + 0.015161357701484118, + 1.0427545478401359 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35883831306028696, + 0.003322019622631747, + 1.0427545478401359 + ], + "valid_pour_held_grasp_object_position": [ + 0.36410542741643676, + 0.015161357701484118, + 1.0427545478401359 + ], + "valid_pour_held_grasp_finger_gap": 0.02591620495258694, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024110498215484718, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.044372388704918414, + -0.9984962489831972, + 0.032192109081334734 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005799555363436239, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813242985348137, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36410542741643676, + -0.008517318456220623, + 1.0427545478401359 + ], + "held_grasp_finger_b": [ + 0.35357119870413717, + 0.015161357701484118, + 1.0427545478401359 + ], + "held_grasp_midpoint": [ + 0.35883831306028696, + 0.003322019622631747, + 1.0427545478401359 + ], + "held_grasp_object_position": [ + 0.36410542741643676, + 0.015161357701484118, + 1.0427545478401359 + ], + "held_grasp_finger_gap": 0.02591620495258694, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024110498215484718, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.044372388704918414, + -0.9984962489831972, + 0.032192109081334734 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005799555363436239, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813242985348137, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2784439161470251, + -0.06491704086173536, + 0.7611074889432797 + ], + "target_position": [ + 0.27862686226392386, + -0.06261184732424448, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0023124416807733922, + "xy_threshold": 0.08, + "gripper_dist": 0.21426752615631536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074889432797, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580587188303815, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09353773530366043, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18425584757831473, + "release_required_pad_clearance": 0.056768867651830215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.981215142503814, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a0b8d7b787264d58caf2fa7875b1059735cc0bc1cf81b9b444929564c3ad5d0", + "visual_seed": 9059571746287789876, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73ec807ea8265b892ae6b740857b332aac2211d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_10_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2991014722280098, + -0.06442348287015018, + 1.00395037501618 + ], + "current_z": 1.00395037501618, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14284386700141394, + "gripper_z": 1.006164237365487, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29492121916853564, + -0.06862605302207267, + 1.006164237365487 + ], + "object_minus_gripper": [ + 0.0041802530594741705, + 0.004202570151922491, + -0.002213862349307094 + ], + "object_to_gripper_xy": 0.005927572144063115, + "object_to_gripper_z": -0.002213862349307094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2991014722280098, + -0.08855925434888323, + 1.00395037501618 + ], + "finger_b": [ + 0.28869675873147976, + -0.06442348287015018, + 1.00395037501618 + ], + "finger_midpoint": [ + 0.2938991154797448, + -0.0764913686095167, + 1.00395037501618 + ], + "object_minus_finger_midpoint": [ + 0.005202356748265025, + 0.012067885739366527, + 0.0 + ], + "finger_gap": 0.026282951276797258, + "fingertip_max_gap": 0.09279314653826173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013141475638398629, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00395037501618, + "object_top_z": 1.0539360194004868, + "finger_top_clearance": 0.04998564438430675, + "fingertip_min_top_clearance": 0.014995693315291991, + "object_projection_between_fingers": 0.8432844857612524, + "object_to_finger_line_xy": 0.009554702765653037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889657326913087, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5212553231181536, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3680031708485308, + 0.05111579489582039, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3642228591795702, + 0.01671641358621742, + 1.0477943765652549 + ], + "target_minus_gripper": [ + 0.00378031166896059, + 0.03439938130960297, + -0.27764798676864333 + ], + "held_position": [ + 0.3683487939533041, + 0.02091751757613924, + 1.0454925343438028 + ], + "held_minus_target": [ + 0.00034562310477331826, + -0.03019827731968115, + 0.2753461445471913 + ], + "held_minus_gripper": [ + 0.004125934773733908, + 0.004201103989921819, + -0.0023018422214520218 + ], + "xy_dist": 0.03460647613956009, + "held_xy_dist": 0.03020025510499741, + "held_gripper_dist": 0.006322269379242147, + "max_held_gripper_dist": 0.006428380584890729, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0454925343438028, + "required_height": 0.8001463897966116, + "gripper_z": 1.0477943765652549, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23967584347237, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0736577291301295, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7181547343007515, + "max_source_tilt_deg": 89.94604953049605, + "source_upright_tilt_deg": 3.9568003753798564, + "max_source_upright_tilt_deg": 89.9884643301742, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7181547343007515, + "source_upright_return_tilt_deg": 3.9568003753798564, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2665987014770508e-07, + "max_target_xy_drift": 2.4214386938657364e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.368, + 0.0511, + 0.7701 + ], + "controller_target_position": [ + 0.368, + 0.0511, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0013, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3683, + 0.0246, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002546740565751446, + -0.0013424310415123637, + 0.0014351639574168244 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.956612568842199, + "source_return_step_error_deg": 2.7179926008434387, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.9603123789890935, + "source_return_best_wrist_position": -1.6138724088668823, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6138724088668823 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.368, + 0.0511, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.368, + 0.0511, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0013, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3683, + 0.0246, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002546740565751446, + -0.0013424310415123637, + 0.0014351639574168244 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.956612568842199, + "pour_controller_source_return_step_error_deg": 2.7179926008434387, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.9603123789890935, + "pour_controller_source_return_best_wrist_position": -1.6138724088668823, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6138724088668823, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03460647613956009, + "valid_pour_held_xy_dist": 0.03020025510499741, + "valid_pour_held_gripper_dist": 0.006322269379242147, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0454925343438028, + "valid_pour_source_tilt_deg": 2.7181547343007515, + "valid_pour_source_upright_tilt_deg": 3.9568003753798564, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2665987014770508e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3683487939533041, + -0.0024390774138855317, + 1.0454925343438028 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35760799585129394, + 0.02091751757613924, + 1.0454925343438028 + ], + "valid_pour_held_grasp_midpoint": [ + 0.362978394902299, + 0.009239220081126855, + 1.0454925343438028 + ], + "valid_pour_held_grasp_object_position": [ + 0.3683487939533041, + 0.02091751757613924, + 1.0454925343438028 + ], + "valid_pour_held_grasp_finger_gap": 0.02570788348729229, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02396959039775827, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06225504825595455, + -0.9976163693193126, + 0.029763881346384635 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006096646949819711, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038404123775364035, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3683487939533041, + -0.0024390774138855317, + 1.0454925343438028 + ], + "held_grasp_finger_b": [ + 0.35760799585129394, + 0.02091751757613924, + 1.0454925343438028 + ], + "held_grasp_midpoint": [ + 0.362978394902299, + 0.009239220081126855, + 1.0454925343438028 + ], + "held_grasp_object_position": [ + 0.3683487939533041, + 0.02091751757613924, + 1.0454925343438028 + ], + "held_grasp_finger_gap": 0.02570788348729229, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02396959039775827, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06225504825595455, + -0.9976163693193126, + 0.029763881346384635 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006096646949819711, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038404123775364035, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27936726483422464, + -0.07147764090656629, + 0.7611065993919912 + ], + "target_position": [ + 0.27571679828765333, + -0.06715922383393476, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005654611571171951, + "xy_threshold": 0.08, + "gripper_dist": 0.21642843466718054, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065993919912, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571006288405063, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09219931341353534, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18573928795076552, + "release_required_pad_clearance": 0.05609965670676767, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.459863138912395, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c42da47c065579a2fdd06f697be32e4b44c0cfdd6b665513169fd1e16175968", + "visual_seed": 6613490243565131708, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fc33371187f9684958ebec04de277010b47c218 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_11_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30336327060925233, + -0.06612318832040108, + 1.0008691520736503 + ], + "current_z": 1.0008691520736503, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13976270366352916, + "gripper_z": 1.0026690229699518, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2992900447222428, + -0.07027822950684776, + 1.0026690229699518 + ], + "object_minus_gripper": [ + 0.004073225887009535, + 0.004155041186446676, + -0.0017998708963014032 + ], + "object_to_gripper_xy": 0.005818551055690137, + "object_to_gripper_z": -0.0017998708963014032, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30336327060925233, + -0.09021411483276134, + 1.0008691520736503 + ], + "finger_b": [ + 0.29306411562259294, + -0.06612318832040108, + 1.0008691520736503 + ], + "finger_midpoint": [ + 0.2982136931159226, + -0.0781686515765812, + 1.0008691520736503 + ], + "object_minus_finger_midpoint": [ + 0.005149577493329727, + 0.012045463256180125, + 0.0 + ], + "finger_gap": 0.02620010178726743, + "fingertip_max_gap": 0.09307795254859355, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013100050893633718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0008691520736503, + "object_top_z": 1.050975998217421, + "finger_top_clearance": 0.05010684614377059, + "fingertip_min_top_clearance": 0.015032053843131159, + "object_projection_between_fingers": 0.8454755415508746, + "object_to_finger_line_xy": 0.009470046640948481, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903897627429678, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6066468667411047, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3702874294525807, + 0.050373989014558564, + 0.7701463301919668 + ], + "gripper_position": [ + 0.3654304639253326, + 0.020228208883446563, + 1.0457277147620707 + ], + "target_minus_gripper": [ + 0.004856965527248069, + 0.030145780131112, + -0.27558138457010395 + ], + "held_position": [ + 0.36945328949928585, + 0.024390105992229853, + 1.0438595801573651 + ], + "held_minus_target": [ + -0.0008341399532948435, + -0.02598388302232871, + 0.27371324996539836 + ], + "held_minus_gripper": [ + 0.004022825573953226, + 0.004161897108783289, + -0.0018681346047055847 + ], + "xy_dist": 0.03053454066866281, + "held_xy_dist": 0.025997268440737097, + "held_gripper_dist": 0.006082305487547407, + "max_held_gripper_dist": 0.006167531023550546, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.0438595801573651, + "required_height": 0.8001463301919668, + "gripper_z": 1.0457277147620707, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.15201719566443, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1793994394181797, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9094755983715292, + "max_source_tilt_deg": 89.74386984536096, + "source_upright_tilt_deg": 4.144073599376218, + "max_source_upright_tilt_deg": 89.90894956490924, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9094755983715292, + "source_upright_return_tilt_deg": 4.144073599376218, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.556172860727118e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3703, + 0.0504, + 0.7701 + ], + "controller_target_position": [ + 0.3703, + 0.0504, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.001, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3684, + 0.0262, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018696178702138125, + 0.0010306618375214584, + 0.0003422026870522391 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.144076778825939, + "source_return_step_error_deg": 2.909477731801306, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.143962468289768, + "source_return_best_wrist_position": -1.613515853881836, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613515853881836 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3703, + 0.0504, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3703, + 0.0504, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.001, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3684, + 0.0262, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018696178702138125, + 0.0010306618375214584, + 0.0003422026870522391 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.144076778825939, + "pour_controller_source_return_step_error_deg": 2.909477731801306, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.143962468289768, + "pour_controller_source_return_best_wrist_position": -1.613515853881836, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613515853881836, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03053454066866281, + "valid_pour_held_xy_dist": 0.025997268440737097, + "valid_pour_held_gripper_dist": 0.006082305487547407, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.0438595801573651, + "valid_pour_source_tilt_deg": 2.9094755983715292, + "valid_pour_source_upright_tilt_deg": 4.144073599376218, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36945328949928585, + 0.0011421946315777701, + 1.0438595801573651 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35886511064551296, + 0.024390105992229853, + 1.0438595801573651 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36415920007239944, + 0.012766150311903812, + 1.0438595801573651 + ], + "valid_pour_held_grasp_object_position": [ + 0.36945328949928585, + 0.024390105992229853, + 1.0438595801573651 + ], + "valid_pour_held_grasp_finger_gap": 0.025545545875401046, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02387140375810765, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06462623136494756, + -0.9973854985104306, + 0.03233601058671409 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006045585279224103, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03846882228737861, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36945328949928585, + 0.0011421946315777701, + 1.0438595801573651 + ], + "held_grasp_finger_b": [ + 0.35886511064551296, + 0.024390105992229853, + 1.0438595801573651 + ], + "held_grasp_midpoint": [ + 0.36415920007239944, + 0.012766150311903812, + 1.0438595801573651 + ], + "held_grasp_object_position": [ + 0.36945328949928585, + 0.024390105992229853, + 1.0438595801573651 + ], + "held_grasp_finger_gap": 0.025545545875401046, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02387140375810765, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06462623136494756, + -0.9973854985104306, + 0.03233601058671409 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006045585279224103, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03846882228737861, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2873326172297033, + -0.07141407263993894, + 0.7611066454799201 + ], + "target_position": [ + 0.280166296436377, + -0.06749560163601658, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008167653807639084, + "xy_threshold": 0.08, + "gripper_dist": 0.22127140066831033, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066454799201, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519358417148525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683102377420397, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19137984596929053, + "release_required_pad_clearance": 0.05341551188710199, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8451938362606521, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30c6a99c9c4790803372c38b2daec5bbda9ed723a449c5c7a999876502be8e8b", + "visual_seed": 6979240016136887881, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a8c82aa3811a79ea6657972fc8b1b3204afa4979 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_12_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2993494098117436, + -0.0604643725497851, + 1.0006967685761872 + ], + "current_z": 1.0006967685761872, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1395902009567762, + "gripper_z": 1.0024852676792224, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29525348524161965, + -0.06466263558815812, + 1.0024852676792224 + ], + "object_minus_gripper": [ + 0.004095924570123977, + 0.004198263038373014, + -0.001788499103035246 + ], + "object_to_gripper_xy": 0.005865322721173515, + "object_to_gripper_z": -0.001788499103035246, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2993494098117436, + -0.08443145197689296, + 1.0006967685761872 + ], + "finger_b": [ + 0.28877255101442945, + -0.0604643725497851, + 1.0006967685761872 + ], + "finger_midpoint": [ + 0.29406098041308654, + -0.07244791226333903, + 1.0006967685761872 + ], + "object_minus_finger_midpoint": [ + 0.005288429398657091, + 0.011983539713553933, + 0.0 + ], + "finger_gap": 0.026197153247702682, + "fingertip_max_gap": 0.09361898408083416, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013098576623851345, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0006967685761872, + "object_top_z": 1.0507966515448413, + "finger_top_clearance": 0.050099882968654086, + "fingertip_min_top_clearance": 0.015029964890596242, + "object_projection_between_fingers": 0.8369933914634445, + "object_to_finger_line_xy": 0.009676487078105067, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930949204041708, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.713822624190359, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.363035570741338, + 0.045026912211112755, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3596674803572154, + 0.012550158457857216, + 1.04736571987837 + ], + "target_minus_gripper": [ + 0.003368090384122613, + 0.03247675375325554, + -0.2772193300817585 + ], + "held_position": [ + 0.36385476514164433, + 0.01661122022440947, + 1.0454939737580382 + ], + "held_minus_target": [ + 0.0008191944003063112, + -0.028415691986703285, + 0.2753475839614268 + ], + "held_minus_gripper": [ + 0.004187284784428924, + 0.0040610617665522535, + -0.0018717461203316965 + ], + "xy_dist": 0.0326509351655541, + "held_xy_dist": 0.028427497789089467, + "held_gripper_dist": 0.00612609256187329, + "max_held_gripper_dist": 0.006208033925765364, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0454939737580382, + "required_height": 0.8001463897966115, + "gripper_z": 1.04736571987837, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.12536579752303, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.097855744672314, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0823218235728977, + "max_source_tilt_deg": 89.97506258718467, + "source_upright_tilt_deg": 2.4162835537057923, + "max_source_upright_tilt_deg": 89.76399799668931, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0823218235728977, + "source_upright_return_tilt_deg": 2.4162835537057923, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.60770320892334e-08, + "max_target_xy_drift": 1.82653228523303e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.363, + 0.045, + 0.7701 + ], + "controller_target_position": [ + 0.363, + 0.045, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0015, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3631, + 0.0213, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 3.8708405671389855e-05, + 0.0014984804280580334, + 0.0009522697615913485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4162655039174803, + "source_return_step_error_deg": 2.082298795756162, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4287301902869007, + "source_return_best_wrist_position": -1.6098471879959106, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098471879959106 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.363, + 0.045, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.363, + 0.045, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0015, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3631, + 0.0213, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 3.8708405671389855e-05, + 0.0014984804280580334, + 0.0009522697615913485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4162655039174803, + "pour_controller_source_return_step_error_deg": 2.082298795756162, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4287301902869007, + "pour_controller_source_return_best_wrist_position": -1.6098471879959106, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098471879959106, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0326509351655541, + "valid_pour_held_xy_dist": 0.028427497789089467, + "valid_pour_held_gripper_dist": 0.00612609256187329, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0454939737580382, + "valid_pour_source_tilt_deg": 2.0823218235728977, + "valid_pour_source_upright_tilt_deg": 2.4162835537057923, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.60770320892334e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36385476514164433, + -0.007234155311192551, + 1.0454939737580382 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35379480840239086, + 0.01661122022440947, + 1.0454939737580382 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35882478677201757, + 0.00468853245660846, + 1.0454939737580382 + ], + "valid_pour_held_grasp_object_position": [ + 0.36385476514164433, + 0.01661122022440947, + 1.0454939737580382 + ], + "valid_pour_held_grasp_finger_gap": 0.025880584692574832, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02411598433466595, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02900706306033201, + -0.9991108967680483, + 0.0305942192572407 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005385918537700465, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037954067702281824, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36385476514164433, + -0.007234155311192551, + 1.0454939737580382 + ], + "held_grasp_finger_b": [ + 0.35379480840239086, + 0.01661122022440947, + 1.0454939737580382 + ], + "held_grasp_midpoint": [ + 0.35882478677201757, + 0.00468853245660846, + 1.0454939737580382 + ], + "held_grasp_object_position": [ + 0.36385476514164433, + 0.01661122022440947, + 1.0454939737580382 + ], + "held_grasp_finger_gap": 0.025880584692574832, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02411598433466595, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02900706306033201, + -0.9991108967680483, + 0.0305942192572407 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005385918537700465, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037954067702281824, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2569037067039462, + -0.037504840457754866, + 0.7611068104754252 + ], + "target_position": [ + 0.27584161299589005, + -0.06272132430827673, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.031535937476252024, + "xy_threshold": 0.08, + "gripper_dist": 0.20742631283198235, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068104754252, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08672476732044666, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702569256017136, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18579332910685503, + "release_required_pad_clearance": 0.05351284628008568, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.036743342958542, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ac10f2bd3d3dd2d004c36fcc312eb44af53c9c41649ac46cde44ad14de43b6e", + "visual_seed": 8151955157521088898, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79ad99dbde5195ee86db1fa938db6b94d8a3be37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_13_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29683168324106457, + -0.06767864262765685, + 1.0018205969703293 + ], + "current_z": 1.0018205969703293, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14071414856020825, + "gripper_z": 1.0040087384696283, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29261485184748703, + -0.07204381845703016, + 1.0040087384696283 + ], + "object_minus_gripper": [ + 0.004216831393577536, + 0.004365175829373305, + -0.0021881414992990234 + ], + "object_to_gripper_xy": 0.006069302021089904, + "object_to_gripper_z": -0.0021881414992990234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29683168324106457, + -0.0916329855801784, + 1.0018205969703293 + ], + "finger_b": [ + 0.28592896751614694, + -0.06767864262765685, + 1.0018205969703293 + ], + "finger_midpoint": [ + 0.29138032537860575, + -0.07965581410391763, + 1.0018205969703293 + ], + "object_minus_finger_midpoint": [ + 0.005451357862458817, + 0.011977171476260776, + 0.0 + ], + "finger_gap": 0.026318809936343723, + "fingertip_max_gap": 0.0926374031575172, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013159404968171862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018205969703293, + "object_top_z": 1.0517721441144987, + "finger_top_clearance": 0.049951547144169384, + "fingertip_min_top_clearance": 0.014985464143250832, + "object_projection_between_fingers": 0.8283922562066293, + "object_to_finger_line_xy": 0.009923221916956033, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488187015787586, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5034847061496883, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3656081370121664, + 0.04534507435434319, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3607511280123106, + 0.01320673653908204, + 1.0468706260682195 + ], + "target_minus_gripper": [ + 0.004857008999855805, + 0.03213833781526115, + -0.27672429587625236 + ], + "held_position": [ + 0.3650765381128529, + 0.017405070156409366, + 1.044588000034583 + ], + "held_minus_target": [ + -0.000531598899313479, + -0.027940004197933827, + 0.274441669842616 + ], + "held_minus_gripper": [ + 0.004325410100542326, + 0.004198333617327327, + -0.0022826260336363813 + ], + "xy_dist": 0.03250328127978044, + "held_xy_dist": 0.027945060958428972, + "held_gripper_dist": 0.006445584481619094, + "max_held_gripper_dist": 0.0065499158715528905, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.044588000034583, + "required_height": 0.8001463301919671, + "gripper_z": 1.0468706260682195, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.55570186617969, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0201681724977187, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2651014523152027, + "max_source_tilt_deg": 89.87583024936552, + "source_upright_tilt_deg": 2.077678947647873, + "max_source_upright_tilt_deg": 89.8930747334242, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2651014523152027, + "source_upright_return_tilt_deg": 2.077678947647873, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0978193283081055e-08, + "max_target_xy_drift": 1.043081283569336e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3656, + 0.0453, + 0.7701 + ], + "controller_target_position": [ + 0.3656, + 0.0453, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0018, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3643, + 0.0219, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012866498772703752, + 0.0017783132499586771, + 0.0005075778337218849 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.077680774880468, + "source_return_step_error_deg": 2.2651066437948555, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.264846833302832, + "source_return_best_wrist_position": -1.611913800239563, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.611913800239563 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3656, + 0.0453, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3656, + 0.0453, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0018, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3643, + 0.0219, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012866498772703752, + 0.0017783132499586771, + 0.0005075778337218849 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.077680774880468, + "pour_controller_source_return_step_error_deg": 2.2651066437948555, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.264846833302832, + "pour_controller_source_return_best_wrist_position": -1.611913800239563, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.611913800239563, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03250328127978044, + "valid_pour_held_xy_dist": 0.027945060958428972, + "valid_pour_held_gripper_dist": 0.006445584481619094, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.044588000034583, + "valid_pour_source_tilt_deg": 2.2651014523152027, + "valid_pour_source_upright_tilt_deg": 2.077678947647873, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0978193283081055e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3650765381128529, + -0.006438372983126024, + 1.044588000034583 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35474532581307233, + 0.017405070156409366, + 1.044588000034583 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35991093196296264, + 0.005483348586641672, + 1.044588000034583 + ], + "valid_pour_held_grasp_object_position": [ + 0.3650765381128529, + 0.017405070156409366, + 1.044588000034583 + ], + "valid_pour_held_grasp_finger_gap": 0.025985452244119103, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024061123383037664, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02258736848914886, + -0.9993426010010062, + 0.02835800785103304 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054439731796774955, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037923043277731, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3650765381128529, + -0.006438372983126024, + 1.044588000034583 + ], + "held_grasp_finger_b": [ + 0.35474532581307233, + 0.017405070156409366, + 1.044588000034583 + ], + "held_grasp_midpoint": [ + 0.35991093196296264, + 0.005483348586641672, + 1.044588000034583 + ], + "held_grasp_object_position": [ + 0.3650765381128529, + 0.017405070156409366, + 1.044588000034583 + ], + "held_grasp_finger_gap": 0.025985452244119103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024061123383037664, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02258736848914886, + -0.9993426010010062, + 0.02835800785103304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054439731796774955, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037923043277731, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2713795302666539, + -0.06766138031539298, + 0.7611063804934279 + ], + "target_position": [ + 0.2733658088833624, + -0.06944431450531796, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0026691116628565718, + "xy_threshold": 0.08, + "gripper_dist": 0.2142190813835909, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063804934279, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524836324120122, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864953411132169, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18646369740385763, + "release_required_pad_clearance": 0.05324767055660845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5159115866849862, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d74d6dde886166949ca89cbb40857713fe4729af6b85dbddb2c018d4e0036fa", + "visual_seed": 1101265294433766092, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c91bf59878b24c6034e58cb8068243fc70ef3ea0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_14_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30176510129293477, + -0.0576089445503384, + 1.0025763022149388 + ], + "current_z": 1.0025763022149388, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14146979420017258, + "gripper_z": 1.0044660945390407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2974844025448871, + -0.061904936678491146, + 1.0044660945390407 + ], + "object_minus_gripper": [ + 0.004280698748047651, + 0.004295992128152744, + -0.0018897923241019132 + ], + "object_to_gripper_xy": 0.0060646459201413455, + "object_to_gripper_z": -0.0018897923241019132, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30176510129293477, + -0.08169250569873376, + 1.0025763022149388 + ], + "finger_b": [ + 0.2910184621311418, + -0.0576089445503384, + 1.0025763022149388 + ], + "finger_midpoint": [ + 0.2963917817120383, + -0.06965072512453609, + 1.0025763022149388 + ], + "object_minus_finger_midpoint": [ + 0.005373319580896485, + 0.012041780574197684, + 0.0 + ], + "finger_gap": 0.02637248890154816, + "fingertip_max_gap": 0.09298467734482599, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186244450774083, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025763022149388, + "object_top_z": 1.0525834057355237, + "finger_top_clearance": 0.050007103520584906, + "fingertip_min_top_clearance": 0.015002131056175455, + "object_projection_between_fingers": 0.8339483875069372, + "object_to_finger_line_xy": 0.009813914126913795, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048992338672413, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4888469183483366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.364304404616994, + 0.04329704013340928, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3627176247455953, + 0.010937425568652223, + 1.046358185681817 + ], + "target_minus_gripper": [ + 0.001586779871398658, + 0.032359614564757055, + -0.2762117362805605 + ], + "held_position": [ + 0.3670354852335309, + 0.015157124612878966, + 1.0444048615067398 + ], + "held_minus_target": [ + 0.0027310806165369295, + -0.028139915520530315, + 0.2742584121054834 + ], + "held_minus_gripper": [ + 0.0043178604879355875, + 0.004219699044226742, + -0.001953324175077098 + ], + "xy_dist": 0.0323984957234115, + "held_xy_dist": 0.028272135519564253, + "held_gripper_dist": 0.006345490883301627, + "max_held_gripper_dist": 0.006434883960502891, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0444048615067398, + "required_height": 0.8001464494012565, + "gripper_z": 1.046358185681817, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.03396420604992, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8255866353782082, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2672982647845172, + "max_source_tilt_deg": 89.94041638610726, + "source_upright_tilt_deg": 3.169698898997793, + "max_source_upright_tilt_deg": 89.89537594412158, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2672982647845172, + "source_upright_return_tilt_deg": 3.169698898997793, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.679882693323606e-08, + "max_target_xy_drift": 2.3383430878036045e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3643, + 0.0433, + 0.7701 + ], + "controller_target_position": [ + 0.3643, + 0.0433, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0014, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3661, + 0.0166, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018115054391188777, + -0.0014493829457635585, + 0.0007830154379437964 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.169701426302376, + "source_return_step_error_deg": 2.267305320735383, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1834036077204804, + "source_return_best_wrist_position": -1.6098299026489258, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098299026489258 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3643, + 0.0433, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3643, + 0.0433, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0014, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3661, + 0.0166, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018115054391188777, + -0.0014493829457635585, + 0.0007830154379437964 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.169701426302376, + "pour_controller_source_return_step_error_deg": 2.267305320735383, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1834036077204804, + "pour_controller_source_return_best_wrist_position": -1.6098299026489258, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098299026489258, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0323984957234115, + "valid_pour_held_xy_dist": 0.028272135519564253, + "valid_pour_held_gripper_dist": 0.006345490883301627, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0444048615067398, + "valid_pour_source_tilt_deg": 2.2672982647845172, + "valid_pour_source_upright_tilt_deg": 3.169698898997793, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.679882693323606e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3670354852335309, + -0.00848664010011303, + 1.0444048615067398 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3564754306852479, + 0.015157124612878966, + 1.0444048615067398 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3617554579593894, + 0.0033352422563829682, + 1.0444048615067398 + ], + "valid_pour_held_grasp_object_position": [ + 0.3670354852335309, + 0.015157124612878966, + 1.0444048615067398 + ], + "valid_pour_held_grasp_finger_gap": 0.025894832725199025, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0240447455992714, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04139677138517547, + -0.9984701557425423, + 0.03665590553167319 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005780852297801573, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813502943440961, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3670354852335309, + -0.00848664010011303, + 1.0444048615067398 + ], + "held_grasp_finger_b": [ + 0.3564754306852479, + 0.015157124612878966, + 1.0444048615067398 + ], + "held_grasp_midpoint": [ + 0.3617554579593894, + 0.0033352422563829682, + 1.0444048615067398 + ], + "held_grasp_object_position": [ + 0.3670354852335309, + 0.015157124612878966, + 1.0444048615067398 + ], + "held_grasp_finger_gap": 0.025894832725199025, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0240447455992714, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04139677138517547, + -0.9984701557425423, + 0.03665590553167319 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005780852297801573, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813502943440961, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2796748247942958, + -0.062387239109014496, + 0.7611063432344117 + ], + "target_position": [ + 0.27803574307283346, + -0.0618067658876798, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017388323813175806, + "xy_threshold": 0.08, + "gripper_dist": 0.21531881714435233, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063432344117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536353144771804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853525968141101, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18624603237552387, + "release_required_pad_clearance": 0.05267629840705505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4092604671762614, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79138d82f67b47e59b158984c75abb12a6c7d234c1a8843e5998e6e5898081ba", + "visual_seed": 1410038582510245730, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f033d9e62943fee55de3c3babb91f42ab3c5bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_15_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29771857652245515, + -0.06674392087396075, + 1.0025023619702056 + ], + "current_z": 1.0025023619702056, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14139591356008452, + "gripper_z": 1.0044287465804131, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29342597018428973, + -0.07104710735916017, + 1.0044287465804131 + ], + "object_minus_gripper": [ + 0.004292606338165417, + 0.004303186485199423, + -0.0019263846102075544 + ], + "object_to_gripper_xy": 0.006078147999256095, + "object_to_gripper_z": -0.0019263846102075544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29771857652245515, + -0.09082717180025955, + 1.0025023619702056 + ], + "finger_b": [ + 0.2869638269660029, + -0.06674392087396075, + 1.0025023619702056 + ], + "finger_midpoint": [ + 0.29234120174422906, + -0.07878554633711016, + 1.0025023619702056 + ], + "object_minus_finger_midpoint": [ + 0.005377374778226085, + 0.012041625463149408, + 0.0 + ], + "finger_gap": 0.026375511619702877, + "fingertip_max_gap": 0.09323634955567642, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187755809851433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025023619702056, + "object_top_z": 1.0525509416154857, + "finger_top_clearance": 0.05004857964528009, + "fingertip_min_top_clearance": 0.015014573893584026, + "object_projection_between_fingers": 0.8337357729077195, + "object_to_finger_line_xy": 0.009820068552681891, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911817477783821, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.546743359522706, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3667284659153646, + 0.044171019314460526, + 0.7701464494012565 + ], + "gripper_position": [ + 0.36322593624999233, + 0.011523425938687035, + 1.0448602596740115 + ], + "target_minus_gripper": [ + 0.0035025296653722893, + 0.03264759337577349, + -0.274713810272755 + ], + "held_position": [ + 0.3675302036858944, + 0.01576810555270109, + 1.0428477808643661 + ], + "held_minus_target": [ + 0.0008017377705297757, + -0.028402913761759435, + 0.2727013314631096 + ], + "held_minus_gripper": [ + 0.004304267435902065, + 0.004244679614014056, + -0.0020124788096453905 + ], + "xy_dist": 0.032834936687721236, + "held_xy_dist": 0.028414226957822336, + "held_gripper_dist": 0.006371349475948182, + "max_held_gripper_dist": 0.0064590602191781305, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0428477808643661, + "required_height": 0.8001464494012566, + "gripper_z": 1.0448602596740115, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.30482901796512, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8916648692861873, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.18581709785907, + "max_source_tilt_deg": 89.89475549480126, + "source_upright_tilt_deg": 3.239792460279158, + "max_source_upright_tilt_deg": 89.85741875717784, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.18581709785907, + "source_upright_return_tilt_deg": 3.239792460279158, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.0133885226201597e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3667, + 0.0442, + 0.7701 + ], + "controller_target_position": [ + 0.3667, + 0.0442, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.001, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3663, + 0.02, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004757989153560361, + 0.0010301470096314297, + -0.0015380473961593708 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.2397991688327097, + "source_return_step_error_deg": 2.185816409399618, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.253931643685949, + "source_return_best_wrist_position": -1.6099765300750732, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099765300750732 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3667, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3667, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.001, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3663, + 0.02, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004757989153560361, + 0.0010301470096314297, + -0.0015380473961593708 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.2397991688327097, + "pour_controller_source_return_step_error_deg": 2.185816409399618, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.253931643685949, + "pour_controller_source_return_best_wrist_position": -1.6099765300750732, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099765300750732, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032834936687721236, + "valid_pour_held_xy_dist": 0.028414226957822336, + "valid_pour_held_gripper_dist": 0.006371349475948182, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0428477808643661, + "valid_pour_source_tilt_deg": 2.18581709785907, + "valid_pour_source_upright_tilt_deg": 3.239792460279158, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3675302036858944, + -0.007871096753700513, + 1.0428477808643661 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35682223438242266, + 0.01576810555270109, + 1.0428477808643661 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36217621903415853, + 0.003948504399500289, + 1.0428477808643661 + ], + "valid_pour_held_grasp_object_position": [ + 0.3675302036858944, + 0.01576810555270109, + 1.0428477808643661 + ], + "valid_pour_held_grasp_finger_gap": 0.025951348563939325, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024093611929784365, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.045964892447573645, + -0.9984017635834943, + 0.0328808019313911 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005904150079973453, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816563476256888, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3675302036858944, + -0.007871096753700513, + 1.0428477808643661 + ], + "held_grasp_finger_b": [ + 0.35682223438242266, + 0.01576810555270109, + 1.0428477808643661 + ], + "held_grasp_midpoint": [ + 0.36217621903415853, + 0.003948504399500289, + 1.0428477808643661 + ], + "held_grasp_object_position": [ + 0.3675302036858944, + 0.01576810555270109, + 1.0428477808643661 + ], + "held_grasp_finger_gap": 0.025951348563939325, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024093611929784365, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.045964892447573645, + -0.9984017635834943, + 0.0328808019313911 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005904150079973453, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816563476256888, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2717927480133843, + -0.06558952582055781, + 0.7611064385184252 + ], + "target_position": [ + 0.2739665064846987, + -0.0685180101505058, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036470873806864128, + "xy_threshold": 0.08, + "gripper_dist": 0.21530855443316996, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064385184252, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752883319660055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.089348047379688, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18750804444692773, + "release_required_pad_clearance": 0.054674023689844004, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.391591977242806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37b0d5886ad5a399728c0b2984912f8a329b1964a2f78a241b7c18635a67f083", + "visual_seed": 4431727504472707035, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ada735d2f48ba414ca8854330f6ec3dc06d1a26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_17_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29807155875526714, + -0.06705644198038543, + 1.0003293171775938 + ], + "current_z": 1.0003293171775938, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.13922292837211725, + "gripper_z": 1.0025228621180602, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29400282101608566, + -0.07135251391954149, + 1.0025228621180602 + ], + "object_minus_gripper": [ + 0.004068737739181483, + 0.004296071939156057, + -0.0021935449404664187 + ], + "object_to_gripper_xy": 0.0059169976252017985, + "object_to_gripper_z": -0.0021935449404664187, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29807155875526714, + -0.0908021414087819, + 1.0003293171775938 + ], + "finger_b": [ + 0.28713452985928933, + -0.06705644198038543, + 1.0003293171775938 + ], + "finger_midpoint": [ + 0.29260304430727824, + -0.07892929169458367, + 1.0003293171775938 + ], + "object_minus_finger_midpoint": [ + 0.005468514447988904, + 0.011872849714198233, + 0.0 + ], + "finger_gap": 0.026143390032954825, + "fingertip_max_gap": 0.09298584456336037, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071695016477413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0003293171775938, + "object_top_z": 1.0504580580542309, + "finger_top_clearance": 0.0501287408766371, + "fingertip_min_top_clearance": 0.01503862226299113, + "object_projection_between_fingers": 0.824985144121698, + "object_to_finger_line_xy": 0.009933960380662327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899292228168019, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.499174018980374, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3618604353672686, + 0.04742761221402145, + 0.7701463301919668 + ], + "gripper_position": [ + 0.359460423996764, + 0.014875723885913517, + 1.0472144542486308 + ], + "target_minus_gripper": [ + 0.0024000113705046067, + 0.03255188832810793, + -0.27706812405666403 + ], + "held_position": [ + 0.3636730958662826, + 0.01897321111102323, + 1.044948355933608 + ], + "held_minus_target": [ + 0.0018126604990140183, + -0.02845440110299822, + 0.27480202574164114 + ], + "held_minus_gripper": [ + 0.004212671869518625, + 0.0040974872251097125, + -0.002266098315022891 + ], + "xy_dist": 0.032640243386104835, + "held_xy_dist": 0.028512079549113774, + "held_gripper_dist": 0.006298508348293302, + "max_held_gripper_dist": 0.006423297178711594, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.044948355933608, + "required_height": 0.8001463301919668, + "gripper_z": 1.0472144542486308, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.61573239879493, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0319478226192955, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5978282946685507, + "max_source_tilt_deg": 89.90875266900566, + "source_upright_tilt_deg": 2.023816305120429, + "max_source_upright_tilt_deg": 89.99829902268536, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5978282946685507, + "source_upright_return_tilt_deg": 2.023816305120429, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.5840151626966372e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3619, + 0.0474, + 0.7701 + ], + "controller_target_position": [ + 0.3619, + 0.0474, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0017, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3628, + 0.0205, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009256753921571509, + -0.001698277851357712, + 0.0017447996974169992 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.0238186810563974, + "source_return_step_error_deg": 2.597833074900941, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.589512540839448, + "source_return_best_wrist_position": -1.6122170686721802, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122170686721802 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3619, + 0.0474, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3619, + 0.0474, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0017, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3628, + 0.0205, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009256753921571509, + -0.001698277851357712, + 0.0017447996974169992 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.0238186810563974, + "pour_controller_source_return_step_error_deg": 2.597833074900941, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.589512540839448, + "pour_controller_source_return_best_wrist_position": -1.6122170686721802, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122170686721802, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032640243386104835, + "valid_pour_held_xy_dist": 0.028512079549113774, + "valid_pour_held_gripper_dist": 0.006298508348293302, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.044948355933608, + "valid_pour_source_tilt_deg": 2.5978282946685507, + "valid_pour_source_upright_tilt_deg": 2.023816305120429, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3636730958662826, + -0.004698578423473761, + 1.044948355933608 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35351430749466495, + 0.01897321111102323, + 1.044948355933608 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3585937016804738, + 0.007137316343774734, + 1.044948355933608 + ], + "valid_pour_held_grasp_object_position": [ + 0.3636730958662826, + 0.01897321111102323, + 1.044948355933608 + ], + "valid_pour_held_grasp_finger_gap": 0.025759553585899646, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023823477760519792, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016385191074559876, + -0.9993762422350598, + 0.03128341364975073 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005285539329314078, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03797496487839014, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3636730958662826, + -0.004698578423473761, + 1.044948355933608 + ], + "held_grasp_finger_b": [ + 0.35351430749466495, + 0.01897321111102323, + 1.044948355933608 + ], + "held_grasp_midpoint": [ + 0.3585937016804738, + 0.007137316343774734, + 1.044948355933608 + ], + "held_grasp_object_position": [ + 0.3636730958662826, + 0.01897321111102323, + 1.044948355933608 + ], + "held_grasp_finger_gap": 0.025759553585899646, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023823477760519792, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016385191074559876, + -0.9993762422350598, + 0.03128341364975073 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005285539329314078, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03797496487839014, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2730630329444955, + -0.07901121998209311, + 0.761108155053337 + ], + "target_position": [ + 0.2747850258184152, + -0.07042958330309172, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008752699443498105, + "xy_threshold": 0.08, + "gripper_dist": 0.21524535639150474, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108155053337, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548081999534217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0959405587844832, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18469785377988768, + "release_required_pad_clearance": 0.0579702793922416, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.874914769462789, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 184, + "max_placed_release_frames": 184 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0accb6d448c0666d6777b2dcef36b3f21bbcb718943673c907825de243d0689", + "visual_seed": 2318556378089429234, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..098df53d1932b1bb4e741d314b0393080d799cfc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_18_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2981462314401853, + -0.06352925866785364, + 1.0016370306641436 + ], + "current_z": 1.0016370306641436, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1405304630447327, + "gripper_z": 1.0033377248427597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29400286137682907, + -0.06782616921808221, + 1.0033377248427597 + ], + "object_minus_gripper": [ + 0.004143370063356244, + 0.004296910550228572, + -0.00170069417861618 + ], + "object_to_gripper_xy": 0.005969167090858015, + "object_to_gripper_z": -0.00170069417861618, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2981462314401853, + -0.08738103198858697, + 1.0016370306641436 + ], + "finger_b": [ + 0.2872631857036596, + -0.06352925866785364, + 1.0016370306641436 + ], + "finger_midpoint": [ + 0.29270470857192243, + -0.07545514532822031, + 1.0016370306641436 + ], + "object_minus_finger_midpoint": [ + 0.0054415228682628825, + 0.011925886660366675, + 0.0 + ], + "finger_gap": 0.026217318227594464, + "fingertip_max_gap": 0.09287480741787299, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108659113797251, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016370306641436, + "object_top_z": 1.0516081564123607, + "finger_top_clearance": 0.04997112574821716, + "fingertip_min_top_clearance": 0.014991337724465148, + "object_projection_between_fingers": 0.8276844869466274, + "object_to_finger_line_xy": 0.00990108666696388, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489374037089365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5148878176048606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36826748764578743, + 0.050738270251683974, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36543416810790313, + 0.017524071499466096, + 1.0472436850703095 + ], + "target_minus_gripper": [ + 0.0028333195378842935, + 0.03321419875221788, + -0.27709729527369764 + ], + "held_position": [ + 0.36958949580317435, + 0.021766653781608435, + 1.045454862902913 + ], + "held_minus_target": [ + 0.0013220081573869225, + -0.02897161647007554, + 0.27530847310630113 + ], + "held_minus_gripper": [ + 0.004155327695271216, + 0.004242582282142339, + -0.0017888221673965088 + ], + "xy_dist": 0.03333482710853003, + "held_xy_dist": 0.029001763161182973, + "held_gripper_dist": 0.006202107498456087, + "max_held_gripper_dist": 0.006269271486044601, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.045454862902913, + "required_height": 0.8001463897966119, + "gripper_z": 1.0472436850703095, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.42443246052122, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9965307325867525, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2462728288998237, + "max_source_tilt_deg": 89.756854808554, + "source_upright_tilt_deg": 3.115493297872504, + "max_source_upright_tilt_deg": 89.91557909049558, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2462728288998237, + "source_upright_return_tilt_deg": 3.115493297872504, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161179969868e-08, + "max_target_xy_drift": 2.772777388383209e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3683, + 0.0507, + 0.7701 + ], + "controller_target_position": [ + 0.3683, + 0.0507, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + 0.0004, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3695, + 0.026, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001231737717235702, + 0.00044549999022656895, + 0.0009353751918779909 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1155046922931593, + "source_return_step_error_deg": 2.2463002025086896, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1209939774706563, + "source_return_best_wrist_position": -1.6120182275772095, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120182275772095 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3683, + 0.0507, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3683, + 0.0507, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + 0.0004, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3695, + 0.026, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001231737717235702, + 0.00044549999022656895, + 0.0009353751918779909 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1155046922931593, + "pour_controller_source_return_step_error_deg": 2.2463002025086896, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1209939774706563, + "pour_controller_source_return_best_wrist_position": -1.6120182275772095, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120182275772095, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03333482710853003, + "valid_pour_held_xy_dist": 0.029001763161182973, + "valid_pour_held_gripper_dist": 0.006202107498456087, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.045454862902913, + "valid_pour_source_tilt_deg": 2.2462728288998237, + "valid_pour_source_upright_tilt_deg": 3.115493297872504, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161179969868e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36958949580317435, + -0.0016254500372954782, + 1.045454862902913 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35876661958171163, + 0.021766653781608435, + 1.045454862902913 + ], + "valid_pour_held_grasp_midpoint": [ + 0.364178057692443, + 0.010070601872156477, + 1.045454862902913 + ], + "valid_pour_held_grasp_object_position": [ + 0.36958949580317435, + 0.021766653781608435, + 1.045454862902913 + ], + "valid_pour_held_grasp_finger_gap": 0.025774506217956576, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023848332577491294, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0453485605555334, + -0.9985220183958519, + 0.029954746438843653 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00594638297472438, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038286885639063455, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36958949580317435, + -0.0016254500372954782, + 1.045454862902913 + ], + "held_grasp_finger_b": [ + 0.35876661958171163, + 0.021766653781608435, + 1.045454862902913 + ], + "held_grasp_midpoint": [ + 0.364178057692443, + 0.010070601872156477, + 1.045454862902913 + ], + "held_grasp_object_position": [ + 0.36958949580317435, + 0.021766653781608435, + 1.045454862902913 + ], + "held_grasp_finger_gap": 0.025774506217956576, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023848332577491294, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0453485605555334, + -0.9985220183958519, + 0.029954746438843653 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00594638297472438, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038286885639063455, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.280391568692746, + -0.0743341822245007, + 0.7611087177865699 + ], + "target_position": [ + 0.27471446239846853, + -0.06621405887551403, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009907872580896638, + "xy_threshold": 0.08, + "gripper_dist": 0.21882580773324514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611087177865699, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525305023474593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08812693127761785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18814953041082133, + "release_required_pad_clearance": 0.05406346563880893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.139201001429547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ad8c97a4553ea1dcb9cbece3a010f0bf17f1ecebe2aa141e066ac56e9c2b7d2", + "visual_seed": 8789650413118598514, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a03a0d7a25e1feeff7d8beec06cae765a618fa13 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_1_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29969914397790964, + -0.06313897961334482, + 1.0016953200096212 + ], + "current_z": 1.0016953200096212, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14058893120414462, + "gripper_z": 1.0034509616906586, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2955098960516625, + -0.06744548924240619, + 1.0034509616906586 + ], + "object_minus_gripper": [ + 0.004189247926247142, + 0.0043065096290613725, + -0.0017556416810373676 + ], + "object_to_gripper_xy": 0.006007979974397742, + "object_to_gripper_z": -0.0017556416810373676, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29969914397790964, + -0.08705493354359477, + 1.0016953200096212 + ], + "finger_b": [ + 0.2888244103433154, + -0.06313897961334482, + 1.0016953200096212 + ], + "finger_midpoint": [ + 0.2942617771606125, + -0.07509695657846979, + 1.0016953200096212 + ], + "object_minus_finger_midpoint": [ + 0.005437366817297118, + 0.011957976965124975, + 0.0 + ], + "finger_gap": 0.026272279764367863, + "fingertip_max_gap": 0.09297713044561287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013136139882183932, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016953200096212, + "object_top_z": 1.0516262295180692, + "finger_top_clearance": 0.04993090950844792, + "fingertip_min_top_clearance": 0.014979272852534342, + "object_projection_between_fingers": 0.8286667172364357, + "object_to_finger_line_xy": 0.009899393236571423, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898856522280644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4819605932928686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3613422921902362, + 0.050456746338538895, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3576396626805507, + 0.015118139512175721, + 1.0465030628841117 + ], + "target_minus_gripper": [ + 0.003702629509685529, + 0.035338606826363174, + -0.2763566730875 + ], + "held_position": [ + 0.36192937030205374, + 0.019278496136351457, + 1.0446595072495684 + ], + "held_minus_target": [ + 0.0005870781118175183, + -0.031178250202187438, + 0.2745131174529567 + ], + "held_minus_gripper": [ + 0.004289707621503047, + 0.004160356624175736, + -0.0018435556345433035 + ], + "xy_dist": 0.035532050288637665, + "held_xy_dist": 0.03118377697424698, + "held_gripper_dist": 0.006253707388098728, + "max_held_gripper_dist": 0.006328358558190226, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0446595072495684, + "required_height": 0.8001463897966117, + "gripper_z": 1.0465030628841117, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.30145490451513, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8659909278915436, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1320732497101877, + "max_source_tilt_deg": 89.99712358393045, + "source_upright_tilt_deg": 2.2311655117393543, + "max_source_upright_tilt_deg": 89.89378705787976, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1320732497101877, + "source_upright_return_tilt_deg": 2.2311655117393543, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.21540641784668e-08, + "max_target_xy_drift": 1.0490512728936019e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3613, + 0.0505, + 0.7701 + ], + "controller_target_position": [ + 0.3613, + 0.0505, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0019, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3603, + 0.0234, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010303436366772773, + -0.0018650066198511524, + -0.0003949787052330853 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2311528273828625, + "source_return_step_error_deg": 2.1321325872658896, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2368202938915247, + "source_return_best_wrist_position": -1.6102581024169922, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6102581024169922 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3613, + 0.0505, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3613, + 0.0505, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0019, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3603, + 0.0234, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010303436366772773, + -0.0018650066198511524, + -0.0003949787052330853 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2311528273828625, + "pour_controller_source_return_step_error_deg": 2.1321325872658896, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2368202938915247, + "pour_controller_source_return_best_wrist_position": -1.6102581024169922, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6102581024169922, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035532050288637665, + "valid_pour_held_xy_dist": 0.03118377697424698, + "valid_pour_held_gripper_dist": 0.006253707388098728, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0446595072495684, + "valid_pour_source_tilt_deg": 2.1320732497101877, + "valid_pour_source_upright_tilt_deg": 2.2311655117393543, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.21540641784668e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36192937030205374, + -0.0045460953518685395, + 1.0446595072495684 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3516103316065197, + 0.019278496136351457, + 1.0446595072495684 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3567698509542867, + 0.007366200392241459, + 1.0446595072495684 + ], + "valid_pour_held_grasp_object_position": [ + 0.36192937030205374, + 0.019278496136351457, + 1.0446595072495684 + ], + "valid_pour_held_grasp_finger_gap": 0.02596331487272943, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024046311243343506, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023236783516577306, + -0.9992418962082631, + 0.0312359529055668 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005447524083714891, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03793687571669062, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36192937030205374, + -0.0045460953518685395, + 1.0446595072495684 + ], + "held_grasp_finger_b": [ + 0.3516103316065197, + 0.019278496136351457, + 1.0446595072495684 + ], + "held_grasp_midpoint": [ + 0.3567698509542867, + 0.007366200392241459, + 1.0446595072495684 + ], + "held_grasp_object_position": [ + 0.36192937030205374, + 0.019278496136351457, + 1.0446595072495684 + ], + "held_grasp_finger_gap": 0.02596331487272943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024046311243343506, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023236783516577306, + -0.9992418962082631, + 0.0312359529055668 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005447524083714891, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03793687571669062, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2791961191527224, + -0.06252924915670412, + 0.7611064161998023 + ], + "target_position": [ + 0.27610970480919483, + -0.06414125651832024, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0034820283218028746, + "xy_threshold": 0.08, + "gripper_dist": 0.21684524712477599, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064161998023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564731273524938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518312322649209, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18771260898905773, + "release_required_pad_clearance": 0.052591561613246046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2470813953542434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d93aa8c883b2b21924adfd208d8acd9630a61e4195a73f3810ec32e9812da18f", + "visual_seed": 3730958404049347756, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af8763fb0ed8f6e1d3094dc716ceed13cca1089d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_20_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2993977564043747, + -0.06362683938971445, + 1.001104612578428 + ], + "current_z": 1.001104612578428, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1399981641683068, + "gripper_z": 1.002881195536879, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2950956242204311, + -0.06789154539058143, + 1.002881195536879 + ], + "object_minus_gripper": [ + 0.004302132183943597, + 0.00426470600086698, + -0.0017765829584510673 + ], + "object_to_gripper_xy": 0.006057727181208653, + "object_to_gripper_z": -0.0017765829584510673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2993977564043747, + -0.08782443656817722, + 1.001104612578428 + ], + "finger_b": [ + 0.2888602225236403, + -0.06362683938971445, + 1.001104612578428 + ], + "finger_midpoint": [ + 0.2941289894640075, + -0.07572563797894583, + 1.001104612578428 + ], + "object_minus_finger_midpoint": [ + 0.005268766940367209, + 0.01209879858923138, + 0.0 + ], + "finger_gap": 0.026392486231857266, + "fingertip_max_gap": 0.09241096870813673, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013196243115928628, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001104612578428, + "object_top_z": 1.050875476226991, + "finger_top_clearance": 0.04977086364856298, + "fingertip_min_top_clearance": 0.014931259094568893, + "object_projection_between_fingers": 0.8405893397122608, + "object_to_finger_line_xy": 0.009661196670158181, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048705484354068365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3169178017737075, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.363642226815862, + 0.04603059482448556, + 0.7701464494012564 + ], + "gripper_position": [ + 0.35987948382644586, + 0.014074716205711046, + 1.045800255563055 + ], + "target_minus_gripper": [ + 0.0037627429894161457, + 0.03195587861877451, + -0.2756538061617986 + ], + "held_position": [ + 0.36424194722882386, + 0.018229981470141016, + 1.0439366073846652 + ], + "held_minus_target": [ + 0.0005997204129618572, + -0.02780061335434454, + 0.2737901579834088 + ], + "held_minus_gripper": [ + 0.004362463402378003, + 0.004155265264429969, + -0.0018636481783897985 + ], + "xy_dist": 0.032176643906757126, + "held_xy_dist": 0.027807081246536525, + "held_gripper_dist": 0.006306385723033546, + "max_held_gripper_dist": 0.006377940079220592, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0439366073846652, + "required_height": 0.8001464494012565, + "gripper_z": 1.045800255563055, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.16291134739059, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8134001373510342, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1753317730861887, + "max_source_tilt_deg": 89.90031195021203, + "source_upright_tilt_deg": 2.5703635955367106, + "max_source_upright_tilt_deg": 89.8459476483856, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1753317730861887, + "source_upright_return_tilt_deg": 2.5703635955367106, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.4336318824361158e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3636, + 0.046, + 0.7701 + ], + "controller_target_position": [ + 0.3636, + 0.046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0015, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3636, + 0.0223, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 3.69970711225397e-06, + 0.0015086040101690906, + -0.0008491411661987064 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5703778863656463, + "source_return_step_error_deg": 2.175353542848596, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5713376530455205, + "source_return_best_wrist_position": -1.6122326850891113, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122326850891113 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3636, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3636, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0015, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3636, + 0.0223, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 3.69970711225397e-06, + 0.0015086040101690906, + -0.0008491411661987064 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5703778863656463, + "pour_controller_source_return_step_error_deg": 2.175353542848596, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5713376530455205, + "pour_controller_source_return_best_wrist_position": -1.6122326850891113, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122326850891113, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032176643906757126, + "valid_pour_held_xy_dist": 0.027807081246536525, + "valid_pour_held_gripper_dist": 0.006306385723033546, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0439366073846652, + "valid_pour_source_tilt_deg": 2.1753317730861887, + "valid_pour_source_upright_tilt_deg": 2.5703635955367106, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36424194722882386, + -0.005676467120965104, + 1.0439366073846652 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3540436927509481, + 0.018229981470141016, + 1.0439366073846652 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35914281998988595, + 0.006276757174587956, + 1.0439366073846652 + ], + "valid_pour_held_grasp_object_position": [ + 0.36424194722882386, + 0.018229981470141016, + 1.0439366073846652 + ], + "valid_pour_held_grasp_finger_gap": 0.025990819122042166, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024190347094683935, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03019639922003517, + -0.9989939091165311, + 0.03315640243175311 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054719323816467625, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03793302708631454, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36424194722882386, + -0.005676467120965104, + 1.0439366073846652 + ], + "held_grasp_finger_b": [ + 0.3540436927509481, + 0.018229981470141016, + 1.0439366073846652 + ], + "held_grasp_midpoint": [ + 0.35914281998988595, + 0.006276757174587956, + 1.0439366073846652 + ], + "held_grasp_object_position": [ + 0.36424194722882386, + 0.018229981470141016, + 1.0439366073846652 + ], + "held_grasp_finger_gap": 0.025990819122042166, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024190347094683935, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03019639922003517, + -0.9989939091165311, + 0.03315640243175311 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054719323816467625, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03793302708631454, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2782930866451759, + -0.06777817565221779, + 0.7611063271012497 + ], + "target_position": [ + 0.27588950784727634, + -0.0671601454920108, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0024817639526428952, + "xy_threshold": 0.08, + "gripper_dist": 0.21688376026209044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063271012497, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533027105856133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501670693534512, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18773990168681104, + "release_required_pad_clearance": 0.05250835346767256, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846932005708111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3b323d030da4d0350164cea74417c2bc6c1deb86c6bc3adadab1628215f50d4", + "visual_seed": 5831496566790561044, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d354e35ea0112a17c69176aee9eddcba606cd2bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_21_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29912185884909515, + -0.06263524668040961, + 1.0006816910619492 + ], + "current_z": 1.0006816910619492, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13957524265182797, + "gripper_z": 1.0025585766825342, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2948322765262614, + -0.06686996372282246, + 1.0025585766825342 + ], + "object_minus_gripper": [ + 0.004289582322833718, + 0.00423471704241285, + -0.0018768856205850781 + ], + "object_to_gripper_xy": 0.006027714735591703, + "object_to_gripper_z": -0.0018768856205850781, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29912185884909515, + -0.08688152807911255, + 1.0006816910619492 + ], + "finger_b": [ + 0.28867539605955517, + -0.06263524668040961, + 1.0006816910619492 + ], + "finger_midpoint": [ + 0.29389862745432516, + -0.07475838737976108, + 1.0006816910619492 + ], + "object_minus_finger_midpoint": [ + 0.005223231394769989, + 0.01212314069935147, + 0.0 + ], + "finger_gap": 0.026400961090049954, + "fingertip_max_gap": 0.09308350014403935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013200480545024977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0006816910619492, + "object_top_z": 1.0507151297464328, + "finger_top_clearance": 0.05003343868448362, + "fingertip_min_top_clearance": 0.01501003160534507, + "object_projection_between_fingers": 0.8434334257188731, + "object_to_finger_line_xy": 0.009593888478238975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904175007201968, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5006067271268644, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36538286125723773, + 0.051467909334831, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36195828610663777, + 0.016677514137219865, + 1.0478387196225782 + ], + "target_minus_gripper": [ + 0.003424575150599962, + 0.03479039519761114, + -0.2776923298259666 + ], + "held_position": [ + 0.36625418375103114, + 0.020859096166803558, + 1.045876917817849 + ], + "held_minus_target": [ + 0.0008713224937934028, + -0.030608813168027445, + 0.27573052802123743 + ], + "held_minus_gripper": [ + 0.004295897644393365, + 0.004181582029583693, + -0.0019618018047291574 + ], + "xy_dist": 0.034958537054174205, + "held_xy_dist": 0.030621212360770443, + "held_gripper_dist": 0.006307854719496979, + "max_held_gripper_dist": 0.006390606400552952, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.045876917817849, + "required_height": 0.8001463897966117, + "gripper_z": 1.0478387196225782, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.05029518835542, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8439683606560018, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.167930764166218, + "max_source_tilt_deg": 89.81780760880979, + "source_upright_tilt_deg": 3.2452477577552163, + "max_source_upright_tilt_deg": 89.88061904352182, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.167930764166218, + "source_upright_return_tilt_deg": 3.2452477577552163, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.071674691055656e-08, + "max_target_xy_drift": 2.1073424255447017e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3654, + 0.0515, + 0.7701 + ], + "controller_target_position": [ + 0.3654, + 0.0515, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.001, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3651, + 0.0253, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000321631863656855, + -0.000958782964764556, + 0.0012664544125003787 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.245236247259798, + "source_return_step_error_deg": 2.1679151211423933, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2495683398347937, + "source_return_best_wrist_position": -1.6096632480621338, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096632480621338 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3654, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3654, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.001, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3651, + 0.0253, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000321631863656855, + -0.000958782964764556, + 0.0012664544125003787 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.245236247259798, + "pour_controller_source_return_step_error_deg": 2.1679151211423933, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2495683398347937, + "pour_controller_source_return_best_wrist_position": -1.6096632480621338, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096632480621338, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034958537054174205, + "valid_pour_held_xy_dist": 0.030621212360770443, + "valid_pour_held_gripper_dist": 0.006307854719496979, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.045876917817849, + "valid_pour_source_tilt_deg": 2.167930764166218, + "valid_pour_source_upright_tilt_deg": 3.2452477577552163, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.071674691055656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36625418375103114, + -0.00293205202946008, + 1.045876917817849 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35583137134542303, + 0.020859096166803558, + 1.045876917817849 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3610427775482271, + 0.008963522068671738, + 1.045876917817849 + ], + "valid_pour_held_grasp_object_position": [ + 0.36625418375103114, + 0.020859096166803558, + 1.045876917817849 + ], + "valid_pour_held_grasp_finger_gap": 0.025974097692491205, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02423073018922291, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04583542121520868, + -0.9983963781998184, + 0.033223277374601845 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005764458358542842, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03808261897234176, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36625418375103114, + -0.00293205202946008, + 1.045876917817849 + ], + "held_grasp_finger_b": [ + 0.35583137134542303, + 0.020859096166803558, + 1.045876917817849 + ], + "held_grasp_midpoint": [ + 0.3610427775482271, + 0.008963522068671738, + 1.045876917817849 + ], + "held_grasp_object_position": [ + 0.36625418375103114, + 0.020859096166803558, + 1.045876917817849 + ], + "held_grasp_finger_gap": 0.025974097692491205, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02423073018922291, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04583542121520868, + -0.9983963781998184, + 0.033223277374601845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005764458358542842, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03808261897234176, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2734160650210687, + -0.07308411930099613, + 0.76110658912571 + ], + "target_position": [ + 0.2754019352844919, + -0.06654284195676068, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006836080016892483, + "xy_threshold": 0.08, + "gripper_dist": 0.21273811394956732, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110658912571, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537679664869726, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09096886700509328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18275825496940393, + "release_required_pad_clearance": 0.05548443350254664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.109207972475185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30a726cad5e0be4e0e86e381a5ac5aa96371b12d175a6c8827ea4149a612ea11", + "visual_seed": 3226192150753466317, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d354bbfe84895f94bb7b1d2fa9455bfd79db7133 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_22_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30508759536645674, + -0.056632768721428924, + 1.0011607479328903 + ], + "current_z": 1.0011607479328903, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14005435912741404, + "gripper_z": 1.003285169246177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3008938080475321, + -0.06096019755388983, + 1.003285169246177 + ], + "object_minus_gripper": [ + 0.004193787318924669, + 0.004327428832460907, + -0.0021244213132867173 + ], + "object_to_gripper_xy": 0.00602615070973066, + "object_to_gripper_z": -0.0021244213132867173, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30508759536645674, + -0.08055189478702418, + 1.0011607479328903 + ], + "finger_b": [ + 0.29419347664636564, + -0.056632768721428924, + 1.0011607479328903 + ], + "finger_midpoint": [ + 0.29964053600641116, + -0.06859233175422655, + 1.0011607479328903 + ], + "object_minus_finger_midpoint": [ + 0.005447059360045581, + 0.011959563032797625, + 0.0 + ], + "finger_gap": 0.02628319642717145, + "fingertip_max_gap": 0.09263593110645255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013141598213585732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011607479328903, + "object_top_z": 1.051105574349907, + "finger_top_clearance": 0.049944826417016586, + "fingertip_min_top_clearance": 0.014983447925104941, + "object_projection_between_fingers": 0.8281981460964132, + "object_to_finger_line_xy": 0.00991423549877049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048817965553226275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.439396514590374, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3661280087238972, + 0.05209973719590164, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36366975448439265, + 0.01801239953206013, + 1.0462171840279053 + ], + "target_minus_gripper": [ + 0.002458254239504576, + 0.03408733766384151, + -0.27607079423129366 + ], + "held_position": [ + 0.3679761373065554, + 0.02217122976190746, + 1.0440056924285521 + ], + "held_minus_target": [ + 0.0018481285826581484, + -0.02992850743399418, + 0.27385930263194047 + ], + "held_minus_gripper": [ + 0.004306382822162724, + 0.004158830229847331, + -0.002211491599353188 + ], + "xy_dist": 0.03417586287008406, + "held_xy_dist": 0.029985515444705683, + "held_gripper_dist": 0.006382123234921112, + "max_held_gripper_dist": 0.006486146192013285, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0440056924285521, + "required_height": 0.8001463897966117, + "gripper_z": 1.0462171840279053, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.11702613654644, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9527482032913466, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.281683667352303, + "max_source_tilt_deg": 89.90298861858707, + "source_upright_tilt_deg": 2.0467300527828574, + "max_source_upright_tilt_deg": 89.88346886828323, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.281683667352303, + "source_upright_return_tilt_deg": 2.0467300527828574, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3661, + 0.0521, + 0.7701 + ], + "controller_target_position": [ + 0.3661, + 0.0521, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0008, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3677, + 0.0261, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015465935309799893, + -0.0008473979729983095, + -0.00045441569980745017 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.04672790072437, + "source_return_step_error_deg": 2.281706657645016, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2772455884748197, + "source_return_best_wrist_position": -1.6123871803283691, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6123871803283691 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3661, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3661, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0008, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3677, + 0.0261, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015465935309799893, + -0.0008473979729983095, + -0.00045441569980745017 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.04672790072437, + "pour_controller_source_return_step_error_deg": 2.281706657645016, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2772455884748197, + "pour_controller_source_return_best_wrist_position": -1.6123871803283691, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6123871803283691, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03417586287008406, + "valid_pour_held_xy_dist": 0.029985515444705683, + "valid_pour_held_gripper_dist": 0.006382123234921112, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0440056924285521, + "valid_pour_source_tilt_deg": 2.281683667352303, + "valid_pour_source_upright_tilt_deg": 2.0467300527828574, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3679761373065554, + -0.001638746242333136, + 1.0440056924285521 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3576885452582266, + 0.02217122976190746, + 1.0440056924285521 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36283234128239095, + 0.010266241759787163, + 1.0440056924285521 + ], + "valid_pour_held_grasp_object_position": [ + 0.3679761373065554, + 0.02217122976190746, + 1.0440056924285521 + ], + "valid_pour_held_grasp_finger_gap": 0.025937415204205505, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024006606961332434, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020589930238019687, + -0.9993620386052571, + 0.02918168205464655 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005398917773176442, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03792876739202114, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3679761373065554, + -0.001638746242333136, + 1.0440056924285521 + ], + "held_grasp_finger_b": [ + 0.3576885452582266, + 0.02217122976190746, + 1.0440056924285521 + ], + "held_grasp_midpoint": [ + 0.36283234128239095, + 0.010266241759787163, + 1.0440056924285521 + ], + "held_grasp_object_position": [ + 0.3679761373065554, + 0.02217122976190746, + 1.0440056924285521 + ], + "held_grasp_finger_gap": 0.025937415204205505, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024006606961332434, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020589930238019687, + -0.9993620386052571, + 0.02918168205464655 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005398917773176442, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03792876739202114, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28373975058920775, + -0.057184681466144506, + 0.7611064000020387 + ], + "target_position": [ + 0.28170643481300406, + -0.061245765460354484, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004541671086041711, + "xy_threshold": 0.08, + "gripper_dist": 0.2147390623967268, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064000020387, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560474288846795, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627765958442522, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1862575856125876, + "release_required_pad_clearance": 0.053138829792212613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3032414591044057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43b83f416668b85dae99c40c8d8aff1d32ae1a9881fb414df2c07678baeba359", + "visual_seed": 6184050609753495367, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21ae8cc02feeaf237728d440bf93d2f50a072b04 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_23_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30034400300140646, + -0.05933049437227687, + 1.0026608468259188 + ], + "current_z": 1.0026608468259188, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1415542792065081, + "gripper_z": 1.004935229166642, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29594088720339595, + -0.06366232879435052, + 1.004935229166642 + ], + "object_minus_gripper": [ + 0.004403115798010504, + 0.0043318344220736535, + -0.002274382340723191 + ], + "object_to_gripper_xy": 0.0061767481890515705, + "object_to_gripper_z": -0.002274382340723191, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30034400300140646, + -0.08356059372110168, + 1.0026608468259188 + ], + "finger_b": [ + 0.2896501589409872, + -0.05933049437227687, + 1.0026608468259188 + ], + "finger_midpoint": [ + 0.2949970809711968, + -0.07144554404668928, + 1.0026608468259188 + ], + "object_minus_finger_midpoint": [ + 0.005346922030209644, + 0.01211504967441241, + 0.0 + ], + "finger_gap": 0.02648501491867589, + "fingertip_max_gap": 0.09274611011656278, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013242507459337959, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026608468259188, + "object_top_z": 1.0526409867475781, + "finger_top_clearance": 0.04998013992165928, + "fingertip_min_top_clearance": 0.014994041976497785, + "object_projection_between_fingers": 0.8369701046058725, + "object_to_finger_line_xy": 0.009783377687361056, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887305505828139, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2859146255066896, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3667902759319966, + 0.049490182517699974, + 0.7701464494012568 + ], + "gripper_position": [ + 0.36214762979174425, + 0.01724720236928011, + 1.046778988163688 + ], + "target_minus_gripper": [ + 0.004642646140252338, + 0.032242980148419864, + -0.2766325387624312 + ], + "held_position": [ + 0.3665074818655631, + 0.021568128690797855, + 1.0444198419259627 + ], + "held_minus_target": [ + -0.00028279406643350047, + -0.02792205382690212, + 0.27427339252470595 + ], + "held_minus_gripper": [ + 0.004359852073818837, + 0.004320926321517746, + -0.0023591462377252626 + ], + "xy_dist": 0.03257551123213567, + "held_xy_dist": 0.02792348585682721, + "held_gripper_dist": 0.00657603872802925, + "max_held_gripper_dist": 0.006690697164296836, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0444198419259627, + "required_height": 0.8001464494012568, + "gripper_z": 1.046778988163688, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.1044654186628, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.778987605775573, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5823469493062965, + "max_source_tilt_deg": 89.92388622906049, + "source_upright_tilt_deg": 3.6366502308675983, + "max_source_upright_tilt_deg": 89.9188338457668, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5823469493062965, + "source_upright_return_tilt_deg": 3.6366502308675983, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.5144318394478426e-08, + "max_target_xy_drift": 1.0956407464930968e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3668, + 0.0495, + 0.7701 + ], + "controller_target_position": [ + 0.3668, + 0.0495, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0013, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3656, + 0.0256, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001158381219230563, + 0.0013497317543788895, + 0.00010755228318850901 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.63664653405687, + "source_return_step_error_deg": 2.582342444340737, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.649921257557716, + "source_return_best_wrist_position": -1.6126240491867065, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126240491867065 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3668, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3668, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0013, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3656, + 0.0256, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001158381219230563, + 0.0013497317543788895, + 0.00010755228318850901 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.63664653405687, + "pour_controller_source_return_step_error_deg": 2.582342444340737, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.649921257557716, + "pour_controller_source_return_best_wrist_position": -1.6126240491867065, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126240491867065, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03257551123213567, + "valid_pour_held_xy_dist": 0.02792348585682721, + "valid_pour_held_gripper_dist": 0.00657603872802925, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0444198419259627, + "valid_pour_source_tilt_deg": 2.5823469493062965, + "valid_pour_source_upright_tilt_deg": 3.6366502308675983, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.5144318394478426e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3665074818655631, + -0.001941367580670649, + 1.0444198419259627 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35554541161184444, + 0.021568128690797855, + 1.0444198419259627 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36102644673870377, + 0.009813380555063603, + 1.0444198419259627 + ], + "valid_pour_held_grasp_object_position": [ + 0.3665074818655631, + 0.021568128690797855, + 1.0444198419259627 + ], + "valid_pour_held_grasp_finger_gap": 0.02593961062131918, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024069577367348043, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.055411119356075664, + -0.9979863674324487, + 0.030867754545679242 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061344199475667684, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03829288196963953, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3665074818655631, + -0.001941367580670649, + 1.0444198419259627 + ], + "held_grasp_finger_b": [ + 0.35554541161184444, + 0.021568128690797855, + 1.0444198419259627 + ], + "held_grasp_midpoint": [ + 0.36102644673870377, + 0.009813380555063603, + 1.0444198419259627 + ], + "held_grasp_object_position": [ + 0.3665074818655631, + 0.021568128690797855, + 1.0444198419259627 + ], + "held_grasp_finger_gap": 0.02593961062131918, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024069577367348043, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.055411119356075664, + -0.9979863674324487, + 0.030867754545679242 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0061344199475667684, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03829288196963953, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2764202363362673, + -0.06913179775702269, + 0.7611093399073098 + ], + "target_position": [ + 0.2766980942195448, + -0.06143732518103036, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0076994878547860255, + "xy_threshold": 0.08, + "gripper_dist": 0.2151093762279489, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611093399073098, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544402300467361, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698863010735607, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18459734547588252, + "release_required_pad_clearance": 0.053494315053678035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.000684223012889, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b486963f11ea540e2ab6b841d3a38eb77ee8f802360fb54b2fc30f52c952b681", + "visual_seed": 3334979929561767938, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4243d7bcba283801e47215c130d2b210ea991b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_24_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3001329639455757, + -0.06181581198063009, + 1.000779053386052 + ], + "current_z": 1.000779053386052, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13967260497593093, + "gripper_z": 1.002557480397363, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2957507078105654, + -0.0661244409886483, + 1.002557480397363 + ], + "object_minus_gripper": [ + 0.0043822561350103095, + 0.0043086290080182055, + -0.0017784270113108125 + ], + "object_to_gripper_xy": 0.006145604344698042, + "object_to_gripper_z": -0.0017784270113108125, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3001329639455757, + -0.08605566269213633, + 1.000779053386052 + ], + "finger_b": [ + 0.2895072847928947, + -0.06181581198063009, + 1.000779053386052 + ], + "finger_midpoint": [ + 0.2948201243692352, + -0.0739357373363832, + 1.000779053386052 + ], + "object_minus_finger_midpoint": [ + 0.005312839576340489, + 0.012119925355753111, + 0.0 + ], + "finger_gap": 0.026466496178599624, + "fingertip_max_gap": 0.09257891538268084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013233248089299805, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000779053386052, + "object_top_z": 1.0506720269003946, + "finger_top_clearance": 0.04989297351434252, + "fingertip_min_top_clearance": 0.014967892054302755, + "object_projection_between_fingers": 0.8388165319772963, + "object_to_finger_line_xy": 0.00973173307986321, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048789457691340424, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.269766369435773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3678754976994222, + 0.051766439198188546, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3631731969993095, + 0.02008777478052469, + 1.045225614906158 + ], + "target_minus_gripper": [ + 0.004702300700112683, + 0.03167866441766386, + -0.2750791655049015 + ], + "held_position": [ + 0.3675475194173094, + 0.024362934066123346, + 1.0433618306297268 + ], + "held_minus_target": [ + -0.0003279782821127841, + -0.0274035051320652, + 0.2732153812284702 + ], + "held_minus_gripper": [ + 0.0043743224179998985, + 0.004275159285598656, + -0.0018637842764313017 + ], + "xy_dist": 0.03202576167964226, + "held_xy_dist": 0.02740546776241306, + "held_gripper_dist": 0.006394167292379004, + "max_held_gripper_dist": 0.00646227320085613, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0433618306297268, + "required_height": 0.8001464494012566, + "gripper_z": 1.045225614906158, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.1109336078068, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7488480267950408, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.322682320496333, + "max_source_tilt_deg": 89.96825240922999, + "source_upright_tilt_deg": 3.1981096426303695, + "max_source_upright_tilt_deg": 89.94594702735478, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.322682320496333, + "source_upright_return_tilt_deg": 3.1981096426303695, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.514431838712321e-08, + "max_target_xy_drift": 2.6616931971753016e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3679, + 0.0518, + 0.7701 + ], + "controller_target_position": [ + 0.3679, + 0.0518, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.002, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3663, + 0.0285, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015553876108685128, + 0.0019752737715774743, + -0.0009858281078093812 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.1981136604310096, + "source_return_step_error_deg": 2.3227041047833383, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2127147327155083, + "source_return_best_wrist_position": -1.6118701696395874, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6118701696395874 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3679, + 0.0518, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3679, + 0.0518, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.002, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3663, + 0.0285, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015553876108685128, + 0.0019752737715774743, + -0.0009858281078093812 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.1981136604310096, + "pour_controller_source_return_step_error_deg": 2.3227041047833383, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2127147327155083, + "pour_controller_source_return_best_wrist_position": -1.6118701696395874, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6118701696395874, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03202576167964226, + "valid_pour_held_xy_dist": 0.02740546776241306, + "valid_pour_held_gripper_dist": 0.006394167292379004, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0433618306297268, + "valid_pour_source_tilt_deg": 2.322682320496333, + "valid_pour_source_upright_tilt_deg": 3.1981096426303695, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.514431838712321e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3675475194173094, + 0.0006735976691550533, + 1.0433618306297268 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35686257579201375, + 0.024362934066123346, + 1.0433618306297268 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36220504760466155, + 0.012518265867639199, + 1.0433618306297268 + ], + "valid_pour_held_grasp_object_position": [ + 0.3675475194173094, + 0.024362934066123346, + 1.0433618306297268 + ], + "valid_pour_held_grasp_finger_gap": 0.025987548541647264, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024145484738721065, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04614360233169557, + -0.9984426137055414, + 0.0313546663305695 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005894803159037648, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03814054949031676, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3675475194173094, + 0.0006735976691550533, + 1.0433618306297268 + ], + "held_grasp_finger_b": [ + 0.35686257579201375, + 0.024362934066123346, + 1.0433618306297268 + ], + "held_grasp_midpoint": [ + 0.36220504760466155, + 0.012518265867639199, + 1.0433618306297268 + ], + "held_grasp_object_position": [ + 0.3675475194173094, + 0.024362934066123346, + 1.0433618306297268 + ], + "held_grasp_finger_gap": 0.025987548541647264, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024145484738721065, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04614360233169557, + -0.9984426137055414, + 0.0313546663305695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005894803159037648, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03814054949031676, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2791223078922724, + -0.0630899875245303, + 0.7611064801953995 + ], + "target_position": [ + 0.2765050499385588, + -0.06512888910814496, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0033177038541653252, + "xy_threshold": 0.08, + "gripper_dist": 0.21546336809966374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064801953995, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581232999583541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584323067956164, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18598393180701434, + "release_required_pad_clearance": 0.05292161533978082, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8811494377724469, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7aeb44d8185a5720b7de0af22689aad67557dd4f1d80fbbb02c1d7e7e2592b30", + "visual_seed": 2450162494805829177, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ecad45483be0b3ce666982701c0b1db8c7a2ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_25_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3024432997131537, + -0.06720702298607747, + 1.0027697775813387 + ], + "current_z": 1.0027697775813387, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.1416633887758625, + "gripper_z": 1.004318645607173, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2983871559243594, + -0.07140511215545207, + 1.004318645607173 + ], + "object_minus_gripper": [ + 0.00405614378879432, + 0.0041980891693746, + -0.0015488680258344267 + ], + "object_to_gripper_xy": 0.0058374870543235514, + "object_to_gripper_z": -0.0015488680258344267, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3024432997131537, + -0.09111239267520228, + 1.0027697775813387 + ], + "finger_b": [ + 0.2918238063538926, + -0.06720702298607747, + 1.0027697775813387 + ], + "finger_midpoint": [ + 0.2971335530335232, + -0.07915970783063989, + 1.0027697775813387 + ], + "object_minus_finger_midpoint": [ + 0.005309746679630523, + 0.011952684844562411, + 0.0 + ], + "finger_gap": 0.026157988056827265, + "fingertip_max_gap": 0.09317595161629436, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013078994028413627, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027697775813387, + "object_top_z": 1.0527648673368233, + "finger_top_clearance": 0.04999508975548461, + "fingertip_min_top_clearance": 0.014998526926645384, + "object_projection_between_fingers": 0.8351841703130871, + "object_to_finger_line_xy": 0.009704986259372633, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908797580814718, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6378657536949635, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3667531720406239, + 0.046023211299114, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3627235913732347, + 0.012493964434193455, + 1.047623999886363 + ], + "target_minus_gripper": [ + 0.004029580667389232, + 0.033529246864920544, + -0.2774775504851065 + ], + "held_position": [ + 0.36676374463319567, + 0.016669818396630814, + 1.0459927335822767 + ], + "held_minus_target": [ + 1.0572592571755912e-05, + -0.029353392902483184, + 0.2758462841810202 + ], + "held_minus_gripper": [ + 0.004040153259960988, + 0.004175853962437359, + -0.0016312663040862763 + ], + "xy_dist": 0.03377051843966541, + "held_xy_dist": 0.02935339480651708, + "held_gripper_dist": 0.006035033093067883, + "max_held_gripper_dist": 0.006089709853560229, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0459927335822767, + "required_height": 0.8001464494012566, + "gripper_z": 1.047623999886363, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.24289286257144, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9833691484181548, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.334982689836595, + "max_source_tilt_deg": 89.93944994596976, + "source_upright_tilt_deg": 3.61681178243148, + "max_source_upright_tilt_deg": 89.95605845597514, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.334982689836595, + "source_upright_return_tilt_deg": 3.61681178243148, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.705522537231445e-08, + "max_target_xy_drift": 1.2293457984924316e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3668, + 0.046, + 0.7701 + ], + "controller_target_position": [ + 0.3668, + 0.046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0006, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3654, + 0.0214, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013627890566799265, + 0.0006115824029931187, + 0.0011097550456617006 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6168145935520144, + "source_return_step_error_deg": 2.3349764691276023, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.625598011954919, + "source_return_best_wrist_position": -1.6103637218475342, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6103637218475342 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3668, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3668, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0006, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3654, + 0.0214, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013627890566799265, + 0.0006115824029931187, + 0.0011097550456617006 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6168145935520144, + "pour_controller_source_return_step_error_deg": 2.3349764691276023, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.625598011954919, + "pour_controller_source_return_best_wrist_position": -1.6103637218475342, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6103637218475342, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03377051843966541, + "valid_pour_held_xy_dist": 0.02935339480651708, + "valid_pour_held_gripper_dist": 0.006035033093067883, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0459927335822767, + "valid_pour_source_tilt_deg": 2.334982689836595, + "valid_pour_source_upright_tilt_deg": 3.61681178243148, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.705522537231445e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36676374463319567, + -0.006698520528498666, + 1.0459927335822767 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3560563506102246, + 0.016669818396630814, + 1.0459927335822767 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36141004762171014, + 0.004985648934066074, + 1.0459927335822767 + ], + "valid_pour_held_grasp_object_position": [ + 0.36676374463319567, + 0.016669818396630814, + 1.0459927335822767 + ], + "valid_pour_held_grasp_finger_gap": 0.025704621197031437, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023896281978355458, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05365324820419044, + -0.9980082702472916, + 0.03317862979613295 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005985137473727771, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03834659555005186, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36676374463319567, + -0.006698520528498666, + 1.0459927335822767 + ], + "held_grasp_finger_b": [ + 0.3560563506102246, + 0.016669818396630814, + 1.0459927335822767 + ], + "held_grasp_midpoint": [ + 0.36141004762171014, + 0.004985648934066074, + 1.0459927335822767 + ], + "held_grasp_object_position": [ + 0.36676374463319567, + 0.016669818396630814, + 1.0459927335822767 + ], + "held_grasp_finger_gap": 0.025704621197031437, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023896281978355458, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05365324820419044, + -0.9980082702472916, + 0.03317862979613295 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005985137473727771, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03834659555005186, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2820663454339989, + -0.06681716482711099, + 0.7611063311917176 + ], + "target_position": [ + 0.2789677884761742, + -0.06883591340287348, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036981618451640066, + "xy_threshold": 0.08, + "gripper_dist": 0.2182503048831457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063311917176, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551733972913705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511411000312981, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18914476809083147, + "release_required_pad_clearance": 0.052557055001564906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18130816830263, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ca57d4956a87b6a0a229c52754412214dc27233f07c1c454c111c872d681022", + "visual_seed": 9048527262120587978, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a1078bc88e645fcb0334c6c2279d41b44738958 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_26_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2964466763250119, + -0.06493063036291481, + 1.0044801398731167 + ], + "current_z": 1.0044801398731167, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1433736914629956, + "gripper_z": 1.0061823015088698, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2923650487395639, + -0.06905558968612018, + 1.0061823015088698 + ], + "object_minus_gripper": [ + 0.004081627585448, + 0.004124959323205363, + -0.0017021616357530966 + ], + "object_to_gripper_xy": 0.0058030141447689846, + "object_to_gripper_z": -0.0017021616357530966, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2964466763250119, + -0.08901368823779379, + 1.0044801398731167 + ], + "finger_b": [ + 0.28614700993459413, + -0.06493063036291481, + 1.0044801398731167 + ], + "finger_midpoint": [ + 0.29129684312980303, + -0.07697215930035431, + 1.0044801398731167 + ], + "object_minus_finger_midpoint": [ + 0.005149833195208897, + 0.012041528937439497, + 0.0 + ], + "finger_gap": 0.02619306786840122, + "fingertip_max_gap": 0.09348433472105758, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013096533934200617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0044801398731167, + "object_top_z": 1.0545593852826596, + "finger_top_clearance": 0.050079245409542894, + "fingertip_min_top_clearance": 0.01502377362286285, + "object_projection_between_fingers": 0.8453771836040052, + "object_to_finger_line_xy": 0.009469965985604043, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924216736052879, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.617846311367, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3683136812454882, + 0.05032526966803527, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3659961261132103, + 0.01757956115930398, + 1.0440983049476695 + ], + "target_minus_gripper": [ + 0.002317555132277882, + 0.03274570850873129, + -0.2739518555464131 + ], + "held_position": [ + 0.37013549444093735, + 0.021601613096949673, + 1.0423111373785936 + ], + "held_minus_target": [ + 0.0018218131954491623, + -0.0287236565710856, + 0.27216468797733717 + ], + "held_minus_gripper": [ + 0.004139368327727044, + 0.0040220519376456924, + -0.0017871675690759314 + ], + "xy_dist": 0.032827617755937524, + "held_xy_dist": 0.028781373319089233, + "held_gripper_dist": 0.006041956625271819, + "max_held_gripper_dist": 0.006115919720580064, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0423111373785936, + "required_height": 0.8001464494012565, + "gripper_z": 1.0440983049476695, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.15017304458851, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.009772911459863, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.057273868455942, + "max_source_tilt_deg": 89.79389636258088, + "source_upright_tilt_deg": 2.711718337852298, + "max_source_upright_tilt_deg": 89.90420122112964, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.057273868455942, + "source_upright_return_tilt_deg": 2.711718337852298, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 9.071674691055656e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3683, + 0.0503, + 0.7701 + ], + "controller_target_position": [ + 0.3683, + 0.0503, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + 0.001, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3698, + 0.0261, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015322615636133565, + 0.0009523716413631232, + -0.0018825659934287732 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7117219959792673, + "source_return_step_error_deg": 2.0572792060190195, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7190492225398306, + "source_return_best_wrist_position": -1.6095554828643799, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095554828643799 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3683, + 0.0503, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3683, + 0.0503, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + 0.001, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3698, + 0.0261, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015322615636133565, + 0.0009523716413631232, + -0.0018825659934287732 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7117219959792673, + "pour_controller_source_return_step_error_deg": 2.0572792060190195, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7190492225398306, + "pour_controller_source_return_best_wrist_position": -1.6095554828643799, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095554828643799, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032827617755937524, + "valid_pour_held_xy_dist": 0.028781373319089233, + "valid_pour_held_gripper_dist": 0.006041956625271819, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0423111373785936, + "valid_pour_source_tilt_deg": 2.057273868455942, + "valid_pour_source_upright_tilt_deg": 2.711718337852298, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37013549444093735, + -0.0022340697477244496, + 1.0423111373785936 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36016894449857373, + 0.021601613096949673, + 1.0423111373785936 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3651522194697555, + 0.009683771674612611, + 1.0423111373785936 + ], + "valid_pour_held_grasp_object_position": [ + 0.37013549444093735, + 0.021601613096949673, + 1.0423111373785936 + ], + "valid_pour_held_grasp_finger_gap": 0.02583547743753772, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024158125915938272, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03503053712112523, + -0.9988802281589624, + 0.031798604719466605 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005410797613113516, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03799032070985144, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37013549444093735, + -0.0022340697477244496, + 1.0423111373785936 + ], + "held_grasp_finger_b": [ + 0.36016894449857373, + 0.021601613096949673, + 1.0423111373785936 + ], + "held_grasp_midpoint": [ + 0.3651522194697555, + 0.009683771674612611, + 1.0423111373785936 + ], + "held_grasp_object_position": [ + 0.37013549444093735, + 0.021601613096949673, + 1.0423111373785936 + ], + "held_grasp_finger_gap": 0.02583547743753772, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024158125915938272, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03503053712112523, + -0.9988802281589624, + 0.031798604719466605 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005410797613113516, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03799032070985144, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26859127428239565, + -0.065070377463506, + 0.7611063862466042 + ], + "target_position": [ + 0.27290806602709033, + -0.06570153400645903, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004362688339633784, + "xy_threshold": 0.08, + "gripper_dist": 0.21354185227077718, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063862466042, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577213781765917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734600704085986, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1845253731986558, + "release_required_pad_clearance": 0.05367300352042993, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3557187851459402, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1a861bc579310517e2022a130d557724d7caae64bbdce0f755ac97a2f9758777", + "visual_seed": 1238776152133411661, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d617fcaf936257182f02c7f663d7a6cc74bec2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_27_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2989733365915833, + -0.0671144153362202, + 1.0003881152578877 + ], + "current_z": 1.0003881152578877, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.13928172645241121, + "gripper_z": 1.0027539811268251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2947216078109251, + -0.07140197471141922, + 1.0027539811268251 + ], + "object_minus_gripper": [ + 0.004251728780658215, + 0.004287559375199021, + -0.002365865868937389 + ], + "object_to_gripper_xy": 0.006038241715941356, + "object_to_gripper_z": -0.002365865868937389, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2989733365915833, + -0.09140121843696646, + 1.0003881152578877 + ], + "finger_b": [ + 0.28857573791338764, + -0.0671144153362202, + 1.0003881152578877 + ], + "finger_midpoint": [ + 0.2937745372524855, + -0.07925781688659334, + 1.0003881152578877 + ], + "object_minus_finger_midpoint": [ + 0.005198799339097837, + 0.012143401550373134, + 0.0 + ], + "finger_gap": 0.026418911088976288, + "fingertip_max_gap": 0.09255208283076913, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013209455544488151, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0003881152578877, + "object_top_z": 1.050418732534427, + "finger_top_clearance": 0.050030617276539235, + "fingertip_min_top_clearance": 0.015009185182961803, + "object_projection_between_fingers": 0.8451054009280363, + "object_to_finger_line_xy": 0.009558472374862102, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048776041415384566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5863946321438065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3650125375992482, + 0.0439189251946733, + 0.7701465090059013 + ], + "gripper_position": [ + 0.36028418536993834, + 0.010960700165832213, + 1.046907183633722 + ], + "target_minus_gripper": [ + 0.00472835222930984, + 0.03295822502884109, + -0.2767606746278207 + ], + "held_position": [ + 0.36446801881569146, + 0.015254377215162691, + 1.0444531655469194 + ], + "held_minus_target": [ + -0.0005445187835567133, + -0.02866454797951061, + 0.27430665654101805 + ], + "held_minus_gripper": [ + 0.004183833445753127, + 0.004293677049330478, + -0.0024540180868026784 + ], + "xy_dist": 0.03329567407120851, + "held_xy_dist": 0.02866971941919404, + "held_gripper_dist": 0.006477833717849235, + "max_held_gripper_dist": 0.006590168221982045, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0444531655469194, + "required_height": 0.8001465090059013, + "gripper_z": 1.046907183633722, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.22601546513233, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1441915714159836, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.795111651965149, + "max_source_tilt_deg": 89.88797951561271, + "source_upright_tilt_deg": 4.0171543162717605, + "max_source_upright_tilt_deg": 89.8959911685027, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.795111651965149, + "source_upright_return_tilt_deg": 4.0171543162717605, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.7706993203109864e-08, + "max_target_xy_drift": 8.170199469480361e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.365, + 0.0439, + 0.7701 + ], + "controller_target_position": [ + 0.365, + 0.0439, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0004, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3636, + 0.0192, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013893017426045038, + 0.00043632209376317024, + 9.172773541497826e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.017159011793718, + "source_return_step_error_deg": 2.795102035580813, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.016561664705194, + "source_return_best_wrist_position": -1.6129121780395508, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129121780395508 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.365, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.365, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0004, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3636, + 0.0192, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013893017426045038, + 0.00043632209376317024, + 9.172773541497826e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.017159011793718, + "pour_controller_source_return_step_error_deg": 2.795102035580813, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.016561664705194, + "pour_controller_source_return_best_wrist_position": -1.6129121780395508, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129121780395508, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03329567407120851, + "valid_pour_held_xy_dist": 0.02866971941919404, + "valid_pour_held_gripper_dist": 0.006477833717849235, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0444531655469194, + "valid_pour_source_tilt_deg": 2.795111651965149, + "valid_pour_source_upright_tilt_deg": 4.0171543162717605, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.7706993203109864e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36446801881569146, + -0.008217188017540749, + 1.0444531655469194 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3536682155680275, + 0.015254377215162691, + 1.0444531655469194 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3590681171918595, + 0.003518594598810971, + 1.0444531655469194 + ], + "valid_pour_held_grasp_object_position": [ + 0.36446801881569146, + 0.015254377215162691, + 1.0444531655469194 + ], + "valid_pour_held_grasp_finger_gap": 0.02583699140111529, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024121528134173627, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06552244865077443, + -0.9975431271118216, + 0.02478947911463402 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006163916602861597, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03836711555674177, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36446801881569146, + -0.008217188017540749, + 1.0444531655469194 + ], + "held_grasp_finger_b": [ + 0.3536682155680275, + 0.015254377215162691, + 1.0444531655469194 + ], + "held_grasp_midpoint": [ + 0.3590681171918595, + 0.003518594598810971, + 1.0444531655469194 + ], + "held_grasp_object_position": [ + 0.36446801881569146, + 0.015254377215162691, + 1.0444531655469194 + ], + "held_grasp_finger_gap": 0.02583699140111529, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024121528134173627, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06552244865077443, + -0.9975431271118216, + 0.02478947911463402 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006163916602861597, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03836711555674177, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2777212355147923, + -0.06540799042708413, + 0.7611077039880356 + ], + "target_position": [ + 0.27552862962395575, + -0.06903464513848633, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004237941126097293, + "xy_threshold": 0.08, + "gripper_dist": 0.21610903550273677, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077039880356, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551495952667346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08945042490818346, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18750192064493812, + "release_required_pad_clearance": 0.05472521245409173, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.493796992862559, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95605d59a971969fa553d0f812021d721a7ad8e770f62705ca571f5f6fb7b5f5", + "visual_seed": 3464497341847541100, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c76d86c946526f72c12b0c70acaa66b02670fcf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_28_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30480934778071417, + -0.05662421844000646, + 1.0034936451571825 + ], + "current_z": 1.0034936451571825, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1423871371424167, + "gripper_z": 1.0055796969557134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3006948175503691, + -0.060832163549219276, + 1.0055796969557134 + ], + "object_minus_gripper": [ + 0.0041145302303450815, + 0.004207945109212817, + -0.0020860517985308302 + ], + "object_to_gripper_xy": 0.005885249447438198, + "object_to_gripper_z": -0.0020860517985308302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30480934778071417, + -0.08061781344150831, + 1.0034936451571825 + ], + "finger_b": [ + 0.2942447094278312, + -0.05662421844000646, + 1.0034936451571825 + ], + "finger_midpoint": [ + 0.2995270286042727, + -0.06862101594075738, + 1.0034936451571825 + ], + "object_minus_finger_midpoint": [ + 0.005282319176441452, + 0.011996797500750923, + 0.0 + ], + "finger_gap": 0.02621648688560884, + "fingertip_max_gap": 0.09284567866122614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108243442804405, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034936451571825, + "object_top_z": 1.0534149087622078, + "finger_top_clearance": 0.049921263605025246, + "fingertip_min_top_clearance": 0.01497637908150754, + "object_projection_between_fingers": 0.837609626095354, + "object_to_finger_line_xy": 0.009668864294534979, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048922839330613074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.481630711695583, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36147950208250945, + 0.047218127964668045, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3596161121414796, + 0.015447981011369363, + 1.0451514452970851 + ], + "target_minus_gripper": [ + 0.0018633899410298582, + 0.03177014695329868, + -0.2750049958958287 + ], + "held_position": [ + 0.36376291809607, + 0.01957582080462857, + 1.043002568623355 + ], + "held_minus_target": [ + 0.002283416013560524, + -0.027642307160039476, + 0.2728561192220986 + ], + "held_minus_gripper": [ + 0.004146805954590382, + 0.004127839793259206, + -0.0021488766737300935 + ], + "xy_dist": 0.031824746024226566, + "held_xy_dist": 0.027736458566676357, + "held_gripper_dist": 0.006233195965372962, + "max_held_gripper_dist": 0.006344824607651833, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.043002568623355, + "required_height": 0.8001464494012565, + "gripper_z": 1.0451514452970851, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.0222162806775, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.956373425043053, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4071084812550896, + "max_source_tilt_deg": 89.83620346426348, + "source_upright_tilt_deg": 3.189183999612676, + "max_source_upright_tilt_deg": 89.9482710240421, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4071084812550896, + "source_upright_return_tilt_deg": 3.189183999612676, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.568167686462402e-08, + "max_target_xy_drift": 1.399837004248495e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3615, + 0.0472, + 0.7701 + ], + "controller_target_position": [ + 0.3615, + 0.0472, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0009, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3628, + 0.0211, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013013779524199522, + -0.0009334344353724485, + -0.000445339079948969 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.189187275779656, + "source_return_step_error_deg": 2.407112296802574, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.196049276406532, + "source_return_best_wrist_position": -1.6122924089431763, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122924089431763 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3615, + 0.0472, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3615, + 0.0472, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0009, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3628, + 0.0211, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013013779524199522, + -0.0009334344353724485, + -0.000445339079948969 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.189187275779656, + "pour_controller_source_return_step_error_deg": 2.407112296802574, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.196049276406532, + "pour_controller_source_return_best_wrist_position": -1.6122924089431763, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122924089431763, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.031824746024226566, + "valid_pour_held_xy_dist": 0.027736458566676357, + "valid_pour_held_gripper_dist": 0.006233195965372962, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.043002568623355, + "valid_pour_source_tilt_deg": 2.4071084812550896, + "valid_pour_source_upright_tilt_deg": 3.189183999612676, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.568167686462402e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36376291809607, + -0.0038980863444713436, + 1.043002568623355 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3533546306814062, + 0.01957582080462857, + 1.043002568623355 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35855877438873807, + 0.007838867230078614, + 1.043002568623355 + ], + "valid_pour_held_grasp_object_position": [ + 0.36376291809607, + 0.01957582080462857, + 1.043002568623355 + ], + "valid_pour_held_grasp_finger_gap": 0.02567794313707412, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023888719313456652, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.043346839104213906, + -0.998451293373268, + 0.034872142190033095 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005722385759433009, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03822705677328058, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36376291809607, + -0.0038980863444713436, + 1.043002568623355 + ], + "held_grasp_finger_b": [ + 0.3533546306814062, + 0.01957582080462857, + 1.043002568623355 + ], + "held_grasp_midpoint": [ + 0.35855877438873807, + 0.007838867230078614, + 1.043002568623355 + ], + "held_grasp_object_position": [ + 0.36376291809607, + 0.01957582080462857, + 1.043002568623355 + ], + "held_grasp_finger_gap": 0.02567794313707412, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023888719313456652, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.043346839104213906, + -0.998451293373268, + 0.034872142190033095 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005722385759433009, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03822705677328058, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26843617227360517, + -0.0504251313511338, + 0.7611067356321165 + ], + "target_position": [ + 0.28142681148918375, + -0.06128348036451122, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016931049894369884, + "xy_threshold": 0.08, + "gripper_dist": 0.20771464077847515, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067356321165, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07595826895209196, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578693762681412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18262368289280104, + "release_required_pad_clearance": 0.05289346881340706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8270834642730056, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4f1b43150447f8fb68d3b0937228102503cd47dddefc86761aa2eb3e101efc0", + "visual_seed": 424953830574834691, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a0a85ffa73d8e2dd28e770c35074a98307b6cb0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_29_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30129743584319046, + -0.0637754028064876, + 1.0022815116796218 + ], + "current_z": 1.0022815116796218, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1411750036648557, + "gripper_z": 1.004275601098719, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2969473858276884, + -0.0680454260096215, + 1.004275601098719 + ], + "object_minus_gripper": [ + 0.004350050015502038, + 0.00427002320313391, + -0.001994089419097289 + ], + "object_to_gripper_xy": 0.006095574894353383, + "object_to_gripper_z": -0.001994089419097289, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30129743584319046, + -0.08804395097588281, + 1.0022815116796218 + ], + "finger_b": [ + 0.2907645519740634, + -0.0637754028064876, + 1.0022815116796218 + ], + "finger_midpoint": [ + 0.29603099390862697, + -0.0759096768911852, + 1.0022815116796218 + ], + "object_minus_finger_midpoint": [ + 0.005266441934563493, + 0.01213427408469761, + 0.0 + ], + "finger_gap": 0.026455700195813617, + "fingertip_max_gap": 0.0928681345537519, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227850097906798, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022815116796218, + "object_top_z": 1.0523231724711133, + "finger_top_clearance": 0.05004166079149153, + "fingertip_min_top_clearance": 0.015012498237447491, + "object_projection_between_fingers": 0.8414902171541292, + "object_to_finger_line_xy": 0.009662106753878477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893406727687595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3971849588226224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36497078454558285, + 0.0526418861436174, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3625010455624891, + 0.020007170840862898, + 1.0450971864343286 + ], + "target_minus_gripper": [ + 0.002469738983093772, + 0.032634715302754504, + -0.27495073703307193 + ], + "held_position": [ + 0.3667868906508542, + 0.024295473893953645, + 1.043022509691901 + ], + "held_minus_target": [ + 0.0018161061052713312, + -0.028346412249663756, + 0.2728760602906444 + ], + "held_minus_gripper": [ + 0.004285845088365103, + 0.004288303053090747, + -0.0020746767424275614 + ], + "xy_dist": 0.0327280346726847, + "held_xy_dist": 0.028404530075561738, + "held_gripper_dist": 0.0064079867963487995, + "max_held_gripper_dist": 0.006500598783376969, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.043022509691901, + "required_height": 0.8001464494012567, + "gripper_z": 1.0450971864343286, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.00659563804568, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.702121304124706, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.6787898288687346, + "max_source_tilt_deg": 89.75809997351129, + "source_upright_tilt_deg": 4.0076480538964185, + "max_source_upright_tilt_deg": 89.9293872861386, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.6787898288687346, + "source_upright_return_tilt_deg": 4.0076480538964185, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.1372817696983924e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.365, + 0.0526, + 0.7701 + ], + "controller_target_position": [ + 0.365, + 0.0526, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0015, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3652, + 0.029, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00019421299140952655, + 0.0015363054367109534, + -0.001311053100512141 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.007645765500235, + "source_return_step_error_deg": 2.678784987696427, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.0168378901760935, + "source_return_best_wrist_position": -1.6090093851089478, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6090093851089478 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.365, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.365, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0015, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3652, + 0.029, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00019421299140952655, + 0.0015363054367109534, + -0.001311053100512141 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.007645765500235, + "pour_controller_source_return_step_error_deg": 2.678784987696427, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.0168378901760935, + "pour_controller_source_return_best_wrist_position": -1.6090093851089478, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6090093851089478, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0327280346726847, + "valid_pour_held_xy_dist": 0.028404530075561738, + "valid_pour_held_gripper_dist": 0.0064079867963487995, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.043022509691901, + "valid_pour_source_tilt_deg": 2.6787898288687346, + "valid_pour_source_upright_tilt_deg": 4.0076480538964185, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3667868906508542, + 0.0007554748821497113, + 1.043022509691901 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3558843399750299, + 0.024295473893953645, + 1.043022509691901 + ], + "valid_pour_held_grasp_midpoint": [ + 0.361335615312942, + 0.012525474388051678, + 1.043022509691901 + ], + "valid_pour_held_grasp_object_position": [ + 0.3667868906508542, + 0.024295473893953645, + 1.043022509691901 + ], + "valid_pour_held_grasp_finger_gap": 0.025942188895978824, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02414631403020366, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06089184779113374, + -0.9975547391544568, + 0.0343034293193104 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00617070565729084, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03831096951128064, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3667868906508542, + 0.0007554748821497113, + 1.043022509691901 + ], + "held_grasp_finger_b": [ + 0.3558843399750299, + 0.024295473893953645, + 1.043022509691901 + ], + "held_grasp_midpoint": [ + 0.361335615312942, + 0.012525474388051678, + 1.043022509691901 + ], + "held_grasp_object_position": [ + 0.3667868906508542, + 0.024295473893953645, + 1.043022509691901 + ], + "held_grasp_finger_gap": 0.025942188895978824, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02414631403020366, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06089184779113374, + -0.9975547391544568, + 0.0343034293193104 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00617070565729084, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03831096951128064, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28100329181671624, + -0.07173608832651608, + 0.7611063913903513 + ], + "target_position": [ + 0.2774938643864834, + -0.06555874659220488, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007104620453657865, + "xy_threshold": 0.08, + "gripper_dist": 0.21858112442760266, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063913903513, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536281171298848, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09380200555647332, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18817036529375453, + "release_required_pad_clearance": 0.05690100277823666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.29114914396075, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dfb8cc26e790462829da389cedabb307545e8090a2af09833fb9a87c24379166", + "visual_seed": 2012044419277286570, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b2d4b2c05531ebf194574d72d9266d544a3b4b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_2_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2993419682008799, + -0.06603446621102596, + 1.0042436356355915 + ], + "current_z": 1.0042436356355915, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14313724683011486, + "gripper_z": 1.0060946285328751, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2952734521015966, + -0.07036137359500826, + 1.0060946285328751 + ], + "object_minus_gripper": [ + 0.00406851609928327, + 0.004326907383982295, + -0.001850992897283632 + ], + "object_to_gripper_xy": 0.005939271904845549, + "object_to_gripper_z": -0.001850992897283632, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2993419682008799, + -0.08972770248134092, + 1.0042436356355915 + ], + "finger_b": [ + 0.2882937557077487, + -0.06603446621102596, + 1.0042436356355915 + ], + "finger_midpoint": [ + 0.29381786195431425, + -0.07788108434618343, + 1.0042436356355915 + ], + "object_minus_finger_midpoint": [ + 0.00552410624656563, + 0.011846618135157472, + 0.0 + ], + "finger_gap": 0.026142540891320197, + "fingertip_max_gap": 0.09294026044319095, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013071270445660104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0042436356355915, + "object_top_z": 1.054276763354678, + "finger_top_clearance": 0.05003312771908641, + "fingertip_min_top_clearance": 0.015009938315725906, + "object_projection_between_fingers": 0.8213971251737165, + "object_to_finger_line_xy": 0.010013101253341263, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897013022159548, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6415950312312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3697918466335958, + 0.04945418503754592, + 0.7701463897966113 + ], + "gripper_position": [ + 0.36623620493566095, + 0.014599120156228648, + 1.0448354620832636 + ], + "target_minus_gripper": [ + 0.003555641697934875, + 0.034855064881317274, + -0.2746890722866523 + ], + "held_position": [ + 0.3704667197800666, + 0.018713758445982765, + 1.0428895584550824 + ], + "held_minus_target": [ + 0.0006748731464708002, + -0.030740426591563157, + 0.27274316865847104 + ], + "held_minus_gripper": [ + 0.004230514844405675, + 0.004114638289754117, + -0.0019459036281812558 + ], + "xy_dist": 0.03503595490014408, + "held_xy_dist": 0.030747833757764312, + "held_gripper_dist": 0.006214020038140884, + "max_held_gripper_dist": 0.006295681713332715, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966113, + "held_z": 1.0428895584550824, + "required_height": 0.8001463897966113, + "gripper_z": 1.0448354620832636, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.59928530327353, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1586949402982634, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.615379711317536, + "max_source_tilt_deg": 89.93672174797399, + "source_upright_tilt_deg": 1.724980250829089, + "max_source_upright_tilt_deg": 89.93548380742376, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.615379711317536, + "source_upright_return_tilt_deg": 1.724980250829089, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425062851847e-08, + "max_target_xy_drift": 1.639551005316823e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3698, + 0.0495, + 0.7701 + ], + "controller_target_position": [ + 0.3698, + 0.0495, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0017, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3702, + 0.0225, + 1.0334 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00039878333280521545, + -0.0017080848236588543, + -0.0019287695324960907 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7249756522790642, + "source_return_step_error_deg": 2.615416709312223, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6066622944889857, + "source_return_best_wrist_position": -1.611884593963623, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.611884593963623 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3698, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3698, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0017, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3702, + 0.0225, + 1.0334 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00039878333280521545, + -0.0017080848236588543, + -0.0019287695324960907 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7249756522790642, + "pour_controller_source_return_step_error_deg": 2.615416709312223, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6066622944889857, + "pour_controller_source_return_best_wrist_position": -1.611884593963623, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.611884593963623, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03503595490014408, + "valid_pour_held_xy_dist": 0.030747833757764312, + "valid_pour_held_gripper_dist": 0.006214020038140884, + "valid_pour_required_height": 0.8001463897966113, + "valid_pour_held_z": 1.0428895584550824, + "valid_pour_source_tilt_deg": 2.615379711317536, + "valid_pour_source_upright_tilt_deg": 1.724980250829089, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425062851847e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3704667197800666, + -0.005111921815622896, + 1.0428895584550824 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36031971680162345, + 0.018713758445982765, + 1.0428895584550824 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36539321829084503, + 0.006800918315179935, + 1.0428895584550824 + ], + "valid_pour_held_grasp_object_position": [ + 0.3704667197800666, + 0.018713758445982765, + 1.0428895584550824 + ], + "valid_pour_held_grasp_finger_gap": 0.025896422713818996, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023926877420960738, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01103715466561791, + -0.9995468384620319, + 0.028005337659882227 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052153079099646685, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03786880540088026, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3704667197800666, + -0.005111921815622896, + 1.0428895584550824 + ], + "held_grasp_finger_b": [ + 0.36031971680162345, + 0.018713758445982765, + 1.0428895584550824 + ], + "held_grasp_midpoint": [ + 0.36539321829084503, + 0.006800918315179935, + 1.0428895584550824 + ], + "held_grasp_object_position": [ + 0.3704667197800666, + 0.018713758445982765, + 1.0428895584550824 + ], + "held_grasp_finger_gap": 0.025896422713818996, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023926877420960738, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01103715466561791, + -0.9995468384620319, + 0.028005337659882227 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0052153079099646685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03786880540088026, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2729933781883758, + -0.0624368902933007, + 0.7611082703644876 + ], + "target_position": [ + 0.2760313223107241, + -0.06762421039519291, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006011438623990546, + "xy_threshold": 0.08, + "gripper_dist": 0.21419579956469162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611082703644876, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575001613064546, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08904384538402009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18621122958745842, + "release_required_pad_clearance": 0.05452192269201005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.0749926082710966, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "abd14a54548d31c6c30ca469062d9df450f3744a1528881879b3f5e4549343aa", + "visual_seed": 2729416532727161363, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..174c370b999f821df8886b055bd0fd2128bd3771 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_30_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29946067422964195, + -0.06195653904189051, + 1.00166936473723 + ], + "current_z": 1.00166936473723, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1405629163271087, + "gripper_z": 1.0040481661255136, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2952170824735786, + -0.06626940466471282, + 1.0040481661255136 + ], + "object_minus_gripper": [ + 0.00424359175606337, + 0.004312865622822307, + -0.0023788013882837244 + ], + "object_to_gripper_xy": 0.006050527321866371, + "object_to_gripper_z": -0.0023788013882837244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29946067422964195, + -0.0859635909881196, + 1.00166936473723 + ], + "finger_b": [ + 0.2886604265545206, + -0.06195653904189051, + 1.00166936473723 + ], + "finger_midpoint": [ + 0.2940605503920813, + -0.07396006501500506, + 1.00166936473723 + ], + "object_minus_finger_midpoint": [ + 0.005400123837560666, + 0.012003525973114548, + 0.0 + ], + "finger_gap": 0.026324587233096476, + "fingertip_max_gap": 0.09293565300814136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013162293616548238, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00166936473723, + "object_top_z": 1.051715031337539, + "finger_top_clearance": 0.05004566660030907, + "fingertip_min_top_clearance": 0.015013699980092736, + "object_projection_between_fingers": 0.8316766796120069, + "object_to_finger_line_xy": 0.009849427254942734, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896782650407068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.471869661743856, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3701096884018604, + 0.04436372113101937, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3651401632150937, + 0.010910497931268082, + 1.0455826504355048 + ], + "target_minus_gripper": [ + 0.004969525186766743, + 0.03345322319975129, + -0.27543626063889315 + ], + "held_position": [ + 0.369488066517763, + 0.01505544716131493, + 1.0431151972796866 + ], + "held_minus_target": [ + -0.000621621884097423, + -0.02930827396970444, + 0.27296880748307495 + ], + "held_minus_gripper": [ + 0.00434790330266932, + 0.004144949230046848, + -0.0024674531558182 + ], + "xy_dist": 0.03382032411190477, + "held_xy_dist": 0.02931486545850149, + "held_gripper_dist": 0.006494089029662739, + "max_held_gripper_dist": 0.006620858722225288, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0431151972796866, + "required_height": 0.8001463897966117, + "gripper_z": 1.0455826504355048, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.286544601557, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9729921920728783, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.245872782031632, + "max_source_tilt_deg": 89.65253597520658, + "source_upright_tilt_deg": 2.157806640620997, + "max_source_upright_tilt_deg": 89.97793925066345, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.245872782031632, + "source_upright_return_tilt_deg": 2.157806640620997, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.705522537231445e-08, + "max_target_xy_drift": 2.2696772533249583e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3701, + 0.0444, + 0.7701 + ], + "controller_target_position": [ + 0.3701, + 0.0444, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0004, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3691, + 0.0187, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001013029600644971, + -0.0004143569274431616, + -0.0009770398367695888 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1578001104100832, + "source_return_step_error_deg": 2.2458537137805656, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2517982166148625, + "source_return_best_wrist_position": -1.6124311685562134, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124311685562134 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3701, + 0.0444, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3701, + 0.0444, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0004, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3691, + 0.0187, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001013029600644971, + -0.0004143569274431616, + -0.0009770398367695888 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1578001104100832, + "pour_controller_source_return_step_error_deg": 2.2458537137805656, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2517982166148625, + "pour_controller_source_return_best_wrist_position": -1.6124311685562134, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124311685562134, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03382032411190477, + "valid_pour_held_xy_dist": 0.02931486545850149, + "valid_pour_held_gripper_dist": 0.006494089029662739, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0431151972796866, + "valid_pour_source_tilt_deg": 2.245872782031632, + "valid_pour_source_upright_tilt_deg": 2.157806640620997, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.705522537231445e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.369488066517763, + -0.008794537489084785, + 1.0431151972796866 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35923077779955165, + 0.01505544716131493, + 1.0431151972796866 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36435942215865735, + 0.0031304548361150725, + 1.0431151972796866 + ], + "valid_pour_held_grasp_object_position": [ + 0.369488066517763, + 0.01505544716131493, + 1.0431151972796866 + ], + "valid_pour_held_grasp_finger_gap": 0.0259621597651861, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02407488749845456, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023574878392693593, + -0.9992909225576607, + 0.029357745189801165 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005419553636685515, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03792462065503836, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.369488066517763, + -0.008794537489084785, + 1.0431151972796866 + ], + "held_grasp_finger_b": [ + 0.35923077779955165, + 0.01505544716131493, + 1.0431151972796866 + ], + "held_grasp_midpoint": [ + 0.36435942215865735, + 0.0031304548361150725, + 1.0431151972796866 + ], + "held_grasp_object_position": [ + 0.369488066517763, + 0.01505544716131493, + 1.0431151972796866 + ], + "held_grasp_finger_gap": 0.0259621597651861, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02407488749845456, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023574878392693593, + -0.9992909225576607, + 0.029357745189801165 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005419553636685515, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03792462065503836, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27586510552303156, + -0.060330776078398166, + 0.7611064257518125 + ], + "target_position": [ + 0.2759719107792314, + -0.06504429072805533, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004714724564095405, + "xy_threshold": 0.08, + "gripper_dist": 0.21413929487690164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064257518125, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541604188106858, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767365499264028, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18632741085846471, + "release_required_pad_clearance": 0.05383682749632014, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6828851413470263, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9fba309d57c135391bef35131887848793a0260da16a3d64d5615669f53ad2c0", + "visual_seed": 2766076187463701762, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e244cf19f26b7d13108e3c467499670a77c8002 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_31_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3051571901292293, + -0.061242482722204575, + 1.000208345431791 + ], + "current_z": 1.000208345431791, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.13910171820773543, + "gripper_z": 1.0022919574951927, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30104719828934445, + -0.06545392363993238, + 1.0022919574951927 + ], + "object_minus_gripper": [ + 0.004109991839884863, + 0.004211440917727807, + -0.0020836120634017963 + ], + "object_to_gripper_xy": 0.005884578789295985, + "object_to_gripper_z": -0.0020836120634017963, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3051571901292293, + -0.08522752606069826, + 1.000208345431791 + ], + "finger_b": [ + 0.29459181956848146, + -0.061242482722204575, + 1.000208345431791 + ], + "finger_midpoint": [ + 0.29987450484885536, + -0.07323500439145142, + 1.000208345431791 + ], + "object_minus_finger_midpoint": [ + 0.0052826852803739555, + 0.011992521669246844, + 0.0 + ], + "finger_gap": 0.02620895570287641, + "fingertip_max_gap": 0.09277384211031889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013104477851438217, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000208345431791, + "object_top_z": 1.0501809294517646, + "finger_top_clearance": 0.04997258401997362, + "fingertip_min_top_clearance": 0.014991775205992118, + "object_projection_between_fingers": 0.8374937630160099, + "object_to_finger_line_xy": 0.009668865622103805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048886921055159446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4337137685465486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3656350187069599, + 0.051561693518094774, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3620807119521411, + 0.017680387080036275, + 1.0474148935433676 + ], + "target_minus_gripper": [ + 0.0035543067548188256, + 0.0338813064380585, + -0.2772685037467558 + ], + "held_position": [ + 0.3662470018532431, + 0.021781400546314493, + 1.04524671010253 + ], + "held_minus_target": [ + 0.0006119831462831904, + -0.02978029297178028, + 0.27510032030591824 + ], + "held_minus_gripper": [ + 0.004166289901102016, + 0.004101013466278218, + -0.002168183440837579 + ], + "xy_dist": 0.034067227983165506, + "held_xy_dist": 0.02978658041562342, + "held_gripper_dist": 0.006235166591498756, + "max_held_gripper_dist": 0.0063390683888545196, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.04524671010253, + "required_height": 0.8001463897966118, + "gripper_z": 1.0474148935433676, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.09792209743792, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9566741964902743, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1715400703887, + "max_source_tilt_deg": 89.7776564944092, + "source_upright_tilt_deg": 2.5954963904790875, + "max_source_upright_tilt_deg": 89.94353760287495, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1715400703887, + "source_upright_return_tilt_deg": 2.5954963904790875, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425057343598e-08, + "max_target_xy_drift": 1.1926748300777466e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3656, + 0.0516, + 0.7701 + ], + "controller_target_position": [ + 0.3656, + 0.0516, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0005, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3654, + 0.0259, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00020798597811884844, + -0.000507311259112814, + 0.0009451485928636161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.595492250605487, + "source_return_step_error_deg": 2.1715476773253553, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.600193132055052, + "source_return_best_wrist_position": -1.612593412399292, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612593412399292 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3656, + 0.0516, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3656, + 0.0516, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0005, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3654, + 0.0259, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00020798597811884844, + -0.000507311259112814, + 0.0009451485928636161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.595492250605487, + "pour_controller_source_return_step_error_deg": 2.1715476773253553, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.600193132055052, + "pour_controller_source_return_best_wrist_position": -1.612593412399292, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612593412399292, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034067227983165506, + "valid_pour_held_xy_dist": 0.02978658041562342, + "valid_pour_held_gripper_dist": 0.006235166591498756, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.04524671010253, + "valid_pour_source_tilt_deg": 2.1715400703887, + "valid_pour_source_upright_tilt_deg": 2.5954963904790875, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425057343598e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3662470018532431, + -0.001877283860709838, + 1.04524671010253 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35598056427235814, + 0.021781400546314493, + 1.04524671010253 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3611137830628006, + 0.009952058342802328, + 1.04524671010253 + ], + "valid_pour_held_grasp_object_position": [ + 0.3662470018532431, + 0.021781400546314493, + 1.04524671010253 + ], + "valid_pour_held_grasp_finger_gap": 0.025790174262175572, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023981166687318187, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03377537399574242, + -0.9989741403965272, + 0.03016439839392348 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005541162483144886, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0380764194953343, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3662470018532431, + -0.001877283860709838, + 1.04524671010253 + ], + "held_grasp_finger_b": [ + 0.35598056427235814, + 0.021781400546314493, + 1.04524671010253 + ], + "held_grasp_midpoint": [ + 0.3611137830628006, + 0.009952058342802328, + 1.04524671010253 + ], + "held_grasp_object_position": [ + 0.3662470018532431, + 0.021781400546314493, + 1.04524671010253 + ], + "held_grasp_finger_gap": 0.025790174262175572, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023981166687318187, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03377537399574242, + -0.9989741403965272, + 0.03016439839392348 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005541162483144886, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0380764194953343, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2636543623720776, + -0.04261290877322016, + 0.7611064567959884 + ], + "target_position": [ + 0.28185651998892186, + -0.06530347940159191, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02908918247991111, + "xy_threshold": 0.08, + "gripper_dist": 0.20598932950588555, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064567959884, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08441674039469066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09202716708182283, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18415712881139168, + "release_required_pad_clearance": 0.05601358354091142, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.268314502363627, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7fb820437c299f668c19900684b823c49a8d63e29bd869cc754fa8eb4cb11cf6", + "visual_seed": 6837489994659932289, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6aba28a16b6c6368796b69c56d22b907956582 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_32_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30061045221756283, + -0.06600218837686549, + 1.0007122122622936 + ], + "current_z": 1.0007122122622936, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.13960576385217227, + "gripper_z": 1.002668926713683, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29672055538605335, + -0.070227204882044, + 1.002668926713683 + ], + "object_minus_gripper": [ + 0.003889896831509476, + 0.004225016505178508, + -0.001956714451389452 + ], + "object_to_gripper_xy": 0.005743001116909023, + "object_to_gripper_z": -0.001956714451389452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30061045221756283, + -0.0895488188001028, + 1.0007122122622936 + ], + "finger_b": [ + 0.28968066692813704, + -0.06600218837686549, + 1.0007122122622936 + ], + "finger_midpoint": [ + 0.29514555957284994, + -0.07777550358848415, + 1.0007122122622936 + ], + "object_minus_finger_midpoint": [ + 0.005464892644712893, + 0.01177331521161866, + 0.0 + ], + "finger_gap": 0.02595966122200892, + "fingertip_max_gap": 0.09301085747705548, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297983061100446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0007122122622936, + "object_top_z": 1.0507163999715856, + "finger_top_clearance": 0.05000418770929205, + "fingertip_min_top_clearance": 0.01500125631278763, + "object_projection_between_fingers": 0.8227340918509076, + "object_to_finger_line_xy": 0.00991382794307241, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900542873852774, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6949063672741778, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3617338649040881, + 0.04971634489171959, + 0.7701463301919671 + ], + "gripper_position": [ + 0.35914374214505573, + 0.014848279530515235, + 1.0477653711843362 + ], + "target_minus_gripper": [ + 0.002590122759032365, + 0.034868065361204355, + -0.2776190409923691 + ], + "held_position": [ + 0.36317464398703736, + 0.01888271401752009, + 1.0457184156840464 + ], + "held_minus_target": [ + 0.0014407790829492617, + -0.0308336308741995, + 0.27557208549207934 + ], + "held_minus_gripper": [ + 0.004030901841981627, + 0.0040344344870048565, + -0.002046955500289771 + ], + "xy_dist": 0.034964134737471717, + "held_xy_dist": 0.030867274535537673, + "held_gripper_dist": 0.006059278679000625, + "max_held_gripper_dist": 0.006157216188168354, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0457184156840464, + "required_height": 0.8001463301919671, + "gripper_z": 1.0477653711843362, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.61060975691741, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1996354919537904, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.494494316920787, + "max_source_tilt_deg": 89.86035467606361, + "source_upright_tilt_deg": 1.949805848238625, + "max_source_upright_tilt_deg": 89.73672134741093, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.494494316920787, + "source_upright_return_tilt_deg": 1.949805848238625, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3617, + 0.0497, + 0.7701 + ], + "controller_target_position": [ + 0.3617, + 0.0497, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0014, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3627, + 0.0231, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009499745733279157, + -0.0013730088860441562, + 0.0012441020961401735 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9498079785293319, + "source_return_step_error_deg": 2.494446578212104, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4846159866686146, + "source_return_best_wrist_position": -1.6124347448349, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124347448349 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3617, + 0.0497, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3617, + 0.0497, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0014, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3627, + 0.0231, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009499745733279157, + -0.0013730088860441562, + 0.0012441020961401735 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9498079785293319, + "pour_controller_source_return_step_error_deg": 2.494446578212104, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4846159866686146, + "pour_controller_source_return_best_wrist_position": -1.6124347448349, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124347448349, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034964134737471717, + "valid_pour_held_xy_dist": 0.030867274535537673, + "valid_pour_held_gripper_dist": 0.006059278679000625, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0457184156840464, + "valid_pour_source_tilt_deg": 2.494494316920787, + "valid_pour_source_upright_tilt_deg": 1.949805848238625, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36317464398703736, + -0.004712574755337842, + 1.0457184156840464 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3530404665067377, + 0.01888271401752009, + 1.0457184156840464 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35810755524688753, + 0.007085069631091125, + 1.0457184156840464 + ], + "valid_pour_held_grasp_object_position": [ + 0.36317464398703736, + 0.01888271401752009, + 1.0457184156840464 + ], + "valid_pour_held_grasp_finger_gap": 0.025679548389268225, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023753924202091495, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017001528506327114, + -0.9994210251793296, + 0.02947138371278668 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005278314570791788, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03801558447636881, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36317464398703736, + -0.004712574755337842, + 1.0457184156840464 + ], + "held_grasp_finger_b": [ + 0.3530404665067377, + 0.01888271401752009, + 1.0457184156840464 + ], + "held_grasp_midpoint": [ + 0.35810755524688753, + 0.007085069631091125, + 1.0457184156840464 + ], + "held_grasp_object_position": [ + 0.36317464398703736, + 0.01888271401752009, + 1.0457184156840464 + ], + "held_grasp_finger_gap": 0.025679548389268225, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023753924202091495, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017001528506327114, + -0.9994210251793296, + 0.02947138371278668 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005278314570791788, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03801558447636881, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27898104416518593, + -0.06516045281138404, + 0.7611063840644016 + ], + "target_position": [ + 0.27747553263060737, + -0.06792864286750583, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0031511015800130384, + "xy_threshold": 0.08, + "gripper_dist": 0.2144793459853692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063840644016, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588143986451273, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863892747157567, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18519652874997128, + "release_required_pad_clearance": 0.053194637357878355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4121965305074682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa0322a2faed94061e9ba8bc6e8d6f3c129a3317d5e88b879137b7f15eb55527", + "visual_seed": 5689801036908331840, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db72f94893b5175d3b137e03d7b70e6b5c6b0e5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_33_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2968362909337837, + -0.05931441475216252, + 1.0005714515634883 + ], + "current_z": 1.0005714515634883, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13946500315336707, + "gripper_z": 1.0026498182697503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.292672339747086, + -0.06352111508979466, + 1.0026498182697503 + ], + "object_minus_gripper": [ + 0.004163951186697712, + 0.004206700337632138, + -0.002078366706262047 + ], + "object_to_gripper_xy": 0.005919021643467409, + "object_to_gripper_z": -0.002078366706262047, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2968362909337837, + -0.08345217979843744, + 1.0005714515634883 + ], + "finger_b": [ + 0.28644285230860456, + -0.05931441475216252, + 1.0005714515634883 + ], + "finger_midpoint": [ + 0.29163957162119414, + -0.07138329727529999, + 1.0005714515634883 + ], + "object_minus_finger_midpoint": [ + 0.005196719312589582, + 0.012068882523137467, + 0.0 + ], + "finger_gap": 0.026280320924306412, + "fingertip_max_gap": 0.09332456285032217, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140160462153213, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0005714515634883, + "object_top_z": 1.0507133909150257, + "finger_top_clearance": 0.050141939351537435, + "fingertip_min_top_clearance": 0.015042581805461246, + "object_projection_between_fingers": 0.843592640962198, + "object_to_finger_line_xy": 0.009546092693465652, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916228142516109, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8018892572113727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3667828849560444, + 0.04914978784196831, + 0.7701465090059012 + ], + "gripper_position": [ + 0.36262403819272254, + 0.017234350856283207, + 1.046349124945035 + ], + "target_minus_gripper": [ + 0.004158846763321844, + 0.0319154369856851, + -0.27620261593913376 + ], + "held_position": [ + 0.36671189623978595, + 0.021462011193855074, + 1.0441827933757264 + ], + "held_minus_target": [ + -7.09887162584355e-05, + -0.027687776648113234, + 0.2740362843698252 + ], + "held_minus_gripper": [ + 0.0040878580470634085, + 0.004227660337571867, + -0.002166331569308566 + ], + "xy_dist": 0.03218526253408583, + "held_xy_dist": 0.027687867651981446, + "held_gripper_dist": 0.00626711160033091, + "max_held_gripper_dist": 0.006366794061579957, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0441827933757264, + "required_height": 0.8001465090059012, + "gripper_z": 1.046349124945035, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.19903621791079, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.380185216319463, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8790623070907495, + "max_source_tilt_deg": 89.81968253856898, + "source_upright_tilt_deg": 4.439846202160581, + "max_source_upright_tilt_deg": 89.90761856201145, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8790623070907495, + "source_upright_return_tilt_deg": 4.439846202160581, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.195638656616211e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3668, + 0.0491, + 0.7701 + ], + "controller_target_position": [ + 0.3668, + 0.0491, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0011, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3668, + 0.0251, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 6.356866219872376e-05, + 0.0011489694430759285, + -0.000388807554810624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.439840087411773, + "source_return_step_error_deg": 2.8790432325994937, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.439118082201376, + "source_return_best_wrist_position": -1.614150881767273, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.614150881767273 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3668, + 0.0491, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3668, + 0.0491, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0011, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3668, + 0.0251, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 6.356866219872376e-05, + 0.0011489694430759285, + -0.000388807554810624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.439840087411773, + "pour_controller_source_return_step_error_deg": 2.8790432325994937, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.439118082201376, + "pour_controller_source_return_best_wrist_position": -1.614150881767273, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.614150881767273, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03218526253408583, + "valid_pour_held_xy_dist": 0.027687867651981446, + "valid_pour_held_gripper_dist": 0.00626711160033091, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0441827933757264, + "valid_pour_source_tilt_deg": 2.8790623070907495, + "valid_pour_source_upright_tilt_deg": 4.439846202160581, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.195638656616211e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36671189623978595, + -0.001814325993092824, + 1.0441827933757264 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35587208109364826, + 0.021462011193855074, + 1.0441827933757264 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3612919886667171, + 0.009823842600381124, + 1.0441827933757264 + ], + "valid_pour_held_grasp_object_position": [ + 0.36671189623978595, + 0.021462011193855074, + 1.0441827933757264 + ], + "valid_pour_held_grasp_finger_gap": 0.025676632669470692, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023986358346474005, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07194491822549699, + -0.9969991646803672, + 0.028576115344403845 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006251724165818207, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038506940511126436, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36671189623978595, + -0.001814325993092824, + 1.0441827933757264 + ], + "held_grasp_finger_b": [ + 0.35587208109364826, + 0.021462011193855074, + 1.0441827933757264 + ], + "held_grasp_midpoint": [ + 0.3612919886667171, + 0.009823842600381124, + 1.0441827933757264 + ], + "held_grasp_object_position": [ + 0.36671189623978595, + 0.021462011193855074, + 1.0441827933757264 + ], + "held_grasp_finger_gap": 0.025676632669470692, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023986358346474005, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07194491822549699, + -0.9969991646803672, + 0.028576115344403845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006251724165818207, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038506940511126436, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27287719641300967, + -0.062173426154626205, + 0.7611094285490765 + ], + "target_position": [ + 0.27346811512285146, + -0.06108744520632707, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0012363411914636567, + "xy_threshold": 0.08, + "gripper_dist": 0.21399325420107854, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094285490765, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530322802904982, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09403342520640941, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18530357462652022, + "release_required_pad_clearance": 0.057016712603204706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.549497322156093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1376c3fbbdcdb161f762661bda7d33200e554e7d9156e041df308d7dd91ca2b", + "visual_seed": 8636036702189693276, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7379cb55a16efcd63fa59713035cfef4932f3d2d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_34_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3033559933738972, + -0.06375046883407849, + 1.0015812900998213 + ], + "current_z": 1.0015812900998213, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.1404749012943448, + "gripper_z": 1.0031147447391655, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2992443073553444, + -0.06793110666602119, + 1.0031147447391655 + ], + "object_minus_gripper": [ + 0.004111686018552774, + 0.004180637831942696, + -0.0015334546393441784 + ], + "object_to_gripper_xy": 0.005863761130625368, + "object_to_gripper_z": -0.0015334546393441784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3033559933738972, + -0.08777089999390984, + 1.0015812900998213 + ], + "finger_b": [ + 0.29284810184599835, + -0.06375046883407849, + 1.0015812900998213 + ], + "finger_midpoint": [ + 0.29810204760994774, + -0.07576068441399417, + 1.0015812900998213 + ], + "object_minus_finger_midpoint": [ + 0.005253945763949441, + 0.012010215579915676, + 0.0 + ], + "finger_gap": 0.02621825504236094, + "fingertip_max_gap": 0.09318370851022664, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01310912752118048, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0015812900998213, + "object_top_z": 1.0516453849624763, + "finger_top_clearance": 0.05006409486265495, + "fingertip_min_top_clearance": 0.015019228458796484, + "object_projection_between_fingers": 0.8393711336651712, + "object_to_finger_line_xy": 0.009627035997363607, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049091854255113324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5714284695871314, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3687389901882832, + 0.04405921962731339, + 0.7701464494012562 + ], + "gripper_position": [ + 0.3668502712724654, + 0.009470153054851119, + 1.0482112816956333 + ], + "target_minus_gripper": [ + 0.001888718915817822, + 0.034589066572462274, + -0.27806483229437706 + ], + "held_position": [ + 0.37101351716024755, + 0.013562920721165075, + 1.0465959181041191 + ], + "held_minus_target": [ + 0.0022745269719643413, + -0.030496298906148318, + 0.2764494687028629 + ], + "held_minus_gripper": [ + 0.004163245887782163, + 0.004092767666313956, + -0.0016153635915141518 + ], + "xy_dist": 0.034640594473784585, + "held_xy_dist": 0.030581002598334416, + "held_gripper_dist": 0.00605745516082039, + "max_held_gripper_dist": 0.006110468037330507, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012562, + "held_z": 1.0465959181041191, + "required_height": 0.8001464494012562, + "gripper_z": 1.0482112816956333, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.03634111188109, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8784921030190544, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9754051250044655, + "max_source_tilt_deg": 89.7182920499365, + "source_upright_tilt_deg": 2.7854307330520034, + "max_source_upright_tilt_deg": 89.76777708864701, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9754051250044655, + "source_upright_return_tilt_deg": 2.7854307330520034, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0719530773294423e-08, + "max_target_xy_drift": 8.170199468531202e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3687, + 0.0441, + 0.7701 + ], + "controller_target_position": [ + 0.3687, + 0.0441, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0007, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3705, + 0.0181, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017160648147471528, + -0.000735295537689244, + 0.0017968533242278335 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7851715465127116, + "source_return_step_error_deg": 1.975209523106492, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.789754054381073, + "source_return_best_wrist_position": -1.6088204383850098, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6088204383850098 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3687, + 0.0441, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3687, + 0.0441, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0007, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3705, + 0.0181, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017160648147471528, + -0.000735295537689244, + 0.0017968533242278335 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7851715465127116, + "pour_controller_source_return_step_error_deg": 1.975209523106492, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.789754054381073, + "pour_controller_source_return_best_wrist_position": -1.6088204383850098, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6088204383850098, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034640594473784585, + "valid_pour_held_xy_dist": 0.030581002598334416, + "valid_pour_held_gripper_dist": 0.00605745516082039, + "valid_pour_required_height": 0.8001464494012562, + "valid_pour_held_z": 1.0465959181041191, + "valid_pour_source_tilt_deg": 1.9754051250044655, + "valid_pour_source_upright_tilt_deg": 2.7854307330520034, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0719530773294423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37101351716024755, + -0.010210825232771979, + 1.0465959181041191 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3607963028809857, + 0.013562920721165075, + 1.0465959181041191 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36590491002061665, + 0.001676047744196548, + 1.0465959181041191 + ], + "valid_pour_held_grasp_object_position": [ + 0.37101351716024755, + 0.013562920721165075, + 1.0465959181041191 + ], + "valid_pour_held_grasp_finger_gap": 0.025876291548649143, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02411113808016154, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03577099933589537, + -0.9988185354117896, + 0.03289329603975888 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005544135054179632, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03803016099521247, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37101351716024755, + -0.010210825232771979, + 1.0465959181041191 + ], + "held_grasp_finger_b": [ + 0.3607963028809857, + 0.013562920721165075, + 1.0465959181041191 + ], + "held_grasp_midpoint": [ + 0.36590491002061665, + 0.001676047744196548, + 1.0465959181041191 + ], + "held_grasp_object_position": [ + 0.37101351716024755, + 0.013562920721165075, + 1.0465959181041191 + ], + "held_grasp_finger_gap": 0.025876291548649143, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02411113808016154, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03577099933589537, + -0.9988185354117896, + 0.03289329603975888 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005544135054179632, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03803016099521247, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.281618083620734, + -0.060632626264184135, + 0.7611074957482584 + ], + "target_position": [ + 0.27976304552074044, + -0.06589533550968707, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005580078400446514, + "xy_threshold": 0.08, + "gripper_dist": 0.2174880617604235, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074957482584, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583350610154016, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09009214918378734, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886075124909234, + "release_required_pad_clearance": 0.05504607459189367, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.171014315930976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8499f313f17c740250c61f098e6997c49a5e6396867485ea128651b52783acaf", + "visual_seed": 1053055974276154318, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68f0bdc710a0ac16f834545a5ee8a6e12daf90c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_35_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29911108104904377, + -0.06789813873214058, + 1.0027401510837923 + ], + "current_z": 1.0027401510837923, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14163370267367104, + "gripper_z": 1.0049851687792462, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29495778325969946, + -0.07214274467352735, + 1.0049851687792462 + ], + "object_minus_gripper": [ + 0.004153297789344312, + 0.004244605941386773, + -0.0022450176954538215 + ], + "object_to_gripper_xy": 0.005938565662230926, + "object_to_gripper_z": -0.0022450176954538215, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29911108104904377, + -0.09188466428836445, + 1.0027401510837923 + ], + "finger_b": [ + 0.2884738797018816, + -0.06789813873214058, + 1.0027401510837923 + ], + "finger_midpoint": [ + 0.2937924803754627, + -0.07989140151025251, + 1.0027401510837923 + ], + "object_minus_finger_midpoint": [ + 0.0053186006735810865, + 0.011993262778111927, + 0.0 + ], + "finger_gap": 0.02623934947287088, + "fingertip_max_gap": 0.09305282412214297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119674736435435, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027401510837923, + "object_top_z": 1.0528223609143637, + "finger_top_clearance": 0.05008220983057132, + "fingertip_min_top_clearance": 0.01502466294917143, + "object_projection_between_fingers": 0.8356579756690559, + "object_to_finger_line_xy": 0.009723926358167004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049026412061071487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5355532716511564, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3695258311039631, + 0.04912021276228883, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36506385011762077, + 0.0169326258527929, + 1.0453933736839134 + ], + "target_minus_gripper": [ + 0.004461980986342318, + 0.032187586909495934, + -0.27524698388730173 + ], + "held_position": [ + 0.3691862254636789, + 0.021149400991957786, + 1.0430614522684953 + ], + "held_minus_target": [ + -0.0003396056402841796, + -0.027970811770331047, + 0.2729150624718837 + ], + "held_minus_gripper": [ + 0.004122375346058138, + 0.004216775139164887, + -0.002331921415418048 + ], + "xy_dist": 0.032495384678117516, + "held_xy_dist": 0.027972873343333943, + "held_gripper_dist": 0.006341374342818149, + "max_held_gripper_dist": 0.00645944432461281, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0430614522684953, + "required_height": 0.8001463897966117, + "gripper_z": 1.0453933736839134, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.4005882701287, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0665517446277093, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.539888392569897, + "max_source_tilt_deg": 89.97902771435635, + "source_upright_tilt_deg": 3.6757014544458606, + "max_source_upright_tilt_deg": 89.7000545358071, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.539888392569897, + "source_upright_return_tilt_deg": 3.6757014544458606, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696717696373e-08, + "max_target_xy_drift": 2.0336127376491101e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3695, + 0.0491, + 0.7701 + ], + "controller_target_position": [ + 0.3695, + 0.0491, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0014, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3686, + 0.0253, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009409431467708523, + 0.0013568640512883318, + -0.0009409382754425799 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.6756912226840917, + "source_return_step_error_deg": 2.5398717479187676, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6863992564230394, + "source_return_best_wrist_position": -1.6130095720291138, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6130095720291138 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3695, + 0.0491, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3695, + 0.0491, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0014, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3686, + 0.0253, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009409431467708523, + 0.0013568640512883318, + -0.0009409382754425799 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.6756912226840917, + "pour_controller_source_return_step_error_deg": 2.5398717479187676, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6863992564230394, + "pour_controller_source_return_best_wrist_position": -1.6130095720291138, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6130095720291138, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032495384678117516, + "valid_pour_held_xy_dist": 0.027972873343333943, + "valid_pour_held_gripper_dist": 0.006341374342818149, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0430614522684953, + "valid_pour_source_tilt_deg": 2.539888392569897, + "valid_pour_source_upright_tilt_deg": 3.6757014544458606, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696717696373e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3691862254636789, + -0.0021543139090146796, + 1.0430614522684953 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35834519576409923, + 0.021149400991957786, + 1.0430614522684953 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36376571061388907, + 0.009497543541471552, + 1.0430614522684953 + ], + "valid_pour_held_grasp_object_position": [ + 0.3691862254636789, + 0.021149400991957786, + 1.0430614522684953 + ], + "valid_pour_held_grasp_finger_gap": 0.025701965939067282, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023872606872306378, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05689772741912078, + -0.9979429038821032, + 0.029539959476867488 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006084183046446332, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03840077658673115, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3691862254636789, + -0.0021543139090146796, + 1.0430614522684953 + ], + "held_grasp_finger_b": [ + 0.35834519576409923, + 0.021149400991957786, + 1.0430614522684953 + ], + "held_grasp_midpoint": [ + 0.36376571061388907, + 0.009497543541471552, + 1.0430614522684953 + ], + "held_grasp_object_position": [ + 0.3691862254636789, + 0.021149400991957786, + 1.0430614522684953 + ], + "held_grasp_finger_gap": 0.025701965939067282, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023872606872306378, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05689772741912078, + -0.9979429038821032, + 0.029539959476867488 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006084183046446332, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03840077658673115, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28213371935699133, + -0.07305303077283697, + 0.7611143350870676 + ], + "target_position": [ + 0.2757565895591734, + -0.07018015755986101, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006994368088401683, + "xy_threshold": 0.08, + "gripper_dist": 0.21993306099826337, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611143350870676, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546365566418178, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854475611064875, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18999434262693798, + "release_required_pad_clearance": 0.052723780553243754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49730559745485975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "73115d97fa03ff5b919175cd2036d707648afb6f30b18043690a4208a3edd191", + "visual_seed": 6537575305534922706, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..571c7dc0ec4b80f2dfb889a986e4afa57f369222 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_36_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3002015168971709, + -0.06399317816833715, + 1.0014474624518366 + ], + "current_z": 1.0014474624518366, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1403410140417154, + "gripper_z": 1.0035599320163393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29617415660463664, + -0.06827482816134174, + 1.0035599320163393 + ], + "object_minus_gripper": [ + 0.004027360292534254, + 0.004281649993004594, + -0.002112469564502728 + ], + "object_to_gripper_xy": 0.005878108334190332, + "object_to_gripper_z": -0.002112469564502728, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3002015168971709, + -0.08767163364503414, + 1.0014474624518366 + ], + "finger_b": [ + 0.2892285256768489, + -0.06399317816833715, + 1.0014474624518366 + ], + "finger_midpoint": [ + 0.2947150212870099, + -0.07583240590668563, + 1.0014474624518366 + ], + "object_minus_finger_midpoint": [ + 0.005486495610161013, + 0.011839227738348487, + 0.0 + ], + "finger_gap": 0.026097428802148014, + "fingertip_max_gap": 0.09301027367507556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048714401074012, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014474624518366, + "object_top_z": 1.051458864647396, + "finger_top_clearance": 0.05001140219555933, + "fingertip_min_top_clearance": 0.015003420658667797, + "object_projection_between_fingers": 0.8232112518541336, + "object_to_finger_line_xy": 0.009955903549977108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900513683753778, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.664117321948602, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36196972048346443, + 0.04347371575110413, + 0.7701463301919669 + ], + "gripper_position": [ + 0.35843275888687337, + 0.011292806767012942, + 1.0474265292720821 + ], + "target_minus_gripper": [ + 0.0035369615965910595, + 0.03218090898409119, + -0.27728019908011525 + ], + "held_position": [ + 0.3625035058546076, + 0.01547691694095273, + 1.0452265955169757 + ], + "held_minus_target": [ + 0.0005337853711431806, + -0.027996798810151404, + 0.27508026532500884 + ], + "held_minus_gripper": [ + 0.00407074696773424, + 0.0041841101739397875, + -0.002199933755106409 + ], + "xy_dist": 0.03237469691561793, + "held_xy_dist": 0.028001886908537815, + "held_gripper_dist": 0.006238386598299318, + "max_held_gripper_dist": 0.006349154727348556, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0452265955169757, + "required_height": 0.8001463301919669, + "gripper_z": 1.0474265292720821, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.52250031662426, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.162157834930798, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2108836719465907, + "max_source_tilt_deg": 89.63645776171424, + "source_upright_tilt_deg": 2.898652903478027, + "max_source_upright_tilt_deg": 89.8672962291119, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2108836719465907, + "source_upright_return_tilt_deg": 2.898652903478027, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 1.6597412086982625e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.362, + 0.0435, + 0.7701 + ], + "controller_target_position": [ + 0.362, + 0.0435, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0014, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3617, + 0.0197, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002956785381031514, + 0.0014463255576823222, + 0.0010400776387340213 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8986573030792195, + "source_return_step_error_deg": 2.210900186586321, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.901892901485278, + "source_return_best_wrist_position": -1.6129279136657715, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129279136657715 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.362, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.362, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0014, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3617, + 0.0197, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002956785381031514, + 0.0014463255576823222, + 0.0010400776387340213 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8986573030792195, + "pour_controller_source_return_step_error_deg": 2.210900186586321, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.901892901485278, + "pour_controller_source_return_best_wrist_position": -1.6129279136657715, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129279136657715, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03237469691561793, + "valid_pour_held_xy_dist": 0.028001886908537815, + "valid_pour_held_gripper_dist": 0.006238386598299318, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0452265955169757, + "valid_pour_source_tilt_deg": 2.2108836719465907, + "valid_pour_source_upright_tilt_deg": 2.898652903478027, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3625035058546076, + -0.007833102272484786, + 1.0452265955169757 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35175232385377025, + 0.01547691694095273, + 1.0452265955169757 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35712791485418893, + 0.0038219073342339715, + 1.0452265955169757 + ], + "valid_pour_held_grasp_object_position": [ + 0.3625035058546076, + 0.01547691694095273, + 1.0452265955169757 + ], + "valid_pour_held_grasp_finger_gap": 0.025669922285545693, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023722124458129785, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.041105168670045156, + -0.9987205542568875, + 0.029455383437035576 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005860002324977685, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03830111699057694, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3625035058546076, + -0.007833102272484786, + 1.0452265955169757 + ], + "held_grasp_finger_b": [ + 0.35175232385377025, + 0.01547691694095273, + 1.0452265955169757 + ], + "held_grasp_midpoint": [ + 0.35712791485418893, + 0.0038219073342339715, + 1.0452265955169757 + ], + "held_grasp_object_position": [ + 0.3625035058546076, + 0.01547691694095273, + 1.0452265955169757 + ], + "held_grasp_finger_gap": 0.025669922285545693, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023722124458129785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.041105168670045156, + -0.9987205542568875, + 0.029455383437035576 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005860002324977685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03830111699057694, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29162892627584674, + -0.061852752294565695, + 0.7611064150339616 + ], + "target_position": [ + 0.27692286425741947, + -0.06539340805827423, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015126285179346314, + "xy_threshold": 0.08, + "gripper_dist": 0.22532834434627427, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064150339616, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542438214772618, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496543319268655, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1958440887823529, + "release_required_pad_clearance": 0.05248271659634328, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956461678352076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "925efda219a3ad9e79d134b5f6b48a056a294d63dc3058adaceef20948d94119", + "visual_seed": 3032446284549756678, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d14ee85bdd8f2ad009e72db25f4718779f0e92c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_38_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3038323936208331, + -0.060739348821969935, + 1.001109279958829 + ], + "current_z": 1.001109279958829, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14000277194406308, + "gripper_z": 1.0027439427428237, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29967381478052024, + -0.06500595209070148, + 1.0027439427428237 + ], + "object_minus_gripper": [ + 0.004158578840312843, + 0.004266603268731545, + -0.0016346627839947114 + ], + "object_to_gripper_xy": 0.00595799307014102, + "object_to_gripper_z": -0.0016346627839947114, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3038323936208331, + -0.08469256200079395, + 1.001109279958829 + ], + "finger_b": [ + 0.29307793127987797, + -0.060739348821969935, + 1.001109279958829 + ], + "finger_midpoint": [ + 0.2984551624503555, + -0.07271595541138194, + 1.001109279958829 + ], + "object_minus_finger_midpoint": [ + 0.005377231170477559, + 0.011976606589412006, + 0.0 + ], + "finger_gap": 0.02625671117701549, + "fingertip_max_gap": 0.09293921775037942, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128355588507746, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001109279958829, + "object_top_z": 1.051053953593137, + "finger_top_clearance": 0.04994467363430788, + "fingertip_min_top_clearance": 0.01498340209029238, + "object_projection_between_fingers": 0.8322367803615197, + "object_to_finger_line_xy": 0.009810974700518992, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896960887518971, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.475462753306319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36951510226790363, + 0.04862600085013368, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3673471317189593, + 0.015077208912378556, + 1.0454533541317883 + ], + "target_minus_gripper": [ + 0.0021679705489443535, + 0.033548791937755125, + -0.27530696433517676 + ], + "held_position": [ + 0.37161877367653323, + 0.019187646176563832, + 1.0437328221457447 + ], + "held_minus_target": [ + 0.0021036714086296038, + -0.02943835467356985, + 0.27358643234913316 + ], + "held_minus_gripper": [ + 0.004271641957573957, + 0.004110437264185276, + -0.0017205319860436052 + ], + "xy_dist": 0.03361876762738148, + "held_xy_dist": 0.029513423374498214, + "held_gripper_dist": 0.006172750588798187, + "max_held_gripper_dist": 0.006236915503424233, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0437328221457447, + "required_height": 0.8001463897966116, + "gripper_z": 1.0454533541317883, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.08036168108183, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8365937617685817, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1356308195451477, + "max_source_tilt_deg": 89.70545319501716, + "source_upright_tilt_deg": 2.1298216232614484, + "max_source_upright_tilt_deg": 89.78745848776377, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1356308195451477, + "source_upright_return_tilt_deg": 2.1298216232614484, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4466410753969035e-07, + "max_target_xy_drift": 2.4937194544181194e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3695, + 0.0486, + 0.7701 + ], + "controller_target_position": [ + 0.3695, + 0.0486, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0003, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3709, + 0.0237, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013796587489641465, + 0.00029472199804649393, + -0.001034222803185195 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.129826958988952, + "source_return_step_error_deg": 2.13562557656525, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1389350090209844, + "source_return_best_wrist_position": -1.6094226837158203, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094226837158203 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3695, + 0.0486, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3695, + 0.0486, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0003, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3709, + 0.0237, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013796587489641465, + 0.00029472199804649393, + -0.001034222803185195 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.129826958988952, + "pour_controller_source_return_step_error_deg": 2.13562557656525, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1389350090209844, + "pour_controller_source_return_best_wrist_position": -1.6094226837158203, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094226837158203, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03361876762738148, + "valid_pour_held_xy_dist": 0.029513423374498214, + "valid_pour_held_gripper_dist": 0.006172750588798187, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0437328221457447, + "valid_pour_source_tilt_deg": 2.1356308195451477, + "valid_pour_source_upright_tilt_deg": 2.1298216232614484, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4466410753969035e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37161877367653323, + -0.0047450198306164095, + 1.0437328221457447 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36150574354502146, + 0.019187646176563832, + 1.0437328221457447 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36656225861077735, + 0.007221313172973712, + 1.0437328221457447 + ], + "valid_pour_held_grasp_object_position": [ + 0.37161877367653323, + 0.019187646176563832, + 1.0437328221457447 + ], + "valid_pour_held_grasp_finger_gap": 0.025981645072090904, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024111166878784434, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01928538625483495, + -0.9993091943587131, + 0.031768033416341816 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005299889608247595, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037859700322995835, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37161877367653323, + -0.0047450198306164095, + 1.0437328221457447 + ], + "held_grasp_finger_b": [ + 0.36150574354502146, + 0.019187646176563832, + 1.0437328221457447 + ], + "held_grasp_midpoint": [ + 0.36656225861077735, + 0.007221313172973712, + 1.0437328221457447 + ], + "held_grasp_object_position": [ + 0.37161877367653323, + 0.019187646176563832, + 1.0437328221457447 + ], + "held_grasp_finger_gap": 0.025981645072090904, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024111166878784434, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01928538625483495, + -0.9993091943587131, + 0.031768033416341816 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005299889608247595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037859700322995835, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2836509304281399, + -0.05973544105540421, + 0.7611064453104636 + ], + "target_position": [ + 0.2802675781251443, + -0.06275120939909817, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004532320764135315, + "xy_threshold": 0.08, + "gripper_dist": 0.21702417759160833, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064453104636, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590060242048079, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864852629638153, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18738683989922303, + "release_required_pad_clearance": 0.05324263148190765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5060694406637183, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48baf76325fedecf6fac2eba59c81c7fdb934168eb3e48187e916936d3904a65", + "visual_seed": 8233403256516531788, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2913c597a132989510e15285a5abb4ddb000d591 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_39_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30340494349214775, + -0.061722622811737585, + 1.0024937865679255 + ], + "current_z": 1.0024937865679255, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14138733815780424, + "gripper_z": 1.0045428317524194, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29929161107270497, + -0.06590490154833216, + 1.0045428317524194 + ], + "object_minus_gripper": [ + 0.004113332419442783, + 0.004182278736594575, + -0.0020490451844938917 + ], + "object_to_gripper_xy": 0.005866085494042014, + "object_to_gripper_z": -0.0020490451844938917, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30340494349214775, + -0.08574197222591019, + 1.0024937865679255 + ], + "finger_b": [ + 0.2929106564316745, + -0.061722622811737585, + 1.0024937865679255 + ], + "finger_midpoint": [ + 0.29815779996191116, + -0.07373229751882389, + 1.0024937865679255 + ], + "object_minus_finger_midpoint": [ + 0.0052471435302365865, + 0.012009674707086304, + 0.0 + ], + "finger_gap": 0.026211814267381985, + "fingertip_max_gap": 0.0930911523535953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013105907133690982, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024937865679255, + "object_top_z": 1.0523768904511392, + "finger_top_clearance": 0.04988310388321371, + "fingertip_min_top_clearance": 0.014964931164964113, + "object_projection_between_fingers": 0.8397080488035374, + "object_to_finger_line_xy": 0.009616501367927351, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904557617679765, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.70087131356604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3696408680683797, + 0.04347735908501603, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36542592334047247, + 0.011024433705758577, + 1.045451992821678 + ], + "target_minus_gripper": [ + 0.004214944727907233, + 0.03245292537925745, + -0.27530560302506624 + ], + "held_position": [ + 0.36962138394243804, + 0.015071998112372732, + 1.0433191363524197 + ], + "held_minus_target": [ + -1.9484125941660047e-05, + -0.028405360972643297, + 0.27317274655580803 + ], + "held_minus_gripper": [ + 0.004195460601965573, + 0.0040475644066141556, + -0.002132856469258204 + ], + "xy_dist": 0.03272549655438349, + "held_xy_dist": 0.02840536765502835, + "held_gripper_dist": 0.006207555396997412, + "max_held_gripper_dist": 0.006307707973315838, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0433191363524197, + "required_height": 0.8001463897966117, + "gripper_z": 1.045451992821678, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.05506949058527, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.128488618666484, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1169036381005504, + "max_source_tilt_deg": 89.90164106726283, + "source_upright_tilt_deg": 2.5888133448678925, + "max_source_upright_tilt_deg": 89.90894158037003, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1169036381005504, + "source_upright_return_tilt_deg": 2.5888133448678925, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.5809457878711033e-07, + "max_target_xy_drift": 2.2354845983799543e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3696, + 0.0435, + 0.7701 + ], + "controller_target_position": [ + 0.3696, + 0.0435, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0012, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.369, + 0.0194, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006221150128259264, + 0.0011697394226942042, + -0.0011524798023707134 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5888133448680337, + "source_return_step_error_deg": 2.1169036381005504, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5941858161046776, + "source_return_best_wrist_position": -1.6109446287155151, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6109446287155151 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3696, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3696, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0012, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.369, + 0.0194, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006221150128259264, + 0.0011697394226942042, + -0.0011524798023707134 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5888133448680337, + "pour_controller_source_return_step_error_deg": 2.1169036381005504, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5941858161046776, + "pour_controller_source_return_best_wrist_position": -1.6109446287155151, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6109446287155151, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03272549655438349, + "valid_pour_held_xy_dist": 0.02840536765502835, + "valid_pour_held_gripper_dist": 0.006207555396997412, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0433191363524197, + "valid_pour_source_tilt_deg": 2.1169036381005504, + "valid_pour_source_upright_tilt_deg": 2.5888133448678925, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.5809457878711033e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36962138394243804, + -0.008753285874786307, + 1.0433191363524197 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3595804413137208, + 0.015071998112372732, + 1.0433191363524197 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3646009126280794, + 0.0031593561187932126, + 1.0433191363524197 + ], + "valid_pour_held_grasp_object_position": [ + 0.36962138394243804, + 0.015071998112372732, + 1.0433191363524197 + ], + "valid_pour_held_grasp_finger_gap": 0.02585468402324747, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024118917439033338, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03166526919136402, + -0.9989794161776968, + 0.03220926544189484 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005408615769708839, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037978740501851765, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36962138394243804, + -0.008753285874786307, + 1.0433191363524197 + ], + "held_grasp_finger_b": [ + 0.3595804413137208, + 0.015071998112372732, + 1.0433191363524197 + ], + "held_grasp_midpoint": [ + 0.3646009126280794, + 0.0031593561187932126, + 1.0433191363524197 + ], + "held_grasp_object_position": [ + 0.36962138394243804, + 0.015071998112372732, + 1.0433191363524197 + ], + "held_grasp_finger_gap": 0.02585468402324747, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024118917439033338, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03166526919136402, + -0.9989794161776968, + 0.03220926544189484 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005408615769708839, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037978740501851765, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28298251325122636, + -0.06443182081444881, + 0.7611063428442597 + ], + "target_position": [ + 0.2799791913189203, + -0.0649172079123452, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003042292435627275, + "xy_threshold": 0.08, + "gripper_dist": 0.21726108497949037, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063428442597, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547495540012424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683320783243935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1882391789047074, + "release_required_pad_clearance": 0.053416603916219677, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8477372556954983, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b07f74026905598c5c425f25708d1b52e7cff2ab5c9749c04f86947678cfa550", + "visual_seed": 7558666871144267748, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dffd90fc569c2fd4c0eda24386c0f4c4d952d7bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_3_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2991610425081539, + -0.05922009911744062, + 1.0022510029906004 + ], + "current_z": 1.0022510029906004, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1411444949758346, + "gripper_z": 1.0046456257402188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2948539738527144, + -0.06359168475546388, + 1.0046456257402188 + ], + "object_minus_gripper": [ + 0.0043070686554395055, + 0.0043715856380232634, + -0.0023946227496183248 + ], + "object_to_gripper_xy": 0.006136904870799345, + "object_to_gripper_z": -0.0023946227496183248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2991610425081539, + -0.0832251984878777, + 1.0022510029906004 + ], + "finger_b": [ + 0.288218960157497, + -0.05922009911744062, + 1.0022510029906004 + ], + "finger_midpoint": [ + 0.2936900013328254, + -0.07122264880265916, + 1.0022510029906004 + ], + "object_minus_finger_midpoint": [ + 0.005471041175328484, + 0.012002549685218543, + 0.0 + ], + "finger_gap": 0.02638131842712028, + "fingertip_max_gap": 0.09271264852818686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013190659213560156, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0022510029906004, + "object_top_z": 1.052267734739996, + "finger_top_clearance": 0.05001673174939558, + "fingertip_min_top_clearance": 0.01500501952481869, + "object_projection_between_fingers": 0.8279689001114916, + "object_to_finger_line_xy": 0.009956506717913007, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048856324264093434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.380821498113834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.368729364038152, + 0.043029836236171494, + 0.770146330191967 + ], + "gripper_position": [ + 0.36306849057693413, + 0.010027492417219105, + 1.0456634575482844 + ], + "target_minus_gripper": [ + 0.005660873461217852, + 0.03300234381895239, + -0.2755171273563174 + ], + "held_position": [ + 0.3674990033681745, + 0.01420867120435693, + 1.0431756070481328 + ], + "held_minus_target": [ + -0.0012303606699775038, + -0.028821165031814564, + 0.27302927685616585 + ], + "held_minus_gripper": [ + 0.004430512791240349, + 0.004181178787137824, + -0.002487850500151545 + ], + "xy_dist": 0.033484327466566585, + "held_xy_dist": 0.02884741480911796, + "held_gripper_dist": 0.006580357114508297, + "max_held_gripper_dist": 0.006706806137911566, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0431756070481328, + "required_height": 0.800146330191967, + "gripper_z": 1.0456634575482844, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28836826206539, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9098426409047442, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.319786301984426, + "max_source_tilt_deg": 89.79334376704391, + "source_upright_tilt_deg": 1.912639119779826, + "max_source_upright_tilt_deg": 89.89246588661042, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.319786301984426, + "source_upright_return_tilt_deg": 1.912639119779826, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.4102081381341592e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3687, + 0.043, + 0.7701 + ], + "controller_target_position": [ + 0.3687, + 0.043, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0002, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3669, + 0.018, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001854733611238446, + 0.00015104407823021172, + -0.001159904905038506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9126544823859821, + "source_return_step_error_deg": 2.3198010662397768, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.317470529657716, + "source_return_best_wrist_position": -1.6127792596817017, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127792596817017 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3687, + 0.043, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3687, + 0.043, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0002, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3669, + 0.018, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001854733611238446, + 0.00015104407823021172, + -0.001159904905038506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9126544823859821, + "pour_controller_source_return_step_error_deg": 2.3198010662397768, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.317470529657716, + "pour_controller_source_return_best_wrist_position": -1.6127792596817017, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127792596817017, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033484327466566585, + "valid_pour_held_xy_dist": 0.02884741480911796, + "valid_pour_held_gripper_dist": 0.006580357114508297, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0431756070481328, + "valid_pour_source_tilt_deg": 2.319786301984426, + "valid_pour_source_upright_tilt_deg": 1.912639119779826, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3674990033681745, + -0.009717945705166304, + 1.0431756070481328 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3572049885068378, + 0.01420867120435693, + 1.0431756070481328 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3623519959375061, + 0.002245362749595313, + 1.0431756070481328 + ], + "valid_pour_held_grasp_object_position": [ + 0.3674990033681745, + 0.01420867120435693, + 1.0431756070481328 + ], + "valid_pour_held_grasp_finger_gap": 0.026047067756285038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02409006659255832, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017173042095875644, + -0.9994428854039572, + 0.02861827109707648 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005362554214373519, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03785199632436521, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3674990033681745, + -0.009717945705166304, + 1.0431756070481328 + ], + "held_grasp_finger_b": [ + 0.3572049885068378, + 0.01420867120435693, + 1.0431756070481328 + ], + "held_grasp_midpoint": [ + 0.3623519959375061, + 0.002245362749595313, + 1.0431756070481328 + ], + "held_grasp_object_position": [ + 0.3674990033681745, + 0.01420867120435693, + 1.0431756070481328 + ], + "held_grasp_finger_gap": 0.026047067756285038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02409006659255832, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017173042095875644, + -0.9994428854039572, + 0.02861827109707648 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005362554214373519, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03785199632436521, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25702701150358676, + -0.04693768208608442, + 0.7611097181528401 + ], + "target_position": [ + 0.27561979329040714, + -0.06391267187489524, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.025176215221962013, + "xy_threshold": 0.08, + "gripper_dist": 0.20352303128980967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097181528401, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08137352799436001, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08996751521549935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17980607742020177, + "release_required_pad_clearance": 0.05498375760774968, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.031653527864268, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c616ef3b4cfb39b1bdaec97bd189926a0977322dd1862a70c610fe85f3fed521", + "visual_seed": 3578445127661718341, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3691ca0f080f475697a59b7d0da08bd4c5fef0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_40_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29902026372432966, + -0.06326635953954775, + 1.003093293542542 + ], + "current_z": 1.003093293542542, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.141986785527776, + "gripper_z": 1.0051605038489304, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29469691891746363, + -0.06752818195740944, + 1.0051605038489304 + ], + "object_minus_gripper": [ + 0.004323344806866025, + 0.004261822417861688, + -0.002067210306388345 + ], + "object_to_gripper_xy": 0.006070785833847532, + "object_to_gripper_z": -0.002067210306388345, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29902026372432966, + -0.08750281327004765, + 1.003093293542542 + ], + "finger_b": [ + 0.2885004615252692, + -0.06326635953954775, + 1.003093293542542 + ], + "finger_midpoint": [ + 0.29376036262479943, + -0.0753845864047977, + 1.003093293542542 + ], + "object_minus_finger_midpoint": [ + 0.005259901099530229, + 0.01211822686524995, + 0.0 + ], + "finger_gap": 0.02642105084469616, + "fingertip_max_gap": 0.09295022191651955, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01321052542234808, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003093293542542, + "object_top_z": 1.053017598400264, + "finger_top_clearance": 0.049924304857722035, + "fingertip_min_top_clearance": 0.014977291457316643, + "object_projection_between_fingers": 0.8414687170332835, + "object_to_finger_line_xy": 0.009649983293632779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897511095825978, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6351659870664292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3632813504940692, + 0.04665698003643016, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36098730160115794, + 0.012816830665156626, + 1.0477087042649402 + ], + "target_minus_gripper": [ + 0.002294048892911238, + 0.03384014937127353, + -0.27756231446832835 + ], + "held_position": [ + 0.36528662121536487, + 0.017051683532510978, + 1.0455572552710006 + ], + "held_minus_target": [ + 0.0020052707212956933, + -0.02960529650391918, + 0.27541086547438876 + ], + "held_minus_gripper": [ + 0.004299319614206931, + 0.004234852867354352, + -0.0021514489939395975 + ], + "xy_dist": 0.033917817880771334, + "held_xy_dist": 0.029673130804663248, + "held_gripper_dist": 0.006406782400454032, + "max_held_gripper_dist": 0.006504217740152823, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0455572552710006, + "required_height": 0.8001463897966119, + "gripper_z": 1.0477087042649402, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.11672560822296, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0259967615487144, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4125538113451404, + "max_source_tilt_deg": 89.6808883254896, + "source_upright_tilt_deg": 3.77498699650289, + "max_source_upright_tilt_deg": 89.72959789505666, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4125538113451404, + "source_upright_return_tilt_deg": 3.77498699650289, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.7441362008220514e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3633, + 0.0467, + 0.7701 + ], + "controller_target_position": [ + 0.3633, + 0.0467, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0001, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3647, + 0.0213, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013943909032869523, + -0.0001255172129575701, + 0.0014518187197275442 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.7750008702797935, + "source_return_step_error_deg": 2.4125697050371686, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7810189258586426, + "source_return_best_wrist_position": -1.6111470460891724, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6111470460891724 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3633, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3633, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0001, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3647, + 0.0213, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013943909032869523, + -0.0001255172129575701, + 0.0014518187197275442 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.7750008702797935, + "pour_controller_source_return_step_error_deg": 2.4125697050371686, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7810189258586426, + "pour_controller_source_return_best_wrist_position": -1.6111470460891724, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6111470460891724, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033917817880771334, + "valid_pour_held_xy_dist": 0.029673130804663248, + "valid_pour_held_gripper_dist": 0.006406782400454032, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0455572552710006, + "valid_pour_source_tilt_deg": 2.4125538113451404, + "valid_pour_source_upright_tilt_deg": 3.77498699650289, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36528662121536487, + -0.00657636902912913, + 1.0455572552710006 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3546134976308884, + 0.017051683532510978, + 1.0455572552710006 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35995005942312663, + 0.005237657251690924, + 1.0455572552710006 + ], + "valid_pour_held_grasp_object_position": [ + 0.36528662121536487, + 0.017051683532510978, + 1.0455572552710006 + ], + "valid_pour_held_grasp_finger_gap": 0.02592682847756616, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02417618593710712, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0561596430137563, + -0.9978303148452397, + 0.03436214883294875 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006004999189462823, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038231555911887406, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36528662121536487, + -0.00657636902912913, + 1.0455572552710006 + ], + "held_grasp_finger_b": [ + 0.3546134976308884, + 0.017051683532510978, + 1.0455572552710006 + ], + "held_grasp_midpoint": [ + 0.35995005942312663, + 0.005237657251690924, + 1.0455572552710006 + ], + "held_grasp_object_position": [ + 0.36528662121536487, + 0.017051683532510978, + 1.0455572552710006 + ], + "held_grasp_finger_gap": 0.02592682847756616, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02417618593710712, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0561596430137563, + -0.9978303148452397, + 0.03436214883294875 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006004999189462823, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038231555911887406, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27518486653162344, + -0.06262021522893402, + 0.761107481095451 + ], + "target_position": [ + 0.2753490250557297, + -0.0679814936141159, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005363791004919489, + "xy_threshold": 0.08, + "gripper_dist": 0.21661353134625258, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107481095451, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755001046952002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09059085436814061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18867272072264998, + "release_required_pad_clearance": 0.05529542718407031, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.701472869013543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9567223450e69fc9e6deacbfe9f15b96f0bfc251a7325b72d5dc217fefb4b7f", + "visual_seed": 5016051419498143910, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7699541a8ed3cf219fa17f41497f830782caa29e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_41_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2975299070710768, + -0.06148468350584045, + 1.0006749977303708 + ], + "current_z": 1.0006749977303708, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.1395684897156051, + "gripper_z": 1.0026368299530075, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29317457749235154, + -0.06583846864944233, + 1.0026368299530075 + ], + "object_minus_gripper": [ + 0.004355329578725253, + 0.004353785143601879, + -0.0019618322226366836 + ], + "object_to_gripper_xy": 0.0061582741751214296, + "object_to_gripper_z": -0.0019618322226366836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2975299070710768, + -0.08558299567932189, + 1.0006749977303708 + ], + "finger_b": [ + 0.2866612883634509, + -0.06148468350584045, + 1.0006749977303708 + ], + "finger_midpoint": [ + 0.29209559771726384, + -0.07353383959258117, + 1.0006749977303708 + ], + "object_minus_finger_midpoint": [ + 0.0054343093538129494, + 0.012049156086740717, + 0.0 + ], + "finger_gap": 0.026435875665888564, + "fingertip_max_gap": 0.09306677381983822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013217937832944282, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0006749977303708, + "object_top_z": 1.0506809057811695, + "finger_top_clearance": 0.05000590805079863, + "fingertip_min_top_clearance": 0.015001772415239572, + "object_projection_between_fingers": 0.8309709677386261, + "object_to_finger_line_xy": 0.009907572944476776, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903338690991911, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.438792163161289, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3665225616699879, + 0.04626824971907593, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3645874944093463, + 0.012404503331717567, + 1.0450024347051978 + ], + "target_minus_gripper": [ + 0.001935067260641632, + 0.03386374638735836, + -0.2748561045132307 + ], + "held_position": [ + 0.3689323030400758, + 0.01672355946712768, + 1.042955204303773 + ], + "held_minus_target": [ + 0.00240974137008787, + -0.02954469025194825, + 0.272808874111806 + ], + "held_minus_gripper": [ + 0.004344808630729502, + 0.004319056135410112, + -0.0020472304014247378 + ], + "xy_dist": 0.033918988851239854, + "held_xy_dist": 0.029642799725300557, + "held_gripper_dist": 0.006459315772974952, + "max_held_gripper_dist": 0.006548116987703363, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.042955204303773, + "required_height": 0.8001463301919671, + "gripper_z": 1.0450024347051978, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.22773667280319, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7960519215304382, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.296282631036347, + "max_source_tilt_deg": 89.99360579315413, + "source_upright_tilt_deg": 3.388198528860141, + "max_source_upright_tilt_deg": 89.9069600304411, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.296282631036347, + "source_upright_return_tilt_deg": 3.388198528860141, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.0803341865539551e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3665, + 0.0463, + 0.7701 + ], + "controller_target_position": [ + 0.3665, + 0.0463, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0004, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3684, + 0.0207, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018794727825978495, + -0.0004148606528332009, + -0.0015836472488966376 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.3881961090720982, + "source_return_step_error_deg": 2.2962759743633, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.40071931342558, + "source_return_best_wrist_position": -1.6103477478027344, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6103477478027344 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3665, + 0.0463, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3665, + 0.0463, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0004, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3684, + 0.0207, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018794727825978495, + -0.0004148606528332009, + -0.0015836472488966376 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.3881961090720982, + "pour_controller_source_return_step_error_deg": 2.2962759743633, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.40071931342558, + "pour_controller_source_return_best_wrist_position": -1.6103477478027344, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6103477478027344, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033918988851239854, + "valid_pour_held_xy_dist": 0.029642799725300557, + "valid_pour_held_gripper_dist": 0.006459315772974952, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.042955204303773, + "valid_pour_source_tilt_deg": 2.296282631036347, + "valid_pour_source_upright_tilt_deg": 3.388198528860141, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3689323030400758, + -0.006839047534159877, + 1.042955204303773 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35798350569207193, + 0.01672355946712768, + 1.042955204303773 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36345790436607384, + 0.004942255966483901, + 1.042955204303773 + ], + "valid_pour_held_grasp_object_position": [ + 0.3689323030400758, + 0.01672355946712768, + 1.042955204303773 + ], + "valid_pour_held_grasp_finger_gap": 0.02598215949579214, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024064368144460894, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.049589725205378396, + -0.9982520309131626, + 0.03215185736161008 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006063464693369012, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382310138496815, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3689323030400758, + -0.006839047534159877, + 1.042955204303773 + ], + "held_grasp_finger_b": [ + 0.35798350569207193, + 0.01672355946712768, + 1.042955204303773 + ], + "held_grasp_midpoint": [ + 0.36345790436607384, + 0.004942255966483901, + 1.042955204303773 + ], + "held_grasp_object_position": [ + 0.3689323030400758, + 0.01672355946712768, + 1.042955204303773 + ], + "held_grasp_finger_gap": 0.02598215949579214, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024064368144460894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.049589725205378396, + -0.9982520309131626, + 0.03215185736161008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006063464693369012, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382310138496815, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27388577011071424, + -0.05830474388987135, + 0.7611090917883839 + ], + "target_position": [ + 0.2737343428575643, + -0.06324985903569609, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004947433073671819, + "xy_threshold": 0.08, + "gripper_dist": 0.21510556931818386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611090917883839, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582670195053216, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09058661302547745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18645312049884066, + "release_required_pad_clearance": 0.05529330651273873, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.6924007787696596, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e0b47560296e9d01c5740ba372d4800068f7a353077aec921c552de91716f0c", + "visual_seed": 6206237554866977405, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8ebb1ba482a62fdf517b4ec0ef9fa988ae3092 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_42_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3018624539422413, + -0.05735117397066989, + 1.0004453326674105 + ], + "current_z": 1.0004453326674105, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1393388246526447, + "gripper_z": 1.0025689931370678, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2977674930904492, + -0.06158536401099443, + 1.0025689931370678 + ], + "object_minus_gripper": [ + 0.004094960851792118, + 0.004234190040324541, + -0.0021236604696572847 + ], + "object_to_gripper_xy": 0.005890421858856424, + "object_to_gripper_z": -0.0021236604696572847, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3018624539422413, + -0.08126151864772185, + 1.0004453326674105 + ], + "finger_b": [ + 0.29118229807732704, + -0.05735117397066989, + 1.0004453326674105 + ], + "finger_midpoint": [ + 0.29652237600978415, + -0.06930634630919587, + 1.0004453326674105 + ], + "object_minus_finger_midpoint": [ + 0.005340077932457166, + 0.011955172338525978, + 0.0 + ], + "finger_gap": 0.026187216573631687, + "fingertip_max_gap": 0.09283383689296607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309360828681585, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0004453326674105, + "object_top_z": 1.0504232577472932, + "finger_top_clearance": 0.049977925079882635, + "fingertip_min_top_clearance": 0.014993377523964773, + "object_projection_between_fingers": 0.8336677349197169, + "object_to_finger_line_xy": 0.009751559781724588, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048916918446483035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5009834571884664, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3628375045067493, + 0.04957862835996605, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3602151686940053, + 0.014506294741180453, + 1.047835851332272 + ], + "target_minus_gripper": [ + 0.002622335812743959, + 0.035072333618785596, + -0.27768946153566043 + ], + "held_position": [ + 0.36436582766011916, + 0.018629766370133548, + 1.0456246132374214 + ], + "held_minus_target": [ + 0.0015283231533698705, + -0.030948861989832502, + 0.27547822344080974 + ], + "held_minus_gripper": [ + 0.004150658966113829, + 0.0041234716289530945, + -0.002211238094850687 + ], + "xy_dist": 0.0351702321655999, + "held_xy_dist": 0.03098657499832509, + "held_gripper_dist": 0.006254643238417448, + "max_held_gripper_dist": 0.006361230022919373, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0456246132374214, + "required_height": 0.8001463897966117, + "gripper_z": 1.047835851332272, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.16686602692003, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.018450057115772, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1417607707541917, + "max_source_tilt_deg": 89.985593041899, + "source_upright_tilt_deg": 2.616696171448528, + "max_source_upright_tilt_deg": 89.9783542747258, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1417607707541917, + "source_upright_return_tilt_deg": 2.616696171448528, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3628, + 0.0496, + 0.7701 + ], + "controller_target_position": [ + 0.3628, + 0.0496, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + -0.0018, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3643, + 0.0226, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014251806346200339, + -0.0017906715359080967, + 0.0012046173121972657 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6166968936023562, + "source_return_step_error_deg": 2.1417600635194685, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6218709378289953, + "source_return_best_wrist_position": -1.612930417060852, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612930417060852 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3628, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3628, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + -0.0018, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3643, + 0.0226, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014251806346200339, + -0.0017906715359080967, + 0.0012046173121972657 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6166968936023562, + "pour_controller_source_return_step_error_deg": 2.1417600635194685, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6218709378289953, + "pour_controller_source_return_best_wrist_position": -1.612930417060852, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612930417060852, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0351702321655999, + "valid_pour_held_xy_dist": 0.03098657499832509, + "valid_pour_held_gripper_dist": 0.006254643238417448, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0456246132374214, + "valid_pour_source_tilt_deg": 2.1417607707541917, + "valid_pour_source_upright_tilt_deg": 2.616696171448528, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36436582766011916, + -0.004964570241150122, + 1.0456246132374214 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3539779037537914, + 0.018629766370133548, + 1.0456246132374214 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35917186570695525, + 0.006832598064491713, + 1.0456246132374214 + ], + "valid_pour_held_grasp_object_position": [ + 0.36436582766011916, + 0.018629766370133548, + 1.0456246132374214 + ], + "valid_pour_held_grasp_finger_gap": 0.02577986972834069, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023932013513217665, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.034874950498928275, + -0.9989573163047079, + 0.02946214569567595 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005612834172763262, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03811652164550604, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36436582766011916, + -0.004964570241150122, + 1.0456246132374214 + ], + "held_grasp_finger_b": [ + 0.3539779037537914, + 0.018629766370133548, + 1.0456246132374214 + ], + "held_grasp_midpoint": [ + 0.35917186570695525, + 0.006832598064491713, + 1.0456246132374214 + ], + "held_grasp_object_position": [ + 0.36436582766011916, + 0.018629766370133548, + 1.0456246132374214 + ], + "held_grasp_finger_gap": 0.02577986972834069, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023932013513217665, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.034874950498928275, + -0.9989573163047079, + 0.02946214569567595 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005612834172763262, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03811652164550604, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2599346221202709, + -0.04842477523498736, + 0.7611077171869222 + ], + "target_position": [ + 0.27853766962539106, + -0.06182732647243566, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022928186935520744, + "xy_threshold": 0.08, + "gripper_dist": 0.2039525747461044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077171869222, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07899294729451564, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08656829178136545, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17936774214901333, + "release_required_pad_clearance": 0.05328414589068273, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5840813902180721, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9f6b415fee9b61604e1673e23d8fd46c4e9e3118fab0699a4f0f2bbca6f30da", + "visual_seed": 5664933687832815646, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..775314fb00c8b193786b2dbbcb185873d1290e3f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_44_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3055295042864767, + -0.06573060664512309, + 1.0019455284752874 + ], + "current_z": 1.0019455284752874, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14083902046052144, + "gripper_z": 1.004235513257961, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30135002695812296, + -0.07002518702619, + 1.004235513257961 + ], + "object_minus_gripper": [ + 0.00417947732835372, + 0.004294580381066906, + -0.0022899847826736153 + ], + "object_to_gripper_xy": 0.005992616405850413, + "object_to_gripper_z": -0.0022899847826736153, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3055295042864767, + -0.08966225408318733, + 1.0019455284752874 + ], + "finger_b": [ + 0.294713372372723, + -0.06573060664512309, + 1.0019455284752874 + ], + "finger_midpoint": [ + 0.3001214383295998, + -0.07769643036415522, + 1.0019455284752874 + ], + "object_minus_finger_midpoint": [ + 0.005408065956876873, + 0.011965823719032126, + 0.0 + ], + "finger_gap": 0.02626237724722436, + "fingertip_max_gap": 0.09298095137274778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013131188623612197, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019455284752874, + "object_top_z": 1.0519805068641195, + "finger_top_clearance": 0.050034978388832085, + "fingertip_min_top_clearance": 0.015010493516649608, + "object_projection_between_fingers": 0.8303804605757341, + "object_to_finger_line_xy": 0.009856223340592905, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048990475686373894, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5239459940035682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3669272772080128, + 0.047274599640302443, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36316208364315883, + 0.014878290188862997, + 1.0458594479493613 + ], + "target_minus_gripper": [ + 0.003765193564853997, + 0.032396309451439446, + -0.2757130581527494 + ], + "held_position": [ + 0.36739249602690915, + 0.019063617877076146, + 1.0434837110925272 + ], + "held_minus_target": [ + 0.0004652188188963291, + -0.028210981763226298, + 0.27333732129591537 + ], + "held_minus_gripper": [ + 0.004230412383750326, + 0.004185327688213149, + -0.00237573685683401 + ], + "xy_dist": 0.03261437641062976, + "held_xy_dist": 0.02821481739431503, + "held_gripper_dist": 0.0064076112871514984, + "max_held_gripper_dist": 0.006529697818979772, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0434837110925272, + "required_height": 0.8001463897966119, + "gripper_z": 1.0458594479493613, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23638369229242, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.027696280347956, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1804007709946176, + "max_source_tilt_deg": 89.86207716540402, + "source_upright_tilt_deg": 2.7343098445165173, + "max_source_upright_tilt_deg": 89.87652033783252, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1804007709946176, + "source_upright_return_tilt_deg": 2.7343098445165173, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.0437463018739852e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3669, + 0.0473, + 0.7701 + ], + "controller_target_position": [ + 0.3669, + 0.0473, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0014, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3663, + 0.0234, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006597350658826989, + 0.0013574369376434638, + -0.0007149932399537059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.734310506225141, + "source_return_step_error_deg": 2.1804011823772127, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.74408161410324, + "source_return_best_wrist_position": -1.6124603748321533, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124603748321533 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3669, + 0.0473, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3669, + 0.0473, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0014, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3663, + 0.0234, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006597350658826989, + 0.0013574369376434638, + -0.0007149932399537059 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.734310506225141, + "pour_controller_source_return_step_error_deg": 2.1804011823772127, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.74408161410324, + "pour_controller_source_return_best_wrist_position": -1.6124603748321533, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124603748321533, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03261437641062976, + "valid_pour_held_xy_dist": 0.02821481739431503, + "valid_pour_held_gripper_dist": 0.0064076112871514984, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0434837110925272, + "valid_pour_source_tilt_deg": 2.1804007709946176, + "valid_pour_source_upright_tilt_deg": 2.7343098445165173, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36739249602690915, + -0.0045084434638295165, + 1.0434837110925272 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3568272056866985, + 0.019063617877076146, + 1.0434837110925272 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3621098508568038, + 0.007277587206623314, + 1.0434837110925272 + ], + "valid_pour_held_grasp_object_position": [ + 0.36739249602690915, + 0.019063617877076146, + 1.0434837110925272 + ], + "valid_pour_held_grasp_finger_gap": 0.025831520199794043, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02393963606261953, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03733088318120518, + -0.9988614955067388, + 0.02970047061836644 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005729469902070893, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038144843658251215, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36739249602690915, + -0.0045084434638295165, + 1.0434837110925272 + ], + "held_grasp_finger_b": [ + 0.3568272056866985, + 0.019063617877076146, + 1.0434837110925272 + ], + "held_grasp_midpoint": [ + 0.3621098508568038, + 0.007277587206623314, + 1.0434837110925272 + ], + "held_grasp_object_position": [ + 0.36739249602690915, + 0.019063617877076146, + 1.0434837110925272 + ], + "held_grasp_finger_gap": 0.025831520199794043, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02393963606261953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03733088318120518, + -0.9988614955067388, + 0.02970047061836644 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005729469902070893, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038144843658251215, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28901238457488804, + -0.07768098898757607, + 0.7611069259169789 + ], + "target_position": [ + 0.2821544251150739, + -0.06986260928377191, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010399936016404678, + "xy_threshold": 0.08, + "gripper_dist": 0.21961674931939254, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069259169789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552836382985902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851113186136047, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18855218765631443, + "release_required_pad_clearance": 0.05255565930680235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17693496900027172, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5471343e70beb84f789cc27555cb12737fdd8034f97b63102aa7380f978c1f5f", + "visual_seed": 8024814322426482073, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5a198a97fe99db7c457c9f5e662336487e356cfd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_45_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2974566907738963, + -0.0668992806428259, + 1.0010908417202855 + ], + "current_z": 1.0010908417202855, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.13998439331016443, + "gripper_z": 1.0030363575555052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.293141456979651, + -0.07118200324247352, + 1.0030363575555052 + ], + "object_minus_gripper": [ + 0.00431523379424531, + 0.004282722599647626, + -0.0019455158352197355 + ], + "object_to_gripper_xy": 0.006079716733905396, + "object_to_gripper_z": -0.0019455158352197355, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2974566907738963, + -0.09106473330505079, + 1.0010908417202855 + ], + "finger_b": [ + 0.28681862853987894, + -0.0668992806428259, + 1.0010908417202855 + ], + "finger_midpoint": [ + 0.29213765965688765, + -0.07898200697393834, + 1.0010908417202855 + ], + "object_minus_finger_midpoint": [ + 0.005319031117008655, + 0.012082726331112445, + 0.0 + ], + "finger_gap": 0.02640336096910881, + "fingertip_max_gap": 0.09315328764630129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013201680484554393, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010908417202855, + "object_top_z": 1.0511191474315733, + "finger_top_clearance": 0.0500283057112878, + "fingertip_min_top_clearance": 0.01500849171338634, + "object_projection_between_fingers": 0.8376670701413709, + "object_to_finger_line_xy": 0.009736396424482395, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907664382315065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5341460029694693, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36411286509100854, + 0.047963364838294754, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3613723961119899, + 0.01570490834373839, + 1.0452210973724778 + ], + "target_minus_gripper": [ + 0.00274046897901864, + 0.032258456494556366, + -0.27507464797122116 + ], + "held_position": [ + 0.36565255741664293, + 0.019978708260224905, + 1.0432082333244819 + ], + "held_minus_target": [ + 0.0015396923256343897, + -0.02798465657806985, + 0.2730617839232252 + ], + "held_minus_gripper": [ + 0.00428016130465303, + 0.004273799916486517, + -0.0020128640479959437 + ], + "xy_dist": 0.032374653444263296, + "held_xy_dist": 0.02802698086220001, + "held_gripper_dist": 0.006374697498369934, + "max_held_gripper_dist": 0.006470597287632573, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0432082333244819, + "required_height": 0.8001464494012567, + "gripper_z": 1.0452210973724778, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.25069976879277, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8877402900521567, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.711747771366822, + "max_source_tilt_deg": 89.95192751664382, + "source_upright_tilt_deg": 3.9815252725606727, + "max_source_upright_tilt_deg": 89.92361377348841, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.711747771366822, + "source_upright_return_tilt_deg": 3.9815252725606727, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.301187962038292e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3641, + 0.048, + 0.7701 + ], + "controller_target_position": [ + 0.3641, + 0.048, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0011, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3643, + 0.0217, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002018726677406016, + -0.0010506849582721611, + -0.00032791879918276485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9815182101766893, + "source_return_step_error_deg": 2.7117339953749133, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.991602345831682, + "source_return_best_wrist_position": -1.6102585792541504, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6102585792541504 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3641, + 0.048, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3641, + 0.048, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0011, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3643, + 0.0217, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002018726677406016, + -0.0010506849582721611, + -0.00032791879918276485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9815182101766893, + "pour_controller_source_return_step_error_deg": 2.7117339953749133, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.991602345831682, + "pour_controller_source_return_best_wrist_position": -1.6102585792541504, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6102585792541504, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032374653444263296, + "valid_pour_held_xy_dist": 0.02802698086220001, + "valid_pour_held_gripper_dist": 0.006374697498369934, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0432082333244819, + "valid_pour_source_tilt_deg": 2.711747771366822, + "valid_pour_source_upright_tilt_deg": 3.9815252725606727, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36565255741664293, + -0.0034667477595393867, + 1.0432082333244819 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3548115284407389, + 0.019978708260224905, + 1.0432082333244819 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36023204292869093, + 0.00825598025034276, + 1.0432082333244819 + ], + "valid_pour_held_grasp_object_position": [ + 0.36565255741664293, + 0.019978708260224905, + 1.0432082333244819 + ], + "valid_pour_held_grasp_finger_gap": 0.025830550076045476, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02402735739342451, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05889542074122446, + -0.9975865008086959, + 0.03677638943637607 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00611631770958566, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03834505833618648, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36565255741664293, + -0.0034667477595393867, + 1.0432082333244819 + ], + "held_grasp_finger_b": [ + 0.3548115284407389, + 0.019978708260224905, + 1.0432082333244819 + ], + "held_grasp_midpoint": [ + 0.36023204292869093, + 0.00825598025034276, + 1.0432082333244819 + ], + "held_grasp_object_position": [ + 0.36565255741664293, + 0.019978708260224905, + 1.0432082333244819 + ], + "held_grasp_finger_gap": 0.025830550076045476, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02402735739342451, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05889542074122446, + -0.9975865008086959, + 0.03677638943637607 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00611631770958566, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03834505833618648, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27945875032818973, + -0.08017311478936562, + 0.7611066117602349 + ], + "target_position": [ + 0.27371683806478025, + -0.06948953592358603, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012128825739618175, + "xy_threshold": 0.08, + "gripper_dist": 0.21951755850518043, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066117602349, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556310265638694, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09112437678634856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18795619787744683, + "release_required_pad_clearance": 0.05556218839317428, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.275373296633244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d88b6cddf5b5586ba25851a34f63cc83590c82e142bd2805921193fc050b0a0", + "visual_seed": 573893482950996430, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5479957ed97ad1078db554f9ca44bb4fa43ea5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_46_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3022371213508669, + -0.06199490731706146, + 1.003528688502482 + ], + "current_z": 1.003528688502482, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1424221804877157, + "gripper_z": 1.0053148135196446, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29810388863938075, + -0.06619209828082889, + 1.0053148135196446 + ], + "object_minus_gripper": [ + 0.0041332327114861345, + 0.00419719096376743, + -0.0017861250171626875 + ], + "object_to_gripper_xy": 0.005890672680910899, + "object_to_gripper_z": -0.0017861250171626875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3022371213508669, + -0.0860214208724848, + 1.003528688502482 + ], + "finger_b": [ + 0.2917151512348274, + -0.06199490731706146, + 1.003528688502482 + ], + "finger_midpoint": [ + 0.29697613629284714, + -0.07400816409477312, + 1.003528688502482 + ], + "object_minus_finger_midpoint": [ + 0.0052609850580197515, + 0.012013256777711659, + 0.0 + ], + "finger_gap": 0.02622947214016648, + "fingertip_max_gap": 0.0934284870216878, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013114736070083233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003528688502482, + "object_top_z": 1.0535984453756693, + "finger_top_clearance": 0.05006975687318738, + "fingertip_min_top_clearance": 0.015020927061956213, + "object_projection_between_fingers": 0.8390781462821041, + "object_to_finger_line_xy": 0.009638251821150726, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492142435108439, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7068523484628777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36824263250891603, + 0.04523062598579385, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3661570110171218, + 0.010337016901933588, + 1.044834120336546 + ], + "target_minus_gripper": [ + 0.002085621491794254, + 0.034893609083860265, + -0.2746876709352898 + ], + "held_position": [ + 0.37025228361309565, + 0.014526190516030933, + 1.0429631855643815 + ], + "held_minus_target": [ + 0.0020096511041796106, + -0.030704435469762918, + 0.2728167361631252 + ], + "held_minus_gripper": [ + 0.0040952725959738645, + 0.004189173614097345, + -0.0018709347721646008 + ], + "xy_dist": 0.034955883223061174, + "held_xy_dist": 0.03077013251640892, + "held_gripper_dist": 0.006149864236394047, + "max_held_gripper_dist": 0.006228756725860369, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0429631855643815, + "required_height": 0.8001464494012563, + "gripper_z": 1.044834120336546, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.14624568581576, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1484069757193716, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4769825593490804, + "max_source_tilt_deg": 89.9199337344602, + "source_upright_tilt_deg": 3.8659900527393667, + "max_source_upright_tilt_deg": 89.99187109475547, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4769825593490804, + "source_upright_return_tilt_deg": 3.8659900527393667, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.6429332696795422e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3682, + 0.0452, + 0.7701 + ], + "controller_target_position": [ + 0.3682, + 0.0452, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0016, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3701, + 0.0184, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001868549866939614, + -0.0016029585279570503, + -0.0018914119433200841 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.8659843585740847, + "source_return_step_error_deg": 2.4769694493004746, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.8814381387517596, + "source_return_best_wrist_position": -1.6120507717132568, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120507717132568 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3682, + 0.0452, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3682, + 0.0452, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0016, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3701, + 0.0184, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001868549866939614, + -0.0016029585279570503, + -0.0018914119433200841 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.8659843585740847, + "pour_controller_source_return_step_error_deg": 2.4769694493004746, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.8814381387517596, + "pour_controller_source_return_best_wrist_position": -1.6120507717132568, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120507717132568, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034955883223061174, + "valid_pour_held_xy_dist": 0.03077013251640892, + "valid_pour_held_gripper_dist": 0.006149864236394047, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0429631855643815, + "valid_pour_source_tilt_deg": 2.4769825593490804, + "valid_pour_source_upright_tilt_deg": 3.8659900527393667, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37025228361309565, + -0.008850653182727306, + 1.0429631855643815 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3595092259033405, + 0.014526190516030933, + 1.0429631855643815 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3648807547582181, + 0.0028377686666518137, + 1.0429631855643815 + ], + "valid_pour_held_grasp_object_position": [ + 0.37025228361309565, + 0.014526190516030933, + 1.0429631855643815 + ], + "valid_pour_held_grasp_finger_gap": 0.025727225079112247, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023971991100969214, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06034983729037051, + -0.9977244839697228, + 0.030062455428263357 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006077016920902737, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038382596304395236, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37025228361309565, + -0.008850653182727306, + 1.0429631855643815 + ], + "held_grasp_finger_b": [ + 0.3595092259033405, + 0.014526190516030933, + 1.0429631855643815 + ], + "held_grasp_midpoint": [ + 0.3648807547582181, + 0.0028377686666518137, + 1.0429631855643815 + ], + "held_grasp_object_position": [ + 0.37025228361309565, + 0.014526190516030933, + 1.0429631855643815 + ], + "held_grasp_finger_gap": 0.025727225079112247, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023971991100969214, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06034983729037051, + -0.9977244839697228, + 0.030062455428263357 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006077016920902737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038382596304395236, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28318295465966725, + -0.06512027545687366, + 0.7611065599502268 + ], + "target_position": [ + 0.2787736597388567, + -0.06581046539414155, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00446298597893737, + "xy_threshold": 0.08, + "gripper_dist": 0.21958027734446525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065599502268, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751809443034272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09043246456458486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1909647525591474, + "release_required_pad_clearance": 0.05521623228229243, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.533230729969402, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a597bb9c3f69c4d1752628b4ac8a083d5721183501045932df01148baa453c62", + "visual_seed": 4467792130839745097, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..120bd7bfa5499d606fd3a14b49981a2e21150818 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_47_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2971724045966325, + -0.059958469030523924, + 1.0019289006638294 + ], + "current_z": 1.0019289006638294, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14082245225370826, + "gripper_z": 1.0036404704840847, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29304603027385123, + -0.06411811736479818, + 1.0036404704840847 + ], + "object_minus_gripper": [ + 0.00412637432278129, + 0.004159648334274256, + -0.001711569820255221 + ], + "object_to_gripper_xy": 0.005859150050693303, + "object_to_gripper_z": -0.001711569820255221, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2971724045966325, + -0.0840424471210281, + 1.0019289006638294 + ], + "finger_b": [ + 0.2867755685672233, + -0.059958469030523924, + 1.0019289006638294 + ], + "finger_midpoint": [ + 0.2919739865819279, + -0.07200045807577601, + 1.0019289006638294 + ], + "object_minus_finger_midpoint": [ + 0.005198418014704609, + 0.01204198904525209, + 0.0 + ], + "finger_gap": 0.026232274016682326, + "fingertip_max_gap": 0.09332434200485004, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116137008341166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019289006638294, + "object_top_z": 1.0519954183277145, + "finger_top_clearance": 0.050066517663885035, + "fingertip_min_top_clearance": 0.015019955299165492, + "object_projection_between_fingers": 0.8429165218414947, + "object_to_finger_line_xy": 0.009545385618632081, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916217100242502, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4846778593815304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37008820092741873, + 0.046607888160877006, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3673032663309903, + 0.014696426379676511, + 1.0452124766566615 + ], + "target_minus_gripper": [ + 0.0027849345964284233, + 0.031911461781200495, + -0.27506608686004974 + ], + "held_position": [ + 0.371362037649149, + 0.018881125212442552, + 1.043419166973255 + ], + "held_minus_target": [ + 0.0012738367217302593, + -0.027726762948434455, + 0.27327277717664333 + ], + "held_minus_gripper": [ + 0.004058771318158683, + 0.004184698832766041, + -0.0017933096834064077 + ], + "xy_dist": 0.032032752827682545, + "held_xy_dist": 0.02775600914382877, + "held_gripper_dist": 0.006099285905305655, + "max_held_gripper_dist": 0.006172378393245699, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.043419166973255, + "required_height": 0.8001463897966118, + "gripper_z": 1.0452124766566615, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.10203387131827, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.853897124876096, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7017697502105897, + "max_source_tilt_deg": 89.86073869232666, + "source_upright_tilt_deg": 4.052412052920673, + "max_source_upright_tilt_deg": 89.94311671348127, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7017697502105897, + "source_upright_return_tilt_deg": 4.052412052920673, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 2.5661274938724227e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3701, + 0.0466, + 0.7701 + ], + "controller_target_position": [ + 0.3701, + 0.0466, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0019, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3711, + 0.0233, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010561487583994854, + 0.0019338300749402728, + -0.001104587378096076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.052411299354806, + "source_return_step_error_deg": 2.7017802761732836, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.06950964437057, + "source_return_best_wrist_position": -1.6102559566497803, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6102559566497803 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3701, + 0.0466, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3701, + 0.0466, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0019, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3711, + 0.0233, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010561487583994854, + 0.0019338300749402728, + -0.001104587378096076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.052411299354806, + "pour_controller_source_return_step_error_deg": 2.7017802761732836, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.06950964437057, + "pour_controller_source_return_best_wrist_position": -1.6102559566497803, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6102559566497803, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032032752827682545, + "valid_pour_held_xy_dist": 0.02775600914382877, + "valid_pour_held_gripper_dist": 0.006099285905305655, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.043419166973255, + "valid_pour_source_tilt_deg": 2.7017697502105897, + "valid_pour_source_upright_tilt_deg": 4.052412052920673, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.371362037649149, + -0.004456797812573934, + 1.043419166973255 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36057607958963867, + 0.018881125212442552, + 1.043419166973255 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36596905861939383, + 0.007212163699934309, + 1.043419166973255 + ], + "valid_pour_held_grasp_object_position": [ + 0.371362037649149, + 0.018881125212442552, + 1.043419166973255 + ], + "valid_pour_held_grasp_finger_gap": 0.025709833573617516, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02396412283587637, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06346664520431967, + -0.9974998305363685, + 0.031081715306997992 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006133114145536429, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03842273722550849, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.371362037649149, + -0.004456797812573934, + 1.043419166973255 + ], + "held_grasp_finger_b": [ + 0.36057607958963867, + 0.018881125212442552, + 1.043419166973255 + ], + "held_grasp_midpoint": [ + 0.36596905861939383, + 0.007212163699934309, + 1.043419166973255 + ], + "held_grasp_object_position": [ + 0.371362037649149, + 0.018881125212442552, + 1.043419166973255 + ], + "held_grasp_finger_gap": 0.025709833573617516, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02396412283587637, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06346664520431967, + -0.9974998305363685, + 0.031081715306997992 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006133114145536429, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03842273722550849, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2757891853413283, + -0.070020760059841, + 0.7611145871429594 + ], + "target_position": [ + 0.2735416628641523, + -0.06180158058372272, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008520931201814453, + "xy_threshold": 0.08, + "gripper_dist": 0.21739960608487122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611145871429594, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587481739465637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741680804181186, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18566838312985734, + "release_required_pad_clearance": 0.05370840402090593, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.417695300291562, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c97796179d1a48a8c5a32484a7e49b22404d07b0c6861793d7b72aa29b674c71", + "visual_seed": 717787680578417142, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4806eae985fdfc89ee7a718977af73021a30e40 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_48_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30003964021833307, + -0.06334016550693489, + 1.0014214156319174 + ], + "current_z": 1.0014214156319174, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14031496722179604, + "gripper_z": 1.003521474237349, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2957522912735443, + -0.06756567544038881, + 1.003521474237349 + ], + "object_minus_gripper": [ + 0.004287348944788771, + 0.0042255099334539276, + -0.0021000586054316095 + ], + "object_to_gripper_xy": 0.006019659057795483, + "object_to_gripper_z": -0.0021000586054316095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30003964021833307, + -0.08757286374083346, + 1.0014214156319174 + ], + "finger_b": [ + 0.28957830356758035, + -0.06334016550693489, + 1.0014214156319174 + ], + "finger_midpoint": [ + 0.29480897189295674, + -0.07545651462388417, + 1.0014214156319174 + ], + "object_minus_finger_midpoint": [ + 0.005230668325376331, + 0.012116349116949282, + 0.0 + ], + "finger_gap": 0.026394378723803548, + "fingertip_max_gap": 0.09322863721232619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013197189361901755, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014214156319174, + "object_top_z": 1.0515619309563484, + "finger_top_clearance": 0.05014051532443098, + "fingertip_min_top_clearance": 0.015042154597329327, + "object_projection_between_fingers": 0.8429089406646314, + "object_to_finger_line_xy": 0.009604560760215621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049114318606163096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.538831784647353, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3681662193543141, + 0.049528076170615914, + 0.770146330191967 + ], + "gripper_position": [ + 0.36453636538800904, + 0.01702961413808514, + 1.044479966066628 + ], + "target_minus_gripper": [ + 0.003629853966305052, + 0.032498462032530775, + -0.274333635874661 + ], + "held_position": [ + 0.3687417219414322, + 0.021313900197003195, + 1.0423317972252173 + ], + "held_minus_target": [ + 0.0005755025871180819, + -0.02821417597361272, + 0.2721854670332503 + ], + "held_minus_gripper": [ + 0.004205356553423134, + 0.004284286058918056, + -0.002148168841410669 + ], + "xy_dist": 0.03270054853204369, + "held_xy_dist": 0.028220044810342966, + "held_gripper_dist": 0.006376108542619563, + "max_held_gripper_dist": 0.006478079003272106, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0423317972252173, + "required_height": 0.800146330191967, + "gripper_z": 1.044479966066628, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.02468880915704, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8201593235313287, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.039646469497896, + "max_source_tilt_deg": 89.97123037987471, + "source_upright_tilt_deg": 3.7628377901400314, + "max_source_upright_tilt_deg": 89.82869620474277, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.039646469497896, + "source_upright_return_tilt_deg": 3.7628377901400314, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.0669426131007984e-08, + "max_target_xy_drift": 1.7026655200163185e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 221, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 221, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3682, + 0.0495, + 0.7701 + ], + "controller_target_position": [ + 0.3682, + 0.0495, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0013, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3672, + 0.0231, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010113935982422597, + -0.0012510665419154087, + -0.001157869070311885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.76283955816335, + "source_return_step_error_deg": 2.0396520225857127, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.7721569116250864, + "source_return_best_wrist_position": -1.5839266777038574, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5839266777038574 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3682, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3682, + 0.0495, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0013, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3672, + 0.0231, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010113935982422597, + -0.0012510665419154087, + -0.001157869070311885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.76283955816335, + "pour_controller_source_return_step_error_deg": 2.0396520225857127, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.7721569116250864, + "pour_controller_source_return_best_wrist_position": -1.5839266777038574, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5839266777038574, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03270054853204369, + "valid_pour_held_xy_dist": 0.028220044810342966, + "valid_pour_held_gripper_dist": 0.006376108542619563, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0423317972252173, + "valid_pour_source_tilt_deg": 2.039646469497896, + "valid_pour_source_upright_tilt_deg": 3.7628377901400314, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.0669426131007984e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3687417219414322, + -0.0024884080527951334, + 1.0423317972252173 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3578086159473288, + 0.021313900197003195, + 1.0423317972252173 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3632751689443805, + 0.00941274607210403, + 1.0423317972252173 + ], + "valid_pour_held_grasp_object_position": [ + 0.3687417219414322, + 0.021313900197003195, + 1.0423317972252173 + ], + "valid_pour_held_grasp_finger_gap": 0.026193180118052033, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024448544774526137, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0638014851384979, + -0.9978442479471278, + 0.01536968877216871 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006217339084079405, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381935260824324, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3687417219414322, + -0.0024884080527951334, + 1.0423317972252173 + ], + "held_grasp_finger_b": [ + 0.3578086159473288, + 0.021313900197003195, + 1.0423317972252173 + ], + "held_grasp_midpoint": [ + 0.3632751689443805, + 0.00941274607210403, + 1.0423317972252173 + ], + "held_grasp_object_position": [ + 0.3687417219414322, + 0.021313900197003195, + 1.0423317972252173 + ], + "held_grasp_finger_gap": 0.026193180118052033, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024448544774526137, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0638014851384979, + -0.9978442479471278, + 0.01536968877216871 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006217339084079405, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381935260824324, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27501687712560513, + -0.06787484347557146, + 0.7611064090499514 + ], + "target_position": [ + 0.2762546897422937, + -0.06675416946344342, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0016697575618911313, + "xy_threshold": 0.08, + "gripper_dist": 0.21630201538026217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064090499514, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558745220100783, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08960798022517681, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.186966893503097, + "release_required_pad_clearance": 0.05480399011258841, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.662747058068017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01f5fa5d714276f62b5641d7ab7c569cc9fa2b712fce1329149634a265bb8487", + "visual_seed": 8383412330848077416, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e60160ac689483ddc26cea423ea998ae862d98bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_49_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2968953910477299, + -0.061702935149132575, + 1.0041348767384009 + ], + "current_z": 1.0041348767384009, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14302842832827956, + "gripper_z": 1.0059136926221424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.292634214231559, + -0.06591698746733513, + 1.0059136926221424 + ], + "object_minus_gripper": [ + 0.004261176816170886, + 0.0042140523182025505, + -0.0017788158837415136 + ], + "object_to_gripper_xy": 0.005992984631986014, + "object_to_gripper_z": -0.0017788158837415136, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2968953910477299, + -0.08586912729322133, + 1.0041348767384009 + ], + "finger_b": [ + 0.2864207678765427, + -0.061702935149132575, + 1.0041348767384009 + ], + "finger_midpoint": [ + 0.2916580794621363, + -0.07378603122117695, + 1.0041348767384009 + ], + "object_minus_finger_midpoint": [ + 0.005237311585593596, + 0.012083096072044379, + 0.0 + ], + "finger_gap": 0.026338613731997904, + "fingertip_max_gap": 0.09304320609424391, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169306865998954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0041348767384009, + "object_top_z": 1.0540937930333238, + "finger_top_clearance": 0.049958916294922995, + "fingertip_min_top_clearance": 0.014987674888476915, + "object_projection_between_fingers": 0.8418420636757553, + "object_to_finger_line_xy": 0.00961067119050052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049021603047121956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.474853514143141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36929665124480154, + 0.043490717976026314, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3654751250550363, + 0.010244567884323943, + 1.0466294843421515 + ], + "target_minus_gripper": [ + 0.003821526189765223, + 0.03324615009170237, + -0.27648309454553976 + ], + "held_position": [ + 0.3697756020817623, + 0.014367269343048704, + 1.0447599283002975 + ], + "held_minus_target": [ + 0.00047895083696075647, + -0.02912344863297761, + 0.27461353850368575 + ], + "held_minus_gripper": [ + 0.0043004770267259795, + 0.004122701458724761, + -0.0018695560418540147 + ], + "xy_dist": 0.033465064744283145, + "held_xy_dist": 0.029127386669282756, + "held_gripper_dist": 0.006243877782980865, + "max_held_gripper_dist": 0.006319530156304756, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0447599283002975, + "required_height": 0.8001463897966118, + "gripper_z": 1.0466294843421515, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.17616191438042, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9328517243249532, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1722794224522723, + "max_source_tilt_deg": 89.96996605770947, + "source_upright_tilt_deg": 2.834149515691179, + "max_source_upright_tilt_deg": 89.85140416039752, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1722794224522723, + "source_upright_return_tilt_deg": 2.834149515691179, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.485843546238652e-08, + "max_target_xy_drift": 1.3998370041229264e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3693, + 0.0435, + 0.7701 + ], + "controller_target_position": [ + 0.3693, + 0.0435, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0001, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3701, + 0.0184, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007573946401094713, + 0.00011520439987695646, + 0.0002638723091174049 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8341383785772014, + "source_return_step_error_deg": 2.172279431960285, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8300186382943213, + "source_return_best_wrist_position": -1.6121793985366821, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121793985366821 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3693, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3693, + 0.0435, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0001, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3701, + 0.0184, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007573946401094713, + 0.00011520439987695646, + 0.0002638723091174049 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8341383785772014, + "pour_controller_source_return_step_error_deg": 2.172279431960285, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8300186382943213, + "pour_controller_source_return_best_wrist_position": -1.6121793985366821, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121793985366821, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033465064744283145, + "valid_pour_held_xy_dist": 0.029127386669282756, + "valid_pour_held_gripper_dist": 0.006243877782980865, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0447599283002975, + "valid_pour_source_tilt_deg": 2.1722794224522723, + "valid_pour_source_upright_tilt_deg": 2.834149515691179, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.485843546238652e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3697756020817623, + -0.00945286539723644, + 1.0447599283002975 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3595328172277409, + 0.014367269343048704, + 1.0447599283002975 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3646542096547516, + 0.0024572019729061324, + 1.0447599283002975 + ], + "valid_pour_held_grasp_object_position": [ + 0.3697756020817623, + 0.014367269343048704, + 1.0447599283002975 + ], + "valid_pour_held_grasp_finger_gap": 0.025929008091539286, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024170797067263782, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03707954970928061, + -0.9987768531330663, + 0.03270939679918583 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005572905686604596, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038014649386619324, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3697756020817623, + -0.00945286539723644, + 1.0447599283002975 + ], + "held_grasp_finger_b": [ + 0.3595328172277409, + 0.014367269343048704, + 1.0447599283002975 + ], + "held_grasp_midpoint": [ + 0.3646542096547516, + 0.0024572019729061324, + 1.0447599283002975 + ], + "held_grasp_object_position": [ + 0.3697756020817623, + 0.014367269343048704, + 1.0447599283002975 + ], + "held_grasp_finger_gap": 0.025929008091539286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024170797067263782, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03707954970928061, + -0.9987768531330663, + 0.03270939679918583 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005572905686604596, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038014649386619324, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27444560352045755, + -0.06564513041707612, + 0.7611063160132654 + ], + "target_position": [ + 0.2733095788476978, + -0.06627441239782965, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0012986715783522725, + "xy_threshold": 0.08, + "gripper_dist": 0.2180410906648723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063160132654, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540806406762417, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683105783042626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18914595923392014, + "release_required_pad_clearance": 0.05341552891521313, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8456180013774444, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13d7d24017aa07b9ef3f9a12ddd0aa77cf06b13cd3213aa21868786c1b0533ac", + "visual_seed": 3635712500188543931, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7afc238f7f357d99d5bd2f4fda1412f4032ec56e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_4_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29894608356008434, + -0.06518381659768428, + 1.002617851241729 + ], + "current_z": 1.002617851241729, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14151140283160757, + "gripper_z": 1.0048360574046848, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2950346227194704, + -0.06930915348280425, + 1.0048360574046848 + ], + "object_minus_gripper": [ + 0.003911460840613945, + 0.004125336885119971, + -0.0022182061629558714 + ], + "object_to_gripper_xy": 0.005684886131083691, + "object_to_gripper_z": -0.0022182061629558714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29894608356008434, + -0.08900024280558669, + 1.002617851241729 + ], + "finger_b": [ + 0.2884767290301139, + -0.06518381659768428, + 1.002617851241729 + ], + "finger_midpoint": [ + 0.2937114062950991, + -0.07709202970163548, + 1.002617851241729 + ], + "object_minus_finger_midpoint": [ + 0.005234677264985221, + 0.011908213103951196, + 0.0 + ], + "finger_gap": 0.026015947831871764, + "fingertip_max_gap": 0.09295629758927934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013007973915935875, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002617851241729, + "object_top_z": 1.0528263968019853, + "finger_top_clearance": 0.050208545560256335, + "fingertip_min_top_clearance": 0.015062563668076883, + "object_projection_between_fingers": 0.8380576237606072, + "object_to_finger_line_xy": 0.009584221617401299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897814879463967, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2614403895128508, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3691647163635915, + 0.04290542271607376, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3645259220623105, + 0.010776095624667276, + 1.045717933523772 + ], + "target_minus_gripper": [ + 0.004638794301281002, + 0.032129327091406486, + -0.27557148412251564 + ], + "held_position": [ + 0.36854681728813704, + 0.01473346373922388, + 1.0434133212301577 + ], + "held_minus_target": [ + -0.0006178990754544533, + -0.028171958976849883, + 0.2732668718289013 + ], + "held_minus_gripper": [ + 0.0040208952258265485, + 0.003957368114556605, + -0.0023046122936143387 + ], + "xy_dist": 0.0324624717468677, + "held_xy_dist": 0.028178734390684763, + "held_gripper_dist": 0.006094226664234139, + "max_held_gripper_dist": 0.006217977586846136, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0434133212301577, + "required_height": 0.8001464494012565, + "gripper_z": 1.045717933523772, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.33746366181944, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7953209903850365, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.292604250824068, + "max_source_tilt_deg": 89.81144503969358, + "source_upright_tilt_deg": 1.8557961670498135, + "max_source_upright_tilt_deg": 89.88340601155473, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.292604250824068, + "source_upright_return_tilt_deg": 1.8557961670498135, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.003425057343598e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3692, + 0.0429, + 0.7701 + ], + "controller_target_position": [ + 0.3692, + 0.0429, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + 0.0013, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3684, + 0.019, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007580886206261157, + 0.0012936059848335387, + -0.0008045891860163801 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.855803225117366, + "source_return_step_error_deg": 2.29260951541755, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2905872619814125, + "source_return_best_wrist_position": -1.6121402978897095, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121402978897095 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3692, + 0.0429, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3692, + 0.0429, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + 0.0013, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3684, + 0.019, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007580886206261157, + 0.0012936059848335387, + -0.0008045891860163801 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.855803225117366, + "pour_controller_source_return_step_error_deg": 2.29260951541755, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2905872619814125, + "pour_controller_source_return_best_wrist_position": -1.6121402978897095, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121402978897095, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0324624717468677, + "valid_pour_held_xy_dist": 0.028178734390684763, + "valid_pour_held_gripper_dist": 0.006094226664234139, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0434133212301577, + "valid_pour_source_tilt_deg": 2.292604250824068, + "valid_pour_source_upright_tilt_deg": 1.8557961670498135, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.003425057343598e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36854681728813704, + -0.008983184339161879, + 1.0434133212301577 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3586903645179308, + 0.01473346373922388, + 1.0434133212301577 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36361859090303394, + 0.0028751397000310007, + 1.0434133212301577 + ], + "valid_pour_held_grasp_object_position": [ + 0.36854681728813704, + 0.01473346373922388, + 1.0434133212301577 + ], + "valid_pour_held_grasp_finger_gap": 0.0256832446798551, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02387119610453252, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016941925246750086, + -0.9994755051454537, + 0.02759865545952788 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0051387804928968205, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03795163930385976, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36854681728813704, + -0.008983184339161879, + 1.0434133212301577 + ], + "held_grasp_finger_b": [ + 0.3586903645179308, + 0.01473346373922388, + 1.0434133212301577 + ], + "held_grasp_midpoint": [ + 0.36361859090303394, + 0.0028751397000310007, + 1.0434133212301577 + ], + "held_grasp_object_position": [ + 0.36854681728813704, + 0.01473346373922388, + 1.0434133212301577 + ], + "held_grasp_finger_gap": 0.0256832446798551, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02387119610453252, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016941925246750086, + -0.9994755051454537, + 0.02759865545952788 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0051387804928968205, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03795163930385976, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27922750947095926, + -0.06391266313020269, + 0.761106592464959 + ], + "target_position": [ + 0.2757655189844265, + -0.06627008614539999, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004188415141963013, + "xy_threshold": 0.08, + "gripper_dist": 0.21685519093674016, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106592464959, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751849917585648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08996396866191271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18865612800338782, + "release_required_pad_clearance": 0.05498198433095636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.036011688245551, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "71092869f5b801d71d476444bb4396bc7cf10824951f96c1aaf0a7a32e0ef47d", + "visual_seed": 8450210129354150964, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1cdc22676eb7618d3dc3f3f0d90e97f3d907ae2e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_50_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3018313995958237, + -0.05990181641565091, + 1.0027093693133815 + ], + "current_z": 1.0027093693133815, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.14160280169397088, + "gripper_z": 1.0048313531873054, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29762586247062894, + -0.06421039927954371, + 1.0048313531873054 + ], + "object_minus_gripper": [ + 0.00420553712519478, + 0.004308582863892796, + -0.002121983873923927 + ], + "object_to_gripper_xy": 0.0060208328997259355, + "object_to_gripper_z": -0.002121983873923927, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3018313995958237, + -0.08385389625928226, + 1.0027093693133815 + ], + "finger_b": [ + 0.29099658720778965, + -0.05990181641565091, + 1.0027093693133815 + ], + "finger_midpoint": [ + 0.2964139934018067, + -0.07187785633746659, + 1.0027093693133815 + ], + "object_minus_finger_midpoint": [ + 0.005417406194017038, + 0.011976039921815673, + 0.0 + ], + "finger_gap": 0.026288691262966814, + "fingertip_max_gap": 0.09278741363632728, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013144345631483407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027093693133815, + "object_top_z": 1.0526334279477862, + "finger_top_clearance": 0.049924058634404744, + "fingertip_min_top_clearance": 0.014977217590321406, + "object_projection_between_fingers": 0.8301346261970032, + "object_to_finger_line_xy": 0.009871784365870747, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889370681816364, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.523193305355566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3646016529804891, + 0.04669124525659539, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36228466478891913, + 0.014535028965893704, + 1.0452457730554372 + ], + "target_minus_gripper": [ + 0.0023169881915699464, + 0.032156216290701686, + -0.27509938325882555 + ], + "held_position": [ + 0.36658474444054023, + 0.018693479489557584, + 1.0430380421349374 + ], + "held_minus_target": [ + 0.0019830914600511562, + -0.027997765767037806, + 0.2728916523383258 + ], + "held_minus_gripper": [ + 0.004300079651621103, + 0.004158450523663881, + -0.002207730920499751 + ], + "xy_dist": 0.03223958250992502, + "held_xy_dist": 0.028067909428470834, + "held_gripper_dist": 0.00637632116391395, + "max_held_gripper_dist": 0.0064806356780378474, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0430380421349374, + "required_height": 0.8001463897966117, + "gripper_z": 1.0452457730554372, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.20790180345347, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0086328726613156, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2195733110865716, + "max_source_tilt_deg": 89.80253606072972, + "source_upright_tilt_deg": 2.3179401538456514, + "max_source_upright_tilt_deg": 89.89720914016027, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2195733110865716, + "source_upright_return_tilt_deg": 2.3179401538456514, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.490116119023943e-07, + "max_target_xy_drift": 1.9371509552001953e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3646, + 0.0467, + 0.7701 + ], + "controller_target_position": [ + 0.3646, + 0.0467, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0012, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3662, + 0.0227, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00162605433701816, + 0.001180657950327286, + -0.001326469757652697 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.317939759746151, + "source_return_step_error_deg": 2.2196419062896435, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.324201891158111, + "source_return_best_wrist_position": -1.6122639179229736, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122639179229736 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3646, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3646, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0012, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3662, + 0.0227, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00162605433701816, + 0.001180657950327286, + -0.001326469757652697 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.317939759746151, + "pour_controller_source_return_step_error_deg": 2.2196419062896435, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.324201891158111, + "pour_controller_source_return_best_wrist_position": -1.6122639179229736, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122639179229736, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03223958250992502, + "valid_pour_held_xy_dist": 0.028067909428470834, + "valid_pour_held_gripper_dist": 0.00637632116391395, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0430380421349374, + "valid_pour_source_tilt_deg": 2.2195733110865716, + "valid_pour_source_upright_tilt_deg": 2.3179401538456514, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.490116119023943e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36658474444054023, + -0.005079601589566882, + 1.0430380421349374 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3562547868924789, + 0.018693479489557584, + 1.0430380421349374 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3614197656665096, + 0.006806938949995352, + 1.0430380421349374 + ], + "valid_pour_held_grasp_object_position": [ + 0.36658474444054023, + 0.018693479489557584, + 1.0430380421349374 + ], + "valid_pour_held_grasp_finger_gap": 0.025920405223286435, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024027469932497457, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02650933099359037, + -0.9991817884121303, + 0.0305451972625711 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054901479133130475, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03798035536763763, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36658474444054023, + -0.005079601589566882, + 1.0430380421349374 + ], + "held_grasp_finger_b": [ + 0.3562547868924789, + 0.018693479489557584, + 1.0430380421349374 + ], + "held_grasp_midpoint": [ + 0.3614197656665096, + 0.006806938949995352, + 1.0430380421349374 + ], + "held_grasp_object_position": [ + 0.36658474444054023, + 0.018693479489557584, + 1.0430380421349374 + ], + "held_grasp_finger_gap": 0.025920405223286435, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024027469932497457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02650933099359037, + -0.9991817884121303, + 0.0305451972625711 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054901479133130475, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03798035536763763, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2857903097619442, + -0.06831263843367767, + 0.7611187173367169 + ], + "target_position": [ + 0.27838190771036003, + -0.06415826851980211, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008493715932336734, + "xy_threshold": 0.08, + "gripper_dist": 0.21982283448850956, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611187173367169, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572393808308604, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017685542544239, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1887607839247463, + "release_required_pad_clearance": 0.0550884277127212, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.245120132580649, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2bf3c52d6acf31d69d472e8e83ea87a1133bbb0ef549c68a00770e0bec9d3a54", + "visual_seed": 3851729649269214330, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c97d799157f7bebd8a276f77515c7655f9ddfdc3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_51_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30494159000800036, + -0.05679910695236437, + 1.0004134124645128 + ], + "current_z": 1.0004134124645128, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.13930696405439136, + "gripper_z": 1.0020462229931628, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.300796841014871, + -0.06100265383982163, + 1.0020462229931628 + ], + "object_minus_gripper": [ + 0.004144748993129388, + 0.004203546887457263, + -0.0016328105286500527 + ], + "object_to_gripper_xy": 0.005903283040063276, + "object_to_gripper_z": -0.0016328105286500527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30494159000800036, + -0.08083842773610661, + 1.0004134124645128 + ], + "finger_b": [ + 0.29439670816499197, + -0.05679910695236437, + 1.0004134124645128 + ], + "finger_midpoint": [ + 0.29966914908649617, + -0.06881876734423549, + 1.0004134124645128 + ], + "object_minus_finger_midpoint": [ + 0.005272440921504196, + 0.01201966039187112, + 0.0 + ], + "finger_gap": 0.02625039955556238, + "fingertip_max_gap": 0.09331203769650845, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312519977778119, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0004134124645128, + "object_top_z": 1.0504572425687584, + "finger_top_clearance": 0.050043830104245624, + "fingertip_min_top_clearance": 0.015013149031273687, + "object_projection_between_fingers": 0.838634161429795, + "object_to_finger_line_xy": 0.009656683385492477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049156018848254227, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5687088930690543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36994365966383863, + 0.05169222023957229, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3661811655280385, + 0.018705694621747093, + 1.0451265711457451 + ], + "target_minus_gripper": [ + 0.003762494135800154, + 0.032986525617825196, + -0.2749801217444885 + ], + "held_position": [ + 0.3703789169605391, + 0.022817358412088505, + 1.0434111050913502 + ], + "held_minus_target": [ + 0.0004352572967004642, + -0.028874861827483785, + 0.2732646556900935 + ], + "held_minus_gripper": [ + 0.004197751432500618, + 0.004111663790341412, + -0.0017154660543949873 + ], + "xy_dist": 0.03320041015495695, + "held_xy_dist": 0.028878142157531726, + "held_gripper_dist": 0.006121251505831728, + "max_held_gripper_dist": 0.006185411138670499, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0434111050913502, + "required_height": 0.8001464494012567, + "gripper_z": 1.0451265711457451, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.93591001032522, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9356628311291604, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.009313513897689, + "max_source_tilt_deg": 89.71420951265105, + "source_upright_tilt_deg": 2.7322085569258125, + "max_source_upright_tilt_deg": 89.73874291298195, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.009313513897689, + "source_upright_return_tilt_deg": 2.7322085569258125, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.7706993203109864e-08, + "max_target_xy_drift": 1.7943374184954607e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3699, + 0.0517, + 0.7701 + ], + "controller_target_position": [ + 0.3699, + 0.0517, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.001, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3693, + 0.0275, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006842679595572929, + 0.00097021506082191, + -0.0014160769770001041 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.73219688042728, + "source_return_step_error_deg": 2.009306757506923, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7394461563649295, + "source_return_best_wrist_position": -1.609555959701538, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609555959701538 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3699, + 0.0517, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3699, + 0.0517, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.001, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3693, + 0.0275, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006842679595572929, + 0.00097021506082191, + -0.0014160769770001041 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.73219688042728, + "pour_controller_source_return_step_error_deg": 2.009306757506923, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7394461563649295, + "pour_controller_source_return_best_wrist_position": -1.609555959701538, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609555959701538, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03320041015495695, + "valid_pour_held_xy_dist": 0.028878142157531726, + "valid_pour_held_gripper_dist": 0.006121251505831728, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0434111050913502, + "valid_pour_source_tilt_deg": 2.009313513897689, + "valid_pour_source_upright_tilt_deg": 2.7322085569258125, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.7706993203109864e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3703789169605391, + -0.0009570126090283843, + 1.0434111050913502 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3601293042341789, + 0.022817358412088505, + 1.0434111050913502 + ], + "valid_pour_held_grasp_midpoint": [ + 0.365254110597359, + 0.01093017290153006, + 1.0434111050913502 + ], + "valid_pour_held_grasp_object_position": [ + 0.3703789169605391, + 0.022817358412088505, + 1.0434111050913502 + ], + "valid_pour_held_grasp_finger_gap": 0.02588967513295769, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024114691929901864, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03584004173807826, + -0.9988632448318862, + 0.03142784644432928 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005559922054502988, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038030250653056014, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3703789169605391, + -0.0009570126090283843, + 1.0434111050913502 + ], + "held_grasp_finger_b": [ + 0.3601293042341789, + 0.022817358412088505, + 1.0434111050913502 + ], + "held_grasp_midpoint": [ + 0.365254110597359, + 0.01093017290153006, + 1.0434111050913502 + ], + "held_grasp_object_position": [ + 0.3703789169605391, + 0.022817358412088505, + 1.0434111050913502 + ], + "held_grasp_finger_gap": 0.02588967513295769, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024114691929901864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03584004173807826, + -0.9988632448318862, + 0.03142784644432928 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005559922054502988, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038030250653056014, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2810217034661903, + -0.06242626114597901, + 0.7611064134527586 + ], + "target_position": [ + 0.2814065408418997, + -0.06159324168562076, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0009176171462426092, + "xy_threshold": 0.08, + "gripper_dist": 0.2139378006624436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064134527586, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527023064736611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08629180984730901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18512903693266472, + "release_required_pad_clearance": 0.05314590492365451, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3169823289587335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3cdfb787a34d5865a9a55d6cbd1d8bd3eb17101bb931417868789d7ffc327353", + "visual_seed": 1098664090632376815, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e793d0caea5fe90a548b2971ea16342fefdd1128 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_52_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30050410652308285, + -0.06553206720318333, + 1.001852546352531 + ], + "current_z": 1.001852546352531, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14074609794240978, + "gripper_z": 1.0035587053174533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2966225417404632, + -0.06974678744053307, + 1.0035587053174533 + ], + "object_minus_gripper": [ + 0.0038815647826196398, + 0.004214720237349742, + -0.0017061589649223219 + ], + "object_to_gripper_xy": 0.0057297828790276615, + "object_to_gripper_z": -0.0017061589649223219, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30050410652308285, + -0.0890857883086871, + 1.001852546352531 + ], + "finger_b": [ + 0.28958909094988916, + -0.06553206720318333, + 1.001852546352531 + ], + "finger_midpoint": [ + 0.295046598736486, + -0.07730892775593522, + 1.001852546352531 + ], + "object_minus_finger_midpoint": [ + 0.005457507786596871, + 0.011776860552751886, + 0.0 + ], + "finger_gap": 0.025959879485061454, + "fingertip_max_gap": 0.0929939120544461, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297993974253074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001852546352531, + "object_top_z": 1.0519860831949914, + "finger_top_clearance": 0.05013353684246047, + "fingertip_min_top_clearance": 0.01504006105273814, + "object_projection_between_fingers": 0.823215829373888, + "object_to_finger_line_xy": 0.009903329205406205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899695602722305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3075450815779135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36186565077368665, + 0.04560911548011757, + 0.7701464494012568 + ], + "gripper_position": [ + 0.3584465312913744, + 0.013270782889626007, + 1.045932431694159 + ], + "target_minus_gripper": [ + 0.0034191194823122717, + 0.03233833259049156, + -0.2757859822929022 + ], + "held_position": [ + 0.36237872548861905, + 0.017391146640388596, + 1.0441402956703558 + ], + "held_minus_target": [ + 0.0005130747149323933, + -0.028217968839728973, + 0.27399384626909906 + ], + "held_minus_gripper": [ + 0.003932194197244665, + 0.004120363750762589, + -0.0017921360238031259 + ], + "xy_dist": 0.03251858134617155, + "held_xy_dist": 0.02822263295837258, + "held_gripper_dist": 0.0059708709725848075, + "max_held_gripper_dist": 0.006049801853970588, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0441402956703558, + "required_height": 0.8001464494012568, + "gripper_z": 1.045932431694159, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.54910390344145, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7450239931513858, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1309930902247953, + "max_source_tilt_deg": 89.79952479914355, + "source_upright_tilt_deg": 2.4447247369104566, + "max_source_upright_tilt_deg": 89.94079048933934, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1309930902247953, + "source_upright_return_tilt_deg": 2.4447247369104566, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.83872392426648e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3619, + 0.0456, + 0.7701 + ], + "controller_target_position": [ + 0.3619, + 0.0456, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + 0.0015, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3611, + 0.0219, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000807746098147261, + 0.0014784918572478844, + -0.0005511853987565547 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.444705410047751, + "source_return_step_error_deg": 2.1310020286457974, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.437690082754288, + "source_return_best_wrist_position": -1.6110289096832275, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6110289096832275 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3619, + 0.0456, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3619, + 0.0456, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + 0.0015, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3611, + 0.0219, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000807746098147261, + 0.0014784918572478844, + -0.0005511853987565547 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.444705410047751, + "pour_controller_source_return_step_error_deg": 2.1310020286457974, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.437690082754288, + "pour_controller_source_return_best_wrist_position": -1.6110289096832275, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6110289096832275, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03251858134617155, + "valid_pour_held_xy_dist": 0.02822263295837258, + "valid_pour_held_gripper_dist": 0.0059708709725848075, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0441402956703558, + "valid_pour_source_tilt_deg": 2.1309930902247953, + "valid_pour_source_upright_tilt_deg": 2.4447247369104566, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.83872392426648e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36237872548861905, + -0.005885747569475702, + 1.0441402956703558 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35175806329269577, + 0.017391146640388596, + 1.0441402956703558 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3570683943906574, + 0.0057526995354564466, + 1.0441402956703558 + ], + "valid_pour_held_grasp_object_position": [ + 0.36237872548861905, + 0.017391146640388596, + 1.0441402956703558 + ], + "valid_pour_held_grasp_finger_gap": 0.02558539172139305, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02359213766285997, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03167684070479332, + -0.9990898454332867, + 0.028566737914124667 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005685923221524852, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038260610263224755, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36237872548861905, + -0.005885747569475702, + 1.0441402956703558 + ], + "held_grasp_finger_b": [ + 0.35175806329269577, + 0.017391146640388596, + 1.0441402956703558 + ], + "held_grasp_midpoint": [ + 0.3570683943906574, + 0.0057526995354564466, + 1.0441402956703558 + ], + "held_grasp_object_position": [ + 0.36237872548861905, + 0.017391146640388596, + 1.0441402956703558 + ], + "held_grasp_finger_gap": 0.02558539172139305, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02359213766285997, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03167684070479332, + -0.9990898454332867, + 0.028566737914124667 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005685923221524852, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038260610263224755, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26876493031961235, + -0.04937359093578891, + 0.7611226380086291 + ], + "target_position": [ + 0.2772544472725122, + -0.06671951328660544, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019311989029981623, + "xy_threshold": 0.08, + "gripper_dist": 0.20893489084088368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611226380086291, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0814603223958026, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08790736151614396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1844932112388676, + "release_required_pad_clearance": 0.053953680758071984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9163390559413527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "65fef7b8f65bac5137204178a6ae949a9c44df0597265c92d0953c327c5f9313", + "visual_seed": 8742835106201163577, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cacfa9525af0278ec036fcd8e175ef401fab78a5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_53_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3033137255712633, + -0.06750308788644672, + 1.000530609466204 + ], + "current_z": 1.000530609466204, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.13942410145143813, + "gripper_z": 1.0027075987541023, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2991943591383958, + -0.07171738768104068, + 1.0027075987541023 + ], + "object_minus_gripper": [ + 0.004119366432867477, + 0.004214299794593951, + -0.0021769892878982233 + ], + "object_to_gripper_xy": 0.005893174235244529, + "object_to_gripper_z": -0.0021769892878982233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3033137255712633, + -0.0915544346003272, + 1.000530609466204 + ], + "finger_b": [ + 0.29283528265771996, + -0.06750308788644672, + 1.000530609466204 + ], + "finger_midpoint": [ + 0.29807450411449166, + -0.07952876124338695, + 1.000530609466204 + ], + "object_minus_finger_midpoint": [ + 0.005239221456771637, + 0.012025673356940228, + 0.0 + ], + "finger_gap": 0.02623480597686355, + "fingertip_max_gap": 0.0931059296125051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013117402988431757, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000530609466204, + "object_top_z": 1.0505667650764592, + "finger_top_clearance": 0.050036155610255095, + "fingertip_min_top_clearance": 0.015010846683076545, + "object_projection_between_fingers": 0.8404716805729538, + "object_to_finger_line_xy": 0.009606347527688665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049052964806252555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7853572014936514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3702335170513813, + 0.04425600808732966, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3676877581074451, + 0.012107373704007218, + 1.0472141998066136 + ], + "target_minus_gripper": [ + 0.002545758943936216, + 0.03214863438332244, + -0.277067750405357 + ], + "held_position": [ + 0.371806796821092, + 0.016267095929365552, + 1.0449508798860268 + ], + "held_minus_target": [ + 0.0015732797697107226, + -0.027988912157964105, + 0.2748044304847702 + ], + "held_minus_gripper": [ + 0.004119038713646939, + 0.004159722225358334, + -0.002263319920586815 + ], + "xy_dist": 0.03224927257029487, + "held_xy_dist": 0.028033094959708103, + "held_gripper_dist": 0.006276335394128282, + "max_held_gripper_dist": 0.00638289123293354, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0449508798860268, + "required_height": 0.8001464494012566, + "gripper_z": 1.0472141998066136, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.21249852076488, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.330103856525376, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3643295919968543, + "max_source_tilt_deg": 89.65014832423549, + "source_upright_tilt_deg": 3.510123848486462, + "max_source_upright_tilt_deg": 89.83446645207603, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3643295919968543, + "source_upright_return_tilt_deg": 3.510123848486462, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.60770320892334e-08, + "max_target_xy_drift": 1.1403283368413838e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3702, + 0.0443, + 0.7701 + ], + "controller_target_position": [ + 0.3702, + 0.0443, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0013, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3719, + 0.0203, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016726042055885994, + 0.0012824912133824347, + 0.000915440235810294 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5101348532586596, + "source_return_step_error_deg": 2.3643192028541025, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5101552818848365, + "source_return_best_wrist_position": -1.6131703853607178, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131703853607178 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3702, + 0.0443, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3702, + 0.0443, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0013, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3719, + 0.0203, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016726042055885994, + 0.0012824912133824347, + 0.000915440235810294 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5101348532586596, + "pour_controller_source_return_step_error_deg": 2.3643192028541025, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5101552818848365, + "pour_controller_source_return_best_wrist_position": -1.6131703853607178, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131703853607178, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03224927257029487, + "valid_pour_held_xy_dist": 0.028033094959708103, + "valid_pour_held_gripper_dist": 0.006276335394128282, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0449508798860268, + "valid_pour_source_tilt_deg": 2.3643295919968543, + "valid_pour_source_upright_tilt_deg": 3.510123848486462, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.60770320892334e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.371806796821092, + -0.007220078765881612, + 1.0449508798860268 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3612943220686236, + 0.016267095929365552, + 1.0449508798860268 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3665505594448578, + 0.00452350858174197, + 1.0449508798860268 + ], + "valid_pour_held_grasp_object_position": [ + 0.371806796821092, + 0.016267095929365552, + 1.0449508798860268 + ], + "valid_pour_held_grasp_finger_gap": 0.025732460057024176, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0240108442602829, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05400549670918467, + -0.9981240035812821, + 0.028842326537004803 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005892292116027093, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03828255936060343, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.371806796821092, + -0.007220078765881612, + 1.0449508798860268 + ], + "held_grasp_finger_b": [ + 0.3612943220686236, + 0.016267095929365552, + 1.0449508798860268 + ], + "held_grasp_midpoint": [ + 0.3665505594448578, + 0.00452350858174197, + 1.0449508798860268 + ], + "held_grasp_object_position": [ + 0.371806796821092, + 0.016267095929365552, + 1.0449508798860268 + ], + "held_grasp_finger_gap": 0.025732460057024176, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0240108442602829, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05400549670918467, + -0.9981240035812821, + 0.028842326537004803 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005892292116027093, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03828255936060343, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2750337482094625, + -0.07875581928812708, + 0.7611066628663089 + ], + "target_position": [ + 0.2800300422116369, + -0.0690071198300248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01095445548078805, + "xy_threshold": 0.08, + "gripper_dist": 0.21249177026133814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066628663089, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520369880897976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09000979813125214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18254306612939353, + "release_required_pad_clearance": 0.05500489906562607, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.083516109854327, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2db6c14aa379bd7234b9d72fd0d163665f88b6f916e297417860dc16331097a5", + "visual_seed": 4096588109944670783, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1584bce67bd045ca20149a1381a353d842c350b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_54_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3000065195153045, + -0.06701114257245798, + 1.0013480566515167 + ], + "current_z": 1.0013480566515167, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14024154863675076, + "gripper_z": 1.0033930225449077, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29598201038871735, + -0.07132114131134197, + 1.0033930225449077 + ], + "object_minus_gripper": [ + 0.004024509126587139, + 0.004309998738883991, + -0.002044965893390982 + ], + "object_to_gripper_xy": 0.0058968434640207954, + "object_to_gripper_z": -0.002044965893390982, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3000065195153045, + -0.0906992764582537, + 1.0013480566515167 + ], + "finger_b": [ + 0.28901716575348696, + -0.06701114257245798, + 1.0013480566515167 + ], + "finger_midpoint": [ + 0.2945118426343957, + -0.07885520951535584, + 1.0013480566515167 + ], + "object_minus_finger_midpoint": [ + 0.0054946768809087665, + 0.011844066942897857, + 0.0 + ], + "finger_gap": 0.02611309217794316, + "fingertip_max_gap": 0.09294865614962447, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305654608897158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013480566515167, + "object_top_z": 1.0514044542089729, + "finger_top_clearance": 0.05005639755745617, + "fingertip_min_top_clearance": 0.015016919267236866, + "object_projection_between_fingers": 0.8228962713588572, + "object_to_finger_line_xy": 0.009968841738635133, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897432807481224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6756028893135775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3687230459458058, + 0.05270521235340095, + 0.7701463897966115 + ], + "gripper_position": [ + 0.36398167014817867, + 0.0183632053303346, + 1.0476060485127634 + ], + "target_minus_gripper": [ + 0.004741375797627123, + 0.03434200702306635, + -0.27745965871615186 + ], + "held_position": [ + 0.36806058283767357, + 0.022565051826240974, + 1.0454692124352298 + ], + "held_minus_target": [ + -0.0006624631081322274, + -0.030140160527159975, + 0.2753228226386183 + ], + "held_minus_gripper": [ + 0.004078912689494896, + 0.004201846495906374, + -0.002136836077533566 + ], + "xy_dist": 0.03466776731816837, + "held_xy_dist": 0.03014743992402354, + "held_gripper_dist": 0.006233707654833694, + "max_held_gripper_dist": 0.006332988579749122, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0454692124352298, + "required_height": 0.8001463897966116, + "gripper_z": 1.0476060485127634, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.63726798524797, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1847139745917987, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.221459196385046, + "max_source_tilt_deg": 89.730260349352, + "source_upright_tilt_deg": 2.6974107513490835, + "max_source_upright_tilt_deg": 89.82600131922615, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.221459196385046, + "source_upright_return_tilt_deg": 2.6974107513490835, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-09, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3687, + 0.0527, + 0.7701 + ], + "controller_target_position": [ + 0.3687, + 0.0527, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + -0.0009, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3671, + 0.0267, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015992040096296574, + -0.0008543983511829314, + 0.0009397817150289109 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6976673645032205, + "source_return_step_error_deg": 2.2216040752435653, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6978621420888995, + "source_return_best_wrist_position": -1.6127870082855225, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127870082855225 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3687, + 0.0527, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3687, + 0.0527, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + -0.0009, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3671, + 0.0267, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015992040096296574, + -0.0008543983511829314, + 0.0009397817150289109 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6976673645032205, + "pour_controller_source_return_step_error_deg": 2.2216040752435653, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6978621420888995, + "pour_controller_source_return_best_wrist_position": -1.6127870082855225, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127870082855225, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03466776731816837, + "valid_pour_held_xy_dist": 0.03014743992402354, + "valid_pour_held_gripper_dist": 0.006233707654833694, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0454692124352298, + "valid_pour_source_tilt_deg": 2.221459196385046, + "valid_pour_source_upright_tilt_deg": 2.6974107513490835, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36806058283767357, + -0.0008075828291047235, + 1.0454692124352298 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35735849177025863, + 0.022565051826240974, + 1.0454692124352298 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3627095373039661, + 0.010878734498568125, + 1.0454692124352298 + ], + "valid_pour_held_grasp_object_position": [ + 0.36806058283767357, + 0.022565051826240974, + 1.0454692124352298 + ], + "valid_pour_held_grasp_finger_gap": 0.025706318366259865, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02375431713685255, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.038084064351924386, + -0.9988920100884386, + 0.027646993035721826 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005801073036584057, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825067062658037, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36806058283767357, + -0.0008075828291047235, + 1.0454692124352298 + ], + "held_grasp_finger_b": [ + 0.35735849177025863, + 0.022565051826240974, + 1.0454692124352298 + ], + "held_grasp_midpoint": [ + 0.3627095373039661, + 0.010878734498568125, + 1.0454692124352298 + ], + "held_grasp_object_position": [ + 0.36806058283767357, + 0.022565051826240974, + 1.0454692124352298 + ], + "held_grasp_finger_gap": 0.025706318366259865, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02375431713685255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.038084064351924386, + -0.9988920100884386, + 0.027646993035721826 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005801073036584057, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825067062658037, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27972095050580587, + -0.06710094970885104, + 0.7611062842418556 + ], + "target_position": [ + 0.2767397149496656, + -0.0690359519219105, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035541523610757063, + "xy_threshold": 0.08, + "gripper_dist": 0.21686134074321672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062842418556, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578034495498372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700040107441727, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1875995379185683, + "release_required_pad_clearance": 0.053500200537208636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.012775774769672, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "298bd66c386e986d8d142708010ec747634db481c2e86ae112d8f46345d13565", + "visual_seed": 5925112098677636668, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3214d6b49468ea063c7903a7ca1be29e5ad91f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_55_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2989823827212158, + -0.06453012462270541, + 1.0001310087614792 + ], + "current_z": 1.0001310087614792, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.13902444114206836, + "gripper_z": 1.0023620473708592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2948789614230384, + -0.06886274504765517, + 1.0023620473708592 + ], + "object_minus_gripper": [ + 0.004103421298177423, + 0.004332620424949765, + -0.0022310386093800094 + ], + "object_to_gripper_xy": 0.005967383521865171, + "object_to_gripper_z": -0.0022310386093800094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2989823827212158, + -0.08824877022131948, + 1.0001310087614792 + ], + "finger_b": [ + 0.28792002316284243, + -0.06453012462270541, + 1.0001310087614792 + ], + "finger_midpoint": [ + 0.2934512029420291, + -0.07638944742201245, + 1.0001310087614792 + ], + "object_minus_finger_midpoint": [ + 0.005531179779186712, + 0.011859322799307043, + 0.0 + ], + "finger_gap": 0.026171548445428086, + "fingertip_max_gap": 0.09300788209520064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308577422271406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0001310087614792, + "object_top_z": 1.0502731275004225, + "finger_top_clearance": 0.05014211873894325, + "fingertip_min_top_clearance": 0.01504263562168301, + "object_projection_between_fingers": 0.8213361438299919, + "object_to_finger_line_xy": 0.010025550700472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900394104760032, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.448199085021342, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36658389484946186, + 0.046601190088920386, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3630786456044239, + 0.012655064749288653, + 1.047317986679922 + ], + "target_minus_gripper": [ + 0.003505249245037978, + 0.03394612533963173, + -0.2771715968833103 + ], + "held_position": [ + 0.36721739262954917, + 0.016894770543687876, + 1.0449969047830316 + ], + "held_minus_target": [ + 0.000633497780087311, + -0.02970641954523251, + 0.2748505149864199 + ], + "held_minus_gripper": [ + 0.004138747025125289, + 0.004239705794399223, + -0.002321081896890398 + ], + "xy_dist": 0.03412662007647149, + "held_xy_dist": 0.029713173536913683, + "held_gripper_dist": 0.006363313078351411, + "max_held_gripper_dist": 0.006489614709506589, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0449969047830316, + "required_height": 0.8001463897966118, + "gripper_z": 1.047317986679922, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.59406703874765, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.958785512934918, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.212031090357687, + "max_source_tilt_deg": 89.98223727193052, + "source_upright_tilt_deg": 2.760821920857771, + "max_source_upright_tilt_deg": 89.93026107994778, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.212031090357687, + "source_upright_return_tilt_deg": 2.760821920857771, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.58793544908065e-08, + "max_target_xy_drift": 1.156641147752108e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3666, + 0.0466, + 0.7701 + ], + "controller_target_position": [ + 0.3666, + 0.0466, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0006, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3667, + 0.0208, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 9.529969583791211e-05, + -0.0006313804856166692, + 0.0009181961563311022 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.760814061436065, + "source_return_step_error_deg": 2.2119823741513285, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7652235010033124, + "source_return_best_wrist_position": -1.6128392219543457, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128392219543457 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3666, + 0.0466, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3666, + 0.0466, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0006, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3667, + 0.0208, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 9.529969583791211e-05, + -0.0006313804856166692, + 0.0009181961563311022 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.760814061436065, + "pour_controller_source_return_step_error_deg": 2.2119823741513285, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7652235010033124, + "pour_controller_source_return_best_wrist_position": -1.6128392219543457, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128392219543457, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03412662007647149, + "valid_pour_held_xy_dist": 0.029713173536913683, + "valid_pour_held_gripper_dist": 0.006363313078351411, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0449969047830316, + "valid_pour_source_tilt_deg": 2.212031090357687, + "valid_pour_source_upright_tilt_deg": 2.760821920857771, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.58793544908065e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36721739262954917, + -0.006421391737862243, + 1.0449969047830316 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35632145976549023, + 0.016894770543687876, + 1.0449969047830316 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36176942619751973, + 0.005236689402912817, + 1.0449969047830316 + ], + "valid_pour_held_grasp_object_position": [ + 0.36721739262954917, + 0.016894770543687876, + 1.0449969047830316 + ], + "valid_pour_held_grasp_finger_gap": 0.025736448405280398, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023716736327346194, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039247377191394775, + -0.9988393140841547, + 0.02792253612213136 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059101247299038285, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382895186933898, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36721739262954917, + -0.006421391737862243, + 1.0449969047830316 + ], + "held_grasp_finger_b": [ + 0.35632145976549023, + 0.016894770543687876, + 1.0449969047830316 + ], + "held_grasp_midpoint": [ + 0.36176942619751973, + 0.005236689402912817, + 1.0449969047830316 + ], + "held_grasp_object_position": [ + 0.36721739262954917, + 0.016894770543687876, + 1.0449969047830316 + ], + "held_grasp_finger_gap": 0.025736448405280398, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023716736327346194, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039247377191394775, + -0.9988393140841547, + 0.02792253612213136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059101247299038285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382895186933898, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27992100219624627, + -0.06789054092909572, + 0.7611063889502396 + ], + "target_position": [ + 0.27562233447769396, + -0.06813403809947653, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004305558619564616, + "xy_threshold": 0.08, + "gripper_dist": 0.21752316546031647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063889502396, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588316316528153, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566548669411166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18732270093347678, + "release_required_pad_clearance": 0.05283274334705583, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7099639684715413, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "54eb008a65e55d6721b0c7c25f9e3a74753844c72d6c48d1d09636cab6ad0371", + "visual_seed": 946425745957987368, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e9863f5a36fdd8b3587f4b24fe961efe1a3cdbf8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_57_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3051424796103984, + -0.06954998683982201, + 1.0023798439518834 + ], + "current_z": 1.0023798439518834, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.1412734551464071, + "gripper_z": 1.0038017767174383, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3010928292707209, + -0.07374548473945097, + 1.0038017767174383 + ], + "object_minus_gripper": [ + 0.004049650339677524, + 0.004195497899628961, + -0.0014219327655549119 + ], + "object_to_gripper_xy": 0.005831112286643202, + "object_to_gripper_z": -0.0014219327655549119, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3051424796103984, + -0.09344562955666463, + 1.0023798439518834 + ], + "finger_b": [ + 0.29452170387553017, + -0.06954998683982201, + 1.0023798439518834 + ], + "finger_midpoint": [ + 0.2998320917429643, + -0.08149780819824332, + 1.0023798439518834 + ], + "object_minus_finger_midpoint": [ + 0.0053103878674340965, + 0.011947821358421304, + 0.0 + ], + "finger_gap": 0.02614961984544632, + "fingertip_max_gap": 0.09309453798357933, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013074809922723142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0023798439518834, + "object_top_z": 1.052347530300147, + "finger_top_clearance": 0.04996768634826365, + "fingertip_min_top_clearance": 0.014990305904479062, + "object_projection_between_fingers": 0.8350388339691263, + "object_to_finger_line_xy": 0.009705313646474235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904726899178967, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5032857386049017, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3660887292629902, + 0.051969407914809945, + 0.7701463301919669 + ], + "gripper_position": [ + 0.3645265937103108, + 0.017610412616483523, + 1.0461305453823186 + ], + "target_minus_gripper": [ + 0.0015621355526793668, + 0.03435899529832642, + -0.27598421519035177 + ], + "held_position": [ + 0.3685946641282411, + 0.021751885252760908, + 1.0446257651272735 + ], + "held_minus_target": [ + 0.002505934865250914, + -0.030217522662049037, + 0.2744794349353066 + ], + "held_minus_gripper": [ + 0.004068070417930281, + 0.004141472636277385, + -0.0015047802550451905 + ], + "xy_dist": 0.03439448829965874, + "held_xy_dist": 0.030321253031171506, + "held_gripper_dist": 0.005997112316627701, + "max_held_gripper_dist": 0.006040306137853342, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0446257651272735, + "required_height": 0.8001463301919669, + "gripper_z": 1.0461305453823186, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.20302504838608, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8671933154555262, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.142057604835365, + "max_source_tilt_deg": 89.83048820378185, + "source_upright_tilt_deg": 3.0428934382969395, + "max_source_upright_tilt_deg": 89.94193520915621, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.142057604835365, + "source_upright_return_tilt_deg": 3.0428934382969395, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.266598701338273e-07, + "max_target_xy_drift": 1.825392246246338e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3661, + 0.052, + 0.7701 + ], + "controller_target_position": [ + 0.3661, + 0.052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0004, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3673, + 0.0263, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011764776089019427, + -0.00042239377013864716, + -0.0001523147755965711 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.042885916955594, + "source_return_step_error_deg": 2.1420451121509596, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.052627786325668, + "source_return_best_wrist_position": -1.609863042831421, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609863042831421 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3661, + 0.052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3661, + 0.052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0004, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3673, + 0.0263, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011764776089019427, + -0.00042239377013864716, + -0.0001523147755965711 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.042885916955594, + "pour_controller_source_return_step_error_deg": 2.1420451121509596, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.052627786325668, + "pour_controller_source_return_best_wrist_position": -1.609863042831421, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609863042831421, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03439448829965874, + "valid_pour_held_xy_dist": 0.030321253031171506, + "valid_pour_held_gripper_dist": 0.005997112316627701, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0446257651272735, + "valid_pour_source_tilt_deg": 2.142057604835365, + "valid_pour_source_upright_tilt_deg": 3.0428934382969395, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.266598701338273e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3685946641282411, + -0.0017556378399576228, + 1.0446257651272735 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3580904885974048, + 0.021751885252760908, + 1.0446257651272735 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36334257636282297, + 0.009998123706401643, + 1.0446257651272735 + ], + "valid_pour_held_grasp_object_position": [ + 0.3685946641282411, + 0.021751885252760908, + 1.0446257651272735 + ], + "valid_pour_held_grasp_finger_gap": 0.025747647378689096, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023922106019780228, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04262367688934451, + -0.9985900829865018, + 0.03163966386427419 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005760091231133134, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03820692364402027, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3685946641282411, + -0.0017556378399576228, + 1.0446257651272735 + ], + "held_grasp_finger_b": [ + 0.3580904885974048, + 0.021751885252760908, + 1.0446257651272735 + ], + "held_grasp_midpoint": [ + 0.36334257636282297, + 0.009998123706401643, + 1.0446257651272735 + ], + "held_grasp_object_position": [ + 0.3685946641282411, + 0.021751885252760908, + 1.0446257651272735 + ], + "held_grasp_finger_gap": 0.025747647378689096, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023922106019780228, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04262367688934451, + -0.9985900829865018, + 0.03163966386427419 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005760091231133134, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03820692364402027, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.283974987115358, + -0.06902148293325897, + 0.7611064826033276 + ], + "target_position": [ + 0.2817028868729995, + -0.07049409178241921, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027075849633853974, + "xy_threshold": 0.08, + "gripper_dist": 0.21737970161426506, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064826033276, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544842513822157, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563286367641558, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18833742207897539, + "release_required_pad_clearance": 0.05281643183820779, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6783939607255965, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "874fee49e086bbf2e477270e1dc0558b2bcee7ead589118cedce59ad5e502ef0", + "visual_seed": 5062816469967310741, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2032c6c74e6cd7f8e24d54118eb97c7ac6c408c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30006771419339323, + -0.06679381566503052, + 1.0014433229402226 + ], + "current_z": 1.0014433229402226, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14033681492545658, + "gripper_z": 1.0032068557661298, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2959390313404915, + -0.0710023892621843, + 1.0032068557661298 + ], + "object_minus_gripper": [ + 0.004128682852901744, + 0.004208573597153778, + -0.0017635328259071326 + ], + "object_to_gripper_xy": 0.005895601226550586, + "object_to_gripper_z": -0.0017635328259071326, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30006771419339323, + -0.09079274337586103, + 1.0014433229402226 + ], + "finger_b": [ + 0.2894956536287413, + -0.06679381566503052, + 1.0014433229402226 + ], + "finger_midpoint": [ + 0.2947816839110673, + -0.07879327952044578, + 1.0014433229402226 + ], + "object_minus_finger_midpoint": [ + 0.0052860302823259375, + 0.011999463855415254, + 0.0 + ], + "finger_gap": 0.026224358826334285, + "fingertip_max_gap": 0.09371082305086911, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112179413167132, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014433229402226, + "object_top_z": 1.0516102956109155, + "finger_top_clearance": 0.05016697267069281, + "fingertip_min_top_clearance": 0.015050091801207826, + "object_projection_between_fingers": 0.8374789844416367, + "object_to_finger_line_xy": 0.009674902594408619, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04935541152543456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.723373402199637, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36180327451292904, + 0.05243605640404678, + 0.7701464494012564 + ], + "gripper_position": [ + 0.35778361142423964, + 0.01971054027790392, + 1.0457539485165939 + ], + "target_minus_gripper": [ + 0.004019663088689396, + 0.032725516126142856, + -0.27560749911533744 + ], + "held_position": [ + 0.3619016006735391, + 0.023884142352464256, + 1.043905862292459 + ], + "held_minus_target": [ + 9.832616061006272e-05, + -0.02855191405158252, + 0.27375941289120265 + ], + "held_minus_gripper": [ + 0.0041179892492994585, + 0.0041736020745603356, + -0.0018480862241347928 + ], + "xy_dist": 0.032971458825308414, + "held_xy_dist": 0.02855208335731065, + "held_gripper_dist": 0.00614753710244656, + "max_held_gripper_dist": 0.006228584181923612, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.043905862292459, + "required_height": 0.8001464494012565, + "gripper_z": 1.0457539485165939, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.25346599540663, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.126691414446363, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3221770642888293, + "max_source_tilt_deg": 89.99226147585647, + "source_upright_tilt_deg": 3.5544582179908657, + "max_source_upright_tilt_deg": 89.8547567051875, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3221770642888293, + "source_upright_return_tilt_deg": 3.5544582179908657, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2338530392705795e-07, + "max_target_xy_drift": 2.0661092734131288e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3618, + 0.0524, + 0.7701 + ], + "controller_target_position": [ + 0.3618, + 0.0524, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0012, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.36, + 0.0284, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00179839703367224, + 0.0012000044353182304, + -0.0005615641373439098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5542532813723064, + "source_return_step_error_deg": 2.321992894479695, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.561495555103014, + "source_return_best_wrist_position": -1.6105374097824097, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6105374097824097 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3618, + 0.0524, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3618, + 0.0524, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0012, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.36, + 0.0284, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00179839703367224, + 0.0012000044353182304, + -0.0005615641373439098 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5542532813723064, + "pour_controller_source_return_step_error_deg": 2.321992894479695, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.561495555103014, + "pour_controller_source_return_best_wrist_position": -1.6105374097824097, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6105374097824097, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032971458825308414, + "valid_pour_held_xy_dist": 0.02855208335731065, + "valid_pour_held_gripper_dist": 0.00614753710244656, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.043905862292459, + "valid_pour_source_tilt_deg": 2.3221770642888293, + "valid_pour_source_upright_tilt_deg": 3.5544582179908657, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2338530392705795e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3619016006735391, + 0.0004180601036277515, + 1.043905862292459 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35126890801286104, + 0.023884142352464256, + 1.043905862292459 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3565852543432001, + 0.012151101228046003, + 1.043905862292459 + ], + "valid_pour_held_grasp_object_position": [ + 0.3619016006735391, + 0.023884142352464256, + 1.043905862292459 + ], + "valid_pour_held_grasp_finger_gap": 0.025762592441864175, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023995017783406965, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.053991640509948785, + -0.9980763305634506, + 0.030471972762557746 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005952561228217225, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03829681769817968, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3619016006735391, + 0.0004180601036277515, + 1.043905862292459 + ], + "held_grasp_finger_b": [ + 0.35126890801286104, + 0.023884142352464256, + 1.043905862292459 + ], + "held_grasp_midpoint": [ + 0.3565852543432001, + 0.012151101228046003, + 1.043905862292459 + ], + "held_grasp_object_position": [ + 0.3619016006735391, + 0.023884142352464256, + 1.043905862292459 + ], + "held_grasp_finger_gap": 0.025762592441864175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023995017783406965, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.053991640509948785, + -0.9980763305634506, + 0.030471972762557746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005952561228217225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03829681769817968, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.278483466989224, + -0.0670298205127099, + 0.7611064114264864 + ], + "target_position": [ + 0.2765735919396443, + -0.07080075298436336, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004227003005768677, + "xy_threshold": 0.08, + "gripper_dist": 0.21512350307054204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064114264864, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754220436477966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850168573306352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18691522228473378, + "release_required_pad_clearance": 0.0525084286653176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846926170598225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80198e5af49632723c6a0024a5f8d8bc5cd5635a4546c1024a0998052d6e1bd6", + "visual_seed": 4825894324567941263, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95a3c14465e4efb77d854d10d9d080dcda433444 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3034149307662852, + -0.05880545172948639, + 1.0016711518211636 + ], + "current_z": 1.0016711518211636, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14056458420175277, + "gripper_z": 1.0035821747278721, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2992991759048421, + -0.06310165802792102, + 1.0035821747278721 + ], + "object_minus_gripper": [ + 0.004115754861443055, + 0.004296206298434628, + -0.001911022906708526 + ], + "object_to_gripper_xy": 0.005949523227805864, + "object_to_gripper_z": -0.001911022906708526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3034149307662852, + -0.08262455764951156, + 1.0016711518211636 + ], + "finger_b": [ + 0.29249299932474315, + -0.05880545172948639, + 1.0016711518211636 + ], + "finger_midpoint": [ + 0.2979539650455142, + -0.07071500468949897, + 1.0016711518211636 + ], + "object_minus_finger_midpoint": [ + 0.005460965720770983, + 0.01190955296001258, + 0.0 + ], + "finger_gap": 0.026203785857068864, + "fingertip_max_gap": 0.09288427810328229, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013101892928534416, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016711518211636, + "object_top_z": 1.0515670716603533, + "finger_top_clearance": 0.04989591983918973, + "fingertip_min_top_clearance": 0.0149687759517569, + "object_projection_between_fingers": 0.8262716044025418, + "object_to_finger_line_xy": 0.009927979234617492, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048942139051641145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5140345374297897, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3608226886994069, + 0.04472290244572617, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3570895821782473, + 0.01099114660663536, + 1.0469024602415535 + ], + "target_minus_gripper": [ + 0.0037331065211596015, + 0.03373175583909081, + -0.276756010840297 + ], + "held_position": [ + 0.3612491416056382, + 0.01519662061460002, + 1.0449085254280361 + ], + "held_minus_target": [ + 0.0004264529062312783, + -0.029526281831126155, + 0.2747620760267796 + ], + "held_minus_gripper": [ + 0.00415955942739088, + 0.004205474007964659, + -0.001993934813517395 + ], + "xy_dist": 0.03393769933696687, + "held_xy_dist": 0.029529361334988666, + "held_gripper_dist": 0.0062420927822501426, + "max_held_gripper_dist": 0.00633010718893842, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0449085254280361, + "required_height": 0.8001464494012566, + "gripper_z": 1.0469024602415535, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.20303187857525, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9222766148633161, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1091546204895595, + "max_source_tilt_deg": 89.82507677126917, + "source_upright_tilt_deg": 2.8171834277041836, + "max_source_upright_tilt_deg": 89.73678565023864, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1091546204895595, + "source_upright_return_tilt_deg": 2.8171834277041836, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3608, + 0.0447, + 0.7701 + ], + "controller_target_position": [ + 0.3608, + 0.0447, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + -0.0002, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3597, + 0.0193, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001108024704845413, + -0.0002470753543804406, + -9.055970945918068e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8171878503662375, + "source_return_step_error_deg": 2.109162904691253, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8269826872055117, + "source_return_best_wrist_position": -1.6115490198135376, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6115490198135376 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3608, + 0.0447, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3608, + 0.0447, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + -0.0002, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3597, + 0.0193, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001108024704845413, + -0.0002470753543804406, + -9.055970945918068e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8171878503662375, + "pour_controller_source_return_step_error_deg": 2.109162904691253, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8269826872055117, + "pour_controller_source_return_best_wrist_position": -1.6115490198135376, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6115490198135376, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03393769933696687, + "valid_pour_held_xy_dist": 0.029529361334988666, + "valid_pour_held_gripper_dist": 0.0062420927822501426, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0449085254280361, + "valid_pour_source_tilt_deg": 2.1091546204895595, + "valid_pour_source_upright_tilt_deg": 2.8171834277041836, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3612491416056382, + -0.008286506174819764, + 1.0449085254280361 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3505615835382581, + 0.01519662061460002, + 1.0449085254280361 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35590536257194816, + 0.003455057219890128, + 1.0449085254280361 + ], + "valid_pour_held_grasp_object_position": [ + 0.3612491416056382, + 0.01519662061460002, + 1.0449085254280361 + ], + "valid_pour_held_grasp_finger_gap": 0.025800797298757772, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023860234414557615, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03794020556898783, + -0.9987914503369352, + 0.031243871962748252 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00579682761581586, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03819562101292315, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3612491416056382, + -0.008286506174819764, + 1.0449085254280361 + ], + "held_grasp_finger_b": [ + 0.3505615835382581, + 0.01519662061460002, + 1.0449085254280361 + ], + "held_grasp_midpoint": [ + 0.35590536257194816, + 0.003455057219890128, + 1.0449085254280361 + ], + "held_grasp_object_position": [ + 0.3612491416056382, + 0.01519662061460002, + 1.0449085254280361 + ], + "held_grasp_finger_gap": 0.025800797298757772, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023860234414557615, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03794020556898783, + -0.9987914503369352, + 0.031243871962748252 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00579682761581586, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03819562101292315, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28347819858184947, + -0.06328654327583984, + 0.761106408315424 + ], + "target_position": [ + 0.2799392276419356, + -0.06379128600775809, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003574783984939421, + "xy_threshold": 0.08, + "gripper_dist": 0.21696774799111584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106408315424, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565660575275729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565982546527233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18724296234050886, + "release_required_pad_clearance": 0.05282991273263617, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7044302406564007, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80fe7585f094255e98301e5962b80497055e8084a01836b92584dce4611f6a1a", + "visual_seed": 202812398079589058, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61c0491e7646b0d8cf0dbd6f3224cd0b447d1bf0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2958193525995264, + -0.06651867037407314, + 1.000830218198327 + ], + "current_z": 1.000830218198327, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.13972382939285044, + "gripper_z": 1.0025801494964277, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29176062201197556, + -0.07084298301163235, + 1.0025801494964277 + ], + "object_minus_gripper": [ + 0.004058730587550852, + 0.004324312637559211, + -0.0017499312981006376 + ], + "object_to_gripper_xy": 0.005930680717225905, + "object_to_gripper_z": -0.0017499312981006376, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2958193525995264, + -0.09019324948572041, + 1.000830218198327 + ], + "finger_b": [ + 0.284764578013213, + -0.06651867037407314, + 1.000830218198327 + ], + "finger_midpoint": [ + 0.2902919653063697, + -0.07835595992989677, + 1.000830218198327 + ], + "object_minus_finger_midpoint": [ + 0.005527387293156716, + 0.011837289555823638, + 0.0 + ], + "finger_gap": 0.026128408624863608, + "fingertip_max_gap": 0.09293295124697479, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013064204312431804, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000830218198327, + "object_top_z": 1.0510923983202176, + "finger_top_clearance": 0.05026218012189054, + "fingertip_min_top_clearance": 0.015078654036567163, + "object_projection_between_fingers": 0.8209914131579994, + "object_to_finger_line_xy": 0.010016573885638664, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048966475623487396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2888455265076795, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3640913180119221, + 0.04808183652036643, + 0.7701463301919672 + ], + "gripper_position": [ + 0.3598229477218707, + 0.013020775990265604, + 1.0478247604699205 + ], + "target_minus_gripper": [ + 0.004268370290051449, + 0.03506106053010083, + -0.27767843027795325 + ], + "held_position": [ + 0.36397793039451665, + 0.01720213830527861, + 1.0459802830368927 + ], + "held_minus_target": [ + -0.00011338761740548042, + -0.030879698215087823, + 0.2758339528449255 + ], + "held_minus_gripper": [ + 0.004154982672645968, + 0.004181362315013006, + -0.0018444774330277358 + ], + "xy_dist": 0.03531992285422476, + "held_xy_dist": 0.03087990638921496, + "held_gripper_dist": 0.006176549912398324, + "max_held_gripper_dist": 0.006253563667915115, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0459802830368927, + "required_height": 0.8001463301919672, + "gripper_z": 1.0478247604699205, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.82022826254511, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8240009289812562, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2695782781871205, + "max_source_tilt_deg": 89.77066347407177, + "source_upright_tilt_deg": 1.890634505191857, + "max_source_upright_tilt_deg": 89.87290352538304, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2695782781871205, + "source_upright_return_tilt_deg": 1.890634505191857, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.3457530638715954e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3641, + 0.0481, + 0.7701 + ], + "controller_target_position": [ + 0.3641, + 0.0481, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0018, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3634, + 0.0211, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007223227810782161, + -0.001819199822632163, + 0.0010245823569216 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8906161663592962, + "source_return_step_error_deg": 2.269564276681292, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2689094045961027, + "source_return_best_wrist_position": -1.6126137971878052, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126137971878052 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3641, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3641, + 0.0481, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0018, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3634, + 0.0211, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007223227810782161, + -0.001819199822632163, + 0.0010245823569216 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8906161663592962, + "pour_controller_source_return_step_error_deg": 2.269564276681292, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2689094045961027, + "pour_controller_source_return_best_wrist_position": -1.6126137971878052, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126137971878052, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03531992285422476, + "valid_pour_held_xy_dist": 0.03087990638921496, + "valid_pour_held_gripper_dist": 0.006176549912398324, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0459802830368927, + "valid_pour_source_tilt_deg": 2.2695782781871205, + "valid_pour_source_upright_tilt_deg": 1.890634505191857, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36397793039451665, + -0.00634903235885594, + 1.0459802830368927 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35345589355806495, + 0.01720213830527861, + 1.0459802830368927 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3587169119762908, + 0.005426552973211336, + 1.0459802830368927 + ], + "valid_pour_held_grasp_object_position": [ + 0.36397793039451665, + 0.01720213830527861, + 1.0459802830368927 + ], + "valid_pour_held_grasp_finger_gap": 0.025794784334024545, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023752312803921354, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020334723890939942, + -0.9994556290115861, + 0.025979696713669842 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005507809282324254, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03805805638197393, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36397793039451665, + -0.00634903235885594, + 1.0459802830368927 + ], + "held_grasp_finger_b": [ + 0.35345589355806495, + 0.01720213830527861, + 1.0459802830368927 + ], + "held_grasp_midpoint": [ + 0.3587169119762908, + 0.005426552973211336, + 1.0459802830368927 + ], + "held_grasp_object_position": [ + 0.36397793039451665, + 0.01720213830527861, + 1.0459802830368927 + ], + "held_grasp_finger_gap": 0.025794784334024545, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023752312803921354, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020334723890939942, + -0.9994556290115861, + 0.025979696713669842 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005507809282324254, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03805805638197393, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27651460949718043, + -0.0679824021988199, + 0.7611064522941965 + ], + "target_position": [ + 0.27250980997833796, + -0.06992140839396307, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004449512806018711, + "xy_threshold": 0.08, + "gripper_dist": 0.2192609862404052, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064522941965, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524097452562092, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564696117279826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19074883655288674, + "release_required_pad_clearance": 0.05282348058639913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6921003218717721, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "340b28dc037554787558bb6a6b341527805383f603ac5ea4be77659138dca79a", + "visual_seed": 5448206940799111183, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96abc7260fe870a323cb008b4c87c7b56600121c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29806108951118654, + -0.06021243315057264, + 1.0019675276213182 + ], + "current_z": 1.0019675276213182, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.14086113881584184, + "gripper_z": 1.003938234536586, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2938259024492864, + -0.06447343389025663, + 1.003938234536586 + ], + "object_minus_gripper": [ + 0.004235187061900125, + 0.004261000739683989, + -0.0019707069152676837 + ], + "object_to_gripper_xy": 0.006007739737444833, + "object_to_gripper_z": -0.0019707069152676837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29806108951118654, + -0.08433143333481105, + 1.0019675276213182 + ], + "finger_b": [ + 0.287460551468229, + -0.06021243315057264, + 1.0019675276213182 + ], + "finger_midpoint": [ + 0.29276082048970775, + -0.07227193324269185, + 1.0019675276213182 + ], + "object_minus_finger_midpoint": [ + 0.005300269021478787, + 0.012059500092119209, + 0.0 + ], + "finger_gap": 0.026345731659748645, + "fingertip_max_gap": 0.09338825017673832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013172865829874337, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019675276213182, + "object_top_z": 1.052018712198692, + "finger_top_clearance": 0.050051184577373675, + "fingertip_min_top_clearance": 0.015015355373212068, + "object_projection_between_fingers": 0.8381043089986396, + "object_to_finger_line_xy": 0.009704584496385107, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049194125088369164, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5656091740417497, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3624489418274585, + 0.04537327480190254, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3582138751014753, + 0.013398237333076865, + 1.0476662552644835 + ], + "target_minus_gripper": [ + 0.0042350667259832275, + 0.03197503746882568, + -0.2775198654678721 + ], + "held_position": [ + 0.3625257536832356, + 0.017533331591818833, + 1.0456123995953424 + ], + "held_minus_target": [ + 7.681185577707028e-05, + -0.02783994321008371, + 0.2754660097987309 + ], + "held_minus_gripper": [ + 0.004311878581760298, + 0.004135094258741968, + -0.0020538556691411802 + ], + "xy_dist": 0.03225428361173654, + "held_xy_dist": 0.0278400491738408, + "held_gripper_dist": 0.006317406472769292, + "max_held_gripper_dist": 0.0064130704375240655, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0456123995953424, + "required_height": 0.8001463897966115, + "gripper_z": 1.0476662552644835, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.09024496481082, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9207834190482351, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.036904370735193, + "max_source_tilt_deg": 89.92620363852613, + "source_upright_tilt_deg": 2.5047309044675856, + "max_source_upright_tilt_deg": 89.82734438632556, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.036904370735193, + "source_upright_return_tilt_deg": 2.5047309044675856, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.50593981019146e-08, + "max_target_xy_drift": 1.3181422660465637e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3624, + 0.0454, + 0.7701 + ], + "controller_target_position": [ + 0.3624, + 0.0454, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.002, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3612, + 0.0222, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012419821063084067, + 0.001997679568512961, + 0.001223182289628867 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.504729293411864, + "source_return_step_error_deg": 2.0368909594915645, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5062190782775176, + "source_return_best_wrist_position": -1.6093450784683228, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093450784683228 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3624, + 0.0454, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3624, + 0.0454, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.002, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3612, + 0.0222, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012419821063084067, + 0.001997679568512961, + 0.001223182289628867 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.504729293411864, + "pour_controller_source_return_step_error_deg": 2.0368909594915645, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5062190782775176, + "pour_controller_source_return_best_wrist_position": -1.6093450784683228, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093450784683228, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03225428361173654, + "valid_pour_held_xy_dist": 0.0278400491738408, + "valid_pour_held_gripper_dist": 0.006317406472769292, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0456123995953424, + "valid_pour_source_tilt_deg": 2.036904370735193, + "valid_pour_source_upright_tilt_deg": 2.5047309044675856, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.50593981019146e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3625257536832356, + -0.0063864753814465115, + 1.0456123995953424 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3523358995974346, + 0.017533331591818833, + 1.0456123995953424 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3574308266403351, + 0.00557342810518616, + 1.0456123995953424 + ], + "valid_pour_held_grasp_object_position": [ + 0.3625257536832356, + 0.017533331591818833, + 1.0456123995953424 + ], + "valid_pour_held_grasp_finger_gap": 0.025999813305641026, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02421161638100839, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030879912146079862, + -0.9990446247650157, + 0.0309235954245235 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005474161100571208, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03792910367854178, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3625257536832356, + -0.0063864753814465115, + 1.0456123995953424 + ], + "held_grasp_finger_b": [ + 0.3523358995974346, + 0.017533331591818833, + 1.0456123995953424 + ], + "held_grasp_midpoint": [ + 0.3574308266403351, + 0.00557342810518616, + 1.0456123995953424 + ], + "held_grasp_object_position": [ + 0.3625257536832356, + 0.017533331591818833, + 1.0456123995953424 + ], + "held_grasp_finger_gap": 0.025999813305641026, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02421161638100839, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030879912146079862, + -0.9990446247650157, + 0.0309235954245235 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005474161100571208, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03792910367854178, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2744490994037687, + -0.062075455178009636, + 0.7611062542411378 + ], + "target_position": [ + 0.27435488775774913, + -0.06269336281968971, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.000625048548428317, + "xy_threshold": 0.08, + "gripper_dist": 0.21615745546146042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062542411378, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564063614857648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691599882384542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18686358431899863, + "release_required_pad_clearance": 0.05345799941192271, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9293842672642059, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f31a678694277dcfcf1d851ae6017788b7227945681f00e88b48f703848e43b", + "visual_seed": 3673481720867020686, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e797642d5e1e699ec2822c6978a253066e6d8903 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_63_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30419905917301515, + -0.060177085960992575, + 1.0024415497837835 + ], + "current_z": 1.0024415497837835, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.141335160978307, + "gripper_z": 1.0040092100712479, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3001116117273819, + -0.06440509957946729, + 1.0040092100712479 + ], + "object_minus_gripper": [ + 0.004087447445633274, + 0.004228013618474712, + -0.0015676602874643564 + ], + "object_to_gripper_xy": 0.00588075894581827, + "object_to_gripper_z": -0.0015676602874643564, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30419905917301515, + -0.08408663626404365, + 1.0024415497837835 + ], + "finger_b": [ + 0.2935339403124063, + -0.060177085960992575, + 1.0024415497837835 + ], + "finger_midpoint": [ + 0.29886649974271073, + -0.07213186111251811, + 1.0024415497837835 + ], + "object_minus_finger_midpoint": [ + 0.005332559430304418, + 0.011954775151525536, + 0.0 + ], + "finger_gap": 0.02618036202967874, + "fingertip_max_gap": 0.0927886936727352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013090181014839367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024415497837835, + "object_top_z": 1.0523622390297265, + "finger_top_clearance": 0.04992068924594295, + "fingertip_min_top_clearance": 0.014976206773782868, + "object_projection_between_fingers": 0.8340489119207456, + "object_to_finger_line_xy": 0.009740056138134095, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048894346836367605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.538644771536626, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3639263323551838, + 0.0441710975455568, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3604036110922374, + 0.010339248924282812, + 1.0463044399547359 + ], + "target_minus_gripper": [ + 0.0035227212629463933, + 0.03383184862127399, + -0.27615799055347934 + ], + "held_position": [ + 0.36459945449944925, + 0.014415478077009186, + 1.0446501290879553 + ], + "held_minus_target": [ + 0.0006731221442654589, + -0.029755619468547614, + 0.27450367968669875 + ], + "held_minus_gripper": [ + 0.004195843407211852, + 0.004076229152726374, + -0.001654310866780584 + ], + "xy_dist": 0.034014754831237774, + "held_xy_dist": 0.029763232072107196, + "held_gripper_dist": 0.006079267262370348, + "max_held_gripper_dist": 0.006135474596302791, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0446501290879553, + "required_height": 0.8001464494012566, + "gripper_z": 1.0463044399547359, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.15627923370651, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.051559974989584, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3002772444417974, + "max_source_tilt_deg": 89.7567191538279, + "source_upright_tilt_deg": 2.1496020806297564, + "max_source_upright_tilt_deg": 89.83661392805534, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3002772444417974, + "source_upright_return_tilt_deg": 2.1496020806297564, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.6077032103111186e-08, + "max_target_xy_drift": 1.862645149369735e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3639, + 0.0442, + 0.7701 + ], + "controller_target_position": [ + 0.3639, + 0.0442, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0007, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.364, + 0.0183, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.372194583918045e-05, + -0.0007106110465021009, + -0.00015634137301908345 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1496050843662293, + "source_return_step_error_deg": 2.3002821737049177, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2974347096289454, + "source_return_best_wrist_position": -1.612725853919983, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612725853919983 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3639, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3639, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0007, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.364, + 0.0183, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.372194583918045e-05, + -0.0007106110465021009, + -0.00015634137301908345 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1496050843662293, + "pour_controller_source_return_step_error_deg": 2.3002821737049177, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2974347096289454, + "pour_controller_source_return_best_wrist_position": -1.612725853919983, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612725853919983, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034014754831237774, + "valid_pour_held_xy_dist": 0.029763232072107196, + "valid_pour_held_gripper_dist": 0.006079267262370348, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0446501290879553, + "valid_pour_source_tilt_deg": 2.3002772444417974, + "valid_pour_source_upright_tilt_deg": 2.1496020806297564, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.6077032103111186e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36459945449944925, + -0.009414314541270898, + 1.0446501290879553 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35456425744061504, + 0.014415478077009186, + 1.0446501290879553 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3595818559700321, + 0.002500581767869144, + 1.0446501290879553 + ], + "valid_pour_held_grasp_object_position": [ + 0.36459945449944925, + 0.014415478077009186, + 1.0446501290879553 + ], + "valid_pour_held_grasp_finger_gap": 0.025856608366912136, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024031035009109015, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02172466698898559, + -0.9992963042645103, + 0.03057670890578379 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00528771186338799, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03792274387981258, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36459945449944925, + -0.009414314541270898, + 1.0446501290879553 + ], + "held_grasp_finger_b": [ + 0.35456425744061504, + 0.014415478077009186, + 1.0446501290879553 + ], + "held_grasp_midpoint": [ + 0.3595818559700321, + 0.002500581767869144, + 1.0446501290879553 + ], + "held_grasp_object_position": [ + 0.36459945449944925, + 0.014415478077009186, + 1.0446501290879553 + ], + "held_grasp_finger_gap": 0.025856608366912136, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024031035009109015, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02172466698898559, + -0.9992963042645103, + 0.03057670890578379 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00528771186338799, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03792274387981258, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28142495358821207, + -0.05808551007826271, + 0.7611115709886633 + ], + "target_position": [ + 0.28090166042294273, + -0.06316207763387886, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005103466849461469, + "xy_threshold": 0.08, + "gripper_dist": 0.21446826936676908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611115709886633, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522106130505773, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814909004406395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18706779205541785, + "release_required_pad_clearance": 0.054074545022031975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1439137674532276, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22dafacc06edb588561c2156bc5d7f6f6aabaaf96fd6b2f6516518ad24f08234", + "visual_seed": 8988796011355746192, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f52ed36e826175e1b3df49c43093f03e03ef0234 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3009835285127982, + -0.0611496762563027, + 1.0037392381399028 + ], + "current_z": 1.0037392381399028, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14263278972978177, + "gripper_z": 1.0055316820671132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29668352168611484, + -0.06539400850433794, + 1.0055316820671132 + ], + "object_minus_gripper": [ + 0.004300006826683356, + 0.004244332248035235, + -0.001792443927210341 + ], + "object_to_gripper_xy": 0.006041888358885431, + "object_to_gripper_z": -0.001792443927210341, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3009835285127982, + -0.08537537568963786, + 1.0037392381399028 + ], + "finger_b": [ + 0.29048690269277255, + -0.0611496762563027, + 1.0037392381399028 + ], + "finger_midpoint": [ + 0.2957352156027854, + -0.07326252597297028, + 1.0037392381399028 + ], + "object_minus_finger_midpoint": [ + 0.00524831291001282, + 0.012112849716667581, + 0.0 + ], + "finger_gap": 0.026401963310328354, + "fingertip_max_gap": 0.09326369302515333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013200981655164177, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037392381399028, + "object_top_z": 1.0537687148847419, + "finger_top_clearance": 0.05002947674483904, + "fingertip_min_top_clearance": 0.015008843023451679, + "object_projection_between_fingers": 0.8419381774168081, + "object_to_finger_line_xy": 0.00963140881574705, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04913184651257667, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6607710245030196, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36452839887206007, + 0.04390474301450708, + 0.7701463897966118 + ], + "gripper_position": [ + 0.36077170052122476, + 0.009263806058590757, + 1.0480929053046562 + ], + "target_minus_gripper": [ + 0.003756698350835308, + 0.03464093695591632, + -0.2779465155080444 + ], + "held_position": [ + 0.3650282974292213, + 0.013508056730652852, + 1.0462185805519422 + ], + "held_minus_target": [ + 0.0004998985571612602, + -0.030396686283854227, + 0.2760721907553304 + ], + "held_minus_gripper": [ + 0.004256596907996568, + 0.004244250672062095, + -0.001874324752713985 + ], + "xy_dist": 0.03484404247045595, + "held_xy_dist": 0.0304007966278271, + "held_gripper_dist": 0.006296457280336446, + "max_held_gripper_dist": 0.0063734603875201115, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0462185805519422, + "required_height": 0.8001463897966118, + "gripper_z": 1.0480929053046562, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.04448269737175, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0311618722371168, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5119703940958096, + "max_source_tilt_deg": 89.80994704936407, + "source_upright_tilt_deg": 3.970035067580145, + "max_source_upright_tilt_deg": 89.8704239905312, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5119703940958096, + "source_upright_return_tilt_deg": 3.970035067580145, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.5886748369909214e-07, + "max_target_xy_drift": 4.0101845982068445e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3645, + 0.0439, + 0.7701 + ], + "controller_target_position": [ + 0.3645, + 0.0439, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + -0.0012, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3639, + 0.0176, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005993104659384825, + -0.0011532062839428726, + 0.0015256377909745838 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9700419522991797, + "source_return_step_error_deg": 2.5119797297086475, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.977965460477703, + "source_return_best_wrist_position": -1.6109869480133057, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6109869480133057 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3645, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3645, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + -0.0012, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3639, + 0.0176, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005993104659384825, + -0.0011532062839428726, + 0.0015256377909745838 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9700419522991797, + "pour_controller_source_return_step_error_deg": 2.5119797297086475, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.977965460477703, + "pour_controller_source_return_best_wrist_position": -1.6109869480133057, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6109869480133057, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03484404247045595, + "valid_pour_held_xy_dist": 0.0304007966278271, + "valid_pour_held_gripper_dist": 0.006296457280336446, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0462185805519422, + "valid_pour_source_tilt_deg": 2.5119703940958096, + "valid_pour_source_upright_tilt_deg": 3.970035067580145, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.5886748369909214e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3650282974292213, + -0.010059595148238567, + 1.0462185805519422 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35428329039888184, + 0.013508056730652852, + 1.0462185805519422 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35965579391405156, + 0.0017242307912071425, + 1.0462185805519422 + ], + "valid_pour_held_grasp_object_position": [ + 0.3650282974292213, + 0.013508056730652852, + 1.0462185805519422 + ], + "valid_pour_held_grasp_finger_gap": 0.025901532602660007, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024162814149991784, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.06065283179232495, + -0.9976004044353346, + 0.0333866300490041 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006089703542886176, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038290558099117696, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3650282974292213, + -0.010059595148238567, + 1.0462185805519422 + ], + "held_grasp_finger_b": [ + 0.35428329039888184, + 0.013508056730652852, + 1.0462185805519422 + ], + "held_grasp_midpoint": [ + 0.35965579391405156, + 0.0017242307912071425, + 1.0462185805519422 + ], + "held_grasp_object_position": [ + 0.3650282974292213, + 0.013508056730652852, + 1.0462185805519422 + ], + "held_grasp_finger_gap": 0.025901532602660007, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024162814149991784, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.06065283179232495, + -0.9976004044353346, + 0.0333866300490041 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006089703542886176, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038290558099117696, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27916350947961693, + -0.05989003321878163, + 0.7611112527609226 + ], + "target_position": [ + 0.2773175129158449, + -0.06494292686160365, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005379538779405665, + "xy_threshold": 0.08, + "gripper_dist": 0.21770283365711915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611112527609226, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572328483799635, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09014498542590303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18923077116226222, + "release_required_pad_clearance": 0.05507249271295152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.2189385360546705, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c9b9c7e685067b4dd97cbf688734f1783f14ceb9bc46a400acb59b90fde3793", + "visual_seed": 5788034832241330459, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd86205ae4bc04af7fdf69d0c7d65b9220feb543 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29751198502134263, + -0.05977743337043683, + 1.000682481150624 + ], + "current_z": 1.000682481150624, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.139576032740503, + "gripper_z": 1.0028827061354666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29330803416519047, + -0.06420121826181698, + 1.0028827061354666 + ], + "object_minus_gripper": [ + 0.004203950856152161, + 0.004423784891380143, + -0.0022002249848425137 + ], + "object_to_gripper_xy": 0.006102710509777252, + "object_to_gripper_z": -0.0022002249848425137, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29751198502134263, + -0.08350173868809616, + 1.000682481150624 + ], + "finger_b": [ + 0.2862394333018372, + -0.05977743337043683, + 1.000682481150624 + ], + "finger_midpoint": [ + 0.2918757091615899, + -0.0716395860292665, + 1.000682481150624 + ], + "object_minus_finger_midpoint": [ + 0.005636275859752737, + 0.011862152658829665, + 0.0 + ], + "finger_gap": 0.026266196623691885, + "fingertip_max_gap": 0.09281280091635166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133098311845958, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000682481150624, + "object_top_z": 1.0507322668539147, + "finger_top_clearance": 0.05004978570329066, + "fingertip_min_top_clearance": 0.015014935710987214, + "object_projection_between_fingers": 0.815816767332057, + "object_to_finger_line_xy": 0.010181659055328517, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890640045817583, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.462958536111559, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3624800256497091, + 0.04818349224203087, + 0.7701465090059012 + ], + "gripper_position": [ + 0.3600308587377927, + 0.01373583685709591, + 1.047529031068798 + ], + "target_minus_gripper": [ + 0.0024491669119163784, + 0.03444765538493496, + -0.2773825220628967 + ], + "held_position": [ + 0.36440229978370964, + 0.01793155829091435, + 1.0452347366568677 + ], + "held_minus_target": [ + 0.0019222741340005345, + -0.03025193395111652, + 0.2750882276509665 + ], + "held_minus_gripper": [ + 0.004371441045916913, + 0.004195721433818439, + -0.0022942944119301867 + ], + "xy_dist": 0.03453461133532075, + "held_xy_dist": 0.030312945182363323, + "held_gripper_dist": 0.006478993904669513, + "max_held_gripper_dist": 0.006593406182838818, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059012, + "held_z": 1.0452347366568677, + "required_height": 0.8001465090059012, + "gripper_z": 1.047529031068798, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.56878167844026, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9781320976958428, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.604621973763688, + "max_source_tilt_deg": 89.9345021680263, + "source_upright_tilt_deg": 1.6803945032189067, + "max_source_upright_tilt_deg": 89.68278763664244, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.604621973763688, + "source_upright_return_tilt_deg": 1.6803945032189067, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.301187962038292e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3625, + 0.0482, + 0.7701 + ], + "controller_target_position": [ + 0.3625, + 0.0482, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0014, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3643, + 0.0216, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001772424743446519, + -0.0013811993836197836, + 0.0009984779525845032 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6803937279900645, + "source_return_step_error_deg": 2.6046265311333516, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5941814381578356, + "source_return_best_wrist_position": -1.611932635307312, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.611932635307312 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3625, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3625, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0014, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3643, + 0.0216, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001772424743446519, + -0.0013811993836197836, + 0.0009984779525845032 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6803937279900645, + "pour_controller_source_return_step_error_deg": 2.6046265311333516, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5941814381578356, + "pour_controller_source_return_best_wrist_position": -1.611932635307312, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.611932635307312, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03453461133532075, + "valid_pour_held_xy_dist": 0.030312945182363323, + "valid_pour_held_gripper_dist": 0.006478993904669513, + "valid_pour_required_height": 0.8001465090059012, + "valid_pour_held_z": 1.0452347366568677, + "valid_pour_source_tilt_deg": 2.604621973763688, + "valid_pour_source_upright_tilt_deg": 1.6803945032189067, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36440229978370964, + -0.005906634032841522, + 1.0452347366568677 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3540254176893544, + 0.01793155829091435, + 1.0452347366568677 + ], + "valid_pour_held_grasp_midpoint": [ + 0.359213858736532, + 0.006012462129036413, + 1.0452347366568677 + ], + "valid_pour_held_grasp_object_position": [ + 0.36440229978370964, + 0.01793155829091435, + 1.0452347366568677 + ], + "valid_pour_held_grasp_finger_gap": 0.025998828728704747, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023912317491965568, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008131203206187359, + -0.9995699603138138, + 0.02817406560403346 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052958059818655, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03784846786106813, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36440229978370964, + -0.005906634032841522, + 1.0452347366568677 + ], + "held_grasp_finger_b": [ + 0.3540254176893544, + 0.01793155829091435, + 1.0452347366568677 + ], + "held_grasp_midpoint": [ + 0.359213858736532, + 0.006012462129036413, + 1.0452347366568677 + ], + "held_grasp_object_position": [ + 0.36440229978370964, + 0.01793155829091435, + 1.0452347366568677 + ], + "held_grasp_finger_gap": 0.025998828728704747, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023912317491965568, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008131203206187359, + -0.9995699603138138, + 0.02817406560403346 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0052958059818655, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03784846786106813, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27799782595859496, + -0.06900725463019276, + 0.7611063960382197 + ], + "target_position": [ + 0.274046195393859, + -0.06404217204419295, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00634566223541358, + "xy_threshold": 0.08, + "gripper_dist": 0.21947595709365725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063960382197, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756837553147679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08606140396626856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18863878744725557, + "release_required_pad_clearance": 0.05303070198313428, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0928777715229214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "24b5796e589429eb7540e2a7b16ea7c979397838938155322180f1a88e57f7f6", + "visual_seed": 6796509560275480848, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..47a5a6c1320c0162cb2c560c707c6cd2d4641ebb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3026328056616516, + -0.06659516098599683, + 1.002100459711198 + ], + "current_z": 1.002100459711198, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14099407090572136, + "gripper_z": 1.0041977887828337, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29857928257255373, + -0.07079394507777317, + 1.0041977887828337 + ], + "object_minus_gripper": [ + 0.004053523089097899, + 0.0041987840917763475, + -0.002097329071635734 + ], + "object_to_gripper_xy": 0.005836166317301444, + "object_to_gripper_z": -0.002097329071635734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3026328056616516, + -0.09050148556536027, + 1.002100459711198 + ], + "finger_b": [ + 0.29203961210800955, + -0.06659516098599683, + 1.002100459711198 + ], + "finger_midpoint": [ + 0.2973362088848306, + -0.07854832327567854, + 1.002100459711198 + ], + "object_minus_finger_midpoint": [ + 0.005296596776821039, + 0.011953162289681712, + 0.0 + ], + "finger_gap": 0.026148195053555808, + "fingertip_max_gap": 0.09298780015158928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013074097526777899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002100459711198, + "object_top_z": 1.0521468732521064, + "finger_top_clearance": 0.05004641354090844, + "fingertip_min_top_clearance": 0.015013924062272515, + "object_projection_between_fingers": 0.8358766461160242, + "object_to_finger_line_xy": 0.009684963834280014, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899390007579464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4948919737431194, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.363253872752828, + 0.05062548336260775, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3616174465209216, + 0.016500482652920673, + 1.04551856077551 + ], + "target_minus_gripper": [ + 0.0016364262319064071, + 0.034125000709687076, + -0.27537211137425355 + ], + "held_position": [ + 0.36568751280679346, + 0.02062834157870134, + 1.0433360544292793 + ], + "held_minus_target": [ + 0.002433640053965458, + -0.02999714178390641, + 0.2731896050280229 + ], + "held_minus_gripper": [ + 0.004070066285871865, + 0.0041278589257806655, + -0.0021825063462306282 + ], + "xy_dist": 0.03416421467337739, + "held_xy_dist": 0.0300956993458542, + "held_gripper_dist": 0.006194190248440459, + "max_held_gripper_dist": 0.006302242269615944, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0433360544292793, + "required_height": 0.8001464494012565, + "gripper_z": 1.04551856077551, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28317731829618, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0008674518833436, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.268268939954109, + "max_source_tilt_deg": 89.81899550140359, + "source_upright_tilt_deg": 3.0748272961625105, + "max_source_upright_tilt_deg": 89.8519617656263, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.268268939954109, + "source_upright_return_tilt_deg": 3.0748272961625105, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.705522537231445e-08, + "max_target_xy_drift": 1.5597359399689105e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3633, + 0.0506, + 0.7701 + ], + "controller_target_position": [ + 0.3633, + 0.0506, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0009, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3651, + 0.0246, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017995717619680085, + -0.0008558047945155724, + -0.0011369327101316048 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0748359316910903, + "source_return_step_error_deg": 2.2682846363923397, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.083482294429714, + "source_return_best_wrist_position": -1.612715721130371, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612715721130371 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3633, + 0.0506, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3633, + 0.0506, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0009, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3651, + 0.0246, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017995717619680085, + -0.0008558047945155724, + -0.0011369327101316048 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0748359316910903, + "pour_controller_source_return_step_error_deg": 2.2682846363923397, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.083482294429714, + "pour_controller_source_return_best_wrist_position": -1.612715721130371, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612715721130371, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03416421467337739, + "valid_pour_held_xy_dist": 0.0300956993458542, + "valid_pour_held_gripper_dist": 0.006194190248440459, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0433360544292793, + "valid_pour_source_tilt_deg": 2.268268939954109, + "valid_pour_source_upright_tilt_deg": 3.0748272961625105, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.705522537231445e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36568751280679346, + -0.0027975271486791395, + 1.0433360544292793 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35516660053463817, + 0.02062834157870134, + 1.0433360544292793 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36042705667071584, + 0.0089154072150111, + 1.0433360544292793 + ], + "valid_pour_held_grasp_object_position": [ + 0.36568751280679346, + 0.02062834157870134, + 1.0433360544292793 + ], + "valid_pour_held_grasp_finger_gap": 0.025679971196846202, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023860219330795955, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0444900449331363, + -0.9985603412747345, + 0.02996465810139282 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005786796281651897, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825821626442286, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36568751280679346, + -0.0027975271486791395, + 1.0433360544292793 + ], + "held_grasp_finger_b": [ + 0.35516660053463817, + 0.02062834157870134, + 1.0433360544292793 + ], + "held_grasp_midpoint": [ + 0.36042705667071584, + 0.0089154072150111, + 1.0433360544292793 + ], + "held_grasp_object_position": [ + 0.36568751280679346, + 0.02062834157870134, + 1.0433360544292793 + ], + "held_grasp_finger_gap": 0.025679971196846202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023860219330795955, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0444900449331363, + -0.9985603412747345, + 0.02996465810139282 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005786796281651897, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825821626442286, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2833490248648409, + -0.07263687757008272, + 0.7611065205955532 + ], + "target_position": [ + 0.2793657057357894, + -0.06816858692549523, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00598602143066461, + "xy_threshold": 0.08, + "gripper_dist": 0.2192786969482048, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065205955532, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536663222145952, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593255181027513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1891428930896433, + "release_required_pad_clearance": 0.05296627590513757, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9675190839558997, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd95cb1bac8c096684341df63089391b2b0d07a7bad23fa8ca686b50228875e2", + "visual_seed": 9124744548885201803, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e6bd2ce3eae3797ec64aaeeb82d3882d4245e9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_67_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2996067655080454, + -0.06733482941955253, + 1.0024883593830114 + ], + "current_z": 1.0024883593830114, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14138197057753477, + "gripper_z": 1.003851646897082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2955803842865335, + -0.0716240960720048, + 1.003851646897082 + ], + "object_minus_gripper": [ + 0.004026381221511888, + 0.004289266652452273, + -0.0013632875140705547 + ], + "object_to_gripper_xy": 0.005882988539576011, + "object_to_gripper_z": -0.0013632875140705547, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2996067655080454, + -0.09100138172288055, + 1.0024883593830114 + ], + "finger_b": [ + 0.28861151477383207, + -0.06733482941955253, + 1.0024883593830114 + ], + "finger_midpoint": [ + 0.2941091401409387, + -0.07916810557121653, + 1.0024883593830114 + ], + "object_minus_finger_midpoint": [ + 0.005497625367106684, + 0.011833276151664004, + 0.0 + ], + "finger_gap": 0.02609600039535521, + "fingertip_max_gap": 0.0930058598698236, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048000197677611, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024883593830114, + "object_top_z": 1.052563624308804, + "finger_top_clearance": 0.050075264925792506, + "fingertip_min_top_clearance": 0.015022579477737752, + "object_projection_between_fingers": 0.8224738338131306, + "object_to_finger_line_xy": 0.009971630619525178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490029299349118, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.515795837638717, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3697656205898946, + 0.0506805096256063, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36742345918934616, + 0.017803849070472624, + 1.0444180399522092 + ], + "target_minus_gripper": [ + 0.002342161400548437, + 0.03287666055513368, + -0.2742716501555973 + ], + "held_position": [ + 0.37158568381394785, + 0.02192103879948314, + 1.0429625239100107 + ], + "held_minus_target": [ + 0.0018200632240532588, + -0.02875947082612316, + 0.2728161341133988 + ], + "held_minus_gripper": [ + 0.004162224624601696, + 0.004117189729010515, + -0.0014555160421985125 + ], + "xy_dist": 0.03295998375733371, + "held_xy_dist": 0.028817005263180633, + "held_gripper_dist": 0.006032735038057583, + "max_held_gripper_dist": 0.006072494242821884, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0429625239100107, + "required_height": 0.8001463897966119, + "gripper_z": 1.0444180399522092, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.60267990729103, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.008853240882055, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4421350081159705, + "max_source_tilt_deg": 89.80361763748847, + "source_upright_tilt_deg": 1.842728461921916, + "max_source_upright_tilt_deg": 89.7820520090242, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4421350081159705, + "source_upright_return_tilt_deg": 1.842728461921916, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.1175870895385742e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3698, + 0.0507, + 0.7701 + ], + "controller_target_position": [ + 0.3698, + 0.0507, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0007, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3713, + 0.0262, + 1.0335 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015769104370964076, + 0.0007251234020253768, + -0.0018349157054081985 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8427222700987496, + "source_return_step_error_deg": 2.4421209766284564, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.433604613775407, + "source_return_best_wrist_position": -1.6113674640655518, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6113674640655518 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3698, + 0.0507, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3698, + 0.0507, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0007, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3713, + 0.0262, + 1.0335 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015769104370964076, + 0.0007251234020253768, + -0.0018349157054081985 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8427222700987496, + "pour_controller_source_return_step_error_deg": 2.4421209766284564, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.433604613775407, + "pour_controller_source_return_best_wrist_position": -1.6113674640655518, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6113674640655518, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03295998375733371, + "valid_pour_held_xy_dist": 0.028817005263180633, + "valid_pour_held_gripper_dist": 0.006032735038057583, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0429625239100107, + "valid_pour_source_tilt_deg": 2.4421350081159705, + "valid_pour_source_upright_tilt_deg": 1.842728461921916, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37158568381394785, + -0.0018101722173873842, + 1.0429625239100107 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36137291772724617, + 0.02192103879948314, + 1.0429625239100107 + ], + "valid_pour_held_grasp_midpoint": [ + 0.366479300770597, + 0.010055433291047878, + 1.0429625239100107 + ], + "valid_pour_held_grasp_object_position": [ + 0.37158568381394785, + 0.02192103879948314, + 1.0429625239100107 + ], + "valid_pour_held_grasp_finger_gap": 0.02583545949792496, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023865447564385675, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01434565086766535, + -0.9994828654488352, + 0.028778533238659313 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005287048109379016, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03793403506457518, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37158568381394785, + -0.0018101722173873842, + 1.0429625239100107 + ], + "held_grasp_finger_b": [ + 0.36137291772724617, + 0.02192103879948314, + 1.0429625239100107 + ], + "held_grasp_midpoint": [ + 0.366479300770597, + 0.010055433291047878, + 1.0429625239100107 + ], + "held_grasp_object_position": [ + 0.37158568381394785, + 0.02192103879948314, + 1.0429625239100107 + ], + "held_grasp_finger_gap": 0.02583545949792496, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023865447564385675, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01434565086766535, + -0.9994828654488352, + 0.028778533238659313 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005287048109379016, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03793403506457518, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2846867602410587, + -0.06864570654129865, + 0.7611063506879888 + ], + "target_position": [ + 0.2763121475916823, + -0.06883325183436992, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008376712378018491, + "xy_threshold": 0.08, + "gripper_dist": 0.2206975630539826, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063506879888, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591708267090047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665466160689687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19035449406905425, + "release_required_pad_clearance": 0.05332733080344844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6720615405944013, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6bd9229adc7a99677b41266c78eb940b5f97242ca2b7c0eb7aa105e704683023", + "visual_seed": 9164366073729331087, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8c8546800dd8ed7890ae0804c68db592a4b0f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30033872832558645, + -0.06402877216577477, + 1.0004434771468307 + ], + "current_z": 1.0004434771468307, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.13933696913206473, + "gripper_z": 1.0026199261082864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29625620879643705, + -0.0681803200347491, + 1.0026199261082864 + ], + "object_minus_gripper": [ + 0.004082519529149398, + 0.0041515478689743285, + -0.002176448961455746 + ], + "object_to_gripper_xy": 0.005822569485568335, + "object_to_gripper_z": -0.002176448961455746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30033872832558645, + -0.08806738309551906, + 1.0004434771468307 + ], + "finger_b": [ + 0.2899558227088868, + -0.06402877216577477, + 1.0004434771468307 + ], + "finger_midpoint": [ + 0.29514727551723663, + -0.07604807763064692, + 1.0004434771468307 + ], + "object_minus_finger_midpoint": [ + 0.005191452808349817, + 0.012019305464872149, + 0.0 + ], + "finger_gap": 0.026185101574691567, + "fingertip_max_gap": 0.09320933683963026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013092550787345784, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0004434771468307, + "object_top_z": 1.0504167718547779, + "finger_top_clearance": 0.0499732947079472, + "fingertip_min_top_clearance": 0.01499198841238416, + "object_projection_between_fingers": 0.8427722184957896, + "object_to_finger_line_xy": 0.009531780036375115, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910466841981513, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.726575153088382, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3704090825325671, + 0.04796134945624328, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3673132741106875, + 0.016143219076175927, + 1.047368264582249 + ], + "target_minus_gripper": [ + 0.00309580842187962, + 0.03181813038006735, + -0.2772218747856374 + ], + "held_position": [ + 0.37145901404758286, + 0.020175167873154695, + 1.0451064283601346 + ], + "held_minus_target": [ + 0.0010499315150157562, + -0.027786181583088584, + 0.2749600385635229 + ], + "held_minus_gripper": [ + 0.004145739936895376, + 0.004031948796978768, + -0.0022618362221145105 + ], + "xy_dist": 0.03196838204645249, + "held_xy_dist": 0.027806010917688185, + "held_gripper_dist": 0.0062096436146929605, + "max_held_gripper_dist": 0.006322093978161863, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0451064283601346, + "required_height": 0.8001463897966117, + "gripper_z": 1.047368264582249, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.14285108179827, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2155378630810816, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1579362325576144, + "max_source_tilt_deg": 89.82802433685475, + "source_upright_tilt_deg": 2.789053424645393, + "max_source_upright_tilt_deg": 89.86147920543782, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1579362325576144, + "source_upright_return_tilt_deg": 2.789053424645393, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.3738191809196602e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3704, + 0.048, + 0.7701 + ], + "controller_target_position": [ + 0.3704, + 0.048, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0018, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3715, + 0.0246, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011392776459491238, + 0.001840579701993909, + 0.0015100679721691515 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7890505964662586, + "source_return_step_error_deg": 2.1579531621720727, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7938476705292685, + "source_return_best_wrist_position": -1.6117364168167114, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6117364168167114 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3704, + 0.048, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3704, + 0.048, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0018, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3715, + 0.0246, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011392776459491238, + 0.001840579701993909, + 0.0015100679721691515 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7890505964662586, + "pour_controller_source_return_step_error_deg": 2.1579531621720727, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7938476705292685, + "pour_controller_source_return_best_wrist_position": -1.6117364168167114, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6117364168167114, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03196838204645249, + "valid_pour_held_xy_dist": 0.027806010917688185, + "valid_pour_held_gripper_dist": 0.0062096436146929605, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0451064283601346, + "valid_pour_source_tilt_deg": 2.1579362325576144, + "valid_pour_source_upright_tilt_deg": 2.789053424645393, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37145901404758286, + -0.0035698841414436846, + 1.0451064283601346 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3614121686405367, + 0.020175167873154695, + 1.0451064283601346 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3664355913440598, + 0.008302641865855505, + 1.0451064283601346 + ], + "valid_pour_held_grasp_object_position": [ + 0.37145901404758286, + 0.020175167873154695, + 1.0451064283601346 + ], + "valid_pour_held_grasp_finger_gap": 0.025783068044921784, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024090070472378735, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03714055473698748, + -0.9988154604177408, + 0.03143652691257815 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054734483992256834, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038048360245680146, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37145901404758286, + -0.0035698841414436846, + 1.0451064283601346 + ], + "held_grasp_finger_b": [ + 0.3614121686405367, + 0.020175167873154695, + 1.0451064283601346 + ], + "held_grasp_midpoint": [ + 0.3664355913440598, + 0.008302641865855505, + 1.0451064283601346 + ], + "held_grasp_object_position": [ + 0.37145901404758286, + 0.020175167873154695, + 1.0451064283601346 + ], + "held_grasp_finger_gap": 0.025783068044921784, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024090070472378735, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03714055473698748, + -0.9988154604177408, + 0.03143652691257815 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054734483992256834, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038048360245680146, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.277903330975385, + -0.07457297297770057, + 0.7611064231310867 + ], + "target_position": [ + 0.27703093959082, + -0.06897703394982795, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005663532495848446, + "xy_threshold": 0.08, + "gripper_dist": 0.21465048219795663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064231310867, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752241897909896, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08834770265500362, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.184822886270783, + "release_required_pad_clearance": 0.05417385132750181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3633514069693087, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc550b4ebd65e641ff09aae4f0b9e4e8e4c2e13f82b2733c5f99e79986f99ce4", + "visual_seed": 8178620911346314358, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13a435f7974fce62654305cd9ac4c4ce25921c5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_69_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3052510677227289, + -0.0658500483973571, + 1.0020054920764112 + ], + "current_z": 1.0020054920764112, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14089904366629002, + "gripper_z": 1.0042322938409516, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30120895693404715, + -0.07010870774230664, + 1.0042322938409516 + ], + "object_minus_gripper": [ + 0.004042110788681774, + 0.004258659344949539, + -0.002226801764540376 + ], + "object_to_gripper_xy": 0.005871527828794106, + "object_to_gripper_z": -0.002226801764540376, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3052510677227289, + -0.0896164352662405, + 1.0020054920764112 + ], + "finger_b": [ + 0.2943989223928769, + -0.0658500483973571, + 1.0020054920764112 + ], + "finger_midpoint": [ + 0.2998249950578029, + -0.0777332418317988, + 1.0020054920764112 + ], + "object_minus_finger_midpoint": [ + 0.005426072664926007, + 0.011883193434441705, + 0.0 + ], + "finger_gap": 0.026126810043739783, + "fingertip_max_gap": 0.09245461238289007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013063405021869898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0020054920764112, + "object_top_z": 1.052141235838281, + "finger_top_clearance": 0.05013574376186969, + "fingertip_min_top_clearance": 0.015040723128560906, + "object_projection_between_fingers": 0.8274724612494688, + "object_to_finger_line_xy": 0.009871709704890198, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872730619144504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9173008521586115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36743612206046034, + 0.04736112323277452, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3656199278264096, + 0.014586033259597522, + 1.045438053911928 + ], + "target_minus_gripper": [ + 0.0018161942340507164, + 0.032775089973177, + -0.27529166411531636 + ], + "held_position": [ + 0.3697831537833154, + 0.018666365487997036, + 1.043125771396866 + ], + "held_minus_target": [ + 0.002347031722855053, + -0.028694757744777484, + 0.2729793816002545 + ], + "held_minus_gripper": [ + 0.0041632259569057695, + 0.004080332228399514, + -0.002312282515061881 + ], + "xy_dist": 0.03282537256826869, + "held_xy_dist": 0.028790583181650824, + "held_gripper_dist": 0.006271220925133366, + "max_held_gripper_dist": 0.006392558266037754, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.043125771396866, + "required_height": 0.8001463897966116, + "gripper_z": 1.045438053911928, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28443407310345, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4446477360103755, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.290765714589284, + "max_source_tilt_deg": 89.72922418450314, + "source_upright_tilt_deg": 1.6411106700200973, + "max_source_upright_tilt_deg": 89.74186277188439, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.290765714589284, + "source_upright_return_tilt_deg": 1.6411106700200973, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.365778852490731e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3674, + 0.0474, + 0.7701 + ], + "controller_target_position": [ + 0.3674, + 0.0474, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0009, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3693, + 0.023, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018148646958036974, + 0.0008795877600428778, + -0.0009905762098991638 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6411170985219143, + "source_return_step_error_deg": 2.2907740496277325, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.287845335599261, + "source_return_best_wrist_position": -1.6113306283950806, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6113306283950806 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3674, + 0.0474, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3674, + 0.0474, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0009, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3693, + 0.023, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018148646958036974, + 0.0008795877600428778, + -0.0009905762098991638 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6411170985219143, + "pour_controller_source_return_step_error_deg": 2.2907740496277325, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.287845335599261, + "pour_controller_source_return_best_wrist_position": -1.6113306283950806, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6113306283950806, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03282537256826869, + "valid_pour_held_xy_dist": 0.028790583181650824, + "valid_pour_held_gripper_dist": 0.006271220925133366, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.043125771396866, + "valid_pour_source_tilt_deg": 2.290765714589284, + "valid_pour_source_upright_tilt_deg": 1.6411106700200973, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.365778852490731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3697831537833154, + -0.005046849631522457, + 1.043125771396866 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3595927550483362, + 0.018666365487997036, + 1.043125771396866 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3646879544158258, + 0.00680975792823729, + 1.043125771396866 + ], + "valid_pour_held_grasp_object_position": [ + 0.3697831537833154, + 0.018666365487997036, + 1.043125771396866 + ], + "valid_pour_held_grasp_finger_gap": 0.02581009100492428, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023792917313853246, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008775772992709464, + -0.9995898307496223, + 0.027260889022960644 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005209053778710179, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03791322003917181, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3697831537833154, + -0.005046849631522457, + 1.043125771396866 + ], + "held_grasp_finger_b": [ + 0.3595927550483362, + 0.018666365487997036, + 1.043125771396866 + ], + "held_grasp_midpoint": [ + 0.3646879544158258, + 0.00680975792823729, + 1.043125771396866 + ], + "held_grasp_object_position": [ + 0.3697831537833154, + 0.018666365487997036, + 1.043125771396866 + ], + "held_grasp_finger_gap": 0.02581009100492428, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023792917313853246, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008775772992709464, + -0.9995898307496223, + 0.027260889022960644 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005209053778710179, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03791322003917181, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2872320493253099, + -0.06750030968236762, + 0.7611071604608866 + ], + "target_position": [ + 0.2819826937660583, + -0.07093911261103743, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006275436189594614, + "xy_threshold": 0.08, + "gripper_dist": 0.21824962380329727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071604608866, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585548215203261, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527183586312558, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1889765305569192, + "release_required_pad_clearance": 0.05263591793156279, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3310212171624283, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd99bc84df2d022bead6afd756817885bebd03a0385a2722fc1f0c9ba219ea0f", + "visual_seed": 6341176193555990016, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1097c2f7cf71ea827aecfa61751a6fc7b83a60d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3053924883021679, + -0.06866081936176568, + 1.0035927981905042 + ], + "current_z": 1.0035927981905042, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14248623057109344, + "gripper_z": 1.0051509543522796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30140982061880467, + -0.0727947024279291, + 1.0051509543522796 + ], + "object_minus_gripper": [ + 0.00398266768336325, + 0.004133883066163413, + -0.0015581561617754591 + ], + "object_to_gripper_xy": 0.005740264025357947, + "object_to_gripper_z": -0.0015581561617754591, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3053924883021679, + -0.09255694201022233, + 1.0035927981905042 + ], + "finger_b": [ + 0.2949204388486713, + -0.06866081936176568, + 1.0035927981905042 + ], + "finger_midpoint": [ + 0.3001564635754196, + -0.080608880685994, + 1.0035927981905042 + ], + "object_minus_finger_midpoint": [ + 0.005236024726748334, + 0.01194806132422832, + 0.0 + ], + "finger_gap": 0.026090007615686146, + "fingertip_max_gap": 0.09353935938354244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013045003807843085, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035927981905042, + "object_top_z": 1.0537234283554622, + "finger_top_clearance": 0.050130630164958, + "fingertip_min_top_clearance": 0.0150391890494874, + "object_projection_between_fingers": 0.8388927972523077, + "object_to_finger_line_xy": 0.009591464357066936, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926967969177122, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5982878111248437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3608861378437701, + 0.0436064999985025, + 0.7701464494012564 + ], + "gripper_position": [ + 0.35788794922279543, + 0.009095779033103782, + 1.0466561961699314 + ], + "target_minus_gripper": [ + 0.0029981886209746733, + 0.03451072096539872, + -0.276509746768675 + ], + "held_position": [ + 0.3618654677381463, + 0.013195503890745431, + 1.0450165029824547 + ], + "held_minus_target": [ + 0.000979329894376213, + -0.03041099610775707, + 0.2748700535811983 + ], + "held_minus_gripper": [ + 0.003977518515350886, + 0.0040997248576416494, + -0.0016396931874766985 + ], + "xy_dist": 0.03464071299148666, + "held_xy_dist": 0.030426760775804487, + "held_gripper_dist": 0.0059428100421754565, + "max_held_gripper_dist": 0.006003613598127858, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0450165029824547, + "required_height": 0.8001464494012565, + "gripper_z": 1.0466561961699314, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.18408493381763, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9691623950714254, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2644159960116066, + "max_source_tilt_deg": 89.79442367729769, + "source_upright_tilt_deg": 3.3670710111901996, + "max_source_upright_tilt_deg": 89.96252496183511, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2644159960116066, + "source_upright_return_tilt_deg": 3.3670710111901996, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.835048602852289e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3609, + 0.0436, + 0.7701 + ], + "controller_target_position": [ + 0.3609, + 0.0436, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0005, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.3601, + 0.018, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008221860907709874, + -0.00045118122340173194, + -2.599950899580131e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.367083332486844, + "source_return_step_error_deg": 2.2644484899042236, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3776864944284655, + "source_return_best_wrist_position": -1.6108025312423706, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6108025312423706 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3609, + 0.0436, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3609, + 0.0436, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0005, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3601, + 0.018, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008221860907709874, + -0.00045118122340173194, + -2.599950899580131e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.367083332486844, + "pour_controller_source_return_step_error_deg": 2.2644484899042236, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3776864944284655, + "pour_controller_source_return_best_wrist_position": -1.6108025312423706, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6108025312423706, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03464071299148666, + "valid_pour_held_xy_dist": 0.030426760775804487, + "valid_pour_held_gripper_dist": 0.0059428100421754565, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0450165029824547, + "valid_pour_source_tilt_deg": 2.2644159960116066, + "valid_pour_source_upright_tilt_deg": 3.3670710111901996, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3618654677381463, + -0.010206295826585124, + 1.0450165029824547 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3513679761802478, + 0.013195503890745431, + 1.0450165029824547 + ], + "valid_pour_held_grasp_midpoint": [ + 0.356616721959197, + 0.0014946040320801537, + 1.0450165029824547 + ], + "valid_pour_held_grasp_object_position": [ + 0.3618654677381463, + 0.013195503890745431, + 1.0450165029824547 + ], + "valid_pour_held_grasp_finger_gap": 0.025648422154553745, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023889285612295995, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.05028659622104448, + -0.9982737556586081, + 0.0303441428245923 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005841060520782783, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03830349038325293, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3618654677381463, + -0.010206295826585124, + 1.0450165029824547 + ], + "held_grasp_finger_b": [ + 0.3513679761802478, + 0.013195503890745431, + 1.0450165029824547 + ], + "held_grasp_midpoint": [ + 0.356616721959197, + 0.0014946040320801537, + 1.0450165029824547 + ], + "held_grasp_object_position": [ + 0.3618654677381463, + 0.013195503890745431, + 1.0450165029824547 + ], + "held_grasp_finger_gap": 0.025648422154553745, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023889285612295995, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.05028659622104448, + -0.9982737556586081, + 0.0303441428245923 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005841060520782783, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03830349038325293, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27912236717254335, + -0.07602837307291865, + 0.7611079590087111 + ], + "target_position": [ + 0.2820107819560735, + -0.0708092663048783, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005965066254277489, + "xy_threshold": 0.08, + "gripper_dist": 0.21288000817538813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079590087111, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582614756770716, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09182643100718786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18251430288837736, + "release_required_pad_clearance": 0.05591321550359393, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.041397461009149, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 217, + "max_placed_release_frames": 217 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b11c696a4f23106a42ce50d2f01fb0e300e5b9e6e424f3ed1f87bac069e9541", + "visual_seed": 2088680427697299062, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a57bb97d6f8a9747821863f1033ae1e89fdd16f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_70_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30300668492263794, + -0.06471444070584996, + 1.0007726336193978 + ], + "current_z": 1.0007726336193978, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.13966618520927654, + "gripper_z": 1.002845383574507, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29885649603530384, + -0.06899592106933176, + 1.002845383574507 + ], + "object_minus_gripper": [ + 0.004150188887334094, + 0.004281480363481804, + -0.002072749955109199 + ], + "object_to_gripper_xy": 0.005962813254113505, + "object_to_gripper_z": -0.002072749955109199, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30300668492263794, + -0.08866649175488445, + 1.0007726336193978 + ], + "finger_b": [ + 0.29227102296967505, + -0.06471444070584996, + 1.0007726336193978 + ], + "finger_midpoint": [ + 0.2976388539461565, + -0.07669046623036721, + 1.0007726336193978 + ], + "object_minus_finger_midpoint": [ + 0.005367830976481414, + 0.01197602552451725, + 0.0 + ], + "finger_gap": 0.026247955863721063, + "fingertip_max_gap": 0.09266050242479865, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013123977931860526, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0007726336193978, + "object_top_z": 1.0507923769617622, + "finger_top_clearance": 0.050019743342364364, + "fingertip_min_top_clearance": 0.015005923002709292, + "object_projection_between_fingers": 0.8327112710099892, + "object_to_finger_line_xy": 0.009796615190821568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048830251212399325, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.372843954987876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3675524107224172, + 0.04784833904974916, + 0.7701463897966117 + ], + "gripper_position": [ + 0.363886536118096, + 0.013765318264359255, + 1.0457888322804951 + ], + "target_minus_gripper": [ + 0.003665874604321162, + 0.034083020785389904, + -0.2756424424838835 + ], + "held_position": [ + 0.36814525309590834, + 0.01788189501366115, + 1.043626542165994 + ], + "held_minus_target": [ + 0.0005928423734911648, + -0.02996644403608801, + 0.2734801523693824 + ], + "held_minus_gripper": [ + 0.004258716977812327, + 0.004116576749301895, + -0.0021622901145010864 + ], + "xy_dist": 0.034279599508627974, + "held_xy_dist": 0.02997230772309335, + "held_gripper_dist": 0.006305424091151129, + "max_held_gripper_dist": 0.0064072494272834546, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.043626542165994, + "required_height": 0.8001463897966117, + "gripper_z": 1.0457888322804951, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.26321267535224, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.918153716556601, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2991813509324883, + "max_source_tilt_deg": 89.75264948945025, + "source_upright_tilt_deg": 1.9916896942331999, + "max_source_upright_tilt_deg": 89.90592814958774, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2991813509324883, + "source_upright_return_tilt_deg": 1.9916896942331999, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.686408848491962e-08, + "max_target_xy_drift": 9.541398640621973e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3676, + 0.0478, + 0.7701 + ], + "controller_target_position": [ + 0.3676, + 0.0478, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.001, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3675, + 0.0217, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -7.166871461847181e-05, + -0.0009714279630268624, + -0.0007385429407886885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9916942493122725, + "source_return_step_error_deg": 2.299179659834051, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2947060423172325, + "source_return_best_wrist_position": -1.612762689590454, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612762689590454 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3676, + 0.0478, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3676, + 0.0478, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.001, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3675, + 0.0217, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -7.166871461847181e-05, + -0.0009714279630268624, + -0.0007385429407886885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9916942493122725, + "pour_controller_source_return_step_error_deg": 2.299179659834051, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2947060423172325, + "pour_controller_source_return_best_wrist_position": -1.612762689590454, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612762689590454, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034279599508627974, + "valid_pour_held_xy_dist": 0.02997230772309335, + "valid_pour_held_gripper_dist": 0.006305424091151129, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.043626542165994, + "valid_pour_source_tilt_deg": 2.2991813509324883, + "valid_pour_source_upright_tilt_deg": 1.9916896942331999, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.686408848491962e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36814525309590834, + -0.005952623862413734, + 1.043626542165994 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3580033541720747, + 0.01788189501366115, + 1.043626542165994 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3630743036339915, + 0.005964635575623708, + 1.043626542165994 + ], + "valid_pour_held_grasp_object_position": [ + 0.36814525309590834, + 0.01788189501366115, + 1.043626542165994 + ], + "valid_pour_held_grasp_finger_gap": 0.02590255593247949, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024020661424568823, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019773546956394873, + -0.9993958860181587, + 0.02858093509217219 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005316434457518253, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03791046067240809, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36814525309590834, + -0.005952623862413734, + 1.043626542165994 + ], + "held_grasp_finger_b": [ + 0.3580033541720747, + 0.01788189501366115, + 1.043626542165994 + ], + "held_grasp_midpoint": [ + 0.3630743036339915, + 0.005964635575623708, + 1.043626542165994 + ], + "held_grasp_object_position": [ + 0.36814525309590834, + 0.01788189501366115, + 1.043626542165994 + ], + "held_grasp_finger_gap": 0.02590255593247949, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024020661424568823, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019773546956394873, + -0.9993958860181587, + 0.02858093509217219 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005316434457518253, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03791046067240809, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26344629394307933, + -0.05189288260672348, + 0.761106807943939 + ], + "target_position": [ + 0.27965934590477237, + -0.06870393835150507, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02335539871564415, + "xy_threshold": 0.08, + "gripper_dist": 0.2036404119968147, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106807943939, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0800667463194069, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09139477078070214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1804369349421174, + "release_required_pad_clearance": 0.05569738539035107, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.571735436283492, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 182, + "max_placed_release_frames": 182 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca33732b2726391bef6b1905c8731993741f90070d222d2e03a762b5ca49c39e", + "visual_seed": 5200011010869002711, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d259fdb9af995083470238839c8ce65040e5fbb8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_71_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3021355775303658, + -0.06936430646929533, + 1.0018442822107834 + ], + "current_z": 1.0018442822107834, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14073783380066218, + "gripper_z": 1.0034546037449028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2980758305184932, + -0.07350098603510277, + 1.0034546037449028 + ], + "object_minus_gripper": [ + 0.0040597470118726164, + 0.004136679565807447, + -0.001610321534119441 + ], + "object_to_gripper_xy": 0.005796004108916549, + "object_to_gripper_z": -0.001610321534119441, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3021355775303658, + -0.09339823908655952, + 1.0018442822107834 + ], + "finger_b": [ + 0.29177250962791856, + -0.06936430646929533, + 1.0018442822107834 + ], + "finger_midpoint": [ + 0.2969540435791422, + -0.08138127277792742, + 1.0018442822107834 + ], + "object_minus_finger_midpoint": [ + 0.005181533951223616, + 0.012016966308632096, + 0.0 + ], + "finger_gap": 0.026172945829652565, + "fingertip_max_gap": 0.09353428040617276, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013086472914826282, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018442822107834, + "object_top_z": 1.0519311620446001, + "finger_top_clearance": 0.050086879833816766, + "fingertip_min_top_clearance": 0.015026063950145063, + "object_projection_between_fingers": 0.843226925653847, + "object_to_finger_line_xy": 0.009516134610777044, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04926714020308638, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.629695814520254, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3663222602612202, + 0.048725022791557084, + 0.7701464494012563 + ], + "gripper_position": [ + 0.36426717578651474, + 0.014829125201395316, + 1.0475307315676552 + ], + "target_minus_gripper": [ + 0.002055084474705482, + 0.03389589759016177, + -0.2773842821663989 + ], + "held_position": [ + 0.36833279757882786, + 0.01892075783143802, + 1.0458375032829352 + ], + "held_minus_target": [ + 0.0020105373176076413, + -0.029804264960119065, + 0.2756910538816789 + ], + "held_minus_gripper": [ + 0.004065621792313123, + 0.004091632630042703, + -0.001693228284719961 + ], + "xy_dist": 0.03395813960806613, + "held_xy_dist": 0.029872001441458088, + "held_gripper_dist": 0.006011469051865546, + "max_held_gripper_dist": 0.006074259778224852, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0458375032829352, + "required_height": 0.8001464494012563, + "gripper_z": 1.0475307315676552, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.17256240468782, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.005102231715066, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2227029125279874, + "max_source_tilt_deg": 89.68626213569276, + "source_upright_tilt_deg": 3.3055372425324463, + "max_source_upright_tilt_deg": 89.85532746631296, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2227029125279874, + "source_upright_return_tilt_deg": 3.3055372425324463, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3663, + 0.0487, + 0.7701 + ], + "controller_target_position": [ + 0.3663, + 0.0487, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + 0.0001, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3676, + 0.0236, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012374773152101066, + 0.00011806408517859007, + 0.0015016665582141256 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.30552637987676, + "source_return_step_error_deg": 2.2226912632930538, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3189647204318633, + "source_return_best_wrist_position": -1.610257625579834, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610257625579834 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3663, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3663, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + 0.0001, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3676, + 0.0236, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012374773152101066, + 0.00011806408517859007, + 0.0015016665582141256 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.30552637987676, + "pour_controller_source_return_step_error_deg": 2.2226912632930538, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3189647204318633, + "pour_controller_source_return_best_wrist_position": -1.610257625579834, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610257625579834, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03395813960806613, + "valid_pour_held_xy_dist": 0.029872001441458088, + "valid_pour_held_gripper_dist": 0.006011469051865546, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0458375032829352, + "valid_pour_source_tilt_deg": 2.2227029125279874, + "valid_pour_source_upright_tilt_deg": 3.3055372425324463, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36833279757882786, + -0.004654236033564211, + 1.0458375032829352 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35799739599279734, + 0.01892075783143802, + 1.0458375032829352 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3631650967858126, + 0.007133260898936904, + 1.0458375032829352 + ], + "valid_pour_held_grasp_object_position": [ + 0.36833279757882786, + 0.01892075783143802, + 1.0458375032829352 + ], + "valid_pour_held_grasp_finger_gap": 0.02574103458836523, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024036304156363396, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0484289860824147, + -0.998336257119324, + 0.03129458464348578 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005744098418417565, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0382026310114794, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36833279757882786, + -0.004654236033564211, + 1.0458375032829352 + ], + "held_grasp_finger_b": [ + 0.35799739599279734, + 0.01892075783143802, + 1.0458375032829352 + ], + "held_grasp_midpoint": [ + 0.3631650967858126, + 0.007133260898936904, + 1.0458375032829352 + ], + "held_grasp_object_position": [ + 0.36833279757882786, + 0.01892075783143802, + 1.0458375032829352 + ], + "held_grasp_finger_gap": 0.02574103458836523, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024036304156363396, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0484289860824147, + -0.998336257119324, + 0.03129458464348578 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005744098418417565, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0382026310114794, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26079498049562255, + -0.05055868457459114, + 0.7611064248274495 + ], + "target_position": [ + 0.27869956843481924, + -0.0708577755607097, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027067090056656397, + "xy_threshold": 0.08, + "gripper_dist": 0.2056963927910536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064248274495, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08304612475979774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536638838593465, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18288795806620867, + "release_required_pad_clearance": 0.052683194192967325, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4224354382760755, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f571167e69cb1c3ab834c78f60db41654ad7431604fd604e7b5b790cdd380fc7", + "visual_seed": 4316610206642501357, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ccef4e5d5253f49a326460b9ddd71c63ad572c82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3034254780769506, + -0.06630615605149662, + 1.0025659811542589 + ], + "current_z": 1.0025659811542589, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14145959234878258, + "gripper_z": 1.0047983573638646, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29916784829504073, + -0.07056656239956897, + 1.0047983573638646 + ], + "object_minus_gripper": [ + 0.004257629781909855, + 0.004260406348072357, + -0.002232376209605702 + ], + "object_to_gripper_xy": 0.006023161429888875, + "object_to_gripper_z": -0.002232376209605702, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3034254780769506, + -0.09053744585415761, + 1.0025659811542589 + ], + "finger_b": [ + 0.2929899707734325, + -0.06630615605149662, + 1.0025659811542589 + ], + "finger_midpoint": [ + 0.2982077244251915, + -0.07842180095282711, + 1.0025659811542589 + ], + "object_minus_finger_midpoint": [ + 0.005217753651759083, + 0.012115644901330491, + 0.0 + ], + "finger_gap": 0.026382858415689582, + "fingertip_max_gap": 0.09296132237678714, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013191429207844796, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025659811542589, + "object_top_z": 1.0524985426662905, + "finger_top_clearance": 0.049932561512031626, + "fingertip_min_top_clearance": 0.01497976845360952, + "object_projection_between_fingers": 0.8435471643095205, + "object_to_finger_line_xy": 0.009584473286600215, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898066118839357, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5463211990761083, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36543486630980415, + 0.04869165909164405, + 0.770146389796612 + ], + "gripper_position": [ + 0.362618523077216, + 0.015800792499844618, + 1.0476389733425182 + ], + "target_minus_gripper": [ + 0.00281634323258817, + 0.032890866591799434, + -0.2774925835459062 + ], + "held_position": [ + 0.36690300690777666, + 0.0199747784007586, + 1.0453180745624482 + ], + "held_minus_target": [ + 0.0014681405979725115, + -0.028716880690885453, + 0.2751716847658362 + ], + "held_minus_gripper": [ + 0.004284483830560681, + 0.00417398590091398, + -0.0023208987800700243 + ], + "xy_dist": 0.03301122376349131, + "held_xy_dist": 0.028754385290420743, + "held_gripper_dist": 0.006416037027846329, + "max_held_gripper_dist": 0.006516537525726592, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0453180745624482, + "required_height": 0.800146389796612, + "gripper_z": 1.0476389733425182, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.12709383538305, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.096182792986798, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2755230824775494, + "max_source_tilt_deg": 89.9953936790777, + "source_upright_tilt_deg": 3.1185016657145845, + "max_source_upright_tilt_deg": 89.76239303021254, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2755230824775494, + "source_upright_return_tilt_deg": 3.1185016657145845, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.7091735820404383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3654, + 0.0487, + 0.7701 + ], + "controller_target_position": [ + 0.3654, + 0.0487, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0004, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3665, + 0.0239, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001070107844066167, + 0.0004303599421057614, + 0.0013168960498959343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.118499104010186, + "source_return_step_error_deg": 2.2755039901843004, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.115070548966022, + "source_return_best_wrist_position": -1.6134084463119507, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6134084463119507 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3654, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3654, + 0.0487, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0004, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3665, + 0.0239, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001070107844066167, + 0.0004303599421057614, + 0.0013168960498959343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.118499104010186, + "pour_controller_source_return_step_error_deg": 2.2755039901843004, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.115070548966022, + "pour_controller_source_return_best_wrist_position": -1.6134084463119507, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6134084463119507, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03301122376349131, + "valid_pour_held_xy_dist": 0.028754385290420743, + "valid_pour_held_gripper_dist": 0.006416037027846329, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0453180745624482, + "valid_pour_source_tilt_deg": 2.2755230824775494, + "valid_pour_source_upright_tilt_deg": 3.1185016657145845, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36690300690777666, + -0.0037909941824587007, + 1.0453180745624482 + ], + "valid_pour_held_grasp_finger_b": [ + 0.356595351612216, + 0.0199747784007586, + 1.0453180745624482 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36174917925999633, + 0.00809189210914995, + 1.0453180745624482 + ], + "valid_pour_held_grasp_object_position": [ + 0.36690300690777666, + 0.0199747784007586, + 1.0453180745624482 + ], + "valid_pour_held_grasp_finger_gap": 0.025904820095289268, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02417590667639431, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04320354988604255, + -0.9985191642110669, + 0.033059521782339285 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005675754132418093, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03807762403166779, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36690300690777666, + -0.0037909941824587007, + 1.0453180745624482 + ], + "held_grasp_finger_b": [ + 0.356595351612216, + 0.0199747784007586, + 1.0453180745624482 + ], + "held_grasp_midpoint": [ + 0.36174917925999633, + 0.00809189210914995, + 1.0453180745624482 + ], + "held_grasp_object_position": [ + 0.36690300690777666, + 0.0199747784007586, + 1.0453180745624482 + ], + "held_grasp_finger_gap": 0.025904820095289268, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02417590667639431, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04320354988604255, + -0.9985191642110669, + 0.033059521782339285 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005675754132418093, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03807762403166779, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2828432681787579, + -0.07067459861270926, + 0.7611066519748567 + ], + "target_position": [ + 0.28008021079323925, + -0.07090197976351803, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00277239757311468, + "xy_threshold": 0.08, + "gripper_dist": 0.21817332575413004, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066519748567, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543890809131294, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596025025166047, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18885971441023627, + "release_required_pad_clearance": 0.05298012512583024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.99464379504987, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "359b6789e5972a920e579e3e305b5aadc661b5feb44f6528f676eeacf157120f", + "visual_seed": 1075941659933093930, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc555858dd5b92d64c9aa463def521a8e6d120ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_73_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29609188311651247, + -0.0619411109369373, + 1.0012152683737114 + ], + "current_z": 1.0012152683737114, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1401087603589456, + "gripper_z": 1.0029883607690357, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29203865506036036, + -0.06612659616667924, + 1.0029883607690357 + ], + "object_minus_gripper": [ + 0.004053228056152103, + 0.0041854852297419365, + -0.001773092395324305 + ], + "object_to_gripper_xy": 0.0058264006284812295, + "object_to_gripper_z": -0.001773092395324305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29609188311651247, + -0.08586300936668224, + 1.0012152683737114 + ], + "finger_b": [ + 0.28551526521215526, + -0.0619411109369373, + 1.0012152683737114 + ], + "finger_midpoint": [ + 0.2908035741643339, + -0.07390206015180978, + 1.0012152683737114 + ], + "object_minus_finger_midpoint": [ + 0.0052883089521785775, + 0.01196094921487248, + 0.0 + ], + "finger_gap": 0.026155727303552527, + "fingertip_max_gap": 0.09306621563014847, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013077863651776258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012152683737114, + "object_top_z": 1.0512196104997171, + "finger_top_clearance": 0.050004342126005685, + "fingertip_min_top_clearance": 0.015001302637801672, + "object_projection_between_fingers": 0.8364840851171688, + "object_to_finger_line_xy": 0.009673322263299847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903310781507424, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5073149066114855, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3617441467053119, + 0.04826693501942611, + 0.770146330191967 + ], + "gripper_position": [ + 0.35729943330192193, + 0.012951223633929629, + 1.0454056043334439 + ], + "target_minus_gripper": [ + 0.004444713403389977, + 0.03531571138549648, + -0.2752592741414769 + ], + "held_position": [ + 0.36143751037898547, + 0.01700764093036545, + 1.0435464559998127 + ], + "held_minus_target": [ + -0.0003066363263264371, + -0.03125929408906066, + 0.2734001258078457 + ], + "held_minus_gripper": [ + 0.00413807707706354, + 0.00405641729643582, + -0.001859148333631211 + ], + "xy_dist": 0.035594310611415984, + "held_xy_dist": 0.03126079801897267, + "held_gripper_dist": 0.006085608901744026, + "max_held_gripper_dist": 0.006162510279314966, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0435464559998127, + "required_height": 0.800146330191967, + "gripper_z": 1.0454056043334439, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.26367712821579, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.846698974833352, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.048645012225055, + "max_source_tilt_deg": 89.75297268192864, + "source_upright_tilt_deg": 2.4218891189318192, + "max_source_upright_tilt_deg": 89.7652701663168, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.048645012225055, + "source_upright_return_tilt_deg": 2.4218891189318192, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.2383438750054435e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3617, + 0.0483, + 0.7701 + ], + "controller_target_position": [ + 0.3617, + 0.0483, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + -0.0018, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3602, + 0.0213, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015923217746035819, + -0.001773684594959199, + -0.001541842558865168 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.421889408596575, + "source_return_step_error_deg": 2.0486424499318265, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4294121796197845, + "source_return_best_wrist_position": -1.6096550226211548, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096550226211548 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3617, + 0.0483, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3617, + 0.0483, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + -0.0018, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3602, + 0.0213, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015923217746035819, + -0.001773684594959199, + -0.001541842558865168 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.421889408596575, + "pour_controller_source_return_step_error_deg": 2.0486424499318265, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4294121796197845, + "pour_controller_source_return_best_wrist_position": -1.6096550226211548, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096550226211548, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035594310611415984, + "valid_pour_held_xy_dist": 0.03126079801897267, + "valid_pour_held_gripper_dist": 0.006085608901744026, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0435464559998127, + "valid_pour_source_tilt_deg": 2.048645012225055, + "valid_pour_source_upright_tilt_deg": 2.4218891189318192, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36143751037898547, + -0.006782414433755318, + 1.0435464559998127 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35133827409050045, + 0.01700764093036545, + 1.0435464559998127 + ], + "valid_pour_held_grasp_midpoint": [ + 0.356387892234743, + 0.005112613248305066, + 1.0435464559998127 + ], + "valid_pour_held_grasp_object_position": [ + 0.36143751037898547, + 0.01700764093036545, + 1.0435464559998127 + ], + "valid_pour_held_grasp_finger_gap": 0.025844947433465288, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024039081733271735, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02676206437733821, + -0.999106767838991, + 0.032702574341904496 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005380066145315003, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037970985615173584, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36143751037898547, + -0.006782414433755318, + 1.0435464559998127 + ], + "held_grasp_finger_b": [ + 0.35133827409050045, + 0.01700764093036545, + 1.0435464559998127 + ], + "held_grasp_midpoint": [ + 0.356387892234743, + 0.005112613248305066, + 1.0435464559998127 + ], + "held_grasp_object_position": [ + 0.36143751037898547, + 0.01700764093036545, + 1.0435464559998127 + ], + "held_grasp_finger_gap": 0.025844947433465288, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024039081733271735, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02676206437733821, + -0.999106767838991, + 0.032702574341904496 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005380066145315003, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037970985615173584, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25517223530358607, + -0.04593064053113176, + 0.7611083473091602 + ], + "target_position": [ + 0.2724927729349121, + -0.06602245435066365, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.026527005228576275, + "xy_threshold": 0.08, + "gripper_dist": 0.20623516157148572, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083473091602, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08423001681319996, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08786779799417159, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18253620004629317, + "release_required_pad_clearance": 0.0539338989970858, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.876620914699801, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a6e0f9cc88ead555ab5b37c91aa6db07fabfb7f8d5f075de5931c4978fc426a9", + "visual_seed": 3082814905440138454, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a6115163abac5eab5175d673807a61adf2df041 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_74_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29701618766665605, + -0.06345655769539191, + 1.0039338191867926 + ], + "current_z": 1.0039338191867926, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14282731117202652, + "gripper_z": 1.0060816999152566, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2928732631741714, + -0.06762516310113673, + 1.0060816999152566 + ], + "object_minus_gripper": [ + 0.0041429244924846564, + 0.0041686054057448185, + -0.0021478807284640578 + ], + "object_to_gripper_xy": 0.005877167207016844, + "object_to_gripper_z": -0.0021478807284640578, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29701618766665605, + -0.08755191629360545, + 1.0039338191867926 + ], + "finger_b": [ + 0.2866238713063053, + -0.06345655769539191, + 1.0039338191867926 + ], + "finger_midpoint": [ + 0.29182002948648067, + -0.07550423699449868, + 1.0039338191867926 + ], + "object_minus_finger_midpoint": [ + 0.005196158180175381, + 0.012047679299106773, + 0.0 + ], + "finger_gap": 0.02624093263034143, + "fingertip_max_gap": 0.09300578040690963, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120466315170715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039338191867926, + "object_top_z": 1.0538814804499728, + "finger_top_clearance": 0.049947661263180176, + "fingertip_min_top_clearance": 0.01498429837895402, + "object_projection_between_fingers": 0.8431566226944296, + "object_to_finger_line_xy": 0.009542594880152877, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049002890203454816, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.50595756204873, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36603347575728346, + 0.043168629376821296, + 0.7701463301919672 + ], + "gripper_position": [ + 0.36239516944211925, + 0.008343515928921935, + 1.0452021887584013 + ], + "target_minus_gripper": [ + 0.003638306315164208, + 0.03482511344789936, + -0.2750558585664341 + ], + "held_position": [ + 0.3665235703845245, + 0.012472366643904357, + 1.0429689858293774 + ], + "held_minus_target": [ + 0.0004900946272410334, + -0.030696262732916937, + 0.27282265563741015 + ], + "held_minus_gripper": [ + 0.0041284009424052415, + 0.004128850714982422, + -0.0022332029290239586 + ], + "xy_dist": 0.03501465121205728, + "held_xy_dist": 0.030700174893832703, + "held_gripper_dist": 0.00625126370344945, + "max_held_gripper_dist": 0.006361730701995, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0429689858293774, + "required_height": 0.8001463301919672, + "gripper_z": 1.0452021887584013, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.23174599384598, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9393472227447792, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.388759050456992, + "max_source_tilt_deg": 89.83526809173829, + "source_upright_tilt_deg": 3.5014337696353564, + "max_source_upright_tilt_deg": 89.99752328659648, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.388759050456992, + "source_upright_return_tilt_deg": 3.5014337696353564, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.7772406998092776e-07, + "max_target_xy_drift": 2.804626557934092e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.366, + 0.0432, + 0.7701 + ], + "controller_target_position": [ + 0.366, + 0.0432, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0018, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3663, + 0.0161, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003099798473865877, + -0.0018369526554693533, + -0.0015490011510071208 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.5014262817321873, + "source_return_step_error_deg": 2.388792544612545, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.5094519280759706, + "source_return_best_wrist_position": -1.6122232675552368, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122232675552368 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.366, + 0.0432, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.366, + 0.0432, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0018, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3663, + 0.0161, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003099798473865877, + -0.0018369526554693533, + -0.0015490011510071208 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.5014262817321873, + "pour_controller_source_return_step_error_deg": 2.388792544612545, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.5094519280759706, + "pour_controller_source_return_best_wrist_position": -1.6122232675552368, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122232675552368, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03501465121205728, + "valid_pour_held_xy_dist": 0.030700174893832703, + "valid_pour_held_gripper_dist": 0.00625126370344945, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0429689858293774, + "valid_pour_source_tilt_deg": 2.388759050456992, + "valid_pour_source_upright_tilt_deg": 3.5014337696353564, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.7772406998092776e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3665235703845245, + -0.011032992867894602, + 1.0429689858293774 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35601880941414954, + 0.012472366643904357, + 1.0429689858293774 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36127118989933704, + 0.0007196868880048777, + 1.0429689858293774 + ], + "valid_pour_held_grasp_object_position": [ + 0.3665235703845245, + 0.012472366643904357, + 1.0429689858293774 + ], + "valid_pour_held_grasp_finger_gap": 0.025745910914621584, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02400962780936042, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.052180744529758495, + -0.998133278882298, + 0.03173527198549109 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005870072267245828, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038263582413956165, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3665235703845245, + -0.011032992867894602, + 1.0429689858293774 + ], + "held_grasp_finger_b": [ + 0.35601880941414954, + 0.012472366643904357, + 1.0429689858293774 + ], + "held_grasp_midpoint": [ + 0.36127118989933704, + 0.0007196868880048777, + 1.0429689858293774 + ], + "held_grasp_object_position": [ + 0.3665235703845245, + 0.012472366643904357, + 1.0429689858293774 + ], + "held_grasp_finger_gap": 0.025745910914621584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02400962780936042, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.052180744529758495, + -0.998133278882298, + 0.03173527198549109 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005870072267245828, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038263582413956165, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2726630099572548, + -0.06407814247627186, + 0.7611064514261168 + ], + "target_position": [ + 0.2734909028499346, + -0.06498906855247051, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0012309317438625195, + "xy_threshold": 0.08, + "gripper_dist": 0.21209575949856263, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064514261168, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551937014984444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08822687021795035, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.183397548013504, + "release_required_pad_clearance": 0.05411343510897518, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2405496190587173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be8c70bad2f78cee385fb694def2a5265b42ebdc199926858350b9436f34dbca", + "visual_seed": 8657533258410586217, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f61ffd87c10e138ddeb4f3614d0a057ab94904e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3037431594710843, + -0.06707395692053732, + 1.0021615721267947 + ], + "current_z": 1.0021615721267947, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1410551237166735, + "gripper_z": 1.0042993269139844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2995779786614896, + -0.07132970451980088, + 1.0042993269139844 + ], + "object_minus_gripper": [ + 0.004165180809594715, + 0.00425574759926356, + -0.002137754787189694 + ], + "object_to_gripper_xy": 0.005954839947912424, + "object_to_gripper_z": -0.002137754787189694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3037431594710843, + -0.09107699546359034, + 1.0021615721267947 + ], + "finger_b": [ + 0.2930973716924698, + -0.06707395692053732, + 1.0021615721267947 + ], + "finger_midpoint": [ + 0.29842026558177703, + -0.07907547619206383, + 1.0021615721267947 + ], + "object_minus_finger_midpoint": [ + 0.00532289388930729, + 0.012001519271526512, + 0.0 + ], + "finger_gap": 0.026257925598313882, + "fingertip_max_gap": 0.09275723469600114, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128962799156952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0021615721267947, + "object_top_z": 1.0521977103416975, + "finger_top_clearance": 0.050036138214902826, + "fingertip_min_top_clearance": 0.01501084146447083, + "object_projection_between_fingers": 0.8356253724149136, + "object_to_finger_line_xy": 0.0097315857421599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887861734800057, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3951360428620587, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3613036981827444, + 0.048199365703992615, + 0.7701464494012566 + ], + "gripper_position": [ + 0.35743143338560207, + 0.014433558732419749, + 1.0451985805610942 + ], + "target_minus_gripper": [ + 0.0038722647971423108, + 0.033765806971572866, + -0.2750521311598375 + ], + "held_position": [ + 0.3616882736946653, + 0.01853975452069906, + 1.0429725576574422 + ], + "held_minus_target": [ + 0.0003845755119208927, + -0.029659611183293556, + 0.2728261082561856 + ], + "held_minus_gripper": [ + 0.004256840309063203, + 0.00410619578827931, + -0.0022260229036519252 + ], + "xy_dist": 0.0339871174873761, + "held_xy_dist": 0.02966210433985629, + "held_gripper_dist": 0.006319549923541312, + "max_held_gripper_dist": 0.006427862576345712, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0429725576574422, + "required_height": 0.8001464494012567, + "gripper_z": 1.0451985805610942, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.25837007123069, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9479981762967689, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.270087363710039, + "max_source_tilt_deg": 89.67229243616087, + "source_upright_tilt_deg": 2.1858844979606435, + "max_source_upright_tilt_deg": 89.93776185537757, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.270087363710039, + "source_upright_return_tilt_deg": 2.1858844979606435, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.156641147752108e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3613, + 0.0482, + 0.7701 + ], + "controller_target_position": [ + 0.3613, + 0.0482, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0004, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3603, + 0.0226, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009568542949572527, + -0.000445626685173699, + -0.0015617194631223534 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.185878276083661, + "source_return_step_error_deg": 2.270084260868812, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2628891962595166, + "source_return_best_wrist_position": -1.6131469011306763, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131469011306763 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3613, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3613, + 0.0482, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0004, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3603, + 0.0226, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009568542949572527, + -0.000445626685173699, + -0.0015617194631223534 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.185878276083661, + "pour_controller_source_return_step_error_deg": 2.270084260868812, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2628891962595166, + "pour_controller_source_return_best_wrist_position": -1.6131469011306763, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131469011306763, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0339871174873761, + "valid_pour_held_xy_dist": 0.02966210433985629, + "valid_pour_held_gripper_dist": 0.006319549923541312, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0429725576574422, + "valid_pour_source_tilt_deg": 2.270087363710039, + "valid_pour_source_upright_tilt_deg": 2.1858844979606435, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3616882736946653, + -0.005269665047609946, + 1.0429725576574422 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35154661298770584, + 0.01853975452069906, + 1.0429725576574422 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35661744334118556, + 0.006635044736544556, + 1.0429725576574422 + ], + "valid_pour_held_grasp_object_position": [ + 0.3616882736946653, + 0.01853975452069906, + 1.0429725576574422 + ], + "valid_pour_held_grasp_finger_gap": 0.025879369043213953, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024038445755862278, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024291000252868674, + -0.9992723512140108, + 0.02940604369747512 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005369816124790156, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03794737827496118, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3616882736946653, + -0.005269665047609946, + 1.0429725576574422 + ], + "held_grasp_finger_b": [ + 0.35154661298770584, + 0.01853975452069906, + 1.0429725576574422 + ], + "held_grasp_midpoint": [ + 0.35661744334118556, + 0.006635044736544556, + 1.0429725576574422 + ], + "held_grasp_object_position": [ + 0.3616882736946653, + 0.01853975452069906, + 1.0429725576574422 + ], + "held_grasp_finger_gap": 0.025879369043213953, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024038445755862278, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024291000252868674, + -0.9992723512140108, + 0.02940604369747512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005369816124790156, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03794737827496118, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28304916250188017, + -0.06759747724320977, + 0.7611065793193496 + ], + "target_position": [ + 0.2804267606030954, + -0.07080771718941392, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00414519387133518, + "xy_threshold": 0.08, + "gripper_dist": 0.21826086529470626, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065793193496, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580933823250702, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0866969845019031, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18898965705440154, + "release_required_pad_clearance": 0.05334849225095155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.713673739866625, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c2c69baeb858bfcda3a3a0550c3e6c442f0a5d8cb4dcfd85edb60ce461d8621", + "visual_seed": 1258416317746429836, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..795edb77a55b4af4cb4598c3cc86d5084bfdfb0d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3034957177262626, + -0.06681864431167867, + 1.0019317021449248 + ], + "current_z": 1.0019317021449248, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14082525373480348, + "gripper_z": 1.0032342773051073, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29952577054667107, + -0.07108389848728301, + 1.0032342773051073 + ], + "object_minus_gripper": [ + 0.0039699471795915375, + 0.004265254175604347, + -0.0013025751601825064 + ], + "object_to_gripper_xy": 0.005826909454527084, + "object_to_gripper_z": -0.0013025751601825064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3034957177262626, + -0.09044086251307425, + 1.0019317021449248 + ], + "finger_b": [ + 0.292518130894036, + -0.06681864431167867, + 1.0019317021449248 + ], + "finger_midpoint": [ + 0.2980069243101493, + -0.07862975341237646, + 1.0019317021449248 + ], + "object_minus_finger_midpoint": [ + 0.005488793416113302, + 0.011811109100697798, + 0.0 + ], + "finger_gap": 0.026048351299332164, + "fingertip_max_gap": 0.09293847870850888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013024175649666087, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019317021449248, + "object_top_z": 1.0519457138078545, + "finger_top_clearance": 0.050014011662929736, + "fingertip_min_top_clearance": 0.015004203498878887, + "object_projection_between_fingers": 0.8223957797088107, + "object_to_finger_line_xy": 0.009955138753149123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896923935425444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.504052937628523, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3647201172119801, + 0.044853403090171585, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3608255600673586, + 0.012554234415775148, + 1.0471725205303217 + ], + "target_minus_gripper": [ + 0.003894557144621502, + 0.03229916867439644, + -0.27702613073370996 + ], + "held_position": [ + 0.36491391037633547, + 0.016671373993511505, + 1.04579985454171 + ], + "held_minus_target": [ + 0.00019379316435536031, + -0.02818202909666008, + 0.2756534647450982 + ], + "held_minus_gripper": [ + 0.0040883503089768625, + 0.004117139577736358, + -0.0013726659886117432 + ], + "xy_dist": 0.0325331196230831, + "held_xy_dist": 0.02818269539620982, + "held_gripper_dist": 0.005962353433650656, + "max_held_gripper_dist": 0.006000095423106939, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.04579985454171, + "required_height": 0.8001463897966118, + "gripper_z": 1.0471725205303217, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.48063808720124, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9632757993861099, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.461168249343237, + "max_source_tilt_deg": 89.91334324403111, + "source_upright_tilt_deg": 2.202857687616509, + "max_source_upright_tilt_deg": 89.73327104062373, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.461168249343237, + "source_upright_return_tilt_deg": 2.202857687616509, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850114687196e-08, + "max_target_xy_drift": 1.6858739404357614e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3647, + 0.0449, + 0.7701 + ], + "controller_target_position": [ + 0.3647, + 0.0449, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0012, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3634, + 0.0185, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001284339507367609, + -0.001200633388787062, + 0.0015329241639795163 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2028596794575663, + "source_return_step_error_deg": 2.461164987600683, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4548961557739966, + "source_return_best_wrist_position": -1.6114979982376099, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6114979982376099 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3647, + 0.0449, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3647, + 0.0449, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0012, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3634, + 0.0185, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001284339507367609, + -0.001200633388787062, + 0.0015329241639795163 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2028596794575663, + "pour_controller_source_return_step_error_deg": 2.461164987600683, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4548961557739966, + "pour_controller_source_return_best_wrist_position": -1.6114979982376099, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6114979982376099, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0325331196230831, + "valid_pour_held_xy_dist": 0.02818269539620982, + "valid_pour_held_gripper_dist": 0.005962353433650656, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.04579985454171, + "valid_pour_source_tilt_deg": 2.461168249343237, + "valid_pour_source_upright_tilt_deg": 2.202857687616509, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850114687196e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36491391037633547, + -0.006874331373840606, + 1.04579985454171 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35464947010207715, + 0.016671373993511505, + 1.04579985454171 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3597816902392063, + 0.00489852130983545, + 1.04579985454171 + ], + "valid_pour_held_grasp_object_position": [ + 0.36491391037633547, + 0.016671373993511505, + 1.04579985454171 + ], + "valid_pour_held_grasp_finger_gap": 0.025685773793872168, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023733516004848028, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019992390215248658, + -0.9992610092780531, + 0.03282894561340666 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005380339975438035, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038058702762975134, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36491391037633547, + -0.006874331373840606, + 1.04579985454171 + ], + "held_grasp_finger_b": [ + 0.35464947010207715, + 0.016671373993511505, + 1.04579985454171 + ], + "held_grasp_midpoint": [ + 0.3597816902392063, + 0.00489852130983545, + 1.04579985454171 + ], + "held_grasp_object_position": [ + 0.36491391037633547, + 0.016671373993511505, + 1.04579985454171 + ], + "held_grasp_finger_gap": 0.025685773793872168, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023733516004848028, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019992390215248658, + -0.9992610092780531, + 0.03282894561340666 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005380339975438035, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038058702762975134, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2826307874794594, + -0.05790919219935913, + 0.7611063596586836 + ], + "target_position": [ + 0.2802474363031822, + -0.06855698988648212, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010911276662946624, + "xy_threshold": 0.08, + "gripper_dist": 0.2183228588729533, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063596586836, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07663230153054174, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08922173343270974, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19150243783294885, + "release_required_pad_clearance": 0.05461086671635487, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.2605735787630845, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b69423423905452f32e9134968cda40874afd64f16022d6c36705d1d772029e7", + "visual_seed": 2221496337388774642, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0502233a2eff571af0adf6ca5dd873d7f3f87c40 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.297678294449971, + -0.06178134565948905, + 1.0002295027198618 + ], + "current_z": 1.0002295027198618, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1391230543097407, + "gripper_z": 1.0024691797230134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2935512873374871, + -0.06612883238962028, + 1.0024691797230134 + ], + "object_minus_gripper": [ + 0.004127007112483927, + 0.004347486730131231, + -0.002239677003151641 + ], + "object_to_gripper_xy": 0.0059943997677131995, + "object_to_gripper_z": -0.002239677003151641, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.297678294449971, + -0.08550571888471639, + 1.0002295027198618 + ], + "finger_b": [ + 0.2865828968095895, + -0.06178134565948905, + 1.0002295027198618 + ], + "finger_midpoint": [ + 0.2921305956297803, + -0.07364353227210271, + 1.0002295027198618 + ], + "object_minus_finger_midpoint": [ + 0.0055476988201907385, + 0.011862186612613665, + 0.0 + ], + "finger_gap": 0.026190718465289725, + "fingertip_max_gap": 0.09270538419311, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095359232644843, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0002295027198618, + "object_top_z": 1.0501349309835393, + "finger_top_clearance": 0.0499054282636775, + "fingertip_min_top_clearance": 0.014971628479103249, + "object_projection_between_fingers": 0.820530390396581, + "object_to_finger_line_xy": 0.010050558752390686, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048852692096555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.552974284010909, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3618982545143786, + 0.042826815365485923, + 0.7701463301919669 + ], + "gripper_position": [ + 0.3578183976278319, + 0.00823189962362919, + 1.0487473613987874 + ], + "target_minus_gripper": [ + 0.004079856886546718, + 0.03459491574185673, + -0.27860103120682056 + ], + "held_position": [ + 0.3620352259064524, + 0.012431370785138016, + 1.0464159703321338 + ], + "held_minus_target": [ + 0.0001369713920737481, + -0.03039544458034791, + 0.27626964014016697 + ], + "held_minus_gripper": [ + 0.004216828278620466, + 0.004199471161508825, + -0.0023313910666535875 + ], + "xy_dist": 0.03483465842233665, + "held_xy_dist": 0.030395753196774837, + "held_gripper_dist": 0.006391602543446335, + "max_held_gripper_dist": 0.006507129135111279, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0464159703321338, + "required_height": 0.8001463301919669, + "gripper_z": 1.0487473613987874, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.57785899984721, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.053812338845372, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2077141541503886, + "max_source_tilt_deg": 89.82915580240525, + "source_upright_tilt_deg": 2.355959642378974, + "max_source_upright_tilt_deg": 89.88696767292372, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2077141541503886, + "source_upright_return_tilt_deg": 2.355959642378974, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.3738191809196602e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3619, + 0.0428, + 0.7701 + ], + "controller_target_position": [ + 0.3619, + 0.0428, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0014, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3616, + 0.0163, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002584719804895558, + -0.0013693432340203353, + 0.0019210610790859894 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3559598725486004, + "source_return_step_error_deg": 2.2076888187214783, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.358008730185987, + "source_return_best_wrist_position": -1.6129944324493408, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129944324493408 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3619, + 0.0428, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3619, + 0.0428, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0014, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3616, + 0.0163, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002584719804895558, + -0.0013693432340203353, + 0.0019210610790859894 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3559598725486004, + "pour_controller_source_return_step_error_deg": 2.2076888187214783, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.358008730185987, + "pour_controller_source_return_best_wrist_position": -1.6129944324493408, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129944324493408, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03483465842233665, + "valid_pour_held_xy_dist": 0.030395753196774837, + "valid_pour_held_gripper_dist": 0.006391602543446335, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0464159703321338, + "valid_pour_source_tilt_deg": 2.2077141541503886, + "valid_pour_source_upright_tilt_deg": 2.355959642378974, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3620352259064524, + -0.01110797751259189, + 1.0464159703321338 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35140831066369854, + 0.012431370785138016, + 1.0464159703321338 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35672176828507546, + 0.0006616966362730627, + 1.0464159703321338 + ], + "valid_pour_held_grasp_object_position": [ + 0.3620352259064524, + 0.012431370785138016, + 1.0464159703321338 + ], + "valid_pour_held_grasp_finger_gap": 0.025826967415058886, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023818980737349855, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028185933879147758, + -0.9991547306025658, + 0.029922858250419737 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005653925255757343, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381102892317917, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3620352259064524, + -0.01110797751259189, + 1.0464159703321338 + ], + "held_grasp_finger_b": [ + 0.35140831066369854, + 0.012431370785138016, + 1.0464159703321338 + ], + "held_grasp_midpoint": [ + 0.35672176828507546, + 0.0006616966362730627, + 1.0464159703321338 + ], + "held_grasp_object_position": [ + 0.3620352259064524, + 0.012431370785138016, + 1.0464159703321338 + ], + "held_grasp_finger_gap": 0.025826967415058886, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023818980737349855, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028185933879147758, + -0.9991547306025658, + 0.029922858250419737 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005653925255757343, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381102892317917, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28136333554255144, + -0.0696115097456381, + 0.7611062862321133 + ], + "target_position": [ + 0.27431037219691584, + -0.06398996298390826, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009019206170677913, + "xy_threshold": 0.08, + "gripper_dist": 0.21814540484954906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062862321133, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553221339118599, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624587054295461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1874204652998486, + "release_required_pad_clearance": 0.05312293527147731, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2722433150670502, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3144b1471eb051b377a43410d947c3a515893d2e54b695b4e7ca557a1139490", + "visual_seed": 5755060584649007204, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b60bab94351ca0dda457eedd35e45e3019adf572 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30036712674974353, + -0.06076726304074255, + 1.0008758717288644 + ], + "current_z": 1.0008758717288644, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1397694233187431, + "gripper_z": 1.0030842103097874, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29633962420309834, + -0.06498869913426887, + 1.0030842103097874 + ], + "object_minus_gripper": [ + 0.00402750254664519, + 0.004221436093526321, + -0.002208338580923064 + ], + "object_to_gripper_xy": 0.005834492219119008, + "object_to_gripper_z": -0.002208338580923064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30036712674974353, + -0.08457132939044519, + 1.0008758717288644 + ], + "finger_b": [ + 0.2896312480559058, + -0.06076726304074255, + 1.0008758717288644 + ], + "finger_midpoint": [ + 0.29499918740282466, + -0.07266929621559387, + 1.0008758717288644 + ], + "object_minus_finger_midpoint": [ + 0.005367939346918871, + 0.01190203317485132, + 0.0 + ], + "finger_gap": 0.026113074620002997, + "fingertip_max_gap": 0.09298791632018397, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013056537310001498, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0008758717288644, + "object_top_z": 1.0509269386967897, + "finger_top_clearance": 0.05005106696792527, + "fingertip_min_top_clearance": 0.015015320090377548, + "object_projection_between_fingers": 0.8309717979717466, + "object_to_finger_line_xy": 0.009786575210669035, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048993958160091985, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5147270967959847, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3607873133427327, + 0.05109193813674904, + 0.7701464494012565 + ], + "gripper_position": [ + 0.35656117681215166, + 0.017278796888020503, + 1.045617693330711 + ], + "target_minus_gripper": [ + 0.004226136530581015, + 0.033813141248728536, + -0.27547124392945455 + ], + "held_position": [ + 0.36067399836842245, + 0.02135790694006389, + 1.0433234640153217 + ], + "held_minus_target": [ + -0.00011331497431021909, + -0.02973403119668515, + 0.2731770146140652 + ], + "held_minus_gripper": [ + 0.004112821556270796, + 0.004079110052043387, + -0.0022942293153893623 + ], + "xy_dist": 0.03407621972991691, + "held_xy_dist": 0.02973424711488166, + "held_gripper_dist": 0.00623040352802281, + "max_held_gripper_dist": 0.0063489184597884975, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0433234640153217, + "required_height": 0.8001464494012566, + "gripper_z": 1.045617693330711, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.28791746958017, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.006202353819771, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1904708458745192, + "max_source_tilt_deg": 89.93800167723587, + "source_upright_tilt_deg": 2.327567757302458, + "max_source_upright_tilt_deg": 89.9654123919468, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1904708458745192, + "source_upright_return_tilt_deg": 2.327567757302458, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3608, + 0.0511, + 0.7701 + ], + "controller_target_position": [ + 0.3608, + 0.0511, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0004, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3594, + 0.0255, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013610062002986324, + -0.00043122843219526577, + -0.0012460721665228896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.327563379603366, + "source_return_step_error_deg": 2.190468281387536, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.327524314489371, + "source_return_best_wrist_position": -1.6121301651000977, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121301651000977 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3608, + 0.0511, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3608, + 0.0511, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0004, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3594, + 0.0255, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013610062002986324, + -0.00043122843219526577, + -0.0012460721665228896 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.327563379603366, + "pour_controller_source_return_step_error_deg": 2.190468281387536, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.327524314489371, + "pour_controller_source_return_best_wrist_position": -1.6121301651000977, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121301651000977, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03407621972991691, + "valid_pour_held_xy_dist": 0.02973424711488166, + "valid_pour_held_gripper_dist": 0.00623040352802281, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0433234640153217, + "valid_pour_source_tilt_deg": 2.1904708458745192, + "valid_pour_source_upright_tilt_deg": 2.327567757302458, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36067399836842245, + -0.002244492482577608, + 1.0433234640153217 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3503993414277876, + 0.02135790694006389, + 1.0433234640153217 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35553666989810506, + 0.009556707228743142, + 1.0433234640153217 + ], + "valid_pour_held_grasp_object_position": [ + 0.36067399836842245, + 0.02135790694006389, + 1.0433234640153217 + ], + "valid_pour_held_grasp_finger_gap": 0.02574183042741218, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023871805100196604, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028115603253944754, + -0.9991749779245117, + 0.0293065921461112 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005477890261478204, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03807322569811004, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36067399836842245, + -0.002244492482577608, + 1.0433234640153217 + ], + "held_grasp_finger_b": [ + 0.3503993414277876, + 0.02135790694006389, + 1.0433234640153217 + ], + "held_grasp_midpoint": [ + 0.35553666989810506, + 0.009556707228743142, + 1.0433234640153217 + ], + "held_grasp_object_position": [ + 0.36067399836842245, + 0.02135790694006389, + 1.0433234640153217 + ], + "held_grasp_finger_gap": 0.02574183042741218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023871805100196604, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028115603253944754, + -0.9991749779245117, + 0.0293065921461112 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005477890261478204, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03807322569811004, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28017353782681526, + -0.06382728276468466, + 0.7611063810733982 + ], + "target_position": [ + 0.2770651722755955, + -0.06548908989818689, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035247041505590887, + "xy_threshold": 0.08, + "gripper_dist": 0.2162576168442519, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063810733982, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538408918514777, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573953771653815, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1876253865776497, + "release_required_pad_clearance": 0.05286976885826908, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7813413751512295, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66a8d475adfbdc056bf69dcb2875c85daf86570c87335433d3090409f9721597", + "visual_seed": 1472123419645032741, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daac7213e5b532295cc3927cf0fd9f8deef77412 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_79_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29960266467329044, + -0.06564098082199545, + 1.0012689503894836 + ], + "current_z": 1.0012689503894836, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14016244237471753, + "gripper_z": 1.0030095370276595, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2954538956778162, + -0.069814407611517, + 1.0030095370276595 + ], + "object_minus_gripper": [ + 0.004148768995474228, + 0.004173426789521553, + -0.0017405866381758894 + ], + "object_to_gripper_xy": 0.005884706903942151, + "object_to_gripper_z": -0.0017405866381758894, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29960266467329044, + -0.08972909541002683, + 1.0012689503894836 + ], + "finger_b": [ + 0.28917463501506024, + -0.06564098082199545, + 1.0012689503894836 + ], + "finger_midpoint": [ + 0.29438864984417534, + -0.07768503811601113, + 1.0012689503894836 + ], + "object_minus_finger_midpoint": [ + 0.005214014829115099, + 0.012044057294015684, + 0.0 + ], + "finger_gap": 0.02624844884862835, + "fingertip_max_gap": 0.09348486927673919, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013124224424314167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012689503894836, + "object_top_z": 1.0513856772305439, + "finger_top_clearance": 0.05011672684106028, + "fingertip_min_top_clearance": 0.015035018052318116, + "object_projection_between_fingers": 0.8421672121806064, + "object_to_finger_line_xy": 0.009569768285487272, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049242434638369595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.523687134724962, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.361476551652593, + 0.04543549832575775, + 0.7701463897966118 + ], + "gripper_position": [ + 0.35816830317920023, + 0.011069907670731113, + 1.0463409201333593 + ], + "target_minus_gripper": [ + 0.003308248473392783, + 0.03436559065502664, + -0.27619453033674757 + ], + "held_position": [ + 0.36234240431814996, + 0.015173247259961126, + 1.0445158677112727 + ], + "held_minus_target": [ + 0.0008658526655569432, + -0.030262251065796626, + 0.27436947791466093 + ], + "held_minus_gripper": [ + 0.004174101138949726, + 0.004103339589230013, + -0.001825052422086637 + ], + "xy_dist": 0.03452445986587712, + "held_xy_dist": 0.030274635264652835, + "held_gripper_dist": 0.006131177084874326, + "max_held_gripper_dist": 0.006209224444592225, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0445158677112727, + "required_height": 0.8001463897966118, + "gripper_z": 1.0463409201333593, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.16877164969847, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9027150793734533, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.106692351640386, + "max_source_tilt_deg": 89.74202329888477, + "source_upright_tilt_deg": 2.963700996659446, + "max_source_upright_tilt_deg": 89.74701534852262, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.106692351640386, + "source_upright_return_tilt_deg": 2.963700996659446, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-09, + "max_target_xy_drift": 1.7393555535808885e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3615, + 0.0454, + 0.7701 + ], + "controller_target_position": [ + 0.3615, + 0.0454, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0007, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.361, + 0.0196, + 1.0349 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00048815708068330153, + -0.0006806115071988793, + -0.0004581563637443553 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.96370495466308, + "source_return_step_error_deg": 2.1067036851499252, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.977887071872523, + "source_return_best_wrist_position": -1.610410451889038, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.610410451889038 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3615, + 0.0454, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3615, + 0.0454, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0007, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.361, + 0.0196, + 1.0349 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00048815708068330153, + -0.0006806115071988793, + -0.0004581563637443553 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.96370495466308, + "pour_controller_source_return_step_error_deg": 2.1067036851499252, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.977887071872523, + "pour_controller_source_return_best_wrist_position": -1.610410451889038, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.610410451889038, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03452445986587712, + "valid_pour_held_xy_dist": 0.030274635264652835, + "valid_pour_held_gripper_dist": 0.006131177084874326, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0445158677112727, + "valid_pour_source_tilt_deg": 2.106692351640386, + "valid_pour_source_upright_tilt_deg": 2.963700996659446, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36234240431814996, + -0.008537105238853987, + 1.0445158677112727 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35205534646754416, + 0.015173247259961126, + 1.0445158677112727 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35719887539284706, + 0.00331807101055357, + 1.0445158677112727 + ], + "valid_pour_held_grasp_object_position": [ + 0.36234240431814996, + 0.015173247259961126, + 1.0445158677112727 + ], + "valid_pour_held_grasp_finger_gap": 0.02584578060031808, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024105840829932376, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04152800052209352, + -0.9986624993164871, + 0.030799961551673416 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005643025827291348, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03809453059891964, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36234240431814996, + -0.008537105238853987, + 1.0445158677112727 + ], + "held_grasp_finger_b": [ + 0.35205534646754416, + 0.015173247259961126, + 1.0445158677112727 + ], + "held_grasp_midpoint": [ + 0.35719887539284706, + 0.00331807101055357, + 1.0445158677112727 + ], + "held_grasp_object_position": [ + 0.36234240431814996, + 0.015173247259961126, + 1.0445158677112727 + ], + "held_grasp_finger_gap": 0.02584578060031808, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024105840829932376, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04152800052209352, + -0.9986624993164871, + 0.030799961551673416 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005643025827291348, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03809453059891964, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26248259338402347, + -0.05196490061061394, + 0.7611063911742475 + ], + "target_position": [ + 0.27604612441875415, + -0.06908773128389413, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021844008432426662, + "xy_threshold": 0.08, + "gripper_dist": 0.2051660452163518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063911742475, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08152365902539374, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504843768938171, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1810661365929403, + "release_required_pad_clearance": 0.052524218844690856, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869405069049516, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b861c4a2c9bc2062d8536986d75414da213b747f17fa14d461b5282a25ce9141", + "visual_seed": 1576929199952066015, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b799846df0210a49feeda97857b33fe16f7676ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_7_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30338763992141693, + -0.06261304411209472, + 1.0019248495403015 + ], + "current_z": 1.0019248495403015, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1408183415255353, + "gripper_z": 1.0040199299984693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2993447550859263, + -0.06678801179453728, + 1.0040199299984693 + ], + "object_minus_gripper": [ + 0.0040428848354906455, + 0.0041749676824425624, + -0.002095080458167864 + ], + "object_to_gripper_xy": 0.005811649760823517, + "object_to_gripper_z": -0.002095080458167864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30338763992141693, + -0.08654793540705963, + 1.0019248495403015 + ], + "finger_b": [ + 0.2928692677591929, + -0.06261304411209472, + 1.0019248495403015 + ], + "finger_midpoint": [ + 0.29812845384030495, + -0.07458048975957718, + 1.0019248495403015 + ], + "object_minus_finger_midpoint": [ + 0.005259186081111977, + 0.011967445647482464, + 0.0 + ], + "finger_gap": 0.026144123130157498, + "fingertip_max_gap": 0.09305706105017927, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072061565078744, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019248495403015, + "object_top_z": 1.0519143937043032, + "finger_top_clearance": 0.0499895441640017, + "fingertip_min_top_clearance": 0.014996863249200508, + "object_projection_between_fingers": 0.83813650799299, + "object_to_finger_line_xy": 0.009629548218139081, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902853052508964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.602658619822874, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3634118250614826, + 0.04669297379129387, + 0.7701463301919669 + ], + "gripper_position": [ + 0.3595058343828928, + 0.014831615912711316, + 1.04493938241784 + ], + "target_minus_gripper": [ + 0.0039059906785898213, + 0.031861357878582554, + -0.274793052225873 + ], + "held_position": [ + 0.36354756376114966, + 0.01895415094451159, + 1.0427611647263992 + ], + "held_minus_target": [ + 0.00013573869966704288, + -0.02773882284678228, + 0.27261483453443236 + ], + "held_minus_gripper": [ + 0.004041729378256864, + 0.004122535031800274, + -0.002178217691440665 + ], + "xy_dist": 0.032099889237322064, + "held_xy_dist": 0.0277391549604482, + "held_gripper_dist": 0.006170535128073595, + "max_held_gripper_dist": 0.0062782874351362955, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919669, + "held_z": 1.0427611647263992, + "required_height": 0.8001463301919669, + "gripper_z": 1.04493938241784, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.17078655550362, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0923680135154914, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3374597580863354, + "max_source_tilt_deg": 89.92699139508277, + "source_upright_tilt_deg": 3.4137618087187334, + "max_source_upright_tilt_deg": 89.97117960316314, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3374597580863354, + "source_upright_return_tilt_deg": 3.4137618087187334, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.365778852490731e-08, + "max_target_xy_drift": 2.2773074679937847e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3634, + 0.0467, + 0.7701 + ], + "controller_target_position": [ + 0.3634, + 0.0467, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0017, + -0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3623, + 0.0232, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010773999223378402, + 0.0016891746366907126, + -0.001458522639457426 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.4137724778119867, + "source_return_step_error_deg": 2.3374978759317155, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.4218624142752185, + "source_return_best_wrist_position": -1.6127855777740479, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127855777740479 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3634, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3634, + 0.0467, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0017, + -0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3623, + 0.0232, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010773999223378402, + 0.0016891746366907126, + -0.001458522639457426 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.4137724778119867, + "pour_controller_source_return_step_error_deg": 2.3374978759317155, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.4218624142752185, + "pour_controller_source_return_best_wrist_position": -1.6127855777740479, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127855777740479, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032099889237322064, + "valid_pour_held_xy_dist": 0.0277391549604482, + "valid_pour_held_gripper_dist": 0.006170535128073595, + "valid_pour_required_height": 0.8001463301919669, + "valid_pour_held_z": 1.0427611647263992, + "valid_pour_source_tilt_deg": 2.3374597580863354, + "valid_pour_source_upright_tilt_deg": 3.4137618087187334, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.365778852490731e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36354756376114966, + -0.0044256319913573245, + 1.0427611647263992 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35299946361340373, + 0.01895415094451159, + 1.0427611647263992 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35827351368727667, + 0.007264259476577132, + 1.0427611647263992 + ], + "valid_pour_held_grasp_object_position": [ + 0.36354756376114966, + 0.01895415094451159, + 1.0427611647263992 + ], + "valid_pour_held_grasp_finger_gap": 0.025649106550818198, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023875023379966415, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.050883703890220525, + -0.9982255626350941, + 0.030928543131908404 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005872926152151433, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03831946478463415, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36354756376114966, + -0.0044256319913573245, + 1.0427611647263992 + ], + "held_grasp_finger_b": [ + 0.35299946361340373, + 0.01895415094451159, + 1.0427611647263992 + ], + "held_grasp_midpoint": [ + 0.35827351368727667, + 0.007264259476577132, + 1.0427611647263992 + ], + "held_grasp_object_position": [ + 0.36354756376114966, + 0.01895415094451159, + 1.0427611647263992 + ], + "held_grasp_finger_gap": 0.025649106550818198, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023875023379966415, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.050883703890220525, + -0.9982255626350941, + 0.030928543131908404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005872926152151433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03831946478463415, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2853680999579023, + -0.07238152300941929, + 0.7611106369168749 + ], + "target_position": [ + 0.280117021587961, + -0.06609983170016921, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00818739700710632, + "xy_threshold": 0.08, + "gripper_dist": 0.2205879642130213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611106369168749, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542812317276644, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676020149829515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18982440575411866, + "release_required_pad_clearance": 0.05338010074914758, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7618443633716587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86504b769d5701710d3ed9b625b152e0adee07cf2e579813d886c53d58c5b63b", + "visual_seed": 553418643039928112, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2cfd23095338afdbcfbb2f2708a92c02c9b7a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_80_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29741826960933904, + -0.06658156546567297, + 1.0031723467932254 + ], + "current_z": 1.0031723467932254, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.1420657195691698, + "gripper_z": 1.0050483164918715, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.293134612986406, + -0.07092380286944583, + 1.0050483164918715 + ], + "object_minus_gripper": [ + 0.004283656622933063, + 0.004342237403772861, + -0.0018759696986461183 + ], + "object_to_gripper_xy": 0.006099568815410018, + "object_to_gripper_z": -0.0018759696986461183, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29741826960933904, + -0.09058880288635397, + 1.0031723467932254 + ], + "finger_b": [ + 0.2865205718338075, + -0.06658156546567297, + 1.0031723467932254 + ], + "finger_midpoint": [ + 0.2919694207215733, + -0.07858518417601347, + 1.0031723467932254 + ], + "object_minus_finger_midpoint": [ + 0.005448848887765756, + 0.012003618710340502, + 0.0 + ], + "finger_gap": 0.02636488697832348, + "fingertip_max_gap": 0.09305259350641329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318244348916174, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031723467932254, + "object_top_z": 1.0531763907008, + "finger_top_clearance": 0.050004043907574625, + "fingertip_min_top_clearance": 0.01500121317227237, + "object_projection_between_fingers": 0.82914893467278, + "object_to_finger_line_xy": 0.009923183742494773, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902629675320665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.386150503690751, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3630437067753499, + 0.043131626068286674, + 0.7701464494012568 + ], + "gripper_position": [ + 0.3598286827881261, + 0.011614567926893166, + 1.044218161001518 + ], + "target_minus_gripper": [ + 0.0032150239872238418, + 0.03151705814139351, + -0.2740717116002612 + ], + "held_position": [ + 0.3641528702578264, + 0.015872770077633436, + 1.042272714723388 + ], + "held_minus_target": [ + 0.0011091634824764718, + -0.02725885599065324, + 0.27212626532213113 + ], + "held_minus_gripper": [ + 0.0043241874697003135, + 0.00425820215074027, + -0.0019454462781300919 + ], + "xy_dist": 0.03168061446888939, + "held_xy_dist": 0.027281412601806953, + "held_gripper_dist": 0.0063730404086881865, + "max_held_gripper_dist": 0.006469646317055181, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.042272714723388, + "required_height": 0.8001464494012568, + "gripper_z": 1.044218161001518, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.39996672291423, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7357421112866949, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.294544619071912, + "max_source_tilt_deg": 89.83389932738137, + "source_upright_tilt_deg": 2.9991008544524753, + "max_source_upright_tilt_deg": 89.882546758367, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.294544619071912, + "source_upright_return_tilt_deg": 2.9991008544524753, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.1926748300777466e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.363, + 0.0431, + 0.7701 + ], + "controller_target_position": [ + 0.363, + 0.0431, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0004, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3626, + 0.0175, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004751724131849392, + -0.00038367864175238575, + -0.0013845248776417503 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9990978586465356, + "source_return_step_error_deg": 2.2945493856166324, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0099446540614014, + "source_return_best_wrist_position": -1.6097133159637451, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097133159637451 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.363, + 0.0431, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.363, + 0.0431, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0004, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3626, + 0.0175, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004751724131849392, + -0.00038367864175238575, + -0.0013845248776417503 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9990978586465356, + "pour_controller_source_return_step_error_deg": 2.2945493856166324, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0099446540614014, + "pour_controller_source_return_best_wrist_position": -1.6097133159637451, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097133159637451, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03168061446888939, + "valid_pour_held_xy_dist": 0.027281412601806953, + "valid_pour_held_gripper_dist": 0.0063730404086881865, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.042272714723388, + "valid_pour_source_tilt_deg": 2.294544619071912, + "valid_pour_source_upright_tilt_deg": 2.9991008544524753, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3641528702578264, + -0.007712044558288816, + 1.042272714723388 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3534579324943247, + 0.015872770077633436, + 1.042272714723388 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35880540137607553, + 0.00408036275967231, + 1.042272714723388 + ], + "valid_pour_held_grasp_object_position": [ + 0.3641528702578264, + 0.015872770077633436, + 1.042272714723388 + ], + "valid_pour_held_grasp_finger_gap": 0.02589643170739912, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02396857724424414, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.038903002429364494, + -0.9986303652595039, + 0.034984996550674545 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058165711904665076, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381520266377684, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3641528702578264, + -0.007712044558288816, + 1.042272714723388 + ], + "held_grasp_finger_b": [ + 0.3534579324943247, + 0.015872770077633436, + 1.042272714723388 + ], + "held_grasp_midpoint": [ + 0.35880540137607553, + 0.00408036275967231, + 1.042272714723388 + ], + "held_grasp_object_position": [ + 0.3641528702578264, + 0.015872770077633436, + 1.042272714723388 + ], + "held_grasp_finger_gap": 0.02589643170739912, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02396857724424414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.038903002429364494, + -0.9986303652595039, + 0.034984996550674545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058165711904665076, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381520266377684, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2771770145281091, + -0.06747112585839637, + 0.76110739787585 + ], + "target_position": [ + 0.27367301338549654, + -0.06765060032772055, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035085944611153584, + "xy_threshold": 0.08, + "gripper_dist": 0.21792800814234897, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110739787585, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557594347321149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621865731323118, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18844429608992241, + "release_required_pad_clearance": 0.05310932865661559, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2455083036420147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39f33103f989521588fcfb6f1d80a2ce378c572e5dc0946e3d720722cd4f9516", + "visual_seed": 7920298262975709976, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..162a94af40969b4595f7fee039bb09c314256539 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_81_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2971283393318503, + -0.0651609775013343, + 1.001433657430637 + ], + "current_z": 1.001433657430637, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1403270898112261, + "gripper_z": 1.0029438157167916, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2930886136864267, + -0.0694752517618342, + 1.0029438157167916 + ], + "object_minus_gripper": [ + 0.0040397256454235975, + 0.004314274260499892, + -0.0015101582861545282 + ], + "object_to_gripper_xy": 0.005910359184102519, + "object_to_gripper_z": -0.0015101582861545282, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2971283393318503, + -0.08879681217624268, + 1.001433657430637 + ], + "finger_b": [ + 0.28604983359700226, + -0.0651609775013343, + 1.001433657430637 + ], + "finger_midpoint": [ + 0.2915890864644263, + -0.07697889483878849, + 1.001433657430637 + ], + "object_minus_finger_midpoint": [ + 0.005539252867424016, + 0.011817917337454187, + 0.0 + ], + "finger_gap": 0.026103370856972893, + "fingertip_max_gap": 0.09313594679084145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013051685428486446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001433657430637, + "object_top_z": 1.0515216541192842, + "finger_top_clearance": 0.05008799668864716, + "fingertip_min_top_clearance": 0.015026399006594148, + "object_projection_between_fingers": 0.8198769937989041, + "object_to_finger_line_xy": 0.010031261151237323, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049067973395420725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.63156314198775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3695997408634846, + 0.05229538199179626, + 0.7701464494012566 + ], + "gripper_position": [ + 0.36506210722483057, + 0.019262833932672335, + 1.0469952095750998 + ], + "target_minus_gripper": [ + 0.0045376336386540594, + 0.03303254805912392, + -0.2768487601738432 + ], + "held_position": [ + 0.3692001106071331, + 0.0234382985288647, + 1.0453927543279886 + ], + "held_minus_target": [ + -0.00039963025635153526, + -0.02885708346293156, + 0.27524630492673197 + ], + "held_minus_gripper": [ + 0.004138003382302524, + 0.004175464596192363, + -0.001602455247111223 + ], + "xy_dist": 0.03334275558973758, + "held_xy_dist": 0.028859850490402572, + "held_gripper_dist": 0.006093064861381115, + "max_held_gripper_dist": 0.006147809886762013, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0453927543279886, + "required_height": 0.8001464494012567, + "gripper_z": 1.0469952095750998, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.70266704655086, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1237365805429347, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.259496556406148, + "max_source_tilt_deg": 89.8828783589649, + "source_upright_tilt_deg": 2.2149829637249763, + "max_source_upright_tilt_deg": 89.93969396108771, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.259496556406148, + "source_upright_return_tilt_deg": 2.2149829637249763, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.214684855014634e-08, + "max_target_xy_drift": 1.233853039538741e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3696, + 0.0523, + 0.7701 + ], + "controller_target_position": [ + 0.3696, + 0.0523, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3687, + 0.0277, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009477397966019408, + 0.0006058525196377101, + 0.00040469961668040564 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2149764444180087, + "source_return_step_error_deg": 2.2594807910833583, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2519914972029804, + "source_return_best_wrist_position": -1.6117305755615234, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6117305755615234 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3696, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3696, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3687, + 0.0277, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009477397966019408, + 0.0006058525196377101, + 0.00040469961668040564 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2149764444180087, + "pour_controller_source_return_step_error_deg": 2.2594807910833583, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2519914972029804, + "pour_controller_source_return_best_wrist_position": -1.6117305755615234, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6117305755615234, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03334275558973758, + "valid_pour_held_xy_dist": 0.028859850490402572, + "valid_pour_held_gripper_dist": 0.006093064861381115, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0453927543279886, + "valid_pour_source_tilt_deg": 2.259496556406148, + "valid_pour_source_upright_tilt_deg": 2.2149829637249763, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.214684855014634e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3692001106071331, + -0.00010381022723800071, + 1.0453927543279886 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35868425656626335, + 0.0234382985288647, + 1.0453927543279886 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3639421835866982, + 0.011667244150813348, + 1.0453927543279886 + ], + "valid_pour_held_grasp_object_position": [ + 0.3692001106071331, + 0.0234382985288647, + 1.0453927543279886 + ], + "valid_pour_held_grasp_finger_gap": 0.02578398865367893, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023795333934180197, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02575298496462472, + -0.9992528514285004, + 0.02881879035322854 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005569544189440163, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038093397734009674, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3692001106071331, + -0.00010381022723800071, + 1.0453927543279886 + ], + "held_grasp_finger_b": [ + 0.35868425656626335, + 0.0234382985288647, + 1.0453927543279886 + ], + "held_grasp_midpoint": [ + 0.3639421835866982, + 0.011667244150813348, + 1.0453927543279886 + ], + "held_grasp_object_position": [ + 0.3692001106071331, + 0.0234382985288647, + 1.0453927543279886 + ], + "held_grasp_finger_gap": 0.02578398865367893, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023795333934180197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02575298496462472, + -0.9992528514285004, + 0.02881879035322854 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005569544189440163, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038093397734009674, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2751292349781475, + -0.06412887017264893, + 0.7611063292008319 + ], + "target_position": [ + 0.2738236227811992, + -0.06684091679860082, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0030099535063115583, + "xy_threshold": 0.08, + "gripper_dist": 0.21876615012193007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063292008319, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551925895621378, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19006110220168454, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9038eb87910e547b1902fca20b2a7fe12dfc3e6d2a431880fde4f942aafdcc62", + "visual_seed": 8460769851950234495, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8f384614dd0c7ce9c38e7893218e47ff6663133 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_82_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.299886644035989, + -0.06476373377567986, + 1.0010364549687598 + ], + "current_z": 1.0010364549687598, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.13993000655863863, + "gripper_z": 1.0026354970526783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2957094116727367, + -0.06905297246618378, + 1.0026354970526783 + ], + "object_minus_gripper": [ + 0.004177232363252348, + 0.004289238690503919, + -0.0015990420839184782 + ], + "object_to_gripper_xy": 0.005987222958995143, + "object_to_gripper_z": -0.0015990420839184782, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.299886644035989, + -0.08870264298721166, + 1.0010364549687598 + ], + "finger_b": [ + 0.2890771396069306, + -0.06476373377567986, + 1.0010364549687598 + ], + "finger_midpoint": [ + 0.2944818918214598, + -0.07673318838144576, + 1.0010364549687598 + ], + "object_minus_finger_midpoint": [ + 0.00540475221452924, + 0.0119694546057659, + 0.0 + ], + "finger_gap": 0.026266266583581988, + "fingertip_max_gap": 0.09309197550861778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133133291791005, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010364549687598, + "object_top_z": 1.0509992355821205, + "finger_top_clearance": 0.04996278061336068, + "fingertip_min_top_clearance": 0.014988834184008204, + "object_projection_between_fingers": 0.830638429538628, + "object_to_finger_line_xy": 0.009851713958870212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904598775430889, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.533549086885805, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.361629526973409, + 0.04401678112023331, + 0.7701463897966118 + ], + "gripper_position": [ + 0.35887078591749766, + 0.009444801634743621, + 1.045770785258426 + ], + "target_minus_gripper": [ + 0.00275874105591134, + 0.034571979485489686, + -0.27562439546181416 + ], + "held_position": [ + 0.3630955436544485, + 0.013644966494742972, + 1.0440850413160319 + ], + "held_minus_target": [ + 0.001466016681039517, + -0.030371814625490337, + 0.2739386515194201 + ], + "held_minus_gripper": [ + 0.004224757736950857, + 0.0042001648599993505, + -0.001685743942394069 + ], + "xy_dist": 0.03468187448450113, + "held_xy_dist": 0.030407175609619433, + "held_gripper_dist": 0.006191259599339846, + "max_held_gripper_dist": 0.006251230513131376, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0440850413160319, + "required_height": 0.8001463897966118, + "gripper_z": 1.045770785258426, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.3344447182063, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9127018868725043, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1078329792841743, + "max_source_tilt_deg": 89.82570892348424, + "source_upright_tilt_deg": 2.7549043126968455, + "max_source_upright_tilt_deg": 89.93460242425286, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1078329792841743, + "source_upright_return_tilt_deg": 2.7549043126968455, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.6660004687555655e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3616, + 0.044, + 0.7701 + ], + "controller_target_position": [ + 0.3616, + 0.044, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0012, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.362, + 0.0177, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00034374230730345933, + -0.0011611682740802931, + -0.0010678074104298956 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.754624960330177, + "source_return_step_error_deg": 2.107645952616224, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7639226492304156, + "source_return_best_wrist_position": -1.6111088991165161, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6111088991165161 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3616, + 0.044, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3616, + 0.044, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0012, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.362, + 0.0177, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00034374230730345933, + -0.0011611682740802931, + -0.0010678074104298956 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.754624960330177, + "pour_controller_source_return_step_error_deg": 2.107645952616224, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7639226492304156, + "pour_controller_source_return_best_wrist_position": -1.6111088991165161, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6111088991165161, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03468187448450113, + "valid_pour_held_xy_dist": 0.030407175609619433, + "valid_pour_held_gripper_dist": 0.006191259599339846, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0440850413160319, + "valid_pour_source_tilt_deg": 2.1078329792841743, + "valid_pour_source_upright_tilt_deg": 2.7549043126968455, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3630955436544485, + -0.010001824038847099, + 1.0440850413160319 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35255756453315706, + 0.013644966494742972, + 1.0440850413160319 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3578265540938028, + 0.0018215712279479367, + 1.0440850413160319 + ], + "valid_pour_held_grasp_object_position": [ + 0.3630955436544485, + 0.013644966494742972, + 1.0440850413160319 + ], + "valid_pour_held_grasp_finger_gap": 0.025888601864532186, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02400359530189698, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.036452314839769163, + -0.9988442844132062, + 0.03132609515871009 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005708310757815337, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0381025861518508, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3630955436544485, + -0.010001824038847099, + 1.0440850413160319 + ], + "held_grasp_finger_b": [ + 0.35255756453315706, + 0.013644966494742972, + 1.0440850413160319 + ], + "held_grasp_midpoint": [ + 0.3578265540938028, + 0.0018215712279479367, + 1.0440850413160319 + ], + "held_grasp_object_position": [ + 0.3630955436544485, + 0.013644966494742972, + 1.0440850413160319 + ], + "held_grasp_finger_gap": 0.025888601864532186, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02400359530189698, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.036452314839769163, + -0.9988442844132062, + 0.03132609515871009 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005708310757815337, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0381025861518508, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27939581620809273, + -0.0657355683429085, + 0.7611066948877787 + ], + "target_position": [ + 0.276337039031634, + -0.06833425432860775, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004013637585469648, + "xy_threshold": 0.08, + "gripper_dist": 0.21710822024824386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066948877787, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587232714278165, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630491955307275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18766208601612222, + "release_required_pad_clearance": 0.053152459776536376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3288152488588, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ed60bb16c662e905551b32e1e047274be5d1099bc22f7d82d80bba7a23eb8ba", + "visual_seed": 2039637887013665620, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb3e4787e0ae17de9f57c94296b5f2ec90e1d94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_83_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2967297428156296, + -0.061393371805156145, + 1.0013540507166376 + ], + "current_z": 1.0013540507166376, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14024760230651645, + "gripper_z": 1.0032841807494695, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2924245041820006, + -0.0656999794114635, + 1.0032841807494695 + ], + "object_minus_gripper": [ + 0.004305238633628972, + 0.004306607606307349, + -0.0019301300328318227 + ], + "object_to_gripper_xy": 0.006089494951734156, + "object_to_gripper_z": -0.0019301300328318227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2967297428156296, + -0.08550136534757993, + 1.0013540507166376 + ], + "finger_b": [ + 0.28599661261242737, + -0.061393371805156145, + 1.0013540507166376 + ], + "finger_midpoint": [ + 0.2913631777140285, + -0.07344736857636804, + 1.0013540507166376 + ], + "object_minus_finger_midpoint": [ + 0.005366565101601106, + 0.01205399677121189, + 0.0 + ], + "finger_gap": 0.026389305345166602, + "fingertip_max_gap": 0.09341781754102588, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013194652672583298, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013540507166376, + "object_top_z": 1.05142252176537, + "finger_top_clearance": 0.050068471048732466, + "fingertip_min_top_clearance": 0.015020541314619773, + "object_projection_between_fingers": 0.8345766242793627, + "object_to_finger_line_xy": 0.009805268848283108, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920890877051294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6205010051281437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3685033730274861, + 0.05212707337611173, + 0.7701465090059014 + ], + "gripper_position": [ + 0.36488635828162996, + 0.01819446963847829, + 1.045129804378239 + ], + "target_minus_gripper": [ + 0.0036170147458561286, + 0.03393260373763344, + -0.2749832953723377 + ], + "held_position": [ + 0.36921575555476527, + 0.022430013067806086, + 1.0431100686594408 + ], + "held_minus_target": [ + 0.0007123825272791762, + -0.029697060308305642, + 0.27296355965353936 + ], + "held_minus_gripper": [ + 0.004329397273135305, + 0.004235543429327797, + -0.002019735718798321 + ], + "xy_dist": 0.034124835414797175, + "held_xy_dist": 0.02970560350877112, + "held_gripper_dist": 0.0063845783936093276, + "max_held_gripper_dist": 0.006471180825738489, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059014, + "held_z": 1.0431100686594408, + "required_height": 0.8001465090059015, + "gripper_z": 1.045129804378239, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.22885682382707, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.029569790912851, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.130122381770308, + "max_source_tilt_deg": 89.84452767216278, + "source_upright_tilt_deg": 3.0924408268193067, + "max_source_upright_tilt_deg": 89.94783111181395, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.130122381770308, + "source_upright_return_tilt_deg": 3.0924408268193067, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.028863677424642e-08, + "max_target_xy_drift": 1.1880113721138638e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3685, + 0.0521, + 0.7701 + ], + "controller_target_position": [ + 0.3685, + 0.0521, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0003, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3685, + 0.0267, + 1.0339 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -6.562579865584256e-06, + -0.0002613559860618793, + -0.0014221566635389004 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.0926883085459607, + "source_return_step_error_deg": 2.1303213981165485, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1081204919678096, + "source_return_best_wrist_position": -1.6107101440429688, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6107101440429688 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3685, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3685, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0003, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3685, + 0.0267, + 1.0339 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -6.562579865584256e-06, + -0.0002613559860618793, + -0.0014221566635389004 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.0926883085459607, + "pour_controller_source_return_step_error_deg": 2.1303213981165485, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1081204919678096, + "pour_controller_source_return_best_wrist_position": -1.6107101440429688, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6107101440429688, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034124835414797175, + "valid_pour_held_xy_dist": 0.02970560350877112, + "valid_pour_held_gripper_dist": 0.0063845783936093276, + "valid_pour_required_height": 0.8001465090059015, + "valid_pour_held_z": 1.0431100686594408, + "valid_pour_source_tilt_deg": 2.130122381770308, + "valid_pour_source_upright_tilt_deg": 3.0924408268193067, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.028863677424642e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36921575555476527, + -0.001273038627009226, + 1.0431100686594408 + ], + "valid_pour_held_grasp_finger_b": [ + 0.358591274373144, + 0.022430013067806086, + 1.0431100686594408 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3639035149639546, + 0.01057848722039843, + 1.0431100686594408 + ], + "valid_pour_held_grasp_object_position": [ + 0.36921575555476527, + 0.022430013067806086, + 1.0431100686594408 + ], + "valid_pour_held_grasp_finger_gap": 0.025975262463076517, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024140522839358265, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04442451474067391, + -0.9985438045376434, + 0.03060609268665948 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005844536359272549, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03812197607128088, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36921575555476527, + -0.001273038627009226, + 1.0431100686594408 + ], + "held_grasp_finger_b": [ + 0.358591274373144, + 0.022430013067806086, + 1.0431100686594408 + ], + "held_grasp_midpoint": [ + 0.3639035149639546, + 0.01057848722039843, + 1.0431100686594408 + ], + "held_grasp_object_position": [ + 0.36921575555476527, + 0.022430013067806086, + 1.0431100686594408 + ], + "held_grasp_finger_gap": 0.025975262463076517, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024140522839358265, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04442451474067391, + -0.9985438045376434, + 0.03060609268665948 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005844536359272549, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03812197607128088, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2781067983598499, + -0.06074880055236531, + 0.7611070931074979 + ], + "target_position": [ + 0.2730377474317085, + -0.062406924392108175, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005333352789757581, + "xy_threshold": 0.08, + "gripper_dist": 0.217672964881715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070931074979, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533960491231458, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0880880065968037, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18872184791364544, + "release_required_pad_clearance": 0.05404400329840185, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.099804889819881, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "263b5258de296d6ea65f33275c97f27c05effcdeaa2bfbe87021a3dd463a93a2", + "visual_seed": 7681809541844642301, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2d1dd34b8993dfea4eaa7ea1f7078879beae6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_84_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30099068136758966, + -0.05725128690565511, + 1.0036563371787888 + ], + "current_z": 1.0036563371787888, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.14254976955937804, + "gripper_z": 1.006014428927515, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29663172277553673, + -0.06159416714285615, + 1.006014428927515 + ], + "object_minus_gripper": [ + 0.004358958592052931, + 0.004342880237201037, + -0.0023580917487262543 + ], + "object_to_gripper_xy": 0.006153139748283261, + "object_to_gripper_z": -0.0023580917487262543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30099068136758966, + -0.08139491124788803, + 1.0036563371787888 + ], + "finger_b": [ + 0.29021151484053886, + -0.05725128690565511, + 1.0036563371787888 + ], + "finger_midpoint": [ + 0.29560109810406426, + -0.06932309907677157, + 1.0036563371787888 + ], + "object_minus_finger_midpoint": [ + 0.005389583263525399, + 0.012071812171116462, + 0.0 + ], + "finger_gap": 0.026440594308690456, + "fingertip_max_gap": 0.09270695049298963, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013220297154345233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036563371787888, + "object_top_z": 1.053638053617723, + "finger_top_clearance": 0.04998171643893423, + "fingertip_min_top_clearance": 0.014994514931680268, + "object_projection_between_fingers": 0.8338011794157042, + "object_to_finger_line_xy": 0.00984274953554836, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885347524649482, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3301790505662914, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36548347389761854, + 0.044587462066345, + 0.7701464494012564 + ], + "gripper_position": [ + 0.36135718624233437, + 0.012619939136036179, + 1.0467298335781599 + ], + "target_minus_gripper": [ + 0.0041262876552841665, + 0.03196752293030882, + -0.2765833841769034 + ], + "held_position": [ + 0.36579990663118633, + 0.016816909964781857, + 1.044284715578 + ], + "held_minus_target": [ + 0.0003164327335677952, + -0.027770552101563144, + 0.27413826617674353 + ], + "held_minus_gripper": [ + 0.004442720388851962, + 0.0041969708287456775, + -0.002445118000159896 + ], + "xy_dist": 0.03223272827599257, + "held_xy_dist": 0.027772354846150628, + "held_gripper_dist": 0.006582623384758468, + "max_held_gripper_dist": 0.006704245712237536, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.044284715578, + "required_height": 0.8001464494012565, + "gripper_z": 1.0467298335781599, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.09388545563844, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8462341318474353, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1652820861145865, + "max_source_tilt_deg": 89.65776948237779, + "source_upright_tilt_deg": 2.2802277759147183, + "max_source_upright_tilt_deg": 89.86695008062951, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1652820861145865, + "source_upright_return_tilt_deg": 2.2802277759147183, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.006850113482267e-08, + "max_target_xy_drift": 1.4831147521152373e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3655, + 0.0446, + 0.7701 + ], + "controller_target_position": [ + 0.3655, + 0.0446, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + 0.0015, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3654, + 0.0209, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.664138537955459e-05, + 0.0015047512754741525, + 0.0002185853442187198 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.2802546741089667, + "source_return_step_error_deg": 2.1651769398088603, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.289436371321457, + "source_return_best_wrist_position": -1.6123863458633423, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6123863458633423 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3655, + 0.0446, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3655, + 0.0446, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + 0.0015, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3654, + 0.0209, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.664138537955459e-05, + 0.0015047512754741525, + 0.0002185853442187198 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.2802546741089667, + "pour_controller_source_return_step_error_deg": 2.1651769398088603, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.289436371321457, + "pour_controller_source_return_best_wrist_position": -1.6123863458633423, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6123863458633423, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03223272827599257, + "valid_pour_held_xy_dist": 0.027772354846150628, + "valid_pour_held_gripper_dist": 0.006582623384758468, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.044284715578, + "valid_pour_source_tilt_deg": 2.1652820861145865, + "valid_pour_source_upright_tilt_deg": 2.2802277759147183, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.006850113482267e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36579990663118633, + -0.0070849549585012325, + 1.044284715578 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35544694676341654, + 0.016816909964781857, + 1.044284715578 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3606234266973014, + 0.004865977503140312, + 1.044284715578 + ], + "valid_pour_held_grasp_object_position": [ + 0.36579990663118633, + 0.016816909964781857, + 1.044284715578 + ], + "valid_pour_held_grasp_finger_gap": 0.02604770479014461, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02415438224351732, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0262188780010474, + -0.999208192684993, + 0.029925876888679426 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054995492814216475, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0379145019400592, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36579990663118633, + -0.0070849549585012325, + 1.044284715578 + ], + "held_grasp_finger_b": [ + 0.35544694676341654, + 0.016816909964781857, + 1.044284715578 + ], + "held_grasp_midpoint": [ + 0.3606234266973014, + 0.004865977503140312, + 1.044284715578 + ], + "held_grasp_object_position": [ + 0.36579990663118633, + 0.016816909964781857, + 1.044284715578 + ], + "held_grasp_finger_gap": 0.02604770479014461, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02415438224351732, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0262188780010474, + -0.999208192684993, + 0.029925876888679426 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054995492814216475, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0379145019400592, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2717763645712338, + -0.06381447309684779, + 0.7611063931069983 + ], + "target_position": [ + 0.27739072942428983, + -0.06115240531349675, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006213509281105698, + "xy_threshold": 0.08, + "gripper_dist": 0.21135534104194345, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063931069983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591908730067036, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512724095376288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18177796068903684, + "release_required_pad_clearance": 0.05256362047688144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19382658753410606, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "211b37671ffd7a71645c537ac9ca69b8262b681803b8433de600b6aaa1388c4e", + "visual_seed": 7326828680234861178, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bca4a2273bfa8415cc24929f35dbd1bc28f2997 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_85_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29715803714666517, + -0.06095729214116665, + 1.000940971415996 + ], + "current_z": 1.000940971415996, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.13983458261051962, + "gripper_z": 1.0034230621974929, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29289810536793587, + -0.06532010918627401, + 1.0034230621974929 + ], + "object_minus_gripper": [ + 0.004259931778729298, + 0.00436281704510736, + -0.0024820907814968596 + ], + "object_to_gripper_xy": 0.006097638176253743, + "object_to_gripper_z": -0.0024820907814968596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29715803714666517, + -0.0848836151559144, + 1.000940971415996 + ], + "finger_b": [ + 0.2861710244944541, + -0.06095729214116665, + 1.000940971415996 + ], + "finger_midpoint": [ + 0.29166453082055965, + -0.07292045364854052, + 1.000940971415996 + ], + "object_minus_finger_midpoint": [ + 0.005493506326105513, + 0.011963161507373872, + 0.0 + ], + "finger_gap": 0.026328375947367023, + "fingertip_max_gap": 0.09301481529208869, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013164187973683496, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000940971415996, + "object_top_z": 1.051027209526265, + "finger_top_clearance": 0.05008623811026891, + "fingertip_min_top_clearance": 0.015025871433080656, + "object_projection_between_fingers": 0.825854960608927, + "object_to_finger_line_xy": 0.009984619416307442, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049007407646044346, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.516487415380763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36665187394682813, + 0.04698492106669405, + 0.7701464494012566 + ], + "gripper_position": [ + 0.36341683260616275, + 0.012518579864152099, + 1.0473333822140631 + ], + "target_minus_gripper": [ + 0.003235041340665379, + 0.03446634120254195, + -0.2771869328128065 + ], + "held_position": [ + 0.36781960652226703, + 0.016669883295798233, + 1.044759706033516 + ], + "held_minus_target": [ + 0.0011677325754388956, + -0.03031503777089582, + 0.27461325663225944 + ], + "held_minus_gripper": [ + 0.0044027739161042745, + 0.004151303431646134, + -0.0025736761805470465 + ], + "xy_dist": 0.03461783020880793, + "held_xy_dist": 0.030337519912125008, + "held_gripper_dist": 0.006575830549842383, + "max_held_gripper_dist": 0.006711877766933451, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.044759706033516, + "required_height": 0.8001464494012567, + "gripper_z": 1.0473333822140631, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.39006977880688, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0236803089125597, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4194457414592816, + "max_source_tilt_deg": 89.72069577516251, + "source_upright_tilt_deg": 1.8560437899804265, + "max_source_upright_tilt_deg": 89.89703819957415, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4194457414592816, + "source_upright_return_tilt_deg": 1.8560437899804265, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.514431838712321e-08, + "max_target_xy_drift": 9.071674692366408e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3667, + 0.047, + 0.7701 + ], + "controller_target_position": [ + 0.3667, + 0.047, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0015, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3678, + 0.0203, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001152017751604493, + -0.0014634516455113646, + 0.000901031070071744 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8556290647856524, + "source_return_step_error_deg": 2.4191541392052884, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4193440065667016, + "source_return_best_wrist_position": -1.6120535135269165, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120535135269165 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3667, + 0.047, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3667, + 0.047, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0015, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3678, + 0.0203, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001152017751604493, + -0.0014634516455113646, + 0.000901031070071744 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8556290647856524, + "pour_controller_source_return_step_error_deg": 2.4191541392052884, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4193440065667016, + "pour_controller_source_return_best_wrist_position": -1.6120535135269165, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120535135269165, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03461783020880793, + "valid_pour_held_xy_dist": 0.030337519912125008, + "valid_pour_held_gripper_dist": 0.006575830549842383, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.044759706033516, + "valid_pour_source_tilt_deg": 2.4194457414592816, + "valid_pour_source_upright_tilt_deg": 1.8560437899804265, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.514431838712321e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36781960652226703, + -0.007248808819496636, + 1.044759706033516 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3575845781978103, + 0.016669883295798233, + 1.044759706033516 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3627020923600387, + 0.0047105372381507984, + 1.044759706033516 + ], + "valid_pour_held_grasp_object_position": [ + 0.36781960652226703, + 0.016669883295798233, + 1.044759706033516 + ], + "valid_pour_held_grasp_finger_gap": 0.02601652623446682, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024061752919604662, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015203609780625642, + -0.9994753654435448, + 0.028597974073893976 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005309702537155941, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03784498298703142, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36781960652226703, + -0.007248808819496636, + 1.044759706033516 + ], + "held_grasp_finger_b": [ + 0.3575845781978103, + 0.016669883295798233, + 1.044759706033516 + ], + "held_grasp_midpoint": [ + 0.3627020923600387, + 0.0047105372381507984, + 1.044759706033516 + ], + "held_grasp_object_position": [ + 0.36781960652226703, + 0.016669883295798233, + 1.044759706033516 + ], + "held_grasp_finger_gap": 0.02601652623446682, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024061752919604662, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015203609780625642, + -0.9994753654435448, + 0.028597974073893976 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005309702537155941, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03784498298703142, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27360895350960096, + -0.07123772760674137, + 0.7611066680199632 + ], + "target_position": [ + 0.27362667343797153, + -0.06430292004580654, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006934830200016458, + "xy_threshold": 0.08, + "gripper_dist": 0.2154378368253835, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066680199632, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553763149023511, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697824314633822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18473265503117856, + "release_required_pad_clearance": 0.05348912157316911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9904863610294616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5761804ce6298b3d89e2a9796f85e275c5cbb23b06b26502fa90b08a6c391916", + "visual_seed": 6184515099637132096, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2df012a059edb2531cdd19ab030b685b53aeb337 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_86_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3004344461419914, + -0.06273770031792922, + 1.003835396704985 + ], + "current_z": 1.003835396704985, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1427289482948635, + "gripper_z": 1.0061829978326338, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29601738490586393, + -0.06708526610885457, + 1.0061829978326338 + ], + "object_minus_gripper": [ + 0.004417061236127451, + 0.004347565790925351, + -0.0023476011276488684 + ], + "object_to_gripper_xy": 0.006197722022656722, + "object_to_gripper_z": -0.0023476011276488684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3004344461419914, + -0.0869924014036221, + 1.003835396704985 + ], + "finger_b": [ + 0.2897501695164919, + -0.06273770031792922, + 1.003835396704985 + ], + "finger_midpoint": [ + 0.2950923078292417, + -0.07486505086077566, + 1.003835396704985 + ], + "object_minus_finger_midpoint": [ + 0.005342138312749711, + 0.012127350542846443, + 0.0 + ], + "finger_gap": 0.026503665628861722, + "fingertip_max_gap": 0.09283700258061386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325183281443085, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003835396704985, + "object_top_z": 1.0538138649266648, + "finger_top_clearance": 0.04997846822167995, + "fingertip_min_top_clearance": 0.014993540466503984, + "object_projection_between_fingers": 0.8374906475172277, + "object_to_finger_line_xy": 0.009777663946459745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048918501290306934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.520193990642284, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3675325623757069, + 0.0521122057425306, + 0.7701464494012563 + ], + "gripper_position": [ + 0.36396821478804076, + 0.019369787927106946, + 1.0473148073854626 + ], + "target_minus_gripper": [ + 0.0035643475876661612, + 0.032742417815423655, + -0.27716835798420625 + ], + "held_position": [ + 0.3682715190798679, + 0.023799171102835352, + 1.0449138907507711 + ], + "held_minus_target": [ + 0.0007389567041609646, + -0.02831303463969525, + 0.2747674413495148 + ], + "held_minus_gripper": [ + 0.004303304291827126, + 0.004429383175728406, + -0.0024009166346914412 + ], + "xy_dist": 0.032935854294757164, + "held_xy_dist": 0.02832267620687013, + "held_gripper_dist": 0.0066258783442062754, + "max_held_gripper_dist": 0.006742640857403352, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0449138907507711, + "required_height": 0.8001464494012563, + "gripper_z": 1.0473148073854626, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.19767018007678, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.048959446075206, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.396695706457961, + "max_source_tilt_deg": 89.8562696694696, + "source_upright_tilt_deg": 4.148774550450607, + "max_source_upright_tilt_deg": 89.82261857463973, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.396695706457961, + "source_upright_return_tilt_deg": 4.148774550450607, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1175870895385742e-08, + "max_target_xy_drift": 1.3738191808142922e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3675, + 0.0521, + 0.7701 + ], + "controller_target_position": [ + 0.3675, + 0.0521, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0019, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3674, + 0.025, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00016305189704243035, + -0.001915699470986664, + 0.0018302055730516783 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 4.148774237952974, + "source_return_step_error_deg": 2.3966992754490097, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 4.152149260719199, + "source_return_best_wrist_position": -1.5887922048568726, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.5887922048568726 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3675, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3675, + 0.0521, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0019, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3674, + 0.025, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00016305189704243035, + -0.001915699470986664, + 0.0018302055730516783 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 4.148774237952974, + "pour_controller_source_return_step_error_deg": 2.3966992754490097, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 4.152149260719199, + "pour_controller_source_return_best_wrist_position": -1.5887922048568726, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.5887922048568726, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032935854294757164, + "valid_pour_held_xy_dist": 0.02832267620687013, + "valid_pour_held_gripper_dist": 0.0066258783442062754, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0449138907507711, + "valid_pour_source_tilt_deg": 2.396695706457961, + "valid_pour_source_upright_tilt_deg": 4.148774550450607, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1175870895385742e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3682715190798679, + 0.00017245979130831789, + 1.0449138907507711 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35696291210225195, + 0.023799171102835352, + 1.0449138907507711 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3626172155910599, + 0.011985815447071835, + 1.0449138907507711 + ], + "valid_pour_held_grasp_object_position": [ + 0.3682715190798679, + 0.023799171102835352, + 1.0449138907507711 + ], + "valid_pour_held_grasp_finger_gap": 0.02619362668994928, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024372042537996384, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.07138311500236912, + -0.9973795605696424, + 0.011767032355935344 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006484592383461801, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03834147239349662, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3682715190798679, + 0.00017245979130831789, + 1.0449138907507711 + ], + "held_grasp_finger_b": [ + 0.35696291210225195, + 0.023799171102835352, + 1.0449138907507711 + ], + "held_grasp_midpoint": [ + 0.3626172155910599, + 0.011985815447071835, + 1.0449138907507711 + ], + "held_grasp_object_position": [ + 0.3682715190798679, + 0.023799171102835352, + 1.0449138907507711 + ], + "held_grasp_finger_gap": 0.02619362668994928, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024372042537996384, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.07138311500236912, + -0.9973795605696424, + 0.011767032355935344 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006484592383461801, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03834147239349662, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2805937337230607, + -0.06645966135763916, + 0.7611064251950662 + ], + "target_position": [ + 0.2768527149191599, + -0.06546167541324642, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038718467991831194, + "xy_threshold": 0.08, + "gripper_dist": 0.2169298249928901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064251950662, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549353920019508, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08682549333954938, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1874501622369563, + "release_required_pad_clearance": 0.05341274666977469, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8400965177452304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f673c84371f06f4de49a5f988fc57601bfbea43c49b97f3d30b89acf18533911", + "visual_seed": 400823132895267264, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c1a3737c52ed30fa90f95d6f98df51b0377b35a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_87_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2991937607382378, + -0.06269713730467143, + 1.0001365661490325 + ], + "current_z": 1.0001365661490325, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.13903017734355605, + "gripper_z": 1.0024154798637424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29498773809033324, + -0.06706276264710846, + 1.0024154798637424 + ], + "object_minus_gripper": [ + 0.004206022647904539, + 0.004365625342437035, + -0.002278913714709896 + ], + "object_to_gripper_xy": 0.006062121010439695, + "object_to_gripper_z": -0.002278913714709896, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2991937607382378, + -0.08656362008720567, + 1.0001365661490325 + ], + "finger_b": [ + 0.28817979980471775, + -0.06269713730467143, + 1.0001365661490325 + ], + "finger_midpoint": [ + 0.29368678027147777, + -0.07463037869593855, + 1.0001365661490325 + ], + "object_minus_finger_midpoint": [ + 0.005506980466760014, + 0.011933241391267127, + 0.0 + ], + "finger_gap": 0.02628528744096417, + "fingertip_max_gap": 0.09268561880089929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013142643720482091, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0001365661490325, + "object_top_z": 1.0501821009100802, + "finger_top_clearance": 0.05004553476104778, + "fingertip_min_top_clearance": 0.015013660428314318, + "object_projection_between_fingers": 0.82442543452798, + "object_to_finger_line_xy": 0.01000044262699218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884280940044965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3619135817620673, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3683613053566639, + 0.04959898707144715, + 0.7701463897966118 + ], + "gripper_position": [ + 0.36598206637356023, + 0.016153436472029145, + 1.0460030064630776 + ], + "target_minus_gripper": [ + 0.0023792389831036598, + 0.033445550599418006, + -0.2758566166664659 + ], + "held_position": [ + 0.3702072545037464, + 0.020440808450437227, + 1.0436336244846676 + ], + "held_minus_target": [ + 0.0018459491470825262, + -0.029158178621009924, + 0.2734872346880558 + ], + "held_minus_gripper": [ + 0.004225188130186186, + 0.004287371978408082, + -0.002369381978410079 + ], + "xy_dist": 0.033530070579063063, + "held_xy_dist": 0.029216551965424237, + "held_gripper_dist": 0.006468983241307673, + "max_held_gripper_dist": 0.006587532697202651, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0436336244846676, + "required_height": 0.8001463897966118, + "gripper_z": 1.0460030064630776, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.44555823562406, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8889473087316355, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.23125349652671, + "max_source_tilt_deg": 89.86111103591178, + "source_upright_tilt_deg": 2.8555106951540763, + "max_source_upright_tilt_deg": 89.89551080112005, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.23125349652671, + "source_upright_return_tilt_deg": 2.8555106951540763, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.024520884654677e-08, + "max_target_xy_drift": 1.7377590822588274e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3684, + 0.0496, + 0.7701 + ], + "controller_target_position": [ + 0.3684, + 0.0496, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0001, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3702, + 0.0243, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00180178939039223, + -9.61970629074309e-05, + -0.0005936248560520778 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.855517162076819, + "source_return_step_error_deg": 2.2312777786953153, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.863193016160083, + "source_return_best_wrist_position": -1.612526774406433, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612526774406433 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3684, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3684, + 0.0496, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0001, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3702, + 0.0243, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00180178939039223, + -9.61970629074309e-05, + -0.0005936248560520778 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.855517162076819, + "pour_controller_source_return_step_error_deg": 2.2312777786953153, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.863193016160083, + "pour_controller_source_return_best_wrist_position": -1.612526774406433, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612526774406433, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033530070579063063, + "valid_pour_held_xy_dist": 0.029216551965424237, + "valid_pour_held_gripper_dist": 0.006468983241307673, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0436336244846676, + "valid_pour_source_tilt_deg": 2.23125349652671, + "valid_pour_source_upright_tilt_deg": 2.8555106951540763, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.024520884654677e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3702072545037464, + -0.002961650196999418, + 1.0436336244846676 + ], + "valid_pour_held_grasp_finger_b": [ + 0.359271012712865, + 0.020440808450437227, + 1.0436336244846676 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3647391336083057, + 0.008739579126718904, + 1.0436336244846676 + ], + "valid_pour_held_grasp_object_position": [ + 0.3702072545037464, + 0.020440808450437227, + 1.0436336244846676 + ], + "valid_pour_held_grasp_finger_gap": 0.02583169478090053, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02382628949040176, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04141171695055489, + -0.9987583481283118, + 0.02769172698141297 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005956646854008843, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03825999387444099, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3702072545037464, + -0.002961650196999418, + 1.0436336244846676 + ], + "held_grasp_finger_b": [ + 0.359271012712865, + 0.020440808450437227, + 1.0436336244846676 + ], + "held_grasp_midpoint": [ + 0.3647391336083057, + 0.008739579126718904, + 1.0436336244846676 + ], + "held_grasp_object_position": [ + 0.3702072545037464, + 0.020440808450437227, + 1.0436336244846676 + ], + "held_grasp_finger_gap": 0.02583169478090053, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02382628949040176, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04141171695055489, + -0.9987583481283118, + 0.02769172698141297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005956646854008843, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03825999387444099, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2756805401981861, + -0.06330203963239125, + 0.7611094983652498 + ], + "target_position": [ + 0.27573922239598714, + -0.06473861413542284, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0014377725491534477, + "xy_threshold": 0.08, + "gripper_dist": 0.2142470689113292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094983652498, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759181448930786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09161758351306547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18470708657789014, + "release_required_pad_clearance": 0.055808791756532736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.811530729030982, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e21bbd69a141aac25534d2754d1d361da143b78165cf8b9d0c4205dfde54d93", + "visual_seed": 6431694267119691456, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bc7e21a195ef63fa65730b0fec813c5d6078ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_88_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2969722142647201, + -0.06692445451806187, + 1.0011886198674333 + ], + "current_z": 1.0011886198674333, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1400821714573124, + "gripper_z": 1.0035107958607914, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.292812561207917, + -0.07120498164721471, + 1.0035107958607914 + ], + "object_minus_gripper": [ + 0.004159653056803103, + 0.004280527129152847, + -0.0023221759933580444 + ], + "object_to_gripper_xy": 0.005968720638158978, + "object_to_gripper_z": -0.0023221759933580444, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2969722142647201, + -0.09084640849393133, + 1.0011886198674333 + ], + "finger_b": [ + 0.28619269059492236, + -0.06692445451806187, + 1.0011886198674333 + ], + "finger_midpoint": [ + 0.2915824524298212, + -0.0788854315059966, + 1.0011886198674333 + ], + "object_minus_finger_midpoint": [ + 0.005389761834898865, + 0.011960976987934732, + 0.0 + ], + "finger_gap": 0.026238483427426715, + "fingertip_max_gap": 0.09303685821330662, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119241713713358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011886198674333, + "object_top_z": 1.051298260991541, + "finger_top_clearance": 0.05010964112410754, + "fingertip_min_top_clearance": 0.015032892337232278, + "object_projection_between_fingers": 0.8312197281084187, + "object_to_finger_line_xy": 0.009827826742499584, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04901842910665331, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4533116679139564, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37008986985747255, + 0.0522926364528463, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3651535212372431, + 0.019862003382397755, + 1.045815888136828 + ], + "target_minus_gripper": [ + 0.004936348620229458, + 0.03243063307044854, + -0.27566943873557137 + ], + "held_position": [ + 0.36930623580111865, + 0.02408886498281765, + 1.0434048726435834 + ], + "held_minus_target": [ + -0.000783634056353899, + -0.028203771470028647, + 0.27325842324232674 + ], + "held_minus_gripper": [ + 0.004152714563875559, + 0.004226861600419896, + -0.002411015493244628 + ], + "xy_dist": 0.032804168927904755, + "held_xy_dist": 0.02821465589844894, + "held_gripper_dist": 0.006397217594141539, + "max_held_gripper_dist": 0.006523994530436614, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0434048726435834, + "required_height": 0.8001464494012567, + "gripper_z": 1.045815888136828, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.49170299365667, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9612540634429507, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3838328466646637, + "max_source_tilt_deg": 89.79569839023179, + "source_upright_tilt_deg": 3.300970359305668, + "max_source_upright_tilt_deg": 89.89235013532075, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3838328466646637, + "source_upright_return_tilt_deg": 3.300970359305668, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.170199467582043e-08, + "max_target_xy_drift": 1.332800374366441e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3701, + 0.0523, + 0.7701 + ], + "controller_target_position": [ + 0.3701, + 0.0523, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0012, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3685, + 0.0283, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016069538358429237, + 0.0012327395223067816, + -0.0004975252101605374 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.300977897319291, + "source_return_step_error_deg": 2.383836629236428, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.3123646286080737, + "source_return_best_wrist_position": -1.6125116348266602, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125116348266602 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3701, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3701, + 0.0523, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0012, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3685, + 0.0283, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016069538358429237, + 0.0012327395223067816, + -0.0004975252101605374 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.300977897319291, + "pour_controller_source_return_step_error_deg": 2.383836629236428, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.3123646286080737, + "pour_controller_source_return_best_wrist_position": -1.6125116348266602, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125116348266602, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032804168927904755, + "valid_pour_held_xy_dist": 0.02821465589844894, + "valid_pour_held_gripper_dist": 0.006397217594141539, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0434048726435834, + "valid_pour_source_tilt_deg": 2.3838328466646637, + "valid_pour_source_upright_tilt_deg": 3.300970359305668, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.170199467582043e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36930623580111865, + 0.0007476504342664045, + 1.0434048726435834 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3584541250174071, + 0.02408886498281765, + 1.0434048726435834 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36388018040926284, + 0.012418257708542027, + 1.0434048726435834 + ], + "valid_pour_held_grasp_object_position": [ + 0.36930623580111865, + 0.02408886498281765, + 1.0434048726435834 + ], + "valid_pour_held_grasp_finger_gap": 0.025740641116014366, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02384122417916873, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04964345028615553, + -0.9983408493378525, + 0.029173213519617318 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006008165527439445, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03833837420270173, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36930623580111865, + 0.0007476504342664045, + 1.0434048726435834 + ], + "held_grasp_finger_b": [ + 0.3584541250174071, + 0.02408886498281765, + 1.0434048726435834 + ], + "held_grasp_midpoint": [ + 0.36388018040926284, + 0.012418257708542027, + 1.0434048726435834 + ], + "held_grasp_object_position": [ + 0.36930623580111865, + 0.02408886498281765, + 1.0434048726435834 + ], + "held_grasp_finger_gap": 0.025740641116014366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02384122417916873, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04964345028615553, + -0.9983408493378525, + 0.029173213519617318 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006008165527439445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03833837420270173, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.277096318120695, + -0.06707039072649205, + 0.7611064515669334 + ], + "target_position": [ + 0.27353526031532366, + -0.06918892511868763, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0041435878974762615, + "xy_threshold": 0.08, + "gripper_dist": 0.2169550739024771, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064515669334, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753394250147254, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609767298297692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18842290257639527, + "release_required_pad_clearance": 0.05304883649148846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1281184564553932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d76d7ff645cbf2663fd60b38fe95dc3a008f51b2896b1e277877fcf600f9ed53", + "visual_seed": 2776882356867084447, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e31eb02959eaa8ed17e4eb3ff67288c96a181915 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_89_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2973352625981049, + -0.0685253988992603, + 1.0043925666437667 + ], + "current_z": 1.0043925666437667, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14328605862900068, + "gripper_z": 1.0061652163213417, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2931771246875573, + -0.07286126131515176, + 1.0061652163213417 + ], + "object_minus_gripper": [ + 0.004158137910547588, + 0.004335862415891456, + -0.0017726496775749556 + ], + "object_to_gripper_xy": 0.00600747981874872, + "object_to_gripper_z": -0.0017726496775749556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2973352625981049, + -0.09233466768160492, + 1.0043925666437667 + ], + "finger_b": [ + 0.28631744572320417, + -0.0685253988992603, + 1.0043925666437667 + ], + "finger_midpoint": [ + 0.2918263541606545, + -0.0804300332904326, + 1.0043925666437667 + ], + "object_minus_finger_midpoint": [ + 0.005508908437450388, + 0.0119046343911723, + 0.0 + ], + "finger_gap": 0.026234968432204697, + "fingertip_max_gap": 0.09312141157523054, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013117484216102353, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043925666437667, + "object_top_z": 1.0544153857738963, + "finger_top_clearance": 0.050022819130129514, + "fingertip_min_top_clearance": 0.015006845739038837, + "object_projection_between_fingers": 0.8236278505813771, + "object_to_finger_line_xy": 0.009999103450307408, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049060705787615275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.462798083131042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36603684341971315, + 0.04423349243276575, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3630342618873678, + 0.009781427579234808, + 1.0470816515851562 + ], + "target_minus_gripper": [ + 0.0030025815323453386, + 0.034452064853530945, + -0.27693526178854444 + ], + "held_position": [ + 0.36729191974155145, + 0.013971898171540152, + 1.0452192670821483 + ], + "held_minus_target": [ + 0.0012550763218382999, + -0.0302615942612256, + 0.27507287728553653 + ], + "held_minus_gripper": [ + 0.0042576578541836385, + 0.004190470592305344, + -0.0018623845030079078 + ], + "xy_dist": 0.03458265849425523, + "held_xy_dist": 0.030287609740695637, + "held_gripper_dist": 0.006257489131058202, + "max_held_gripper_dist": 0.006335326069355742, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0452192670821483, + "required_height": 0.8001463897966118, + "gripper_z": 1.0470816515851562, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.59633466155209, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8389596869422125, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1259545687238908, + "max_source_tilt_deg": 89.92761450203015, + "source_upright_tilt_deg": 2.1813203386836224, + "max_source_upright_tilt_deg": 89.89299559961336, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1259545687238908, + "source_upright_return_tilt_deg": 2.1813203386836224, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.233205376877305e-08, + "max_target_xy_drift": 1.1206871983774993e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.366, + 0.0442, + 0.7701 + ], + "controller_target_position": [ + 0.366, + 0.0442, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0007, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3666, + 0.0183, + 1.036 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000553957962970939, + -0.0007009592603939715, + 0.00064329962285061 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.181318145843886, + "source_return_step_error_deg": 2.1259516466947344, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1837506414243006, + "source_return_best_wrist_position": -1.609680414199829, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609680414199829 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.366, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.366, + 0.0442, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0007, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3666, + 0.0183, + 1.036 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000553957962970939, + -0.0007009592603939715, + 0.00064329962285061 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.181318145843886, + "pour_controller_source_return_step_error_deg": 2.1259516466947344, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1837506414243006, + "pour_controller_source_return_best_wrist_position": -1.609680414199829, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609680414199829, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03458265849425523, + "valid_pour_held_xy_dist": 0.030287609740695637, + "valid_pour_held_gripper_dist": 0.006257489131058202, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0452192670821483, + "valid_pour_source_tilt_deg": 2.1259545687238908, + "valid_pour_source_upright_tilt_deg": 2.1813203386836224, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.233205376877305e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36729191974155145, + -0.00975741503419481, + 1.0452192670821483 + ], + "valid_pour_held_grasp_finger_b": [ + 0.356822257226889, + 0.013971898171540152, + 1.0452192670821483 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36205708848422025, + 0.0021072415686726707, + 1.0452192670821483 + ], + "valid_pour_held_grasp_object_position": [ + 0.36729191974155145, + 0.013971898171540152, + 1.0452192670821483 + ], + "valid_pour_held_grasp_finger_gap": 0.025936347822829567, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023953258521749076, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023032250877773795, + -0.9992753866291815, + 0.030302097231103997 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005518317126470924, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03798476070286386, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36729191974155145, + -0.00975741503419481, + 1.0452192670821483 + ], + "held_grasp_finger_b": [ + 0.356822257226889, + 0.013971898171540152, + 1.0452192670821483 + ], + "held_grasp_midpoint": [ + 0.36205708848422025, + 0.0021072415686726707, + 1.0452192670821483 + ], + "held_grasp_object_position": [ + 0.36729191974155145, + 0.013971898171540152, + 1.0452192670821483 + ], + "held_grasp_finger_gap": 0.025936347822829567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023953258521749076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023032250877773795, + -0.9992753866291815, + 0.030302097231103997 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005518317126470924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03798476070286386, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2789530554206382, + -0.06836915847083327, + 0.761108172864192 + ], + "target_position": [ + 0.27374423902968353, + -0.07041149604866316, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005594900443841159, + "xy_threshold": 0.08, + "gripper_dist": 0.2200961182400065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108172864192, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752659353882025, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08621953704698863, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1915543843387369, + "release_required_pad_clearance": 0.05310976852349432, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.245507996453765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4c302534b36d3249732106adf4c66580f634e955bede8f10ab0df5119fc2ad55", + "visual_seed": 650919456704411292, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f2300a487dddc8dab071df2505828de1fbf2fd3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_8_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29759511400907573, + -0.06111768467086484, + 1.0033018689114641 + ], + "current_z": 1.0033018689114641, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14219530129205327, + "gripper_z": 1.0053920008425745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2933592322253457, + -0.06545951740056637, + 1.0053920008425745 + ], + "object_minus_gripper": [ + 0.004235881783730022, + 0.004341832729701525, + -0.002090131931110406 + ], + "object_to_gripper_xy": 0.006065822775060547, + "object_to_gripper_z": -0.002090131931110406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29759511400907573, + -0.08504032671483028, + 1.0033018689114641 + ], + "finger_b": [ + 0.28664229234906774, + -0.06111768467086484, + 1.0033018689114641 + ], + "finger_midpoint": [ + 0.29211870317907174, + -0.07307900569284756, + 1.0033018689114641 + ], + "object_minus_finger_midpoint": [ + 0.005476410830003997, + 0.011961321021982718, + 0.0 + ], + "finger_gap": 0.02631077924881061, + "fingertip_max_gap": 0.09295969565602144, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013155389624405305, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0033018689114641, + "object_top_z": 1.053234371739138, + "finger_top_clearance": 0.04993250282767381, + "fingertip_min_top_clearance": 0.014979750848302109, + "object_projection_between_fingers": 0.8267055671874161, + "object_to_finger_line_xy": 0.009958672431019208, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897984782801072, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.548685793928079, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36803511893813057, + 0.0492188286470697, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36354701987118404, + 0.015902741448748564, + 1.045489910071158 + ], + "target_minus_gripper": [ + 0.004488099066946527, + 0.03331608719832114, + -0.2753435202745462 + ], + "held_position": [ + 0.3678311296057314, + 0.02014336020024034, + 1.0433109696096965 + ], + "held_minus_target": [ + -0.00020398933239917927, + -0.029075468446829362, + 0.2731645798130846 + ], + "held_minus_gripper": [ + 0.004284109734547348, + 0.004240618751491777, + -0.0021789404614616092 + ], + "xy_dist": 0.0336170299021324, + "held_xy_dist": 0.029076184018029298, + "held_gripper_dist": 0.006409697742307476, + "max_held_gripper_dist": 0.006510652777664225, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0433109696096965, + "required_height": 0.8001463897966119, + "gripper_z": 1.045489910071158, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.3587670218407, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9564789040330328, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1089362155576046, + "max_source_tilt_deg": 89.9214293570115, + "source_upright_tilt_deg": 2.773378434148546, + "max_source_upright_tilt_deg": 89.83466739979343, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1089362155576046, + "source_upright_return_tilt_deg": 2.773378434148546, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993507385254e-08, + "max_target_xy_drift": 2.081167358278649e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.368, + 0.0492, + 0.7701 + ], + "controller_target_position": [ + 0.368, + 0.0492, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0004, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.367, + 0.0244, + 1.0342 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010568629859619293, + 0.0003944760861863527, + -0.0010981215708366593 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.773381857837765, + "source_return_step_error_deg": 2.1089343420728732, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.790409695405785, + "source_return_best_wrist_position": -1.6110671758651733, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6110671758651733 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.368, + 0.0492, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.368, + 0.0492, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0004, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.367, + 0.0244, + 1.0342 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010568629859619293, + 0.0003944760861863527, + -0.0010981215708366593 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.773381857837765, + "pour_controller_source_return_step_error_deg": 2.1089343420728732, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.790409695405785, + "pour_controller_source_return_best_wrist_position": -1.6110671758651733, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6110671758651733, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0336170299021324, + "valid_pour_held_xy_dist": 0.029076184018029298, + "valid_pour_held_gripper_dist": 0.006409697742307476, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0433109696096965, + "valid_pour_source_tilt_deg": 2.1089362155576046, + "valid_pour_source_upright_tilt_deg": 2.773378434148546, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993507385254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3678311296057314, + -0.0034588619131164606, + 1.0433109696096965 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35712329499854584, + 0.02014336020024034, + 1.0433109696096965 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3624772123021386, + 0.00834224914356194, + 1.0433109696096965 + ], + "valid_pour_held_grasp_object_position": [ + 0.3678311296057314, + 0.02014336020024034, + 1.0433109696096965 + ], + "valid_pour_held_grasp_finger_gap": 0.025917611978403206, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023976552081899714, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03754021628716957, + -0.9988287349197333, + 0.030526880937264522 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005804159506694649, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813394845626619, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3678311296057314, + -0.0034588619131164606, + 1.0433109696096965 + ], + "held_grasp_finger_b": [ + 0.35712329499854584, + 0.02014336020024034, + 1.0433109696096965 + ], + "held_grasp_midpoint": [ + 0.3624772123021386, + 0.00834224914356194, + 1.0433109696096965 + ], + "held_grasp_object_position": [ + 0.3678311296057314, + 0.02014336020024034, + 1.0433109696096965 + ], + "held_grasp_finger_gap": 0.025917611978403206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023976552081899714, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03754021628716957, + -0.9988287349197333, + 0.030526880937264522 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005804159506694649, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813394845626619, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2763706477184182, + -0.07364616765565085, + 0.7611103065280224 + ], + "target_position": [ + 0.2739951117717766, + -0.06537954855614961, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008601172150935305, + "xy_threshold": 0.08, + "gripper_dist": 0.21506903808283373, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103065280224, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525335222518348, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872311314509454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1846782752020518, + "release_required_pad_clearance": 0.0536155657254727, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2335952329936823, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4cfe922e3fc4dcbe035248d26310d637c2df2d32bd1c710643a510abc07d0764", + "visual_seed": 4980431005576686437, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..805cbcb5d649c2d8e2c96c893ee14e107601cbca --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_90_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3011538645384065, + -0.0633501953821997, + 1.0040621507729695 + ], + "current_z": 1.0040621507729695, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14295570236284838, + "gripper_z": 1.005744037871618, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2971665976127744, + -0.0676159082611102, + 1.005744037871618 + ], + "object_minus_gripper": [ + 0.00398726692563206, + 0.004265712878910505, + -0.0016818870986485823 + ], + "object_to_gripper_xy": 0.005839058477318264, + "object_to_gripper_z": -0.0016818870986485823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3011538645384065, + -0.08699800780834333, + 1.0040621507729695 + ], + "finger_b": [ + 0.2901690876057751, + -0.0633501953821997, + 1.0040621507729695 + ], + "finger_midpoint": [ + 0.2956614760720908, + -0.07517410159527152, + 1.0040621507729695 + ], + "object_minus_finger_midpoint": [ + 0.0054923884663156675, + 0.01182390621307182, + 0.0 + ], + "finger_gap": 0.026074592169423157, + "fingertip_max_gap": 0.09312270340432469, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013037296084711575, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040621507729695, + "object_top_z": 1.054047562015429, + "finger_top_clearance": 0.04998541124245959, + "fingertip_min_top_clearance": 0.014995623372737842, + "object_projection_between_fingers": 0.8225208109989548, + "object_to_finger_line_xy": 0.009962416392096655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049061351702162345, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4769495446525487, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3653856924778646, + 0.043895984857015395, + 0.7701465686105459 + ], + "gripper_position": [ + 0.36359090942896216, + 0.010565836506414211, + 1.0452306680442054 + ], + "target_minus_gripper": [ + 0.0017947830489024597, + 0.033330148350601184, + -0.2750840994336595 + ], + "held_position": [ + 0.367726925638007, + 0.014641999302753811, + 1.0434638512562064 + ], + "held_minus_target": [ + 0.0023412331601423975, + -0.029253985554261584, + 0.2733172826456606 + ], + "held_minus_gripper": [ + 0.004136016209044857, + 0.0040761627963396, + -0.0017668167879989483 + ], + "xy_dist": 0.033378436680972796, + "held_xy_dist": 0.02934752193148675, + "held_gripper_dist": 0.006069874363287907, + "max_held_gripper_dist": 0.006142253370622286, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465686105459, + "held_z": 1.0434638512562064, + "required_height": 0.8001465686105459, + "gripper_z": 1.0452306680442054, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.35373317242241, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7964220041292958, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3228324614460347, + "max_source_tilt_deg": 89.86128038254326, + "source_upright_tilt_deg": 1.8591550695450847, + "max_source_upright_tilt_deg": 89.96056710495998, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3228324614460347, + "source_upright_return_tilt_deg": 1.8591550695450847, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.960037906741593e-08, + "max_target_xy_drift": 1.8671101460071903e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3654, + 0.0439, + 0.7701 + ], + "controller_target_position": [ + 0.3654, + 0.0439, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0006, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.367, + 0.0193, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016319849901023377, + 0.0005666334926251507, + -0.0011977249971774717 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.859170401535969, + "source_return_step_error_deg": 2.322851707490491, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3020006609986035, + "source_return_best_wrist_position": -1.6082839965820312, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6082839965820312 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3654, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3654, + 0.0439, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0006, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.367, + 0.0193, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016319849901023377, + 0.0005666334926251507, + -0.0011977249971774717 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.859170401535969, + "pour_controller_source_return_step_error_deg": 2.322851707490491, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3020006609986035, + "pour_controller_source_return_best_wrist_position": -1.6082839965820312, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6082839965820312, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033378436680972796, + "valid_pour_held_xy_dist": 0.02934752193148675, + "valid_pour_held_gripper_dist": 0.006069874363287907, + "valid_pour_required_height": 0.8001465686105459, + "valid_pour_held_z": 1.0434638512562064, + "valid_pour_source_tilt_deg": 2.3228324614460347, + "valid_pour_source_upright_tilt_deg": 1.8591550695450847, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.960037906741593e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.367726925638007, + -0.00915218177011529, + 1.0434638512562064 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3575906955104321, + 0.014641999302753811, + 1.0434638512562064 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36265881057421956, + 0.0027449087663192605, + 1.0434638512562064 + ], + "valid_pour_held_grasp_object_position": [ + 0.367726925638007, + 0.014641999302753811, + 1.0434638512562064 + ], + "valid_pour_held_grasp_finger_gap": 0.025863221263555697, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0238896341599542, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01065269884961324, + -0.9994736057569716, + 0.0306436192767262 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005207283267458006, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03788341119713739, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.367726925638007, + -0.00915218177011529, + 1.0434638512562064 + ], + "held_grasp_finger_b": [ + 0.3575906955104321, + 0.014641999302753811, + 1.0434638512562064 + ], + "held_grasp_midpoint": [ + 0.36265881057421956, + 0.0027449087663192605, + 1.0434638512562064 + ], + "held_grasp_object_position": [ + 0.367726925638007, + 0.014641999302753811, + 1.0434638512562064 + ], + "held_grasp_finger_gap": 0.025863221263555697, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0238896341599542, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01065269884961324, + -0.9994736057569716, + 0.0306436192767262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005207283267458006, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03788341119713739, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27972588589058484, + -0.06768693414287595, + 0.7611063529766972 + ], + "target_position": [ + 0.27762931355625586, + -0.06718550682252013, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002155700561458585, + "xy_threshold": 0.08, + "gripper_dist": 0.21866585633996546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063529766972, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558094483583902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607540318009434, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18918426824761322, + "release_required_pad_clearance": 0.05303770159004717, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1064014610918609, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb04fe4171eea6359ba75770dcaf601bb378275e60ce66dd347d8854960c090a", + "visual_seed": 2870566398598645245, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3725431f26f66e56d85891e822463ed67efbed31 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_91_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30104920435684984, + -0.06595495525189277, + 1.0036388812800676 + ], + "current_z": 1.0036388812800676, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14253243286994632, + "gripper_z": 1.0058322917565157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2967206678647121, + -0.070344642823538, + 1.0058322917565157 + ], + "object_minus_gripper": [ + 0.004328536492137769, + 0.004389687571645234, + -0.0021934104764480544 + ], + "object_to_gripper_xy": 0.006164867001032948, + "object_to_gripper_z": -0.0021934104764480544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30104920435684984, + -0.09009110983886447, + 1.0036388812800676 + ], + "finger_b": [ + 0.2902372841819727, + -0.06595495525189277, + 1.0036388812800676 + ], + "finger_midpoint": [ + 0.29564324426941124, + -0.07802303254537862, + 1.0036388812800676 + ], + "object_minus_finger_midpoint": [ + 0.005405960087438599, + 0.012068077293485857, + 0.0 + ], + "finger_gap": 0.026447146842601195, + "fingertip_max_gap": 0.09250692387423318, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223573421300615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0036388812800676, + "object_top_z": 1.0536128685474355, + "finger_top_clearance": 0.0499739872673679, + "fingertip_min_top_clearance": 0.014992196180210353, + "object_projection_between_fingers": 0.8328724648568889, + "object_to_finger_line_xy": 0.009867158006718519, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875346193711659, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.393401259124606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36571223652426654, + 0.051879691748552094, + 0.7701463301919672 + ], + "gripper_position": [ + 0.3630962940929148, + 0.017772382388088814, + 1.0472919812359567 + ], + "target_minus_gripper": [ + 0.00261594243135177, + 0.03410730936046328, + -0.27714565104398947 + ], + "held_position": [ + 0.3674445614706715, + 0.022087297137871432, + 1.0450081839721377 + ], + "held_minus_target": [ + 0.0017323249464049617, + -0.029792394610680662, + 0.2748618537801705 + ], + "held_minus_gripper": [ + 0.0043482673777567316, + 0.0043149147497826175, + -0.0022837972638189985 + ], + "xy_dist": 0.034207480272807185, + "held_xy_dist": 0.029842716470831726, + "held_gripper_dist": 0.006537709723487433, + "max_held_gripper_dist": 0.006639003126102855, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0450081839721377, + "required_height": 0.8001463301919672, + "gripper_z": 1.0472919812359567, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.29829252692942, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9372063933355914, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2627972444290747, + "max_source_tilt_deg": 89.83865317369627, + "source_upright_tilt_deg": 2.8975773182150273, + "max_source_upright_tilt_deg": 89.81488321559937, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2627972444290747, + "source_upright_return_tilt_deg": 2.8975773182150273, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.5597359396341374e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3657, + 0.0519, + 0.7701 + ], + "controller_target_position": [ + 0.3657, + 0.0519, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0006, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3668, + 0.026, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011374225301816212, + -0.000630929420468655, + 0.0010997999554848079 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8975744146226345, + "source_return_step_error_deg": 2.262815700379014, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9001235255898763, + "source_return_best_wrist_position": -1.612692952156067, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612692952156067 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3657, + 0.0519, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3657, + 0.0519, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0006, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3668, + 0.026, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011374225301816212, + -0.000630929420468655, + 0.0010997999554848079 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8975744146226345, + "pour_controller_source_return_step_error_deg": 2.262815700379014, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9001235255898763, + "pour_controller_source_return_best_wrist_position": -1.612692952156067, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612692952156067, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034207480272807185, + "valid_pour_held_xy_dist": 0.029842716470831726, + "valid_pour_held_gripper_dist": 0.006537709723487433, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0450081839721377, + "valid_pour_source_tilt_deg": 2.2627972444290747, + "valid_pour_source_upright_tilt_deg": 2.8975773182150273, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3674445614706715, + -0.001572801867140814, + 1.0450081839721377 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3567101268319284, + 0.022087297137871432, + 1.0450081839721377 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36207734415129994, + 0.01025724763536531, + 1.0450081839721377 + ], + "valid_pour_held_grasp_object_position": [ + 0.3674445614706715, + 0.022087297137871432, + 1.0450081839721377 + ], + "valid_pour_held_grasp_finger_gap": 0.025981308126043802, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02408199223054469, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04212076429322361, + -0.9987215029953738, + 0.027949967263242163 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005869886454065297, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03813139654606223, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3674445614706715, + -0.001572801867140814, + 1.0450081839721377 + ], + "held_grasp_finger_b": [ + 0.3567101268319284, + 0.022087297137871432, + 1.0450081839721377 + ], + "held_grasp_midpoint": [ + 0.36207734415129994, + 0.01025724763536531, + 1.0450081839721377 + ], + "held_grasp_object_position": [ + 0.3674445614706715, + 0.022087297137871432, + 1.0450081839721377 + ], + "held_grasp_finger_gap": 0.025981308126043802, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02408199223054469, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04212076429322361, + -0.9987215029953738, + 0.027949967263242163 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005869886454065297, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03813139654606223, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2815049004558941, + -0.06851209901856813, + 0.7611063604802386 + ], + "target_position": [ + 0.2775131789121838, + -0.07036095710381576, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004399104124922087, + "xy_threshold": 0.08, + "gripper_dist": 0.21767122339114195, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063604802386, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592323265663004, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537785792671136, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187693634648149, + "release_required_pad_clearance": 0.05268892896335568, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43340962608521905, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "73cab2c5e03f339aad85e6190eeda7fe231868c4b406ce7477a9cef544f4e8ed", + "visual_seed": 6397871671682388804, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af132649363159fdf0ebff7360e3ddf0f3815de5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_92_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3054706360515747, + -0.06369082058399735, + 1.000906528442059 + ], + "current_z": 1.000906528442059, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.139800080031938, + "gripper_z": 1.0028928249561537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30146900553167066, + -0.06787382923710969, + 1.0028928249561537 + ], + "object_minus_gripper": [ + 0.0040016305199040425, + 0.004183008653112344, + -0.0019862965140946542 + ], + "object_to_gripper_xy": 0.005788834788611629, + "object_to_gripper_z": -0.0019862965140946542, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3054706360515747, + -0.08753442113199872, + 1.000906528442059 + ], + "finger_b": [ + 0.294862308691493, + -0.06369082058399735, + 1.000906528442059 + ], + "finger_midpoint": [ + 0.3001664723715338, + -0.07561262085799803, + 1.000906528442059 + ], + "object_minus_finger_midpoint": [ + 0.005304163680040885, + 0.01192180027400068, + 0.0 + ], + "finger_gap": 0.026097009339602684, + "fingertip_max_gap": 0.09283180921980547, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013048504669801347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000906528442059, + "object_top_z": 1.0509643269750182, + "finger_top_clearance": 0.05005779853295911, + "fingertip_min_top_clearance": 0.015017339559887766, + "object_projection_between_fingers": 0.834761081374418, + "object_to_finger_line_xy": 0.009692325919981187, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048915904609902736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3684543576562658, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3667592219120685, + 0.05255206566923118, + 0.770146330191967 + ], + "gripper_position": [ + 0.36377211012574706, + 0.0194372378172932, + 1.0469028950197563 + ], + "target_minus_gripper": [ + 0.002987111786321439, + 0.03311482785193798, + -0.2767565648277893 + ], + "held_position": [ + 0.3678178245584931, + 0.023524917546705923, + 1.0448324471344508 + ], + "held_minus_target": [ + 0.0010586026464246001, + -0.029027148122525256, + 0.2746861169424838 + ], + "held_minus_gripper": [ + 0.004045714432746039, + 0.0040876797294127215, + -0.0020704478853055264 + ], + "xy_dist": 0.03324928060105162, + "held_xy_dist": 0.029046445009502257, + "held_gripper_dist": 0.006112584174254567, + "max_held_gripper_dist": 0.006210718850167962, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0448324471344508, + "required_height": 0.800146330191967, + "gripper_z": 1.0469028950197563, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.17401723498104, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.876605834098623, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.165778303393425, + "max_source_tilt_deg": 89.89026800769767, + "source_upright_tilt_deg": 2.6052510640445705, + "max_source_upright_tilt_deg": 89.79977611282908, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.165778303393425, + "source_upright_return_tilt_deg": 2.6052510640445705, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.215859231988326e-08, + "max_target_xy_drift": 1.431209796093296e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3668, + 0.0526, + 0.7701 + ], + "controller_target_position": [ + 0.3668, + 0.0526, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0008, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3671, + 0.0281, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032990555713219164, + 0.0007968140675396491, + 0.0004268243690970894 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.605250572884264, + "source_return_step_error_deg": 2.16577699391951, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6095000600141316, + "source_return_best_wrist_position": -1.6120864152908325, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120864152908325 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3668, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3668, + 0.0526, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0008, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3671, + 0.0281, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032990555713219164, + 0.0007968140675396491, + 0.0004268243690970894 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.605250572884264, + "pour_controller_source_return_step_error_deg": 2.16577699391951, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6095000600141316, + "pour_controller_source_return_best_wrist_position": -1.6120864152908325, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120864152908325, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03324928060105162, + "valid_pour_held_xy_dist": 0.029046445009502257, + "valid_pour_held_gripper_dist": 0.006112584174254567, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0448324471344508, + "valid_pour_source_tilt_deg": 2.165778303393425, + "valid_pour_source_upright_tilt_deg": 2.6052510640445705, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.215859231988326e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3678178245584931, + 3.523718802898602e-05, + 1.0448324471344508 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35744798228763863, + 0.023524917546705923, + 1.0448324471344508 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36263290342306587, + 0.011780077367367454, + 1.0448324471344508 + ], + "valid_pour_held_grasp_object_position": [ + 0.3678178245584931, + 0.023524917546705923, + 1.0448324471344508 + ], + "valid_pour_held_grasp_finger_gap": 0.025676812732019782, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023829579885894372, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03511896124467204, + -0.9989664158372807, + 0.028857556901311976 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005604287984586509, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816963821597138, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3678178245584931, + 3.523718802898602e-05, + 1.0448324471344508 + ], + "held_grasp_finger_b": [ + 0.35744798228763863, + 0.023524917546705923, + 1.0448324471344508 + ], + "held_grasp_midpoint": [ + 0.36263290342306587, + 0.011780077367367454, + 1.0448324471344508 + ], + "held_grasp_object_position": [ + 0.3678178245584931, + 0.023524917546705923, + 1.0448324471344508 + ], + "held_grasp_finger_gap": 0.025676812732019782, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023829579885894372, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03511896124467204, + -0.9989664158372807, + 0.028857556901311976 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005604287984586509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816963821597138, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2803192219696796, + -0.06628820074943786, + 0.7611063720858244 + ], + "target_position": [ + 0.2822142736745947, + -0.065518271213461, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0020454858725180653, + "xy_threshold": 0.08, + "gripper_dist": 0.21504875699913303, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063720858244, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543055864430892, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872147759169248, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1862037117217272, + "release_required_pad_clearance": 0.0536073879584624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2251746166432884, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2970df4b147db65d37ab77ab731267bf636a69788152bc1a62b6c4f5f9fec2a", + "visual_seed": 8615758882945215249, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2930d7597cb19599664c03daa54a8c015af03214 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_93_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29741074200970863, + -0.06584275202933762, + 1.0014989772463672 + ], + "current_z": 1.0014989772463672, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1403925288362461, + "gripper_z": 1.0037968114204623, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29320535617760984, + -0.07013670049324938, + 1.0037968114204623 + ], + "object_minus_gripper": [ + 0.004205385832098785, + 0.004293948463911762, + -0.002297834174095126 + ], + "object_to_gripper_xy": 0.006010263172902445, + "object_to_gripper_z": -0.002297834174095126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29741074200970863, + -0.08982166612287057, + 1.0014989772463672 + ], + "finger_b": [ + 0.28664333925247854, + -0.06584275202933762, + 1.0014989772463672 + ], + "finger_midpoint": [ + 0.2920270406310936, + -0.0778322090761041, + 1.0014989772463672 + ], + "object_minus_finger_midpoint": [ + 0.005383701378615047, + 0.011989457046766475, + 0.0 + ], + "finger_gap": 0.02628545763804464, + "fingertip_max_gap": 0.09284003897488421, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314272881902232, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014989772463672, + "object_top_z": 1.051608069762585, + "finger_top_clearance": 0.05010909251621776, + "fingertip_min_top_clearance": 0.015032727754865293, + "object_projection_between_fingers": 0.8322004347669923, + "object_to_finger_line_xy": 0.009822565362240234, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892001948744211, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2843036471529268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36218483364645876, + 0.05029946085684753, + 0.7701464494012564 + ], + "gripper_position": [ + 0.35767449075189306, + 0.016115776886048358, + 1.0456729911838436 + ], + "target_minus_gripper": [ + 0.0045103428945657, + 0.03418368397079917, + -0.2755265417825872 + ], + "held_position": [ + 0.361949431841914, + 0.02027708179776858, + 1.043282981795803 + ], + "held_minus_target": [ + -0.00023540180454473258, + -0.03002237905907895, + 0.2731365323945465 + ], + "held_minus_gripper": [ + 0.004274941090020967, + 0.004161304911720221, + -0.0023900093880406814 + ], + "xy_dist": 0.03447995711775221, + "held_xy_dist": 0.03002330192328294, + "held_gripper_dist": 0.006426797395778016, + "max_held_gripper_dist": 0.00655084933916191, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.043282981795803, + "required_height": 0.8001464494012565, + "gripper_z": 1.0456729911838436, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.44085223528592, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8074600409240413, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.185315982929836, + "max_source_tilt_deg": 89.90779017169193, + "source_upright_tilt_deg": 2.3018031128640706, + "max_source_upright_tilt_deg": 89.99772263806119, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.185315982929836, + "source_upright_return_tilt_deg": 2.3018031128640706, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.862645149230957e-08, + "max_target_xy_drift": 1.399837004248495e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3622, + 0.0503, + 0.7701 + ], + "controller_target_position": [ + 0.3622, + 0.0503, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0008, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3608, + 0.0243, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014210706762590264, + -0.0008098212282315234, + -0.001253452516227424 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3018033537800497, + "source_return_step_error_deg": 2.1853168086948846, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3049009096506454, + "source_return_best_wrist_position": -1.61265230178833, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61265230178833 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3622, + 0.0503, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3622, + 0.0503, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0008, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3608, + 0.0243, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014210706762590264, + -0.0008098212282315234, + -0.001253452516227424 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3018033537800497, + "pour_controller_source_return_step_error_deg": 2.1853168086948846, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3049009096506454, + "pour_controller_source_return_best_wrist_position": -1.61265230178833, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61265230178833, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03447995711775221, + "valid_pour_held_xy_dist": 0.03002330192328294, + "valid_pour_held_gripper_dist": 0.006426797395778016, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.043282981795803, + "valid_pour_source_tilt_deg": 2.185315982929836, + "valid_pour_source_upright_tilt_deg": 2.3018031128640706, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.862645149230957e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.361949431841914, + -0.0034281701579964297, + 1.043282981795803 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35154228230728846, + 0.02027708179776858, + 1.043282981795803 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35674585707460127, + 0.008424455819886075, + 1.043282981795803 + ], + "valid_pour_held_grasp_object_position": [ + 0.361949431841914, + 0.02027708179776858, + 1.043282981795803 + ], + "valid_pour_held_grasp_finger_gap": 0.025889143124529206, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023976658640835143, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027916723889388984, + -0.9991931393515968, + 0.028874327697527184 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005542878885841864, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038022454269711216, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.361949431841914, + -0.0034281701579964297, + 1.043282981795803 + ], + "held_grasp_finger_b": [ + 0.35154228230728846, + 0.02027708179776858, + 1.043282981795803 + ], + "held_grasp_midpoint": [ + 0.35674585707460127, + 0.008424455819886075, + 1.043282981795803 + ], + "held_grasp_object_position": [ + 0.361949431841914, + 0.02027708179776858, + 1.043282981795803 + ], + "held_grasp_finger_gap": 0.025889143124529206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023976658640835143, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027916723889388984, + -0.9991931393515968, + 0.028874327697527184 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005542878885841864, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038022454269711216, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2784782383219791, + -0.0675783999753278, + 0.7611086948711528 + ], + "target_position": [ + 0.2739463824453728, + -0.07032166532457772, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005297473214913547, + "xy_threshold": 0.08, + "gripper_dist": 0.21708804660665734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086948711528, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531764704513727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08855190052079819, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886007593801101, + "release_required_pad_clearance": 0.054275950260399095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5651364923536986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be4e81aa57ab206fc725fcc48b625abedd566f7318a8cca23052518bba373375", + "visual_seed": 5710462393389123080, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e8a1a39016128081794899b7f8cc4823f159929 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_94_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3041508909933973, + -0.06084896636633733, + 1.0018295175230674 + ], + "current_z": 1.0018295175230674, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14072312871759074, + "gripper_z": 1.0038233436890682, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3003191016129749, + -0.06500632747291095, + 1.0038233436890682 + ], + "object_minus_gripper": [ + 0.00383178938042239, + 0.004157361106573616, + -0.001993826166000856 + ], + "object_to_gripper_xy": 0.005653871348586631, + "object_to_gripper_z": -0.001993826166000856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3041508909933973, + -0.08444048758655608, + 1.0018295175230674 + ], + "finger_b": [ + 0.29341219912571154, + -0.06084896636633733, + 1.0018295175230674 + ], + "finger_midpoint": [ + 0.29878154505955445, + -0.07264472697644671, + 1.0018295175230674 + ], + "object_minus_finger_midpoint": [ + 0.005369345933842862, + 0.011795760610109375, + 0.0 + ], + "finger_gap": 0.025920636113203936, + "fingertip_max_gap": 0.09321695995913429, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01296031805660196, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018295175230674, + "object_top_z": 1.051860885689859, + "finger_top_clearance": 0.05003136816679166, + "fingertip_min_top_clearance": 0.015009410450037513, + "object_projection_between_fingers": 0.8283627879343805, + "object_to_finger_line_xy": 0.00977376002531232, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049108479979567146, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.811852890826497, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.363459896207494, + 0.05062243234985329, + 0.7701463897966114 + ], + "gripper_position": [ + 0.35948543547305467, + 0.020315435824238184, + 1.0447177614744068 + ], + "target_minus_gripper": [ + 0.003974460734439356, + 0.030306996525615103, + -0.27457137167779533 + ], + "held_position": [ + 0.36344872328281086, + 0.0242964099187862, + 1.0426579179285937 + ], + "held_minus_target": [ + -1.1172924683167107e-05, + -0.026326022431067086, + 0.2725115281319823 + ], + "held_minus_gripper": [ + 0.0039632878097561886, + 0.003980974094548017, + -0.0020598435458130115 + ], + "xy_dist": 0.030566491073285566, + "held_xy_dist": 0.026326024801995713, + "held_gripper_dist": 0.005983206534764777, + "max_held_gripper_dist": 0.006091504429448888, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0426579179285937, + "required_height": 0.8001463897966115, + "gripper_z": 1.0447177614744068, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.26475629810466, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3081820459901485, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5302874559679776, + "max_source_tilt_deg": 89.71728481029064, + "source_upright_tilt_deg": 2.3220556852757155, + "max_source_upright_tilt_deg": 89.87936754526508, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5302874559679776, + "source_upright_return_tilt_deg": 2.3220556852757155, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1691715439018022e-07, + "max_target_xy_drift": 2.5876693407911444e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3635, + 0.0506, + 0.7701 + ], + "controller_target_position": [ + 0.3635, + 0.0506, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0008, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.362, + 0.0262, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014857076031407658, + 0.0008250514274247742, + -0.0008977028138341377 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.32176889501148, + "source_return_step_error_deg": 2.530125611550202, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5222707796974326, + "source_return_best_wrist_position": -1.6120766401290894, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120766401290894 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3635, + 0.0506, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3635, + 0.0506, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0008, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.362, + 0.0262, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014857076031407658, + 0.0008250514274247742, + -0.0008977028138341377 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.32176889501148, + "pour_controller_source_return_step_error_deg": 2.530125611550202, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5222707796974326, + "pour_controller_source_return_best_wrist_position": -1.6120766401290894, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120766401290894, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.030566491073285566, + "valid_pour_held_xy_dist": 0.026326024801995713, + "valid_pour_held_gripper_dist": 0.005983206534764777, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0426579179285937, + "valid_pour_source_tilt_deg": 2.5302874559679776, + "valid_pour_source_upright_tilt_deg": 2.3220556852757155, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1691715439018022e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36344872328281086, + 0.0007982686761985728, + 1.0426579179285937 + ], + "valid_pour_held_grasp_finger_b": [ + 0.353457219962029, + 0.0242964099187862, + 1.0426579179285937 + ], + "valid_pour_held_grasp_midpoint": [ + 0.35845297162241996, + 0.012547339297492388, + 1.0426579179285937 + ], + "valid_pour_held_grasp_object_position": [ + 0.36344872328281086, + 0.0242964099187862, + 1.0426579179285937 + ], + "valid_pour_held_grasp_finger_gap": 0.025534149299825764, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023717966745947398, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02393236125173638, + -0.9991788812841871, + 0.03269258754820459 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005289326659702592, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038100386964042235, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36344872328281086, + 0.0007982686761985728, + 1.0426579179285937 + ], + "held_grasp_finger_b": [ + 0.353457219962029, + 0.0242964099187862, + 1.0426579179285937 + ], + "held_grasp_midpoint": [ + 0.35845297162241996, + 0.012547339297492388, + 1.0426579179285937 + ], + "held_grasp_object_position": [ + 0.36344872328281086, + 0.0242964099187862, + 1.0426579179285937 + ], + "held_grasp_finger_gap": 0.025534149299825764, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023717966745947398, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02393236125173638, + -0.9991788812841871, + 0.03269258754820459 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005289326659702592, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038100386964042235, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28420146025646154, + -0.06206380680404636, + 0.7611064706081626 + ], + "target_position": [ + 0.2810957448532407, + -0.06386376307035524, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035896115007654885, + "xy_threshold": 0.08, + "gripper_dist": 0.2184727266434204, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064706081626, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566806771192267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598985875847091, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18931008282797643, + "release_required_pad_clearance": 0.05299492937923546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0233452491345079, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac97445822c66672b590e801929b6eb2fbd3369606e848351921fd14f334366f", + "visual_seed": 7144524085722402268, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec2e06601fbf89d41791e79eca761653eddfd03 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_95_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29983786420975134, + -0.06253055676782794, + 1.004009234713365 + ], + "current_z": 1.004009234713365, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14290272669859894, + "gripper_z": 1.0061344741218539, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29582076956217246, + -0.06684703509095886, + 1.0061344741218539 + ], + "object_minus_gripper": [ + 0.004017094647578878, + 0.004316478323130923, + -0.002125239408488966 + ], + "object_to_gripper_xy": 0.005896527327305965, + "object_to_gripper_z": -0.002125239408488966, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29983786420975134, + -0.08615607013343386, + 1.004009234713365 + ], + "finger_b": [ + 0.28876155489478894, + -0.06253055676782794, + 1.004009234713365 + ], + "finger_midpoint": [ + 0.29429970955227014, + -0.0743433134506309, + 1.004009234713365 + ], + "object_minus_finger_midpoint": [ + 0.005538154657481198, + 0.01181275668280296, + 0.0 + ], + "finger_gap": 0.0260930931441473, + "fingertip_max_gap": 0.09295622429355929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01304654657207365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004009234713365, + "object_top_z": 1.054083427837011, + "finger_top_clearance": 0.05007419312364614, + "fingertip_min_top_clearance": 0.015022257937093858, + "object_projection_between_fingers": 0.8198065412847116, + "object_to_finger_line_xy": 0.010028841437716832, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897811214677965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.593379935185749, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3658521286255542, + 0.04457753789298989, + 0.7701464494012563 + ], + "gripper_position": [ + 0.36199544667893047, + 0.010818613184590764, + 1.0471159960324157 + ], + "target_minus_gripper": [ + 0.0038566819466237523, + 0.03375892470839913, + -0.27696954663115936 + ], + "held_position": [ + 0.36620148319035284, + 0.014890461325910681, + 1.04489923060255 + ], + "held_minus_target": [ + 0.0003493545647986207, + -0.02968707656707921, + 0.27475278120129365 + ], + "held_minus_gripper": [ + 0.004206036511422373, + 0.004071848141319917, + -0.002216765429865708 + ], + "xy_dist": 0.033978507811626674, + "held_xy_dist": 0.029689132080806424, + "held_gripper_dist": 0.006259771512797911, + "max_held_gripper_dist": 0.006370700758876648, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.04489923060255, + "required_height": 0.8001464494012563, + "gripper_z": 1.0471159960324157, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.54160435573279, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1137385023526933, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.824182535893499, + "max_source_tilt_deg": 89.98059691253431, + "source_upright_tilt_deg": 1.6141985010471025, + "max_source_upright_tilt_deg": 89.8891917210774, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.824182535893499, + "source_upright_return_tilt_deg": 1.6141985010471025, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.332993507385254e-08, + "max_target_xy_drift": 1.62936208610453e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3659, + 0.0446, + 0.7701 + ], + "controller_target_position": [ + 0.3659, + 0.0446, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0005, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.366, + 0.0189, + 1.0358 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001015634381483989, + -0.00046289303142149846, + 0.00041050897314863326 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6142117903712432, + "source_return_step_error_deg": 2.8241881098669173, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.815639676102857, + "source_return_best_wrist_position": -1.6122417449951172, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122417449951172 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3659, + 0.0446, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3659, + 0.0446, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0005, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.366, + 0.0189, + 1.0358 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001015634381483989, + -0.00046289303142149846, + 0.00041050897314863326 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6142117903712432, + "pour_controller_source_return_step_error_deg": 2.8241881098669173, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.815639676102857, + "pour_controller_source_return_best_wrist_position": -1.6122417449951172, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122417449951172, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.033978507811626674, + "valid_pour_held_xy_dist": 0.029689132080806424, + "valid_pour_held_gripper_dist": 0.006259771512797911, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.04489923060255, + "valid_pour_source_tilt_deg": 2.824182535893499, + "valid_pour_source_upright_tilt_deg": 1.6141985010471025, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.332993507385254e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36620148319035284, + -0.008949821965426553, + 1.04489923060255 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35616946571688807, + 0.014890461325910681, + 1.04489923060255 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3611854744536205, + 0.002970319680242064, + 1.04489923060255 + ], + "valid_pour_held_grasp_object_position": [ + 0.36620148319035284, + 0.014890461325910681, + 1.04489923060255 + ], + "valid_pour_held_grasp_finger_gap": 0.025865043630334667, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023873673543429674, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.004271397312492681, + -0.999603172484698, + 0.027843360492696312 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005077717656403094, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03782626403085526, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36620148319035284, + -0.008949821965426553, + 1.04489923060255 + ], + "held_grasp_finger_b": [ + 0.35616946571688807, + 0.014890461325910681, + 1.04489923060255 + ], + "held_grasp_midpoint": [ + 0.3611854744536205, + 0.002970319680242064, + 1.04489923060255 + ], + "held_grasp_object_position": [ + 0.36620148319035284, + 0.014890461325910681, + 1.04489923060255 + ], + "held_grasp_finger_gap": 0.025865043630334667, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023873673543429674, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004271397312492681, + -0.999603172484698, + 0.027843360492696312 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005077717656403094, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03782626403085526, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2814152398775336, + -0.06912429966506825, + 0.7611116659675177 + ], + "target_position": [ + 0.27656111862754507, + -0.06400460651534834, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00705505145671377, + "xy_threshold": 0.08, + "gripper_dist": 0.21995947154183765, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116659675177, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564163007410063, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08867740866200914, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18908291936645147, + "release_required_pad_clearance": 0.05433870433100457, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.677732542335393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e83f829e6b1257276052b49ce6bac19f81a0c3df157ab2c994510c4f11ceb1e", + "visual_seed": 2543517986150278436, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6552e5b3909a8685cefeb03f157e3a7e6b987c53 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_96_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30489527155753093, + -0.06081396588611492, + 1.0014738389318625 + ], + "current_z": 1.0014738389318625, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1403673905217414, + "gripper_z": 1.0034564696010737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3007855882781981, + -0.06508148690896454, + 1.0034564696010737 + ], + "object_minus_gripper": [ + 0.00410968327933281, + 0.004267521022849614, + -0.001982630669211227 + ], + "object_to_gripper_xy": 0.005924629299533524, + "object_to_gripper_z": -0.001982630669211227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30489527155753093, + -0.08467421268683153, + 1.0014738389318625 + ], + "finger_b": [ + 0.29408995983650377, + -0.06081396588611492, + 1.0014738389318625 + ], + "finger_midpoint": [ + 0.29949261569701735, + -0.07274408928647323, + 1.0014738389318625 + ], + "object_minus_finger_midpoint": [ + 0.005402655860513583, + 0.01193012340035831, + 0.0 + ], + "finger_gap": 0.02619286427215768, + "fingertip_max_gap": 0.09276131027079396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013096432136078844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014738389318625, + "object_top_z": 1.051439610831512, + "finger_top_clearance": 0.04996577189964957, + "fingertip_min_top_clearance": 0.014989731569894887, + "object_projection_between_fingers": 0.8298199622615946, + "object_to_finger_line_xy": 0.00984303975859704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888065513539698, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.492273390390725, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3682361356026356, + 0.04597194385402657, + 0.7701463897966117 + ], + "gripper_position": [ + 0.36574474892849584, + 0.01266089947964176, + 1.0462815451121548 + ], + "target_minus_gripper": [ + 0.0024913866741397284, + 0.03331104437438481, + -0.2761351553155431 + ], + "held_position": [ + 0.36990203533075916, + 0.01682970876172709, + 1.044212637940396 + ], + "held_minus_target": [ + 0.0016658997281235877, + -0.029142235092299483, + 0.27406624814378433 + ], + "held_minus_gripper": [ + 0.004157286402263316, + 0.00416880928208533, + -0.0020689071717587826 + ], + "xy_dist": 0.03340408185944219, + "held_xy_dist": 0.029189811374502127, + "held_gripper_dist": 0.0062403828365092465, + "max_held_gripper_dist": 0.006334219341530731, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.044212637940396, + "required_height": 0.8001463897966117, + "gripper_z": 1.0462815451121548, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.21178135090203, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9944309359213377, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1685011102290934, + "max_source_tilt_deg": 89.93690445766134, + "source_upright_tilt_deg": 2.6827678951281877, + "max_source_upright_tilt_deg": 89.69740040660731, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1685011102290934, + "source_upright_return_tilt_deg": 2.6827678951281877, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.8671101460071903e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3682, + 0.046, + 0.7701 + ], + "controller_target_position": [ + 0.3682, + 0.046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0001, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3697, + 0.0208, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014490195155081632, + 7.341767198677449e-05, + -0.0002804390454957755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6827647812344413, + "source_return_step_error_deg": 2.1685070544456937, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6888267177987437, + "source_return_best_wrist_position": -1.6128897666931152, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128897666931152 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3682, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3682, + 0.046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0001, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3697, + 0.0208, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014490195155081632, + 7.341767198677449e-05, + -0.0002804390454957755 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6827647812344413, + "pour_controller_source_return_step_error_deg": 2.1685070544456937, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6888267177987437, + "pour_controller_source_return_best_wrist_position": -1.6128897666931152, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128897666931152, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03340408185944219, + "valid_pour_held_xy_dist": 0.029189811374502127, + "valid_pour_held_gripper_dist": 0.0062403828365092465, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.044212637940396, + "valid_pour_source_tilt_deg": 2.1685011102290934, + "valid_pour_source_upright_tilt_deg": 2.6827678951281877, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36990203533075916, + -0.0066884536161142885, + 1.044212637940396 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35934922359332355, + 0.01682970876172709, + 1.044212637940396 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36462562946204136, + 0.005070627572806401, + 1.044212637940396 + ], + "valid_pour_held_grasp_object_position": [ + 0.36990203533075916, + 0.01682970876172709, + 1.044212637940396 + ], + "valid_pour_held_grasp_finger_gap": 0.025777234087393325, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023878425627016343, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03658162805644842, + -0.9989040051539948, + 0.0291988523070289 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057131974338283644, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03816707629051548, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36990203533075916, + -0.0066884536161142885, + 1.044212637940396 + ], + "held_grasp_finger_b": [ + 0.35934922359332355, + 0.01682970876172709, + 1.044212637940396 + ], + "held_grasp_midpoint": [ + 0.36462562946204136, + 0.005070627572806401, + 1.044212637940396 + ], + "held_grasp_object_position": [ + 0.36990203533075916, + 0.01682970876172709, + 1.044212637940396 + ], + "held_grasp_finger_gap": 0.025777234087393325, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023878425627016343, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03658162805644842, + -0.9989040051539948, + 0.0291988523070289 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057131974338283644, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03816707629051548, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28411160263217233, + -0.060005135629900334, + 0.7611066204489954 + ], + "target_position": [ + 0.2815753388459574, + -0.0631515012057838, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0040413178952378535, + "xy_threshold": 0.08, + "gripper_dist": 0.2174644275040587, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066204489954, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565763158880053, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574030353597105, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18842129767214413, + "release_required_pad_clearance": 0.052870151767985527, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7813412103774061, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50b90f385363e3b72337eb28a3e45b8198846e145acb7c3ce2b3f91d7d52c1b0", + "visual_seed": 2171419002222308270, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..edabf2e6f980ff916d4aa66ceffa513e6e6b3deb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_97_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3033439058304612, + -0.06869561741489716, + 1.0009929909713904 + ], + "current_z": 1.0009929909713904, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.13988648295662431, + "gripper_z": 1.0025479793086207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29937061746764465, + -0.07277873312846618, + 1.0025479793086207 + ], + "object_minus_gripper": [ + 0.003973288362816574, + 0.004083115713569022, + -0.0015549883372303341 + ], + "object_to_gripper_xy": 0.005697267269883683, + "object_to_gripper_z": -0.0015549883372303341, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3033439058304612, + -0.0926859849504274, + 1.0009929909713904 + ], + "finger_b": [ + 0.2930829789795931, + -0.06869561741489716, + 1.0009929909713904 + ], + "finger_midpoint": [ + 0.2982134424050272, + -0.08069080118266228, + 1.0009929909713904 + ], + "object_minus_finger_midpoint": [ + 0.005130463425434051, + 0.011995183767765122, + 0.0 + ], + "finger_gap": 0.02609261110599492, + "fingertip_max_gap": 0.0934328237324665, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01304630555299746, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0009929909713904, + "object_top_z": 1.0510340345929867, + "finger_top_clearance": 0.05004104362159634, + "fingertip_min_top_clearance": 0.015012313086478867, + "object_projection_between_fingers": 0.8453542104223323, + "object_to_finger_line_xy": 0.00943421895982495, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921641186623325, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6398119003481453, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36995242154662056, + 0.05151374530666328, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3657732806505808, + 0.019557474755982046, + 1.0463874379299356 + ], + "target_minus_gripper": [ + 0.004179140896039768, + 0.03195627055068123, + -0.27624104813332406 + ], + "held_position": [ + 0.36972131193864594, + 0.023630150188837358, + 1.044769073820949 + ], + "held_minus_target": [ + -0.0002311096079746222, + -0.02788359511782592, + 0.2746226840243374 + ], + "held_minus_gripper": [ + 0.003948031288065146, + 0.004072675432855312, + -0.0016183641089866363 + ], + "xy_dist": 0.0322283795146031, + "held_xy_dist": 0.02788455286257507, + "held_gripper_dist": 0.0058985369899815536, + "max_held_gripper_dist": 0.005963280112616367, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.044769073820949, + "required_height": 0.8001463897966116, + "gripper_z": 1.0463874379299356, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.13486659065852, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.048262057425237, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.646137203245519, + "max_source_tilt_deg": 89.73997934079762, + "source_upright_tilt_deg": 3.923598926019167, + "max_source_upright_tilt_deg": 89.92184521649243, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.646137203245519, + "source_upright_return_tilt_deg": 3.923598926019167, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.6743097494724565e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.37, + 0.0515, + 0.7701 + ], + "controller_target_position": [ + 0.37, + 0.0515, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + -0.0006, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3683, + 0.0258, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016128569826404707, + -0.0005583543276553402, + 0.0009391583750747393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.9236108902057265, + "source_return_step_error_deg": 2.646150467151922, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.935605204106207, + "source_return_best_wrist_position": -1.6108943223953247, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6108943223953247 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.37, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.37, + 0.0515, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + -0.0006, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3683, + 0.0258, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016128569826404707, + -0.0005583543276553402, + 0.0009391583750747393 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.9236108902057265, + "pour_controller_source_return_step_error_deg": 2.646150467151922, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.935605204106207, + "pour_controller_source_return_best_wrist_position": -1.6108943223953247, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6108943223953247, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0322283795146031, + "valid_pour_held_xy_dist": 0.02788455286257507, + "valid_pour_held_gripper_dist": 0.0058985369899815536, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.044769073820949, + "valid_pour_source_tilt_deg": 2.646137203245519, + "valid_pour_source_upright_tilt_deg": 3.923598926019167, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36972131193864594, + 0.00032325047357020445, + 1.044769073820949 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3593203301583278, + 0.023630150188837358, + 1.044769073820949 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3645208210484869, + 0.011976700331203781, + 1.044769073820949 + ], + "valid_pour_held_grasp_object_position": [ + 0.36972131193864594, + 0.023630150188837358, + 1.044769073820949 + ], + "valid_pour_held_grasp_finger_gap": 0.025522382262085756, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023860182236377578, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.058447316555273965, + -0.9976561896195193, + 0.0355814347848632 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005886951835422642, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.038398068426506164, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36972131193864594, + 0.00032325047357020445, + 1.044769073820949 + ], + "held_grasp_finger_b": [ + 0.3593203301583278, + 0.023630150188837358, + 1.044769073820949 + ], + "held_grasp_midpoint": [ + 0.3645208210484869, + 0.011976700331203781, + 1.044769073820949 + ], + "held_grasp_object_position": [ + 0.36972131193864594, + 0.023630150188837358, + 1.044769073820949 + ], + "held_grasp_finger_gap": 0.025522382262085756, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023860182236377578, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.058447316555273965, + -0.9976561896195193, + 0.0355814347848632 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005886951835422642, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038398068426506164, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2612715849076133, + -0.05267904401223219, + 0.7611064501816438 + ], + "target_position": [ + 0.280043920682069, + -0.06993905253700168, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.025501146733118193, + "xy_threshold": 0.08, + "gripper_dist": 0.20511772344559911, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064501816438, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08187136576561116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543943542588182, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1813423393737587, + "release_required_pad_clearance": 0.052719717712940914, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49257669556692496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a7fc44c0f5d46c376206d908a5a9e93c9c2233f04c4f70551c9c9e08ed64853", + "visual_seed": 6575943688501347098, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5709dcbd5a65c623af5194ae614deac2617a60db --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_99_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.298977031345849, + -0.059630878297506205, + 1.0030583262336614 + ], + "current_z": 1.0030583262336614, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.14195187782354013, + "gripper_z": 1.0048835921979773, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29458941655468324, + -0.06397525913543761, + 1.0048835921979773 + ], + "object_minus_gripper": [ + 0.004387614791165784, + 0.004344380837931407, + -0.0018252659643158697 + ], + "object_to_gripper_xy": 0.006174529003951828, + "object_to_gripper_z": -0.0018252659643158697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.298977031345849, + -0.08379810269125978, + 1.0030583262336614 + ], + "finger_b": [ + 0.28817694348080225, + -0.059630878297506205, + 1.0030583262336614 + ], + "finger_midpoint": [ + 0.2935769874133256, + -0.071714490494383, + 1.0030583262336614 + ], + "object_minus_finger_midpoint": [ + 0.005400043932523413, + 0.012083612196876793, + 0.0 + ], + "finger_gap": 0.0264706749591084, + "fingertip_max_gap": 0.0930983011744558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013235337479554216, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030583262336614, + "object_top_z": 1.053090462691513, + "finger_top_clearance": 0.05003213645785154, + "fingertip_min_top_clearance": 0.015009640937355477, + "object_projection_between_fingers": 0.833534382164556, + "object_to_finger_line_xy": 0.009860275467476488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049049150587227905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4657430857261473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 167, + "max_stable_success_frames": 167, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.36775527513091016, + 0.04489693310730912, + 0.7701463897966119 + ], + "gripper_position": [ + 0.36469837615470824, + 0.012469568855008203, + 1.0447184597609949 + ], + "target_minus_gripper": [ + 0.003056898976201927, + 0.032427364252300916, + -0.274572069964383 + ], + "held_position": [ + 0.3690518755851393, + 0.0168066425430747, + 1.042809239402474 + ], + "held_minus_target": [ + 0.0012966004542291354, + -0.02809029056423442, + 0.27266284960586207 + ], + "held_minus_gripper": [ + 0.004353499430431063, + 0.0043370736880664965, + -0.0019092203585209244 + ], + "xy_dist": 0.032571131139432476, + "held_xy_dist": 0.02812019908750691, + "held_gripper_dist": 0.006434927182484125, + "max_held_gripper_dist": 0.006510251447300521, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.042809239402474, + "required_height": 0.8001463897966119, + "gripper_z": 1.0447184597609949, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.11674609879047, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8179070848848877, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.4366522268831194, + "max_source_tilt_deg": 89.94199604419686, + "source_upright_tilt_deg": 3.680254733376861, + "max_source_upright_tilt_deg": 89.949317722959, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.4366522268831194, + "source_upright_return_tilt_deg": 3.680254733376861, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2013700229374393e-07, + "max_target_xy_drift": 2.1811248612857532e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3678, + 0.0449, + 0.7701 + ], + "controller_target_position": [ + 0.3678, + 0.0449, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0014, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3683, + 0.0211, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00055025676187363, + 0.0013781941176592423, + -0.001789437858952255 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 3.68025032984879, + "source_return_step_error_deg": 2.436644257744842, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.6932178303309806, + "source_return_best_wrist_position": -1.6103438138961792, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6103438138961792 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3678, + 0.0449, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3678, + 0.0449, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0014, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3683, + 0.0211, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00055025676187363, + 0.0013781941176592423, + -0.001789437858952255 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 3.68025032984879, + "pour_controller_source_return_step_error_deg": 2.436644257744842, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.6932178303309806, + "pour_controller_source_return_best_wrist_position": -1.6103438138961792, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6103438138961792, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.032571131139432476, + "valid_pour_held_xy_dist": 0.02812019908750691, + "valid_pour_held_gripper_dist": 0.006434927182484125, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.042809239402474, + "valid_pour_source_tilt_deg": 2.4366522268831194, + "valid_pour_source_upright_tilt_deg": 3.680254733376861, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2013700229374393e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3690518755851393, + -0.006744344790682162, + 1.042809239402474 + ], + "valid_pour_held_grasp_finger_b": [ + 0.35805180930673824, + 0.0168066425430747, + 1.042809239402474 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36355184244593874, + 0.005031148876196269, + 1.042809239402474 + ], + "valid_pour_held_grasp_object_position": [ + 0.3690518755851393, + 0.0168066425430747, + 1.042809239402474 + ], + "valid_pour_held_grasp_finger_gap": 0.025993277256321338, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024109984263991205, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.055232723131147195, + -0.9979378068419561, + 0.03270290462611758 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006153779000206017, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03827282155327866, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3690518755851393, + -0.006744344790682162, + 1.042809239402474 + ], + "held_grasp_finger_b": [ + 0.35805180930673824, + 0.0168066425430747, + 1.042809239402474 + ], + "held_grasp_midpoint": [ + 0.36355184244593874, + 0.005031148876196269, + 1.042809239402474 + ], + "held_grasp_object_position": [ + 0.3690518755851393, + 0.0168066425430747, + 1.042809239402474 + ], + "held_grasp_finger_gap": 0.025993277256321338, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024109984263991205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.055232723131147195, + -0.9979378068419561, + 0.03270290462611758 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006153779000206017, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03827282155327866, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2814888885388632, + -0.07106001196117012, + 0.7611094592182155 + ], + "target_position": [ + 0.27515198018645437, + -0.06379925944000407, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009637164242683023, + "xy_threshold": 0.08, + "gripper_dist": 0.2206110475734378, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094592182155, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530721438405444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08848491851652408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18986593425412618, + "release_required_pad_clearance": 0.054242459258262044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4984222153493763, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "afbc6138b53cd13fb1c0b1a1b64bc575bbd6217534304a69254c769fb227375e", + "visual_seed": 2769656919095656680, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d0f0cfbc5d8fc210bfb79f02224fbd5987c4c20e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/episode_9_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3036131710030759, + -0.06693036040721728, + 1.0038968695557444 + ], + "current_z": 1.0038968695557444, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14279042114562335, + "gripper_z": 1.0053442223922406, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2996041541864644, + -0.07118649597166495, + 1.0053442223922406 + ], + "object_minus_gripper": [ + 0.004009016816611477, + 0.004256135564447663, + -0.0014473528364962185 + ], + "object_to_gripper_xy": 0.005846956967417312, + "object_to_gripper_z": -0.0014473528364962185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3036131710030759, + -0.0906433394569314, + 1.0038968695557444 + ], + "finger_b": [ + 0.2927241678549478, + -0.06693036040721728, + 1.0038968695557444 + ], + "finger_midpoint": [ + 0.2981686694290119, + -0.07878684993207434, + 1.0038968695557444 + ], + "object_minus_finger_midpoint": [ + 0.005444501574064009, + 0.011856489524857058, + 0.0 + ], + "finger_gap": 0.02609359624452183, + "fingertip_max_gap": 0.09285722136285093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013046798122260903, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0038968695557444, + "object_top_z": 1.0538620518668016, + "finger_top_clearance": 0.04996518231105718, + "fingertip_min_top_clearance": 0.01498955469331712, + "object_projection_between_fingers": 0.8258560582417006, + "object_to_finger_line_xy": 0.009895558324124885, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892861068142547, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4605180871965797, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 168, + "max_stable_success_frames": 168, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37018929040495785, + 0.044749068884782556, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3651527779084883, + 0.011025313941172649, + 1.0465576470497342 + ], + "target_minus_gripper": [ + 0.005036512496469525, + 0.03372375494360991, + -0.27641125725312254 + ], + "held_position": [ + 0.36931665431138366, + 0.015088007996048017, + 1.0450218241684506 + ], + "held_minus_target": [ + -0.0008726360935741861, + -0.02966106088873454, + 0.2748754343718389 + ], + "held_minus_gripper": [ + 0.004163876402895339, + 0.0040626940548753685, + -0.0015358228812836217 + ], + "xy_dist": 0.034097772736994825, + "held_xy_dist": 0.029673894702196175, + "held_gripper_dist": 0.0060168182293287385, + "max_held_gripper_dist": 0.006062943143961855, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0450218241684506, + "required_height": 0.8001463897966117, + "gripper_z": 1.0465576470497342, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.37665528727698, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9072467573149796, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.5323033283162726, + "max_source_tilt_deg": 89.95180153727192, + "source_upright_tilt_deg": 1.7925799194597922, + "max_source_upright_tilt_deg": 89.80475135112756, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.5323033283162726, + "source_upright_return_tilt_deg": 1.7925799194597922, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.253429134897487e-08, + "max_target_xy_drift": 1.7508864401383217e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3702, + 0.0447, + 0.7701 + ], + "controller_target_position": [ + 0.3702, + 0.0447, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + -0.0, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3682, + 0.0195, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001956291691649545, + -4.4978051485098074e-05, + -0.00013419507210608427 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7925770047639367, + "source_return_step_error_deg": 2.532313250758367, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5326799898604166, + "source_return_best_wrist_position": -1.6110138893127441, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6110138893127441 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3702, + 0.0447, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3702, + 0.0447, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + -0.0, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3682, + 0.0195, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001956291691649545, + -4.4978051485098074e-05, + -0.00013419507210608427 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7925770047639367, + "pour_controller_source_return_step_error_deg": 2.532313250758367, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5326799898604166, + "pour_controller_source_return_best_wrist_position": -1.6110138893127441, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6110138893127441, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034097772736994825, + "valid_pour_held_xy_dist": 0.029673894702196175, + "valid_pour_held_gripper_dist": 0.0060168182293287385, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0450218241684506, + "valid_pour_source_tilt_deg": 2.5323033283162726, + "valid_pour_source_upright_tilt_deg": 1.7925799194597922, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.253429134897487e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.36931665431138366, + -0.008768711585301686, + 1.0450218241684506 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3593279447755964, + 0.015088007996048017, + 1.0450218241684506 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36432229954349005, + 0.0031596482053731657, + 1.0450218241684506 + ], + "valid_pour_held_grasp_object_position": [ + 0.36931665431138366, + 0.015088007996048017, + 1.0450218241684506 + ], + "valid_pour_held_grasp_finger_gap": 0.025863437269115684, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023930528550875116, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008558040811922575, + -0.999510627842169, + 0.030087618184472587 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005108831795571219, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03784046957852321, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36931665431138366, + -0.008768711585301686, + 1.0450218241684506 + ], + "held_grasp_finger_b": [ + 0.3593279447755964, + 0.015088007996048017, + 1.0450218241684506 + ], + "held_grasp_midpoint": [ + 0.36432229954349005, + 0.0031596482053731657, + 1.0450218241684506 + ], + "held_grasp_object_position": [ + 0.36931665431138366, + 0.015088007996048017, + 1.0450218241684506 + ], + "held_grasp_finger_gap": 0.025863437269115684, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023930528550875116, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008558040811922575, + -0.999510627842169, + 0.030087618184472587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005108831795571219, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03784046957852321, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2902997820318813, + -0.07010883518584314, + 0.7611145287897844 + ], + "target_position": [ + 0.28029467690288473, + -0.06930866170656119, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010037051670646079, + "xy_threshold": 0.08, + "gripper_dist": 0.2237869050393123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611145287897844, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560237587252593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671078437878858, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19342853765650994, + "release_required_pad_clearance": 0.05335539218939429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7099786288043164, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "df7a16bb3b519e4332ab60867686bf271ea5c4276fdd24103edee95e21028f61", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "621739243ebe526fd082cb82139982181bf792c96206078ffa08addf02ee7e76", + "visual_seed": 233395346790710539, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "7978ee6d730b1e9f812a3b91478d77e8e962a41e1e3edf21a11b4f186b2caa49" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9fe3f72921b8b9a69607f64e81b53c05112fe5d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00014/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00014", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..28a1fce0ec91b9234a4e300371ca304936099642 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5752ba3ad7cd8941484d7df4eefa12b61fb1e2078774efef7052410cd67cffbb +size 4184593 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..94f22301442dc69c9db1c8ef6c6196e9fa3f447e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6970e03627ce91475b5e937d8a0429e374a8936cbc9c92f2e889105a6e645ff0 +size 4054549 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..356062818dfe94d96391c6988f0c3642fda74cb1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:678261a143208a516c836a2dee24c6f76dedf8e4c3b4fb375c732ae3cf07b3dd +size 4054723 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e46c5940c5de15fe1d76a4ecf4a061c75f7b0141 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92c64f6ba2ceb12076ac9e42e5f7db55d0f0bf5c4c98e6bce548813a13d12750 +size 4729560 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c5c329868cede60859e9e2f16c84bc032745790 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01c82fda2543e5f2b92b938848aafcec5fd66aeec945169412b6b30d0fabd646 +size 5580612 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4dae26cf32fd62d1b996677a06a9a1b764da27bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02b298feb0eaad6865b2880eb7d6f8eea089e73370402f3e5c863e64689b28ac +size 6195366 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c5fd58d0efaf395dd4a36766718daa9e9088904 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:764f95cce8158c04ee383d530cf1972fcc66b3d7c44f945a5522d5b12ee2f8b8 +size 6200835 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c03ab3b50e7939cf4c85705d6d97c26987e0eccc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1ba9653ca3f52fb02703da9c0c461e2efd8a8b69883f580e19f36db95f4aaf4 +size 4563175 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c9b692b15f3f1dc487cae00874ee547047521718 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10d83e0f30e513987e83157527072acacfd176864f6d4614aa6adabd764880a +size 4549917 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdb98fc0e675e6fd2b2202fabbfd5b6e13ab7903 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd80c376f7ce890e1527f52ed57cf07925fb727a8a3d14e3d007cd0f4dad8cd2 +size 4061683 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89912f6269a4b6f9083b396941b4dd6a2f511720 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85177119b5cd39526ae0d592138b8e64910a34abcb4da3e16cbb089b0751cda0 +size 3868911 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8e1374b51e915721fb14599fabd7666d0c45d7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84506f77ee375bcb88306e31b92ac084a5489df1d85cda68f517ab551b14c48a +size 4367369 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df774472a7f9e2e7622896914f2cdcd8808dc26d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e412bcc155fa1625f00956e7054e81f0b512bb9c60a051ce4e8709b12af0ba4d +size 5212888 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..01fbaee730c7241d50466c2d6e0116cd49e73827 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11085a0c12d7ac4b8d892703f6ffde82fbbd685a88c5e204ba2c306bc7c4964e +size 3939886 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a09a6fe2befb98cdc0909c4322b5cd5600a6725 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc0b7368b13edfe4109fc269ce4251ca8867f2e2d0a791b710707eed8ecf6524 +size 4079176 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..794ff2dca29a168e61168c42aeae34df0c0f2c70 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f2f5b698cf1f8c9fca08aed2d6b46458aa4d382d4196681643a05f2b4a3f94 +size 4761647 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41599478d02f164ef17f331fa2dab68075aebe93 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0b888fdcb42bf70cf5a65bd5465f61c729e587accfb7adec47af77a328001b2 +size 4018275 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99801805165856212798ea3874f3d32680a0fd6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b41a68b22b020e7054726e4d8c34716db77fca3d6ef030bcfa091977cede7446 +size 4676599 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db637a14f8843438513b997977c30eaa2a53e191 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:471043cf2784c2e6b826c1f86c3ac2574a4705e77f433de6206eb7e00824da1f +size 4224254 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4e6b794900d750a5cb438f5403d0cca73206d9fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08e475238eaaeb2f31834c7fc7fedcc120a77eb9788eb5e14efec7955ac22ca3 +size 4727837 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0c660807dfee28efcb7b938f2b2b46c515cde5f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69e44302637971d12dd6ba62e31f400c54db515aece1bdee05977b4ce3aa5651 +size 4916348 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99f63bcf6013ef82469b1201328c9c731a571e3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b2475200d35315d396555ec97dd56968b68e854d2fed66a559f081e028935a +size 5020961 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd865b291bb35f0c519ddaa7a8efb7f72226966d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46ed58ef3a6dfb1d99465c9c8768d058f37b3bf7b45d754d3fd7d3ca6c3696b5 +size 5731723 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b72c31918730141006a56c614e3dea1807284e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d09b0b5683c83c517b0858ce1f696ca21414289947cc65b537ea5b8d571e63cf +size 4464827 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a90d21acaed4ffaca9b300f6c3077c92ff7d7e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887a5ea48a4832343a22e9b3dd061934b81ed37fd399bd4b401bebec7c5d6bf7 +size 4159498 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f1602e8a716d64e8632ddaa64aa744fcd98fbc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99910aaa3d305a8185dda3c4318a3e02e5ce63ed6481721fd282351b69b5b4ac +size 4352309 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..774a9aa533fdc1f8a764395d2603d3fddfba768a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7365e9e419da985fa4008f63754b52a3e854dc06f00fa815c819abc2926f2e42 +size 5680163 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc65556afd66261baf16eedb06e25ff9e08b5103 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:266b0cb5028d35f348a51244c9b3eb9e4c3681ce0407dd27753476710c756d2a +size 4340241 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..866fc5e83432d10e6479cb45b5fba7a060edc02e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f97756306ac91b6002c89687dfe2e7122e96cbc320a6fd9391b131e1a19ec22 +size 4413388 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af7551e2393e683f36bfcddcef293aacaa3c0045 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f42a49fe1b93500398fae3738b0dac3899320bf58ca53c98eff61c2081385c8 +size 6019968 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b844587d199c17de4f3a8d1aa189bc941a6aca24 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed2d71b3f4a3921a909da0239591137a8b0ad7bc914fbf4cb117e0aab68624a7 +size 3719905 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a114bdc31dcbd94586296cdfaf0a3e1296a927e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e98d90048a4c15464e221b04d066991d2fe4dca4f23c3e03b7f20df804aefcf3 +size 4723677 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..866b6f29ff29ca4ca9fa8eee850caed338687b6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7fe6d3be9aa83c4885004e7bfeb14bb66849ee3ec141c1b36074f93aa709b93 +size 4370509 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de7565b8757a13b0d502ef1b5c98997db2fe32cf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da5750439eb8510be9b8252de10d1c4e99b934e394076d5a4a3522a74600606f +size 5697993 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f5f75fa633fc977e44d0db45428aac26fe6ff05d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5784dbaa9b76fe920dde1e07bb4895735b517a5ff87f6d327bf47a9de7fa61db +size 5128608 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ff3237a333de32278a6d767069fd9d1aad081fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1be7326e1cd8afcedde20ea2128c7b17e6416f1531555a83456492913957eec2 +size 4965667 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe2c0891d3e62fcd622c7540de9d4e208732fdaa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ea819956cff56fdc9bd8fe8bc6c7ae93b19d27fe40496dfcbdad2e3c62ab888 +size 4374932 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb8a2c91038c7c351a51e73f0a0ca5080e5bf393 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c6e14e23b43141e0da04abc374f3cfae82c21a3cc2dc32c97a9472a720c1d5b +size 4340144 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e443f70a93583f0837706ae06c239016a124187e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0fe263804b8417cb9273bf0f107bbf199e902c88217047ad9cc6297d8db9d8a +size 4709892 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b52f7edbec5b752670e0c4b7039e837cbf4b48bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb0a88c71545e9c9af5b5854a657e398747999321e881c12885c3e70ff628ea7 +size 4379306 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c2de47f7bab4bf6d49536ede8690bf75c91eb1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d060c93e57df03a062d6f2cf0521a845329096e7d4be0296b38aafccc61e091e +size 5974097 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22ab90e48828661b3e70335e08db69bebb61a117 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b45df890dfa4518ee6d42577a1be585da1749f4ae5e7cf638bb80a044bf5a3ae +size 4997284 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8679d03cfdd5df238237e607fff703c5fc242e41 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39c4a589a2b0b0a57f05b216d1944c6cdd0fcd33307116ca8f87b0f36a8ec437 +size 5638931 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66602e8cb56e2bd5f162e20eefd86ac1d4f11490 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27133680febebdcf024363a8a9ec02ceb7d9c5dc8f5c931de7512fa0d0979479 +size 5507615 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..707b67db04b9cdb12b6f155ab105415cf47a07bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01f8968c2a888aabe2021fc667d80584a0ee2cf2ac82a874051d32c4277e679e +size 5171673 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57395e27cc4e465a20889e93553333377ca007fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee61c94ed17dafed140ff4b0122b72adeb98541ee02d1872c4928f808e8a82d1 +size 4570435 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c142d8cc39b6034925312ebe498a01df3ba5ad49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9441c6ad2894b7e418c83eeef68394599dc53b4234febf29069ed37cbbc2a70f +size 4109409 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4614c81b3a595ee743248eaebebc53e35c8b93e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de3d30bc9b79921d3bc74904c69f3219a2e5708b374e527d7a6507a66caa6e75 +size 6107248 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f61c22cb838d624ecd59142c37bb048f303994b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a8b42409656f9a960125ee019cffeb53542e9acd627d5b0d1d48331b479cc11 +size 4997343 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9638ca5b9e082331e06037a3e3706cec9304d75a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8f83b8a9997e9478d129923d658f01896ef1288d86e0ea4879d27c1309bc1f7 +size 4523045 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c532eb959c455e9d82bf26e81a0dccedaa887a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da733a1cbcd02f0c1e3b38eab15e33ff7041a653c5d8b532455256c1dda5da8e +size 5662833 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53c92903db1cc77b97fadaa6afac246bff84d84d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:980a613e2a477b5dbba11d18fc33db97004ab8ddcf63b17efe9c78e1f8ba68d5 +size 4810672 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ea655a4826fdde7129849831449c9ca77536766 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12eec95937f0f5a3350dd79b8f8bccaef7f48bfafbe32129f1f31622cfdd97a7 +size 3500392 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67bb9d480cc99a144d49d4f712418718bd471583 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77cd1e42bcd94ce6bc36eb7ff84b8709de91b62921af1d15f1be7c4ad1d3db11 +size 4632494 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55981758275c214558b92f9b1baacd5a5fd3ad24 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83e2c1807a26c9069e0be2e43c538dbd4985f7fb83ffaac3f54e558453691359 +size 5554586 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3c0ad7fc52b630dcfbd645e3b0056b2cc13591e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87a80e543489a2ee278c37cbcaf0c49c4fec993ae682b6d098432b37a54909fd +size 4466220 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef413f3eeec98129997d043ffeefd13be209a1e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98b2c79aa164fc143525cdbd451873da0608b149926f03112918e5373146e762 +size 4467381 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b8f85af66e39635229f21ccfe2dcd05383c87fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d326a6f7de59c121d98806b04eb6d27dcf9bf17115d3a15cc5e76d8887644851 +size 4232253 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df9f360ee1fde39219d6a3a225721a28c9e5446b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:079ca346431acc70c91409e05b4242d1094c1ae1e48066763a498512be4b012f +size 5214259 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..664bfe63bf84a4b769e6c5a6137bc562f9bbed6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55d51a69ddf46a0c686a6f97ce828f6dd0149329f79603a6de63026f81e81f5c +size 5349678 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69aef13c68f6c1a50ab35ae1d4d66783b57c5142 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29cc3ed1c607cc6c05c65d8db0328116de1dd77da058d59db3175b59afbff96a +size 5109218 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b57a4cda4bcb45e135c9053932cf1e77ab899472 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48315151fdf2813c9d176b3215f30d908f553cebf3ce134e010dbd84aa2e5d66 +size 4945229 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef05afca07d302b2faaa45e79ca39fbb6ec5a4f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab348a1538f995c5cd25ff34d79cce9d0bf4be04fc5c479f0ab57f11285accf +size 5220579 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d5e23864176906cb498b7e8d0a4e4368a000717 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4a0c601cd8102029f64b0e4f80b2172211f8fc5f4c46ed473b3d9dc466cc882 +size 5556946 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a04e14880016bed37489960090c530fe78f8bbfb --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3d06323412b8cb875d0783c065159a4927c306d56e7b18d25c3a763f2e9178 +size 5036954 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea26969284a01d82ab85f0f3338659699ee49eea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:551fa739dedf33e2fe573012267e5b3da8be98c50f8385fb2c3d6f381bd9295c +size 4630913 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90265ecae528bcf94fbad7c9e046e92204175e76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8d5e18d9ca1ee5078000466c5007734ce67e33c4acc2da04f60481be5880191 +size 5603325 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0eea37c05876d5b74cac2e94074c108bac359a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f711bf4c3a54416af9e8b98da40db3efacfaa0ec9be7b93f49422d2ffee02fe9 +size 5041573 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77b78272c5e054f364922dd8470dc37f3f3f7dd9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afffd7ec5f3da4ef9e7f03c2c8debe88002cb18b3e824596f7e640fdcf992eaf +size 5269681 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e5d87acba0733b034a10c80d53d2edfac3074dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cc82811495e8878ae422da03756dd8afe2c8215f06f168dd338fc650ec480d3 +size 5546242 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f3603c42ab0b819525f6759b0e9231f70048fa9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:623849bc9622fe60d60fc224967d98e04a96668fd1dd2546d7b4d0cec2709ab6 +size 3818380 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c36d0be3fc94f543196f81bd6fb019f64674edc2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a8a5a3c604abd7f72a5768f61942cbd6df2a51e5b9e07278ef91c8c923933e +size 4243667 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed39963198e8d0fb533bc5552dc93f2c04df9922 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a194e6d02e591c8c59b0f1ebd4703b814aa567a80e2e996928746c43f01a89a7 +size 3993004 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..30844ff7282132379670923f08ea8f6397d963b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4641fd9a82d616bbb99feb40b68848828f2bb97a36b567ebedf2a472364a9e8d +size 4388883 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1984f32b122e9ba3acb36977efb14d5cc4650bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b53dae0f237e744f1650a2213298c9d406325a43960ce78b408c9bd50d2219 +size 5561116 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6593786a4150874395978684a5c25a43de479c44 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09cae67174c2c08ef7bb1a019c425aefb976a4fb296d470c9d15a0615e445fc8 +size 4242495 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3b3026fa8b203206acec2159f8ce0d60fd90c26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a1eb5b63b7169e04f9682cfa245065e8a2d2483d2c883b353c6673e28184602 +size 7565719 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d31c99fe895345750764cc92f5aad62dbada637e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:019e49c2b9d078f9508ec9038eda045900b90e841171f83ed23315359f523293 +size 4900050 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2e9f0cc6762d3b90ad31ca0708ff88814e021ec --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce57f361d3c600a8ad03a53a135e725498ad58dbd060a0223528e362ee5966c2 +size 4083478 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4416fc88d199c567344312c00ee4765262bea4a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:918a96ce09be672cffbe48b5a2a62fa6c3597b40800082e6f2decb0fb315d28c +size 4438254 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13dd467f3ab83214a54f4c94c808712d855c3be2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82b389f5302bc97a9391f96b5f06e6dbe83b60aac7329d8a201d463136435cec +size 5799924 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef83df9c4cfa18354bbea28097707f793ae6c8a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ef7d4c6841a8801603566b76ccb77d7aae803445ba2257b8cda5f99b07cf07b +size 4032937 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a3c45df205cbe379c46ca1732fb3c4d49a09482 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f4f12762e6e1d2839e647cee16d18a172bc39b65f6221214ebaede05412d656 +size 4280682 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36928ea7cd687fecb8311b5bc6d0ed2b2e8ebaca --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b9cebb7506836e2f2ad057de873386a6377b7cbb30a36162d07850bb22083e +size 4186212 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2451488bd7907d86d42154364a055cf7514867d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42f35f5eb3afc6a455ddd5b62c31a8036dcc14e58fc1e82d9f71e1a4ab7eec8a +size 6901221 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b44f16739a483268dd3007288c9bf5113d89721c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d30b4d043a6e41dba5c93d13bd9bcc27a41a215b96d2326fce56b8518074df62 +size 6877189 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59b8ba4d6c77918de09b96c345946149f06550fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4892283edc24166d43cb66eceebec1e5493ba0b5705431db9ad6aae38a5571 +size 4222174 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f730f9fce42b405a7d197eb01201b0ab7811f25d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7c69dabf1c604ee9815c4ba5bf03e6cd4123d213bd282689add1e4d624c473c +size 4432040 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e9c5356dc226d8d3b728fbe7be2a5bf31ee76b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc2f4de5099266fb64915c188844950791ae06c3642689f824813521cac3ab6b +size 5193019 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf428c1fd0710df64eb57159ee855d12eb2d34ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dd622dc9eb51b8a928695513ed9971adbb16a7f01ed0dcb4f4f6cb564aa04d1 +size 4139472 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d2c81a71e6b40bdd605b20f0f68e0eadb0cb9d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bf5578614d3039d031b3386293b3d5f7c786a8b11fca16adff4c38c4c0d527c +size 4192320 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02cceb75f21ba77fd4bc21559d8804fa27d2a7f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a11898ec126506f659315262077430ab97f21e1253b4e1724f55c3b9ff91e02 +size 5543008 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c64e9b2f35ed4dea44d5e0f0badee5880664cb9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eecef54cde1722b34b9c365bfc319bce032d2251e09acd27874044e5063c363f +size 5251573 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b57d299081c9b69e2657a49b7da51bad0bb01f3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c34d7a0cbd1882b78fb5ca2656d892e51a0be73245ce72b866b2b7c105f9efb +size 4525448 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44eb1d77a097f87139b2910de1fa83b0a20586fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fb5d4747cd9b0f5a6ea54a277ed08dab0cddd24446229f9ab7d9af6391041dc +size 4606001 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82ff2431fdb14390183be67f5b50dbe3e4d81a86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40f9fb46b63e963c196ef45df3c50ab931d14deca36991cf0011abaf82517e59 +size 4485762 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d6d85d4e20d2c635c3cc595ee30bafbd463991f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d96df0defd2d2159c95c57a8a67f9dea6334a32389a0cdc94e178ad30ef505f +size 4260717 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92d55a5a716554bbf2f1d5b69bb183c6da5eefa7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d995ebfcd24bd4c06df03597029fb8b06681f573ceb264bab15e37b3b61ccea0 +size 4759171 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b08b1c27c84a1c1f706c5541db04868f9faa9c7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f63ab37f920146605fb7cf207cb0c492f47cb632db9717123e21b7c43ebe3ace +size 5227701 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f02d14a1a177b9d7d93338b50ca7547aa46f9b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7561a0b831c53216737e92664d6ad414d1d7ca4bf9a6ac5001d7359c925dfbf +size 4457638 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9360185c5c738e09076ce953d03e6db39220317a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":917,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":917,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":915,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":915,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":915,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":913,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":910,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":916,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":909,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":914,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":916,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":917,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":920,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":915,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":908,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker a from home. Pour beaker a into the preloaded beaker c and return it upright. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..393224f1b600cbfdb26256d465eb8a4888c60f24 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T17:51:12","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.25589021557347624,-1.4595857391697544,0.71338606911949],"aabb_xy":[[0.23371768859682535,-1.4817614063258775],[0.27806274255012703,-1.4374100720136314]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.6456680279972266,-0.546958163771381,0.71338606911949],"aabb_xy":[[-0.6806680271900447,-0.5579252097690435],[-0.6106680288044082,-0.5359911177737182]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.30294769580334124,1.2506998101597868,0.71338606911949],"aabb_xy":[[-0.3379476940734611,1.2436256824647984],[-0.2679476975332213,1.2577739378547748]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.3147491305551224,-1.049636071231358,0.71338606911949],"aabb_xy":[[-0.3293925361091553,-1.0642947908881422],[-0.30010572500108934,-1.0349773515745737]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.07762334921510983,1.189227170924846,0.71338606911949],"aabb_xy":[[0.02249814358551906,1.1292271694835587],[0.1327485548447006,1.249227172366133]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.5060006098349592,-2.0673837881312966,0.71338606911949],"aabb_xy":[[-0.5284997455611862,-2.0898837889095594],[-0.48350147410873223,-2.044883787353034]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.5809050123583153,-1.7675844615314764,0.71338606911949],"aabb_xy":[[0.5310882328934804,-1.8175844600157798],[0.6307217918231499,-1.717584463047173]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.5945143575713706,-2.2780819107168635,0.71338606911949],"aabb_xy":[[-0.6195143568433329,-2.294427274313026],[-0.5695143582994083,-2.261736547120701]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.04008903004458553,1.0092543626871975,0.71338606911949],"aabb_xy":[[-0.021501729179407285,0.9452543645781506],[0.10167978926857835,1.0732543607962444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.252960432694747,-0.7889599235683546,0.71338606911949],"aabb_xy":[[-0.27053873488369384,-0.8065344131424595],[-0.23538213050580015,-0.7713854339942497]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.3242602154326042,0.5981444411770029,0.71338606911949],"aabb_xy":[[0.31417850835403066,0.5181444432848881],[0.3343419225111776,0.6781444390691174]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.6330392213258554,-2.41124148678287,0.71338606911949],"aabb_xy":[[-0.6740571647122264,-2.4612414874138273],[-0.5920212779394847,-2.3612414861519126]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.11364510420632457,0.0006608078780390159,0.71338606911949],"aabb_xy":[[-0.1614512718200932,-0.06433919482901994],[-0.0658389365925559,0.06566081058509797]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.5416661830656775,1.1095781983882165,0.71338606911949],"aabb_xy":[[0.47166617967411545,1.0742624246847856],[0.6116661864572394,1.1448939720916473]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.07945190971410265,-1.7495635462071064,0.71338606911949],"aabb_xy":[[0.015451913286780763,-1.796733170029203],[0.14345190614142456,-1.7023939223850102]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.3070562327956112,-1.2289905894734023,0.71338606911949],"aabb_xy":[[-0.34083179198630414,-1.2430290846865677],[-0.2732806736049182,-1.2149520942602374]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[0.24701902919320584,-0.6302748151040456,0.71338606911949],"aabb_xy":[[0.23772541095605523,-0.6677748135921795],[0.2563126474303564,-0.5927748166159117]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[0.35800846330574676,-2.2288765615717865,0.71338606911949],"aabb_xy":[[0.31087908430391104,-2.292876562616188],[0.4051378423075824,-2.164876560527384]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.4394091535986857,0.8381039777650847,0.71338606911949],"aabb_xy":[[-0.5094091557301152,0.8153420121393888],[-0.3694091514672561,0.8608659433907802]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.13232229696833187,-0.45496493042076214,0.71338606911949],"aabb_xy":[[-0.16732229686435074,-0.46333916593270214],[-0.097322297072313,-0.44659069490882225]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.618623743796072,1.3898575523194086,0.71338606911949],"aabb_xy":[[0.5586237429352588,1.338431122312922],[0.6786237446568845,1.4412839823258947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697291272039851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9213.png","name":"9213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9213.png","name":"9213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/998.png","name":"998"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4903.png","name":"4903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/750.png","name":"750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4822.png","name":"4822"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.8848209598518,"rotation_z_degrees":338.00608967010936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00038704432733846494,0.004518905140692784,0.007164248223028299]},{"name":"camera_2","offset_m":[-0.011526372760073351,-0.009643028505069587,-0.016870413833584785]},{"name":"camera_3","offset_m":[-0.0035467255377767126,-0.014683561773649063,-0.0010288208015698345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017263170754989341,-0.0006495264087752494,-0.0016293982322215515],"end_effector_yaw_offset_degrees":0.9941289178720232},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0010257386015502803,0.001338926343425952,-0.0007624289801282892],"end_effector_yaw_offset_degrees":0.08370980243067594},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.147576126523432e-05,0.00137277922050704,0.0019455998256950801],"end_effector_yaw_offset_degrees":-0.8344979843456721}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031888026466795156,0.0020665154532625903],"position_m":[0.2754888026466795,0.2038665154532626,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017383741826536092,-0.0014050728684637638],"position_m":[0.2467616258173464,-0.13930507286846375,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004526298059072083,-0.0016194575468939164],"position_m":[0.35832629805907207,-0.0068194575468939166,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014646415729050667,-0.004483893663358074],"position_m":[0.12613535842709492,0.4146161063366419,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00025850968297703135,-0.004373791150522475],"position_m":[0.20495850968297702,-0.4119737911505225,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2058fc96aae181c8cf1eaf84b986679db17bbd36d9feef68d790f196959e2775","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9213/tex_ceiling_textures_4822/tex_floor_textures_750/tex_table_textures_998/tex_wall_textures_4903","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6541845389901779432,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6541845389901779432,"visual_seed":6541845389901779432,"scene_id":"lab_003","finished_at":"2026-09-03T17:54:03"} +{"episode_id":"ep_000001","started_at":"2026-09-03T17:54:07","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.24416424136433496,1.4083133665921674,0.71338606911949],"aabb_xy":[[-0.30816424053410485,1.361546679473205],[-0.180164242194565,1.45508005371113]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.2778055403740187,-0.7020938436824868,0.71338606911949],"aabb_xy":[[-0.31530554188965043,-0.7133206166986319],[-0.240305538858387,-0.6908670706663418]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.5552617587965794,-2.056567993700183,0.71338606911949],"aabb_xy":[[0.5480005112261719,-2.0693550039636923],[0.5625230063669868,-2.0437809834366734]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.212322461052535,-2.1352049628733925,0.71338606911949],"aabb_xy":[[-0.25731504777098535,-2.180204962147841],[-0.16732987433408456,-2.0902049635989437]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.10191184052550151,-1.0221177715735206,0.71338606911949],"aabb_xy":[[-0.19159891683361696,-1.1121177718279711],[-0.012224764217386053,-0.93211777131907]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.20991406902570298,-0.7233226475586116,0.71338606911949],"aabb_xy":[[0.19646754239165964,-0.7367924992117029],[0.2233605956597463,-0.7098527959055204]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.2637030434986851,1.0437411424055312,0.71338606911949],"aabb_xy":[[0.22245423246877036,0.9887411428933136],[0.3049518545285998,1.0987411419177484]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.6793355451799326,1.5361526174399036,0.71338606911949],"aabb_xy":[[0.6664636416789924,1.4561526170260675],[0.6922074486808727,1.6161526178537398]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.4980696661949071,-0.9140964694144347,0.71338606911949],"aabb_xy":[[0.46056966540291167,-0.9204643103726247],[0.5355696669869026,-0.9077286284562445]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.3280024589000652,-1.6507052067490446,0.71338606911949],"aabb_xy":[[0.27300245927831934,-1.7056888995365174],[0.38300245852181103,-1.595721513961572]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.5109166683106166,0.1688024011093212,0.71338606911949],"aabb_xy":[[-0.5345017917745114,0.1038023988638894],[-0.4873315448467217,0.23380240335475297]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.31271481415621816,0.8969428098607395,0.71338606911949],"aabb_xy":[[0.24771481559914532,0.8671902764468569],[0.377714812713291,0.9266953432746221]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.34681060299501437,-0.3703912033479546,0.71338606911949],"aabb_xy":[[-0.4268106044251415,-0.4499083583605641],[-0.2668106015648871,-0.29087404833534514]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.19568383832280023,0.34814633599678846,0.71338606911949],"aabb_xy":[[-0.27568383697968624,0.3336414770725256],[-0.11568383966591422,0.3626511949210512]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.4487575981240999,-2.1276649133836654,0.71338606911949],"aabb_xy":[[0.44076410832881796,-2.135663045324141],[0.456751087919382,-2.1196667814431898]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.005919896966498528,-0.7293975209195613,0.71338606911949],"aabb_xy":[[-0.015213515203649108,-0.7668975194076952],[0.0033737212706520534,-0.6918975224314274]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.5347949909497978,-0.7698149621170711,0.71338606911949],"aabb_xy":[[-0.571589624074704,-0.8067208372136534],[-0.4980003578248915,-0.7329090870204888]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.25975489989727735,0.6270144274344296,0.71338606911949],"aabb_xy":[[-0.2709999554678952,0.6157726297103342],[-0.2485098443266595,0.6382562251585248]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.1456450236161374,-1.4711452185068437,0.71338606911949],"aabb_xy":[[-0.1536390121938408,-1.4791452986019338],[-0.137651035038434,-1.463145138411753]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.3413246888354705,0.493982487350749,0.71338606911949],"aabb_xy":[[-0.37131635156934084,0.46398248801394837],[-0.3113330261016002,0.5239824866875494]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.4527768456656118,0.5328056874521869,0.71338606911949],"aabb_xy":[[-0.477776844831245,0.5258534417468302],[-0.42777684649997877,0.5397579331575434]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.4900680685040828,-0.6422158952081889,0.71338606911949],"aabb_xy":[[0.45357224787680406,-0.6786998376349463],[0.5265638891313615,-0.6057319527814312]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.5692446333146006,0.78311579326959,0.71338606911949],"aabb_xy":[[0.5467446333044523,0.7690195736299866],[0.5917446333247489,0.7972120129091932]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.11023212523140868,-2.0754142018854047,0.71338606911949],"aabb_xy":[[0.08771843340795149,-2.145414202486412],[0.13274581705486588,-2.0054142012843967]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.3856378494306802,-1.3539361487451553,0.71338606911949],"aabb_xy":[[-0.42010019682882194,-1.3884300311429776],[-0.35117550203253833,-1.3194422663473322]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.11896829623422533,1.674147940093214,0.71338606911949],"aabb_xy":[[0.10380542325728827,1.6589824827980955],[0.13413116921116242,1.689313397388333]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640394674616065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7705.png","name":"7705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3186.png","name":"3186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5362.png","name":"5362"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9771.png","name":"9771"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":570.7838877813149,"rotation_z_degrees":286.78898690015325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017244732875350412,-0.011293621773672102,-0.003468966700110619]},{"name":"camera_2","offset_m":[-0.0018260555472058432,-0.015194062149752038,0.004957836875484331]},{"name":"camera_3","offset_m":[-0.0011836501962830294,-0.009966911717066896,0.00837375741798874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011627870444360542,0.00032374540944075415,0.0012202566256885338],"end_effector_yaw_offset_degrees":0.3898952527716364},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009495882770102387,-0.000346834295851937,-0.0005732729163663156],"end_effector_yaw_offset_degrees":0.8523061248949308},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007472437726899739,-0.0011133427244577271,0.0011066259621300128],"end_effector_yaw_offset_degrees":0.057212135340535486}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025503056781180367,0.0019879060402021465],"position_m":[0.274850305678118,0.20378790604020217,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002042905666772523,-0.00374369883090847],"position_m":[0.2505429056667725,-0.14164369883090847,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001847371807296148,0.0018794275427119226],"position_m":[0.35564737180729616,-0.003320572457288077,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004574067513396923,-0.0011872384735991028],"position_m":[0.12302593248660307,0.4179127615264009,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025241380402734326,0.0013184906979921175],"position_m":[0.20217586195972656,-0.4062815093020079,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6cd79c9a15507755632653e556946b25725ac7b4ae23fcb51c9b7978fb67c371","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8216/tex_ceiling_textures_9771/tex_floor_textures_5362/tex_table_textures_7705/tex_wall_textures_3186","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1937093077599481586,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1937093077599481586,"visual_seed":1937093077599481586,"scene_id":"lab_003","finished_at":"2026-09-03T17:57:19"} +{"episode_id":"ep_000002","started_at":"2026-09-03T17:57:23","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.5647535555289558,-2.260860485254444,0.71338606911949],"aabb_xy":[[0.5592956098919357,-2.340860488562103],[0.5702115011659759,-2.1808604819467847]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.6522476144987885,-2.5584979884543286,0.71338606911949],"aabb_xy":[[0.6147476146817549,-2.5631361997654705],[0.689747614315822,-2.553859777143187]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.10693864489543414,1.2176527067383445,0.71338606911949],"aabb_xy":[[0.0982406826047189,1.2055277324308697],[0.11563660718614947,1.2297776810458192]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.34288833460255175,-1.7095116506098353,0.71338606911949],"aabb_xy":[[0.3124902235034081,-1.7399185526115046],[0.3732864457016953,-1.6791047486081656]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[-0.22474704629166864,-1.9890553499460246,0.71338606911949],"aabb_xy":[[-0.2847470467995215,-2.0459020836319457],[-0.1647470457838157,-1.9322086162601035]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.46245407234063274,-1.3107432597624304,0.71338606911949],"aabb_xy":[[0.40245407174461656,-1.365555732307654],[0.5224540729366489,-1.255930787217207]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.1366645951692944,0.4387294045230514,0.71338606911949],"aabb_xy":[[-0.18614501638325323,0.3747294066101996],[-0.08718417395533565,0.5027294024359032]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.014714790985706272,-1.6111327620806248,0.71338606911949],"aabb_xy":[[-0.05689920514653701,-1.6751327623578363],[0.02746962317512447,-1.5471327618034139]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.09286985247584922,0.7660949482914714,0.71338606911949],"aabb_xy":[[0.022869849084287238,0.7307791745880404],[0.16286985586741118,0.8014107219949022]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.44088837268577663,-0.4920962496229331,0.71338606911949],"aabb_xy":[[0.3758883715798334,-0.5170616226910614],[0.5058883737917199,-0.4671308765548048]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.17426182618742891,-0.8794871722154234,0.71338606911949],"aabb_xy":[[-0.18188609427760719,-0.8871203957519672],[-0.1666375580972507,-0.8718539486788798]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.6121946890119957,-0.6430450299305426,0.71338606911949],"aabb_xy":[[-0.6162728469190455,-0.6471260101788058],[-0.6081165311049459,-0.6389640496822792]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.27568169260423714,-0.10585665272822986,0.71338606911949],"aabb_xy":[[-0.29859740548928704,-0.12876094986465336],[-0.25276597971918724,-0.08295235559180636]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.36865791063408204,1.561915108195374,0.71338606911949],"aabb_xy":[[-0.45865790713495375,1.5160034657769157],[-0.2786579141332102,1.6078267506138322]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.08855316483601328,-0.30611754777717737,0.71338606911949],"aabb_xy":[[-0.14354541547152422,-0.36111754952049013],[-0.03356091420050233,-0.2511175460338646]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.4210804266165057,-1.3963893153198061,0.71338606911949],"aabb_xy":[[-0.4555427740146474,-1.4308831977176286],[-0.3866180792183638,-1.3618954329219832]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.5590759680996557,-1.1335906721187052,0.71338606911949],"aabb_xy":[[-0.6390759667565417,-1.148095531042968],[-0.47907596944276964,-1.1190858131944426]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.21867194308047955,1.2215867651038934,0.71338606911949],"aabb_xy":[[0.19676326094112848,1.1996860982838027],[0.24058062521983056,1.2434874319239841]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.3720311282829012,1.2306556297585334,0.71338606911949],"aabb_xy":[[0.3080311275794319,1.1846372472856121],[0.43603112898637064,1.2766740122314542]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.567313407698455,0.8548842177887441,0.71338606911949],"aabb_xy":[[0.4873134107354158,0.7778085761449706],[0.6473134046614941,0.9319598594325175]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.18497377568144735,0.6675440713096137,0.71338606911949],"aabb_xy":[[-0.2027672826163638,0.649744325713816],[-0.1671802687465309,0.6853438169054114]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.43242939313874823,-0.2699427415928284,0.71338606911949],"aabb_xy":[[-0.43634326633417075,-0.27869175699938514],[-0.4285155199433257,-0.2611937261862716]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.01581274563383106,-1.8260782589321192,0.71338606911949],"aabb_xy":[[-0.00424566597940923,-1.8461433458412768],[0.03587115724707135,-1.806013172022962]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.5190943528807725,-0.9055523158770942,0.71338606911949],"aabb_xy":[[-0.6087814291888881,-0.9955523161315449],[-0.4294072765726572,-0.8155523156226439]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.6954425978810581,0.6351567972190622,0.71338606911949],"aabb_xy":[[0.679886828470793,0.619606363974655],[0.7109983672913235,0.6507072304634693]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[0.16317115987109232,1.487475749528477,0.71338606911949],"aabb_xy":[[0.13817116070545918,1.4805235038231204],[0.1881711590367254,1.4944279952338335]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[0.38910927860828237,-2.4064068560976133,0.71338606911949],"aabb_xy":[[0.35464680059519466,-2.4130705332805356],[0.4235717566213702,-2.39974317891469]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[0.48280006919089735,1.5077556684896432,0.71338606911949],"aabb_xy":[[0.4453000692471309,1.4994625784548066],[0.5203000691346638,1.5160487585244797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634101522358046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1301.png","name":"1301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1365.png","name":"1365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2512.png","name":"2512"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":754.2784654749782,"rotation_z_degrees":233.71567380794087,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00027722344262406245,0.013839916065758299,0.00427356599229483]},{"name":"camera_2","offset_m":[0.019508388608603603,0.009150856459972621,-0.015523878279351231]},{"name":"camera_3","offset_m":[0.014810965345232654,-0.018563176459441548,-0.018653521205486908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005903227791680863,-0.0005834518114115298,0.0002895076787725235],"end_effector_yaw_offset_degrees":0.5810985855398554},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00019340914482984177,0.0016083359881164665,-0.0013331059568757837],"end_effector_yaw_offset_degrees":0.5581679711904086},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019452643736027593,-0.0007821904502693124,-0.0013780959006715427],"end_effector_yaw_offset_degrees":0.3499036331196146}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00036282878016569587,-0.0019835997141436357],"position_m":[0.2726628287801657,0.19981640028585637,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004185046815350031,0.0017591487791012404],"position_m":[0.24431495318464996,-0.13614085122089875,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00027229478663929035,0.002747931316865653],"position_m":[0.3540722947866393,-0.002452068683134347,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004545519657726003,-0.0024180794219476423],"position_m":[0.132145519657726,0.4166819205780523,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010787168248058195,0.004228149526077586],"position_m":[0.20362128317519418,-0.40337185047392243,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01e37e2c4d8eb4fc1f6e0f1ad09d3baa1619ec0168a659589a8f96e6664a639b","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2015/tex_ceiling_textures_5766/tex_floor_textures_2512/tex_table_textures_1301/tex_wall_textures_1365","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":742614855189454350,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":742614855189454350,"visual_seed":742614855189454350,"scene_id":"lab_003","finished_at":"2026-09-03T18:00:27"} +{"episode_id":"ep_000003","started_at":"2026-09-03T18:00:30","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.0035288356114207,-1.3078958362809892,0.71338606911949],"aabb_xy":[[-0.05852883381316553,-1.3484178029074267],[0.05147116259032413,-1.2673738696545516]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.15903432175277166,-0.9093358883974929,0.71338606911949],"aabb_xy":[[0.12153432140454387,-0.9211272839785763],[0.1965343221009994,-0.8975444928164092]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.07732060991753908,-1.194012305060434,0.71338606911949],"aabb_xy":[[-0.15732060789832414,-1.2016138460222858],[0.0026793880632459545,-1.186410764098582]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.291975571952877,-0.5241525163602088,0.71338606911949],"aabb_xy":[[-0.3419704048808186,-0.5741525152554524],[-0.2419807390249354,-0.47415251746496534]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.5156597888181857,0.4513401819598588,0.71338606911949],"aabb_xy":[[0.49798415822958736,0.43365996568045606],[0.533335419406784,0.46902039823926156]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.6190950408364444,-2.3567816305876823,0.71338606911949],"aabb_xy":[[0.5992040009561042,-2.369437441872379],[0.6389860807167846,-2.3441258193029855]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.17310113372615388,1.3083988174235088,0.71338606911949],"aabb_xy":[[0.11310113347475267,1.2541174923870442],[0.23310113397755503,1.3626801424599735]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.15513675291587936,0.6615461699633158,0.71338606911949],"aabb_xy":[[0.09113674969724148,0.6148230580643076],[0.2191367561345172,0.7082692818623243]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.2900265071372,1.6581837796285783,0.71338606911949],"aabb_xy":[[0.28122445182822725,1.650372453473649],[0.2988285624461727,1.6659951057835072]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.4979771638820476,-2.1366079571867322,0.71338606911949],"aabb_xy":[[0.4891959367348115,-2.145387704475263],[0.506758391029284,-2.1278282098982024]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.5910071889994135,-1.942174651548483,0.71338606911949],"aabb_xy":[[0.5721228052309033,-1.9610605763288362],[0.6098915727679237,-1.9232887267681307]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.4878345787888383,1.367692578754133,0.71338606911949],"aabb_xy":[[0.4503345786832453,1.3608704169011516],[0.5253345788944311,1.3745147406071139]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.02309960171142622,-1.6323289811434574,0.71338606911949],"aabb_xy":[[-0.10809960040350086,-1.6643148445383362],[0.06190039698064842,-1.6003431177485785]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.4182501153030782,-2.468685932852669,0.71338606911949],"aabb_xy":[[-0.4532501136137736,-2.476400947776215],[-0.3832501169923827,-2.4609709179291235]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.008847689948077053,-2.1694669542177505,0.71338606911949],"aabb_xy":[[-0.013651445778149918,-2.1919669549960137],[0.031346825674304024,-2.1469669534394873]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.07077389240028809,-0.7863545420354208,0.71338606911949],"aabb_xy":[[-0.08337659153736456,-0.7989499382602863],[-0.05817119326321164,-0.7737591458105553]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.6542697958047994,0.9807167922102198,0.71338606911949],"aabb_xy":[[0.6002541995228993,0.9167167893179624],[0.7082853920866993,1.0447167951024767]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[0.018771521836372207,-2.017135029758439,0.71338606911949],"aabb_xy":[[0.007409787183086044,-2.028503496164727],[0.030133256489658363,-2.005766563352151]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.2885189855759307,-1.7682988250179759,0.71338606911949],"aabb_xy":[[0.26601898506389005,-1.790790683383374],[0.31101898608797124,-1.7458069666525773]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.00017900178369101294,-1.0432684029148245,0.71338606911949],"aabb_xy":[[-0.049794292219569436,-1.0932684034693718],[0.05015229578695146,-0.9932684023602771]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.6217803076301757,1.0341390347963038,0.71338606911949],"aabb_xy":[[-0.6867803102679692,0.9826594360968568],[-0.5567803049923822,1.0856186334957507]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.397682548408653,-0.648410100170393,0.71338606911949],"aabb_xy":[[0.38684207018213806,-0.6655963814610417],[0.4085230266351679,-0.6312238188797441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642409824353291,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2971.png","name":"2971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2971.png","name":"2971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7375.png","name":"7375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1132.png","name":"1132"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2492.png","name":"2492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9070.png","name":"9070"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":545.1260532356994,"rotation_z_degrees":144.9903622213983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00623444955764902,0.0016869680426498425,-0.006091796536947034]},{"name":"camera_2","offset_m":[-0.01903329374496362,0.006683300613987125,0.006416752131898719]},{"name":"camera_3","offset_m":[0.018946030675761682,0.002644853752016108,-0.009091881717082622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008389239588249841,0.000998640725653511,0.0018493634985232805],"end_effector_yaw_offset_degrees":-0.8821467784563828},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007393547532584181,0.00016053192164522606,-0.0015780593907904277],"end_effector_yaw_offset_degrees":0.10345562755306381},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015251263361363114,-0.0016016382486587308,0.001662004130506585],"end_effector_yaw_offset_degrees":0.7874321606002761}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003473049919437439,-0.003594641632424037],"position_m":[0.2757730499194374,0.19820535836757597,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0047751356198734,3.0113995377325717e-06],"position_m":[0.2437248643801266,-0.13789698860046226,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0001248682905096608,0.0026578346908033646],"position_m":[0.35367513170949033,-0.002542165309196635,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002534623675648362,-0.0022435580424001833],"position_m":[0.12506537632435163,0.4168564419575998,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004633465597662921,-0.0017209550249416817],"position_m":[0.20006653440233707,-0.4093209550249417,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"852065f591acd556b9f8cd241c83ac8e2207eeb318e5c1932ebf6c5a30682737","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2971/tex_ceiling_textures_9070/tex_floor_textures_2492/tex_table_textures_7375/tex_wall_textures_1132","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2072750376484627020,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2072750376484627020,"visual_seed":2072750376484627020,"scene_id":"lab_003","finished_at":"2026-09-03T18:03:31"} +{"episode_id":"ep_000004","started_at":"2026-09-03T18:03:35","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.0994313030811319,-1.5039613364443964,0.71338606911949],"aabb_xy":[[0.0715862663005248,-1.5347458351827081],[0.12727633986173903,-1.4731768377060848]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.05314515596562164,-1.4691604751768208,0.71338606911949],"aabb_xy":[[-0.13314515739574884,-1.54867763018943],[0.02685484546450556,-1.389643320164211]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[-0.272281995835008,-2.4845044862402883,0.71338606911949],"aabb_xy":[[-0.3222819971188479,-2.53448334063091],[-0.222281994551168,-2.4345256318496657]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.5785212597387943,-0.44635805174880927,0.71338606911949],"aabb_xy":[[0.548529597004924,-0.47635805108560975],[0.6085129224726646,-0.4163580524120087]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.18267277944949967,1.2105770567080305,0.71338606911949],"aabb_xy":[[-0.2325554763271959,1.1605770574617558],[-0.13279008257180347,1.2605770559543052]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.4008239365689528,-0.21319732299038074,0.71338606911949],"aabb_xy":[[-0.42088234818219306,-0.23326240989953828],[-0.3807655249557125,-0.1931322360812232]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.3995799725250965,0.2758271025296293,0.71338606911949],"aabb_xy":[[-0.4370799709484968,0.2626628885617986],[-0.3620799741016961,0.28899131649745985]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.10878823317427411,-2.1130686603107973,0.71338606911949],"aabb_xy":[[-0.11756946032151035,-2.121848407599328],[-0.1000070060270379,-2.1042889130222675]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.2000816655542988,-1.5130105511663252,0.71338606911949],"aabb_xy":[[-0.21751238063330527,-1.530282665830176],[-0.18265095047529226,-1.4957384365024744]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.6360972154409598,0.8775596761670434,0.71338606911949],"aabb_xy":[[-0.6910709374772926,0.8225596766028103],[-0.5811234934046269,0.9325596757312766]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.10080724701055221,0.8676533437440415,0.71338606911949],"aabb_xy":[[0.02080724999630422,0.8475187920706303],[0.1808072440248002,0.8877878954174528]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.3449864577528179,1.6229061660929252,0.71338606911949],"aabb_xy":[[0.28098646046716924,1.5813994471400812],[0.40898645503846653,1.6644128850457691]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.25475664073639465,-0.3975399754174753,0.71338606911949],"aabb_xy":[[-0.2699195137133317,-0.41270543271259413],[-0.23959376775945757,-0.3823745181223566]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.3468644358763521,0.9528918379597857,0.71338606911949],"aabb_xy":[[-0.38436443598194503,0.9460696761068045],[-0.3093644357707591,0.9597139998127667]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.09898105711897132,0.8557174442697915,0.71338606911949],"aabb_xy":[[-0.1639810580760985,0.8037692323360859],[-0.033981056161844096,0.907665656203497]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.12785701670208338,-0.0530134427121185,0.71338606911949],"aabb_xy":[[-0.17785701806297058,-0.10299134728753412],[-0.07785701534119614,-0.003035538136702889]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.5132885669162439,1.6191626306258606,0.71338606911949],"aabb_xy":[[0.5071939390281256,1.6105932360741917],[0.5193831948043622,1.6277320251775291]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.37202641812170234,-0.9903483670587054,0.71338606911949],"aabb_xy":[[0.3614589384636033,-1.000893397171714],[0.3825938977798013,-0.9798033369456969]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.4020577662924268,1.0943101707859566,0.71338606911949],"aabb_xy":[[-0.41005175487013007,1.086310090690866],[-0.3940637777147233,1.1023102508810467]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.49375551679507923,-0.5659928818726807,0.71338606911949],"aabb_xy":[[-0.5350600598588152,-0.6299928814407978],[-0.45245097373134324,-0.5019928823045636]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.617163227898907,0.8459227226921757,0.71338606911949],"aabb_xy":[[0.59966322862082,0.8285846226258297],[0.6346632271769937,0.8632608227585216]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.554593954409194,-0.7718820894059921,0.71338606911949],"aabb_xy":[[0.46459395468601977,-0.7949554419411717],[0.6445939541323681,-0.7488087368708121]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4131854614585064,0.5420580053503405,0.71338606911949],"aabb_xy":[[-0.4681786727956432,0.48705800501154695],[-0.3581922501213696,0.5970580056891341]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.45366944018568983,-1.4200987439649289,0.71338606911949],"aabb_xy":[[-0.5036694397620246,-1.4700793229170348],[-0.4036694406093552,-1.370118165012823]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.489562733638783,0.7445279172242398,0.71338606911949],"aabb_xy":[[-0.5251918895387426,0.708895250467387],[-0.45393357773882315,0.7801605839810929]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.0798836487899377,-0.9850665302871429,0.71338606911949],"aabb_xy":[[0.02988364842937163,-1.0350465174967458],[0.12988364915050374,-0.9350865430775399]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.3625953424905509,-1.8920813053294658,0.71338606911949],"aabb_xy":[[-0.374528076852379,-1.9044634581373252],[-0.35066260812872285,-1.8796991525216065]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.5308734967680481,-1.7503103417544539,0.71338606911949],"aabb_xy":[[-0.5858734963897939,-1.8052940345419266],[-0.4758734971463022,-1.6953266489669812]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[-0.2471358978597587,0.27214097979804297,0.71338606911949],"aabb_xy":[[-0.2572176049383322,0.19214098190592827],[-0.23705419078118523,0.35214097769015756]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.347807827907405,-0.8603542967279549,0.71338606911949],"aabb_xy":[[-0.36336359731767026,-0.8759047299723624],[-0.33225205849713974,-0.844803863483548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664544188535566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9085.png","name":"9085"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9085.png","name":"9085"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8058.png","name":"8058"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":547.3996948525531,"rotation_z_degrees":169.23950845471234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009061657439801803,-0.0006016779537276161,-0.018336351536759336]},{"name":"camera_2","offset_m":[0.010878555290924328,0.002245201644009317,-0.019854779165557623]},{"name":"camera_3","offset_m":[0.01796974163615649,-0.008859029390312743,0.0027185103913898202]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007228551095039915,-0.0006966670257692056,0.0002839987324038786],"end_effector_yaw_offset_degrees":0.4759343418861457},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015697278559791321,-0.0012359102199995665,-0.0005541742506564712],"end_effector_yaw_offset_degrees":0.11698012877343822},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016309224261436795,0.0016465683433756055,-0.0018593969896531699],"end_effector_yaw_offset_degrees":0.89189585125552}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009507600186541574,-0.002091533477099198],"position_m":[0.27325076001865417,0.1997084665229008,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005136924415238761,0.0011415718515839631],"position_m":[0.24901369244152388,-0.13675842814841604,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001807946971152283,-0.0005337253885524208],"position_m":[0.3556079469711523,-0.0057337253885524206,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022681295728014554,0.0024172938084037632],"position_m":[0.12986812957280144,0.42151729380840375,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013548365452970808,0.002398907263614961],"position_m":[0.20605483654529708,-0.40520109273638505,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b8ddcc4a88cf7ba978cc887e0d28e1fb2954beec00d8a7ca470c3bf62977475","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9085/tex_ceiling_textures_3466/tex_floor_textures_8058/tex_table_textures_394/tex_wall_textures_9773","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":9107431223255010422,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":9107431223255010422,"visual_seed":9107431223255010422,"scene_id":"lab_003","finished_at":"2026-09-03T18:07:00"} +{"episode_id":"ep_000005","started_at":"2026-09-03T18:07:03","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.46086027883233704,0.8274663935422111,0.71338606911949],"aabb_xy":[[-0.47002015777621364,0.8209351754986739],[-0.45170039988846045,0.833997611585748]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.45850313804813886,-1.323989933968668,0.71338606911949],"aabb_xy":[[-0.4672171070980732,-1.3464899346278558],[-0.4497891689982042,-1.3014899333094794]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.6760006675779973,-0.7664584636109073,0.71338606911949],"aabb_xy":[[0.645516417450967,-0.8164584633924032],[0.7064849177050273,-0.7164584638294114]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.12749883583451294,0.7650765598244162,0.71338606911949],"aabb_xy":[[-0.18249204717164969,0.7100765594856225],[-0.07250562449737617,0.8200765601632098]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.5482078460280464,1.63139861792274,0.71338606911949],"aabb_xy":[[0.5107078458561745,1.5986978825398326],[0.5857078461999183,1.664099353305647]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.5913841564288148,-2.018126628970645,0.71338606911949],"aabb_xy":[[-0.6008016309986777,-2.027542806108364],[-0.5819666818589522,-2.008710451832926]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.6938864612789939,-0.9417110211517743,0.71338606911949],"aabb_xy":[[0.6804399346449506,-0.9551808728048655],[0.7073329879130372,-0.9282411694986831]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.016798279822986317,1.0763477188211819,0.71338606911949],"aabb_xy":[[-0.04720171657258676,1.0123844304024483],[0.0807982762185594,1.1403110072399154]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.137871526045782,-0.631704241750614,0.71338606911949],"aabb_xy":[[-0.15393345350429966,-0.7167042435632057],[-0.12180959858726438,-0.5467042399380221]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.38759926648940873,0.06246274546470021,0.71338606911949],"aabb_xy":[[-0.41282010334924835,0.03723899461181346],[-0.362378429629569,0.08768649631758696]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.34904881483488714,0.16758881429427763,0.71338606911949],"aabb_xy":[[-0.3865488151270619,0.163547338893674],[-0.31154881454271227,0.1716302896948812]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.25241967020958295,-0.1925444714978375,0.71338606911949],"aabb_xy":[[-0.3324196734735961,-0.2061045038067508],[-0.17241966694556982,-0.17898443918892412]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6040501145510546,1.3166004885888798,0.71338606911949],"aabb_xy":[[0.5665501161276542,1.3034362746210488],[0.6415501129744549,1.3297647025567103]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.3829092247260508,1.772904960231093,0.71338606911949],"aabb_xy":[[0.36040922471590253,1.7588087405914896],[0.4054092247361991,1.7870011798706962]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.03184396058697614,1.256596311647967,0.71338606911949],"aabb_xy":[[-0.0006177402949513257,1.2264634795330642],[0.06430566146890357,1.2867291437628694]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.5574453408882656,0.3160847633896142,0.71338606911949],"aabb_xy":[[0.5024453426865207,0.27556279676317663],[0.6124453390900104,0.3566067300160518]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.5402413597057187,-0.5839055210111015,0.71338606911949],"aabb_xy":[[0.4552413612882955,-0.6687798164733866],[0.625241358123142,-0.4990312255488166]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.47869625753546474,-1.161504537965951,0.71338606911949],"aabb_xy":[[0.39869626037588934,-1.173052138923768],[0.5586962546950399,-1.149956937008134]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.6266492345166519,-1.4369169712899081,0.71338606911949],"aabb_xy":[[0.6211912888796318,-1.516916974597567],[0.632107180153672,-1.3569169679822488]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.3498957921505946,0.9384979281417967,0.71338606911949],"aabb_xy":[[-0.43989579156896547,0.9051224312976068],[-0.2598957927322237,0.9718734249859863]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.4479628152280761,0.5471114165503228,0.71338606911949],"aabb_xy":[[-0.4940479064828076,0.48311141929776774],[-0.40187772397334465,0.6111114138028779]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.656889226378589,0.9908156714160605,0.71338606911949],"aabb_xy":[[0.6018892267568432,0.9358319786285879],[0.7118892260003349,1.0457993642035333]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5024112834926877,-0.3607228013596382,0.71338606911949],"aabb_xy":[[0.43241128085610137,-0.38082766635550364],[0.572411286129274,-0.34061793636377263]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.491353863916542,0.7323275971962047,0.71338606911949],"aabb_xy":[[0.4113600403379838,0.6523275946033632],[0.5713476874951002,0.8123275997890463]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.015639378147386918,-1.3116669235327387,0.71338606911949],"aabb_xy":[[-0.10532645445550237,-1.401666923787189],[0.07404769816072854,-1.221666923278288]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.5911558696584589,-0.17073299573874534,0.71338606911949],"aabb_xy":[[0.5648670453380182,-0.19700442939339655],[0.6174446939788996,-0.14446156208409408]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.5223657933704906,-2.1644594175322,0.71338606911949],"aabb_xy":[[0.4623657935239238,-2.2212780397252385],[0.5823657932170574,-2.107640795339161]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[-0.1514959871242123,-0.39178860228551526,0.71338606911949],"aabb_xy":[[-0.1594192673629606,-0.41428860252351857],[-0.14357270688546395,-0.36928860204751185]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[-0.3279416933317984,-0.827737978749179,0.71338606911949],"aabb_xy":[[-0.36919050436171313,-0.8827379782613963],[-0.28669288230188367,-0.7727379792369614]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[-0.5476507821913223,0.19164442168253348,0.71338606911949],"aabb_xy":[[-0.5701472036251864,0.16914442187578607],[-0.5251543607574582,0.21414442148928095]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_30","position":[0.39291574978803245,0.5249808473371029,0.71338606911949],"aabb_xy":[[0.38488947915740646,0.5162293523597503],[0.40094202041865845,0.5337323423144555]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_31","position":[0.6490288890180196,-1.1768331675938077,0.71338606911949],"aabb_xy":[[0.642991876017355,-1.1828598686627563],[0.6550659020186844,-1.1708064665248596]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_32","position":[0.30551347471072265,-2.2414620338715068,0.71338606911949],"aabb_xy":[[0.255416010729649,-2.305462034381318],[0.3556109386917962,-2.1774620333616945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623416314088931,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6722.png","name":"6722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6722.png","name":"6722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/468.png","name":"468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3543.png","name":"3543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1790.png","name":"1790"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6129.png","name":"6129"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":750.1051587107647,"rotation_z_degrees":6.536298663374205,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014252635754835024,-0.01759092174134358,-5.3637727600360646e-05]},{"name":"camera_2","offset_m":[-0.013059824553825893,-0.007488365624489962,0.013317399150604852]},{"name":"camera_3","offset_m":[0.015122012255406572,0.015592883304921968,-0.0068928567186953334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004914139991842488,-0.001883102383899618,-0.00037799089802571556],"end_effector_yaw_offset_degrees":0.3355220132856578},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000730461062533502,0.0003896647567968826,0.0019085751554785502],"end_effector_yaw_offset_degrees":-0.8886207651845042},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001291562892639567,-0.0008027237488833095,-0.0012647255107332814],"end_effector_yaw_offset_degrees":-0.04349134087911932}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016815915442225191,-0.0034543928624675667],"position_m":[0.2739815915442225,0.19834560713753244,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001953301852426065,0.0024617130815406474],"position_m":[0.2504533018524261,-0.13543828691845936,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0033663909088739894,0.003573590011109725],"position_m":[0.357166390908874,-0.0016264099888902749,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.0490385735880534e-05,0.0009465442069221232],"position_m":[0.12764049038573588,0.4200465442069221,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002163084510431831,0.004569817683264387],"position_m":[0.20253691548956818,-0.40303018231673565,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"903a862759ed092f9e622efd1d9f39cbd75fad9c0c2524711c5d45cd3bacf06e","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6722/tex_ceiling_textures_6129/tex_floor_textures_1790/tex_table_textures_468/tex_wall_textures_3543","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":276575345576539532,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":276575345576539532,"visual_seed":276575345576539532,"scene_id":"lab_003","finished_at":"2026-09-03T18:09:57"} +{"episode_id":"ep_000006","started_at":"2026-09-03T18:10:00","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.1198118342352481,1.3975627640130117,0.71338606911949],"aabb_xy":[[0.0973118339917327,1.3853581293532395],[0.1423118344787635,1.4097673986727834]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.2743392854803912,1.6844624101476113,0.71338606911949],"aabb_xy":[[0.21934607414325447,1.6294624098088182],[0.32933249681752796,1.7394624104864054]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.006440341481027012,-1.6910723577959867,0.71338606911949],"aabb_xy":[[-0.019067128768223363,-1.7006184314975594],[0.006186445806169339,-1.6815262840944136]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.09690456462888308,1.6516669523129424,0.71338606911949],"aabb_xy":[[-0.1344045661445148,1.6404401792967973],[-0.059404563113251374,1.6628937253290874]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.6896493797315643,-2.05381666930607,0.71338606911949],"aabb_xy":[[-0.6937653298436369,-2.057932224338915],[-0.6855334296194916,-2.049701114273224]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.15966619618330957,-1.137796741283568,0.71338606911949],"aabb_xy":[[0.11186002856954091,-1.2027967439906269],[0.2074723637970782,-1.072796738576509]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.12698550315295587,1.2702141135034464,0.71338606911949],"aabb_xy":[[-0.13094598692269024,1.2625462489179258],[-0.1230250193832215,1.277881978088967]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5920936354749328,-1.1658407259423653,0.71338606911949],"aabb_xy":[[-0.6008748626221689,-1.1746204732308956],[-0.5833124083276966,-1.1570609786538355]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.4071900759894366,0.04590273638119502,0.71338606911949],"aabb_xy":[[-0.4711900776674339,-0.0026146550981192007],[-0.3431900743114392,0.09442012786050924]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.06692196793082383,-2.110556729617545,0.71338606911949],"aabb_xy":[[-0.13192196888795105,-2.16250494155125],[-0.0019219669736966342,-2.058608517683839]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.16423221642066088,0.6340465528593007,0.71338606911949],"aabb_xy":[[0.15345924249929307,0.5990465546402617],[0.17500519034202863,0.6690465510783397]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.4644731952225368,-2.4003530815930296,0.71338606911949],"aabb_xy":[[-0.47624138201719446,-2.4853530814982516],[-0.4527050084278794,-2.3153530816878085]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[0.2736772665523378,-0.6970045392298831,0.71338606911949],"aabb_xy":[[0.2086772683964187,-0.7233007837797953],[0.3386772647082568,-0.670708294679971]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.4686299674817953,-2.3961477904917614,0.71338606911949],"aabb_xy":[[0.4136299683052057,-2.451137465266719],[0.5236299666583847,-2.3411581157168038]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.4595933212855643,-2.095910686222603,0.71338606911949],"aabb_xy":[[0.43459332201360196,-2.1122560498187655],[0.4845933205575265,-2.079565322626441]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.3904398524990782,0.7865470818568823,0.71338606911949],"aabb_xy":[[0.35293985220690344,0.7825056064562785],[0.4279398527912531,0.7905885572574858]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.5821563299521113,-0.8922419007326781,0.71338606911949],"aabb_xy":[[0.5476939825539693,-0.9267357831305004],[0.6166186773502529,-0.857748018334855]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.2659980839621466,-2.09262317359125,0.71338606911949],"aabb_xy":[[-0.3299980842226174,-2.137631972944178],[-0.2019980837016758,-2.047614374238322]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.6875830799874496,-0.9117399092884308,0.71338606911949],"aabb_xy":[[0.6699502443939219,-0.9293628553040537],[0.7052159155809771,-0.8941169632728078]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.5011527529076756,1.334664670532363,0.71338606911949],"aabb_xy":[[0.4706685027806454,1.284664670750867],[0.5316370030347057,1.384664670313859]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.3890152215919376,0.6880483510811444,0.71338606911949],"aabb_xy":[[0.3849370636848878,0.6839673708328811],[0.39309337949898726,0.6921293313294077]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.03499978127934178,1.0101110656185757,0.71338606911949],"aabb_xy":[[-0.014979027230974107,0.9601110656128569],[0.08497858978965767,1.0601110656242945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667978329691885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7778.png","name":"7778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7778.png","name":"7778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5194.png","name":"5194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3988.png","name":"3988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/562.png","name":"562"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9717.png","name":"9717"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":538.3835439221202,"rotation_z_degrees":344.87092065722425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01824257577966905,-0.005952852342404724,0.006938214018183186]},{"name":"camera_2","offset_m":[-0.015009361258270983,0.008988074341662912,-0.0042199467497525504]},{"name":"camera_3","offset_m":[0.0031905022773865283,0.009278526921988335,-0.0021228282019696773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014249450067704925,0.0003745068916282536,-0.0014753308530342886],"end_effector_yaw_offset_degrees":-0.768389379567942},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001882540891682611,-0.0011973207783003037,-0.0013845332017712023],"end_effector_yaw_offset_degrees":0.06054298761212773},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014898029770822924,-0.001989825325707138,-0.0019852573910798706],"end_effector_yaw_offset_degrees":0.17435883814571818}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001925953539339438,4.001896211192502e-05],"position_m":[0.27422595353933943,0.20184001896211193,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020596496135736244,-0.0042881743559189875],"position_m":[0.24644035038642637,-0.142188174355919,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0007055795694610421,0.002673134549259047],"position_m":[0.35450557956946105,-0.002526865450740953,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004582982506411148,0.00422223437899438],"position_m":[0.12301701749358884,0.42332223437899436,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002746693936005514,0.0036557608332708396],"position_m":[0.2074466939360055,-0.40394423916672917,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"acb910400002578103f072159a3649e9af6cc635c3db8e59d19e3cae2f5fa77c","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7778/tex_ceiling_textures_9717/tex_floor_textures_562/tex_table_textures_5194/tex_wall_textures_3988","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2864060274008342396,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2864060274008342396,"visual_seed":2864060274008342396,"scene_id":"lab_003","finished_at":"2026-09-03T18:13:03"} +{"episode_id":"ep_000007","started_at":"2026-09-03T18:13:06","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.6215456673782491,-1.14090156641725,0.71338606911949],"aabb_xy":[[0.5575456653285172,-1.180996049506558],[0.6855456694279812,-1.100807083327942]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.30341901205514854,1.4879108627948585,0.71338606911949],"aabb_xy":[[0.26656846411816093,1.4504108619718248],[0.34026955999213615,1.5254108636178922]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.246589397370654,-1.4893152306480144,0.71338606911949],"aabb_xy":[[0.24008776086264938,-1.4990830526743242],[0.2530910338786586,-1.4795474086217046]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.3081690139308899,-0.6344309968046902,0.71338606911949],"aabb_xy":[[0.24416901365691163,-0.6844970970019781],[0.3721690142048681,-0.5843648966074022]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[0.6620398722710621,1.503397376649216,0.71338606911949],"aabb_xy":[[0.6417555695476632,1.4831147515065066],[0.6823241749944607,1.5236800017919243]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.6381484301524037,-2.024063878334222,0.71338606911949],"aabb_xy":[[-0.6606484303959191,-2.0362685129939937],[-0.6156484299088884,-2.01185924367445]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.1452541968139831,-1.133863222411221,0.71338606911949],"aabb_xy":[[0.11147863762329013,-1.1479017176243862],[0.17902975600467608,-1.119824727198056]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.654328101322706,-0.0893753391318417,0.71338606911949],"aabb_xy":[[0.6168281006581271,-0.10506239713206388],[0.6918281019872845,-0.0736882811316195]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.589260785695142,1.289301868550532,0.71338606911949],"aabb_xy":[[-0.5979587479858574,1.2771768942430572],[-0.5805628234044268,1.3014268428580067]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.6886725887669454,1.3759681612482457,0.71338606911949],"aabb_xy":[[0.675521342795656,1.3509681614915594],[0.7018238347382347,1.4009681610049325]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.3901921388179211,-2.2858454451921637,0.71338606911949],"aabb_xy":[[-0.4164809631383617,-2.312116878846814],[-0.36390331449748037,-2.2595740115375116]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.2555950034585418,-1.2294319496512465,0.71338606911949],"aabb_xy":[[0.2244480846149587,-1.2994319483380536],[0.2867419223021249,-1.1594319509644393]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.3628268289227736,-1.499877435242325,0.71338606911949],"aabb_xy":[[0.2988268325272005,-1.5638407236610585],[0.42682682531834665,-1.4359141468235914]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.5165248279017132,-1.5315846173928604,0.71338606911949],"aabb_xy":[[-0.5273764341505888,-1.5424439081205115],[-0.5056732216528376,-1.5207253266652094]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.5695691143598276,-2.212106462527231,0.71338606911949],"aabb_xy":[[0.5055691120170259,-2.257047313771363],[0.633569116702629,-2.167165611283098]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.08358502148367875,-1.5290178040155114,0.71338606911949],"aabb_xy":[[-0.12635172836309894,-1.5930178074373136],[-0.040818314604258554,-1.4650178005937087]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.254033393100541,-1.8852818047038928,0.71338606911949],"aabb_xy":[[-0.26690529660148116,-1.965281805117729],[-0.2411614895996009,-1.8052818042900567]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.04537522376691383,-2.0894717863752454,0.71338606911949],"aabb_xy":[[-0.058821750400957155,-2.102941638028337],[-0.03192869713287049,-2.076001934722154]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.5842332824098446,-1.7390617458852475,0.71338606911949],"aabb_xy":[[-0.6092332823423625,-1.7459444141061708],[-0.5592332824773267,-1.7321790776643242]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.40721132931960446,-0.24839251175248966,0.71338606911949],"aabb_xy":[[0.36971132780397276,-0.2596192847686347],[0.4447113308352362,-0.23716573873634464]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.03153186051765555,-1.3784584177395844,0.71338606911949],"aabb_xy":[[-0.038793108088062966,-1.391245428003094],[-0.024270612947248138,-1.365671407476075]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.2786896835729785,-0.164405320000236,0.71338606911949],"aabb_xy":[[-0.2828056336850511,-0.16852087503308147],[-0.2745737334609058,-0.16028976496739047]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.41555484789854225,-0.1587010923443981,0.71338606911949],"aabb_xy":[[-0.4433998846791494,-0.1894855910827098],[-0.3877098111179352,-0.12791659360608643]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.42367940472168253,0.3920560622361835,0.71338606911949],"aabb_xy":[[0.3866452952936228,0.357678854902474],[0.46071351414974226,0.4264332695698929]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657546552367957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1567.png","name":"1567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9401.png","name":"9401"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":568.3889502147853,"rotation_z_degrees":20.19894368826484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010325069263639887,0.007089537930029196,0.001239852197281864]},{"name":"camera_2","offset_m":[-0.003466089080459301,-0.010977567194301461,-0.007282752056182607]},{"name":"camera_3","offset_m":[0.008293548001116358,0.019116561674297917,0.01037876505176578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014409685725957902,0.0016197724455765685,0.0012621527597865825],"end_effector_yaw_offset_degrees":0.22551719686483396},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018102426630546794,0.0001605303865416679,-0.0006649187151405744],"end_effector_yaw_offset_degrees":0.3433585729774018},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00039734326447687105,-0.0014748348132222185,0.00013530259493998087],"end_effector_yaw_offset_degrees":0.1957266092533727}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004761578777133897,-0.0015417955325446485],"position_m":[0.2770615787771339,0.20025820446745535,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013639795091677197,0.003627063404759879],"position_m":[0.24713602049083228,-0.13427293659524012,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0012499132670622305,0.004456457585571688],"position_m":[0.35255008673293775,-0.0007435424144283118,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004980562866627832,0.001266921475003827],"position_m":[0.12261943713337216,0.4203669214750038,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023005435106067474,0.004792287136095319],"position_m":[0.20700054351060673,-0.4028077128639047,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6db0952a5d5133adc2bbcf64b314bdc197790d7449851fee681c7ea73f63db32","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1174/tex_ceiling_textures_9401/tex_floor_textures_6615/tex_table_textures_8916/tex_wall_textures_1567","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8877617930637545221,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8877617930637545221,"visual_seed":8877617930637545221,"scene_id":"lab_003","finished_at":"2026-09-03T18:16:17"} +{"episode_id":"ep_000008","started_at":"2026-09-03T18:16:21","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.376283640589737,0.9532297675287773,0.71338606911949],"aabb_xy":[[-0.41331775001779675,0.9188525601950679],[-0.3392495311616773,0.9876069748624867]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.05971535737478195,-1.1585265354379817,0.71338606911949],"aabb_xy":[[-0.1497153559692519,-1.174777121751403],[0.030284641219687984,-1.1422759491245609]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[0.6098305904449257,-0.09426196294423805,0.71338606911949],"aabb_xy":[[0.6044980757903127,-0.09958629118947367],[0.6151631050995388,-0.08893763469900247]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.12097309030240133,-0.7107667572448291,0.71338606911949],"aabb_xy":[[0.07316692268863266,-0.7757667599518878],[0.16877925791616996,-0.64576675453777]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.13996808383728365,-1.4615097561992867,0.71338606911949],"aabb_xy":[[0.10405457941229394,-1.4974232644160412],[0.17588158826227332,-1.4255962479825321]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[0.09529009019495638,-2.074297958176766,0.71338606911949],"aabb_xy":[[0.07742098244050087,-2.088130866153977],[0.11315919794941186,-2.060465050199555]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.5633698091101698,-1.6989887788430673,0.71338606911949],"aabb_xy":[[0.5283698108400499,-1.7060629065380555],[0.5983698073802897,-1.6919146511480792]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.07841481610666201,-1.021933925880028,0.71338606911949],"aabb_xy":[[0.07398418675182183,-1.0273822976147104],[0.08284544546150219,-1.0164855541453455]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.4982399662049146,0.011463487938585093,0.71338606911949],"aabb_xy":[[0.4487595449909559,-0.05253650997426673],[0.5477203874188734,0.07546348585143692]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.061254250591594284,-0.5260077982234646,0.71338606911949],"aabb_xy":[[-0.06495751192073315,-0.5297098165321823],[-0.05755098926245542,-0.5223057799147466]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.49570456758700915,1.2873421609449518,0.71338606911949],"aabb_xy":[[-0.5088558135582986,1.2623421611882653],[-0.48255332161571973,1.3123421607016383]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.18989871491791788,-1.2833680168421138,0.71338606911949],"aabb_xy":[[-0.26989871193216586,-1.303502568515525],[-0.1098987179036699,-1.2632334651687025]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.009612612548096755,-1.8838757603233354,0.71338606911949],"aabb_xy":[[-0.02711261182618363,-1.9012138603896813],[0.007887386729990118,-1.8665376602569894]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.2284219329900587,-2.029583262789654,0.71338606911949],"aabb_xy":[[-0.24552401094842688,-2.046690068320924],[-0.21131985503169057,-2.0124764572583844]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.4895535355413374,1.4112863682208832,0.71338606911949],"aabb_xy":[[0.48421595987533284,1.3862863672917436],[0.49489111120734197,1.4362863691500232]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.652769918267907,0.18032419347885487,0.71338606911949],"aabb_xy":[[0.6115211072379921,0.12532419396663738],[0.6940187292978216,0.2353241929910723]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.2533193123560554,-0.5601766554026288,0.71338606911949],"aabb_xy":[[-0.317319312733589,-0.609921922253441],[-0.18931931197852175,-0.5104313885518165]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.6662717420147269,-0.9804569801807375,0.71338606911949],"aabb_xy":[[-0.6711153367759569,-0.9853086326597216],[-0.661428147253497,-0.9756053277017533]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.5627912422304664,-2.3657274331457394,0.71338606911949],"aabb_xy":[[0.47279123989644734,-2.443209787730852],[0.6527912445644855,-2.2882450785606268]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.5239378091564328,-1.980565765321738,0.71338606911949],"aabb_xy":[[0.4539378073476874,-2.0019195340859253],[0.5939378109651783,-1.9592119965575505]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.6199249282118104,-0.007020893754750013,0.71338606911949],"aabb_xy":[[0.5949249289398482,-0.023366257350912353],[0.6449249274837727,0.009324469841412327]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.4323535872453524,0.09161070481123179,0.71338606911949],"aabb_xy":[[-0.46985358876098404,0.08038393179508672],[-0.3948535857297206,0.10283747782737683]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[-0.5396526170171349,0.6600667109775111,0.71338606911949],"aabb_xy":[[-0.5571526172621842,0.6425669231379442],[-0.5221526167720855,0.6775664988170779]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.631364991835995,-2.354689249808449,0.71338606911949],"aabb_xy":[[-0.6546468340341263,-2.4396892511056767],[-0.6080831496378636,-2.2696892485112206]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.15593473575764438,-0.9224151142132171,0.71338606911949],"aabb_xy":[[0.10605203887994821,-0.9724151134594919],[0.20581743263534064,-0.8724151149669425]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.639120075552319,0.36002832974170706,0.71338606911949],"aabb_xy":[[0.6169475485756682,0.3378526625855839],[0.6612926025289699,0.3822039968978302]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.3781033602861347,-0.15214529610676353,0.71338606911949],"aabb_xy":[[-0.46810335970450556,-0.18552079295095325],[-0.2881033608677638,-0.1187697992625738]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.6782308747890113,0.6091262462207685,0.71338606911949],"aabb_xy":[[0.6688134002191485,0.5997100690830495],[0.687648349358874,0.6185424233584875]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.1650199002244611,-1.6508263458838497,0.71338606911949],"aabb_xy":[[-0.19933617739907905,-1.700826345857027],[-0.13070362304984318,-1.6008263459106715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679767186291821,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/138.png","name":"138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6096.png","name":"6096"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9830.png","name":"9830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.3005057118247,"rotation_z_degrees":325.3635313131212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012832562033601308,0.016513869564096336,-0.017957792344066092]},{"name":"camera_2","offset_m":[-0.013646434343548038,-0.01949879727906524,-0.008460455150065336]},{"name":"camera_3","offset_m":[0.008487664403865856,0.002614656360743553,0.0025694828039405995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014102113302407971,0.00046175272238008994,-0.001238515719732269],"end_effector_yaw_offset_degrees":0.3300638273737919},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016165821496034057,0.00024363636642060196,-0.0006446520445842676],"end_effector_yaw_offset_degrees":0.5924598166955506},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006363022077077755,0.0017910762391151439,0.0017349173526688987],"end_effector_yaw_offset_degrees":0.3694018346604029}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004573239163249113,-0.004064857463031003],"position_m":[0.2768732391632491,0.197735142536969,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003363010681325866,-0.004497986058338732],"position_m":[0.2518630106813259,-0.14239798605833873,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004686740348326635,0.0005968764384657078],"position_m":[0.3491132596516734,-0.004603123561534292,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003998237770416333,0.0026108836909164842],"position_m":[0.12360176222958366,0.42171088369091647,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039195447921465685,0.0032502849180986995],"position_m":[0.20861954479214656,-0.4043497150819013,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13670ed46fd7f1d273e605f004d69f099fcd56e1968c4c4a51d3f0f1568b194c","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6183/tex_ceiling_textures_6931/tex_floor_textures_9830/tex_table_textures_138/tex_wall_textures_6096","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1728132295648369332,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1728132295648369332,"visual_seed":1728132295648369332,"scene_id":"lab_003","finished_at":"2026-09-03T18:19:10"} +{"episode_id":"ep_000009","started_at":"2026-09-03T18:19:14","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.6696679673139373,-1.5007272953294655,0.71338606911949],"aabb_xy":[[-0.6760817809571222,-1.5071371155771338],[-0.6632541536707524,-1.4943174750817971]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.5042232781342773,1.0793511942204064,0.71338606911949],"aabb_xy":[[0.4667232797108769,1.0661869802525754],[0.5417232765576776,1.092515408188237]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.48844970190781956,-1.926256673945455,0.71338606911949],"aabb_xy":[[-0.49929018013433446,-1.9434429552361034],[-0.47760922368130465,-1.909070392654806]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.6285775266789091,-1.3292272049587672,0.71338606911949],"aabb_xy":[[-0.6535775258445422,-1.3361794506641236],[-0.603577527513276,-1.3222749592534104]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.6244761416784891,-0.6102234228050556,0.71338606911949],"aabb_xy":[[-0.6469725631123532,-0.632723422611803],[-0.601979720244625,-0.5877234229983082]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.0631471695153587,-1.5728528966332114,0.71338606911949],"aabb_xy":[[0.038147169582840826,-1.579735564854135],[0.08814716944787661,-1.5659702284122883]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.6061459579342896,0.09078934359457902,0.71338606911949],"aabb_xy":[[0.5686459572697108,0.07510228559435682],[0.6436459585988682,0.10647640159480119]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.6540450105591116,-2.2055562397539843,0.71338606911949],"aabb_xy":[[0.6327670024156393,-2.270556242080057],[0.6753230187025838,-2.140556237427911]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.6001053056069895,-1.1194310726381338,0.71338606911949],"aabb_xy":[[-0.6801053026212375,-1.1395656243115448],[-0.5201053085927415,-1.0992965209647223]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.4389960191820995,-1.0128218046242543,0.71338606911949],"aabb_xy":[[-0.44243669542215674,-1.0166832375986188],[-0.4355553429420424,-1.0089603716498898]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.24209987122864307,1.5826606594687909,0.71338606911949],"aabb_xy":[[0.22430636429372663,1.5648609138729932],[0.2598933781635595,1.6004604050645885]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.09076682103152323,0.8225804605853217,0.71338606911949],"aabb_xy":[[-0.1707668181910985,0.8110328596275047],[-0.010766823871947925,0.8341280615431388]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.3613382233629143,-0.38379007691205924,0.71338606911949],"aabb_xy":[[-0.42533822047502,-0.4328224467064698],[-0.29733822625080863,-0.3347577071176486]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.09268592920631924,-1.6608242067573564,0.71338606911949],"aabb_xy":[[-0.18268593288323737,-1.7222566133344603],[-0.002685925529401042,-1.5993918001802516]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.31205315474452155,-2.3821907783578014,0.71338606911949],"aabb_xy":[[0.2480531515258837,-2.42891389025681],[0.3760531579631594,-2.3354676664587934]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.3795071520401183,0.682238726587018,0.71338606911949],"aabb_xy":[[0.36942544496154484,0.6022387286949034],[0.3895888591186918,0.7622387244791327]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.5205989923229468,-1.2473380163967858,0.71338606911949],"aabb_xy":[[0.5054268230413135,-1.2625068733249893],[0.5357711616045802,-1.2321691594685826]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.28857515919186666,-0.12971154630550963,0.71338606911949],"aabb_xy":[[-0.3685751571726517,-0.13731308726736155],[-0.20857516121108163,-0.12211000534365767]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.15278918995840252,-0.7463059306347122,0.71338606911949],"aabb_xy":[[0.1426361744042531,-0.7823754722074522],[0.16294220551255187,-0.7102363890619716]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.4336119102116996,1.2201633730064874,0.71338606911949],"aabb_xy":[[-0.48342868967653435,1.170163374522184],[-0.38379513074686483,1.2701633714907907]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.44178488274857663,-1.5651038867976912,0.71338606911949],"aabb_xy":[[0.3918060742382607,-1.61510388680341],[0.49176369125889247,-1.5151038867919724]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[-0.31739048251238444,-1.9578845878026403,0.71338606911949],"aabb_xy":[[-0.32389211902038906,-1.96765240982895],[-0.3108888460043798,-1.9481167657763305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641383212933166,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7173.png","name":"7173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6893.png","name":"6893"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":739.9415202016198,"rotation_z_degrees":90.69359907795719,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0162243590135747,-0.0026286512705809353,0.011232497682737791]},{"name":"camera_2","offset_m":[-0.0037532131117793063,-0.016270109117367527,-0.013558730648399474]},{"name":"camera_3","offset_m":[0.009091368576778804,0.01994633814273598,0.018457431663098847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010598132863394983,0.0005191943996958213,0.0007844371052350258],"end_effector_yaw_offset_degrees":0.7725543600885112},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015038994670234823,-0.0007053677932747045,-0.0017894265500910539],"end_effector_yaw_offset_degrees":0.35163690041796514},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014045763464318084,0.0003667841652702595,-0.0015118522377974139],"end_effector_yaw_offset_degrees":0.30097544351259287}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00047893195904883615,-0.00023203533320364286],"position_m":[0.27277893195904884,0.20156796466679636,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015308541676188059,-0.0036994264780835185],"position_m":[0.25003085416761883,-0.14159942647808352,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0034884299467134536,-0.0015771798087176481],"position_m":[0.35031157005328656,-0.006777179808717648,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027039020425485795,-0.0004914525954104708],"position_m":[0.12489609795745141,0.4186085474045895,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003465583825177627,-5.67465806023508e-05],"position_m":[0.20123441617482238,-0.40765674658060236,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0bb43ac878fc68de6acd02a35bb79cc798c0376ee18cd69ddc48302d33eb1960","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6708/tex_ceiling_textures_6893/tex_floor_textures_9999/tex_table_textures_5329/tex_wall_textures_7173","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2479212505399753430,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2479212505399753430,"visual_seed":2479212505399753430,"scene_id":"lab_003","finished_at":"2026-09-03T18:22:24"} +{"episode_id":"ep_000010","started_at":"2026-09-03T18:22:27","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.15969137625545515,-0.9268295355543525,0.71338606911949],"aabb_xy":[[-0.20969137791694986,-0.9768279778100551],[-0.10969137459396035,-0.8768310932986497]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.08052146603580046,-2.131685967790075,0.71338606911949],"aabb_xy":[[0.06791876689872402,-2.1442813640149407],[0.09312416517287693,-2.1190905715652097]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.5661638487735001,-2.0983324695017047,0.71338606911949],"aabb_xy":[[-0.5911638480454623,-2.114677833097867],[-0.5411638495015377,-2.0819871059055424]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.5475713276541547,-1.0792838562174185,0.71338606911949],"aabb_xy":[[0.5358031408594972,-1.16428385612264],[0.5593395144488122,-0.994283856312197]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.44013311796564514,-1.5159731030277885,0.71338606911949],"aabb_xy":[[0.4026331171736497,-1.5223409439859783],[0.4776331187576406,-1.5096052620695983]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.4910113526530857,-0.9533567294399139,0.71338606911949],"aabb_xy":[[-0.5285113525968521,-0.9616498194747505],[-0.45351135270931936,-0.9450636394050773]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.2780054209369963,-2.1013875733628575,0.71338606911949],"aabb_xy":[[0.2468585020934132,-2.1713875720496643],[0.30915233978057943,-2.03138757467605]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.44901621943044057,0.6285114159844456,0.71338606911949],"aabb_xy":[[0.41902455669657024,0.598511416647645],[0.4790078821643109,0.658511415321246]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.640568258922247,-1.4289168791783633,0.71338606911949],"aabb_xy":[[0.5755682579651198,-1.4808650911120687],[0.7055682598793742,-1.3769686672446575]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.3790835919787481,-1.9021927247964205,0.71338606911949],"aabb_xy":[[0.2990835933218621,-1.9166975837206837],[0.4590835906356341,-1.8876878658721579]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.03623177468955896,-2.4542765169027865,0.71338606911949],"aabb_xy":[[-0.07373177503778672,-2.46606791248387],[0.0012682256586687979,-2.442485121321703]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.5181128242470214,1.1585617124857217,0.71338606911949],"aabb_xy":[[-0.5881128260557669,1.1372079437215343],[-0.448112822438276,1.179915481249909]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.4689762395253929,-2.3022035998043195,0.71338606911949],"aabb_xy":[[0.4464762397114906,-2.3066782161748],[0.49147623933929535,-2.297728983433839]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.023828278504933076,-1.7580249038139435,0.71338606911949],"aabb_xy":[[-0.07882827812667892,-1.8130085966014162],[0.031171721116812764,-1.7030412110264708]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.3298681601663198,1.7416598400134373,0.71338606911949],"aabb_xy":[[0.3238311471656551,1.7356331389444895],[0.33590517316698454,1.7476865410823856]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.2839786499297555,-1.868546483622541,0.71338606911949],"aabb_xy":[[-0.33397864936995114,-1.9185144081068568],[-0.2339786504895599,-1.8185785591382242]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.21040750120827334,1.2387159981259979,0.71338606911949],"aabb_xy":[[0.20629155109620068,1.2346004430931523],[0.214523451320346,1.2428315531588434]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.22796226294156985,-0.9691540448117701,0.71338606911949],"aabb_xy":[[0.17848184172761106,-1.0331540427246222],[0.27744268415552864,-0.9051540468989184]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.6005830548928623,-0.33935518010862475,0.71338606911949],"aabb_xy":[[0.5506042463825465,-0.38935518011434356],[0.6505618634031782,-0.28935518010290595]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.5323651409269239,-2.16949053130515,0.71338606911949],"aabb_xy":[[0.5243288062256389,-2.1775286506095664],[0.5404014756282086,-2.1614524120007323]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.29239877448199414,-2.5032181630108465,0.71338606911949],"aabb_xy":[[0.24239877490565948,-2.5531987419629525],[0.3423987740583289,-2.4532375840587406]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.19357100868381305,0.64193767153838,0.71338606911949],"aabb_xy":[[-0.21124663927241136,0.6242574552589771],[-0.1758953780952147,0.6596178878177826]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.1704732973429598,0.562932520137259,0.71338606911949],"aabb_xy":[[0.15491752793269453,0.547382086892852],[0.18602906675322506,0.5784829533816663]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.3948810252040411,0.3750153271476462,0.71338606911949],"aabb_xy":[[0.31488102413092073,0.3652372808102618],[0.4748810262771614,0.3847933734850307]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.4544919157113015,1.4422476853148125,0.71338606911949],"aabb_xy":[[-0.4585700736183512,1.4381667050665492],[-0.45041375780425175,1.4463286655630758]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.12804345377258552,1.763418527318716,0.71338606911949],"aabb_xy":[[-0.19804345716414748,1.728102753615285],[-0.058043450381023536,1.7987343010221468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664280937292168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/133.png","name":"133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8114.png","name":"8114"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7266.png","name":"7266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2676.png","name":"2676"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":712.5622795856151,"rotation_z_degrees":105.25813964990631,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015360938411922893,-0.0018669423780884563,0.018306661095116115]},{"name":"camera_2","offset_m":[0.01768032541864829,0.0012398456459544738,-0.018858225446483454]},{"name":"camera_3","offset_m":[-0.0007260370305598451,-0.008172385837338654,0.0031022074262145836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015611290296591884,0.00015518101525025104,0.0004984956834294249],"end_effector_yaw_offset_degrees":-0.3337974468430185},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017655803781167784,0.0009050059091748972,-0.0005605800556788992],"end_effector_yaw_offset_degrees":-0.41896965660291974},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005872123358711739,0.0015555829147027972,0.0010544774810561622],"end_effector_yaw_offset_degrees":-0.44354941392851943}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007883219250720596,-0.004585247265357681],"position_m":[0.27308832192507204,0.19721475273464234,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025724749096620184,-0.0010600921357712054],"position_m":[0.251072474909662,-0.1389600921357712,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017516839597194077,0.001661021578245863],"position_m":[0.3520483160402806,-0.0035389784217541367,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027951212784702428,0.0035679222235521493],"position_m":[0.13039512127847022,0.4226679222235521,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038042091861051532,-0.0007239321577558215],"position_m":[0.20089579081389483,-0.40832393215775586,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26ad00c428e82347fe8b7b7b112ccca3ebce0230e7470d9380c4f6b535296a5f","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_100/tex_ceiling_textures_2676/tex_floor_textures_7266/tex_table_textures_133/tex_wall_textures_8114","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7357875042369849863,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7357875042369849863,"visual_seed":7357875042369849863,"scene_id":"lab_003","finished_at":"2026-09-03T18:25:28"} +{"episode_id":"ep_000011","started_at":"2026-09-03T18:25:31","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.19217170840020004,-1.1562623010469426,0.71338606911949],"aabb_xy":[[0.1621800456663297,-1.1862623003837431],[0.22216337113407036,-1.126262301710142]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.013768447654581073,-1.2900686986090797,0.71338606911949],"aabb_xy":[[-0.06376844901546828,-1.340046603184495],[0.036231553706306145,-1.2400907940336638]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.35835762366152085,-1.6793964391706049,0.71338606911949],"aabb_xy":[[-0.3623181074312552,-1.6870643037561257],[-0.3543971398917864,-1.6717285745850845]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.6474320534350966,1.3098541872028373,0.71338606911949],"aabb_xy":[[0.6024394667166462,1.2648541879283886],[0.692424640153547,1.354854186477286]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.20979603148386328,0.7592901817599627,0.71338606911949],"aabb_xy":[[0.17520494862981803,0.6942901814749315],[0.24438711433790847,0.8242901820449936]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.11814358224165078,-1.6118727995268567,0.71338606911949],"aabb_xy":[[-0.17313583287716172,-1.6668728012701697],[-0.06315133160613984,-1.5568727977835441]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.6099141599115794,0.3785813580673598,0.71338606911949],"aabb_xy":[[0.6016996147958953,0.3699047677697185],[0.6181287050272632,0.38725794836500105]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.3394131372237829,0.8522081158905643,0.71338606911949],"aabb_xy":[[-0.4231353627238653,0.7622081123558684],[-0.2556909117237004,0.9422081194252603]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.4767383610878244,-1.023090987394952,0.71338606911949],"aabb_xy":[[-0.4898896070591139,-1.0480909871516386],[-0.46358711511653516,-0.9980909876382655]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[0.3876611908107912,0.5255071508519569,0.71338606911949],"aabb_xy":[[0.3533642797930505,0.4912102646420155],[0.4219581018285318,0.5598040370618982]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.02068307984400375,1.6020557848297865,0.71338606911949],"aabb_xy":[[-0.04568307900963686,1.5951035391244297],[0.004316919321629368,1.6090080305351429]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.057013439995773796,-2.2513235341696727,0.71338606911949],"aabb_xy":[[-0.002986560512079128,-2.3081702678555938],[0.1170134405036267,-2.1944768004837507]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.17071925550951028,-1.372302016310018,0.71338606911949],"aabb_xy":[[0.1229130878957416,-1.4373020190170769],[0.21852542312327888,-1.307302013602959]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.2961894615113282,0.39886715774930837,0.71338606911949],"aabb_xy":[[0.28816319088070225,0.39011566277195575],[0.30421573214195424,0.407618652726661]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.308691036452084,-1.8567113665085728,0.71338606911949],"aabb_xy":[[-0.3151048500952689,-1.8631211867562412],[-0.302277222808899,-1.8503015462609045]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.03612033439572082,-0.8333093576549662,0.71338606911949],"aabb_xy":[[-0.02547042482827199,-0.8973093557640132],[0.09771109361971364,-0.7693093595459194]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.22852971033162406,-1.0105860613793074,0.71338606911949],"aabb_xy":[[0.21032388667037638,-1.021611461961299],[0.24673553399287174,-0.9995606607973158]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.5473439407406524,-0.4666933122170782,0.71338606911949],"aabb_xy":[[0.4823439381028589,-0.5181729109165252],[0.6123439433784459,-0.41521371351763126]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.5150566771072727,-1.178473844709108,0.71338606911949],"aabb_xy":[[0.4550566754643508,-1.2304739940010523],[0.5750566787501945,-1.126473695417164]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.35424729812294453,-2.2026162612209967,0.71338606911949],"aabb_xy":[[0.34164459898586813,-2.215211657445862],[0.36684999726002104,-2.190020864996131]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.6203068400827829,-1.6455846630694098,0.71338606911949],"aabb_xy":[[0.5653068404610371,-1.7005683558568827],[0.6753068397045288,-1.5906009702819373]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[-0.1098497756228296,-0.5513280259887727,0.71338606911949],"aabb_xy":[[-0.12272167912376973,-0.6313280264026089],[-0.09697787212188945,-0.47132802557493664]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.47484046042498956,-1.768554281062574,0.71338606911949],"aabb_xy":[[-0.49734045994869697,-1.7910502285131944],[-0.45234046090128216,-1.7460583336119528]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.6859815898329591,1.6308124228324323,0.71338606911949],"aabb_xy":[[-0.6939755784106625,1.6228123427373418],[-0.6779876012552557,1.6388125029275225]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[0.6860783133181148,0.22243842573101213,0.71338606911949],"aabb_xy":[[0.6627964711199834,0.13743842443378407],[0.7093601555162461,0.3074384270282402]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.47068264320905673,-1.6061522716896859,0.71338606911949],"aabb_xy":[[-0.5044582023997497,-1.620190766902851],[-0.43690708401836376,-1.5921137764765207]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.48364709537598016,0.11576672345969063,0.71338606911949],"aabb_xy":[[-0.5336201609084956,0.06576672364715776],[-0.43367402984346476,0.16576672327222355]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.6889174761080734,-0.5647521625078822,0.71338606911949],"aabb_xy":[[0.6653323526441787,-0.6297521647533139],[0.7125025995719684,-0.4997521602624503]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.591365866838631,1.2843439181008072,0.71338606911949],"aabb_xy":[[-0.6713658638016702,1.2072682764570335],[-0.5113658698755918,1.3614195597445804]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.029826282690195938,0.9304169829109679,0.71338606911949],"aabb_xy":[[0.021712628016818832,0.9223111664569389],[0.03793993736357304,0.938522799364997]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[-0.225739511585472,-0.9926883134498574,0.71338606911949],"aabb_xy":[[-0.2669883226153867,-1.0476883129620747],[-0.18449070055555725,-0.9376883139376399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642402994335364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6290.png","name":"6290"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7908.png","name":"7908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3347.png","name":"3347"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":602.4678526854143,"rotation_z_degrees":295.63858508737826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01290600428501012,0.0004373444496113925,0.0024885647749137672]},{"name":"camera_2","offset_m":[-0.018908656321851063,-0.0002943627023890977,0.009891051580226313]},{"name":"camera_3","offset_m":[0.009603371481852752,-0.009889328079838333,-0.010102847963870154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016390346279107973,0.0007447613456740866,-0.00034787325814735794],"end_effector_yaw_offset_degrees":0.36671837002756025},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0014094462879641555,0.001588744563606733,-5.527433074150635e-05],"end_effector_yaw_offset_degrees":0.9222474046947227},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006745023296703041,0.0014848517912162177,0.00014026690780576372],"end_effector_yaw_offset_degrees":0.6281217137210897}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021066599801980437,-0.002076070421224301],"position_m":[0.27019334001980194,0.19972392957877572,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002927337309766266,0.0012579992197977877],"position_m":[0.25142733730976624,-0.1366420007802022,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00024630902558061066,0.002811146049519521],"position_m":[0.3540463090255806,-0.002388853950480479,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027551921663072085,0.003793977714449768],"position_m":[0.1303551921663072,0.42289397771444975,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003685393035733976,-0.0005052863338183512],"position_m":[0.201014606964266,-0.4081052863338184,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0de4a7c84323ff6d4ab665ee371178036ad0c69e1de558fd0fd53b9444c74e5e","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6076/tex_ceiling_textures_3347/tex_floor_textures_2899/tex_table_textures_6290/tex_wall_textures_7908","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3950939367477407747,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3950939367477407747,"visual_seed":3950939367477407747,"scene_id":"lab_003","finished_at":"2026-09-03T18:28:30"} +{"episode_id":"ep_000012","started_at":"2026-09-03T18:28:33","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.20743541245275737,-0.8943849349020869,0.71338606911949],"aabb_xy":[[-0.21868046802337524,-0.9056267326261821],[-0.19619035688213957,-0.8831431371779915]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.1064322724061445,-1.3379057422696798,0.71338606911949],"aabb_xy":[[-0.1704322727836781,-1.3876510091204919],[-0.04243227202861086,-1.2881604754188674]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.40047579987026427,-0.941711407239711,0.71338606911949],"aabb_xy":[[-0.42880550981880455,-0.9461721494334282],[-0.3721460899217241,-0.9372506650459941]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.08487384703969991,-1.7246865486160146,0.71338606911949],"aabb_xy":[[-0.16487385030371304,-1.7382465809249277],[-0.0048738437756867675,-1.711126516307101]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.21655124165193212,-2.413920764428028,0.71338606911949],"aabb_xy":[[-0.278142000875925,-2.477920762537075],[-0.15496048242793933,-2.349920766318981]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.38226785720381057,0.4461742752320945,0.71338606911949],"aabb_xy":[[-0.4047678574473259,0.4339696405723226],[-0.3597678569602951,0.4583789098918665]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.6165813896673731,-0.37099602252971087,0.71338606911949],"aabb_xy":[[0.59158139050174,-0.37794826823506744],[0.6415813888330062,-0.3640437768243543]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.3843035536538018,-1.8623790878928483,0.71338606911949],"aabb_xy":[[-0.39308478080103815,-1.871158835181379],[-0.3755223265065657,-1.8535993406043185]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.43552028523221,-1.5939651697683455,0.71338606911949],"aabb_xy":[[0.38771411761844127,-1.6589651724754042],[0.4833264528459786,-1.5289651670612863]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.16756364174669092,-0.40007530818613324,0.71338606911949],"aabb_xy":[[-0.18506364200602757,-0.4141668503749059],[-0.15006364148735432,-0.3859837659973607]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.07793016644097184,-1.030085563290163,0.71338606911949],"aabb_xy":[[-0.005792059059110621,-1.1200855668248588],[0.1616523919410543,-0.9400855597554669]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.31921126603167993,1.6306640280739937,0.71338606911949],"aabb_xy":[[0.3022011687416293,1.6145295395757198],[0.3362213633217306,1.6467985165722676]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.3882207830559967,-2.259918991638926,0.71338606911949],"aabb_xy":[[0.3242207857536503,-2.3042854186067823],[0.4522207803583431,-2.2155525646710688]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.3355081131948354,-1.0819837666898149,0.71338606911949],"aabb_xy":[[0.28550883802639926,-1.131983767965762],[0.3855073883632716,-1.0319837654138677]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.05375137838390209,-1.5961032866617435,0.71338606911949],"aabb_xy":[[0.01671726895584237,-1.630480493995453],[0.0907854878119618,-1.561726079328034]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.42265556997607373,0.6875591884948733,0.71338606911949],"aabb_xy":[[-0.42708619933091396,0.6821108167601907],[-0.4182249406212336,0.6930075602295559]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.43188410739577,-1.945045019012766,0.71338606911949],"aabb_xy":[[0.4230820520867973,-1.952856345167695],[0.4406861627047427,-1.9372336928578369]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[-0.6502463971883978,-1.6774244068414532,0.71338606911949],"aabb_xy":[[-0.6752463967401364,-1.687566890706588],[-0.6252463976366595,-1.6672819229763185]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.32777621824192943,-0.6804128001139957,0.71338606911949],"aabb_xy":[[-0.39177622146056734,-0.7271359120130041],[-0.2637762150232916,-0.6336896882149874]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.5174189651504728,1.6752808820488672,0.71338606911949],"aabb_xy":[[0.4824189652544539,1.666906646536927],[0.5524189650464916,1.6836551175608072]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.13785248839568054,-2.0825949218025626,0.71338606911949],"aabb_xy":[[-0.14726996296554326,-2.092011098940281],[-0.12843501382581776,-2.073178744664843]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.6054683507060665,1.3652456276045033,0.71338606911949],"aabb_xy":[[0.5554735177781249,1.3152456287092598],[0.6554631836340081,1.4152456264997468]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.2930062110173657,1.7083478807568642,0.71338606911949],"aabb_xy":[[0.2580062118874101,1.7026026596811998],[0.3280062101473214,1.714093101832528]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.4701129825746895,-2.0934527660640514,0.71338606911949],"aabb_xy":[[0.452243874820234,-2.107285674041262],[0.48798209032914497,-2.07961985808684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641440938067517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4085.png","name":"4085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/509.png","name":"509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3008.png","name":"3008"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":629.4373534289339,"rotation_z_degrees":60.71781335813565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006171240060890084,-0.012127959856463151,-0.01170735254872004]},{"name":"camera_2","offset_m":[-0.0013795195654489507,-0.004576098179138968,-0.007345715974725726]},{"name":"camera_3","offset_m":[-0.0004496143786195707,-0.017437918681602264,0.017316792065542163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017172202415918622,0.0013311854395786815,-0.000182936011440607],"end_effector_yaw_offset_degrees":0.35717866821561395},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008342721277124774,0.00014600390723071765,-0.001048893150601625],"end_effector_yaw_offset_degrees":-0.3162213815276491},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019817326800536,0.001566053478875849,0.0015773124795383422],"end_effector_yaw_offset_degrees":0.4476156077313944}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027715143646392317,-0.002526064960246636],"position_m":[0.26952848563536075,0.19927393503975338,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003387323001568796,0.0027567797214896363],"position_m":[0.2451126769984312,-0.13514322027851036,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004068016814488662,-0.0023253072538017994],"position_m":[0.35786801681448865,-0.007525307253801799,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033913875553505646,0.0007140404223183036],"position_m":[0.12420861244464942,0.4198140404223183,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007271267086024569,0.0034803312202857],"position_m":[0.20397287329139754,-0.40411966877971434,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2687a3ee37da182a933a43d51c736e3aba46d869e61c9ac1d633a6c6a7170ac","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_543/tex_ceiling_textures_3008/tex_floor_textures_9084/tex_table_textures_4085/tex_wall_textures_509","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":928627780900636897,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":928627780900636897,"visual_seed":928627780900636897,"scene_id":"lab_003","finished_at":"2026-09-03T18:31:29"} +{"episode_id":"ep_000013","started_at":"2026-09-03T18:31:32","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.2605861311716444,-1.4351733887190183,0.71338606911949],"aabb_xy":[[-0.26689823070798285,-1.4409403279722373],[-0.254274031635306,-1.4294064494657994]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.5897829238049268,1.122803679989603,0.71338606911949],"aabb_xy":[[0.5397829221434319,1.0728052377339001],[0.6397829254664215,1.1728021222453056]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.08797924469667906,1.6136068975691038,0.71338606911949],"aabb_xy":[[-0.0017078316114363945,1.5236068973146535],[0.17766632100479451,1.7036068978235546]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.19407046775560366,0.8917730731709672,0.71338606911949],"aabb_xy":[[0.17818597449027848,0.877420132872143],[0.20995496102092878,0.9061260134697912]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[0.31607601188128953,0.7001570438828275,0.71338606911949],"aabb_xy":[[0.2510760118469868,0.6534563672025001],[0.38107601191559226,0.7468577205631547]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.15131897523247717,-0.7090854816299712,0.71338606911949],"aabb_xy":[[-0.20631445305313656,-0.7640854830638781],[-0.09632349741181778,-0.6540854801960643]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.5757209151915065,0.10500103466648758,0.71338606911949],"aabb_xy":[[-0.5957793268047468,0.08493594775733004],[-0.5556625035782662,0.12506612157564512]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6200480452383359,-0.6575128820386671,0.71338606911949],"aabb_xy":[[0.5862724860476429,-0.6715513772518321],[0.6538236044290289,-0.6434743868255021]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.2891892566531072,0.9320881907048855,0.71338606911949],"aabb_xy":[[-0.3262233660811669,0.897710983371176],[-0.25215514722504745,0.9664653980385949]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.45094255101565417,-2.052414497068902,0.71338606911949],"aabb_xy":[[0.420458300888624,-2.102414496850398],[0.4814268011426843,-2.0024144972874063]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.11830416020869772,0.7192778808708797,0.71338606911949],"aabb_xy":[[-0.15330415940151598,0.708310834873217],[-0.08330416101587944,0.7302449268685423]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.3385620550271201,-0.29855917394115394,0.71338606911949],"aabb_xy":[[-0.3880424762410789,-0.36255917185400577],[-0.2890816338131613,-0.23455917602830212]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.5264843104065084,0.863329831631777,0.71338606911949],"aabb_xy":[[0.48963376246952084,0.8258298308087434],[0.5633348583434961,0.9008298324548109]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.4446622010723358,0.2564445618574589,0.71338606911949],"aabb_xy":[[0.43920425543531566,0.1764445585497998],[0.4501201467093558,0.336444565165118]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.4648065301746873,-0.012034890918282581,0.71338606911949],"aabb_xy":[[0.44660070651343964,-0.02306029150027422],[0.483012353835935,-0.001009490336290943]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.0691197891752704,-2.3853207334247215,0.71338606911949],"aabb_xy":[[-0.11692595678903904,-2.45032073613178],[-0.02131362156150175,-2.320320730717662]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.40595321943851803,1.3066966589705395,0.71338606911949],"aabb_xy":[[0.31595322270290777,1.2535131956532448],[0.4959532161741282,1.3598801222878338]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.05454471892747581,-1.1301628640278727,0.71338606911949],"aabb_xy":[[0.020082371529334005,-1.1646567464256952],[0.0890070663256176,-1.0956689816300498]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.3604424426926798,-1.5746021235746468,0.71338606911949],"aabb_xy":[[0.35273925201860273,-1.5823114942733847],[0.3681456333667568,-1.566892752875909]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.19943433021943863,0.2979683609371375,0.71338606911949],"aabb_xy":[[-0.20919031972861252,0.2882058268779031],[-0.18967834071026474,0.30773089499637196]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.590824279075731,-1.306815166627337,0.71338606911949],"aabb_xy":[[0.5689155969363799,-1.3287158334474278],[0.612732961215082,-1.2849144998072464]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.5290046878777537,-1.3780206151032,0.71338606911949],"aabb_xy":[[-0.5514694578491588,-1.4005206159820605],[-0.5065399179063486,-1.3555206142243394]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.2976212944448167,-2.4833507407295383,0.71338606911949],"aabb_xy":[[-0.3142984304379123,-2.5000506647034686],[-0.28094415845172127,-2.466650816755608]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.2693139334141956,1.112555546055968,0.71338606911949],"aabb_xy":[[-0.2763542433477326,1.0325555466562968],[-0.26227362348065864,1.1925555454556396]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.14681084392203603,-1.3766582631419133,0.71338606911949],"aabb_xy":[[0.1380087886130633,-1.3844695892968424],[0.1556128992310087,-1.3688469369869842]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.09053933211823706,-1.2223626443124727,0.71338606911949],"aabb_xy":[[-0.10139093836711266,-1.2332219350401235],[-0.07968772586936146,-1.2115033535848214]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.598588190370166,-0.5220462435528326,0.71338606911949],"aabb_xy":[[-0.6160881896482528,-0.5393843436191785],[-0.5810881910920791,-0.5047081434864866]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.3665150182727795,0.6620877415634379,0.71338606911949],"aabb_xy":[[-0.40776382930269417,0.6070877420512203],[-0.3252662072428647,0.7170877410756552]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[-0.49183798594082295,1.4550086753126723,0.71338606911949],"aabb_xy":[[-0.5718379873709502,1.3754915203000628],[-0.41183798451069575,1.5345258303252818]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.2674694197020189,-0.5756870896185311,0.71338606911949],"aabb_xy":[[0.25610768504873266,-0.5870555560248191],[0.278831154355305,-0.5643186232122429]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_30","position":[0.6164460908772005,0.28901936235614123,0.71338606911949],"aabb_xy":[[0.5514460929955527,0.23789569864960036],[0.6814460887588483,0.3401430260626821]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_31","position":[0.4315549988464007,1.7267972549704873,0.71338606911949],"aabb_xy":[[0.3665549962086072,1.6753176562710406],[0.4965550014841942,1.7782768536699345]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_32","position":[-0.42160078152022956,0.4211057849483022,0.71338606911949],"aabb_xy":[[-0.4296441414461847,0.3361057838529357],[-0.41355742159427433,0.5061057860436686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725952509438492,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2256.png","name":"2256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2256.png","name":"2256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/749.png","name":"749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/964.png","name":"964"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":849.7463870184272,"rotation_z_degrees":223.11920906964366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012325038107162695,0.01672121217819812,0.0017910039549423572]},{"name":"camera_2","offset_m":[-0.016975042055625788,0.019514109653298698,-0.012774529547047844]},{"name":"camera_3","offset_m":[-0.0018658478909869512,-0.012541542112675566,-0.010658127805203818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005832661590788738,0.0012552598703181213,0.00039337278634016],"end_effector_yaw_offset_degrees":0.6158223235995766},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0012767316601210892,-0.0016546166210248364,0.0010895434218467686],"end_effector_yaw_offset_degrees":-0.9228021325748177},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017345922157788744,0.0009642133627614413,0.0009280533079593107],"end_effector_yaw_offset_degrees":0.03161058293589614}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001572727900403277,-0.004151338565788474],"position_m":[0.2707272720995967,0.19764866143421153,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00269705282709107,-0.001673439148011747],"position_m":[0.24580294717290893,-0.13957343914801174,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0015463236756892663,0.004663958307274954],"position_m":[0.35225367632431076,-0.0005360416927250458,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014869833040633287,0.0010794637363703797],"position_m":[0.12611301669593666,0.42017946373637033,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004483031558256794,-0.0036062117334480105],"position_m":[0.2091830315582568,-0.411206211733448,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad3b22924d3fd12f3383c692e4911248a68e789e4c40a34ecbc5700f78cec514","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2256/tex_ceiling_textures_964/tex_floor_textures_4116/tex_table_textures_749/tex_wall_textures_7082","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3712002785885832650,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3712002785885832650,"visual_seed":3712002785885832650,"scene_id":"lab_003","finished_at":"2026-09-03T18:34:29"} +{"episode_id":"ep_000014","started_at":"2026-09-03T18:34:33","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.34285319675799464,1.3356903745984892,0.71338606911949],"aabb_xy":[[0.3053531959659992,1.329322533640299],[0.3803531975499901,1.3420582155566794]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.24553707313098638,1.5307071525815164,0.71338606911949],"aabb_xy":[[0.195554122943507,1.4807071529389557],[0.2955200233184656,1.5807071522240765]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.056066323833952714,1.647429017920135,0.71338606911949],"aabb_xy":[[-0.02393367312908646,1.5703533762763613],[0.13606632079699188,1.7245046595639082]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.12611283104801507,0.9478575900038568,0.71338606911949],"aabb_xy":[[-0.20611282963533448,0.8685419880656959],[-0.046112832460695634,1.0271731919420177]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.44989583575295544,-1.6903638762625517,0.71338606911949],"aabb_xy":[[0.3949026244158188,-1.7453638766013455],[0.5048890470900923,-1.6353638759237583]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.18954071289301866,1.133226819426561,0.71338606911949],"aabb_xy":[[0.18073865758404595,1.1254154932716318],[0.19834276820199137,1.14103814558149]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.28482230758206895,0.6081463020612343,0.71338606911949],"aabb_xy":[[0.22082230429236085,0.5648113830573166],[0.34882231087177706,0.6514812210651518]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.4770267445763887,-1.6028450852027811,0.71338606911949],"aabb_xy":[[-0.5570267432332747,-1.617349944127044],[-0.3970267459195027,-1.5883402262785182]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.5761922493220468,-2.5087319473045167,0.71338606911949],"aabb_xy":[[0.5462005865881765,-2.538731946641317],[0.6061839120559172,-2.478731947967716]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.15086000067221994,0.7946060094086809,0.71338606911949],"aabb_xy":[[0.12089244376239427,0.7646060091107951],[0.1808275575820456,0.8246060097065666]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.3093824525327695,-1.3185267716880897,0.71338606911949],"aabb_xy":[[0.2683645091463986,-1.368526772319047],[0.35040039591914035,-1.2685267710571324]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.2915846026171006,1.0077892427644959,0.71338606911949],"aabb_xy":[[-0.3290846024341342,1.0031510314533538],[-0.25408460280006706,1.0124274540756375]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.38458138667343467,1.719416345356224,0.71338606911949],"aabb_xy":[[0.320585689278338,1.655416347055515],[0.4485770840685312,1.7834163436569324]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.45086653639131224,1.081297471954338,0.71338606911949],"aabb_xy":[[0.4133665352065194,1.0768792492582773],[0.488366537576105,1.0857156946503983]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.5950156282794345,-0.1175988874609466,0.71338606911949],"aabb_xy":[[0.5869893576488087,-0.1263503824382992],[0.6030418989100607,-0.10884739248359399]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.5503822333120689,-2.030436454462238,0.71338606911949],"aabb_xy":[[-0.5584255932380241,-2.1154364555576044],[-0.5423388733861138,-1.9454364533668715]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.3299184657203839,0.4393481158301107,0.71338606911949],"aabb_xy":[[-0.3939184671283746,0.387559164306186],[-0.26591846431239324,0.4911370673540354]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.605590526940876,-1.3987483207471942,0.71338606911949],"aabb_xy":[[-0.6468393379707906,-1.4537483202594117],[-0.5643417159109612,-1.3437483212349768]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.6154435280289566,-2.427564117187455,0.71338606911949],"aabb_xy":[[-0.6582102349083768,-2.491564120609257],[-0.5726768211495364,-2.3635641137656522]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.5553340014034828,0.8553306117265271,0.71338606911949],"aabb_xy":[[-0.6453340037375018,0.7778482571414146],[-0.4653339990694637,0.9328129663116399]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.6142086614836106,-0.47929172732813363,0.71338606911949],"aabb_xy":[[0.6097780321287705,-0.48474009906281623],[0.6186392908384508,-0.47384335559345103]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.52791443342092,-1.1708205453828666,0.71338606911949],"aabb_xy":[[-0.545461128337039,-1.2083205469471179],[-0.5103677385048011,-1.1333205438186154]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[0.07351881523226522,-1.6117062186144457,0.71338606911949],"aabb_xy":[[0.02571264761849657,-1.6767062213215045],[0.12132498284603387,-1.5467062159073866]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.16750840108166054,1.1624314574230068,0.71338606911949],"aabb_xy":[[-0.21748146661417606,1.1124314576104741],[-0.11753533554914511,1.21243145723554]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.2635482762528582,-2.3846128428024773,0.71338606911949],"aabb_xy":[[-0.2690062218898782,-2.4646128461101364],[-0.2580903306158381,-2.304612839494818]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.10181371736283196,-2.2191979960170554,0.71338606911949],"aabb_xy":[[-0.11931371762216858,-2.2332895382058284],[-0.08431371710349532,-2.205106453828283]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.15915371407906675,-0.30911518205696975,0.71338606911949],"aabb_xy":[[-0.17005949016662944,-0.3891151784557989],[-0.14824793799150401,-0.2291151856581406]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[0.30420337929029906,1.1000585881490013,0.71338606911949],"aabb_xy":[[0.26670337934653265,1.0917654981141647],[0.34170337923406546,1.1083516781838378]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.3906109268201441,-1.840653355141335,0.71338606911949],"aabb_xy":[[-0.4127834537967949,-1.862829022297458],[-0.36843839984349325,-1.8184776879852118]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[-0.04392959936551155,-1.8318900807898635,0.71338606911949],"aabb_xy":[[-0.10892960036601207,-1.8826764459445384],[0.021070401634988967,-1.7811037156351885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675645507098629,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7321.png","name":"7321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7321.png","name":"7321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2429.png","name":"2429"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1236.png","name":"1236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2645.png","name":"2645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8232.png","name":"8232"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":554.5647118590275,"rotation_z_degrees":344.05581555987266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007949318723691888,0.016484392677594505,0.004912936671104425]},{"name":"camera_2","offset_m":[-0.0037882031704985636,-0.011971185527390573,-0.012388538747439224]},{"name":"camera_3","offset_m":[0.006075756688069887,-0.014456650443254216,0.0075066670731978]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012205998702633537,0.001010574410923584,0.0008818480407444275],"end_effector_yaw_offset_degrees":-0.21430791210597966},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018408402525494426,7.294210021617856e-06,0.0019689967877689904],"end_effector_yaw_offset_degrees":0.6035393495874248},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012885109757868646,0.001826663256451096,0.0005586267991217904],"end_effector_yaw_offset_degrees":0.07872076591683763}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012723810674286295,-0.0036383588901816445],"position_m":[0.2710276189325714,0.19816164110981838,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00021158586802604712,0.0017621229471890456],"position_m":[0.24828841413197394,-0.13613787705281094,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004621046700891099,-0.0021097012663989223],"position_m":[0.3491789532991089,-0.007309701266398922,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004705188968576,-0.0014244172777986386],"position_m":[0.122894811031424,0.41767558272220134,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033048216009449296,0.003123150316194658],"position_m":[0.2080048216009449,-0.4044768496838054,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3ef97f2000c0841efb85872cb782d9d3f9c658b3960169dcd2866b8b098236f5","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7321/tex_ceiling_textures_8232/tex_floor_textures_2645/tex_table_textures_2429/tex_wall_textures_1236","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":193463701494139259,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":193463701494139259,"visual_seed":193463701494139259,"scene_id":"lab_003","finished_at":"2026-09-03T18:37:26"} +{"episode_id":"ep_000015","started_at":"2026-09-03T18:37:29","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.6948828922313879,-2.2831326482870695,0.71338606911949],"aabb_xy":[[0.6716010500332564,-2.368132649584297],[0.7181647344295191,-2.198132646989841]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.3486019774260327,-0.48227555440516934,0.71338606911949],"aabb_xy":[[0.31861031469216233,-0.5122755537419699],[0.378593640159903,-0.45227555506836875]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.5868927417224113,-0.14919953475621162,0.71338606911949],"aabb_xy":[[-0.6173769918494415,-0.19919953453770756],[-0.5564084915953812,-0.09919953497471568]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.24041141675262256,0.7111795106293988,0.71338606911949],"aabb_xy":[[0.1754114188709748,0.660055846922858],[0.3054114146342704,0.7623031743359399]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.36585989590448104,-1.5033845069947314,0.71338606911949],"aabb_xy":[[-0.4159573598855546,-1.5673845075045432],[-0.31576243192340736,-1.4393845064849196]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.08719711985684264,-0.5954653354333426,0.71338606911949],"aabb_xy":[[-0.10236928913847598,-0.6106341923615459],[-0.0720249505752093,-0.5802964785051392]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.2934200134281953,-1.8864221866547437,0.71338606911949],"aabb_xy":[[-0.3584200119852681,-1.9161747200686263],[-0.22842001487112246,-1.856669653240861]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.17393872871157845,1.4080033273965342,0.71338606911949],"aabb_xy":[[0.10993872843760022,1.3579372271992463],[0.23793872898555668,1.4580694275938222]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.528045388521345,1.2649508740828255,0.71338606911949],"aabb_xy":[[-0.5455453887663942,1.2474510862432584],[-0.5105453882762955,1.282450661922392]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.3593840813110578,-1.7929077787852161,0.71338606911949],"aabb_xy":[[0.3218840811391859,-1.825608514168123],[0.39688408148292975,-1.7602070434023087]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.5776966668231831,-0.47189809261399995,0.71338606911949],"aabb_xy":[[-0.6126966681746647,-0.49225782857082073],[-0.5426966654717013,-0.45153835665717906]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.6432867242631455,0.44101922672123495,0.71338606911949],"aabb_xy":[[0.5632867256758259,0.3617036247830741],[0.7232867228504648,0.5203348286593958]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.6668343690654037,-0.652784923497324,0.71338606911949],"aabb_xy":[[0.6560613951440359,-0.687784921716363],[0.6776073429867715,-0.617784925278285]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.5838697427009154,-1.8757562184658876,0.71338606911949],"aabb_xy":[[0.5635854399775165,-1.896038843608596],[0.6041540454243141,-1.8554735933231783]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.5288454614414952,-1.0802051476729582,0.71338606911949],"aabb_xy":[[0.4737202558119044,-1.140205149114245],[0.5839706670710859,-1.0202051462316708]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.5579374271050364,1.3750686605049158,0.71338606911949],"aabb_xy":[[-0.5947320602299425,1.3381627854083333],[-0.52114279398013,1.4119745356014979]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.13436863803741084,0.5148551977421372,0.71338606911949],"aabb_xy":[[-0.14033517697814663,0.508894053082773],[-0.12840209909667505,0.5208163424015011]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.13177985030632022,0.7983905545831842,0.71338606911949],"aabb_xy":[[-0.13819366394950514,0.7919807343355156],[-0.12536603666313526,0.8048003748308523]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.28820038366263245,1.6429891645003827,0.71338606911949],"aabb_xy":[[-0.2962367183639173,1.6349510451959657],[-0.2801640489613476,1.6510272838047992]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.5132943243582333,1.6741489470662816,0.71338606911949],"aabb_xy":[[0.5062528734074857,1.6671221953284874],[0.5203357753089809,1.6811756988040762]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.4921191496721615,-0.2516096250509876,0.71338606911949],"aabb_xy":[[0.4371454276358286,-0.3066096246152208],[0.5470928717084944,-0.19660962548675442]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.3565318101089139,-0.734975074428661,0.71338606911949],"aabb_xy":[[-0.44653180660978564,-0.7808867168471191],[-0.2665318136080421,-0.6890634320102026]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.18421084881756944,-1.7593751049107504,0.71338606911949],"aabb_xy":[[0.10421084834735353,-1.7676858125250992],[0.26421084928778543,-1.7510643972964022]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.49411519842696205,-2.282245068801509,0.71338606911949],"aabb_xy":[[-0.503871187936136,-2.2920076028607435],[-0.48435920891778816,-2.2724825347422746]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.5654022200155776,-1.502592194254621,0.71338606911949],"aabb_xy":[[-0.5719038565235822,-1.512360016280931],[-0.558900583507573,-1.4928243722283112]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[0.2503501391782754,0.4962876026548262,0.71338606911949],"aabb_xy":[[0.24100313159598025,0.48198398043718216],[0.2596971467605707,0.5105912248724702]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.10661414013134096,-0.5126445308559764,0.71338606911949],"aabb_xy":[[-0.14411414047956872,-0.5244359264370598],[-0.06911413978311319,-0.5008531352748927]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[-0.02520650465829921,-1.8269517649609588,0.71338606911949],"aabb_xy":[[-0.04767127462970433,-1.8494517658398193],[-0.002741734686894093,-1.8044517640820983]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.06744329443401698,-2.2801193418490238,0.71338606911949],"aabb_xy":[[-0.07624534974298969,-2.2879306680039524],[-0.05864123912504427,-2.2723080156940942]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_29","position":[-0.33723187106530583,1.023096333586643,0.71338606911949],"aabb_xy":[[-0.3608169945292007,0.9580963313412112],[-0.313646747601411,1.0880963358320748]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.021245206310858356,1.686042209680242,0.71338606911949],"aabb_xy":[[0.01733133311543583,1.677293194273685],[0.025159079506280876,1.6947912250867987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642431264660852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9715.png","name":"9715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3936.png","name":"3936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1468.png","name":"1468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4378.png","name":"4378"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":618.6360563656394,"rotation_z_degrees":176.2188958716343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01651362374933502,-0.0018707300186367355,-0.01383973868296442]},{"name":"camera_2","offset_m":[0.009816511361523207,-0.01702839425527488,-0.0022212843185689286]},{"name":"camera_3","offset_m":[-0.01922202042555713,0.0044034819259007735,0.01603541232403188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007902403572462306,-0.0019349976195336032,0.0003274160572985852],"end_effector_yaw_offset_degrees":-0.7710717108334013},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012173208490281699,-0.001741530559242903,-0.0013473342287674958],"end_effector_yaw_offset_degrees":0.5153942722924849},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010241351869120286,0.0013881711842179765,-0.0006487535174348781],"end_effector_yaw_offset_degrees":-0.6099063534483651}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003765119090585329,-0.004611096806806343],"position_m":[0.26853488090941463,0.19718890319319365,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003096167622085493,0.004382872067645568],"position_m":[0.2454038323779145,-0.13351712793235443,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00043668303047153523,0.00345694409209557],"position_m":[0.3542366830304715,-0.0017430559079044299,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006047900504838298,-1.996555181042487e-05],"position_m":[0.12699520994951616,0.41908003444818953,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003676595746639113,-0.0004985903878628583],"position_m":[0.20102340425336088,-0.4080985903878629,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c066b4934b75e733e997f48ae48a511a765f36ebab43c869f0b0a2743076ad58","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_164/tex_ceiling_textures_4378/tex_floor_textures_1468/tex_table_textures_9715/tex_wall_textures_3936","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8232829861484960256,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8232829861484960256,"visual_seed":8232829861484960256,"scene_id":"lab_003","finished_at":"2026-09-03T18:40:36"} +{"episode_id":"ep_000016","started_at":"2026-09-03T18:40:40","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.4208882907684821,0.724825892563842,0.71338606911949],"aabb_xy":[[-0.4367727840338073,0.7104729522650179],[-0.405003797503157,0.7391788328626661]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.3429356053008774,-0.3747328837873649,0.71338606911949],"aabb_xy":[[0.31664678098043664,-0.40100431744201603],[0.36922442962131796,-0.34846145013271357]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.5256252765666077,0.13541853915925284,0.71338606911949],"aabb_xy":[[-0.5806175272021187,0.08041853741594009],[-0.4706330259310968,0.19041854090256566]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.3057342319710139,-2.4345884010117276,0.71338606911949],"aabb_xy":[[0.2832342319608656,-2.448684620651331],[0.3282342319811622,-2.4204921813721243]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.3721855355894703,-1.7770185820448763,0.71338606911949],"aabb_xy":[[0.3628919173523197,-1.8145185805330102],[0.38147915382662084,-1.7395185835567424]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.2065686911602307,-2.2311629108872135,0.71338606911949],"aabb_xy":[[-0.2565474996705466,-2.2811629108929328],[-0.15658988264991477,-2.181162910881495]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.44711299190447584,0.7917450681962563,0.71338606911949],"aabb_xy":[[0.4296129926263889,0.7744069681299104],[0.46461299118256266,0.8090831682626023]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.5025401920083772,-0.8883928633174285,0.71338606911949],"aabb_xy":[[0.43854019060038646,-0.9401818148413532],[0.5665401934163677,-0.8366039117935038]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.17460283826452538,-1.846399576777504,0.71338606911949],"aabb_xy":[[-0.19210277169850876,-1.8638995766977384],[-0.157102904830542,-1.8288995768572693]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.3406259517316678,-2.524808897062791,0.71338606911949],"aabb_xy":[[-0.4106259543682541,-2.544913762058656],[-0.2706259490950814,-2.504704032066925]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.5962108087988822,1.6090009816112336,0.71338606911949],"aabb_xy":[[-0.6602108073854546,1.561994018211725],[-0.5322108102123096,1.6560079450107423]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.1496165646799137,-0.4151569077975661,0.71338606911949],"aabb_xy":[[-0.17958412158973935,-0.44515690809545183],[-0.11964900777008802,-0.38515690749968035]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.5774647749685893,1.521211311689712,0.71338606911949],"aabb_xy":[[0.512464774011462,1.4692630997560063],[0.6424647759257164,1.5731595236234175]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.2359633698387935,-1.6133825777424589,0.71338606911949],"aabb_xy":[[0.19068475495764425,-1.6773825770906425],[0.2812419847199428,-1.5493825783942752]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.170644453535316,0.031295450445699036,0.71338606911949],"aabb_xy":[[-0.20564445180543586,0.024221322750710865],[-0.13564445526519606,0.03836957814068719]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.07751977413495748,-2.336101615466881,0.71338606911949],"aabb_xy":[[0.022524296314298073,-2.391101616900788],[0.13251525195561686,-2.2811016140329743]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.38677990770417964,-1.0519338279333372,0.71338606911949],"aabb_xy":[[-0.4567799098356091,-1.0746957935590324],[-0.31677990557275004,-1.0291718623076411]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.028315797753131977,-0.8476425538468266,0.71338606911949],"aabb_xy":[[0.021054550182724563,-0.8604295641103361],[0.03557704532353939,-0.8348555435833172]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.31233032074932976,-0.683907381995835,0.71338606911949],"aabb_xy":[[0.2948996056703232,-0.7011794966596857],[0.3297610358283362,-0.6666352673319841]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.5276477735304923,0.8944259639472514,0.71338606911949],"aabb_xy":[[-0.5704144804099125,0.8304259605254489],[-0.4848810666510721,0.9584259673690538]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.3969969206277143,0.8812169011754385,0.71338606911949],"aabb_xy":[[-0.4078373988542292,0.8640306198847897],[-0.3861564424011994,0.8984031824660873]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.6332430208857021,-0.021189891554362017,0.71338606911949],"aabb_xy":[[0.5692430206117238,-0.07125599175164998],[0.6972430211596803,0.028876208642925952]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.2043668056226034,-1.036812434807686,0.71338606911949],"aabb_xy":[[-0.23999596152256314,-1.0724451015645389],[-0.16873764972264366,-1.001179768050833]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.25344637010395765,-0.30573580023519487,0.71338606911949],"aabb_xy":[[-0.29094637004772406,-0.31402889027003145],[-0.21594637016019125,-0.2974427102003583]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.46658610531710165,0.2520961373119781,0.71338606911949],"aabb_xy":[[0.4519426997630686,0.23743741765519383],[0.4812295108711346,0.2667548569687624]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[-0.04987202871273655,1.8204380808166118,0.71338606911949],"aabb_xy":[[-0.05590904171340128,1.8144113797476638],[-0.04383501571207182,1.82646478188556]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.27441699409191855,-1.2830382836001106,0.71338606911949],"aabb_xy":[[-0.2824109826696219,-1.2910383636952008],[-0.2664230055142151,-1.27503820350502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670861062595287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7460.png","name":"7460"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1383.png","name":"1383"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8209.png","name":"8209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":745.7026437561819,"rotation_z_degrees":231.81965226793997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0099315124798348,-3.970583740644032e-05,-0.009033074898898086]},{"name":"camera_2","offset_m":[-0.0029332250505166926,-0.019509996619648484,0.011790156186995974]},{"name":"camera_3","offset_m":[-0.0021076762966920452,-0.0012577565246302685,0.01966395623539525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006763039803164644,0.0010892632160715045,-0.0013132540808367557],"end_effector_yaw_offset_degrees":0.5137551057904306},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00045566862813783146,0.000844902205280146,4.90662455836649e-05],"end_effector_yaw_offset_degrees":-0.6186585108751388},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018344955732408161,-0.001742371312630675,0.0004774615027276171],"end_effector_yaw_offset_degrees":-0.9932846177754462}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00044477640432922204,0.0016144095544391255],"position_m":[0.27185522359567077,0.20341440955443912,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003990809814721191,0.002934534033699316],"position_m":[0.2445091901852788,-0.13496546596630069,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004283081412708754,-0.004556925558245063],"position_m":[0.3495169185872912,-0.009756925558245063,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.7326208594075485e-05,0.0007006919399613898],"position_m":[0.12764732620859406,0.4198006919399614,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003188644147678955,-0.0044893617773704665],"position_m":[0.20151135585232105,-0.4120893617773705,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"889c040982363224b00d94033712800ed38507d12a95867530eb70d7c78f665e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_226/tex_ceiling_textures_9879/tex_floor_textures_8209/tex_table_textures_7460/tex_wall_textures_1383","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6272210248050093473,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6272210248050093473,"visual_seed":6272210248050093473,"scene_id":"lab_003","finished_at":"2026-09-03T18:43:31"} +{"episode_id":"ep_000017","started_at":"2026-09-03T18:43:34","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.5665775814917194,-0.3887060607205943,0.71338606911949],"aabb_xy":[[-0.5719151571577241,-0.4137060616497341],[-0.561240005825715,-0.36370605979145454]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.24440399244921512,0.8697719668116046,0.71338606911949],"aabb_xy":[[-0.3244039898528085,0.7897793956134218],[-0.16440399504562167,0.9497645380097874]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.43963946774695195,1.54713436763535,0.71338606911949],"aabb_xy":[[-0.4487993466908286,1.5406031495918129],[-0.4304795888030754,1.553665585678887]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.6860914102638697,-0.04123043042630137,0.71338606911949],"aabb_xy":[[-0.6942050649372468,-0.04933624688033045],[-0.6779777555904926,-0.03312461397227229]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.5444847677163862,-0.5431125838520043,0.71338606911949],"aabb_xy":[[-0.5790758505704313,-0.6081125841370353],[-0.5098936848623409,-0.4781125835669732]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.25566245766192175,1.6374768076179307,0.71338606911949],"aabb_xy":[[0.22066245631044004,1.6171170716611099],[0.2906624590134035,1.6578365435747515]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.4317542240483179,-0.6762980140867445,0.71338606911949],"aabb_xy":[[-0.4382558605563225,-0.6860658361130543],[-0.42525258754031325,-0.6665301920604347]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.059586633258480015,-1.1936874216899236,0.71338606911949],"aabb_xy":[[-0.025413365433594626,-1.2256732850848024],[0.14458663195055466,-1.1617015582950447]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.04201179098655794,-2.1235858220003974,0.71338606911949],"aabb_xy":[[-0.05756756039682321,-2.139136255244805],[-0.026456021576292676,-2.1080353887559906]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.3066260017921232,0.56908146179603,0.71338606911949],"aabb_xy":[[-0.34412600258411863,0.5627136208378399],[-0.26912600100012773,0.5754493027542201]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.09461196183136411,0.20844005370941643,0.71338606911949],"aabb_xy":[[-0.10064897483202886,0.20241335264046828],[-0.0885749488306994,0.2144667547783647]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.10779276869112497,-0.9025434796377512,0.71338606911949],"aabb_xy":[[0.08999926175620854,-0.9203432252335488],[0.1255862756260414,-0.8847437340419535]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.24699892414543245,-2.461892753489991,0.71338606911949],"aabb_xy":[[0.20949892556981164,-2.474629049153549],[0.28449892272105326,-2.449156457826433]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.19311567471044255,1.3196313934176804,0.71338606911949],"aabb_xy":[[0.18369820014057978,1.3102152162799612],[0.20253314928030527,1.3290475705553992]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.5065092183364572,-2.1937725621050688,0.71338606911949],"aabb_xy":[[-0.5216115197974751,-2.2088740837361303],[-0.49140691687543897,-2.1786710404740064]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.2401361732043053,-1.8896505062601658,0.71338606911949],"aabb_xy":[[-0.2851361746705342,-1.9346503631216467],[-0.1951361717380765,-1.8446506493986854]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.4584191391641188,-2.3162590085149946,0.71338606911949],"aabb_xy":[[0.3934191381636183,-2.367045373669669],[0.5234191401646193,-2.265472643360319]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.6184695590615094,1.4743441458911692,0.71338606911949],"aabb_xy":[[-0.6263928393002577,1.4518441456531659],[-0.610546278822761,1.4968441461291726]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.5075832436267966,-0.22480764788380858,0.71338606911949],"aabb_xy":[[0.44358324723122367,-0.28877093630254214],[0.5715832400223698,-0.16084435946507503]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.5545902404362221,-1.517279574901989,0.71338606911949],"aabb_xy":[[-0.5920902411008007,-1.532966632902211],[-0.5170902397716433,-1.5015925169017665]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.03573045281859821,0.816894390311043,0.71338606911949],"aabb_xy":[[-0.09973045010424686,0.7753876713581991],[0.028269544467050434,0.858401109263887]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.006199285943403465,-1.0191234769371174,0.71338606911949],"aabb_xy":[[-0.043699287128196256,-1.0235416996331774],[0.031300715241389325,-1.0147052542410564]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.5816651169187461,-1.1277578394256693,0.71338606911949],"aabb_xy":[[0.5166651190370983,-1.1788815031322102],[0.6466651148003939,-1.0766341757191285]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.18420458052969213,-1.614390724815075,0.71338606911949],"aabb_xy":[[-0.2482045812331615,-1.6604091072879965],[-0.12020457982622279,-1.5683723423421545]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.5330199466511898,1.624001235215864,0.71338606911949],"aabb_xy":[[0.4730199460551737,1.5691887626706404],[0.5930199472472061,1.6788137077610874]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.5237745975388961,-1.9425106553708948,0.71338606911949],"aabb_xy":[[-0.5414074331324236,-1.9601336013865176],[-0.5061417619453684,-1.9248877093552716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732875055094204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/173.png","name":"173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/173.png","name":"173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1423.png","name":"1423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3430.png","name":"3430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6090.png","name":"6090"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.3042893887332,"rotation_z_degrees":67.20105839995847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014363569071864854,0.018039357216606076,-0.01157312541463297]},{"name":"camera_2","offset_m":[-0.003020779887169988,-0.014686601324389287,0.014332046306557936]},{"name":"camera_3","offset_m":[0.011897472864198847,-0.01269501867116286,0.011643906315285304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012024055791083044,-0.000265379587702446,0.00022483113558643573],"end_effector_yaw_offset_degrees":0.9680830919474956},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006030364309263141,0.0004220755848494619,-0.00019315247718756012],"end_effector_yaw_offset_degrees":0.4710317900881449},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009604648670856718,-0.0002929418417363782,-0.001961178911984531],"end_effector_yaw_offset_degrees":0.8374567995528086}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011721866702808373,-0.0041880298318324625],"position_m":[0.27347218667028084,0.19761197016816753,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00012004080008785022,-0.0003607047213682194],"position_m":[0.24837995919991215,-0.13826070472136823,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0037088547089437563,0.0047824828403419456],"position_m":[0.3575088547089438,-0.0004175171596580542,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008565021408871417,0.003918794364096434],"position_m":[0.12845650214088714,0.4230187943640964,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004320932468441317,-0.004946662202779731],"position_m":[0.2090209324684413,-0.41254666220277975,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e923cca8f70e5d49e0e35c95b83afeab992627357e0fc0161027250e7841b211","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_173/tex_ceiling_textures_6090/tex_floor_textures_3430/tex_table_textures_1423/tex_wall_textures_5009","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7316137461325916188,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7316137461325916188,"visual_seed":7316137461325916188,"scene_id":"lab_003","finished_at":"2026-09-03T18:46:29"} +{"episode_id":"ep_000018","started_at":"2026-09-03T18:46:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.30061530749302967,0.6023724833234025,0.71338606911949],"aabb_xy":[[0.23661530608503903,0.5505835317994777],[0.36461530890102034,0.6541614348473271]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.49505124302491854,-1.8351143374730923,0.71338606911949],"aabb_xy":[[0.47616685925640834,-1.8540002622534453],[0.5139356267934287,-1.8162284126927397]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.6801191030963897,1.2525617506557412,0.71338606911949],"aabb_xy":[[-0.6908920770177576,1.2175617524367022],[-0.669346129175022,1.2875617488747801]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.15704773156123109,1.6066388246354344,0.71338606911949],"aabb_xy":[[0.09204773300415828,1.5768862912215518],[0.22204773011830395,1.636391358049317]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[-0.17344766279918067,0.5101618155963248,0.71338606911949],"aabb_xy":[[-0.2534476632693966,0.5018511079819764],[-0.09344766232896469,0.5184725232106732]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.5388882194397233,-0.6004934030267601,0.71338606911949],"aabb_xy":[[0.4688882176309779,-0.6218471717909474],[0.6088882212484688,-0.5791396342625726]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.39029029315480934,-1.8614749821093728,0.71338606911949],"aabb_xy":[[0.3652902939891763,-1.8684272278147294],[0.4152902923204425,-1.8545227364040162]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.6625992392194016,-1.5983446842366513,0.71338606911949],"aabb_xy":[[0.6291200719583606,-1.6318237976077583],[0.6960784064804425,-1.5648655708655443]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.09069770391244514,-2.046654562849151,0.71338606911949],"aabb_xy":[[0.08140408567529456,-2.0841545613372845],[0.09999132214959572,-2.0091545643610167]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.08705576710425011,1.6036894253294167,0.71338606911949],"aabb_xy":[[-0.1510557673647209,1.5586806259764887],[-0.0230557668437793,1.6486982246823447]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.48977252417552597,1.4976121844223322,0.71338606911949],"aabb_xy":[[-0.5794596004836414,1.4076121841678817],[-0.4000854478674105,1.5876121846767828]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.4791188213741272,-0.7336252642257044,0.71338606911949],"aabb_xy":[[-0.5161529308021869,-0.7680024715594138],[-0.44208471194606747,-0.699248056891995]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.257702033516669,0.9656902556238891,0.71338606911949],"aabb_xy":[[0.24102489752357348,0.9489903316499588],[0.2743791695097645,0.9823901795978194]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.4040010535149558,-0.07217872234329548,0.71338606911949],"aabb_xy":[[-0.43448530364198595,-0.12217872212479142],[-0.37351680338792564,-0.022178722561799535]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.328027332382379,1.0788830291682152,0.71338606911949],"aabb_xy":[[0.31932937009166373,1.0667580548607405],[0.3367252946730943,1.09100800347569]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.3783479606041348,-0.8408854862616808,0.71338606911949],"aabb_xy":[[-0.3820512219332737,-0.8445875045703988],[-0.3746446992749959,-0.8371834679529631]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.359678838061171,-1.7922650032052632,0.71338606911949],"aabb_xy":[[-0.36457813036773445,-1.8199419225078317],[-0.35477954575460746,-1.7645880839026942]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.19555722926148789,-0.6580466056521324,0.71338606911949],"aabb_xy":[[-0.20355071905676997,-0.666044737592608],[-0.18756373946620591,-0.6500484737116567]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.654230272544636,-2.3588161144329414,0.71338606911949],"aabb_xy":[[-0.6917302728928637,-2.370607510014025],[-0.6167302721964082,-2.347024718851858]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.23257953057872727,-2.4595896104245325,0.71338606911949],"aabb_xy":[[0.1685795282359257,-2.504530461668665],[0.29657953292152883,-2.4146487591804]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.47620217136393195,1.4063235188613858,0.71338606911949],"aabb_xy":[[0.46820818278622844,1.398323438766295],[0.48419615994163523,1.4143235989564757]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.6565004467031972,0.19654727591349852,0.71338606911949],"aabb_xy":[[0.651167932048584,0.19122294766826292],[0.6618329613578101,0.20187160415873412]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.1696315256441322,1.4404763882772778,0.71338606911949],"aabb_xy":[[0.16429394997812763,1.4154763873481377],[0.17496910131013677,1.4654763892064173]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.06425932153254754,1.0686207648280015,0.71338606911949],"aabb_xy":[[-0.11423238706506303,1.0186207650154688],[-0.014286256000032086,1.1186207646405346]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[0.6189961645161173,0.6843074470609376,0.71338606911949],"aabb_xy":[[0.6109698938854913,0.675555952083585],[0.6270224351467433,0.6930589420382902]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.0470516533328752,1.4340462218327494,0.71338606911949],"aabb_xy":[[0.037295663823701294,1.424283687773515],[0.056807642842049075,1.4438087558919839]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619502017889044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9201.png","name":"9201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9201.png","name":"9201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6547.png","name":"6547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5311.png","name":"5311"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":652.8329995211616,"rotation_z_degrees":300.9582922504114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012583487848405746,-0.017331948979898395,0.01123271250756171]},{"name":"camera_2","offset_m":[-0.006192479202123331,0.0016017324289709159,-0.016370254754163396]},{"name":"camera_3","offset_m":[0.0016877640288642977,0.007516025346492396,0.014918052262254847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.3815838620746985e-05,-0.00017694017847981513,-0.0015380525086247866],"end_effector_yaw_offset_degrees":0.21820283665289786},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-4.228855726527486e-05,-0.00013121018325503862,-0.0010453999872026528],"end_effector_yaw_offset_degrees":0.25271497417279876},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00041119271293850587,-0.001072225514994177,-0.0006295807987628619],"end_effector_yaw_offset_degrees":-0.1341222217003628}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008318765381527728,-0.004221473700561155],"position_m":[0.27313187653815274,0.19757852629943884,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003959439509311629,-0.0004360505964593805],"position_m":[0.2524594395093116,-0.13833605059645937,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002212995681944179,-0.0011583525696560147],"position_m":[0.35601299568194417,-0.0063583525696560145,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048574438570957055,0.004269300658217523],"position_m":[0.1324574438570957,0.4233693006582175,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004932899788440711,0.0016210839105291232],"position_m":[0.19976710021155927,-0.4059789160894709,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2d58c6f2cc6461ca7b2b3a4a82304c98a16956ddc660be1ee07f76b7ddf000cb","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9201/tex_ceiling_textures_5311/tex_floor_textures_4530/tex_table_textures_6547/tex_wall_textures_6074","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2624619697554956224,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2624619697554956224,"visual_seed":2624619697554956224,"scene_id":"lab_003","finished_at":"2026-09-03T18:49:35"} +{"episode_id":"ep_000019","started_at":"2026-09-03T18:49:39","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.038753175092892556,-0.8855312295353988,0.71338606911949],"aabb_xy":[[0.032716162092227836,-0.8915579306043472],[0.04479018809355729,-0.8795045284664508]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.058748781223634694,0.6243852498462243,0.71338606911949],"aabb_xy":[[0.036248781213486396,0.610289030206621],[0.08124878123378299,0.6384814694858275]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.04583855148545213,-2.3184376360455197,0.71338606911949],"aabb_xy":[[-0.08146770738541187,-2.3540703028023726],[-0.010209395585492387,-2.2828049692886667]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.14956057041777948,-1.3006270985865247,0.71338606911949],"aabb_xy":[[-0.1647327396994128,-1.315795955514728],[-0.1343884011361461,-1.2854582416583213]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.12017148805272715,-1.0705337316566936,0.71338606911949],"aabb_xy":[[-0.1701714893365671,-1.1205125860473157],[-0.07017148676888717,-1.0205548772660715]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.25845234998236255,-1.3196326600920827,0.71338606911949],"aabb_xy":[[0.2034568721617031,-1.3746326615259896],[0.3134478278030219,-1.2646326586581758]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.4758998271366752,-0.1624011697642156,0.71338606911949],"aabb_xy":[[0.4119041297415786,-0.22640116806492425],[0.5398955245317718,-0.09840117146350688]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.5359751217674471,-0.6325759126422454,0.71338606911949],"aabb_xy":[[-0.5959751220188483,-0.68685723767871],[-0.47597512151604593,-0.5782945876057807]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.3820002591433491,-1.1277473974065673,0.71338606911949],"aabb_xy":[[0.30200025588550616,-1.2077439051985512],[0.4620002624011921,-1.0477508896145833]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.20175025460537566,-1.428156615141257,0.71338606911949],"aabb_xy":[[-0.21116772917523843,-1.4375727922789758],[-0.19233278003551293,-1.4187404380035378]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.49632525017740137,-2.5005603229906823,0.71338606911949],"aabb_xy":[[-0.500403408084451,-2.5046413032389454],[-0.4922470922703516,-2.4964793427424192]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.5388566610690937,-0.7967791815022642,0.71338606911949],"aabb_xy":[[-0.5731729382437116,-0.8467791814754418],[-0.5045403838944758,-0.7467791815290864]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.04724995987119762,1.449878407709606,0.71338606911949],"aabb_xy":[[-0.016750040506335995,1.4001331408587938],[0.11124996024873124,1.4996236745604183]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.3483533832291789,-2.2870673291281762,0.71338606911949],"aabb_xy":[[-0.36585338236354603,-2.296946956165764],[-0.3308533840948117,-2.2771877020905884]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.118216852507673,0.892353433034907,0.71338606911949],"aabb_xy":[[0.06821685293133829,0.8423728540828012],[0.16821685208400772,0.942334011987013]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.040614978978294025,-1.5193187693755923,0.71338606911949],"aabb_xy":[[-0.04872863365167112,-1.5274245858296212],[-0.032501324304916916,-1.511212952921563]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.2056446142610655,1.0550051233415996,0.71338606911949],"aabb_xy":[[0.12064461556899087,1.0230192599467207],[0.29064461295314015,1.0869909867364784]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.3749662608877035,0.265823178354784,0.71338606911949],"aabb_xy":[[-0.3974653966139305,0.243323177576521],[-0.35246712516147655,0.28832317913304695]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[-0.5416540834710398,1.1117597453684325,0.71338606911949],"aabb_xy":[[-0.591654082116961,1.0618402017089699],[-0.49165408482511863,1.1616792890278946]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.16595793791398483,1.6072364061493807,0.71338606911949],"aabb_xy":[[0.14404925577463376,1.5853357393292897],[0.18786662005333585,1.6291370729694712]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.5480982332019644,0.7075819536934485,0.71338606911949],"aabb_xy":[[-0.589347044231879,0.6525819541812309],[-0.5068494221720495,0.7625819532056658]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.42762518612805284,-0.447496542962321,0.71338606911949],"aabb_xy":[[-0.43320685776218154,-0.4599965427800965],[-0.422043514493924,-0.4349965431445455]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.402141482782346,-1.3990544173558312,0.71338606911949],"aabb_xy":[[-0.4821414849451084,-1.4790096009819749],[-0.3221414806195834,-1.3190992337296876]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[-0.5330262162850408,-2.0317330928758826,0.71338606911949],"aabb_xy":[[-0.558026215557003,-2.0480784564720445],[-0.5080262170130785,-2.0153877292797198]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.15432883237806572,-1.646631413437675,0.71338606911949],"aabb_xy":[[-0.20432883273863175,-1.6966114006472774],[-0.10432883201749964,-1.5966514262280715]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.6900686425302172,-1.5731321262508233,0.71338606911949],"aabb_xy":[[0.6788235869595993,-1.5843739239749186],[0.701313698100835,-1.561890328526728]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.6872005889016108,-1.7088320495427283,0.71338606911949],"aabb_xy":[[0.6763489826527352,-1.7196913402703793],[0.6980521951504864,-1.6979727588150773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_27","position":[0.010082874760855676,-1.0008411454829798,0.71338606911949],"aabb_xy":[[0.006169001565433152,-1.0095901608895366],[0.0139967479562782,-0.9920921300764229]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626998702913379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4039.png","name":"4039"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3119.png","name":"3119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3652.png","name":"3652"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":575.8626201988287,"rotation_z_degrees":9.01777013565213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016072427486899472,0.009149754603187104,-0.009293953181456524]},{"name":"camera_2","offset_m":[0.017822386169911903,0.005219540060695072,-0.01640610721211937]},{"name":"camera_3","offset_m":[0.0033307583952153635,-0.0033940330026558593,-0.015228694484634668]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001163545900891203,0.00015575540160872245,1.0344801347852029e-05],"end_effector_yaw_offset_degrees":0.4746152216015802},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011473969962331495,0.0005906669093267173,0.0008989655328958202],"end_effector_yaw_offset_degrees":-0.708633989279154},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008466708407469836,-0.0007234391317206602,-0.000721130755938527],"end_effector_yaw_offset_degrees":0.5378165258039194}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032661329703634933,-0.002170548226725032],"position_m":[0.2755661329703635,0.19962945177327499,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017601866027643076,-0.0030902237699318613],"position_m":[0.2467398133972357,-0.14099022376993187,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004101412598523498,0.003501361406769846],"position_m":[0.3496985874014765,-0.001698638593230154,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001094059468368623,-0.004646694602202656],"position_m":[0.12749059405316313,0.41445330539779734,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004582919436149497,0.0008496679133730535],"position_m":[0.2001170805638505,-0.406750332086627,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f9913f25d6afc7013d3379dca94c4003957011721ea7a132296cf827fe81562f","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7617/tex_ceiling_textures_3652/tex_floor_textures_3119/tex_table_textures_4039/tex_wall_textures_9013","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2377030221848331762,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2377030221848331762,"visual_seed":2377030221848331762,"scene_id":"lab_003","finished_at":"2026-09-03T18:52:30"} +{"episode_id":"ep_000020","started_at":"2026-09-03T18:52:33","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.5674108426149469,-1.855082028561826,0.71338606911949],"aabb_xy":[[0.5556426558202895,-1.9400820284670477],[0.5791790294096045,-1.7700820286566046]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.4101716953081328,-1.6557111452358009,0.71338606911949],"aabb_xy":[[-0.47417169735786485,-1.6958056283251088],[-0.34617169325840086,-1.615616662146493]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.4933278132536945,0.8472884134480925,0.71338606911949],"aabb_xy":[[-0.5733278104132697,0.8357408124902754],[-0.4133278160941192,0.8588360144059095]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.7118075595911117,0.8016915874132162,0.71338606911949],"aabb_xy":[[0.705770546590447,0.7956648863442681],[0.7178445725917765,0.8077182884821645]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.6101771762950905,-1.0150445649917759,0.71338606911949],"aabb_xy":[[-0.6901771748824098,-1.0943601669299365],[-0.530177177707771,-0.9357289630536149]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.5413595714531847,0.9708825952656053,0.71338606911949],"aabb_xy":[[0.5348579349451801,0.9611147732392956],[0.5478612079611893,0.9806504172919152]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.17579775898406735,-2.0971543964110486,0.71338606911949],"aabb_xy":[[-0.2132977594814256,-2.101123079959167],[-0.1382977584867091,-2.09318571286293]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.5899108238446387,-2.0670662650761473,0.71338606911949],"aabb_xy":[[-0.5996668133538124,-2.0768287991353813],[-0.5801548343354647,-2.0573037310169124]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.1221416737691784,-1.1263604288374476,0.71338606911949],"aabb_xy":[[-0.21214167236364834,-1.1426110151508688],[-0.032141675174708464,-1.1101098425240268]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.588684102944842,1.179043661791459,0.71338606911949],"aabb_xy":[[0.5386841015839546,1.1290657572160434],[0.6386841043057291,1.2290215663668747]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.5643834255411285,1.3833938465513826,0.71338606911949],"aabb_xy":[[-0.5868481955125335,1.3608938456725221],[-0.5419186555697233,1.4058938474302431]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.029978471651762706,0.7894371395701012,0.71338606911949],"aabb_xy":[[0.005432256029011983,0.7591882430210641],[0.05452468727451342,0.8196860361191383]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.13900239054345265,0.9462491135791855,0.71338606911949],"aabb_xy":[[0.10308888611846297,0.9103356053624309],[0.17491589496844234,0.9821626217959402]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.3457638444680644,-0.9392911281450589,0.71338606911949],"aabb_xy":[[0.30059252661989544,-1.0032911252895975],[0.39093516231623343,-0.8752911310005207]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.40136661829146036,-0.6837946361809186,0.71338606911949],"aabb_xy":[[0.3213666178212444,-0.6921053437952669],[0.48136661876167636,-0.6754839285665701]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.2177601359153476,-0.22816185339631412,0.71338606911949],"aabb_xy":[[-0.22580349584130277,-0.31316185449168055],[-0.20971677598939242,-0.1431618523009477]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.20326730166478713,0.7658676198016039,0.71338606911949],"aabb_xy":[[0.19392029408249192,0.7515639975839599],[0.21261430924708238,0.7801712420192479]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.39883228984202657,0.2480487580546491,0.71338606911949],"aabb_xy":[[-0.42133228965592895,0.24357414168416844],[-0.3763322900281242,0.25252337442512984]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.39720528675213007,-0.571861654123551,0.71338606911949],"aabb_xy":[[-0.47720528371516924,-0.6489372957673244],[-0.3172052897890909,-0.4947860124797775]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.22262027133999962,1.736088414964311,0.71338606911949],"aabb_xy":[[0.17549089233816392,1.6720884139199086],[0.2697496503418353,1.8000884160087125]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.12499471230759074,-2.3180209653171424,0.71338606911949],"aabb_xy":[[-0.13312240050090396,-2.3269345737278506],[-0.11686702411427752,-2.309107356906435]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.5314141739597882,-1.4687009111108473,0.71338606911949],"aabb_xy":[[0.5210026152793045,-1.4740466444467457],[0.5418257326402719,-1.463355177774949]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.27645567991847675,1.4702508017248284,0.71338606911949],"aabb_xy":[[0.21486492069448387,1.4062508036157817],[0.3380464391424695,1.5342507998338755]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.1581559744131792,-1.7311535039991754,0.71338606911949],"aabb_xy":[[0.1331559744806613,-1.7380361722200985],[0.18315597434569708,-1.724270835778252]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.3151097632551859,-0.23489691785102318,0.71338606911949],"aabb_xy":[[-0.3258827371765537,-0.26989691607006217],[-0.30433678933381814,-0.1998969196319842]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[0.20257627610445927,-1.591392349795868,0.71338606911949],"aabb_xy":[[0.18007985467059517,-1.6138923496026152],[0.22507269753832337,-1.5688923499891203]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.6323768353098416,0.8715783247879547,0.71338606911949],"aabb_xy":[[0.6191458897751603,0.8583509057659552],[0.6456077808445229,0.884805743809954]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.19968249559525897,-1.7387625908266982,0.71338606911949],"aabb_xy":[[-0.22597131991569963,-1.7650340244813492],[-0.1733936712748183,-1.7124911571720467]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[0.36857990404524443,1.7944804995987336,0.71338606911949],"aabb_xy":[[0.35100160185629753,1.7769060100246288],[0.3861582062341912,1.8120549891728388]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[-0.5212688996761413,-2.328288609045942,0.71338606911949],"aabb_xy":[[-0.5587689004681368,-2.3346564500041316],[-0.48376889888414587,-2.321920768087751]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662222515493975,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9639.png","name":"9639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9639.png","name":"9639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9432.png","name":"9432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9047.png","name":"9047"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/63.png","name":"63"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":550.0197404614228,"rotation_z_degrees":165.9638987202197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016653189706675075,0.01899183639976394,-0.015092931774322183]},{"name":"camera_2","offset_m":[-3.3539070635274504e-05,-0.0033500068662176558,-0.007550019261366647]},{"name":"camera_3","offset_m":[0.010900203514119272,0.010220938023878034,0.007859848800947245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014455963544944684,-0.0018067513115139332,-0.0007791833327154612],"end_effector_yaw_offset_degrees":-0.3608546956702785},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0019375836248670072,-2.6695232302614835e-06,0.00021745816918914904],"end_effector_yaw_offset_degrees":-0.019610526413162077},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001067103123530127,-0.0009245267074466969,0.00034856627918535867],"end_effector_yaw_offset_degrees":0.45851343620088203}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012136989026493715,-0.003982280541323439],"position_m":[0.2710863010973506,0.19781771945867657,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004784309365965336,-0.0025496354837716596],"position_m":[0.24371569063403467,-0.14044963548377165,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0028062878006559324,-0.0008826674856167718],"position_m":[0.35660628780065595,-0.0060826674856167716,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-1.0486603627583337e-05,0.00017061622949758343],"position_m":[0.1275895133963724,0.4192706162294976,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00024308810003561675,0.0013319061707451549],"position_m":[0.20494308810003561,-0.4062680938292549,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4b82c416dbe50f21967e19184bae0f202f2f5066b506086a7bfa108134be66e","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9639/tex_ceiling_textures_63/tex_floor_textures_4827/tex_table_textures_9432/tex_wall_textures_9047","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2562398119622685096,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2562398119622685096,"visual_seed":2562398119622685096,"scene_id":"lab_003","finished_at":"2026-09-03T18:55:29"} +{"episode_id":"ep_000021","started_at":"2026-09-03T18:55:32","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.2558568741713721,0.8406268863564104,0.71338606911949],"aabb_xy":[[-0.28831857505329944,0.8104940542415076],[-0.22339517328944455,0.8707597184713127]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.16346370131982713,1.706024858040894,0.71338606911949],"aabb_xy":[[-0.16987751496301204,1.6996150377932255],[-0.15704988767664216,1.7124346782885622]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.4963538528819822,-0.948217468258743,0.71338606911949],"aabb_xy":[[0.4463709026945027,-0.9982174679013033],[0.5463368030694613,-0.8982174686161825]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.4350028070792248,-1.6168679958187098,0.71338606911949],"aabb_xy":[[-0.5150028050600097,-1.6244695367805615],[-0.35500280909843973,-1.6092664548568576]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.5692163172603188,1.706175568304134,0.71338606911949],"aabb_xy":[[0.5052163169863407,1.656109468106846],[0.6332163175342972,1.756241668501422]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.25749672884718633,-1.1884603671491645,0.71338606911949],"aabb_xy":[[0.20749673020126508,-1.2383799108086266],[0.30749672749310747,-1.1385408234897019]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.0293393512676563,1.2012109549324022,0.71338606911949],"aabb_xy":[[0.00479313564490558,1.1709620583833649],[0.05388556689040702,1.231459851481439]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.2605829245812783,0.6818806980469261,0.71338606911949],"aabb_xy":[[0.23766721169622845,0.6589764009105026],[0.28349863746632825,0.7047849951833496]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.3712419821428195,-0.7615734758641524,0.71338606911949],"aabb_xy":[[-0.4612419858197376,-0.8230058824412565],[-0.28124197846590127,-0.7001410692870479]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.6680664205568242,-0.7431435755631963,0.71338606911949],"aabb_xy":[[-0.6727015357090573,-0.7470109106403449],[-0.6634313054045906,-0.7392762404860476]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.14291566452964122,1.4869325985814803,0.71338606911949],"aabb_xy":[[0.09292083160169962,1.436932599686237],[0.19291049745758282,1.536932597476724]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.2833795399168849,-0.6562213087388975,0.71338606911949],"aabb_xy":[[0.21937953662717677,-0.6995562277428149],[0.347379543206593,-0.6128863897349797]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.186763787210682,0.5279359642092429,0.71338606911949],"aabb_xy":[[-0.2667637904746951,0.5143759319003296],[-0.10676378394666886,0.5414959965181563]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.5720614879903114,-1.7692164965621069,0.71338606911949],"aabb_xy":[[0.5070614894332386,-1.7989690299759893],[0.6370614865473843,-1.739463963148224]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.3219516313471669,-0.10149920416832359,0.71338606911949],"aabb_xy":[[-0.3859516286328155,-0.14300592312116756],[-0.2579516340615182,-0.059992485215479605]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.5744450790395945,-1.5119417872210397,0.71338606911949],"aabb_xy":[[0.5588893096293293,-1.527492220465447],[0.5900008484498598,-1.4963913539766325]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.016687813695833387,-1.4024239221639052,0.71338606911949],"aabb_xy":[[-0.04731218798216397,-1.4509413136432194],[0.08068781537383074,-1.353906530684591]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.5697892541227947,-1.6791701919110287,0.71338606911949],"aabb_xy":[[-0.5751217687774077,-1.6844945201562642],[-0.5644567394681816,-1.6738458636657931]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.148603267968754,-1.3375598845461425,0.71338606911949],"aabb_xy":[[-0.17360326790127192,-1.344442552767066],[-0.12360326803623614,-1.3306772163252194]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.6411325479981693,0.955783161049927,0.71338606911949],"aabb_xy":[[-0.6715306590973128,0.9253762590482574],[-0.6107344368990256,0.9861900630515964]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.10791848709940566,-1.2424763916327164,0.71338606911949],"aabb_xy":[[-0.1278095269797459,-1.2551322029174132],[-0.08802744721906541,-1.2298205803480196]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.023362520368911732,-1.0437367177963417,0.71338606911949],"aabb_xy":[[-0.026637479991654327,-1.0937167050059446],[0.07336252072947778,-0.9937567305867389]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.28877670152329027,0.9540702200147808,0.71338606911949],"aabb_xy":[[0.2436053836751213,0.8900702228702425],[0.33394801937145924,1.0180702171593192]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.569489082649357,0.056195809977480415,0.71338606911949],"aabb_xy":[[0.5482110745058848,-0.00880419234859265],[0.5907670907928293,0.12119581230355347]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.23342826157711727,0.9916755314418197,0.71338606911949],"aabb_xy":[[-0.2884282611988631,0.9366918386543471],[-0.17842826195537143,1.0466592242292925]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.1438774356504524,-1.1494253937391494,0.71338606911949],"aabb_xy":[[-0.15199109032382951,-1.1575312101931785],[-0.1357637809770753,-1.1413195772851203]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[0.5582101262817205,-2.441059931387511,0.71338606911949],"aabb_xy":[[0.5217143056544417,-2.4775438738142688],[0.5947059469089991,-2.4045759889607536]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.37950777248032075,1.0138560550533775,0.71338606911949],"aabb_xy":[[-0.429390469358017,0.9638560558071028],[-0.32962507560262455,1.0638560542996522]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[-0.1375860443694472,-1.9609596141775993,0.71338606911949],"aabb_xy":[[-0.2015860447469808,-2.0107048810284116],[-0.07358604399191357,-1.9112143473267869]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.3024862858083021,-2.0488036939606475,0.71338606911949],"aabb_xy":[[-0.34747887252675247,-2.0938036932350963],[-0.25749369908985165,-2.003803694686199]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632977939764625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/784.png","name":"784"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/784.png","name":"784"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5307.png","name":"5307"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1991.png","name":"1991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2462.png","name":"2462"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4656.png","name":"4656"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":794.3405085734648,"rotation_z_degrees":233.65405131594983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009925790362022107,0.01896917116255026,-0.00592501614438766]},{"name":"camera_2","offset_m":[0.007551254937645083,0.01432273758013548,0.001005560995927475]},{"name":"camera_3","offset_m":[-0.012630154781940482,-0.007621391875335091,-0.010306231019549843]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015708889863432448,0.0019227799404190737,-0.00041748257051879545],"end_effector_yaw_offset_degrees":-0.3379967499081764},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005444685389825077,-0.0015641176626733362,-0.001703098764277203],"end_effector_yaw_offset_degrees":-0.8491847154501471},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001747285978298071,0.00038523585097745804,-0.00196038213083214],"end_effector_yaw_offset_degrees":0.7294440338162806}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037602247667421727,-0.001118311388117731],"position_m":[0.26853977523325784,0.20068168861188226,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035880150055724704,0.0019486929467724045],"position_m":[0.2520880150055725,-0.13595130705322758,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0010758542103688493,-0.003720851003140099],"position_m":[0.3527241457896311,-0.0089208510031401,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016165765353485847,-0.0017361299318846791],"position_m":[0.12921657653534857,0.4173638700681153,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017052788677996778,0.00359581277904993],"position_m":[0.20299472113220032,-0.4040041872209501,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a509172dbdc98d0c0deaaf73e2e92848af5a919c363969e053860fb2814221ce","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_784/tex_ceiling_textures_4656/tex_floor_textures_2462/tex_table_textures_5307/tex_wall_textures_1991","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3564474426828707629,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3564474426828707629,"visual_seed":3564474426828707629,"scene_id":"lab_003","finished_at":"2026-09-03T18:58:25"} +{"episode_id":"ep_000022","started_at":"2026-09-03T19:01:44","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.6386970520303789,-1.418956827287749,0.71338606911949],"aabb_xy":[[-0.6428130021424514,-1.4230723823205942],[-0.6345811019183061,-1.414841272254903]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.07719974702238541,1.3683137818033506,0.71338606911949],"aabb_xy":[[0.027199745360890645,1.3183153395476477],[0.12719974868388015,1.418312224059053]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.3001667897756235,-1.9202610119240904,0.71338606911949],"aabb_xy":[[0.27799426279897266,-1.9424366790802132],[0.32233931675227434,-1.8980853447679666]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.3115942514209644,1.5948207358128186,0.71338606911949],"aabb_xy":[[0.2987223479200242,1.5148207353989824],[0.3244661549219045,1.6748207362266547]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.5190826975443907,-1.7672198945595352,0.71338606911949],"aabb_xy":[[0.4574919383203979,-1.831219892668582],[0.5806734567683836,-1.7032198964504883]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.5917918693008501,1.4500439619046994,0.71338606911949],"aabb_xy":[[-0.6022034279813339,1.4446982285688008],[-0.5813803106203664,1.4553896952405976]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.3825583085840878,1.088514356759608,0.71338606911949],"aabb_xy":[[0.34505831016068744,1.0753501427917769],[0.42005830700748814,1.1016785707274384]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.6248471066273631,-0.8582096260061483,0.71338606911949],"aabb_xy":[[-0.6473471061510704,-0.8807055734567689],[-0.6023471071036556,-0.8357136785555274]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[-0.49456705771307286,-0.48186089513477093,0.71338606911949],"aabb_xy":[[-0.5181521811769677,-0.5468608973802027],[-0.470981934249178,-0.4168608928893391]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.23161795560149467,-1.2824408145819086,0.71338606911949],"aabb_xy":[[0.2139851200079671,-1.3000637605975314],[0.24925079119502225,-1.2648178685662854]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.08314893455343175,0.7684701050416254,0.71338606911949],"aabb_xy":[[-0.09107221479218008,0.745970104803622],[-0.07522565431468342,0.7909701052796287]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.6698830487797738,-2.293181188398182,0.71338606911949],"aabb_xy":[[0.6199056319145201,-2.34318118988743],[0.7198604656450273,-2.243181186908933]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.2288632932488256,-2.3983689422194314,0.71338606911949],"aabb_xy":[[0.20386329408319248,-2.405321187924788],[0.2538632924144587,-2.391416696514075]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.4993207917143383,0.2853542454844735,0.71338606911949],"aabb_xy":[[-0.5361713396513259,0.2478542446614398],[-0.4624702437773507,0.32285424630750725]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.45066446803404037,1.1174368392874134,0.71338606911949],"aabb_xy":[[-0.5106644688948531,1.0660104092809268],[-0.3906644671732275,1.1688632692938996]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.7018641293834962,0.09670930532000588,0.71338606911949],"aabb_xy":[[0.6840706224485797,0.07890955972420823],[0.7196576363184126,0.11450905091580356]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.0839498751185952,1.2798579920821682,0.71338606911949],"aabb_xy":[[-0.10144987537793186,1.2657664498933956],[-0.0664498748592586,1.2939495342709408]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.4976190044370115,-2.0474396329352165,0.71338606911949],"aabb_xy":[[-0.5616190047109897,-2.0975057331325044],[-0.43361900416303334,-1.9973735327379285]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.5006723893603477,0.7508677418149934,0.71338606911949],"aabb_xy":[[0.45067737840089583,0.7008677427794017],[0.5506674003197999,0.8008677408505852]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.22245882721693028,1.1001513968920689,0.71338606911949],"aabb_xy":[[-0.31245882955094934,1.0226690423069562],[-0.13245882488291122,1.1776337514771815]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.23219668148353773,1.5882863829310359,0.71338606911949],"aabb_xy":[[-0.2695279580087804,1.5536333281361836],[-0.19486540495829507,1.6229394377258881]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.49239874804624617,0.4169645229514254,0.71338606911949],"aabb_xy":[[-0.5021547375554201,0.4072019888921909],[-0.4826427585370722,0.42672705701065977]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.29384371063549597,0.8630971189864005,0.71338606911949],"aabb_xy":[[0.2865613942588322,0.7730971153768914],[0.3011260270121595,0.9530971225959094]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.3843555279386848,0.7503584025036112,0.71338606911949],"aabb_xy":[[-0.39176798348007325,0.7445071920819833],[-0.3769430723972963,0.7562096129252392]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.4899510719144866,0.18824685648571116,0.71338606911949],"aabb_xy":[[0.46473023505464683,0.16302310563282435],[0.5151719087743261,0.21347060733859785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628306223932382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/755.png","name":"755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/755.png","name":"755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7500.png","name":"7500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4269.png","name":"4269"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3203.png","name":"3203"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.8531446226377,"rotation_z_degrees":125.20247982972343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017772681722492103,0.01094254689220435,0.00394044316843669]},{"name":"camera_2","offset_m":[-0.0015620758452903477,0.019276730115556074,-0.0022704008668651306]},{"name":"camera_3","offset_m":[0.010192108904715245,0.0012416682442112498,0.015344899727503709]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00041047134580291184,-0.0017366207394211046,-0.0009962170518797895],"end_effector_yaw_offset_degrees":0.6655050494036387},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0005929495355972377,0.00045833247332589247,0.0005715433106089976],"end_effector_yaw_offset_degrees":0.022678501489193037},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004878311063003808,-0.001953620230252282,0.0017894062192020735],"end_effector_yaw_offset_degrees":0.9271174882316904}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00498513276526026,0.001079419371287936],"position_m":[0.27728513276526023,0.20287941937128795,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023429405737346322,0.001789067116787624],"position_m":[0.24615705942626537,-0.13611093288321238,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0027349490026794534,0.0025156644262465068],"position_m":[0.35653494900267946,-0.002684335573753493,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028595851393803727,-0.002016822531796254],"position_m":[0.12474041486061963,0.4170831774682037,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025951061120814555,0.0032050699245411715],"position_m":[0.20210489388791852,-0.40439493007545885,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"009c68f101f6676c4975bc0a279354974135401744ddd93f70cd25f2bebd0b97","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_755/tex_ceiling_textures_3203/tex_floor_textures_4269/tex_table_textures_4475/tex_wall_textures_7500","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3570201369890067269,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3570201369890067269,"visual_seed":3570201369890067269,"scene_id":"lab_003","finished_at":"2026-09-03T19:04:51"} +{"episode_id":"ep_000023","started_at":"2026-09-03T19:04:55","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.6186624949645969,-0.8263176701852675,0.71338606911949],"aabb_xy":[[0.5636670171439375,-0.8813176716191743],[0.6736579727852563,-0.7713176687513604]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.4076688611601164,-2.38309172547185,0.71338606911949],"aabb_xy":[[-0.43058457404516637,-2.4059960226082735],[-0.38475314827506657,-2.3601874283354265]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.24521019431112673,1.5492526227112164,0.71338606911949],"aabb_xy":[[-0.2640945780796369,1.5303666979308637],[-0.2263258105426165,1.5681385474915692]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.370828662209969,1.0532965820400557,0.71338606911949],"aabb_xy":[[0.30682866509786333,1.004264212245645],[0.4348286593220747,1.1023289518344663]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.09306033997506002,1.052568551866392,0.71338606911949],"aabb_xy":[[0.07056033996491173,1.0384723322267888],[0.11556033998520832,1.0666647715059954]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.3756823017437836,-0.5499445742808287,0.71338606911949],"aabb_xy":[[0.37022435610676346,-0.6299445775884878],[0.3811402473808036,-0.46994457097316955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.34859365976437995,-1.7155055841999605,0.71338606911949],"aabb_xy":[[0.3394337808205033,-1.7220368022434975],[0.3577535387082565,-1.7089743661564234]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.6593414222369441,-1.0963032792420535,0.71338606911949],"aabb_xy":[[-0.6818414227489847,-1.1187951376074519],[-0.6368414217249035,-1.0738114208766552]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.6169937665112835,0.9769168016117371,0.71338606911949],"aabb_xy":[[0.604391067374207,0.9643214053868716],[0.6295964656483599,0.9895121978366026]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.591272375848136,0.8025421653539029,0.71338606911949],"aabb_xy":[[-0.6091414836025915,0.7887092573766918],[-0.5734032680936805,0.8163750733311137]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.0661239800002511,-1.8958127657168344,0.71338606911949],"aabb_xy":[[0.06198812366755091,-1.9333127651611914],[0.0702598363329513,-1.8583127662724774]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.25011374399821673,1.5837841481302495,0.71338606911949],"aabb_xy":[[0.2452701492369868,1.5789324956512654],[0.25495733875944676,1.5886358006092336]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.670559239228814,1.8068666601288368,0.71338606911949],"aabb_xy":[[0.6529264036352863,1.7892437141132134],[0.6881920748223415,1.8244896061444593]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.3082422252277597,1.323208826808672,0.71338606911949],"aabb_xy":[[-0.3198112059746963,1.2982088266917402],[-0.29667324448082316,1.3482088269256036]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.6277102775611154,-0.4746863382933433,0.71338606911949],"aabb_xy":[[0.5799041099473466,-0.5396863410004021],[0.675516445174884,-0.4096863355862842]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.4629718196021486,-0.40951138904078865,0.71338606911949],"aabb_xy":[[-0.500471820099507,-0.413480072588907],[-0.4254718191047905,-0.4055427054926702]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.5714705304595478,-1.8310539576278018,0.71338606911949],"aabb_xy":[[0.5074705282391409,-1.87542704175309],[0.6354705326799549,-1.7866808735025135]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.49279695319040323,0.25791696447198964,0.71338606911949],"aabb_xy":[[-0.542796952766738,0.20793638551988375],[-0.4427969536140685,0.30789754342409564]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.30039309963497,1.6831433757689624,0.71338606911949],"aabb_xy":[[-0.31116607355633785,1.6481433775499232],[-0.2896201257136023,1.7181433739880012]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.2483239741323479,-1.0367224236683072,0.71338606911949],"aabb_xy":[[-0.27872208523149145,-1.0671293256699765],[-0.21792586303320433,-1.0063155216666375]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.3428277952466538,0.7101546751417804,0.71338606911949],"aabb_xy":[[-0.3803277967622855,0.6989279021256355],[-0.3053277937310221,0.7213814481579256]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.4649101721857387,0.08718391655701341,0.71338606911949],"aabb_xy":[[0.4299101729929204,0.07621687055935078],[0.4999101713785569,0.09815096255467604]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.04529721347288285,1.0032524308064361,0.71338606911949],"aabb_xy":[[-0.09529721211880404,0.9533328871469737],[0.0047027851730383485,1.0531719744658985]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.6268753224520028,-0.20472643984945016,0.71338606911949],"aabb_xy":[[-0.6339156323855398,-0.28472643924912167],[-0.6198350125184658,-0.12472644044977882]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.4058493010589867,1.6898655421559083,0.71338606911949],"aabb_xy":[[-0.4480337152198175,1.6258655418786971],[-0.363664886898156,1.7538655424331195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684861937772562,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1068.png","name":"1068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1068.png","name":"1068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6497.png","name":"6497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7447.png","name":"7447"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6221.png","name":"6221"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":742.3069539778695,"rotation_z_degrees":131.03511701792124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003095247626016078,-0.0009689807377810875,0.009910156686858261]},{"name":"camera_2","offset_m":[-0.003736540289532065,-0.01112070606133503,0.017330053991932406]},{"name":"camera_3","offset_m":[-0.017271887410499807,0.005644289154260084,0.0021505768407683243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.047794822875631e-05,0.00010657594489041963,0.0002978886154281681],"end_effector_yaw_offset_degrees":-0.18236892086586676},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0008654428341050009,0.0008978902285302409,-0.0012525921185224575],"end_effector_yaw_offset_degrees":-0.21932916632182153},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00013049435619283574,0.0015964398676003304,-0.0019873745337812276],"end_effector_yaw_offset_degrees":0.9489683769386952}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004753608736562653,0.002024377707155304],"position_m":[0.2675463912634373,0.2038243777071553,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032820995114345762,-0.002148908771499435],"position_m":[0.24521790048856543,-0.14004890877149942,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0007684444143473889,-0.004465786161195281],"position_m":[0.3545684444143474,-0.009665786161195282,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021509568658819936,0.0014770474313860818],"position_m":[0.12975095686588198,0.4205770474313861,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004741588517104197,0.0034901390540192185],"position_m":[0.20944158851710418,-0.4041098609459808,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5374874a2da8eaf3c9726489e81451a8adfccf9039e279ee5157b339deb1ad10","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1068/tex_ceiling_textures_6221/tex_floor_textures_7447/tex_table_textures_6497/tex_wall_textures_7213","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6491674236090197265,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6491674236090197265,"visual_seed":6491674236090197265,"scene_id":"lab_003","finished_at":"2026-09-03T19:07:50"} +{"episode_id":"ep_000024","started_at":"2026-09-03T19:07:53","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.39062952356649594,0.4213917657141466,0.71338606911949],"aabb_xy":[[-0.4276636329945557,0.3870145583804371],[-0.3535954141384362,0.455768973047856]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.3111048398241955,-0.3386407165036385,0.71338606911949],"aabb_xy":[[-0.3343866820223268,-0.4236407178008665],[-0.2878229976260641,-0.25364071520641035]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.5752329639611888,-0.2009516181866533,0.71338606911949],"aabb_xy":[[0.4852329674603169,-0.24686326060511152],[0.6652329604620604,-0.15503997576819503]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.24622964491145372,-1.7007529385954014,0.71338606911949],"aabb_xy":[[-0.25273128141945833,-1.7105207606217114],[-0.23972800840344913,-1.690985116569092]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.15957471364546238,-0.6870763501589376,0.71338606911949],"aabb_xy":[[0.1345747137129445,-0.693959018379861],[0.18457471357798028,-0.6801936819380143]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.029514115161552112,-0.9974755026950255,0.71338606911949],"aabb_xy":[[0.02223179878488845,-1.0874755063045343],[0.036796431538215754,-0.9074754990855164]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.34249828844547353,-1.9929439014670027,0.71338606911949],"aabb_xy":[[-0.36499828895751407,-2.0154357598324006],[-0.3199982879334329,-1.970452043101604]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.030820265078428943,-1.5034479388304567,0.71338606911949],"aabb_xy":[[-0.03627821071544901,-1.5834479421381158],[-0.025362319441408872,-1.4234479355227976]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.3564048568277469,-0.8477005786697631,0.71338606911949],"aabb_xy":[[0.27640485356990396,-0.927697086461747],[0.4364048600855899,-0.767704070877779]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.12192798382907033,-0.5989925670118528,0.71338606911949],"aabb_xy":[[-0.17140840504302912,-0.6629925649247047],[-0.07244756261511154,-0.5349925690990011]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.10839137450883041,-1.1045848115863792,0.71338606911949],"aabb_xy":[[-0.15552075351066608,-1.168584812630781],[-0.061261995506994724,-1.040584810541977]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.5227897074333892,1.432560034852433,0.71338606911949],"aabb_xy":[[-0.5315917627423619,1.4247487086975037],[-0.5139876521244164,1.4403713610073619]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.020331429678864477,-2.167865901762051,0.71338606911949],"aabb_xy":[[-0.029112656826100706,-2.176645649050582],[-0.011550202531628249,-2.1590861544735214]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.6351724056817063,-2.2594313009713,0.71338606911949],"aabb_xy":[[0.5711724053041727,-2.309176567822112],[0.6991724060592399,-2.2096860341204874]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.5309352491850923,1.697289870781813,0.71338606911949],"aabb_xy":[[-0.6159352476025155,1.612415575319528],[-0.44593525076766904,1.782164166244098]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.21000415094670932,0.7436109886451665,0.71338606911949],"aabb_xy":[[0.14600415455113624,0.6796477002264328],[0.2740041473422824,0.8075742770639]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.6465829106062664,-1.5651967137689087,0.71338606911949],"aabb_xy":[[0.5825829091982756,-1.6169856652928334],[0.7105829120142569,-1.513407762244984]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.2208727268521008,-2.226466878523872,0.71338606911949],"aabb_xy":[[-0.23095443393067427,-2.3064668764159864],[-0.21079101977352732,-2.146466880631757]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.5116305626821669,-0.6376232513309155,0.71338606911949],"aabb_xy":[[-0.5203445317321013,-0.6601232519901035],[-0.5029165936322323,-0.615123250671727]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.4287578356866449,0.5199257460207138,0.71338606911949],"aabb_xy":[[-0.4391693943671286,0.5145800126848153],[-0.41834627700616117,0.5252714793566123]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.5546433105720016,-0.42460010054677166,0.71338606911949],"aabb_xy":[[-0.5921433120876333,-0.4358268735629167],[-0.5171433090563698,-0.4133733275306266]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.21113687396879272,1.770162518346607,0.71338606911949],"aabb_xy":[[-0.21598046873002272,1.7653108658676229],[-0.20629327920756277,1.775014170825591]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[-0.12322475497811958,-2.5074093083438456,0.71338606911949],"aabb_xy":[[-0.1575216659958602,-2.5417061945537864],[-0.08892784396037895,-2.473112422133904]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.1926859795320358,0.4692962241001548,0.71338606911949],"aabb_xy":[[-0.19680192964410848,0.4651806690673092],[-0.18857002941996315,0.4734117791330002]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.6349866578138456,-0.26082835583822295,0.71338606911949],"aabb_xy":[[-0.6949866580652466,-0.31510968087468755],[-0.5749866575624443,-0.20654703080175824]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.3389601189550594,0.8035168290014547,0.71338606911949],"aabb_xy":[[-0.4089601223466214,0.7682010552980237],[-0.2689601155634974,0.8388326027048855]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.34816507296987304,0.5782498445311495,0.71338606911949],"aabb_xy":[[-0.42816507404299337,0.568471798193765],[-0.2681650718967527,0.5880278908685339]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.14646483794570098,-0.13197762730057017,0.71338606911949],"aabb_xy":[[-0.16396483820503763,-0.14606916948934284],[-0.12896483768636438,-0.1178860851117976]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.007573921625801838,0.986040933892883,0.71338606911949],"aabb_xy":[[-0.015567910203505229,0.9780408537977926],[0.00042006695190155603,0.9940410139879733]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[-0.5020657831126135,0.06687400975279045,0.71338606911949],"aabb_xy":[[-0.5133108386832312,0.05563221202869517],[-0.49082072754199557,0.07811580747688573]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[0.17160137447136836,-2.4333500135188273,0.71338606911949],"aabb_xy":[[0.13058343108499748,-2.4833500141497846],[0.21261931785773924,-2.38335001288787]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[0.5470814920349005,-1.049837059914625,0.71338606911949],"aabb_xy":[[0.4930658957530003,-1.113837062806882],[0.6010970883168003,-0.9858370570223678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658182238089747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5866.png","name":"5866"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9225.png","name":"9225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/107.png","name":"107"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":769.4276243143663,"rotation_z_degrees":340.2633482834362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004209789263698131,-0.014599186596653362,-0.007992028318175018]},{"name":"camera_2","offset_m":[-0.017342692998133385,0.006465360667166714,0.005800635661362602]},{"name":"camera_3","offset_m":[-0.012105292189651484,0.017096000994304434,-0.003884499383667018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002070147507992619,-0.00186615197963715,-0.0002614894110228674],"end_effector_yaw_offset_degrees":0.4491595595625024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00027403764756999934,-0.0017621993914682804,-0.00020350809968178044],"end_effector_yaw_offset_degrees":-0.7489539876736295},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001455708679434643,-0.0008921031278444885,-0.0019374813721651995],"end_effector_yaw_offset_degrees":-0.3860867527832421}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00393040129521854,-0.0038234212044794113],"position_m":[0.26836959870478144,0.1979765787955206,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001382378243184741,0.000501437853273533],"position_m":[0.24711762175681526,-0.13739856214672647,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0016257192150726353,-0.0003850976006018903],"position_m":[0.35542571921507266,-0.00558509760060189,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-7.239562766810613e-05,0.0003267075382899576],"position_m":[0.12752760437233188,0.4194267075382899,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.78658559613185e-05,0.0016423104985070812],"position_m":[0.20467213414403868,-0.4059576895014929,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ee0064838b1cbc34b9f535c6aabbe83f00d3de02bc68c9adc052fee4c21c3516","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5045/tex_ceiling_textures_107/tex_floor_textures_9225/tex_table_textures_5866/tex_wall_textures_226","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5854042105689185031,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5854042105689185031,"visual_seed":5854042105689185031,"scene_id":"lab_003","finished_at":"2026-09-03T19:10:47"} +{"episode_id":"ep_000025","started_at":"2026-09-03T19:10:51","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.3900609926399303,-1.3285463179742723,0.71338606911949],"aabb_xy":[[0.3488121816100156,-1.3835463174864893],[0.43130980366984506,-1.2735463184620543]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.6084016248867194,0.35686643470227963,0.71338606911949],"aabb_xy":[[-0.6635268305163102,0.2968664332609925],[-0.5532764192571287,0.4168664361435668]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.5442536947047414,0.2438460685539514,0.71338606911949],"aabb_xy":[[0.509253695511923,0.23287902255628876],[0.5792536938975595,0.25481311455161404]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.12016420186034138,-0.6501908934050151,0.71338606911949],"aabb_xy":[[-0.17016347702877754,-0.7001908946809623],[-0.07016492669190522,-0.600190892129068]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.16084115406258004,-2.445837920632508,0.71338606911949],"aabb_xy":[[-0.17220288871586617,-2.4572063870387955],[-0.14947941940929385,-2.4344694542262197]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.15007648800205953,0.8368843466772811,0.71338606911949],"aabb_xy":[[-0.2000764889525923,0.8053351996737594],[-0.10007648705152669,0.8684334936808022]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.2950099321575231,-0.5453081591881421,0.71338606911949],"aabb_xy":[[-0.3323412086827658,-0.5799612139829944],[-0.2576786556322805,-0.5106551043932899]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.6274825938386093,-2.0569638083926294,0.71338606911949],"aabb_xy":[[-0.6599442947205365,-2.0870966405075313],[-0.5950208929566816,-2.0268309762777257]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.23824690866831788,-0.7817200310645798,0.71338606911949],"aabb_xy":[[0.22004108500707023,-0.7927454316465714],[0.25645273232956556,-0.7706946304825881]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.5188182231694602,0.9448355254264214,0.71338606911949],"aabb_xy":[[-0.5339903924510936,0.9296666684982182],[-0.5036460538878269,0.9600043823546249]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.5511469401974298,-1.4956663936109735,0.71338606911949],"aabb_xy":[[0.5273107225568249,-1.5856663944194607],[0.574983157838035,-1.4056663928024875]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.5961944574733882,1.1865010020014375,0.71338606911949],"aabb_xy":[[0.5534277505939681,1.122500998579635],[0.6389611643528085,1.25050100542324]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.500764722260258,0.5936039237084509,0.71338606911949],"aabb_xy":[[-0.5647604196553545,0.5296039254077421],[-0.43676902486516134,0.6576039220091595]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.08258303183274884,-2.481056332569698,0.71338606911949],"aabb_xy":[[0.04880747264205586,-2.495094827782863],[0.1163585910234418,-2.4670178373565332]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.3235769047014742,1.0041582211968967,0.71338606911949],"aabb_xy":[[-0.4135769012023459,0.9582465787784383],[-0.23357690820060242,1.0500698636153547]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.15948318608859224,1.0660500575586425,0.71338606911949],"aabb_xy":[[0.11000276487463345,1.0020500596457906],[0.20896360730255104,1.1300500554714943]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.5027824652778672,-2.445293900512948,0.71338606911949],"aabb_xy":[[0.4919308590289915,-2.456153191240599],[0.5136340715267427,-2.4344346097852974]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.5296484160134874,-1.2841172269463819,0.71338606911949],"aabb_xy":[[-0.576777795015323,-1.3481172279907836],[-0.48251903701165166,-1.2201172259019797]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.6046751929408007,-2.3538265646942063,0.71338606911949],"aabb_xy":[[0.554675191279306,-2.4038250069499085],[0.6546751946022955,-2.303828122438503]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.07644327864926803,-1.8058143080887858,0.71338606911949],"aabb_xy":[[0.06467509185461053,-1.8908143079940076],[0.08821146544392557,-1.7208143081835645]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[0.04917103616267959,-1.262408863710385,0.71338606911949],"aabb_xy":[[0.04275722251949464,-1.268818683958053],[0.05558484980586452,-1.2559990434627164]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.13372779986335093,-1.4572727951136946,0.71338606911949],"aabb_xy":[[0.05372780270377561,-1.4688203960715116],[0.21372779702292619,-1.4457251941558775]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.18137791491903688,-0.6083216533075972,0.71338606911949],"aabb_xy":[[0.1563779156470746,-0.6246670169037596],[0.20637791419099916,-0.5919762897114349]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.571020534266401,0.6476336948917982,0.71338606911949],"aabb_xy":[[0.5210205329825609,0.597654840501176],[0.6210205355502408,0.6976125492824202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680264046086375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8093.png","name":"8093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5403.png","name":"5403"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/748.png","name":"748"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":521.1750094123227,"rotation_z_degrees":321.91231281903197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008177452057071925,-0.007329378554993262,0.0069714858099764465]},{"name":"camera_2","offset_m":[0.00163243101408507,0.013270584504670672,0.005552559051803317]},{"name":"camera_3","offset_m":[0.002711934541310041,-0.012375204294669366,0.01638120450449995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016039371345889734,0.0013767788232632939,-0.0009556784051269402],"end_effector_yaw_offset_degrees":0.01703097332060377},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005437229420147366,0.0003120074416908848,-0.0003902574326159205],"end_effector_yaw_offset_degrees":0.9022232127092342},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008161260221897036,-0.0013628082210500412,-0.0015805423054969783],"end_effector_yaw_offset_degrees":0.9131432403242408}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001117577045137603,-0.002832990223047075],"position_m":[0.2711824229548624,0.19896700977695292,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036544408994265897,-0.0021422319810366765],"position_m":[0.2448455591005734,-0.14004223198103666,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004130441895349736,0.0029150303684412253],"position_m":[0.3496695581046503,-0.0022849696315587744,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031288944154332634,-0.0017270040302589384],"position_m":[0.12447110558456673,0.41737299596974103,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003890459589955305,0.0031299785420904206],"position_m":[0.20859045958995528,-0.4044700214579096,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b815b2dcdba8a66b63a559a5c3cb7de132dcebbc13f5645b8308d6ecc49a9494","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2992/tex_ceiling_textures_748/tex_floor_textures_5403/tex_table_textures_3760/tex_wall_textures_8093","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3068644496404826506,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3068644496404826506,"visual_seed":3068644496404826506,"scene_id":"lab_003","finished_at":"2026-09-03T19:13:43"} +{"episode_id":"ep_000026","started_at":"2026-09-03T19:13:47","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.2352137743330871,-1.4116988898315097,0.71338606911949],"aabb_xy":[[0.19771377354109165,-1.4180667307897],[0.27271377512508255,-1.4053310488733195]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.6527801113757157,0.2860307480016617,0.71338606911949],"aabb_xy":[[0.6159854782508093,0.2491248729050794],[0.6895747445006218,0.32293662309824395]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.16426625422020957,0.3863698355182077,0.71338606911949],"aabb_xy":[[-0.1871819671052595,0.36346553838178425],[-0.1413505413351597,0.4092741326546313]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.18474208774576006,-0.6675516777324575,0.71338606911949],"aabb_xy":[[-0.2222420880379349,-0.6715931531330612],[-0.14724208745358527,-0.663510202331854]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.23226722771735697,-2.369550605028889,0.71338606911949],"aabb_xy":[[0.21237618783701676,-2.3822064163135868],[0.2521582675976972,-2.356894793744193]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.5232971259665529,-1.6662121224618203,0.71338606911949],"aabb_xy":[[0.5055036190316364,-1.684011868057618],[0.5410906329014693,-1.6484123768660226]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.08605234640194293,1.222808103378723,0.71338606911949],"aabb_xy":[[-0.13604717932988453,1.1728081044834793],[-0.036057513474001324,1.2728081022739663]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.11917039332457802,-2.273547138640912,0.71338606911949],"aabb_xy":[[-0.13618049061462867,-2.2896816271391858],[-0.10216029603452738,-2.257412650142638]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.09745650747711665,-1.0698955213264114,0.71338606911949],"aabb_xy":[[-0.11495644091110002,-1.087395521246646],[-0.07995657404313328,-1.0523955214061769]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.07152696844990925,-1.5887269449635966,0.71338606911949],"aabb_xy":[[0.016526969273319758,-1.643716619738554],[0.12652696762649873,-1.5337372701886387]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.21033182365733727,-2.1664373285698213,0.71338606911949],"aabb_xy":[[0.17348127572034966,-2.203937329392855],[0.24718237159432488,-2.1289373277467876]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.37301949825721326,-0.5000351145189219,0.71338606911949],"aabb_xy":[[0.30901949967064074,-0.5470420779184306],[0.43701949684378566,-0.4530281511194132]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.23998259206934303,-1.8361526918402429,0.71338606911949],"aabb_xy":[[-0.2686319244297592,-1.8647982511173185],[-0.21133325970892675,-1.8075071325631669]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[0.5096411373793459,1.0339271595238624,0.71338606911949],"aabb_xy":[[0.445641138209576,0.9871604724049],[0.5736411365491159,1.0806938466428249]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.29668057476620213,-1.0478528717004638,0.71338606911949],"aabb_xy":[[0.2505954835114707,-1.111852868953019],[0.34276566602093367,-0.9838528744479088]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.06505043415504286,-1.9061423049047728,0.71338606911949],"aabb_xy":[[-0.1450504321358279,-1.913743845866625],[0.01494956382574218,-1.898540763942921]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.21753447103360146,-1.4735173745066565,0.71338606911949],"aabb_xy":[[-0.22287204669960603,-1.4985173754357966],[-0.2121968953675969,-1.448517373577517]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.3225769027190786,-0.407394450327375,0.71338606911949],"aabb_xy":[[-0.4125769021374494,-0.4407699471715646],[-0.23257690330070763,-0.37401895348318515]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.2746063222428581,-2.152426253991837,0.71338606911949],"aabb_xy":[[-0.2971027436767222,-2.1749262537985845],[-0.252109900808994,-2.1299262541850896]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.5358041188620308,0.12521136923650822,0.71338606911949],"aabb_xy":[[0.5309605241008009,0.12035971675752413],[0.5406477136232608,0.13006302171549236]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.3409920996573554,-2.5079283166977806,0.71338606911949],"aabb_xy":[[-0.38599210112358434,-2.5529281735592613],[-0.2959920981911266,-2.4629284598363]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.4256744614737742,1.7800948029968535,0.71338606911949],"aabb_xy":[[0.361674458184066,1.7367598839929355],[0.48967446476348225,1.8234297220007707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.47636795974056056,-0.14023135932959807,0.71338606911949],"aabb_xy":[[0.43886795907598186,-0.15591841732982023],[0.5138679604051393,-0.12454430132937587]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[0.5596807065515383,-0.9966233229461228,0.71338606911949],"aabb_xy":[[0.5450373009975052,-1.011282042602907],[0.5743241121055712,-0.9819646032893384]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.5438082467295628,1.1322648242634634,0.71338606911949],"aabb_xy":[[-0.5566801502305029,1.0522648238496273],[-0.5309363432286226,1.2122648246772996]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[-0.2213426225151207,-0.9348578813362189,0.71338606911949],"aabb_xy":[[-0.3013426229853367,-0.9431685889505675],[-0.1413426220449048,-0.9265471737218708]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.008289215711073106,-2.096652512543446,0.71338606911949],"aabb_xy":[[-0.05328180242952352,-2.141652511817895],[0.036703371007377306,-2.0516525132689973]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[0.5241879131516409,-2.1583134726052178,0.71338606911949],"aabb_xy":[[0.4741879135753062,-2.2082940515573237],[0.5741879127279756,-2.108332893653112]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[-0.15544418981906527,-1.2951211889631786,0.71338606911949],"aabb_xy":[[-0.18044418937080375,-1.3052636728283133],[-0.1304441902673268,-1.284978705098044]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[0.29522057122840284,0.7788119631733537,0.71338606911949],"aabb_xy":[[0.2673755344477957,0.748027464435042],[0.32306560800900996,0.8095964619116653]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[0.43265188550086653,1.1400225185444137,0.71338606911949],"aabb_xy":[[0.41515188622277965,1.122684418478068],[0.4501518847789534,1.15736061861076]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.4709661141440893,-1.07629679490901,0.71338606911949],"aabb_xy":[[-0.53496611555208,-1.1280857464329348],[-0.4069661127360986,-1.0245078433850854]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646945195846563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6345.png","name":"6345"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6345.png","name":"6345"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6245.png","name":"6245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5638.png","name":"5638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4972.png","name":"4972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/23.png","name":"23"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.7278883757563,"rotation_z_degrees":95.70485374395945,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019733238583575993,-0.0031140863127472294,-0.01301440278216166]},{"name":"camera_2","offset_m":[0.00456584950847292,-0.009646440289417324,0.010834220571712908]},{"name":"camera_3","offset_m":[-0.018612182234577224,-0.011961427707491534,-0.0033561215233689663]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010269118844063413,-0.0015880938505717004,-0.0006939958176331138],"end_effector_yaw_offset_degrees":0.09227704862208497},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001241322198370263,-0.0019524123213734961,-0.0017894272508437053],"end_effector_yaw_offset_degrees":0.12811359522583543},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015010648312821769,0.001829099373903771,0.0017541272770952147],"end_effector_yaw_offset_degrees":0.1165180993115611}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014353506988922992,0.004397297115624795],"position_m":[0.27373535069889227,0.2061972971156248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002972229271144552,0.0046917050122360195],"position_m":[0.24552777072885545,-0.133208294987764,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0028141132855807947,0.0017384705240740496],"position_m":[0.3509858867144192,-0.00346152947592595,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004337609426898333,-0.004540488048723201],"position_m":[0.13193760942689833,0.41455951195127677,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019582414930096005,0.0009794570995657823],"position_m":[0.2027417585069904,-0.40662054290043426,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f589376fb5e2a3995b133277f43260a4ba126209530558351546c2b9390a3f4","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6345/tex_ceiling_textures_23/tex_floor_textures_4972/tex_table_textures_6245/tex_wall_textures_5638","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":570198040582551477,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":570198040582551477,"visual_seed":570198040582551477,"scene_id":"lab_003","finished_at":"2026-09-03T19:16:47"} +{"episode_id":"ep_000027","started_at":"2026-09-03T19:16:50","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.6146605372239278,1.250409029640454,0.71338606911949],"aabb_xy":[[0.6107466640285052,1.2416600142338972],[0.6185744104193501,1.2591580450470108]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.5610782203205459,0.09479399837819047,0.71338606911949],"aabb_xy":[[-0.5785782205655952,0.0772942105386236],[-0.5435782200754964,0.1122937862177573]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.5040494137585212,-1.1709046504637806,0.71338606911949],"aabb_xy":[[0.41404941516405136,-1.1871552367772016],[0.5940494123529912,-1.1546540641503595]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.3014541510427722,-1.6423223816928982,0.71338606911949],"aabb_xy":[[0.25145414938127736,-1.6923208239486007],[0.3514541527042669,-1.5923239394371953]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[0.1527971452636454,-1.590001922623534,0.71338606911949],"aabb_xy":[[0.144803156685942,-1.5980020027186241],[0.1607911338413488,-1.5820018425284434]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.4595167086735387,1.3149038816605154,0.71338606911949],"aabb_xy":[[-0.4840303327705446,1.290639288358479],[-0.43500308457653286,1.3391684749625519]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.6733791709007511,0.343613108264492,0.71338606911949],"aabb_xy":[[0.6470903465803103,0.3173416746098407],[0.6996679952211916,0.36988454191914316]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.09394080285743911,0.8835573374412524,0.71338606911949],"aabb_xy":[[0.03894080368084961,0.8285676626662947],[0.1489408020340286,0.93854701221621]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.02492935993052392,-1.8876246653038393,0.71338606911949],"aabb_xy":[[-0.047429359454231323,-1.91012061275446],[-0.0024293604068165195,-1.8651287178532185]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.4023247110597139,-0.9302396074875894,0.71338606911949],"aabb_xy":[[0.33832470777000573,-0.973574526491507],[0.46632471434942196,-0.8869046884836718]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[0.3997392196982892,1.2339785989973473,0.71338606911949],"aabb_xy":[[0.386867316197349,1.153978598583511],[0.41261112319922927,1.3139785994111832]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.08602895349151718,1.0796689988595705,0.71338606911949],"aabb_xy":[[-0.15002894988709026,1.0157057104408367],[-0.0220289570959441,1.1436322872783038]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.026413446938026608,-1.3842489820162371,0.71338606911949],"aabb_xy":[[-0.03250807482614493,-1.392818376567906],[-0.020318819049908284,-1.3756795874645686]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.11401375309635642,-1.3660162540517509,0.71338606911949],"aabb_xy":[[0.06901375163012759,-1.4110161109132315],[0.1590137545625853,-1.3210163971902702]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.2725219318319163,-1.1869367438512053,0.71338606911949],"aabb_xy":[[0.20752193179761358,-1.2336374205315326],[0.33752193186621904,-1.140236067170878]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.5249132123539666,-0.08275711224805882,0.71338606911949],"aabb_xy":[[0.4699132141522218,-0.1232790788744964],[0.5799132105557114,-0.042235145621621235]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.5206366390797094,0.6012340156173468,0.71338606911949],"aabb_xy":[[-0.5846366383738776,0.5372478752484926],[-0.45663663978554114,0.665220155986201]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.42468965149240323,-1.9512144674671763,0.71338606911949],"aabb_xy":[[0.3596896529353304,-1.980967000881059],[0.48968965004947607,-1.9214619340532937]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.5111786015543935,-0.9696602473999887,0.71338606911949],"aabb_xy":[[-0.6011786009727643,-1.0030357442441784],[-0.42117860213602254,-0.9362847505557989]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.009000677948948876,0.2123937974455492,0.71338606911949],"aabb_xy":[[-0.017698640239664165,0.20026882313807448],[-0.000302715658233586,0.22451877175302393]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.17568788912191924,-0.4197562392076475,0.71338606911949],"aabb_xy":[[-0.20433722148233543,-0.4484017984847232],[-0.147038556761503,-0.39111067993057164]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.13118776884741623,-1.8217663420305317,0.71338606911949],"aabb_xy":[[0.06118776724513675,-1.8351991352321892],[0.2011877704496957,-1.808333548828874]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.5590735475895876,-2.1525443961034534,0.71338606911949],"aabb_xy":[[-0.5672880927052715,-2.1612209864010943],[-0.5508590024739035,-2.1438678058058116]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.4658301234854194,-2.415282771646324,0.71338606911949],"aabb_xy":[[0.4497681960269017,-2.500282773458915],[0.481892050943937,-2.3302827698337314]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[0.26297603513165557,1.6257215966648304,0.71338606911949],"aabb_xy":[[0.20297603528508873,1.5689029744717917],[0.3229760349782223,1.682540218857869]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.6365697803253643,-1.1787819155977595,0.71338606911949],"aabb_xy":[[-0.6483379671200218,-1.2637819155029812],[-0.6248015935307067,-1.0937819156925381]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.4718962869949823,-1.2397464356081358,0.71338606911949],"aabb_xy":[[-0.5518962872685892,-1.3126959834338523],[-0.3918962867213753,-1.1667968877824189]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.6375887429153041,-1.7408610538366767,0.71338606911949],"aabb_xy":[[-0.6875887424916389,-1.790841632788783],[-0.5875887433389695,-1.6908804748845712]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.46566512275035543,1.0931001276998988,0.71338606911949],"aabb_xy":[[-0.5553521990584709,1.0031001274454483],[-0.37597804644224,1.1831001279543494]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.6226124972179,-0.4464405161646061,0.71338606911949],"aabb_xy":[[-0.672605609327092,-0.4964405168388018],[-0.5726193851087082,-0.39644051549041054]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647434005105449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9048.png","name":"9048"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9812.png","name":"9812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3076.png","name":"3076"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9619.png","name":"9619"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":789.816752142867,"rotation_z_degrees":160.24249563616308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010468386571734448,0.0010837047682389495,-0.01896821462937256]},{"name":"camera_2","offset_m":[-0.004614904315737571,0.001615491117641435,-0.00855453100715263]},{"name":"camera_3","offset_m":[-0.01853346113717645,-0.004912145217770064,0.006827676018559062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003820721197024231,0.0013533391282620141,-0.001766429683239455],"end_effector_yaw_offset_degrees":0.8161220161112279},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00046652333460575645,-0.00024334129938277812,0.0018712058753252705],"end_effector_yaw_offset_degrees":0.4118952343659994},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003901821933881516,-0.0008085813298062182,-0.0014631547950385896],"end_effector_yaw_offset_degrees":0.3889076211752094}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018134060972382405,-0.0033485426989412984],"position_m":[0.27048659390276175,0.1984514573010587,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00013137457957496795,-0.002010921065666752],"position_m":[0.24863137457957496,-0.13991092106566674,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0024100260517062313,0.0009707895627120086],"position_m":[0.3513899739482938,-0.004229210437287991,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012662339680021527,0.003439944651717962],"position_m":[0.12747337660319977,0.42253994465171796,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012477002757709898,0.0018198324909766304],"position_m":[0.203452299724229,-0.4057801675090234,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3a05da0881675de73fe8ac82b20b817fb1ba7e62eb30d064ccc7a971ff44f61e","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_649/tex_ceiling_textures_9619/tex_floor_textures_3076/tex_table_textures_9048/tex_wall_textures_9812","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2080443014881519139,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2080443014881519139,"visual_seed":2080443014881519139,"scene_id":"lab_003","finished_at":"2026-09-03T19:19:49"} +{"episode_id":"ep_000028","started_at":"2026-09-03T19:19:52","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.40682220424632565,-0.22819821116358385,0.71338606911949],"aabb_xy":[[0.388616380585078,-0.2392236117455755],[0.4250280279075734,-0.2171728105815922]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.6381837125306187,0.7212147381766512,0.71338606911949],"aabb_xy":[[0.5781837119346025,0.6664022656314278],[0.6981837131266349,0.7760272107218747]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.0942865922709687,-1.812454979120086,0.71338606911949],"aabb_xy":[[-0.14426400913622228,-1.8624549806093345],[-0.044309175405715114,-1.7624549776308374]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.34766214960841124,0.875693858282129,0.71338606911949],"aabb_xy":[[-0.40278735523800197,0.8156938568408417],[-0.2925369439788204,0.935693859723416]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.1656099623793842,1.5598480112970585,0.71338606911949],"aabb_xy":[[-0.1816718898379018,1.4748480094844667],[-0.14954803492086652,1.6448480131096503]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[0.5261656584747096,-2.1364788746815866,0.71338606911949],"aabb_xy":[[0.5181393878440836,-2.145230369658939],[0.5341919291053356,-2.127727379704234]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.4596595200576894,1.346216622974914,0.71338606911949],"aabb_xy":[[-0.46499203471230244,1.3408922947296784],[-0.45432700540307647,1.3515409512201495]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.5728287769835035,-1.6134681392692283,0.71338606911949],"aabb_xy":[[-0.5903287762615904,-1.6308062393355742],[-0.5553287777054167,-1.5961300392028823]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.4193116131875769,1.2881023642194358,0.71338606911949],"aabb_xy":[[0.3843116148768815,1.2803873492958902],[0.45431161149827237,1.2958173791429815]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.5386246255784268,0.873252978581549,0.71338606911949],"aabb_xy":[[0.48864581706811094,0.8232529785758302],[0.5886034340887427,0.9232529785872678]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.27853497873111505,-0.6578002704740658,0.71338606911949],"aabb_xy":[[-0.3435349798370583,-0.6827656435421939],[-0.2135349776251717,-0.6328348974059373]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.08962474909633311,1.07744731758982,0.71338606911949],"aabb_xy":[[0.06177971231572599,1.0466628188515084],[0.11746978587694024,1.1082318163281317]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.11306872308729432,-2.0550504262378078,0.71338606911949],"aabb_xy":[[0.10863809373245417,-2.0604987979724902],[0.11749935244213452,-2.0496020545031253]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.5055865542626372,0.1445933989776913,0.71338606911949],"aabb_xy":[[0.4705865542861415,0.1351287829300747],[0.5405865542391332,0.15405801502530792]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.6555017658212365,1.6602510626699742,0.71338606911949],"aabb_xy":[[0.6439327850743001,1.6352510625530425],[0.6670707465681732,1.685251062786906]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.6113492177416933,-1.613366828143493,0.71338606911949],"aabb_xy":[[0.5613499425732571,-1.6633668294194404],[0.6613484929101294,-1.563366826867546]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.39157330697728904,-0.5367971077555223,0.71338606911949],"aabb_xy":[[-0.4615733096138753,-0.5569019727513878],[-0.32157330434070264,-0.5166922427596568]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.22933681475970624,-0.7242328962972486,0.71338606911949],"aabb_xy":[[0.2213428261820028,-0.732232976392339],[0.23733080333740958,-0.7162328162021583]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.29384118563429296,-0.9778396678453187,0.71338606911949],"aabb_xy":[[-0.37384118779705544,-1.0577948514714623],[-0.21384118347153047,-0.8978844842191751]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.5889678085188769,-2.481655005646772,0.71338606911949],"aabb_xy":[[-0.6339678099851058,-2.5266548625082526],[-0.5439678070526481,-2.436655148785291]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.3850326379760354,0.6312384477374726,0.71338606911949],"aabb_xy":[[0.30003263955861215,0.5463641522751876],[0.4700326363934586,0.7161127431997576]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.104116172811351,-2.503541720960574,0.71338606911949],"aabb_xy":[[-0.11137742038175841,-2.516328731224084],[-0.09685492524094358,-2.490754710697065]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.414704245239806,1.1243070183195285,0.71338606911949],"aabb_xy":[[0.3507042428970044,1.079366167075396],[0.47870424758260754,1.169247869563661]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.04337777406141896,0.366078650114007,0.71338606911949],"aabb_xy":[[-0.08462658509133368,0.31107865060178946],[-0.002128963031504227,0.4210786496262244]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.23505943876008673,-2.052466221545861,0.71338606911949],"aabb_xy":[[0.22428646483871895,-2.0874662197649],[0.2458324126814545,-2.017466223326822]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.5909377614226361,0.08938171233752534,0.71338606911949],"aabb_xy":[[0.5849712224819004,0.0834205676781613],[0.5969043003633718,0.09534285699688938]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.5510843818358147,1.5666473049991976,0.71338606911949],"aabb_xy":[[-0.6060775931729514,1.5116473046604042],[-0.4960911704986779,1.6216473053379914]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[0.43186766606157256,-1.7385211745653568,0.71338606911949],"aabb_xy":[[0.3518676690473245,-1.7586557262387676],[0.5118676630758205,-1.718386622891945]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.04633203986185652,0.872796675365191,0.71338606911949],"aabb_xy":[[-0.052369052862521255,0.866769974296243],[-0.040295026861191796,0.8788233764341394]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.1666657604752102,-1.1757401599987003,0.71338606911949],"aabb_xy":[[-0.20885017463604097,-1.2397401602759117],[-0.12448134631437949,-1.1117401597214893]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.5725522626293447,-0.1630760903205113,0.71338606911949],"aabb_xy":[[-0.6525522630995607,-0.1713867979348597],[-0.49255226215912884,-0.15476538270616294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702529620265273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9836.png","name":"9836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4754.png","name":"4754"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6453.png","name":"6453"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":770.469464149628,"rotation_z_degrees":223.60204816949744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013194481038351576,-0.018603780289230012,0.00031187837952780656]},{"name":"camera_2","offset_m":[0.004862714507367284,0.0038758906035027373,0.0034520262454532033]},{"name":"camera_3","offset_m":[0.01940489117417762,-0.010969100559871223,-0.006736337894330764]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006488795284640518,0.0003289525675922141,-0.0009592729923553103],"end_effector_yaw_offset_degrees":0.504078804107075},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018585127256506393,0.0014261958674291748,0.00038357358898674903],"end_effector_yaw_offset_degrees":0.931578123034664},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007727910347808673,1.7852432603914555e-05,0.0015376751686845091],"end_effector_yaw_offset_degrees":-0.8551417522796732}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036557017492939064,0.0002824871189159696],"position_m":[0.2759557017492939,0.20208248711891597,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019517601312756426,-0.0024380849921058455],"position_m":[0.24654823986872434,-0.14033808499210584,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00494806163412109,-0.001485486812113317],"position_m":[0.3587480616341211,-0.006685486812113317,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004687184694008933,-0.0004695227398726501],"position_m":[0.12291281530599106,0.4186304772601273,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001825760131168093,-0.00321237477512506],"position_m":[0.20652576013116808,-0.41081237477512506,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d2804c87ae8d0345a69dc58b22103aecc66114f8eece1b2f20969a523ac03557","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5259/tex_ceiling_textures_6937/tex_floor_textures_6453/tex_table_textures_9836/tex_wall_textures_4754","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":347386189341595446,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":347386189341595446,"visual_seed":347386189341595446,"scene_id":"lab_003","finished_at":"2026-09-03T19:22:44"} +{"episode_id":"ep_000029","started_at":"2026-09-03T19:22:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.4465683798339727,0.318772736376959,0.71338606911949],"aabb_xy":[[-0.4506465377410225,0.3146917561286957],[-0.442490221926923,0.32285371662522233]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[-0.5233398676983747,1.5373435045971795,0.71338606911949],"aabb_xy":[[-0.5583398668283304,1.5315982835215152],[-0.48833986856841904,1.5430887256728434]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.3277218259484036,-0.35211582076288606,0.71338606911949],"aabb_xy":[[0.31900785689846906,-0.37461582142207417],[0.33643579499833803,-0.3296158201036977]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.4177915910364283,-1.2956547896759332,0.71338606911949],"aabb_xy":[[-0.4295597778310859,-1.380654789581155],[-0.40602340424177086,-1.2106547897707118]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.04202690558252287,1.356419677517208,0.71338606911949],"aabb_xy":[[-0.04797309301194707,1.340169091203787],[0.1320269041769928,1.372670263830629]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.187770749532419,1.1274422119488907,0.71338606911949],"aabb_xy":[[-0.23774955804273493,1.077442211943172],[-0.13779194102210315,1.1774422119546095]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.36162867381906927,-1.9078615752291743,0.71338606911949],"aabb_xy":[[0.3574928174863691,-1.9453615746735313],[0.36576453015176946,-1.8703615757848173]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.577145409308419,-1.2971163390530152,0.71338606911949],"aabb_xy":[[0.5403507761835127,-1.3340222141495974],[0.6139400424333252,-1.2602104639564329]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.30245505784277926,-1.2539111455178453,0.71338606911949],"aabb_xy":[[0.2928234216223496,-1.2635484582975542],[0.3120866940632088,-1.2442738327381364]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.2148975253550821,1.2381342647187048,0.71338606911949],"aabb_xy":[[-0.22812847088976337,1.2249068456967052],[-0.2016665798204008,1.251361683740704]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.2169933664962559,1.4886568097333774,0.71338606911949],"aabb_xy":[[0.20899937791855247,1.480656729638287],[0.22498735507395926,1.4966568898284678]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.4909118603773551,-0.030290502176500755,0.71338606911949],"aabb_xy":[[-0.5252087713950957,-0.06458738838644212],[-0.45661494935961444,0.004006384033440613]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.3961353088419858,-0.76330989214294,0.71338606911949],"aabb_xy":[[-0.446134584010422,-0.8133098934188872],[-0.34613603367354967,-0.7133098908669928]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.562586959644102,0.8141412869519771,0.71338606911949],"aabb_xy":[[0.5459098236510065,0.7974413629780468],[0.5792640956371975,0.8308412109259073]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.4353941804522401,0.17388613095484962,0.71338606911949],"aabb_xy":[[0.4281329328818327,0.1610991206913401],[0.4426554280226475,0.18667314121835907]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.4065917570747133,1.2236203794445686,0.71338606911949],"aabb_xy":[[0.37159175572323155,1.2032606434877477],[0.441591758426195,1.2439801154013894]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.2767495551559601,0.7462254936537001,0.71338606911949],"aabb_xy":[[-0.28118018451080035,0.7407771219190175],[-0.27231892580112,0.7516738653883827]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.24577297397353542,0.29674694480612374,0.71338606911949],"aabb_xy":[[-0.25111054963954,0.2717469438769839],[-0.24043539830753086,0.32174694573526347]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.4697280465409017,-0.4795565960511978,0.71338606911949],"aabb_xy":[[-0.5347280474980289,-0.5315048079849033],[-0.4047280455837745,-0.4276083841174922]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.6157279932338864,0.4974620708296835,0.71338606911949],"aabb_xy":[[0.60312529409681,0.4848666746048181],[0.628330692370963,0.510057467054549]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.563910707922391,-2.0755377067035443,0.71338606911949],"aabb_xy":[[-0.6339107097311365,-2.0968914754677317],[-0.4939107061136456,-2.054183937939357]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.18462210531385492,0.972490752200343,0.71338606911949],"aabb_xy":[[0.13462727238591335,0.9224907533050994],[0.23461693824179655,1.0224907510955865]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.4709218772631405,-0.5440345002411222,0.71338606911949],"aabb_xy":[[0.46287851733718527,-0.6290345013364886],[0.4789652371890956,-0.4590344991457558]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.08623216616065632,-0.829596856038374,0.71338606911949],"aabb_xy":[[0.059943341840215665,-0.855868289693025],[0.11252099048109698,-0.8033254223837225]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.4464726939709224,1.0642855217950902,0.71338606911949],"aabb_xy":[[-0.5014726935926681,1.0093018290076174],[-0.3914726943491765,1.119269214582563]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.09467515140208838,-2.509796779631359,0.71338606911949],"aabb_xy":[[-0.15867514779766145,-2.5737600680500927],[-0.030675155006515284,-2.4458334912126256]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[-0.18174955297914275,0.539729684816145,0.71338606911949],"aabb_xy":[[-0.27174954971475296,0.4865462214988504],[-0.09174955624353251,0.5929131481334394]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[0.09570505080700975,-1.6034508954989732,0.71338606911949],"aabb_xy":[[0.04571193869781786,-1.653450896173169],[0.14569816291620163,-1.5534508948247778]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[-0.575569389470413,-1.4043370113243971,0.71338606911949],"aabb_xy":[[-0.5831936575605913,-1.4119702348609406],[-0.5679451213802348,-1.3967037877878532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667415062281573,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1817.png","name":"1817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1817.png","name":"1817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/840.png","name":"840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/133.png","name":"133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":575.3575147347733,"rotation_z_degrees":335.4390713206157,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01618014032242236,0.0018473632620217874,-0.006009560632961821]},{"name":"camera_2","offset_m":[-0.00800068180347874,0.008982042765586541,-0.0007959024091921847]},{"name":"camera_3","offset_m":[0.010472945469189893,0.014386188383314995,-0.006701582402341581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000687381609183832,-0.0014765958218444753,0.0019082393690692994],"end_effector_yaw_offset_degrees":-0.6182771789136094},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0017749044649616548,-0.0008040336707665573,0.00013651609000990637],"end_effector_yaw_offset_degrees":0.4101566285867504},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001988543030360472,-0.0003168216896753018,8.776426846535904e-05],"end_effector_yaw_offset_degrees":0.4498934154847751}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008789931823396345,0.0049295515123456],"position_m":[0.2731789931823396,0.2067295515123456,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023977812275810025,-0.003505470030120954],"position_m":[0.250897781227581,-0.14140547003012094,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002566244963924244,0.00036138896330820906],"position_m":[0.3563662449639243,-0.004838611036691791,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.326973157965571e-05,0.0016147616878586478],"position_m":[0.12753673026842033,0.4207147616878586,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006852424694004386,-0.0007201549834230216],"position_m":[0.20401475753059956,-0.40832015498342306,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a7db53b9336ae55c11426825c13451f1af162be7e3d7bb8a47427b8290ab94b7","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0030.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1817/tex_ceiling_textures_9981/tex_floor_textures_133/tex_table_textures_2590/tex_wall_textures_840","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2938271155692575734,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2938271155692575734,"visual_seed":2938271155692575734,"scene_id":"lab_003","finished_at":"2026-09-03T19:25:46"} +{"episode_id":"ep_000030","started_at":"2026-09-03T19:25:50","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[-0.4926837781799576,1.5765291823306682,0.71338606911949],"aabb_xy":[[-0.5077860796409754,1.5614276606996058],[-0.4775814767189394,1.5916307039617297]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.5278461290916039,-1.5379780609634421,0.71338606911949],"aabb_xy":[[0.4850794222121836,-1.6019780643852446],[0.570612835971024,-1.4739780575416397]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.4555357761786194,1.1114919317876888,0.71338606911949],"aabb_xy":[[0.44360304181679144,1.0991097789798294],[0.4674685105404476,1.1238740845955482]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.21222595175089026,-1.26956055563695,0.71338606911949],"aabb_xy":[[-0.23581107521478512,-1.3345605578823818],[-0.1886408282869954,-1.2045605533915182]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.30326784987174377,-1.7975926551398809,0.71338606911949],"aabb_xy":[[-0.35826784949348967,-1.8525763479273534],[-0.24826785024999798,-1.742608962352408]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.4559844441869525,-0.8083294763507483,0.71338606911949],"aabb_xy":[[-0.4734844434650393,-0.8256675764170942],[-0.43848444490886557,-0.7909913762844023]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.6456540747959425,-1.1203311102909341,0.71338606911949],"aabb_xy":[[0.6280757726069957,-1.137905599865039],[0.6632323769848893,-1.1027566207168293]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.45664960606142596,-0.9318037341195746,0.71338606911949],"aabb_xy":[[-0.46223127769555467,-0.9443037339373501],[-0.45106793442729715,-0.9193037343017991]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.12495885155769182,-1.5315715489866129,0.71338606911949],"aabb_xy":[[-0.17493214556095224,-1.58157154954116],[-0.07498555755443134,-1.4815715484320653]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.04887180265174962,-2.2728465354337772,0.71338606911949],"aabb_xy":[[0.02387180271923174,-2.279729203654701],[0.07387180258426752,-2.265963867212854]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.28354577664139,-0.5440879198829336,0.71338606911949],"aabb_xy":[[-0.28762393454843976,-0.5481689001311968],[-0.2794676187343403,-0.5400069396346702]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.5747570052869677,-1.8497415977346772,0.71338606911949],"aabb_xy":[[0.5522570054730653,-1.854216214105158],[0.5972570051008701,-1.8452669813641964]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.026542840268889423,1.0555638848992688,0.71338606911949],"aabb_xy":[[-0.06404284008592298,1.0509256735881267],[0.010957159548144135,1.0602020962104104]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.36674151240744024,1.7394822122996865,0.71338606911949],"aabb_xy":[[-0.38262600567276533,1.7251292720008624],[-0.35085701914211503,1.7538351525985105]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.62782457384243,-2.351487048482134,0.71338606911949],"aabb_xy":[[-0.6577921307522556,-2.38148704878002],[-0.5978570169326043,-2.321487048184248]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.17284157824883528,-2.1964785539513327,0.71338606911949],"aabb_xy":[[-0.2368415785093061,-2.2414873533042603],[-0.10884157798836448,-2.1514697545984043]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[0.5566614654524751,-0.6492305973211026,0.71338606911949],"aabb_xy":[[0.5068446859876403,-0.6992305958054058],[0.6064782449173098,-0.5992305988367991]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.4827781043178555,-1.5968456811606986,0.71338606911949],"aabb_xy":[[-0.546778104695389,-1.6465909480115108],[-0.4187781039403218,-1.5471004143098863]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.5784565627310267,-2.436929654885786,0.71338606911949],"aabb_xy":[[-0.5825725128430993,-2.441045209918631],[-0.574340612618954,-2.4328140998529397]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.281797843733659,-1.9658216846175578,0.71338606911949],"aabb_xy":[[0.24679784454084075,-1.9767887306152199],[0.3167978429264773,-1.9548546386198948]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.6648573033254537,-2.5695164442985954,0.71338606911949],"aabb_xy":[[0.6560760761782175,-2.578296191587126],[0.6736385304726901,-2.5607366970100656]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.3088836567801305,-2.522370673770837,0.71338606911949],"aabb_xy":[[0.30257155724379214,-2.5281376130240556],[0.315195756316469,-2.516603734517618]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.4686908920666577,1.502524368713654,0.71338606911949],"aabb_xy":[[0.4186908907828177,1.4525455143230317],[0.5186908933504976,1.552503223104276]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.1861712902858812,-2.4108770528563626,0.71338606911949],"aabb_xy":[[0.12217128806547417,-2.455250136981651],[0.2501712925062882,-2.3665039687310743]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.6461329327181098,-0.3686615987332331,0.71338606911949],"aabb_xy":[[-0.6747822650785259,-0.39730715801030886],[-0.6174836003576935,-0.34001603945615727]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.46468072830977203,-2.480127150388861,0.71338606911949],"aabb_xy":[[0.44221595833836685,-2.5026271512677214],[0.4871454982811771,-2.4576271495100004]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[0.27284098266615,-1.1380119983874912,0.71338606911949],"aabb_xy":[[0.227669664817981,-1.2020119955320296],[0.31801230051431895,-1.0740120012429528]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.15474260975063758,-1.9490237443614156,0.71338606911949],"aabb_xy":[[-0.17723903118450168,-1.9715237441681632],[-0.13224618831677348,-1.9265237445546683]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.42863581065116935,1.0310474579743523,0.71338606911949],"aabb_xy":[[-0.4398808662217872,1.019805660250257],[-0.4173907550805515,1.0422892556984475]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[0.42225585567828516,0.9931506729454336,0.71338606911949],"aabb_xy":[[0.3582558585661794,0.944118303151023],[0.4862558527903908,1.0421830427398442]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[-0.09944352167015935,1.518589053341787,0.71338606911949],"aabb_xy":[[-0.11645361896021,1.5024545648435128],[-0.0824334243801087,1.5347235418400607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638418213583945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3003.png","name":"3003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6786.png","name":"6786"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":839.1569391846049,"rotation_z_degrees":48.51684460635902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011990137501924894,-0.013839348655515993,0.004486733177040899]},{"name":"camera_2","offset_m":[0.004359295837462019,-0.0025087972379845003,0.00500308870580311]},{"name":"camera_3","offset_m":[-0.0008319293296512806,0.011706376326742571,-0.01621514602714256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000746200339195144,-0.0011868528763970456,-0.0012356656681617446],"end_effector_yaw_offset_degrees":0.6532444330752192},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0004054587206084412,-0.0019745970841908993,7.917948496646322e-05],"end_effector_yaw_offset_degrees":0.9919827260886818},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006284819697623058,0.00038414211162011514,0.0014824359815334468],"end_effector_yaw_offset_degrees":-0.40171955666440917}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019347491982622898,-0.0008430491323446468],"position_m":[0.2742347491982623,0.20095695086765536,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[9.232410953522938e-05,0.0028413498252687812],"position_m":[0.24859232410953522,-0.1350586501747312,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0025976817716465263,-0.0017413060732045004],"position_m":[0.35120231822835346,-0.0069413060732045,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003961968572025329,0.0033676469931794026],"position_m":[0.12363803142797467,0.4224676469931794,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030048283125214625,0.001020445241407806],"position_m":[0.20169517168747852,-0.4065795547585922,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04ba975ae788d2011b68fbf01afda32fcee71c95aef4dce77e1fc7691ebbeb8a","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6025/tex_ceiling_textures_2493/tex_floor_textures_1891/tex_table_textures_3003/tex_wall_textures_6786","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4255743038030324692,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4255743038030324692,"visual_seed":4255743038030324692,"scene_id":"lab_003","finished_at":"2026-09-03T19:28:36"} +{"episode_id":"ep_000031","started_at":"2026-09-03T19:28:41","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.1382942537508226,-1.9265625724623716,0.71338606911949],"aabb_xy":[[0.054572028250740146,-2.016562575997067],[0.22201647925090506,-1.8365625689276752]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.20221134116439776,-1.0587453255156887,0.71338606911949],"aabb_xy":[[0.11221134144122356,-1.0818186780508683],[0.2922113408875719,-1.0356719729805086]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.16427174641661946,-0.9264005179183878,0.71338606911949],"aabb_xy":[[-0.17238540108999656,-0.9345063343724169],[-0.15615809174324236,-0.9182947014643588]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.13235096914126387,1.6193697032402352,0.71338606911949],"aabb_xy":[[-0.22235096855963477,1.5859942063960453],[-0.042350969722892984,1.6527452000844247]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.3676252355242186,-2.2235421691640704,0.71338606911949],"aabb_xy":[[-0.4020877135373064,-2.230205846346993],[-0.33316275751113084,-2.2168784919811477]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.14608027581241068,-0.051691625621236525,0.71338606911949],"aabb_xy":[[-0.15412363573836585,-0.13669162671660295],[-0.1380369158864555,0.033308375474129896]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.393618772175331,-0.5836492707683716,0.71338606911949],"aabb_xy":[[-0.4186187714472932,-0.5999946343645339],[-0.36861877290336864,-0.5673039071722092]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.41159783398195793,-0.4518876186370746,0.71338606911949],"aabb_xy":[[0.3940978348475907,-0.46176724567466243],[0.42909783311632504,-0.4420079915994868]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.16047368153863928,-0.7840103271300185,0.71338606911949],"aabb_xy":[[-0.17653560899715692,-0.8690103289426103],[-0.14441175408012163,-0.6990103253174267]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.04459862947113069,-2.500297834760377,0.71338606911949],"aabb_xy":[[-0.08987724435227995,-2.5642978341085607],[0.0006799854100185618,-2.4362978354121934]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.3484145839139844,-1.5152037808913004,0.71338606911949],"aabb_xy":[[-0.4124145825005568,-1.5622107442908093],[-0.2844145853274119,-1.4681968174917919]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.04607934704637917,0.5287755306118274,0.71338606911949],"aabb_xy":[[-0.06735735518985142,0.4637755282857543],[-0.02480133890290693,0.5937755329379004]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.470875998668675,1.8090150302734673,0.71338606911949],"aabb_xy":[[0.4425462887201348,1.8045542880797505],[0.49920570861721525,1.8134757724671846]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.5467723656385624,-0.3345866239756816,0.71338606911949],"aabb_xy":[[-0.5842723655823288,-0.3428797140105182],[-0.509272365694796,-0.32629353394084504]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.5279661664392373,0.9831032703082783,0.71338606911949],"aabb_xy":[[-0.5919661686596444,0.93873018618299],[-0.4639661642188303,1.0274763544335666]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.6450437636520246,0.07709447000562486,0.71338606911949],"aabb_xy":[[-0.6510807766526894,0.07106776893667666],[-0.6390067506513599,0.08312117107457306]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.20207248920611026,1.0301992522584644,0.71338606911949],"aabb_xy":[[-0.21343422385939642,1.0188307858521761],[-0.1907107545528241,1.0415677186647523]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.5702913209700718,0.30885480370871843,0.71338606911949],"aabb_xy":[[-0.620174017847768,0.2588548044624437],[-0.5204086240923756,0.35885480295499317]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.3236560192408109,0.7872284276749149,0.71338606911949],"aabb_xy":[[0.2736611863128693,0.7372284287796713],[0.3736508521687525,0.8372284265701584]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.1306020836033518,-2.181504167448999,0.71338606911949],"aabb_xy":[[-0.19060208344991858,-2.2383227896420377],[-0.070602083756785,-2.1246855452559603]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.3592529664842654,-1.8777389489176723,0.71338606911949],"aabb_xy":[[0.3367392746608082,-1.9477389495186799],[0.3817666583077226,-1.8077389483166648]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.1321086178542008,-1.6569245232605991,0.71338606911949],"aabb_xy":[[-0.182108616500122,-1.7068440669200615],[-0.08210861920827961,-1.6070049796011368]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.32867329878653395,1.2238234549040339,0.71338606911949],"aabb_xy":[[-0.335713608720071,1.1438234555043627],[-0.321632988852997,1.3038234543037055]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.21625336893033065,-0.5152186193869261,0.71338606911949],"aabb_xy":[[-0.2962533658933698,-0.5922942610306995],[-0.13625337196729148,-0.4381429777431526]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.2988704193130227,1.682083566284994,0.71338606911949],"aabb_xy":[[0.2901564502630881,1.6595835656258056],[0.3075843883629571,1.704583566944182]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[-0.3913671524062141,1.6764393545359275,0.71338606911949],"aabb_xy":[[-0.4713671503869991,1.6688378135740756],[-0.311367154425429,1.6840408954977795]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.615881364854602,1.717267361587194,0.71338606911949],"aabb_xy":[[-0.6359397764678423,1.6972022746780366],[-0.5958229532413617,1.7373324484963515]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.44493534837393445,-0.8457820431766288,0.71338606911949],"aabb_xy":[[0.3649353473008141,-0.8555600895140133],[0.5249353494470548,-0.8360039968392444]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[0.38454405693159166,-0.9433753336983266,0.71338606911949],"aabb_xy":[[0.36898828752132645,-0.9589257669427339],[0.40009982634185703,-0.9278249004539195]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[0.46122808345728816,-0.5583657364660963,0.71338606911949],"aabb_xy":[[0.4552615445165523,-0.5643268811254603],[0.4671946223980239,-0.5524045918067322]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_30","position":[0.3448343627912571,1.4429950778912715,0.71338606911949],"aabb_xy":[[0.29535394157729833,1.3789950799784196],[0.3943147840052159,1.5069950758041233]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[0.5058485652380584,-1.9772131115067098,0.71338606911949],"aabb_xy":[[0.4418485645345892,-2.023231493979631],[0.5698485659415279,-1.9311947290337892]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_32","position":[-0.08232042101579362,0.7558359464898463,0.71338606911949],"aabb_xy":[[-0.11917096895278122,0.7183359456668126],[-0.045469873078806,0.79333594731288]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_33","position":[0.5386284968287649,-1.05165773682522,0.71338606911949],"aabb_xy":[[0.4736284941909715,-1.103137335524667],[0.6036284994665585,-1.000178138125773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668233213900362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1774.png","name":"1774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1774.png","name":"1774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4954.png","name":"4954"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4848.png","name":"4848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/890.png","name":"890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":534.4970638784613,"rotation_z_degrees":111.86511046814363,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0060021199603304785,-0.010892136529058903,-0.003322967641529999]},{"name":"camera_2","offset_m":[-0.012894731466618832,-0.014329316675485045,0.009253331015560768]},{"name":"camera_3","offset_m":[-0.019507330053628452,0.011296483367015556,-0.014644438786664651]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.002450721103101e-05,0.0002320919683865652,-0.000908768609255857],"end_effector_yaw_offset_degrees":0.010766139030953248},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007941199134720062,-0.0012823547282476522,-0.00016427551534774882],"end_effector_yaw_offset_degrees":0.3163418294563727},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004765751944092499,1.7100635671138485e-05,-0.0005492912446873088],"end_effector_yaw_offset_degrees":0.9107690734883658}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003254679533585118,-0.004389741374803079],"position_m":[0.2690453204664149,0.19741025862519693,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025587939600186776,0.0021964535955239575],"position_m":[0.2510587939600187,-0.13570354640447604,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0043339052850156715,-0.0009727744266035607],"position_m":[0.34946609471498435,-0.00617277442660356,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030155072673108173,-0.0026691909521266645],"position_m":[0.12458449273268918,0.41643080904787333,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002617617555237371,0.0011222968866450508],"position_m":[0.20731761755523737,-0.40647770311335496,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9f04016da332e02becbb320ca4ca82b21fb7c1457e728a71f00ac8409d20e419","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1774/tex_ceiling_textures_8277/tex_floor_textures_890/tex_table_textures_4954/tex_wall_textures_4848","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6018190859221886580,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6018190859221886580,"visual_seed":6018190859221886580,"scene_id":"lab_003","finished_at":"2026-09-03T19:31:36"} +{"episode_id":"ep_000032","started_at":"2026-09-03T19:31:43","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.1678424465316437,1.3772122722397349,0.71338606911949],"aabb_xy":[[0.15093171409530193,1.36374006664712],[0.1847531789679855,1.3906844778323493]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.6567258750222402,0.6896873698461254,0.71338606911949],"aabb_xy":[[0.6288808382416331,0.6589028711078138],[0.6845709118028473,0.7204718685844371]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.3555330412147659,-0.4225105243006886,0.71338606911949],"aabb_xy":[[0.3515725574450316,-0.4301783888862093],[0.35949352498450027,-0.4148426597151681]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.30914249187007475,1.1935906589059257,0.71338606911949],"aabb_xy":[[-0.359126727578252,1.1435906600924302],[-0.2591582561618975,1.2435906577194213]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.316501153629118,-2.3221213716830142,0.71338606911949],"aabb_xy":[[0.2790011533369432,-2.326162847083618],[0.35400115392129283,-2.3180798962824105]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.4899667233314905,-1.2969570328713074,0.71338606911949],"aabb_xy":[[-0.5055224927417559,-1.3125074661157148],[-0.47441095392122534,-1.2814065996269004]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.37207326599566604,-2.2775536120128406,0.71338606911949],"aabb_xy":[[-0.39661948161841676,-2.3078025085618776],[-0.3475270503729153,-2.2473047154638035]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[-0.5893191585460372,-0.5065686196468686,0.71338606911949],"aabb_xy":[[-0.6118191587895526,-0.5187732543066406],[-0.5668191583025218,-0.49436398498709666]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.6488314461668094,0.042576929878395564,0.71338606911949],"aabb_xy":[[0.6401334838760941,0.030451955570920848],[0.6575294084575247,0.0547019041858703]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.37408706563222166,-1.7499241801572039,0.71338606911949],"aabb_xy":[[-0.4640870623678318,-1.8031076434744981],[-0.2840870688966114,-1.6967407168399091]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[0.28419348315462467,1.4477281072370318,0.71338606911949],"aabb_xy":[[0.24919348325860577,1.4393538717250918],[0.3191934830506435,1.4561023427489719]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.22286368805764206,0.44297508231047233,0.71338606911949],"aabb_xy":[[-0.256639247248335,0.42893658709730725],[-0.18908812886694906,0.4570135775236373]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.49921131009137176,1.0127865681059838,0.71338606911949],"aabb_xy":[[0.47421131092573865,1.005834322400627],[0.5242113092570049,1.0197388138113401]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.2475476223413644,-0.4146089216751858,0.71338606911949],"aabb_xy":[[-0.27138383998196947,-0.5046089224836723],[-0.22371140470075937,-0.3246089208666993]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.04512354138167107,0.7707688733123614,0.71338606911949],"aabb_xy":[[-0.1101235414159738,0.7240681966320341],[0.01987645865263165,0.8174695499926887]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.39533964811240296,1.296150144779158,0.71338606911949],"aabb_xy":[[0.3453465360032111,1.2461501441049625],[0.4453327602215949,1.3461501454533538]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.612503609869341,0.2605706774942931,0.71338606911949],"aabb_xy":[[0.5900388398979358,0.23807067661543257],[0.6349683798407461,0.2830706783731536]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.05069315064915392,-2.225456412046016,0.71338606911949],"aabb_xy":[[-0.14069314715002565,-2.271368054464473],[0.03930684585171783,-2.1795447696275567]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.20332132418380156,-1.0448533892166387,0.71338606911949],"aabb_xy":[[-0.2455057383446323,-1.10885338949385],[-0.16113691002297081,-0.9808533889394275]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.3554408563229687,-2.098468092532056,0.71338606911949],"aabb_xy":[[-0.4354408533372166,-2.118602644205467],[-0.27544085930872064,-2.0783335408586447]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.2434585964669611,-1.330451540664715,0.71338606911949],"aabb_xy":[[0.2260278813879546,-1.3477236553285656],[0.2608893115459676,-1.313179426000864]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.6349754609760232,-2.4767843512083974,0.71338606911949],"aabb_xy":[[0.5799822496388863,-2.5317843515471914],[0.6899686723131598,-2.421784350869604]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.3015790832747828,-1.5410783489750173,0.71338606911949],"aabb_xy":[[0.27906539145132553,-1.6110783495760248],[0.3240927750982399,-1.4710783483740097]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.3805676274677323,1.7412415415357754,0.71338606911949],"aabb_xy":[[0.3305676261838923,1.6912626871451528],[0.43056762875157223,1.791220395926397]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.14895265978154315,0.788462795526292,0.71338606911949],"aabb_xy":[[0.09895265812004837,0.7384643532705891],[0.1989526614430379,0.8384612377819946]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.5212291535276035,-0.723499765087428,0.71338606911949],"aabb_xy":[[0.4512291571176416,-0.7439377007391095],[0.5912291499375651,-0.703061829435746]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.158843802725684,-0.7041417561601175,0.71338606911949],"aabb_xy":[[-0.23884380379880432,-0.713919802497502],[-0.07884380165256366,-0.6943637098227331]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_27","position":[-0.5182594593010279,0.34383486105663774,0.71338606911949],"aabb_xy":[[-0.5635380741821772,0.279834861708454],[-0.47298084441987864,0.40783486040482136]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[-0.4550180592962172,0.09352802412262529,0.71338606911949],"aabb_xy":[[-0.45893193249163966,0.08477900871606853],[-0.4511041861007946,0.10227703952918205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697499437918705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3399.png","name":"3399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3399.png","name":"3399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2801.png","name":"2801"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":636.8990303977926,"rotation_z_degrees":299.3525913866562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0156220253218099,-0.0007519315705021706,-0.0100303197550726]},{"name":"camera_2","offset_m":[-0.015021444609031348,0.008072181993378957,0.009716957157785235]},{"name":"camera_3","offset_m":[0.0021149694185232104,0.003186101191205718,-0.005269712508203739]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010839915280452857,-0.0004091126675192158,-0.0013097252781152581],"end_effector_yaw_offset_degrees":0.1277850673033174},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00062596248684881,-0.0003206471608370744,-0.0006391153646979929],"end_effector_yaw_offset_degrees":0.9307460473879805},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001204759610460752,-0.001013726469414949,0.0015147854700050785],"end_effector_yaw_offset_degrees":0.6215909706360117}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004848971277989041,-0.0032172618093117044],"position_m":[0.27714897127798904,0.1985827381906883,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017306317682119158,-0.0036241214007714006],"position_m":[0.2502306317682119,-0.1415241214007714,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004197354891300299,0.003077377426907166],"position_m":[0.3579973548913003,-0.002122622573092834,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004833870819828402,-0.004966869712609463],"position_m":[0.12276612918017159,0.4141331302873905,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00012024410870039703,-0.004584764836682811],"position_m":[0.2048202441087004,-0.4121847648366828,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8893ad08d93953765b62cd63e9563c4b1fbbd095d9eab28bda4da4d46242fcbf","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3399/tex_ceiling_textures_1673/tex_floor_textures_1410/tex_table_textures_9974/tex_wall_textures_2801","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":689949863694048670,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":689949863694048670,"visual_seed":689949863694048670,"scene_id":"lab_003","finished_at":"2026-09-03T19:34:31"} +{"episode_id":"ep_000033","started_at":"2026-09-03T19:34:35","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.22767351825173854,0.6965618131476417,0.71338606911949],"aabb_xy":[[0.14267351955966392,0.6645759497527627],[0.3126735169438132,0.7285476765425204]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.5685568285803189,-0.05391433354788555,0.71338606911949],"aabb_xy":[[-0.5935568281320573,-0.06405681741302027],[-0.5435568290285804,-0.04377184968275084]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.46595424411166,-0.7729250795269678,0.71338606911949],"aabb_xy":[[0.4498923166531423,-0.8579250813395595],[0.48201617157017757,-0.6879250777143758]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.13182742660229319,0.8900838755880525,0.71338606911949],"aabb_xy":[[-0.19582742299786626,0.8261205871693188],[-0.06782743020672011,0.9540471640067859]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.4322836596529172,-1.7802262023548026,0.71338606911949],"aabb_xy":[[-0.4822567251854328,-1.8302262021673357],[-0.38231059412040186,-1.7302262025422699]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.005570475895363636,-1.002243164610148,0.71338606911949],"aabb_xy":[[-0.014351703042599865,-1.011022911898678],[0.003210751251872591,-0.9934634173216178]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.6385279282694427,1.7845026140454405,0.71338606911949],"aabb_xy":[[0.6314864773186952,1.777475862307646],[0.6455693792201904,1.791529365783235]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5462450398194815,1.3321432602227588,0.71338606911949],"aabb_xy":[[-0.6102407372145779,1.26814326192205],[-0.4822493424243848,1.3961432585234674]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.24469999077888038,-0.5943305496324769,0.71338606911949],"aabb_xy":[[-0.27814016597489993,-0.6277741754634067],[-0.21125981558286075,-0.5608869238015466]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.6796746489182698,-0.5577577494611452,0.71338606911949],"aabb_xy":[[-0.6902421285763689,-0.5683027795741538],[-0.6691071692601709,-0.5472127193481366]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.4291057069334894,-2.2279644170082724,0.71338606911949],"aabb_xy":[[-0.4516057067473918,-2.2324390333787525],[-0.40660570711958705,-2.2234898006377914]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.20728451084876715,-0.9055889363105285,0.71338606911949],"aabb_xy":[[-0.24478451114094193,-0.9096304117111321],[-0.1697845105565923,-0.9015474609099249]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.17236627772326363,0.33837147924259625,0.71338606911949],"aabb_xy":[[-0.18937637501331425,0.32223699074432227],[-0.15535618043321295,0.3545059677408701]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.44320396818821295,-1.1660389288136754,0.71338606911949],"aabb_xy":[[-0.49320396913874565,-1.1975880758171968],[-0.39320396723768003,-1.134489781810154]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.10894164086273783,-1.9832471572974417,0.71338606911949],"aabb_xy":[[-0.11869763037191171,-1.993009691356676],[-0.09918565135356393,-1.973484623238207]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.5372796957572397,0.12058400536684033,0.71338606911949],"aabb_xy":[[-0.5672472526670653,0.0905840050689546],[-0.507312138847414,0.15058400566472607]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.4348157987099739,-1.6251493065078295,0.71338606911949],"aabb_xy":[[0.4307376408029241,-1.6292302867560928],[0.4388939566170236,-1.6210683262595662]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.6129025969661361,-0.4601263753768534,0.71338606911949],"aabb_xy":[[0.6056588309198908,-0.5401263735804558],[0.6201463630123815,-0.380126377173251]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.053206275624681276,0.8493824985392457,0.71338606911949],"aabb_xy":[[0.028206276459048163,0.8424302528338892],[0.07820627479031439,0.8563347442446023]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.18855661352720987,-1.4526000381041446,0.71338606911949],"aabb_xy":[[0.18464274033178735,-1.4613490535107014],[0.1924704867226324,-1.4438510226975878]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.5900000513955841,-0.39375163132954105,0.71338606911949],"aabb_xy":[[-0.6540000516695624,-0.443817731526829],[-0.526000051121606,-0.3436855311322531]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.2826377134149002,0.6092072108689495,0.71338606911949],"aabb_xy":[[-0.36263771207178624,0.5947023519446867],[-0.20263771475801423,0.6237120697932123]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4137163248912887,1.6487004504352938,0.71338606911949],"aabb_xy":[[-0.4687095362284255,1.5937004500965004],[-0.35872311355415193,1.7037004507740876]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.1474008103346418,1.0975469917181777,0.71338606911949],"aabb_xy":[[0.13870284804392652,1.0854220174107032],[0.1560987726253571,1.1096719660256527]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[-0.45890632011324994,0.4050109088415921,0.71338606911949],"aabb_xy":[[-0.5229063221629819,0.3649164257522841],[-0.39490631806351795,0.44510539193090004]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.4344259330774418,1.033896553564487,0.71338606911949],"aabb_xy":[[0.3444259294005236,0.9724641469873825],[0.5244259367543599,1.0953289601415912]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[0.6757435191995853,0.5839340039143646,0.71338606911949],"aabb_xy":[[0.630464904318436,0.5199340045661808],[0.7210221340807346,0.6479340032625481]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[-0.35351403536942455,0.8450435119642234,0.71338606911949],"aabb_xy":[[-0.4035090463288767,0.7950435129286318],[-0.3035190244099726,0.8950435109998153]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.0352035176143255,-1.5121517778956879,0.71338606911949],"aabb_xy":[[-0.09520351812217842,-1.5689985115816092],[0.024796482893527417,-1.4553050442097666]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[-0.2624859145982411,-0.3632601005096223,0.71338606911949],"aabb_xy":[[-0.280064216787188,-0.3808345900837273],[-0.24490761240929432,-0.3456856109355175]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[0.05604959649332564,1.4028690319564157,0.71338606911949],"aabb_xy":[[-0.007950405727081389,1.3584959478311274],[0.12004959871373266,1.447242116081704]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_31","position":[-0.17245363900844224,-1.881850802628919,0.71338606911949],"aabb_xy":[[-0.21744622572689265,-1.9268508019033677],[-0.12746105228999183,-1.8368508033544702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636416131587469,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2645.png","name":"2645"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2645.png","name":"2645"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2549.png","name":"2549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2099.png","name":"2099"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8821.png","name":"8821"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2706.png","name":"2706"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":807.8223703988458,"rotation_z_degrees":46.358300494847185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019549385952735233,-0.015869880972397513,-0.015143764810593372]},{"name":"camera_2","offset_m":[-0.007746936268431988,-0.008727707961208466,-0.01679998997095641]},{"name":"camera_3","offset_m":[-0.010109004484732998,0.000815626254987975,-0.008438741021231677]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001623366077630406,-0.0014075466967667838,0.0012327103645978946],"end_effector_yaw_offset_degrees":0.5812374366859527},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00010635258641141605,0.0010095384743636572,-0.0005034299228007418],"end_effector_yaw_offset_degrees":-0.631379775076581},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010889953114017778,0.0005185933717593285,0.0006456819325718582],"end_effector_yaw_offset_degrees":0.9105429921639479}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002298023191820899,0.0032859649256549517],"position_m":[0.2700019768081791,0.20508596492565495,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004034363156677099,-0.002051866256127962],"position_m":[0.24809656368433228,-0.13995186625612796,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0019420117901807542,0.00017910075766627842],"position_m":[0.35185798820981923,-0.005020899242333721,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003352766560001508,-0.0003807618391498636],"position_m":[0.1309527665600015,0.4187192381608501,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019658118839847327,0.0026930476024926717],"position_m":[0.20273418811601526,-0.40490695239750735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7704a29e8c3b1c87a94feae8c2db4f5724a589ca316ba363296f7cbe29e62b38","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2645/tex_ceiling_textures_2706/tex_floor_textures_8821/tex_table_textures_2549/tex_wall_textures_2099","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1459545587447958548,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1459545587447958548,"visual_seed":1459545587447958548,"scene_id":"lab_003","finished_at":"2026-09-03T19:37:29"} +{"episode_id":"ep_000034","started_at":"2026-09-03T19:40:39","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.3041809527419792,0.13264161601629176,0.71338606911949],"aabb_xy":[[-0.35918095236372505,0.07765792322881906],[-0.24918095312023336,0.18762530880376452]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.20240614066094986,0.9431499026543921,0.71338606911949],"aabb_xy":[[0.16022172650011912,0.879149902377181],[0.2445905548217806,1.0071499029316033]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.013223871599363779,-2.4683981145497,0.71338606911949],"aabb_xy":[[-0.06322387326085853,-2.5183965568054023],[0.03677613006213098,-2.418399672293997]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.1267835554955956,-1.242677320240703,0.71338606911949],"aabb_xy":[[0.1022373398728449,-1.27292621678974],[0.15132977111834633,-1.2124284236916658]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.4184061266133523,-0.22608947685568426,0.71338606911949],"aabb_xy":[[0.41116236056710687,-0.30608947505928663],[0.4256498926595975,-0.14608947865208186]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.09551116075721078,-1.5469633284827733,0.71338606911949],"aabb_xy":[[0.0841494261039246,-1.5583317948890614],[0.10687289541049692,-1.5355948620764852]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.5877127599209502,-1.3052422270639035,0.71338606911949],"aabb_xy":[[-0.5970597675032454,-1.3195458492815475],[-0.578365752338655,-1.2909386048462594]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.16881639259691816,1.48659266589643,0.71338606911949],"aabb_xy":[[0.1275675815670034,1.4315926663842125],[0.21006520362683287,1.5415926654086474]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.6221962841133166,0.31589044579436765,0.71338606911949],"aabb_xy":[[0.6102635497514886,0.3035082929865083],[0.6341290184751447,0.328272598602227]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.5187639893357312,-2.255791021011286,0.71338606911949],"aabb_xy":[[-0.5260252369061388,-2.2685780312747954],[-0.5115027417653238,-2.2430040107477764]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.00217122124391278,1.0041311510968014,0.71338606911949],"aabb_xy":[[-0.02032520018995132,0.981631151290054],[0.02466764267777688,1.0266311509035488]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.028556214481948006,-1.9676562801648054,0.71338606911949],"aabb_xy":[[-0.06203538174298894,-2.0011353935359124],[0.00492295277909293,-1.9341771667936984]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.16549431882688936,-2.282156458055892,0.71338606911949],"aabb_xy":[[0.10049431782638885,-2.332942823210567],[0.23049431982738988,-2.231370092901217]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.6485673594150196,-0.591734204247576,0.71338606911949],"aabb_xy":[[-0.6561916275051979,-0.5993674277841197],[-0.6409430913248414,-0.5841009807110322]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.38449211866726574,1.187010006115743,0.71338606911949],"aabb_xy":[[-0.40740783155231575,1.1641057089793196],[-0.3615764057822159,1.2099143032521666]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.4843044795486946,0.9432122128722416,0.71338606911949],"aabb_xy":[[0.4468044792004668,0.9314208172911579],[0.5218044798969224,0.955003608453325]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.39996730360439875,1.8082051020239347,0.71338606911949],"aabb_xy":[[-0.4134138302384421,1.7947352503708434],[-0.3865207769703554,1.821674953677026]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.5294800742406292,0.9434326261164787,0.71338606911949],"aabb_xy":[[-0.547058376429576,0.9258581365423737],[-0.5119017720516823,0.9610071156905835]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.6111625153393747,0.7719793219363615,0.71338606911949],"aabb_xy":[[0.5471625121207369,0.7252562100373533],[0.6751625185580126,0.81870243383537]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.40816158300694466,-1.1657859955829755,0.71338606911949],"aabb_xy":[[-0.47816158513837415,-1.188547961208671],[-0.33816158087551507,-1.1430240299572796]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.13233175322997948,-2.2956364198044623,0.71338606911949],"aabb_xy":[[-0.21233175648782243,-2.3756329275964463],[-0.05233174997213652,-2.2156399120124783]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.28051491632317804,-1.404502911354531,0.71338606911949],"aabb_xy":[[-0.32568623417134707,-1.4685029084990695],[-0.23534359847500913,-1.3405029142099927]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.20110838302790446,-1.587057736046139,0.71338606911949],"aabb_xy":[[-0.2055390123827447,-1.592506107780822],[-0.19667775367306434,-1.5816093643114566]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.44681693738253514,1.4958400501968527,0.71338606911949],"aabb_xy":[[-0.4754662697429513,1.4671944909197767],[-0.41816760502211886,1.5244856094739283]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[0.6394018489805684,-1.1929025424146595,0.71338606911949],"aabb_xy":[[0.5844018498039788,-1.2478922171896172],[0.6944018481571578,-1.137912867639702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657095891724792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6569.png","name":"6569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6415.png","name":"6415"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8337.png","name":"8337"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":830.2748814080962,"rotation_z_degrees":8.136662310054902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013725175031099896,-0.000454380732055535,-0.004321058273298175]},{"name":"camera_2","offset_m":[0.004309739435838896,-0.01691294917294862,-0.013352140600317319]},{"name":"camera_3","offset_m":[0.015645086391534457,0.012802714523027111,-0.001842668103658296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010444466561458578,0.0003028164059985252,0.0009385732737689808],"end_effector_yaw_offset_degrees":-0.269571371327904},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[1.9924106714561823e-05,0.001127199571914407,5.492446019494078e-05],"end_effector_yaw_offset_degrees":0.03147039202761337},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008273853102829479,0.0016748213265244801,-0.0012379340065949505],"end_effector_yaw_offset_degrees":-0.4397912457172357}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00238252909375059,-0.0012949261047559522],"position_m":[0.27468252909375057,0.20050507389524405,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020383933567036517,0.0033249977461374284],"position_m":[0.24646160664329636,-0.13457500225386257,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002577178953971802,-0.00148413208388276],"position_m":[0.3563771789539718,-0.00668413208388276,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006960618853981745,0.0007256983258254798],"position_m":[0.12829606188539816,0.41982569832582545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022900527494122457,-0.0011046767956253666],"position_m":[0.20240994725058775,-0.4087046767956254,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"db2df2622c83416fa1e4ad4a29f329a57009104cb87e1a08d805b540e7e9d0ae","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1708/tex_ceiling_textures_8337/tex_floor_textures_6415/tex_table_textures_6144/tex_wall_textures_6569","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8702821631068926450,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8702821631068926450,"visual_seed":8702821631068926450,"scene_id":"lab_003","finished_at":"2026-09-03T19:43:31"} +{"episode_id":"ep_000035","started_at":"2026-09-03T19:43:34","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.1929094305886655,1.0721681880991318,0.71338606911949],"aabb_xy":[[-0.27790942928074014,1.040182324704253],[-0.10790943189659083,1.1041540514940107]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.05876994571013683,-1.9974429372767684,0.71338606911949],"aabb_xy":[[0.03848564298673806,-2.0177255624194768],[0.07905424843353558,-1.977160312134059]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.6732401995561402,-2.0365892016757416,0.71338606911949],"aabb_xy":[[-0.6838076792142392,-2.04713423178875],[-0.6626727198980412,-2.026044171562733]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.3774776522117549,-0.6568276397387482,0.71338606911949],"aabb_xy":[[0.3681306446294596,-0.6711312619563923],[0.38682465979405006,-0.6425240175211042]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.21128522905390157,-1.6232787049959025,0.71338606911949],"aabb_xy":[[-0.21998319134461689,-1.6354036793033773],[-0.2025872667631863,-1.6111537306884278]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.47892543595622694,-2.3133024941891907,0.71338606911949],"aabb_xy":[[0.43179605695439116,-2.377302495233592],[0.5260548149580625,-2.2493024931447883]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.6207654489338321,-1.094061683951448,0.71338606911949],"aabb_xy":[[-0.6707496846420093,-1.1440616827649437],[-0.5707812132256549,-1.0440616851379525]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.272874307044341,-2.231030661649467,0.71338606911949],"aabb_xy":[[-0.2853416651540767,-2.2434959862827903],[-0.2604069489346054,-2.2185653370161433]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.5739243487964155,-2.3861562098254656,0.71338606911949],"aabb_xy":[[-0.5909344460864661,-2.4022906983237395],[-0.5569142515063648,-2.3700217213271917]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.3397694342522831,0.2686112845297268,0.71338606911949],"aabb_xy":[[-0.41976943126653105,0.24847673285631555],[-0.2597694372380351,0.2887458362031381]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.07110037432689698,-1.912769752183248,0.71338606911949],"aabb_xy":[[-0.10795092226388459,-1.9502697530062818],[-0.034249826389909366,-1.8752697513602143]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.36236336002210323,1.2764138452570286,0.71338606911949],"aabb_xy":[[-0.4118437812360621,1.212413847344177],[-0.3128829388081445,1.3404138431698807]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.26890481838823854,-1.7443724706066277,0.71338606911949],"aabb_xy":[[0.25180274042987033,-1.7614792761378972],[0.28600689634660664,-1.7272656650753577]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.6502693236694346,0.7340951522080648,0.71338606911949],"aabb_xy":[[0.6159530464948166,0.6840951522348869],[0.6845856008440525,0.7840951521812424]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.32026875590705695,-1.0816918855673745,0.71338606911949],"aabb_xy":[[0.3024752489721405,-1.099491631163172],[0.3380622628419734,-1.0638921399715766]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.3071943639934738,0.8581050769359981,0.71338606911949],"aabb_xy":[[0.3010997361053555,0.8495356823843293],[0.31328899188159215,0.8666744714876667]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.43094128939014026,-0.6825226751191573,0.71338606911949],"aabb_xy":[[-0.44844122282412363,-0.7000226750393919],[-0.4134413559561569,-0.6650226751989228]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.397377249200367,1.6991377768396192,0.71338606911949],"aabb_xy":[[-0.461377251250099,1.6590432937503112],[-0.333377247150635,1.7392322599289272]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.5044815717286821,1.595755385121619,0.71338606911949],"aabb_xy":[[0.45448157308276094,1.5458358414621565],[0.5544815703746033,1.6456749287810812]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.12118056405609967,1.4048123289582937,0.71338606911949],"aabb_xy":[[-0.18118056390266646,1.3479937067652548],[-0.06118056420953287,1.4616309511513321]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6633696445949818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/899.png","name":"899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9338.png","name":"9338"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1755.png","name":"1755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5082.png","name":"5082"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":582.8038450790597,"rotation_z_degrees":150.9765535218599,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00016289803889308133,-0.0032268707946653437,-0.0027215519199501256]},{"name":"camera_2","offset_m":[-0.008953318576611692,0.0027858717474261753,0.0022291605401283526]},{"name":"camera_3","offset_m":[-0.0012330887777705912,-0.010913604126484558,0.013356689537910141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005683005814843614,0.0006591440243666341,-0.0006531343542718355],"end_effector_yaw_offset_degrees":0.32420371528153535},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-2.5221572271110024e-05,0.0017851000471587643,9.205605794473026e-05],"end_effector_yaw_offset_degrees":-0.9252298896823763},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014268227893773108,0.00042890995191452973,-0.0006630193583510998],"end_effector_yaw_offset_degrees":-0.3665813911743241}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00376087535879126,0.0027619089044474913],"position_m":[0.2685391246412087,0.2045619089044475,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004277426253940773,0.004193120047235721],"position_m":[0.2527774262539408,-0.13370687995276428,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002226891535002429,-0.003795367587562168],"position_m":[0.35157310846499756,-0.008995367587562168,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024602302979744783,0.0032896026265324093],"position_m":[0.1251397697020255,0.42238960262653236,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013612069782873728,0.003926137098775183],"position_m":[0.20333879302171262,-0.4036738629012248,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07399e18e6918cc7d57424c603b5b04013c5b34569fe79b4f786ac8832e71d5e","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4330/tex_ceiling_textures_5082/tex_floor_textures_1755/tex_table_textures_899/tex_wall_textures_9338","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6949167795215075508,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6949167795215075508,"visual_seed":6949167795215075508,"scene_id":"lab_003","finished_at":"2026-09-03T19:46:35"} +{"episode_id":"ep_000036","started_at":"2026-09-03T19:46:39","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.00048506495532629756,-1.666423149796629,0.71338606911949],"aabb_xy":[[-0.02548506488784419,-1.6733058180175526],[0.024514934977191594,-1.659540481575706]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.3532588766105393,-0.5127414330439288,0.71338606911949],"aabb_xy":[[-0.387721354623627,-0.5194051102268515],[-0.31879639859745146,-0.5060777558610059]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[-0.11568784702395707,0.895064303158045,0.71338606911949],"aabb_xy":[[-0.15845455390337726,0.8310642997362426],[-0.07292114014453686,0.9590643065798475]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.15453509980639224,-0.6091629330467161,0.71338606911949],"aabb_xy":[[-0.16266278799970546,-0.6180765414574239],[-0.14640741161307902,-0.6002493246360086]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.23146710704705997,1.5877201892015198,0.71338606911949],"aabb_xy":[[-0.29646710520297903,1.5614239446516076],[-0.1664671088911409,1.614016433751432]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.06792076746195908,1.3252205216383017,0.71338606911949],"aabb_xy":[[-0.09831887856110265,1.294813619636632],[-0.03752265636281548,1.355627423639971]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.29672924018432634,1.7390962178165084,0.71338606911949],"aabb_xy":[[0.2792293067503429,1.7215962178962738],[0.31422917361830965,1.756596217736743]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.3598162583617197,0.5984170348780466,0.71338606911949],"aabb_xy":[[0.29981625671879786,0.5464168855861025],[0.41981626000464156,0.6504171841699908]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.006325647967891701,-2.41234510643775,0.71338606911949],"aabb_xy":[[-0.015583034171459342,-2.4342457732578406],[0.028234330107242744,-2.390444439617659]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.6120712089640514,1.238975077035739,0.71338606911949],"aabb_xy":[[-0.6530891523504222,1.1889750764047815],[-0.5710532655776804,1.2889750776666962]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.4782493030727882,1.8222508338471868,0.71338606911949],"aabb_xy":[[-0.48766677764265093,1.8128346567094675],[-0.46883182850292543,1.8316670109849056]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.6373359197542128,-1.0201782545720888,0.71338606911949],"aabb_xy":[[0.6206587837611172,-1.036878178546019],[0.6540130557473082,-1.0034783305981585]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.6677080054685164,0.8299599660737509,0.71338606911949],"aabb_xy":[[-0.6828708784454536,0.8147945087786322],[-0.6525451324915794,0.8451254233688698]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[0.3022757304806962,-0.48100024384002094,0.71338606911949],"aabb_xy":[[0.22227573249991114,-0.4886017848018729],[0.3822757284614812,-0.473398702878169]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.3755790712386537,1.3671270714566988,0.71338606911949],"aabb_xy":[[-0.4395790704084236,1.3203603843377363],[-0.3115790720688837,1.4138937585756612]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.6323164614689805,0.6808829541037751,0.71338606911949],"aabb_xy":[[0.562316459866701,0.6674501609021175],[0.7023164630712599,0.6943157473054327]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.6227698123847227,-0.1367734995775245,0.71338606911949],"aabb_xy":[[0.5727767002755308,-0.18677350025172015],[0.6727629244939146,-0.08677349890332887]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.3203407307144848,-2.2775591625509,0.71338606911949],"aabb_xy":[[-0.4040629562145673,-2.367559166085596],[-0.23661850521440236,-2.187559159016204]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.19491636335051776,-0.9537272937470087,0.71338606911949],"aabb_xy":[[0.12491636121908817,-0.9764892593727043],[0.26491636548194725,-0.9309653281213129]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.516570920082192,1.6334075719774916,0.71338606911949],"aabb_xy":[[0.49628661735879315,1.6131249468347826],[0.5368552228055906,1.6536901971202003]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.3120867606925724,0.18940780234142807,0.71338606911949],"aabb_xy":[[-0.3920867578521477,0.177860201383611],[-0.23208676353299712,0.20095540329924508]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.48127048279541884,-1.4720743974746688,0.71338606911949],"aabb_xy":[[0.43127048335522317,-1.522042321958985],[0.5312704822356145,-1.4221064729903523]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.2082277589939242,1.3324916993181808,0.71338606911949],"aabb_xy":[[0.148227758742523,1.2782103742817161],[0.2682277592453254,1.3867730243546454]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.3970905773367974,-0.3148779841924485,0.71338606911949],"aabb_xy":[[0.3836440507027541,-0.3283478358455397],[0.41053710397084076,-0.3014081325393573]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.4857901739218269,-0.6641028070676118,0.71338606911949],"aabb_xy":[[0.46972824646330913,-0.7491028088802035],[0.5018521013803443,-0.5791028052550199]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.014387589942073009,-0.7729064202973586,0.71338606911949],"aabb_xy":[[-0.07838758923624123,-0.8368925606662128],[0.04961240935209521,-0.7089202799285044]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.22987329485236913,-1.4226967084540891,0.71338606911949],"aabb_xy":[[-0.2585226272127853,-1.4513422677311645],[-0.20122396249195287,-1.394051149177013]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.49652416710454705,0.6145731795773535,0.71338606911949],"aabb_xy":[[-0.5465241680550798,0.583024032573832],[-0.44652416615401413,0.6461223265808748]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.5627326681007405,-2.3617411819011465,0.71338606911949],"aabb_xy":[[-0.6177326677224864,-2.416724874688619],[-0.5077326684789947,-2.3067574891136737]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697624006230163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3840.png","name":"3840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3749.png","name":"3749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":755.5269616787806,"rotation_z_degrees":201.8650933847482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01979232758974049,-0.010765580525584855,0.0015352398191464667]},{"name":"camera_2","offset_m":[-0.0013997425323384431,-0.01788874084679331,-0.018477344279510404]},{"name":"camera_3","offset_m":[0.010459352156560624,-0.0006800671900758469,0.001850132939692467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016517788703162052,-0.0019915528839927537,-0.0006357539860749012],"end_effector_yaw_offset_degrees":0.26299492227164323},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0016041857707697702,0.00034997920966680154,0.0012187418741314848],"end_effector_yaw_offset_degrees":-0.7908591346064104},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018898376380900575,0.0011933713085486336,0.0018769996747236384],"end_effector_yaw_offset_degrees":0.6755100745740339}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00047089167701014085,-0.001904870997109166],"position_m":[0.27182910832298984,0.19989512900289083,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003469931263967978,0.001538765529921382],"position_m":[0.24503006873603203,-0.1363612344700786,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0019726132271491717,0.004218560805170363],"position_m":[0.35577261322714915,-0.0009814391948296365,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036014983298490433,-0.0011691795149689197],"position_m":[0.12399850167015095,0.41793082048503105,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005795194209273239,-0.0040161750549820695],"position_m":[0.20527951942092731,-0.4116161750549821,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30467c85b6d51bb165ed77c99d446ef4e6a499db5f668a94db67ed684ee5a368","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9043/tex_ceiling_textures_455/tex_floor_textures_6179/tex_table_textures_3840/tex_wall_textures_3749","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7968603788781786480,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7968603788781786480,"visual_seed":7968603788781786480,"scene_id":"lab_003","finished_at":"2026-09-03T19:49:29"} +{"episode_id":"ep_000037","started_at":"2026-09-03T19:49:32","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.32634402095233545,0.32045674929359347,0.71338606911949],"aabb_xy":[[-0.3343702915829615,0.31170525431624085],[-0.3183177503217095,0.3292082442709461]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.2605743932549508,1.224152348277192,0.71338606911949],"aabb_xy":[[0.1705743946604809,1.207901761963771],[0.3505743918494208,1.2404029345906131]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.26852020257971004,1.6051020447372877,0.71338606911949],"aabb_xy":[[-0.33252020187387826,1.5411159043684335],[-0.20452020328554182,1.6690881851061419]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.2689635936919459,0.7428639100489365,0.71338606911949],"aabb_xy":[[-0.35896359341512,0.7197905575137565],[-0.17896359396877168,0.7659372625841162]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.24613870383912273,-1.2575168719469354,0.71338606911949],"aabb_xy":[[0.17613870203037726,-1.278870640711123],[0.31613870564786817,-1.2361631031827482]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.012942937671011734,1.1275569863095725,0.71338606911949],"aabb_xy":[[-0.028305873358902996,1.0725569867973548],[0.05419174870092646,1.1825569858217897]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.6153115021307494,0.3028515164241443,0.71338606911949],"aabb_xy":[[0.6072681422047942,0.2178515153287779],[0.6233548620567045,0.38785151751951075]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.5294688333706905,1.4646025766680606,0.71338606911949],"aabb_xy":[[0.5119688342363232,1.4547229496304728],[0.5469688325050576,1.4744822037056484]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.05654473867304777,-1.629867288218353,0.71338606911949],"aabb_xy":[[-0.09100721668613554,-1.6365309654012759],[-0.02208226065995999,-1.62320361103543]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.1372271973690351,1.5219953196799358,0.71338606911949],"aabb_xy":[[0.09114210611430361,1.4579953224273805],[0.18331228862376656,1.5859953169324907]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.5322210766922565,-0.5134646473324072,0.71338606911949],"aabb_xy":[[-0.5450929801931966,-0.5934646477462433],[-0.5193491731913163,-0.43346464691857106]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.6294375618444209,-0.7482530770993752,0.71338606911949],"aabb_xy":[[-0.6391935513535948,-0.7580156111586095],[-0.619681572335247,-0.7384905430401406]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.22423598378482562,-0.7710746571618641,0.71338606911949],"aabb_xy":[[-0.23227231848611044,-0.7791127764662807],[-0.21619964908354075,-0.7630365378574472]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.616017309813752,1.1896689118701458,0.71338606911949],"aabb_xy":[[-0.647164228657335,1.1196689131833384],[-0.5848703909701688,1.2596689105569527]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.365673787182081,1.5168839793803737,0.71338606911949],"aabb_xy":[[0.3356821244482106,1.4868839800435731],[0.39566544991595126,1.5468839787171742]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.5380710217664153,-1.7966883267582463,0.71338606911949],"aabb_xy":[[-0.5513019673010966,-1.8099157457802455],[-0.524840076231734,-1.7834609077362467]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.6231798121082428,-1.6167115083716692,0.71338606911949],"aabb_xy":[[0.5998979699101115,-1.701711509668897],[0.6464616543063741,-1.531711507074441]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.7149663892192324,-1.6192615577461416,0.71338606911949],"aabb_xy":[[0.7089998502784967,-1.6252227024055057],[0.7209329281599681,-1.6133004130867774]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.37109974546452995,-1.4717911257126552,0.71338606911949],"aabb_xy":[[0.3210997438030351,-1.5217895679683577],[0.4210997471260246,-1.4217926834569523]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.4715631828908244,0.7194007506461979,0.71338606911949],"aabb_xy":[[-0.5065631811609443,0.7123266229512096],[-0.4365631846207044,0.726474878341186]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.6111527540485554,0.7559398492252734,0.71338606911949],"aabb_xy":[[-0.646152755400037,0.7355801132684525],[-0.5761527526970736,0.7762995851820942]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.24063339591488586,-0.8635855855868455,0.71338606911949],"aabb_xy":[[-0.24767484686563349,-0.87061233732464],[-0.2335919449641383,-0.856558833849051]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.3554830289826174,0.9551319687214788,0.71338606911949],"aabb_xy":[[0.3309368133598667,0.9248830721724417],[0.38002924460536813,0.9853808652705158]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.3490425922383077,1.122169162529005,0.71338606911949],"aabb_xy":[[-0.3833588694129256,1.072169162555827],[-0.3147263150636897,1.1721691625021824]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.47388738787245865,-2.229264864535644,0.71338606911949],"aabb_xy":[[-0.48575947088395977,-2.314264864229295],[-0.46201530486095754,-2.144264864841994]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.03908142239706436,-1.8240965997711847,0.71338606911949],"aabb_xy":[[-0.046325188443309684,-1.904096597974787],[-0.03183765635081903,-1.7440966015675823]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[0.5595255049955623,-1.2333101384653056,0.71338606911949],"aabb_xy":[[0.5489580253374633,-1.2438551685783141],[0.5700929846536613,-1.222765108352297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680200061912015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2756.png","name":"2756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2756.png","name":"2756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/770.png","name":"770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1004.png","name":"1004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":748.1302525010976,"rotation_z_degrees":202.10352259919424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01497905479028112,0.01979200362769577,0.00891775618086867]},{"name":"camera_2","offset_m":[0.00784352171350268,-0.010440141771755878,-0.015580249034612647]},{"name":"camera_3","offset_m":[-0.007653666106529648,0.0036266973431038386,-0.004382721324155287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018745966903937102,-0.0013761896291951592,-0.0007791922598533684],"end_effector_yaw_offset_degrees":-0.45529245394021656},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[2.1315447427557293e-05,0.0015488134350650764,0.0007311492710484918],"end_effector_yaw_offset_degrees":-0.5030861483809363},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003935802638198077,0.00034318190549000385,0.0009598740181893063],"end_effector_yaw_offset_degrees":-0.45775237123578694}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002821707764668735,-0.0032401741272473574],"position_m":[0.26947829223533126,0.19855982587275264,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002542220821952332,0.00129863888504996],"position_m":[0.2510422208219523,-0.13660136111495003,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017640453941617775,-0.0029590528275309992],"position_m":[0.35203595460583825,-0.008159052827530999,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004478826793396424,0.004423753698689448],"position_m":[0.13207882679339641,0.42352375369868944,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043509148383380535,0.003746510857740702],"position_m":[0.20905091483833804,-0.4038534891422593,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1453f01045fc18a6559920c828fddc3fa5880791ca0fc2d6678e20b8852934d6","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2756/tex_ceiling_textures_1000/tex_floor_textures_1004/tex_table_textures_2376/tex_wall_textures_770","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4144656411072716949,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4144656411072716949,"visual_seed":4144656411072716949,"scene_id":"lab_003","finished_at":"2026-09-03T19:52:25"} +{"episode_id":"ep_000038","started_at":"2026-09-03T19:52:28","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.04490696285493567,-1.6131270563056612,0.71338606911949],"aabb_xy":[[0.03405535660606007,-1.6239863470333122],[0.05575856910381127,-1.6022677655780102]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.1350003065274864,1.1148846945384605,0.71338606911949],"aabb_xy":[[0.11720679959256997,1.0970849489426628],[0.15279381346240284,1.1326844401342582]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.15833060591279868,0.9234654300103946,0.71338606911949],"aabb_xy":[[-0.22233060661626802,0.8774470475374737],[-0.09433060520932932,0.9694838124833157]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.030786873710275997,-1.9616218461697406,0.71338606911949],"aabb_xy":[[-0.08066957058797221,-2.0116218454160153],[0.019095823167420204,-1.9116218469234658]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.36671232517452523,-1.762209423669739,0.71338606911949],"aabb_xy":[[0.3558718469480103,-1.779395704960388],[0.3775528034010401,-1.74502314237909]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.02650374928461674,-0.961814998819734,0.71338606911949],"aabb_xy":[[0.021868634132383352,-0.9656823338968824],[0.031138864436850128,-0.9579476637425851]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.5526022515343344,0.7854088892937705,0.71338606911949],"aabb_xy":[[-0.616602252942325,0.7336199377698457],[-0.4886022501263437,0.8371978408176951]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.32441943557894026,-2.432561015330406,0.71338606911949],"aabb_xy":[[0.2909402683178994,-2.4660401287015135],[0.35789860283998126,-2.3990819019592995]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.15839469990445965,0.192316327769551,0.71338606911949],"aabb_xy":[[-0.20367331478560888,0.1283163284213673],[-0.11311608502331036,0.25631632711773467]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.28554087476041284,-1.6579933427309808,0.71338606911949],"aabb_xy":[[-0.34554087562122554,-1.7094197727374671],[-0.22554087389959995,-1.6065669127244944]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.3683923315048354,-2.560319572930533,0.71338606911949],"aabb_xy":[[0.33089233032004256,-2.5647377956265927],[0.40589233268962815,-2.5559013502344716]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.4344303294070268,1.3684893523952963,0.71338606911949],"aabb_xy":[[-0.4895555350366176,1.3084893509540092],[-0.379305123777436,1.4284893538365835]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.35604641745464044,0.9504932080333015,0.71338606911949],"aabb_xy":[[-0.4210464185605837,0.9255278349651731],[-0.29104641634869716,0.9754585811014297]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.02197287286466043,-1.7459212773718722,0.71338606911949],"aabb_xy":[[0.010611138211374268,-1.75728974377816],[0.03333460751794659,-1.734552810965584]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.296880572454631,-0.9948546068948902,0.71338606911949],"aabb_xy":[[-0.32188057200636944,-1.004997090760025],[-0.27188057290289247,-0.9847121230297555]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.30642029583462804,-2.115225230429599,0.71338606911949],"aabb_xy":[[-0.3439202966266235,-2.1215930713877893],[-0.2689202950426326,-2.108857389471409]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[0.34200626482350627,-1.3746443893999711,0.71338606911949],"aabb_xy":[[0.252006265100332,-1.3977177419351507],[0.4320062645466804,-1.351571036864791]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.5532573012838673,1.7954898091537257,0.71338606911949],"aabb_xy":[[0.5353881935294118,1.7816569011765149],[0.5711264090383228,1.809322717130937]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.2675378262186714,1.0341461512908987,0.71338606911949],"aabb_xy":[[0.2265198828323005,0.9841461506599414],[0.3085557696050423,1.084146151921856]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.5733862230673283,0.010427300632590786,0.71338606911949],"aabb_xy":[[0.5390893120495877,-0.023869585577350583],[0.6076831340850688,0.044724186842532154]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.3473119000890103,-2.0068758651240186,0.71338606911949],"aabb_xy":[[-0.3697766700604154,-2.0293758660028787],[-0.3248471301176052,-1.9843758642451577]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.48436821424064735,1.5140694948111482,0.71338606911949],"aabb_xy":[[0.47941219405576624,1.4915694946090268],[0.4893242344255286,1.5365694950132702]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.5758789472167343,1.7935313738464482,0.71338606911949],"aabb_xy":[[-0.610341294614876,1.7590374914486253],[-0.5414165998185924,1.8280252562442707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651858215378058,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3194.png","name":"3194"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3194.png","name":"3194"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2342.png","name":"2342"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2562.png","name":"2562"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":846.84551696893,"rotation_z_degrees":173.68409750242085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013102269061254005,-0.0010767193895443103,0.012808892626265386]},{"name":"camera_2","offset_m":[-0.014154764705900847,0.009332980956243908,0.014119247088573771]},{"name":"camera_3","offset_m":[-0.00038093695823088886,0.012916272335562331,0.01916283190369396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014121533890685991,0.0016199905048007602,-0.0017746846778199034],"end_effector_yaw_offset_degrees":-0.39337627234248873},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001447355249296657,-0.0016403309574505771,-0.0009057024350048711],"end_effector_yaw_offset_degrees":-0.026596236602403067},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012437809533444926,0.0009005538731298619,-0.0013117256481763508],"end_effector_yaw_offset_degrees":-0.18102038129245712}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026417644321341163,0.00015717516575460867],"position_m":[0.2749417644321341,0.20195717516575462,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018733518644268579,0.0033147228282080403],"position_m":[0.25037335186442683,-0.13458527717179194,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017532198545755352,0.0001846175282803333],"position_m":[0.35204678014542445,-0.0050153824717196665,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032138818807261075,-0.000659265294675848],"position_m":[0.1308138818807261,0.4184407347053241,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00028047782566166784,0.0023513255847544346],"position_m":[0.20441952217433831,-0.4052486744152456,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"06934d8542308cec4ea44c604324eb780c5c53e33fa0b1aa889b0838cb9202eb","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3194/tex_ceiling_textures_2562/tex_floor_textures_9497/tex_table_textures_2342/tex_wall_textures_1517","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1555278271258877425,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1555278271258877425,"visual_seed":1555278271258877425,"scene_id":"lab_003","finished_at":"2026-09-03T19:55:14"} +{"episode_id":"ep_000039","started_at":"2026-09-03T19:55:19","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.3326464547652737,-2.074948569887934,0.71338606911949],"aabb_xy":[[-0.355146454775422,-2.0890447895275375],[-0.3101464547551254,-2.060852350248331]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.5500016768476261,0.9077628530861501,0.71338606911949],"aabb_xy":[[0.4800016747161965,0.8850008874604545],[0.6200016789790556,0.9305248187118458]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.6608249552417739,-2.01512867689381,0.71338606911949],"aabb_xy":[[-0.6723939359887104,-2.040128677010742],[-0.6492559744948373,-1.9901286767768784]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.4192530245436584,-1.8981300914126167,0.71338606911949],"aabb_xy":[[-0.426294475494406,-1.905156843150411],[-0.41221157359291083,-1.891103339674822]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.26051992719401174,0.8368410954974745,0.71338606911949],"aabb_xy":[[-0.3154936492303446,0.7818410959332412],[-0.20554620515767885,0.8918410950617076]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.008421580132000672,-1.1052372939958375,0.71338606911949],"aabb_xy":[[-0.08157841660360954,-1.1584207573131318],[0.09842157686761088,-1.0520538306785427]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.022666081185245934,-0.7358221884323366,0.71338606911949],"aabb_xy":[[-0.03007853672663441,-0.7416733988539645],[-0.01525362564385746,-0.7299709780107086]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.013032693001681306,-1.2323795071952646,0.71338606911949],"aabb_xy":[[-0.03520521997833215,-1.2545551743513879],[0.00913983397496953,-1.2102038400391413]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.012733697291397283,-2.4924806442401275,0.71338606911949],"aabb_xy":[[0.005030506617320237,-2.5001900149388656],[0.020436887965474323,-2.4847712735413894]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.6138802320280833,0.20039206835157497,0.71338606911949],"aabb_xy":[[-0.6778802323020615,0.150325968154287],[-0.549880231754105,0.25045816854886294]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.25238934729710083,-2.495064185695611,0.71338606911949],"aabb_xy":[[0.24512809972669342,-2.5078511959591205],[0.25965059486750824,-2.4822771754321016]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.15031212697154317,1.3210432122732194,0.71338606911949],"aabb_xy":[[-0.24031212638991406,1.2876677154290295],[-0.06031212755317228,1.354418709117409]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.27571908718049964,-1.9701092684647066,0.71338606911949],"aabb_xy":[[-0.32553586664533435,-2.0201092669490097],[-0.22590230771566483,-1.9201092699804028]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.17141480240556006,-0.556643661431909,0.71338606911949],"aabb_xy":[[0.16057432417904516,-0.5738299427225578],[0.18225528063207497,-0.5394573801412602]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.5077687984507244,-1.0177773069863514,0.71338606911949],"aabb_xy":[[0.4577687990105288,-1.0677452314706675],[0.55776879789092,-0.9678093825020349]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.5377707499145392,0.6599926886528715,0.71338606911949],"aabb_xy":[[-0.5877655828424808,0.6099926897576281],[-0.4877759169865976,0.7099926875481152]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.39839126279470405,0.4747641165246601,0.71338606911949],"aabb_xy":[[-0.4783912614515901,0.4602592576003973],[-0.3183912641378181,0.4892689754489229]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.15954410545393594,-2.4354200861530555,0.71338606911949],"aabb_xy":[[0.12269355751694833,-2.472920086976089],[0.19639465339092355,-2.3979200853300213]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.4723994004165546,-1.904963258394651,0.71338606911949],"aabb_xy":[[0.4224261064132941,-1.9549632589491979],[0.522372694419815,-1.8549632578401032]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.1498170040883996,1.6434034570072895,0.71338606911949],"aabb_xy":[[0.12731700427449721,1.638928840636809],[0.17231700390230198,1.6478780733777705]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.5608893110319704,0.3428712141264012,0.71338606911949],"aabb_xy":[[0.48088930995885004,0.33309316778901676],[0.6408893121050907,0.35264926046378564]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.15901460606362205,-0.09112420833020085,0.71338606911949],"aabb_xy":[[-0.1946437619635818,-0.1267568750870538],[-0.12338545016366231,-0.0554915415733479]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.32093731548598464,-1.472508354211555,0.71338606911949],"aabb_xy":[[-0.33340467359572035,-1.4849736788448786],[-0.30846995737624905,-1.4600430295782316]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.27423181458815926,-0.7783834073151243,0.71338606911949],"aabb_xy":[[-0.3392318155886597,-0.8291697724697993],[-0.2092318135876587,-0.7275970421604494]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.6481660869779742,-1.2302503283349848,0.71338606911949],"aabb_xy":[[-0.654579900621159,-1.236660148582653],[-0.6417522733347891,-1.2238405080873163]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[0.29656301472547164,-1.7282912240175174,0.71338606911949],"aabb_xy":[[0.2165630142552557,-1.736601931631866],[0.37656301519568763,-1.7199805164031694]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[-0.055920295462790315,-2.451268153030351,0.71338606911949],"aabb_xy":[[-0.06600200254136379,-2.531268150922465],[-0.04583858838421683,-2.3712681551382357]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.4893015235552073,-0.5361334166944967,0.71338606911949],"aabb_xy":[[-0.50020729964277,-0.6161334130933258],[-0.47839574746764457,-0.4561334202956675]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[-0.6093781863340689,-1.7668578850978447,0.71338606911949],"aabb_xy":[[-0.6464122957621286,-1.8012350924315539],[-0.5723440769060091,-1.732480677764135]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661440898463544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8818.png","name":"8818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8143.png","name":"8143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4294.png","name":"4294"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":728.4999015918472,"rotation_z_degrees":278.266129332188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004106145333891469,-0.016852109636094112,-0.014235681786136092]},{"name":"camera_2","offset_m":[0.007365731304461734,0.006892770429506725,0.003467150859860168]},{"name":"camera_3","offset_m":[-0.0032681542682491543,0.012622172385493912,-0.0008742984598904338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015592066735934257,-0.0008827880746133702,0.0015066195670433353],"end_effector_yaw_offset_degrees":-0.11132164117726084},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0019881355296862725,0.0005495779914203775,-0.0010660530907743268],"end_effector_yaw_offset_degrees":-0.7104923701424375},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00019953795147743857,0.0009683024604092015,-0.0008400596945375178],"end_effector_yaw_offset_degrees":-0.4919101916204178}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00012100822977448387,0.004100022079270454],"position_m":[0.2724210082297745,0.20590002207927047,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002412279026998252,0.002527680625770399],"position_m":[0.24608772097300174,-0.13537231937422958,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0009566757257039879,-0.004690139758336114],"position_m":[0.352843324274296,-0.009890139758336114,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004677223567974163,-0.0024924567815635622],"position_m":[0.13227722356797417,0.4166075432184364,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002929722139093064,-0.002631679548822856],"position_m":[0.20177027786090693,-0.4102316795488229,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dd0b15b353a483168845005a9fb125786b331b7b5d577a9016c6fab00e2abed9","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5375/tex_ceiling_textures_4294/tex_floor_textures_4956/tex_table_textures_8818/tex_wall_textures_8143","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8304139515768545202,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8304139515768545202,"visual_seed":8304139515768545202,"scene_id":"lab_003","finished_at":"2026-09-03T19:58:02"} +{"episode_id":"ep_000040","started_at":"2026-09-03T19:58:08","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.3131361021753345,-2.1756701503167912,0.71338606911949],"aabb_xy":[[0.29603402421696634,-2.192776955848061],[0.33023818013370265,-2.1585633447855215]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.35633064789788726,-1.787304663543848,0.71338606911949],"aabb_xy":[[-0.36166316255250025,-1.7926289917890836],[-0.3509981332432743,-1.7819803352986125]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.3956055151849665,-2.2125319943701527,0.71338606911949],"aabb_xy":[[-0.43060551516146234,-2.2219966104177695],[-0.3606055152084707,-2.203067378322536]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.6096341782840518,-2.155783789198299,0.71338606911949],"aabb_xy":[[0.5596349031156157,-2.2057837904742468],[0.659633453452488,-2.1057837879223524]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.3258312947736775,-1.3020712075091652,0.71338606911949],"aabb_xy":[[-0.33707635034429534,-1.3133130052332604],[-0.31458623920305967,-1.2908294097850699]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.5617456172757576,-0.8985451921328271,0.71338606911949],"aabb_xy":[[0.5392319254523003,-0.9685451927338345],[0.5842593090992146,-0.8285451915318195]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.5541296494766424,-1.3383507695279058,0.71338606911949],"aabb_xy":[[-0.5884459266512604,-1.3883507695010835],[-0.5198133723020245,-1.288350769554728]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.6751248000079957,-0.6374206795944559,0.71338606911949],"aabb_xy":[[0.6712109268125731,-0.6461696950010127],[0.679038673203418,-0.6286716641878991]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.3514152461048678,-1.6550612161907852,0.71338606911949],"aabb_xy":[[-0.4314152493627108,-1.7350577239827691],[-0.2714152428470249,-1.5750647083988012]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.12563597749643574,1.3353044052789236,0.71338606911949],"aabb_xy":[[-0.16313597766830765,1.3026036698960162],[-0.08813597732456377,1.3680051406618305]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.2093110149522443,-1.0164309434597525,0.71338606911949],"aabb_xy":[[-0.24681101544960252,-1.0203996270078708],[-0.17181101445488603,-1.0124622599116342]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.6162237036153912,-0.013759056537359982,0.71338606911949],"aabb_xy":[[-0.6802237000109643,-0.07772234495609354],[-0.5522237072198182,0.05020423188137357]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.20193569486742502,1.473217363021647,0.71338606911949],"aabb_xy":[[0.17943655914119805,1.4507173622433838],[0.224434830593652,1.4957173637999097]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.47028202000435715,0.3980393384155412,0.71338606911949],"aabb_xy":[[0.42030895447184186,0.34803933860300834],[0.5202550855368728,0.4480393382280742]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.0551475441191307,-0.7356071962106079,0.71338606911949],"aabb_xy":[[0.03813744682908004,-0.7517416847088817],[0.07215764140918135,-0.7194727077123338]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.1536791589236044,-1.2413055660080718,0.71338606911949],"aabb_xy":[[-0.16109161446499287,-1.2471567764296998],[-0.14626670338221592,-1.235454355586444]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.658188615658745,-2.2868689418312913,0.71338606911949],"aabb_xy":[[-0.675688614793112,-2.2967485688688787],[-0.6406886165243777,-2.276989314793703]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.12549485558187035,-1.505578581127278,0.71338606911949],"aabb_xy":[[0.12003690994485028,-1.585578584434937],[0.1309528012188904,-1.4255785778196188]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.5564818314874524,0.21239283485599758,0.71338606911949],"aabb_xy":[[0.5113105136392836,0.14839283771145917],[0.6016531493356215,0.276392832000536]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.6007610917986467,1.0611149143603624,0.71338606911949],"aabb_xy":[[-0.6126938261604749,1.048732761552503],[-0.5888283574368187,1.0734970671682218]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.37333043548895045,-0.37285244397628814,0.71338606911949],"aabb_xy":[[-0.43833043659489374,-0.3978178170444164],[-0.30833043438300717,-0.3478870709081598]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.08510728486415542,-2.078522949916669,0.71338606911949],"aabb_xy":[[-0.13520474884522904,-2.1425229504264807],[-0.03500982088308181,-2.014522949406857]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.07919185350204871,1.7884198557820805,0.71338606911949],"aabb_xy":[[-0.16919185209651866,1.7721692694686595],[0.010808145092421215,1.8046704420955015]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.5895007352186614,-1.9826988633380047,0.71338606911949],"aabb_xy":[[0.5590164850916312,-2.0326988631195007],[0.6199849853456915,-1.9326988635565088]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.44613791359940674,1.5300553046204954,0.71338606911949],"aabb_xy":[[-0.45425156827278385,1.5219494881664664],[-0.43802425892602964,1.5381611210745245]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.4281251352660893,-0.8916088601653369,0.71338606911949],"aabb_xy":[[0.3981575783562636,-0.9216088604632228],[0.4580926921759149,-0.8616088598674513]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.4140513838736971,0.6659657283499247,0.71338606911949],"aabb_xy":[[-0.4365478053075612,0.6434657285431773],[-0.391554962439833,0.6884657281566722]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.3399250352849531,-2.002034799351973,0.71338606911949],"aabb_xy":[[-0.40392503598842244,-2.0480531818248946],[-0.2759250345814837,-1.9560164168790526]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[-0.043020096163335686,1.6749050268264214,0.71338606911949],"aabb_xy":[[-0.10702009807567803,1.618993877568411],[0.02097990574900665,1.7308161760844318]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[0.6483225612428545,-1.567476950112676,0.71338606911949],"aabb_xy":[[0.6061381470820237,-1.6314769503898874],[0.6905069754036852,-1.503476949835465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6633895656911979,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7319.png","name":"7319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.3819686928618,"rotation_z_degrees":202.14004148313086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009108090144434545,0.005987909230507595,0.010277225318950933]},{"name":"camera_2","offset_m":[0.012701285875388883,-0.012793666856969659,0.0034868750898658166]},{"name":"camera_3","offset_m":[0.006271338596321337,-0.01408418661141862,-0.011367163143976802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000982279182145091,-0.0009997739737399854,0.0018734714487486474],"end_effector_yaw_offset_degrees":-0.3021045030693197},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00017799270342687456,-0.00014185075846452383,-0.0001852480928478215],"end_effector_yaw_offset_degrees":0.1464036029584943},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017627661942895847,0.0011482177875656338,0.001801292581983427],"end_effector_yaw_offset_degrees":-0.42043458536367817}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021074649244327203,-7.6233380406605725e-06],"position_m":[0.2744074649244327,0.20179237666195934,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003921090716835912,0.004138945662391365],"position_m":[0.2445789092831641,-0.13376105433760863,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0029660770408377864,-0.0014099132991911836],"position_m":[0.3567660770408378,-0.006609913299191183,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012821988458741355,0.0022416265682354544],"position_m":[0.12888219884587412,0.42134162656823543,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002195506874898071,0.0028078793752316098],"position_m":[0.2025044931251019,-0.4047921206247684,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6225a760f66b86c31a2669e66ec6a5e2fa40440da3fd0dac8aaaa6151c3faddc","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1530/tex_ceiling_textures_6570/tex_floor_textures_4810/tex_table_textures_7319/tex_wall_textures_4755","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4391307715938195981,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4391307715938195981,"visual_seed":4391307715938195981,"scene_id":"lab_003","finished_at":"2026-09-03T20:00:37"} +{"episode_id":"ep_000041","started_at":"2026-09-03T20:00:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.47017665350642157,0.12642716756037053,0.71338606911949],"aabb_xy":[[-0.5351766535407243,0.07972649088004324],[-0.4051766534721188,0.17312784424069783]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.13782152009592918,-0.5894698652905128,0.71338606911949],"aabb_xy":[[0.12657646452531135,-0.6007116630146081],[0.14906657566654702,-0.5782280675664175]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.16348998596650977,-0.8705524457717866,0.71338606911949],"aabb_xy":[[-0.24348998394729482,-0.8781539867336384],[-0.08348998798572473,-0.8629509048099345]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.1772645557760062,-0.6557787237875181,0.71338606911949],"aabb_xy":[[-0.20181077139875692,-0.6860276203365551],[-0.15271834015325547,-0.6255298272384809]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.4638605300567073,0.27880130468586417,0.71338606911949],"aabb_xy":[[-0.481360530316044,0.26470976249709155],[-0.44636052979737073,0.2928928468746368]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.3409349414947058,-2.2625658753062647,0.71338606911949],"aabb_xy":[[0.2759349436130581,-2.313689539012806],[0.4059349393763537,-2.2114422115997243]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.13793157492282948,-0.7843723365357118,0.71338606911949],"aabb_xy":[[0.10060029839758686,-0.8190253913305642],[0.1752628514480721,-0.7497192817408597]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.24426162565675946,0.6239207876383905,0.71338606911949],"aabb_xy":[[0.18426162479594665,0.572494357631904],[0.30426162651757227,0.6753472176448768]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.47582207396332843,-1.0919459935334033,0.71338606911949],"aabb_xy":[[-0.545822075565608,-1.1053787867350608],[-0.40582207236104906,-1.0785132003317457]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.2910282548721731,-1.765641331570455,0.71338606911949],"aabb_xy":[[-0.31352825439588045,-1.7881372790210754],[-0.26852825534846564,-1.7431453841198339]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.08314401373193037,1.160343535541223,0.71338606911949],"aabb_xy":[[0.07683191419559192,1.1545765962880044],[0.08945611326826879,1.1661104747944422]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.0686163898672778,-1.5781871475871256,0.71338606911949],"aabb_xy":[[0.06252176197915948,-1.5867565421387946],[0.07471101775539613,-1.5696177530354571]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.12298447689852232,-1.8517306778370126,0.71338606911949],"aabb_xy":[[-0.20298448016253545,-1.865290710145926],[-0.04298447363450918,-1.8381706455280993]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.28346520592616065,-1.5543104254745095,0.71338606911949],"aabb_xy":[[0.2194652086238142,-1.598676852442366],[0.347465203228507,-1.5099439985066525]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.3436453210123638,1.3686247534581724,0.71338606911949],"aabb_xy":[[0.25364532451149197,1.322713111039714],[0.4336453175132355,1.4145363958766304]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.4686001637104513,-2.3233479842720355,0.71338606911949],"aabb_xy":[[0.44831586098705245,-2.3436306094147437],[0.48888446643385,-2.3030653591293255]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[-0.3246146408547444,-2.03857516678583,0.71338606911949],"aabb_xy":[[-0.34711377658097137,-2.061075167564093],[-0.3021155051285174,-2.0160751660075666]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.09450563700915626,1.025630468133556,0.71338606911949],"aabb_xy":[[0.07782850101606076,1.0089305441596257],[0.11118277300225177,1.0423303921074862]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.02097583963456129,-2.5176972831957105,0.71338606911949],"aabb_xy":[[0.010822824080411903,-2.5537668247684504],[0.03112885518871066,-2.4816277416229697]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.5034934174635712,-2.505798739040726,0.71338606911949],"aabb_xy":[[0.4981558417975668,-2.5307987399698657],[0.5088309931295759,-2.480798738111586]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.38320283630380425,-0.18824458047117298,0.71338606911949],"aabb_xy":[[-0.46320283326684336,-0.26532022211494644],[-0.30320283934076503,-0.1111689388273995]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.43322144927733985,0.27384457073853774,0.71338606911949],"aabb_xy":[[0.4285863341251065,0.26997723566138904],[0.4378565644295732,0.27771190581568633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667273980934029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1454.png","name":"1454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1454.png","name":"1454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4852.png","name":"4852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2144.png","name":"2144"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":580.7780824395425,"rotation_z_degrees":160.95042247026996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006510218607409392,-0.014658272778495886,-0.014285060792135686]},{"name":"camera_2","offset_m":[-0.0051794441463240085,-0.011892468340345914,0.004338106292318171]},{"name":"camera_3","offset_m":[-0.018106364687860615,-0.016272263773704526,0.00010295785818382683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007492510419304398,-0.0011058262249861307,-0.00020687663419575097],"end_effector_yaw_offset_degrees":0.31786607989679116},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013461648022165778,0.00025179957035672326,-0.0009457695267861585],"end_effector_yaw_offset_degrees":0.6872384930974824},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010544231405827061,-0.0014757178891692084,0.00019769027751857142],"end_effector_yaw_offset_degrees":0.19597175896348773}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016988633509339955,0.004768803693530937],"position_m":[0.273998863350934,0.20656880369353095,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008176611356942743,-0.003828488271240802],"position_m":[0.24931766113569429,-0.1417284882712408,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0013487809118373998,-0.002708206658007475],"position_m":[0.3551487809118374,-0.007908206658007474,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004506953205237581,-0.0001492105873518567],"position_m":[0.13210695320523758,0.41895078941264813,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017711177850898052,-0.0029839117610978416],"position_m":[0.20292888221491018,-0.4105839117610979,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad219dac3907dbced81a5a1b2e05ce0120f67261fd5c892b85ef40c16d6e4ac7","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1454/tex_ceiling_textures_2144/tex_floor_textures_4852/tex_table_textures_9195/tex_wall_textures_8555","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8707588061151247891,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8707588061151247891,"visual_seed":8707588061151247891,"scene_id":"lab_003","finished_at":"2026-09-03T20:03:28"} +{"episode_id":"ep_000042","started_at":"2026-09-03T20:03:31","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.34009255636796293,1.3642182408907968,0.71338606911949],"aabb_xy":[[-0.4200925543487479,1.3566166999289448],[-0.2600925583871778,1.3718197818526487]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.5499184859857271,-1.324913643611531,0.71338606911949],"aabb_xy":[[-0.5590783649296038,-1.331444861655068],[-0.5407586070418506,-1.318382425567994]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.16829056741566384,-1.5864096304817599,0.71338606911949],"aabb_xy":[[0.10429056600767315,-1.6381985820056846],[0.23229056882365448,-1.5346206789578352]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.28918253423469586,-0.6653734513480292,0.71338606911949],"aabb_xy":[[0.2516825338864681,-0.6771648469291126],[0.3266825345829236,-0.6535820557669455]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.5947432562573911,1.1276292565021748,0.71338606911949],"aabb_xy":[[-0.656334015481384,1.063629258393128],[-0.5331524970333984,1.1916292546112217]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.4826627498610075,0.6387049340144224,0.71338606911949],"aabb_xy":[[-0.5176627489909631,0.6329597129387583],[-0.4476627507310519,0.6444501550900865]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.24344008719920712,1.756159801878964,0.71338606911949],"aabb_xy":[[-0.29343319930839906,1.7061598012047683],[-0.1934469750900153,1.8061598025531596]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.4709765194004668,-0.7614137198505202,0.71338606911949],"aabb_xy":[[-0.5546987449005492,-0.8514137233852163],[-0.3872542939003843,-0.6714137163158244]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.19448414735127717,-0.5424940619137799,0.71338606911949],"aabb_xy":[[-0.2584841465210471,-0.5892607490327424],[-0.13048414818150722,-0.4957273747948175]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.07467278862039084,-0.9432798410379182,0.71338606911949],"aabb_xy":[[-0.07957208092695432,-0.970956760340487],[-0.06977349631382733,-0.9156029217353494]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.08541072456624921,0.9615873795250365,0.71338606911949],"aabb_xy":[[-0.14304119345352,0.9015873805983258],[-0.02778025567897833,1.021587378451747]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.6228060477544552,-2.032698397761134,0.71338606911949],"aabb_xy":[[0.6193653715143982,-2.0365598307354986],[0.6262467239945125,-2.0288369647867697]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.11669772848217164,-1.0687906480085638,0.71338606911949],"aabb_xy":[[-0.13337486447526714,-1.085490571982494],[-0.10002059248907613,-1.0520907240346336]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.021201588415373673,0.6163211323416293,0.71338606911949],"aabb_xy":[[-0.027296216303491997,0.6077517377899606],[-0.015106960527255357,0.624890526893298]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.2702556909071032,-1.1967612371707592,0.71338606911949],"aabb_xy":[[0.26212800271379,-1.2056748455814665],[0.27838337910041644,-1.1878476287600515]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.039946646742346714,-1.7333820254487948,0.71338606911949],"aabb_xy":[[-0.04874870205131942,-1.741193351603724],[-0.031144591433374,-1.7255706992938658]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.2799121052566388,-1.9171111396634315,0.71338606911949],"aabb_xy":[[-0.30241210507054117,-1.9215857560339122],[-0.2574121054427364,-1.9126365232929508]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.3643589051379612,1.6044143608197863,0.71338606911949],"aabb_xy":[[0.3468589058598743,1.58707626075344],[0.38185890441604803,1.621752460886132]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.6170900808474178,-1.1797759387212021,0.71338606911949],"aabb_xy":[[-0.6539406287844054,-1.2172759395442359],[-0.5802395329104302,-1.1422759378981684]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.3186929714159488,-2.1500459209759573,0.71338606911949],"aabb_xy":[[-0.3521331466119683,-2.183489546806887],[-0.2852527962199291,-2.1166022951450265]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.18467912013440813,-2.4070175831068834,0.71338606911949],"aabb_xy":[[0.1672484050554016,-2.4242896977707344],[0.2021098352134146,-2.3897454684430324]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.14536198498717023,-2.37071459457655,0.71338606911949],"aabb_xy":[[-0.15240343593791783,-2.3777413463143446],[-0.13832053403642264,-2.3636878428387558]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.20337315070762152,1.708621467929261,0.71338606911949],"aabb_xy":[[0.1393731503300879,1.6588762010784488],[0.26737315108515514,1.7583667347800733]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.5034540841091193,0.7147571041021199,0.71338606911949],"aabb_xy":[[0.44832887847952857,0.6547571026608328],[0.5585792897387101,0.774757105543407]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.15719999679775387,-1.6533764969792974,0.71338606911949],"aabb_xy":[[-0.19219999510844932,-1.6610915119028433],[-0.12219999848705843,-1.645661482055752]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[-0.3206154532810263,0.8800306319944715,0.71338606911949],"aabb_xy":[[-0.40061545044060154,0.8684830310366546],[-0.24061545612145097,0.8915782329522887]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[0.7102781048958346,-0.01952120364602239,0.71338606911949],"aabb_xy":[[0.6976513176086383,-0.02906727734759529],[0.722904892183031,-0.00997512994444949]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.5589610393326148,1.392230660363734,0.71338606911949],"aabb_xy":[[0.5509247046313298,1.384192541059317],[0.5669973740338995,1.4002687796681506]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[-0.5634757750676627,0.14503946459869388,0.71338606911949],"aabb_xy":[[-0.5809757753269995,0.13094792240992129],[-0.5459757748083263,0.15913100678746653]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[0.24293095284256871,1.4468772104951957,0.71338606911949],"aabb_xy":[[0.23207934659369311,1.4360179197675447],[0.2537825590914443,1.4577365012228467]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[0.06107884588069401,-1.4126814015793154,0.71338606911949],"aabb_xy":[[0.046435440326661026,-1.4273401212360994],[0.075722251434727,-1.398022681922531]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[0.4749247870333262,1.188727238374884,0.71338606911949],"aabb_xy":[[0.43789067760526645,1.1543500310411745],[0.5119588964613859,1.2231044457085933]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_32","position":[-0.011929801692633024,-0.6647819579839331,0.71338606911949],"aabb_xy":[[-0.02277027991914793,-0.6819682392745819],[-0.0010893234661181195,-0.6475956766932843]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_33","position":[0.5179972469890701,-0.1768900230928141,0.71338606911949],"aabb_xy":[[0.44799724435248367,-0.19699488808867957],[0.5879972496256564,-0.15678515809694857]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_34","position":[-0.05841412631976828,-0.8027557806267587,0.71338606911949],"aabb_xy":[[-0.10841412760360825,-0.8527346350173807],[-0.008414125035928316,-0.7527769262361365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689075581243911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2252.png","name":"2252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2252.png","name":"2252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8462.png","name":"8462"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3253.png","name":"3253"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/328.png","name":"328"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":817.6893642690727,"rotation_z_degrees":154.52747758856532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00415703629493892,0.00037980310855409427,-0.006875884042333769]},{"name":"camera_2","offset_m":[-0.003460489949885681,0.0020809886660930164,0.01725702299285466]},{"name":"camera_3","offset_m":[-0.018585336929422342,0.000428490078192581,-0.012256041345431658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004936397093404726,-0.00040402538828971583,-0.001847151160574191],"end_effector_yaw_offset_degrees":-0.4001743733533407},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00013651800505189594,-0.0016068021430790563,0.00135495753466592],"end_effector_yaw_offset_degrees":0.2617335673838239},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00019328270080616215,0.0001342814166922909,4.788572362120691e-05],"end_effector_yaw_offset_degrees":0.5303286480827045}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004634621301441625,0.002426490777206556],"position_m":[0.2676653786985584,0.20422649077720656,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037421099577083948,-0.00019844153009558954],"position_m":[0.2447578900422916,-0.1380984415300956,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00039389664042313935,0.0006157132416242817],"position_m":[0.35340610335957684,-0.004584286758375718,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040299336052163305,-0.0036225293154403737],"position_m":[0.12357006639478366,0.4154774706845596,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008867193346471895,-0.004505232852282424],"position_m":[0.20381328066535281,-0.41210523285228245,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17e1e878fa94c0f2614f3a78c43ee6299a00f44ec9c7583bf3ea57532e637e86","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2252/tex_ceiling_textures_328/tex_floor_textures_3253/tex_table_textures_1706/tex_wall_textures_8462","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2767312120502456948,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2767312120502456948,"visual_seed":2767312120502456948,"scene_id":"lab_003","finished_at":"2026-09-03T20:06:21"} +{"episode_id":"ep_000043","started_at":"2026-09-03T20:06:24","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.22288054085719156,0.6737684387188692,0.71338606911949],"aabb_xy":[[-0.2265838021863304,0.6700664204101512],[-0.21917727952805266,0.6774704570275869]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.5927390977074869,-0.5481713436788644,0.71338606911949],"aabb_xy":[[-0.6039841532781047,-0.5594131414029597],[-0.5814940421368691,-0.5369295459547692]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.21517253207500187,0.8735565673668026,0.71338606911949],"aabb_xy":[[0.13517253160478593,0.8652458597524544],[0.2951725325452178,0.8818672749811511]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.3137952476445194,-0.6771447563742945,0.71338606911949],"aabb_xy":[[0.2685166327633702,-0.7411447557224782],[0.3590738625256687,-0.6131447570261108]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.5384103951806961,0.7247260612852848,0.71338606911949],"aabb_xy":[[-0.6284103916815678,0.6788144188668264],[-0.4484103986798243,0.7706377037037428]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.5451370513901442,-2.062750681661652,0.71338606911949],"aabb_xy":[[-0.6091370536105513,-2.10712376578694],[-0.4811370491697372,-2.0183775975363636]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.10858228093211653,-1.1008090619368711,0.71338606911949],"aabb_xy":[[-0.1132173960843499,-1.1046763970140197],[-0.10394716577988312,-1.0969417268597221]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.07155881015814625,-1.841790712667621,0.71338606911949],"aabb_xy":[[-0.08910550507426516,-1.8792907142318722],[-0.0540121152420273,-1.8042907111033697]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.0665729728295138,-2.3240909160378553,0.71338606911949],"aabb_xy":[[0.0025729724519801683,-2.3738361828886676],[0.13057297320704742,-2.274345649187043]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.06633676755808227,1.4794546271938454,0.71338606911949],"aabb_xy":[[-0.0036632358334797023,1.4441388534904143],[0.13633677094964425,1.514770400897276]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.35568433597808236,1.3295415496373066,0.71338606911949],"aabb_xy":[[-0.40068433744431126,1.284541692775826],[-0.3106843345118535,1.3745414064987873]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.6634671632158164,0.2983227748636055,0.71338606911949],"aabb_xy":[[0.6415584810764653,0.2764221080435147],[0.6853758453551674,0.32022344168369615]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.4684888608325712,-0.5372823839917005,0.71338606911949],"aabb_xy":[[-0.5059888611247461,-0.5413238593923041],[-0.43098886054039637,-0.5332409085910969]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.47911192387575885,-0.013212609563125088,0.71338606911949],"aabb_xy":[[-0.5341041745112698,-0.06821261130643787],[-0.4241196732402479,0.04178739218018769]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.0675428572778366,0.5451483489059648,0.71338606911949],"aabb_xy":[[-0.09538789405844372,0.5143638501676532],[-0.039697820497229475,0.5759328476442765]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.45058922646738414,-0.8348358897790216,0.71338606911949],"aabb_xy":[[-0.4593912817763568,-0.8426472159339505],[-0.4417871711584114,-0.8270245636240924]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.4253160719564242,1.7145218867790626,0.71338606911949],"aabb_xy":[[0.38677037913122314,1.6759761157228739],[0.4638617647816252,1.7530676578352513]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.11620735798405446,-1.9494669221712573,0.71338606911949],"aabb_xy":[[0.07012226672932298,-2.013466919423812],[0.16229244923878594,-1.885466924918702]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.3126593019481748,-0.4426515373931399,0.71338606911949],"aabb_xy":[[-0.33023760413712167,-0.46022602696724474],[-0.29508099975922797,-0.42507704781903494]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.45012672706577184,-1.998917461628588,0.71338606911949],"aabb_xy":[[0.4436250905577673,-2.0086852836548976],[0.4566283635737765,-1.9891496396022785]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.237798733440714,1.4561192654120458,0.71338606911949],"aabb_xy":[[-0.24714574102300924,1.4418156431944018],[-0.22845172585841877,1.4704228876296899]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.1758501381188302,1.3579401799532795,0.71338606911949],"aabb_xy":[[-0.1874191188657668,1.3329401798363478],[-0.16428115737189364,1.3829401800702112]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.5770121641746739,0.9391338846541872,0.71338606911949],"aabb_xy":[[0.519381695287403,0.8791338857274764],[0.6346426330619447,0.9991338835808976]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.18559566433333463,-2.204086046734162,0.71338606911949],"aabb_xy":[[-0.24059566395508047,-2.2590697395216353],[-0.1305956647115888,-2.14910235394669]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.510624466490583,-1.1671486463085927,0.71338606911949],"aabb_xy":[[0.49546159351364605,-1.1823141036037117],[0.5257873394675202,-1.1519831890134742]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.3524954687778115,-1.6557968260956486,0.71338606911949],"aabb_xy":[[-0.37070129243905925,-1.6668222266776402],[-0.3342896451165639,-1.644771425513657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682420632945109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7338.png","name":"7338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2332.png","name":"2332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9412.png","name":"9412"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":625.783141505909,"rotation_z_degrees":277.4036095213708,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013523140352881753,0.016642768873205784,0.018834787508477894]},{"name":"camera_2","offset_m":[0.0174473842297263,0.0016332143653275955,-0.008160497690507392]},{"name":"camera_3","offset_m":[-0.0005653697180577934,-0.003938425177870426,-0.006471350824807579]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023533598174433614,6.0369815143243057e-05,-0.0014374260673866387],"end_effector_yaw_offset_degrees":-0.8966890660739835},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0007551711955590026,-0.0018726392092847206,0.0010454317352369155],"end_effector_yaw_offset_degrees":0.23399995193804712},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014498786204710525,0.0008316013575205309,0.0011898406641150557],"end_effector_yaw_offset_degrees":-0.17807005043561164}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002396117513811796,0.0010148609092129057],"position_m":[0.2699038824861882,0.2028148609092129,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[7.549072026145822e-05,0.00016432803690277342],"position_m":[0.24857549072026144,-0.13773567196309722,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004288156957595061,-0.003887054312005981],"position_m":[0.34951184304240496,-0.00908705431200598,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000991154715277144,0.0033203829112397306],"position_m":[0.12660884528472285,0.4224203829112397,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002641343155354585,0.0011387071909212858],"position_m":[0.20734134315535457,-0.4064612928090787,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"40484434ec4cf5b74be518063c11412abe7aa9d0c4d3235361ae0c18a3b6ce9c","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1530/tex_ceiling_textures_9412/tex_floor_textures_9909/tex_table_textures_7338/tex_wall_textures_2332","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5277688707182652269,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5277688707182652269,"visual_seed":5277688707182652269,"scene_id":"lab_003","finished_at":"2026-09-03T20:09:35"} +{"episode_id":"ep_000044","started_at":"2026-09-03T20:09:40","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.2115038023897412,0.6354043803818019,0.71338606911949],"aabb_xy":[[0.19161276250940099,0.6227485690971053],[0.23139484227008147,0.648060191666499]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.3668776798288866,-1.2991401553928628,0.71338606911949],"aabb_xy":[[-0.4169751438099602,-1.3631401559026746],[-0.31678021584781296,-1.235140154883051]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.4370635843196958,-1.9765981103419539,0.71338606911949],"aabb_xy":[[-0.5170635847899117,-1.9849088179563024],[-0.35706358384947984,-1.9682874027276058]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.379945036298342,1.2861608647695602,0.71338606911949],"aabb_xy":[[-0.3907855145248569,1.2689745834789115],[-0.36910455807182707,1.3033471460602088]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.4090087679004584,1.6577405791537063,0.71338606911949],"aabb_xy":[[-0.4690087681518596,1.6034592541172414],[-0.34900876764905725,1.7120219041901708]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.26463118345028847,-2.1003624681329938,0.71338606911949],"aabb_xy":[[0.18463118202016127,-2.1798796231456032],[0.34463118488041566,-2.0208453131203843]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.6481458931209365,-1.2543166618148882,0.71338606911949],"aabb_xy":[[0.5841458939511666,-1.3010833489338507],[0.7121458922907065,-1.2075499746959257]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.07205189865013217,0.6903403838536732,0.71338606911949],"aabb_xy":[[0.04955189863998388,0.67624416421407],[0.09455189866028046,0.7044366034932765]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.48901749957372687,1.7514520043362567,0.71338606911949],"aabb_xy":[[0.4390174999973922,1.7014714253841507],[0.5390174991500616,1.8014325832883626]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.09180997688058201,1.6622252099043524,0.71338606911949],"aabb_xy":[[-0.10614440200674546,1.6501649943498138],[-0.07747555175441856,1.6742854254588915]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[-0.3822550943614005,-0.9330613240453196,0.71338606911949],"aabb_xy":[[-0.3894988604076458,-1.013061322248922],[-0.37501132831515516,-0.8530613258417172]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.39469598222516855,0.5110072820403988,0.71338606911949],"aabb_xy":[[0.30500890591705304,0.42100728178594826],[0.48438305853328395,0.6010072822948493]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[0.7063921640643451,1.5010096232871697,0.71338606911949],"aabb_xy":[[0.6955405578154694,1.4901503325595185],[0.7172437703132206,1.5118689140148205]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.25927681460573065,-0.7090037220929275,0.71338606911949],"aabb_xy":[[-0.3242768172435242,-0.7604833207923745],[-0.19427681196793722,-0.6575241233934805]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.27736343766913546,-1.7007678092948733,0.71338606911949],"aabb_xy":[[-0.34136343934713287,-1.7492852007741875],[-0.21336343599113816,-1.652250417815559]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.30136659733806714,0.8787449702679093,0.71338606911949],"aabb_xy":[[0.28378829514912035,0.8611704806938044],[0.31894489952701405,0.8963194598420142]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[0.6181209011444815,-1.4285603230403259,0.71338606911949],"aabb_xy":[[0.5771029577581106,-1.478560323671283],[0.6591388445308524,-1.3785603224093683]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.623422972458217,-1.3441240847635283,0.71338606911949],"aabb_xy":[[-0.6874186698533135,-1.4081240830642368],[-0.5594272750631203,-1.2801240864628194]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.45652328331872194,-0.6669951568355215,0.71338606911949],"aabb_xy":[[-0.4716255847797399,-0.6820966784665831],[-0.44142098185770373,-0.6518936352044594]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.4997600712743526,-1.8043455951754392,0.71338606911949],"aabb_xy":[[-0.5297276281841783,-1.8343455954733248],[-0.4697925143645269,-1.7743455948775533]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.28517971230633776,-0.5363085712669142,0.71338606911949],"aabb_xy":[[-0.29387767459705305,-0.548433545574389],[-0.2764817500156225,-0.5241835969594395]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.5489364528656617,0.07546004974019338,0.71338606911949],"aabb_xy":[[-0.5859705622937215,0.04108284240648393],[-0.511902343437602,0.10983725707390282]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.3318073446580469,0.28921628321720805,0.71338606911949],"aabb_xy":[[-0.3494401802515745,0.27159333720158507],[-0.3141745090645193,0.306839229232831]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.4136449493110166,1.5882190420947997,0.71338606911949],"aabb_xy":[[0.3957758415565611,1.5743861341175884],[0.4315140570654721,1.6020519500720105]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[-0.5771941153257036,1.016749379098124,0.71338606911949],"aabb_xy":[[-0.6571941123399516,0.9966148274247129],[-0.49719411831145566,1.0368839307715354]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[0.33669743619303105,-1.7560392581824575,0.71338606911949],"aabb_xy":[[0.331239490556011,-1.8360392614901166],[0.3421553818300511,-1.6760392548747984]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[-0.3725072499644107,1.7815036571019784,0.71338606911949],"aabb_xy":[[-0.39161955732238957,1.7623688782247364],[-0.35339494260643184,1.8006384359792205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642290939133415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1089.png","name":"1089"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6411.png","name":"6411"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":588.9405236730904,"rotation_z_degrees":67.24993403921937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01095026684838447,-0.010457022271605498,0.010521249198840694]},{"name":"camera_2","offset_m":[0.015762934263367005,0.0034578422101099633,0.012396132686644693]},{"name":"camera_3","offset_m":[-0.005816911159552322,-0.016906381327765976,-0.0013559963071282412]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000842825374528671,0.001793771748200326,0.00043411219688378093],"end_effector_yaw_offset_degrees":0.7391626359263204},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002899212244695554,-0.001957979650401152,-0.0009430492753733049],"end_effector_yaw_offset_degrees":-0.19417080844402168},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004519396161237856,-0.0005824602294209691,0.0017603110814499337],"end_effector_yaw_offset_degrees":0.42763054508521603}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033337710702569844,0.001202689526555326],"position_m":[0.268966228929743,0.20300268952655534,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020247898782112406,-0.00018623324115160309],"position_m":[0.25052478987821125,-0.1380862332411516,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004600867048043287,0.004367098645848303],"position_m":[0.3491991329519567,-0.0008329013541516972,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020617320431929476,-0.0032134081878947033],"position_m":[0.12553826795680703,0.41588659181210524,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001576665614364624,0.002235528404815841],"position_m":[0.20312333438563537,-0.4053644715951842,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2ed44c6c80827f725cf96c2e0f660a3fccfedb32384de51913a57ef1116d4d7a","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1374/tex_ceiling_textures_950/tex_floor_textures_8849/tex_table_textures_1089/tex_wall_textures_6411","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7093798521186955183,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7093798521186955183,"visual_seed":7093798521186955183,"scene_id":"lab_003","finished_at":"2026-09-03T20:12:27"} +{"episode_id":"ep_000045","started_at":"2026-09-03T20:12:30","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.17182891378157428,-2.3736026082073085,0.71338606911949],"aabb_xy":[[-0.20560447297226722,-2.387641103420473],[-0.13805335459088128,-2.359564112994143]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.20239661769822193,0.873311344998811,0.71338606911949],"aabb_xy":[[0.19681494606409314,0.8608113451810355],[0.20797828933235066,0.8858113448165865]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.19976437302562666,0.25049767845438176,0.71338606911949],"aabb_xy":[[-0.2637643763153347,0.2071627594504641],[-0.13576436973591852,0.2938325974582993]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[-0.12553441751734584,-0.08425172058832509,0.71338606911949],"aabb_xy":[[-0.18953441789487946,-0.13399698743913735],[-0.061534417139812225,-0.03450645373751281]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.5782529768345099,-1.631494309866619,0.71338606911949],"aabb_xy":[[-0.6282260423670255,-1.6814943096791524],[-0.5282799113019946,-1.5814943100540866]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.4574978244778207,-0.2479497921973568,0.71338606911949],"aabb_xy":[[0.4467248505564529,-0.2829497904163958],[0.46827079839918845,-0.21294979397831781]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.2510500467464996,1.3304953321251127,0.71338606911949],"aabb_xy":[[-0.25568516189873297,1.3266279970479637],[-0.2464149315942662,1.3343626672022613]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.548685396248904,1.5981989375629744,0.71338606911949],"aabb_xy":[[0.5335132269672707,1.5830300806347712],[0.5638575655305373,1.613367794491178]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.3675542957564961,-2.2570965818564828,0.71338606911949],"aabb_xy":[[0.33509259487456855,-2.287229413971385],[0.40001599663842347,-2.2269637497415795]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.20356566828345962,0.6378315271344523,0.71338606911949],"aabb_xy":[[-0.28356567044622205,0.5578763435083087],[-0.12356566612069708,0.717786710760596]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.0694552849739396,-1.0791538255911717,0.71338606911949],"aabb_xy":[[0.046941593150482394,-1.149153826192179],[0.09196897679739678,-1.009153824990164]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.34014446867517023,1.5976298086369183,0.71338606911949],"aabb_xy":[[-0.3639806863157753,1.5076298078284323],[-0.31630825103456517,1.6876298094454052]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.03555437247117754,1.6757443089776243,0.71338606911949],"aabb_xy":[[-0.05111014188144282,1.6601938757332173],[-0.019998603060912282,1.6912947422220317]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.261447025318307,-0.6693101110133497,0.71338606911949],"aabb_xy":[[0.19644702716238793,-0.695606355563262],[0.32644702347422605,-0.6430138664634376]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.4729113409887573,-1.1383129200355049,0.71338606911949],"aabb_xy":[[0.4089113438766516,-1.1873452898299155],[0.536911338100863,-1.0892805502410943]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.37356508353722023,-2.499627079529175,0.71338606911949],"aabb_xy":[[-0.43756508675585815,-2.5463501914281834],[-0.30956508031858243,-2.4529039676301667]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.009800078047513372,1.3269080158436428,0.71338606911949],"aabb_xy":[[-0.0738000783214916,1.2768419156463549],[0.05419992222646486,1.3769741160409308]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.4559589369719744,0.15227157033522776,0.71338606911949],"aabb_xy":[[-0.5058416338496707,0.10227157108895302],[-0.40607624009427834,0.20227156958150252]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.07460226855339303,-1.509521125796571,0.71338606911949],"aabb_xy":[[-0.09218057074233987,-1.5270956153706758],[-0.05702396636444618,-1.4919466362224663]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.06002573865809846,1.4993943217211334,0.71338606911949],"aabb_xy":[[-0.11002573994193843,1.4494154673305109],[-0.010025737374258497,1.549373176111755]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[0.2719083286569348,-2.2992190569403608,0.71338606911949],"aabb_xy":[[0.2506303205134625,-2.364219059266434],[0.293186336800407,-2.2342190546142877]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.05303593882121649,0.5161254246735263,0.71338606911949],"aabb_xy":[[-0.07662106228511134,0.4511254224280945],[-0.029450815357321636,0.5811254269189581]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.2003041348750242,-0.987503882513797,0.71338606911949],"aabb_xy":[[-0.20965114245731942,-1.001807504731441],[-0.19095712729272896,-0.9732002602961529]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.08526513029858007,-2.146946667301854,0.71338606911949],"aabb_xy":[[-0.10269584537758657,-2.164218781965704],[-0.06783441521957355,-2.129674552638003]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.11149539351673532,-1.7536567601604465,0.71338606911949],"aabb_xy":[[0.09261100974822513,-1.772542684940799],[0.13037977728524552,-1.7347708353800935]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.5363040390658562,-1.5878906376958069,0.71338606911949],"aabb_xy":[[0.5282777684352302,-1.5966421326731595],[0.5443303096964822,-1.5791391427184542]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.5411039159129232,1.0716496709301895,0.71338606911949],"aabb_xy":[[0.5232348081584677,1.0578167629529782],[0.5589730236673787,1.0854825789074003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664933404470921,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8881.png","name":"8881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7727.png","name":"7727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5310.png","name":"5310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6136.png","name":"6136"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":809.607658034889,"rotation_z_degrees":231.4448086708126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015855530055397072,0.017939467806068688,-0.011192694275911684]},{"name":"camera_2","offset_m":[-0.014240380059876734,-0.0035759838982896176,0.004129817881268417]},{"name":"camera_3","offset_m":[-0.014108854661056932,-0.008510914050071738,0.014618280956325422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00043031808493892683,0.0019410332451416275,0.0009079267133258622],"end_effector_yaw_offset_degrees":-0.346125033670597},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001926596185523132,-0.00015128239357394923,0.00021605664696072073],"end_effector_yaw_offset_degrees":-0.6262689905492145},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[3.8070213918782285e-05,0.0013195198198559664,-0.0013709464864172314],"end_effector_yaw_offset_degrees":-0.8308372212731177}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003940521144039083,-0.0036631069010932263],"position_m":[0.2683594788559609,0.19813689309890678,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004939400028295268,-0.003538120420586548],"position_m":[0.2534394000282953,-0.14143812042058654,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004389031431334363,-0.004878089943029423],"position_m":[0.34941096856866566,-0.010078089943029424,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012846074410948019,-0.002158758130260442],"position_m":[0.1263153925589052,0.4169412418697395,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015593596875140107,0.002602057947138219],"position_m":[0.206259359687514,-0.4049979420528618,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aa807a4acbfc9e27a97450fb596cb424bda36178fd1e22fa7c16f8f76304d410","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2285/tex_ceiling_textures_6136/tex_floor_textures_5310/tex_table_textures_8881/tex_wall_textures_7727","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8603930130509877618,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8603930130509877618,"visual_seed":8603930130509877618,"scene_id":"lab_003","finished_at":"2026-09-03T20:15:13"} +{"episode_id":"ep_000046","started_at":"2026-09-03T20:15:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.4410439458955092,-1.6119914796014654,0.71338606911949],"aabb_xy":[[-0.5050439491141471,-1.658714591500474],[-0.37704394267687136,-1.5652683677024573]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.14838817120872927,0.8494492376363305,0.71338606911949],"aabb_xy":[[-0.18285051860687102,0.8149553552385077],[-0.11392582381058743,0.8839431200341531]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.46187869760272404,-0.29043047330757243,0.71338606911949],"aabb_xy":[[0.37187869900825415,-0.30668105962099346],[0.551878696197194,-0.2741798869941514]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.37654284529391724,-0.46606644095766603,0.71338606911949],"aabb_xy":[[0.32654973318472535,-0.5160664416318617],[0.4265359574031092,-0.41606644028347045]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.3253893063342107,1.3489509683072405,0.71338606911949],"aabb_xy":[[-0.33265055390461806,1.336163958043731],[-0.31812805876380323,1.36173797857075]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.45920084290814533,-0.08606258354148055,0.71338606911949],"aabb_xy":[[0.4543572481469154,-0.09091423602046467],[0.46404443766937536,-0.08121093106249644]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.07595007766807993,-1.0055477065876424,0.71338606911949],"aabb_xy":[[0.06985544977996161,-1.014117101139311],[0.08204470555619825,-0.9969783120359736]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.23032582287457087,-1.5047338368888128,0.71338606911949],"aabb_xy":[[-0.252790592845976,-1.5272338377676733],[-0.20786105290316576,-1.4822338360099523]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.39543955751046633,-2.2328428883525104,0.71338606911949],"aabb_xy":[[-0.40039557769534756,-2.2553428885546327],[-0.3904835373255852,-2.210342888150389]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.3276360793866735,0.6325926777958242,0.71338606911949],"aabb_xy":[[-0.35214970348367935,0.6083280844937878],[-0.30312245528966764,0.6568572710978607]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.18073910109934932,-0.6272346225699319,0.71338606911949],"aabb_xy":[[0.11673910251277683,-0.6742415859694406],[0.24473909968592175,-0.5802276591704232]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.052077266751082596,-1.7644159226832223,0.71338606911949],"aabb_xy":[[0.048163393555660065,-1.773164938089779],[0.05599113994650511,-1.7556669072766653]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.6403510510990198,-0.4716928441377308,0.71338606911949],"aabb_xy":[[0.6339372374558347,-0.4781026643853991],[0.6467648647422046,-0.46528302389006243]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.468695483073442,-0.8955661502309484,0.71338606911949],"aabb_xy":[[0.4046954811610997,-0.9514772994889589],[0.5326954849857843,-0.839655000972938]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.311290866243204,-2.129586475876094,0.71338606911949],"aabb_xy":[[-0.31542672257590426,-2.167086475320451],[-0.3071550099105039,-2.092086476431737]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.04612998573945171,1.042764143223887,0.71338606911949],"aabb_xy":[[-0.003870012906469489,0.9928445995644244],[0.0961299843853729,1.0926836868833492]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.4522473543101072,0.9134455216414405,0.71338606911949],"aabb_xy":[[-0.4571466466166706,0.8857686023388718],[-0.4473480620035436,0.9411224409440093]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.5751275008160129,1.2133330641128044,0.71338606911949],"aabb_xy":[[-0.6351275006625797,1.1565144419197657],[-0.5151275009694462,1.270151686305843]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.5288542956863428,-0.11552873688896881,0.71338606911949],"aabb_xy":[[-0.578854296705478,-0.15199495262679674],[-0.4788542946672075,-0.07906252115114087]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.1899205700231431,-1.7667747729611571,0.71338606911949],"aabb_xy":[[-0.2223822709050705,-1.7969076050760593],[-0.1574588691412156,-1.7366419408462541]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[0.4852249893731866,-1.5187592343715342,0.71338606911949],"aabb_xy":[[0.43009978374359575,-1.578759235812821],[0.5403501950027773,-1.4587592329302468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658508132709295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/581.png","name":"581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/581.png","name":"581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8024.png","name":"8024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8772.png","name":"8772"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.3720347542973,"rotation_z_degrees":161.28322764625034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00046983399299912673,0.016410549786084607,0.01855919633955352]},{"name":"camera_2","offset_m":[-0.01440737612613642,0.00788373864982862,-0.0030155909795581484]},{"name":"camera_3","offset_m":[0.0010127086307442495,-0.0018848349310646786,0.013799017461109366]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012993472919340574,-8.073525129692572e-05,-0.0013121225164948662],"end_effector_yaw_offset_degrees":-0.4784420691444369},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00041409949876646587,-0.0005640582596544298,0.0011744851804376092],"end_effector_yaw_offset_degrees":0.7859275977552884},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010970897176609952,0.0019122460822723966,-0.001474958494096621],"end_effector_yaw_offset_degrees":0.5339047941240103}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019159645990854887,-0.0015011470741672405],"position_m":[0.2742159645990855,0.20029885292583277,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019342539082980717,-0.0009579305018233919],"position_m":[0.24656574609170193,-0.13885793050182338,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0011829195759140466,-0.0006904106262458553],"position_m":[0.35261708042408596,-0.005890410626245855,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008916740400247017,-0.0048044533923647026],"position_m":[0.1284916740400247,0.4142955466076353,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000639715642250841,0.0024580535797387214],"position_m":[0.20533971564225084,-0.4051419464202613,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e5766d606a651aefb781fa8f7f5a98bd448442ab35f91c5ba5378487cd7b5f7b","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_581/tex_ceiling_textures_8772/tex_floor_textures_8024/tex_table_textures_106/tex_wall_textures_1848","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2576481509376031595,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2576481509376031595,"visual_seed":2576481509376031595,"scene_id":"lab_003","finished_at":"2026-09-03T20:18:07"} +{"episode_id":"ep_000047","started_at":"2026-09-03T20:18:11","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.022345257909989646,-0.930238268855401,0.71338606911949],"aabb_xy":[[-0.00015474210015864465,-0.9443344884950042],[0.04484525792013794,-0.9161420492157977]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.5402625758503958,-2.0120034523386083,0.71338606911949],"aabb_xy":[[0.4980781616895651,-2.0760034526158195],[0.5824469900112266,-1.9480034520613971]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.2644765756207658,-0.38373158853609013,0.71338606911949],"aabb_xy":[[-0.268612431953466,-0.42123158798044713],[-0.2603407192880656,-0.3462315890917331]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.17791930467309514,-0.884901234891875,0.71338606911949],"aabb_xy":[[-0.2679193083500132,-0.946333641468979],[-0.08791930099617691,-0.8234688283147703]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.5385973029829756,-0.2284131038663353,0.71338606911949],"aabb_xy":[[-0.5723728621736685,-0.2424515990795003],[-0.5048217437922825,-0.21437460865317026]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.10714151630077662,-2.5471545883284,0.71338606911949],"aabb_xy":[[0.06964151563619789,-2.562841646328622],[0.14464151696535527,-2.5314675303281775]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.297328380573216,-1.8814296753318076,0.71338606911949],"aabb_xy":[[-0.30474083611460445,-1.8872808857534356],[-0.2899159250318275,-1.8755784649101797]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.2062327035514801,0.8189779969741791,0.71338606911949],"aabb_xy":[[-0.21393589422555714,0.8112686262754409],[-0.19852951287740306,0.826687367672917]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.42750859205818764,1.643216690297812,0.71338606911949],"aabb_xy":[[-0.44357051951670523,1.5582166884852198],[-0.41144666459966994,1.7282166921104034]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.4270629314472015,0.9951146271005782,0.71338606911949],"aabb_xy":[[-0.4910629334969335,0.9550201440112702],[-0.3630629293974695,1.0352091101898862]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.2501296221698065,-2.0031783477267395,0.71338606911949],"aabb_xy":[[0.24200193397649328,-2.012091956137447],[0.2582573103631197,-1.9942647393160313]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.5032399227432921,-2.481628318522131,0.71338606911949],"aabb_xy":[[-0.5112832826692473,-2.5666283196174975],[-0.4951965628173369,-2.3966283174267646]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.09425283498611026,1.4123404198276281,0.71338606911949],"aabb_xy":[[0.04427976945359479,1.3623404200150955],[0.14422590051862572,1.4623404196401613]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.5717815630899212,-1.0835346892029536,0.71338606911949],"aabb_xy":[[-0.6017491199997469,-1.1135346895008393],[-0.5418140061800956,-1.0535346889050679]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[-0.1197416228041508,0.005095832705382275,0.71338606911949],"aabb_xy":[[-0.1349044957810879,-0.010069624589736485],[-0.10457874982721374,0.020261290000501034]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.6300308813544209,-0.7516535255226371,0.71338606911949],"aabb_xy":[[0.5957146041798029,-0.8016535254958148],[0.6643471585290388,-0.7016535255494594]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.04784404103455164,-1.2119630929991925,0.71338606911949],"aabb_xy":[[-0.0021292529687088058,-1.2619630935537398],[0.09781733503781209,-1.1619630924446451]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.06508965575930925,0.7654858349595965,0.71338606911949],"aabb_xy":[[0.043811647615837,0.7004858326335235],[0.0863676639027815,0.8304858372856696]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.6293509827714804,-2.0377263939196295,0.71338606911949],"aabb_xy":[[-0.6869814516587511,-2.0977263928463397],[-0.5717205138842094,-1.9777263949929185]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.5358705125294203,1.187075662360535,0.71338606911949],"aabb_xy":[[-0.5604167281521709,1.1568267658114977],[-0.5113242969066695,1.2173245589095718]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.5993392891138496,-2.1966018771283746,0.71338606911949],"aabb_xy":[[0.5377485298898569,-2.2606018752374215],[0.6609300483378425,-2.1326018790193277]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.34525456933191934,-0.9727475964278323,0.71338606911949],"aabb_xy":[[0.2615323438318369,-1.0627475999625282],[0.4289767948320018,-0.8827475928931363]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.6225712867432611,0.8841832457937122,0.71338606911949],"aabb_xy":[[0.5675758089226017,0.8291832443598053],[0.6775667645639205,0.9391832472276191]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.1681184046051909,-0.7422478192915827,0.71338606911949],"aabb_xy":[[0.1253516977257707,-0.8062478227133851],[0.2108851114846111,-0.6782478158697802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66740146685403,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/154.png","name":"154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/154.png","name":"154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1853.png","name":"1853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4747.png","name":"4747"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1178.png","name":"1178"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":655.9297448450037,"rotation_z_degrees":150.65186827641355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004378977659287683,0.0023998774866721417,0.017057146360385616]},{"name":"camera_2","offset_m":[-0.008015306836786454,0.011336944104490609,-0.007552900400244375]},{"name":"camera_3","offset_m":[-0.0026092203414198392,0.0060058675829929575,-0.018359937801914826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003162916439813741,0.0012768312805176542,-0.0017276599723563008],"end_effector_yaw_offset_degrees":-0.2116798839182541},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-5.394500501662504e-05,-0.000909675776854642,0.0010641047796428023],"end_effector_yaw_offset_degrees":-0.41184669977691013},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015801165745180212,-0.0018461370710896516,-0.001857120349037936],"end_effector_yaw_offset_degrees":-0.23619811358530995}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003446919022291425,-0.0004954607112981468],"position_m":[0.26885308097770855,0.20130453928870187,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00405299368279958,-0.004735420390839715],"position_m":[0.24444700631720043,-0.1426354203908397,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0038124942997005236,0.002256388520848399],"position_m":[0.35761249429970055,-0.002943611479151601,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033143003925930337,0.004008869486949249],"position_m":[0.12428569960740696,0.4231088694869492,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006370766199142218,-0.0017348729117931962],"position_m":[0.20406292338008578,-0.4093348729117932,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"398b449c07edd6c4a63f835b1712faf23722f2ef6771dd6f22eaf2d85711d77b","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_154/tex_ceiling_textures_1178/tex_floor_textures_6433/tex_table_textures_1853/tex_wall_textures_4747","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5293044460317575003,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5293044460317575003,"visual_seed":5293044460317575003,"scene_id":"lab_003","finished_at":"2026-09-03T20:20:54"} +{"episode_id":"ep_000048","started_at":"2026-09-03T20:20:58","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[-0.44715611007635425,-1.4990005609704096,0.71338606911949],"aabb_xy":[[-0.5121561110768548,-1.5497869261250843],[-0.38215610907585373,-1.4482141958157344]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.33182590405783036,1.4970048764946218,0.71338606911949],"aabb_xy":[[-0.395825901169936,1.4479725067002112],[-0.2678259069457246,1.5460372462890324]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.3716793444457749,-1.6302407152613454,0.71338606911949],"aabb_xy":[[0.32158188046470126,-1.6942407157711574],[0.4217768084268485,-1.5662407147515338]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.5158140092873897,0.6574880739472944,0.71338606911949],"aabb_xy":[[-0.5327247417237314,0.6440158683546797],[-0.4989032768510479,0.6709602795399088]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.5907433910239872,1.7711305445828969,0.71338606911949],"aabb_xy":[[0.5532433910802208,1.76283745454806],[0.6282433909677536,1.7794236346177332]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[0.09936950333610106,1.3337868886507809,0.71338606911949],"aabb_xy":[[0.075533285695496,1.2437868878422944],[0.12320572097670614,1.4237868894592673]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.018774835491322972,-1.6760898199856626,0.71338606911949],"aabb_xy":[[0.0061480482041266216,-1.685635893687235],[0.03140162277851932,-1.6665437462840893]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.563774892661401,-1.6273760193208164,0.71338606911949],"aabb_xy":[[0.558316947024381,-1.7073760226284755],[0.5692328382984211,-1.5473760160131573]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.63508832737365,-0.8507236072900606,0.71338606911949],"aabb_xy":[[-0.6575883276171653,-0.8629282419498325],[-0.6125883271301346,-0.8385189726302886]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.27591461973921483,0.28343208073446524,0.71338606911949],"aabb_xy":[[-0.29107749271615196,0.26826662343934643],[-0.2607517467622778,0.29859753802958394]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.5388709327795791,-0.08012109902825593,0.71338606911949],"aabb_xy":[[0.46887093014299264,-0.10022596402412143],[0.6088709354161653,-0.060016234032390425]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.08834693280340622,-0.6986369058569781,0.71338606911949],"aabb_xy":[[0.028346931942593395,-0.7500633358634645],[0.14834693366421897,-0.6472104758504917]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.48659489433398684,-0.7317498735307848,0.71338606911949],"aabb_xy":[[0.4394655153321511,-0.7957498745751866],[0.5337242733358225,-0.6677498724863827]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.17785240616474896,1.0431550406069237,0.71338606911949],"aabb_xy":[[0.15567987918809809,1.0209793734508004],[0.20002493314139974,1.0653307077630465]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.3440170614412208,-2.1694803372488107,0.71338606911949],"aabb_xy":[[0.2800170621470526,-2.233466477617665],[0.408017060735389,-2.1054941968799565]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.26696539146669535,-0.7738229382966524,0.71338606911949],"aabb_xy":[[-0.33096538786226837,-0.8377862267153859],[-0.2029653950711222,-0.7098596498779188]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.17057986355246701,-2.3749303803629664,0.71338606911949],"aabb_xy":[[0.1401817524533234,-2.4053372823646355],[0.20097797465161057,-2.3445234783612965]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.30155934141055274,-1.803035372493609,0.71338606911949],"aabb_xy":[[-0.366559342516496,-1.8280007455617373],[-0.23655934030460946,-1.7780699994254807]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.22099908697015003,1.7349923897248414,0.71338606911949],"aabb_xy":[[0.15940832774615724,1.6709923916157947],[0.28258984619414285,1.7989923878338885]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[-0.3103255480418736,-2.071077633842083,0.71338606911949],"aabb_xy":[[-0.3473596574699333,-2.1054548411757925],[-0.27329143861381383,-2.0367004265083737]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.04012090689487746,0.7032292578155497,0.71338606911949],"aabb_xy":[[-0.02987908951508433,0.6827913221638677],[0.11012090330483924,0.7236671934672312]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.27189406899627055,-2.4220069437884693,0.71338606911949],"aabb_xy":[[0.2669380488113894,-2.444506943990591],[0.2768500891811517,-2.3995069435863474]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.06996191450619749,-2.475571580787127,0.71338606911949],"aabb_xy":[[0.03246191468916393,-2.480209792098268],[0.10746191432323104,-2.4709333694759845]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.2711430872367728,-1.3791454428601904,0.71338606911949],"aabb_xy":[[-0.3056054346349145,-1.4136393252580128],[-0.23668073983863094,-1.3446515604623674]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[0.3675676438701241,0.830474856880798,0.71338606911949],"aabb_xy":[[0.3351059429881965,0.8003420247658953],[0.40002934475205143,0.8606076889957005]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[0.30370602838250815,1.3816514375589084,0.71338606911949],"aabb_xy":[[0.2587060269162793,1.336651580697428],[0.348706029848737,1.4266512944203893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627402656182184,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8704.png","name":"8704"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8704.png","name":"8704"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/117.png","name":"117"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3729.png","name":"3729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/518.png","name":"518"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.7013784565793,"rotation_z_degrees":7.87907355001034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016594195336474302,0.008093962537872132,0.01138454911307495]},{"name":"camera_2","offset_m":[0.015349777122408283,-0.01910802585908522,0.018519163303193958]},{"name":"camera_3","offset_m":[-0.008254217181183248,-0.014639188668744528,-0.00090765151684594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010636464535267339,0.00046323919860864846,-0.00155534714737689],"end_effector_yaw_offset_degrees":-0.05916263559432822},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015092113401120322,-0.0011004886819080415,-0.000262795433560846],"end_effector_yaw_offset_degrees":0.4985610722293752},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003300634239565871,-0.001464015636058042,-0.0012288256550607398],"end_effector_yaw_offset_degrees":-0.06266904115873784}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002674363998834037,0.0019069574745007338],"position_m":[0.274974363998834,0.20370695747450074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010433042678565443,0.003071223947929534],"position_m":[0.24745669573214346,-0.13482877605207047,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0018747842270600687,0.0014891459916441165],"position_m":[0.35567478422706006,-0.0037108540083558832,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006018319434097285,-0.0009418080019449569],"position_m":[0.12699816805659025,0.41815819199805504,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004165007564757924,0.0013218693886503773],"position_m":[0.20053499243524206,-0.40627813061134965,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f085abc3b3572b560c814862fa061a5d7685ff7fa820232416f745f6cfed0217","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8704/tex_ceiling_textures_518/tex_floor_textures_3729/tex_table_textures_117/tex_wall_textures_6233","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1644019842875137955,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1644019842875137955,"visual_seed":1644019842875137955,"scene_id":"lab_003","finished_at":"2026-09-03T20:24:12"} +{"episode_id":"ep_000049","started_at":"2026-09-03T20:24:16","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.564851666263037,-1.4590130799329204,0.71338606911949],"aabb_xy":[[0.5008516648550462,-1.510802031456845],[0.6288516676710275,-1.4072241284089957]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.15721175839625912,1.059250826614203,0.71338606911949],"aabb_xy":[[0.10723434153100551,1.0092508251249541],[0.20718917526151268,1.1092508281034512]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.1519201622322739,-1.6115877090659643,0.71338606911949],"aabb_xy":[[0.07192016115915356,-1.6213657554033485],[0.23192016330539422,-1.6018096627285796]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.5818006232192408,-2.539698208809745,0.71338606911949],"aabb_xy":[[0.5368006217530119,-2.5846980656712257],[0.6268006246854696,-2.4946983519482644]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.43631087591824835,-2.3804091465055213,0.71338606911949],"aabb_xy":[[0.4262291688396748,-2.4604091443976355],[0.4463925829968218,-2.300409148613406]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.3185067449285075,-1.1431875067666972,0.71338606911949],"aabb_xy":[[0.2485067422919211,-1.1632923717625627],[0.3885067475650938,-1.1230826417708317]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.5311145461473377,1.5169464185567194,0.71338606911949],"aabb_xy":[[-0.5679091792722439,1.4800405434601374],[-0.4943199130224314,1.553852293653302]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.018220329685739722,-1.2787741877435486,0.71338606911949],"aabb_xy":[[-0.10194255518582218,-1.3687741912782445],[0.06550189581434274,-1.1887741842088526]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.08949784347139,1.2482048416139833,0.71338606911949],"aabb_xy":[[-0.10126603026604755,1.163204841708762],[-0.0777296566767325,1.333204841519205]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.5154742940967589,-0.34523038159707875,0.71338606911949],"aabb_xy":[[0.49658991032824873,-0.36411630637743153],[0.5343586778652691,-0.32634445681672597]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.1628410533659449,1.5558082652907141,0.71338606911949],"aabb_xy":[[0.10784880273043398,1.5008082635474016],[0.2178333040014559,1.6108082670340271]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.48208675504209997,-0.5905918303158797,0.71338606911949],"aabb_xy":[[0.459914228065449,-0.6127674974720029],[0.5042592820187507,-0.5684161631597565]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.5735619056058928,-2.4508360215778966,0.71338606911949],"aabb_xy":[[-0.6235619059664588,-2.500816008787499],[-0.5235619052453266,-2.400856034368293]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.10633175719268229,-1.0267269732627973,0.71338606911949],"aabb_xy":[[0.04633175694128111,-1.0810082982992617],[0.16633175744408346,-0.9724456482263324]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.1188700949831516,-0.5596070642736137,0.71338606911949],"aabb_xy":[[-0.14245521844704645,-0.6246070665190455],[-0.09528497151925674,-0.49460706202818194]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.010100402269970332,1.0536291736418284,0.71338606911949],"aabb_xy":[[-0.07510040337591362,1.0286638005737],[0.05489959883597295,1.0785945467099567]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.18794583803700715,0.85876816276539,0.71338606911949],"aabb_xy":[[-0.1944474745450118,0.8490003407390804],[-0.18144420152900254,0.8685359847916999]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.16306674093736884,1.377532146668997,0.71338606911949],"aabb_xy":[[0.11309344693410836,1.3275321461144494],[0.21304003494062926,1.427532147223544]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.5607288023560832,-0.43689853685092706,0.71338606911949],"aabb_xy":[[0.5553962877014702,-0.44222286509616265],[0.5660613170106963,-0.43157420860569146]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.5789880381485397,0.4157308440960019,0.71338606911949],"aabb_xy":[[0.5149880364705424,0.36721345261668764],[0.6429880398265371,0.4642482355753161]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.5448356453327787,-0.7530125027511709,0.71338606911949],"aabb_xy":[[0.4648356450591717,-0.8259620505768878],[0.6248356456063856,-0.6800629549254543]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.33389822775304423,1.300217261062925,0.71338606911949],"aabb_xy":[[0.26889822511525074,1.248737662363478],[0.3988982303908377,1.351696859762372]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.5189255910119861,-0.0956154118492405,0.71338606911949],"aabb_xy":[[0.4728404997572548,-0.1596154091017956],[0.5650106822667177,-0.03161541459668538]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[-0.09721301004441973,0.6031712622541114,0.71338606911949],"aabb_xy":[[-0.17721300705866772,0.5830367105807001],[-0.017213013030171753,0.6233058139275226]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.2347426842078173,-1.914375452605891,0.71338606911949],"aabb_xy":[[0.22317370346088075,-1.939375452722823],[0.2463116649547539,-1.8893754524889597]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.43240174287535993,1.0463670392403115,0.71338606911949],"aabb_xy":[[0.4132894355173811,1.0272322603630695],[0.45151405023333885,1.0655018181175535]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.6527251769656693,0.3190169558413336,0.71338606911949],"aabb_xy":[[-0.6902251753890697,0.3058527418735029],[-0.615225178542269,0.3321811698091642]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.5269662920527636,0.9530160596332693,0.71338606911949],"aabb_xy":[[-0.5614287700658513,0.9463523824503465],[-0.4925038140396758,0.9596797368161921]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[0.04020771360106379,-0.7201386164964327,0.71338606911949],"aabb_xy":[[0.005616630747018569,-0.7851386167814637],[0.07479879645510899,-0.6551386162114016]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[0.4566258757377406,-1.8611260664564266,0.71338606911949],"aabb_xy":[[0.40163266440060386,-1.9161260667952202],[0.5116190870748774,-1.806126066117633]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[0.12871476965157203,-2.15313048801139,0.71338606911949],"aabb_xy":[[0.11121477051720487,-2.1630101150489773],[0.1462147687859392,-2.1432508609738017]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.4971780186889894,-1.4581030399824186,0.71338606911949],"aabb_xy":[[-0.5611780189494601,-1.5031118393353466],[-0.43317801842851855,-1.4130942406294906]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[-0.40279605115274686,-1.7974615138001,0.71338606911949],"aabb_xy":[[-0.45279604979866805,-1.8473810574595626],[-0.35279605250682566,-1.7475419701406378]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_33","position":[-0.1814993526908587,-0.3690633421137375,0.71338606911949],"aabb_xy":[[-0.23647307472719162,-0.4240633416779707],[-0.12652563065452585,-0.31406334254950435]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_34","position":[-0.6729700002632293,-1.1769261834145979,0.71338606911949],"aabb_xy":[[-0.6848420832747304,-1.2619261831082482],[-0.6610979172517282,-1.0919261837209475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663155843729949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5215.png","name":"5215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3637.png","name":"3637"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/886.png","name":"886"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1443.png","name":"1443"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":616.6172258283135,"rotation_z_degrees":230.8664775374803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016732011381271995,-0.0033002921791493167,0.018682756510129638]},{"name":"camera_2","offset_m":[0.017802575188421686,0.006448022956787099,0.007145489120537574]},{"name":"camera_3","offset_m":[-0.0104906813605345,-0.009539632037713477,-0.016144272025311147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000739593306786626,-0.0007483234396498074,-0.0006411703194691984],"end_effector_yaw_offset_degrees":-0.6146934068495653},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001785866754764783,0.0004872574086237035,0.0008456215423940385],"end_effector_yaw_offset_degrees":-0.6146238085456766},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001860241057356466,-0.0006924642054118863,-0.0010997515972222445],"end_effector_yaw_offset_degrees":0.19372387541781544}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016908959200687924,0.001059095888844226],"position_m":[0.2706091040799312,0.20285909588884424,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002841231110312422,-0.0038116421035209415],"position_m":[0.24821587688896876,-0.14171164210352094,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0022033750744159435,-0.0008984176614125951],"position_m":[0.35600337507441593,-0.006098417661412595,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019238845105790945,0.0008386948061130549],"position_m":[0.12952388451057908,0.419938694806113,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004336484783977451,0.00042379719346550236],"position_m":[0.20036351521602255,-0.4071762028065345,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f279a2a4718f577a828ec136f5e507bea80ac524e58a22a7bd2e7cdb74b2eba6","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1718/tex_ceiling_textures_1443/tex_floor_textures_886/tex_table_textures_5215/tex_wall_textures_3637","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5399345555725422656,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5399345555725422656,"visual_seed":5399345555725422656,"scene_id":"lab_003","finished_at":"2026-09-03T20:27:09"} +{"episode_id":"ep_000050","started_at":"2026-09-03T20:27:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.5575001339657168,-1.97979701335995,0.71338606911949],"aabb_xy":[[0.5342182917675855,-2.0647970146571777],[0.5807819761638482,-1.8947970120627218]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.35112405684785924,-0.02039260654282904,0.71338606911949],"aabb_xy":[[-0.3584063732245228,-0.11039261015233802],[-0.3438417404711955,0.06960739706667994]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.3192695406983709,-0.47224395102448424,0.71338606911949],"aabb_xy":[[-0.32868701526823363,-0.4816601281622032],[-0.30985206612850813,-0.46282777388676516]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.4165809343762939,-1.4105808938974844,0.71338606911949],"aabb_xy":[[-0.42289303391263233,-1.4163478331507033],[-0.41026883483995547,-1.4048139546442655]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.5025367694532421,0.22478643232117346,0.71338606911949],"aabb_xy":[[0.4858596334601466,0.20808650834724318],[0.5192139054463376,0.24148635629510373]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.6680613237705184,-0.17447298505014697,0.71338606911949],"aabb_xy":[[-0.6909770366555684,-0.1973772821865705],[-0.6451456108854686,-0.15156868791372347]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.4643638933016754,-2.265121539464755,0.71338606911949],"aabb_xy":[[0.4393638941360422,-2.272073785170112],[0.48936389246730844,-2.2581692937593987]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.26564274893800743,1.463441506667857,0.71338606911949],"aabb_xy":[[0.2406427490054896,1.456558838446934],[0.2906427488705254,1.4703241748887805]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.0323271568129363,1.7283341032256359,0.71338606911949],"aabb_xy":[[-0.02267284138880853,1.6878121365991983],[0.08732715501468113,1.7688560698520734]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.15523468905528182,1.6353913198087304,0.71338606911949],"aabb_xy":[[-0.15931284696233156,1.6313103395604671],[-0.15115653114823208,1.6394723000569937]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.36735814526946153,-0.3964359296847926,0.71338606911949],"aabb_xy":[[-0.4573581438639315,-0.4126865159982137],[-0.2773581466749916,-0.38018534337137166]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.3599420600384342,-1.1236832519826816,0.71338606911949],"aabb_xy":[[0.30994205837693933,-1.173681694238384],[0.40994206169992886,-1.0736848097269787]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.1703011034207106,-1.218279046401709,0.71338606911949],"aabb_xy":[[0.1638872897775256,-1.224688866649377],[0.17671491706389547,-1.2118692261540402]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.3485463136644895,-1.7277435273105826,0.71338606911949],"aabb_xy":[[-0.36617914925801703,-1.7453664733262055],[-0.3309134780709619,-1.7101205812949596]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.10089398691145923,-2.213000095390518,0.71338606911949],"aabb_xy":[[-0.13774453484844684,-2.250500096213551],[-0.06404343897447164,-2.1755000945674836]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.3621578586878216,0.7562039550967836,0.71338606911949],"aabb_xy":[[0.29815785700982417,0.7076865636174693],[0.4261578603658189,0.8047213465760977]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.2038263816284816,-1.9745785832848854,0.71338606911949],"aabb_xy":[[-0.283826380215801,-2.0538941852230455],[-0.12382638304116216,-1.895262981346724]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.031932702136748925,1.3414999654531736,0.71338606911949],"aabb_xy":[[-0.048067298936371405,1.331721919115789],[0.11193270320986926,1.3512780117905578]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.5917310362053398,-1.3701752171124284,0.71338606911949],"aabb_xy":[[-0.6417084530705933,-1.4201752186016767],[-0.5417536193400861,-1.3201752156231796]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.5954142415323944,-1.751414635273802,0.71338606911949],"aabb_xy":[[0.5701934046725546,-1.7766383861266886],[0.620635078392234,-1.726190884420915]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.3767402630827531,-2.2723806941656814,0.71338606911949],"aabb_xy":[[-0.4317334744198899,-2.327380694504475],[-0.32174705174561635,-2.217380693826888]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.508794514017635,-2.224773722651395,0.71338606911949],"aabb_xy":[[-0.5286855538979753,-2.2374295339360923],[-0.48890347413729485,-2.2121179113666987]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[0.5217235778697589,1.3959817494224915,0.71338606911949],"aabb_xy":[[0.5084926323350775,1.3827543304004921],[0.53495452340444,1.409209168444491]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.5814322596006412,-2.0994382823106426,0.71338606911949],"aabb_xy":[[-0.6364322587772305,-2.1544279570856],[-0.5264322604240516,-2.044448607535685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714650271606211,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9666.png","name":"9666"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7483.png","name":"7483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/709.png","name":"709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3588.png","name":"3588"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":794.4099222345183,"rotation_z_degrees":230.53815016501082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015863824792588313,-0.00563297017830851,0.010809277495138502]},{"name":"camera_2","offset_m":[0.011801090254940794,-0.006611213569222044,-0.006684153310682742]},{"name":"camera_3","offset_m":[0.008316404770971321,0.002089531550005245,0.0012344379562572935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00031037564004681665,-0.001701419974186603,-0.0016027383586232076],"end_effector_yaw_offset_degrees":-0.7353232279119872},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0018933172115083879,0.00036850667801279326,-0.0007056813466252124],"end_effector_yaw_offset_degrees":-0.5531479762962057},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[2.5566000477568376e-05,-0.0017603403668840275,-0.0018610691300937556],"end_effector_yaw_offset_degrees":-0.49102749805170776}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004514112870063105,0.0027802254837589494],"position_m":[0.2768141128700631,0.20458022548375895,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011623820210697102,-0.0010441061147339423],"position_m":[0.24966238202106972,-0.13894410611473393,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0018735221649386312,0.0012044820657722078],"position_m":[0.35192647783506137,-0.003995517934227792,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009026547403084596,-0.004211542075259806],"position_m":[0.12669734525969154,0.41488845792474016,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004433783531111212,-0.0018189901072420632],"position_m":[0.2091337835311112,-0.4094189901072421,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b93eec13d9f2905058ca9131281fd6cf05a1fb9706a20e63230cbb7a2ee3a56","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_443/tex_ceiling_textures_3588/tex_floor_textures_709/tex_table_textures_9666/tex_wall_textures_7483","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5958563230958472470,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5958563230958472470,"visual_seed":5958563230958472470,"scene_id":"lab_003","finished_at":"2026-09-03T20:30:03"} +{"episode_id":"ep_000051","started_at":"2026-09-03T20:30:06","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.15142403150375183,-2.3500131835247737,0.71338606911949],"aabb_xy":[[-0.21542403372415886,-2.3943862676500625],[-0.0874240292833448,-2.305640099399486]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.5065112387289972,-1.5232015514998443,0.71338606911949],"aabb_xy":[[0.49773001158176106,-1.531981298788375],[0.5152924658762336,-1.5144218042113144]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.3556561069011664,-0.7021794772904295,0.71338606911949],"aabb_xy":[[-0.3605553992077299,-0.7298563965929983],[-0.3507568145946029,-0.6745025579878607]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.1629161299705204,0.9583539838252153,0.71338606911949],"aabb_xy":[[0.11774481212235144,0.894353986680677],[0.2080874478186894,1.0223539809697537]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.6643765222867848,1.7206741621951251,0.71338606911949],"aabb_xy":[[-0.6769792214238612,1.7080787659702596],[-0.6517738231497083,1.7332695584199906]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.7055775659526795,-1.0052155411416077,0.71338606911949],"aabb_xy":[[0.6948045920313117,-1.0402155393606467],[0.7163505398740473,-0.9702155429225687]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.21840792068457815,-0.5770803056419767,0.71338606911949],"aabb_xy":[[0.1384079235250029,-0.5886279065997937],[0.29840791784415344,-0.5655327046841596]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.6084472076711004,1.1729581691707947,0.71338606911949],"aabb_xy":[[-0.6784472098025298,1.1501962035450988],[-0.5384472055396707,1.19572013479649]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.3427342203398023,-2.086489806834101,0.71338606911949],"aabb_xy":[[-0.3649067473164531,-2.108665473990224],[-0.32056169336315143,-2.064314139677978]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.020653536835761988,-1.9553065285267865,0.71338606911949],"aabb_xy":[[-0.013808810562379812,-1.9898004109246088],[0.05511588423390378,-1.9208126461289634]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.09581049413556808,1.3184123041670643,0.71338606911949],"aabb_xy":[[0.08949839459922965,1.3126453649138454],[0.10212259367190651,1.3241792434202833]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.5066665051725396,0.49559009262359677,0.71338606911949],"aabb_xy":[[0.4366665033637942,0.4742363238594094],[0.5766665069812851,0.5169438613877841]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.18074828619557604,-0.8700598488358355,0.71338606911949],"aabb_xy":[[0.1747817472548402,-0.8760209934951996],[0.18671482513631177,-0.8640987041764715]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.4401657703757401,1.0702004658266242,0.71338606911949],"aabb_xy":[[-0.446579584018925,1.0637906455789556],[-0.4337519567325551,1.0766102860742923]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.2858973244485815,1.5779461424233179,0.71338606911949],"aabb_xy":[[0.253435623566654,1.5478133103084148],[0.3183590253305089,1.60807897453822]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.5721001576379051,0.06308362844185567,0.71338606911949],"aabb_xy":[[-0.6361001579118833,0.0130175282445677],[-0.5081001573639269,0.11314972863914363]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.0023471903498465396,1.6523273790116684,0.71338606911949],"aabb_xy":[[-0.06634718674541962,1.5883640905929348],[0.06165280604572654,1.716290667430402]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.5053121979906688,1.0764280463629747,0.71338606911949],"aabb_xy":[[-0.5204144994516867,1.0613265247319124],[-0.4902098965296506,1.0915295679940362]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.5571245532018738,0.823279534871777,0.71338606911949],"aabb_xy":[[0.532610929104868,0.7990149415697406],[0.5816381772988797,0.8475441281738135]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.04655152179339295,1.477826442301295,0.71338606911949],"aabb_xy":[[-0.018448480844400532,1.426346843601848],[0.11155152443118643,1.529306041000742]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.5989137891146501,-0.27267502921023823,0.71338606911949],"aabb_xy":[[-0.6589137907575718,-0.3246751785021824],[-0.5389137874717281,-0.22067487991829404]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.6029600566214386,-1.3737541878236919,0.71338606911949],"aabb_xy":[[0.5862829206283432,-1.3904541117976223],[0.6196371926145342,-1.3570542638497618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669208966953039,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7377.png","name":"7377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7377.png","name":"7377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4112.png","name":"4112"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9177.png","name":"9177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":544.5110444675253,"rotation_z_degrees":282.7892019284772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011979108167720284,0.004168616368185957,0.016768290230710744]},{"name":"camera_2","offset_m":[-0.009940153614947272,-0.005871381662341605,0.010597362105226694]},{"name":"camera_3","offset_m":[0.003747465329605685,0.014080616246514393,-0.018577430571353554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008644504528827405,-0.0011286421132323116,0.001858934268968836],"end_effector_yaw_offset_degrees":-0.41942566229555767},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007524710714199856,-0.0018151456971889442,0.0014572084100970373],"end_effector_yaw_offset_degrees":0.10668341923494618},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006296177709517112,0.00018793592680802634,-0.0015602462993654011],"end_effector_yaw_offset_degrees":-0.05424049229958472}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016641888571263565,0.001884755631935641],"position_m":[0.2706358111428736,0.20368475563193564,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008598074998417337,0.0008970879544260421],"position_m":[0.24935980749984174,-0.13700291204557397,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0018383000310268592,-0.0024711271566222695],"position_m":[0.35196169996897314,-0.007671127156622269,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004907144583655611,-7.518291078900934e-05],"position_m":[0.1325071445836556,0.41902481708921097,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000692828880952328,-0.0010227940039110785],"position_m":[0.20400717111904768,-0.4086227940039111,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"96774eda59ecdf859c88e96434fc5f5aba9078bd892891e5ff0f1bb604cc0291","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7377/tex_ceiling_textures_8807/tex_floor_textures_9177/tex_table_textures_8463/tex_wall_textures_4112","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8128818546149336593,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8128818546149336593,"visual_seed":8128818546149336593,"scene_id":"lab_003","finished_at":"2026-09-03T20:33:03"} +{"episode_id":"ep_000052","started_at":"2026-09-03T20:33:07","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.13744388062286395,1.0810329682850264,0.71338606911949],"aabb_xy":[[-0.14624593593183666,1.073221642130097],[-0.12864182531389123,1.0888442944399552]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.3328346028543951,1.6347256447193952,0.71338606911949],"aabb_xy":[[-0.341049147970079,1.6260490544217536],[-0.32462005773871105,1.6434022350170363]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.34213307181379093,0.9690706324846605,0.71338606911949],"aabb_xy":[[0.3348718242433835,0.9562836222211509],[0.34939431938419835,0.9818576427481699]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.564088675391564,-0.5607868476033029,0.71338606911949],"aabb_xy":[[-0.6140660922568175,-0.6107868490925513],[-0.5141112585263103,-0.5107868461140542]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.5076933748236151,0.1935865471270266,0.71338606911949],"aabb_xy":[[-0.5268056821815941,0.1744517682497846],[-0.48858106746563634,0.21272132600426863]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.5315946895213738,-1.645893815809997,0.71338606911949],"aabb_xy":[[-0.5737791036822045,-1.7098938160872081],[-0.48941027536054305,-1.5818938155327857]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.5053677733502914,-2.47703017927044,0.71338606911949],"aabb_xy":[[-0.5553410673535517,-2.5270301798249872],[-0.4553944793470308,-2.4270301787158925]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.5001104302589667,-0.34775311494077465,0.71338606911949],"aabb_xy":[[-0.5081537901849219,-0.4327531160361411],[-0.49206707033301156,-0.2627531138454082]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.4783058720322514,-1.2406097710766617,0.71338606911949],"aabb_xy":[[-0.5158058723244262,-1.2446512464772652],[-0.44080587174007657,-1.2365682956760582]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.3895356424593446,1.0825008088105346,0.71338606911949],"aabb_xy":[[0.3763843964880553,1.0575008090538482],[0.402686888430634,1.1075008085672213]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.5203366288844691,1.5376367108956486,0.71338606911949],"aabb_xy":[[-0.5553366280144247,1.5318914898199842],[-0.4853366297545134,1.5433819319713125]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.1618046770390169,1.3660884453771804,0.71338606911949],"aabb_xy":[[0.12430467637443819,1.350401387376958],[0.19930467770359558,1.3817755033774024]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[0.6965559836852993,1.5555292374691487,0.71338606911949],"aabb_xy":[[0.6788803530967008,1.537849021189746],[0.7142316142738975,1.5732094537485515]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.19818538016778453,0.6708407364795077,0.71338606911949],"aabb_xy":[[-0.21846968289118326,0.6505581113367988],[-0.17790107744438574,0.6911233616222164]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.49317961905627583,-0.7720274175456745,0.71338606911949],"aabb_xy":[[0.41317961798315556,-0.781805463883059],[0.5731796201293962,-0.7622493712082902]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.6372129050732122,-1.2809533824700043,0.71338606911949],"aabb_xy":[[-0.6824915199543613,-1.3449533818181882],[-0.5919342901920628,-1.2169533831218209]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.3648814699127819,1.2654582671197856,0.71338606911949],"aabb_xy":[[-0.42988147086990913,1.2135100551860798],[-0.2998814689556547,1.317406479053491]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.2677637227356852,0.35387308373157245,0.71338606911949],"aabb_xy":[[-0.317763723686218,0.322323936728051],[-0.2177637217851524,0.3854222307350938]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.07103038003001638,0.1856844590399609,0.71338606911949],"aabb_xy":[[-0.077532016538021,0.17591663701365112],[-0.06452874352201177,0.1954522810662707]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.09977448356739715,-2.522860721372724,0.71338606911949],"aabb_xy":[[-0.15477448274398664,-2.577850396147681],[-0.04477448439080765,-2.467871046597766]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.5384304032013,-0.7193185861802904,0.71338606911949],"aabb_xy":[[-0.5573147869698102,-0.7382045109606432],[-0.5195460194327898,-0.7004326613999377]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.23948791034573363,-1.6506749177867577,0.71338606911949],"aabb_xy":[[-0.32948791402265176,-1.7121073243638616],[-0.14948790666881542,-1.5892425112096529]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.3568979999939019,0.38375342702558113,0.71338606911949],"aabb_xy":[[0.34429530085682547,0.3711580308007156],[0.3695006991309784,0.39634882325044657]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.5850793844236548,-2.3247853600573,0.71338606911949],"aabb_xy":[[0.5050793829935275,-2.4043025150699093],[0.6650793858537819,-2.2452682050446904]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[0.5190143633324025,-0.14163568472222066,0.71338606911949],"aabb_xy":[[0.4550143669368295,-0.2055989731409542],[0.5830143597279757,-0.0776723963034871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666267108541274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9837.png","name":"9837"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9837.png","name":"9837"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3108.png","name":"3108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8106.png","name":"8106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7642.png","name":"7642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/601.png","name":"601"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":636.0102452702756,"rotation_z_degrees":295.1922132871297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011282769618364235,-0.012796974785875128,0.01193607037370412]},{"name":"camera_2","offset_m":[-0.010778951529205006,0.012445480588176776,0.009444501304524833]},{"name":"camera_3","offset_m":[-0.0025540275799861185,-0.018696725402029067,-0.015863041813650662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006437682603057937,0.0016449392247226357,0.001025846453348911],"end_effector_yaw_offset_degrees":-0.30070711107412906},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002647544965793914,0.00021951306243373023,-0.001612389748045782],"end_effector_yaw_offset_degrees":0.1758498922324212},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001149992668464273,-0.00033693325156284584,-5.801408094326154e-05],"end_effector_yaw_offset_degrees":0.18198675852027457}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-3.944325695464171e-05,-0.00170211112759744],"position_m":[0.27226055674304533,0.20009788887240257,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032148905461214417,0.0011626987198893567],"position_m":[0.24528510945387855,-0.13673730128011063,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001257679843476466,-0.002933298753383503],"position_m":[0.35505767984347647,-0.008133298753383502,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018291044500294974,-0.004009516848618043],"position_m":[0.1257708955499705,0.4150904831513819,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008937171105308653,-0.00021454425464471037],"position_m":[0.20380628288946911,-0.40781454425464475,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b1256d174168405a00f0e1712e693dc4d2c1d1fa9ff017819089a7401eee6b9","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9837/tex_ceiling_textures_601/tex_floor_textures_7642/tex_table_textures_3108/tex_wall_textures_8106","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":71310341427083534,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":71310341427083534,"visual_seed":71310341427083534,"scene_id":"lab_003","finished_at":"2026-09-03T20:36:21"} +{"episode_id":"ep_000053","started_at":"2026-09-03T20:36:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.40342155034756244,-0.9528276413072767,0.71338606911949],"aabb_xy":[[0.3999808741075053,-0.9566890742816413],[0.40686222658761967,-0.9489662083329123]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.23237567541439696,-2.198965374792232,0.71338606911949],"aabb_xy":[[0.1823756750538309,-2.248945362001835],[0.28237567577496303,-2.1489853875826292]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.6944717846138613,-2.5388722028667305,0.71338606911949],"aabb_xy":[[0.6868475165236831,-2.5465054264032747],[0.7020960527040396,-2.5312389793301873]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.6619961207351754,-0.23811491512785699,0.71338606911949],"aabb_xy":[[0.6269961193836937,-0.25847465108467776],[0.6969961220866572,-0.21775517917103612]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.5008189602522017,-2.402221323204124,0.71338606911949],"aabb_xy":[[0.46402432712729547,-2.439127198300706],[0.537613593377108,-2.3653154481075416]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.6784159625722295,-1.6429484405669266,0.71338606911949],"aabb_xy":[[0.6608376603832825,-1.6605229301410316],[0.6959942647611762,-1.6253739509928216]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.6832780018363924,-1.8815381107857783,0.71338606911949],"aabb_xy":[[0.6488155238233045,-1.888201787968701],[0.7177404798494801,-1.8748744336028556]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[0.2458138485409027,0.477054252682819,0.71338606911949],"aabb_xy":[[0.23703262139366651,0.46827450539428894],[0.254595075688139,0.48583399997134924]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.5027944191286309,0.37102331080922646,0.71338606911949],"aabb_xy":[[-0.5174378246826639,0.3563645911524422],[-0.4881510135745979,0.38568203046601074]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.4763877766726994,0.603892118509008,0.71338606911949],"aabb_xy":[[0.3963877752425722,0.5243749634963986],[0.5563877781028266,0.6834092735216175]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.4264458273710383,-1.4348051308731298,0.71338606911949],"aabb_xy":[[0.40394582784733085,-1.45730107832375],[0.44894582689474566,-1.4123091834225086]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.2754294771611221,1.0553500999593695,0.71338606911949],"aabb_xy":[[-0.2929294762954892,1.0454704729217816],[-0.25792947802675487,1.0652297269969573]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.5601695132584003,-0.8693229028131153,0.71338606911949],"aabb_xy":[[-0.597669514774032,-0.8805496758292602],[-0.5226695117427685,-0.8580961297969701]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.1243279297782931,1.169034019539577,0.71338606911949],"aabb_xy":[[0.11989730042345292,1.1635856478048945],[0.12875855913313328,1.1744823912742595]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.28756945887202956,-1.6769880406132718,0.71338606911949],"aabb_xy":[[0.21756945706328412,-1.6983418093774594],[0.357569460680775,-1.6556342718490846]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.6480083638867657,0.3700980793693689,0.71338606911949],"aabb_xy":[[-0.6823246410613836,0.32009807939619117],[-0.6136920867121477,0.4200980793425466]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.5043803895072039,-1.4410701626310505,0.71338606911949],"aabb_xy":[[-0.5943803931841218,-1.502502569208154],[-0.41438038583028547,-1.3796377560539455]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.09119049667746759,-1.8074590675374138,0.71338606911949],"aabb_xy":[[-0.10295868347212514,-1.8924590674426354],[-0.07942230988281009,-1.7224590676321923]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.029202509753408656,-2.4663509432475017,0.71338606911949],"aabb_xy":[[-0.05111119189275969,-2.488251610067592],[-0.007293827614057606,-2.4444502764274105]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.07979906271064263,1.4832660038331222,0.71338606911949],"aabb_xy":[[-0.12979906135656383,1.4333464601736599],[-0.029799064064721437,1.5331855474925846]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[-0.023722266330937436,0.8145534558637864,0.71338606911949],"aabb_xy":[[-0.033803973409510905,0.7345534579716716],[-0.013640559252363953,0.8945534537559009]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653384319510313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1866.png","name":"1866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1866.png","name":"1866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2343.png","name":"2343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/593.png","name":"593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5404.png","name":"5404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.1533377426441,"rotation_z_degrees":266.88816381941876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01978739966785775,-0.007753202936198243,-0.0061884747451611995]},{"name":"camera_2","offset_m":[-0.012271828806181717,-0.011353283208257401,0.013837676764361793]},{"name":"camera_3","offset_m":[-0.011311106945843332,0.007290292117658016,-0.019665447378526726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001034392091082387,0.0006922428486481579,0.0008279019136389785],"end_effector_yaw_offset_degrees":0.35322113792387677},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003559405007235142,0.0009338712070823827,-0.0003318071633208804],"end_effector_yaw_offset_degrees":-0.7532539078945648},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004911563721648039,0.0018485472599921375,0.0010417347792371096],"end_effector_yaw_offset_degrees":-0.22182706021840826}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025809969372342038,0.0028901467974018135],"position_m":[0.27488099693723417,0.20469014679740183,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004768421139754771,0.0013050777239749156],"position_m":[0.2532684211397548,-0.13659492227602507,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016019497027372487,0.0016868383568488174],"position_m":[0.35219805029726275,-0.0035131616431511824,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[7.2541475343414555e-06,0.002155133187504173],"position_m":[0.12760725414753432,0.4212551331875041,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002639225019673772,-0.0009490514572254556],"position_m":[0.2020607749803262,-0.4085490514572255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cbcdbb89204f3d8a0c8017b7c369b4d370a3f38ee4bef53ce8828d4211f70e0c","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1866/tex_ceiling_textures_3826/tex_floor_textures_5404/tex_table_textures_2343/tex_wall_textures_593","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7006684283883796761,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7006684283883796761,"visual_seed":7006684283883796761,"scene_id":"lab_003","finished_at":"2026-09-03T20:39:25"} +{"episode_id":"ep_000054","started_at":"2026-09-03T20:39:30","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.23825669683514794,1.561124713003323,0.71338606911949],"aabb_xy":[[0.2274050905862723,1.550265422275672],[0.2491083030840235,1.571984003730974]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.0682241654779363,-2.4803773033570744,0.71338606911949],"aabb_xy":[[-0.12322416367968113,-2.5208992699835115],[-0.013224167276191466,-2.4398553367306364]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.11221251634275953,0.5897198357780189,0.71338606911949],"aabb_xy":[[-0.11754503099737251,0.5843955075327834],[-0.10688000168814654,0.5950441640232544]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.3948586484880282,-0.25864867951968407,0.71338606911949],"aabb_xy":[[-0.45985864944515537,-0.31059689145338965],[-0.32985864753090094,-0.20670046758597851]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.6665999415077064,0.3936956735465018,0.71338606911949],"aabb_xy":[[0.6252953984439703,0.3296956739783847],[0.7079044845714423,0.45769567311461884]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.6136284150543648,-0.27427404655093834,0.71338606911949],"aabb_xy":[[-0.6776284123567111,-0.31864047351879504],[-0.5496284177520183,-0.22990761958308154]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.6270886394490649,0.20297406634620163,0.71338606911949],"aabb_xy":[[0.5770886390884987,0.15299407913659865],[0.6770886398096309,0.2529540535558045]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.37661670674052683,-2.058730829107537,0.71338606911949],"aabb_xy":[[-0.3805771905102612,-2.066398693693058],[-0.3726562229707925,-2.051062964522017]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.43750732680489324,-1.6570144301941798,0.71338606911949],"aabb_xy":[[0.4025073284941978,-1.6647294451177255],[0.4725073251155887,-1.6492994152706342]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.5535611344165201,1.6161645955929678,0.71338606911949],"aabb_xy":[[-0.6335611365792826,1.536209411966824],[-0.4735611322537576,1.6961197792191112]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.20474478492368953,-1.7146341576089483,0.71338606911949],"aabb_xy":[[0.12474478694290446,-1.7222356985708],[0.2847447829044745,-1.7070326166470962]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.03035276206914439,-0.8819772483917272,0.71338606911949],"aabb_xy":[[-0.11035275908339237,-0.9021118000651385],[0.04964723494510359,-0.8618426967183159]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.24982071964849423,-0.867856792274248,0.71338606911949],"aabb_xy":[[-0.26072649573605694,-0.947856788673077],[-0.23891494356093151,-0.7878567958754187]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.32446728519657597,0.8193215821019484,0.71338606911949],"aabb_xy":[[0.24446728376644872,0.7398044270893388],[0.4044672866267031,0.8988387371145578]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.5260773929986562,-0.640117908450833,0.71338606911949],"aabb_xy":[[0.5039048660220052,-0.6622935756069562],[0.5482499199753069,-0.6179422412947099]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.07451955686884149,-0.200224392207903,0.71338606911949],"aabb_xy":[[-0.1157683678987562,-0.2552243917201204],[-0.033270745838926745,-0.14522439269568552]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.07651788408271576,-1.5196942303019556,0.71338606911949],"aabb_xy":[[0.02651788543679455,-1.5696137739614178],[0.12651788272863695,-1.469774686642493]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.20300808937388093,1.050247680230144,0.71338606911949],"aabb_xy":[[0.15319130990904617,1.0002476817458406],[0.2528248688387157,1.1002476787144473]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.31925570554122046,0.4733082037843732,0.71338606911949],"aabb_xy":[[-0.3241549978477839,0.4456312844818044],[-0.3143564132346569,0.500985123086942]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.5288340010416079,-1.4042798638870457,0.71338606911949],"aabb_xy":[[-0.5787166979193041,-1.4542798631333205],[-0.47895130416391174,-1.354279864640771]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.31387821373160163,-1.4538893063726996,0.71338606911949],"aabb_xy":[[0.2238782100546834,-1.5153217129498036],[0.4038782174085197,-1.392456899795595]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.4355757742771691,0.19657737015016252,0.71338606911949],"aabb_xy":[[0.42765249403842076,0.17407736991215916],[0.4434990545159174,0.21907737038816588]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.6506581394403608,1.548966097508592,0.71338606911949],"aabb_xy":[[0.6171789721793198,1.5154869841374852],[0.6841373067014017,1.5824452108796991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610395361640552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1299.png","name":"1299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/931.png","name":"931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3303.png","name":"3303"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.9689227628338,"rotation_z_degrees":154.82992134377497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019223550271206643,0.007992438503316192,-0.019741282430018218]},{"name":"camera_2","offset_m":[0.018022000188790892,-0.014665367075151035,0.0021990426763422548]},{"name":"camera_3","offset_m":[0.018926455832882962,-0.01896658386949263,0.017041626267663253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.402266581326466e-05,0.00040894099132028974,0.0005336710822708948],"end_effector_yaw_offset_degrees":-0.920344430500172},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00032625115028219213,0.0005651873017143961,-0.0012946941809416357],"end_effector_yaw_offset_degrees":0.42676756437426167},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007359192525904614,0.00039213101503170244,-0.000246192163877701],"end_effector_yaw_offset_degrees":-0.9165179552340148}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004604138838416098,-7.738238224641592e-05],"position_m":[0.2676958611615839,0.2017226176177536,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004731904511892124,-0.002732835293872935],"position_m":[0.24376809548810788,-0.14063283529387294,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0035781495676867423,0.0034068269513771584],"position_m":[0.35022185043231324,-0.0017931730486228413,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004372199097701914,0.004720319025374445],"position_m":[0.12322780090229808,0.4238203190253744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004748537634825454,0.003346006457179757],"position_m":[0.19995146236517453,-0.40425399354282027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a749d74600cc370b8fe67fff7e689cfcfbbe76177cdd5e2e71b42575e600fa0d","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_308/tex_ceiling_textures_3303/tex_floor_textures_5900/tex_table_textures_1299/tex_wall_textures_931","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4315042413713601876,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4315042413713601876,"visual_seed":4315042413713601876,"scene_id":"lab_003","finished_at":"2026-09-03T20:42:39"} +{"episode_id":"ep_000055","started_at":"2026-09-03T20:46:05","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.22029243644091173,-1.527032232411922,0.71338606911949],"aabb_xy":[[-0.2297099110107745,-1.5364484095496411],[-0.210874961871049,-1.517616055274203]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.4235367963816635,-0.5896784493367022,0.71338606911949],"aabb_xy":[[-0.42761495428871327,-0.5937594295849655],[-0.4194586384746138,-0.5855974690884389]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.579451086483413,-0.4948030722177612,0.71338606911949],"aabb_xy":[[0.5194510866368462,-0.5516216944107999],[0.6394510863299798,-0.43798445002472247]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.6983440249159378,-2.3537178596826855,0.71338606911949],"aabb_xy":[[0.6816668889228423,-2.370417783656616],[0.7150211609090333,-2.3370179357087553]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.3280651646994852,-0.8762784022850183,0.71338606911949],"aabb_xy":[[-0.3334027403654898,-0.9012784032141581],[-0.32272758903348064,-0.8512784013558785]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.34970112085157234,-1.2776914314268033,0.71338606911949],"aabb_xy":[[-0.37470112040331083,-1.287833915291938],[-0.32470112129983386,-1.2675489475616686]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.10800831226079377,0.2696432486741527,0.71338606911949],"aabb_xy":[[-0.14300831145361204,0.25867620267649],[-0.07300831306797549,0.28061029467181525]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.5636711181242606,0.49842322937484607,0.71338606911949],"aabb_xy":[[0.5461711188461738,0.4810851293085001],[0.5811711174023475,0.515761329441192]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.2723014053471309,1.409102879967878,0.71338606911949],"aabb_xy":[[-0.283663140000417,1.3977344135615897],[-0.26093967069384466,1.4204713463741658]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.682065465014303,-2.266828762302371,0.71338606911949],"aabb_xy":[[-0.6881024780149678,-2.2728554633713194],[-0.6760284520136384,-2.260802061233423]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.3267424546231925,1.2010356024864874,0.71338606911949],"aabb_xy":[[0.27674245296169775,1.1510371602307845],[0.3767424562846873,1.25103404474219]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[0.6392379255710032,1.617097486036998,0.71338606911949],"aabb_xy":[[0.5892536898628259,1.5670974872235022],[0.6892221612791803,1.6670974848504934]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.44781552532167557,0.32503699559654464,0.71338606911949],"aabb_xy":[[-0.5028155249434214,0.27005330280907197],[-0.3928155256999298,0.3800206883840174]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[-0.5700970693812283,1.7514192150573051,0.71338606911949],"aabb_xy":[[-0.607597070566021,1.7470009923612442],[-0.5325970681964354,1.7558374377533652]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.11932502395916245,-2.4931391872311734,0.71338606911949],"aabb_xy":[[0.0543250258032434,-2.5194354317810856],[0.1843250221150815,-2.4668429426812613]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.14498089923231972,-1.289100163685811,0.71338606911949],"aabb_xy":[[0.1280701667959779,-1.3025723692784255],[0.16189163166866147,-1.2756279580931962]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.18224730888830376,-2.453774120059693,0.71338606911949],"aabb_xy":[[-0.2197473089938967,-2.460596281912674],[-0.14474730878271078,-2.446951958206711]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.09784977471754852,-0.9467906117654847,0.71338606911949],"aabb_xy":[[-0.14784977429388324,-0.9967711907175907],[-0.047849775141213816,-0.8968100328133788]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.5240552475631437,-0.8316299281540407,0.71338606911949],"aabb_xy":[[-0.5690552490293725,-0.8766297850155215],[-0.47905524609691486,-0.7866300712925601]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.614481986607304,0.9399370998789229,0.71338606911949],"aabb_xy":[[-0.659653304455473,0.8759371027343847],[-0.569310668759135,1.0039370970234616]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.39749814622027846,-1.2920741197011574,0.71338606911949],"aabb_xy":[[0.31749814881668503,-1.37206669089934],[0.4774981436238719,-1.2120815485029743]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.6220615381479528,1.317847011253972,0.71338606911949],"aabb_xy":[[0.567061539946208,1.2773250446275344],[0.6770615363496977,1.3583689778804096]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.11722673485744506,-1.34077227803605,0.71338606911949],"aabb_xy":[[-0.1332886623159627,-1.4257722798486416],[-0.10116480739892741,-1.255772276223458]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.3875948431407861,1.2145699769570593,0.71338606911949],"aabb_xy":[[-0.41874176198436924,1.144569978270252],[-0.356447924297203,1.2845699756438664]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.6423973797045313,1.7665003559970347,0.71338606911949],"aabb_xy":[[0.622506339824191,1.753844544712338],[0.6622884195848715,1.7791561672817318]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.43220815990149974,-0.934498377847232,0.71338606911949],"aabb_xy":[[0.42342693275426363,-0.9432781251357624],[0.4409893870487361,-0.9257186305587021]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.31408041110536966,-2.476592402383852,0.71338606911949],"aabb_xy":[[0.2962113033509141,-2.490425310361063],[0.3319495188598251,-2.462759494406641]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616857677258265,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6356.png","name":"6356"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/574.png","name":"574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2737.png","name":"2737"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":530.4627234769807,"rotation_z_degrees":43.5686680864168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015132542562946636,0.0054788910087959115,-0.006049393388900422]},{"name":"camera_2","offset_m":[0.011184995438026344,0.01261594970775887,-0.010631894781791279]},{"name":"camera_3","offset_m":[-0.019148039044826298,-0.004557827334183574,0.012423617423669136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00036671460279559184,0.0016268358348751166,-2.3386845209581817e-05],"end_effector_yaw_offset_degrees":0.05068786873665454},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000701705491538068,0.00021149730047721619,0.0014227571564913522],"end_effector_yaw_offset_degrees":-0.5878471956423224},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001779128238343659,0.0009412348552774339,-0.0012728076499890783],"end_effector_yaw_offset_degrees":-0.9785652741324657}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000873444934017851,-0.0012105841654424564],"position_m":[0.27317344493401785,0.20058941583455756,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020972332357802794,0.001314636240556658],"position_m":[0.2464027667642197,-0.13658536375944333,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002797360825328865,0.003934948925045958],"position_m":[0.3510026391746711,-0.0012650510749540418,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006607064830233831,-0.0030617804083974587],"position_m":[0.12826070648302337,0.41603821959160253,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003726408649140041,0.003612552081132884],"position_m":[0.20097359135085996,-0.40398744791886715,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"97b1341f7a8e347f6c70b9640d028d4becbde4bc7efb371dec8bd150f463da51","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3158/tex_ceiling_textures_2737/tex_floor_textures_574/tex_table_textures_9271/tex_wall_textures_6356","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":678770174427127159,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":678770174427127159,"visual_seed":678770174427127159,"scene_id":"lab_003","finished_at":"2026-09-03T20:48:59"} +{"episode_id":"ep_000056","started_at":"2026-09-03T20:49:02","dimensions":{"distractor":{"count":30,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.5329367087036798,-1.3314197187993222,0.71338606911949],"aabb_xy":[[-0.612936705863255,-1.342967319757139],[-0.4529367115441044,-1.319872117841505]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.4781585987843502,1.2763227695174475,0.71338606911949],"aabb_xy":[[0.4701651089890682,1.268324637576972],[0.48615208857963227,1.284320901457923]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.25901394073893697,1.6797755823997567,0.71338606911949],"aabb_xy":[[-0.3240139417394375,1.6289892172450817],[-0.19401393973843645,1.7305619475544316]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.485327706278076,-2.238776883194183,0.71338606911949],"aabb_xy":[[-0.4925889538484834,-2.2515638934576927],[-0.47806645870766856,-2.2259898729306737]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.30456875990465887,-1.3844875372653345,0.71338606911949],"aabb_xy":[[-0.31161021085540647,-1.3915142890031291],[-0.2975273089539113,-1.3774607855275403]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.31111113885773517,1.3234446249917555,0.71338606911949],"aabb_xy":[[-0.36110597178567677,1.273444626096512],[-0.26111630592979357,1.373444623886999]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.18921683373503373,-0.12954784091730875,0.71338606911949],"aabb_xy":[[-0.20671683399437038,-0.14363938310608138],[-0.1717168334756971,-0.11545629872853613]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.12632710778893297,-0.5643675366427727,0.71338606911949],"aabb_xy":[[-0.12976778402899014,-0.5682289696171372],[-0.1228864315488758,-0.5605061036684083]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.13649253343357493,1.2354624482774375,0.71338606911949],"aabb_xy":[[0.1139788416101177,1.1654624476764297],[0.1590062252570321,1.3054624488784448]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.5159188423211076,-1.9057493249605963,0.71338606911949],"aabb_xy":[[-0.5283862004308433,-1.9182146495939199],[-0.503451484211372,-1.8932840003272728]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.6355499995595224,0.857146155939827,0.71338606911949],"aabb_xy":[[0.5705499995252197,0.8104454792594997],[0.7005499995938251,0.9038468326201543]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.3419736846914317,-2.2427706999042205,0.71338606911949],"aabb_xy":[[-0.3484753211994363,-2.2525385219305303],[-0.3354720481834271,-2.2330028778779107]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.5635394937063483,1.493507929367603,0.71338606911949],"aabb_xy":[[0.5260394935344762,1.4608071939846954],[0.6010394938782201,1.5262086647505098]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.1799285444135339,-1.1684309280424854,0.71338606911949],"aabb_xy":[[-0.19280044791447407,-1.2484309284563213],[-0.16705664091259378,-1.088430927628649]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.28866979284353134,-0.7910382777572544,0.71338606911949],"aabb_xy":[[0.27690160604887387,-0.8760382776624762],[0.3004379796381889,-0.706038277852033]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.6254816120558879,-0.23885031047869054,0.71338606911949],"aabb_xy":[[-0.6754747241650799,-0.2888503111528862],[-0.5754884999466962,-0.18885030980449494]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.06859357562249291,-1.0452838609329342,0.71338606911949],"aabb_xy":[[0.05116286054348639,-1.0625559755967846],[0.0860242907014994,-1.028011746269083]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.4575817833591467,0.22107609046055376,0.71338606911949],"aabb_xy":[[-0.46171763969184687,0.18357609101619676],[-0.4534459270264465,0.25857608990491077]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.4353776184832776,1.6687487589055148,0.71338606911949],"aabb_xy":[[0.42896380484009256,1.662338938657846],[0.44179143212646244,1.6751585791531827]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.603277601622592,-1.3082532186917466,0.71338606911949],"aabb_xy":[[0.5232775983585789,-1.32181325100066],[0.6832776048866052,-1.2946931863828333]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.08992034797830262,-0.6217793827213649,0.71338606911949],"aabb_xy":[[0.08621708664916373,-0.6254814010300828],[0.09362360930744147,-0.618077364412647]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.35833915263802996,0.8991155278237852,0.71338606911949],"aabb_xy":[[0.2746169271379475,0.8091155242890893],[0.4420613781381124,0.9891155313584812]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.5741547597190039,-0.554213780957487,0.71338606911949],"aabb_xy":[[-0.5835017673012991,-0.568517403175131],[-0.5648077521367086,-0.5399101587398429]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[0.428137997330041,0.599186011681196,0.71338606911949],"aabb_xy":[[0.40455287386614613,0.5341860094357642],[0.45172312079393584,0.6641860139266278]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.40746016812316194,-1.7999820846618277,0.71338606911949],"aabb_xy":[[-0.412792682777775,-1.8053064129070633],[-0.402127653468549,-1.7946577564165922]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[-0.3746729517484893,-1.6142082762409942,0.71338606911949],"aabb_xy":[[-0.4386729534264866,-1.6627256677203082],[-0.3106729500704919,-1.5656908847616797]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.0773382040705356,-0.9403207966783849,0.71338606911949],"aabb_xy":[[-0.09922795165947638,-1.030320793967634],[-0.05544845648159479,-0.8503207993891357]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.4868594985822403,1.0630716675583831,0.71338606911949],"aabb_xy":[[0.41685949594565397,1.0429668025625174],[0.5568595012188267,1.0831765325542484]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.26893219453448425,1.4502221681727616,0.71338606911949],"aabb_xy":[[0.1889321940642683,1.4419114605584133],[0.3489321950047002,1.4585328757871099]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[0.25575485850851853,-1.9644406944058748,0.71338606911949],"aabb_xy":[[0.16575485617449948,-2.0419230489909874],[0.3457548608425376,-1.886958339820762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6727598241970066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3052.png","name":"3052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3052.png","name":"3052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1508.png","name":"1508"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":584.4509356797522,"rotation_z_degrees":90.08580721396858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007699467771444809,-0.0026542197993133995,0.0015120871373601394]},{"name":"camera_2","offset_m":[0.001156185312814157,-0.016810485257876154,0.004983375287241673]},{"name":"camera_3","offset_m":[0.011654801209585734,0.0019163297835218251,0.00019497822424904832]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019829873945610595,0.0013389588193027518,-0.0016305628976605539],"end_effector_yaw_offset_degrees":-0.2348094577899098},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005325636988127627,0.0019413145104622866,0.0015892360782469067],"end_effector_yaw_offset_degrees":-0.9206459767493733},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017773639308772495,0.0004347329389841827,0.0010101456953754708],"end_effector_yaw_offset_degrees":-0.7302333953913152}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012537249291866958,-0.003184030923492417],"position_m":[0.27355372492918667,0.19861596907650758,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002846918352613706,-0.004970775490586626],"position_m":[0.24878469183526136,-0.14287077549058663,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003935152444527401,-0.002191329825653281],"position_m":[0.3498648475554726,-0.00739132982565328,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004866487708632082,0.004268909160492875],"position_m":[0.13246648770863206,0.42336890916049286,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004750201757777528,-0.003529525221728145],"position_m":[0.2094502017577775,-0.4111295252217282,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"68f9ede6a0e17e17258e608a9133b8f1182c5b9edb80235db3ff6305d1755e8c","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3052/tex_ceiling_textures_1508/tex_floor_textures_6655/tex_table_textures_1684/tex_wall_textures_716","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8781954645172066220,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8781954645172066220,"visual_seed":8781954645172066220,"scene_id":"lab_003","finished_at":"2026-09-03T20:51:52"} +{"episode_id":"ep_000057","started_at":"2026-09-03T20:51:54","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.044486253985634105,-2.2781113835225804,0.71338606911949],"aabb_xy":[[-0.05152770493638171,-2.285138135260375],[-0.037444803034886516,-2.271084631784786]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.3351642052567561,-0.2710036441079726,0.71338606911949],"aabb_xy":[[-0.3676259061386835,-0.3011364762228752],[-0.3027025043748286,-0.24087081199306998]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.2672242735453032,1.1128732908029173,0.71338606911949],"aabb_xy":[[-0.31722427456443847,1.0764070750650896],[-0.21722427252616794,1.1493395065407455]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.48112275667254156,-1.364316299485615,0.71338606911949],"aabb_xy":[[0.477208883477119,-1.3730653148921717],[0.48503662986796403,-1.355567284079058]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.43697742671310125,1.400779263426926,0.71338606911949],"aabb_xy":[[0.38697742713676664,1.3507986844748203],[0.4869774262894361,1.4507598423790322]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.4961600114897427,0.32552554153445934,0.71338606911949],"aabb_xy":[[-0.5190757243747927,0.3026212443980359],[-0.4732442986046929,0.3484298386708829]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[0.466438982945953,0.7992065724539366,0.71338606911949],"aabb_xy":[[0.41645474723777576,0.749206573640441],[0.5164232186541302,0.8492065712674322]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[0.1515940965331185,-0.6203349080142395,0.71338606911949],"aabb_xy":[[0.1455570835324538,-0.6263616090831877],[0.15763110953378326,-0.6143082069452913]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.4382241968289948,1.5865728601471436,0.71338606911949],"aabb_xy":[[0.43023070703371297,1.5785747282066682],[0.446217686624277,1.5945709920876194]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.6690068596150871,-0.16280283411360186,0.71338606911949],"aabb_xy":[[0.6513312290264887,-0.18048305039300458],[0.6866824902036853,-0.14512261783419908]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.03653475033888742,-2.1501818245744637,0.71338606911949],"aabb_xy":[[0.002237839321146795,-2.1844787107844046],[0.07083166135662805,-2.115884938364522]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.4951944282544387,0.6213080166252865,0.71338606911949],"aabb_xy":[[-0.532694428751797,0.617339333077168],[-0.4576944277570805,0.6252767001734049]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.18546056694386148,-2.497627224418475,0.71338606911949],"aabb_xy":[[-0.203329674698317,-2.511460132395686],[-0.16759145918940602,-2.483794316441264]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.18645553175758056,-2.2449633963105833,0.71338606911949],"aabb_xy":[[0.1750937971042944,-2.256331862716871],[0.19781726641086672,-2.2335949299042945]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.1548695846134912,-2.167985717104632,0.71338606911949],"aabb_xy":[[0.1374388695344847,-2.185257831768482],[0.17230029969249772,-2.150713602440781]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.3662231132520823,-2.2985729592543245,0.71338606911949],"aabb_xy":[[-0.416223114913577,-2.3485714015100267],[-0.31622311159058747,-2.2485745169986213]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.06301140541877304,1.3345191015287634,0.71338606911949],"aabb_xy":[[0.05742973378464427,1.322019101710988],[0.06859307705290178,1.347019101346539]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.035019602284046325,1.5935839307272128,0.71338606911949],"aabb_xy":[[-0.07251960210107988,1.5889457194160708],[0.002480397532987233,1.5982221420383544]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.4191944314584821,-0.5321309683462148,0.71338606911949],"aabb_xy":[[0.4128823319221437,-0.5378979075994336],[0.42550653099482055,-0.526364029092996]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.2395614899814839,-1.9729927110751002,0.71338606911949],"aabb_xy":[[-0.251433572992985,-2.0579927107687506],[-0.2276894069699828,-1.8879927113814499]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.4876224583189744,1.6280412196106684,0.71338606911949],"aabb_xy":[[-0.5516224556213207,1.5836747926428114],[-0.423622461016628,1.672407646578525]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.5709109865278921,-1.5104203825830314,0.71338606911949],"aabb_xy":[[0.5069109861503585,-1.5601656494338434],[0.6349109869054257,-1.4606751157322189]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.5213773443233409,-2.399888324413378,0.71338606911949],"aabb_xy":[[0.4313773475877307,-2.4530717877306722],[0.6113773410589511,-2.3467048610960832]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.08376010044450277,-1.771795590230099,0.71338606911949],"aabb_xy":[[-0.08865939275106627,-1.7994725095326676],[-0.07886080813793928,-1.74411867092753]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[-0.29140046092315375,-1.32407361502175,0.71338606911949],"aabb_xy":[[-0.37140046418099665,-1.4040701228137338],[-0.21140045766531074,-1.2440771072297658]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[0.01719199735056598,-1.8887758060735402,0.71338606911949],"aabb_xy":[[-0.03682359893133402,-1.9527758089657972],[0.07120759363246598,-1.8247758031812829]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[0.49306206235739625,1.1851157730574582,0.71338606911949],"aabb_xy":[[0.42806206380032336,1.1553632396435756],[0.5580620609144691,1.2148683064713408]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[0.6445392151448301,0.6433651227801351,0.71338606911949],"aabb_xy":[[0.6270392158667434,0.6260270227137892],[0.6620392144229171,0.6607032228464811]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.5796687465310603,0.08734554338130707,0.71338606911949],"aabb_xy":[[-0.6696687451255303,0.07109495706788606],[-0.48966874793659043,0.1035961296947281]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.13303977240139864,1.3076461965922044,0.71338606911949],"aabb_xy":[[-0.14008008233493563,1.227646197192533],[-0.12599946246786164,1.3876461959918758]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[-0.32549603183795556,-1.8141185621600107,0.71338606911949],"aabb_xy":[[-0.3363476380868311,-1.8249778528876617],[-0.3146444255890799,-1.8032592714323596]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[0.47189144274042305,0.5735737008953388,0.71338606911949],"aabb_xy":[[0.4590195392394829,0.49357370048150256],[0.4847633462413632,0.6535737013091748]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_32","position":[0.4881923024556156,-1.8380889342686966,0.71338606911949],"aabb_xy":[[0.4835571873033822,-1.841956269345845],[0.4928274176078489,-1.8342215991915476]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_33","position":[0.7003975791926464,-1.0967735231936944,0.71338606911949],"aabb_xy":[[0.6778838873691893,-1.1667735237947017],[0.7229112710161036,-1.0267735225926866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667389941571454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8185.png","name":"8185"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8185.png","name":"8185"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4260.png","name":"4260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1128.png","name":"1128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4472.png","name":"4472"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":600.3226401090935,"rotation_z_degrees":331.765151436557,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019513778607558267,-0.008359359734217761,-0.007467746126812079]},{"name":"camera_2","offset_m":[-0.00789264931380084,0.0015224317393837741,-0.01369145999516868]},{"name":"camera_3","offset_m":[-0.013991150513018448,-0.008248131344662447,-0.015243158533658754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017225798673537885,-0.0012687540168136936,-0.0010141826906458378],"end_effector_yaw_offset_degrees":-0.6331041130913402},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008610498568212583,0.0006006895902546409,0.001700177858618554],"end_effector_yaw_offset_degrees":-0.5320218041736802},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019085933053659546,-0.0013516889033648627,-0.0011715927854051705],"end_effector_yaw_offset_degrees":0.3677756915011061}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019167403077948245,0.00016519105286465132],"position_m":[0.27249167403077945,0.20196519105286465,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035023703122424145,0.001092329385131886],"position_m":[0.2449976296877576,-0.13680767061486812,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0023204470175641643,0.003270104433581827],"position_m":[0.3561204470175642,-0.0019298955664181728,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014163798071612976,-0.003531055577348555],"position_m":[0.1290163798071613,0.4155689444226514,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025887962931931754,0.0035455594825082046],"position_m":[0.20728879629319316,-0.4040544405174918,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b5052f3a2311de645e2f3329d1620834036a8c504dfdd7282e89da4504241105","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8185/tex_ceiling_textures_4472/tex_floor_textures_2328/tex_table_textures_4260/tex_wall_textures_1128","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2817469085681066734,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2817469085681066734,"visual_seed":2817469085681066734,"scene_id":"lab_003","finished_at":"2026-09-03T20:54:45"} +{"episode_id":"ep_000058","started_at":"2026-09-03T20:54:49","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.20835497669677083,-0.7168293563541577,0.71338606911949],"aabb_xy":[[-0.268354976948172,-0.7711106813906222],[-0.14835497644536966,-0.6625480313176929]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.10426653513941897,-2.5427352678871036,0.71338606911949],"aabb_xy":[[-0.12015102840474412,-2.5570882081859274],[-0.08838204187409382,-2.5283823275882797]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.2422739960188829,-2.15753727385325,0.71338606911949],"aabb_xy":[[0.23883331977882574,-2.1613987068276144],[0.2457146722589401,-2.1536758408788854]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.4790674403760211,-1.4934924007965753,0.71338606911949],"aabb_xy":[[-0.5040674395416542,-1.5004446465019317],[-0.45406744121038806,-1.4865401550912185]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.38971199915520155,0.38696321892181595,0.71338606911949],"aabb_xy":[[-0.4797119958908117,0.3337797556045214],[-0.2997120024195913,0.4401466822391104]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.13050636168479413,-0.07516839369636186,0.71338606911949],"aabb_xy":[[-0.19450636027136659,-0.12217535709587056],[-0.06650636309822167,-0.028161430296853127]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.42533300335961743,1.459900425871853,0.71338606911949],"aabb_xy":[[0.3553330017573379,1.4464676326701953],[0.49533300496189686,1.4733332190735104]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.5885362057113097,-1.275903415477852,0.71338606911949],"aabb_xy":[[0.5831986300453053,-1.3009034164069917],[0.5938737813773144,-1.2509034145487121]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.3353932450273429,0.9179923955098674,0.71338606911949],"aabb_xy":[[0.3276900543532658,0.9102830248111292],[0.3430964357014199,0.9257017662086052]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.37651595446009584,-1.1158128914195558,0.71338606911949],"aabb_xy":[[-0.38614759068052545,-1.1254502041992647],[-0.3668843182396662,-1.1061755786398468]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[0.09552338915810021,0.9220638801408825,0.71338606911949],"aabb_xy":[[0.06923456483765955,0.8957924464862311],[0.12181221347854088,0.9483353137955336]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.3549070748642891,-2.4353621623066823,0.71338606911949],"aabb_xy":[[0.3323933830408318,-2.5053621629076894],[0.3774207666877462,-2.3653621617056744]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.29469274810821555,-1.7666290338518191,0.71338606911949],"aabb_xy":[[0.28827893446503056,-1.773038854099487],[0.30110656175140044,-1.7602192136041503]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.3640480255927736,1.2656670144601043,0.71338606911949],"aabb_xy":[[0.2990480270357007,1.2359144810462215],[0.4290480241498464,1.2954195478739867]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.0572650664152945,-2.505223775822326,0.71338606911949],"aabb_xy":[[0.03226506686355601,-2.51536625968746],[0.08226506596703298,-2.4950812919571907]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.5261065414926471,-0.886030896286458,0.71338606911949],"aabb_xy":[[0.4461065410224312,-0.8943416039008064],[0.6061065419628631,-0.8777201886721097]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.23185923095680816,-1.2540743580010643,0.71338606911949],"aabb_xy":[[-0.27685181767525857,-1.2990743572755128],[-0.18686664423835775,-1.2090743587266153]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.2603760145317757,0.8092227002632701,0.71338606911949],"aabb_xy":[[0.19637601261943338,0.7533115510052598],[0.32437601644411806,0.8651338495212807]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.5231384468140878,-2.306700972315649,0.71338606911949],"aabb_xy":[[-0.5606384467578542,-2.3149940623504857],[-0.4856384468703214,-2.2984078822808125]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.053112361522769436,1.758564199629554,0.71338606911949],"aabb_xy":[[-0.07317077313600973,1.7384991127203964],[-0.033053949909529146,1.7786292865387112]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.5697413681958149,-1.1749843517295107,0.71338606911949],"aabb_xy":[[-0.5776646484345632,-1.1974843519675142],[-0.5618180879570666,-1.1524843514915075]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.7118006872416196,-2.509914450885304,0.71338606911949],"aabb_xy":[[0.6998679528797916,-2.5222966036931633],[0.7237334216034478,-2.4975322980774446]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[0.29369898424235596,-0.8677339550776548,0.71338606911949],"aabb_xy":[[0.2136989872793168,-0.9448095967214282],[0.37369898120539513,-0.7906583134338813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635664213576984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7944.png","name":"7944"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6128.png","name":"6128"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5570.png","name":"5570"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.0533164307387,"rotation_z_degrees":89.41102076570198,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018305003726798545,0.010542670770797243,-0.006185591450772266]},{"name":"camera_2","offset_m":[-0.01770316322430575,-0.014246160579031528,-0.0059997804395854806]},{"name":"camera_3","offset_m":[0.019605214151741688,0.005065806590108732,0.0007722658167820702]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010561585555699652,0.0006153167245860542,-0.0008804895015936793],"end_effector_yaw_offset_degrees":-0.32019453553533794},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001816323726646957,-0.0005015870071357633,0.0009565079960531533],"end_effector_yaw_offset_degrees":-0.8922055653224366},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009717565320366166,0.0005991438461177396,-0.0006913986166296095],"end_effector_yaw_offset_degrees":0.5856012518509295}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003910135742703217,-0.001148765988311816],"position_m":[0.2683898642572968,0.2006512340116882,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004984594287032191,-0.00346948343984264],"position_m":[0.2534845942870322,-0.14136948343984262,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00279025572483411,3.7116064222033306e-05],"position_m":[0.3510097442751659,-0.0051628839357779665,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002445892276631466,0.002874862210296457],"position_m":[0.13004589227663146,0.42197486221029645,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023524526000540647,0.002314569882120112],"position_m":[0.20234754739994593,-0.40528543011787993,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26edaa1b68a4d49d9d14b226d828ceaea463d0d98c41dd6bfb260069851f25ab","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6833/tex_ceiling_textures_5570/tex_floor_textures_5449/tex_table_textures_7944/tex_wall_textures_6128","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1283616310303833023,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1283616310303833023,"visual_seed":1283616310303833023,"scene_id":"lab_003","finished_at":"2026-09-03T20:57:47"} +{"episode_id":"ep_000059","started_at":"2026-09-03T20:57:50","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.5665426961448716,0.2735762522779268,0.71338606911949],"aabb_xy":[[0.5315426978747516,0.2665021245829386],[0.6015426944149914,0.2806503799729149]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.49806793344757705,-2.098376906946057,0.71338606911949],"aabb_xy":[[0.49014465320882866,-2.1208769071840603],[0.5059912136863254,-2.0758769067080536]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.4278108981734738,-1.0303220011989795,0.71338606911949],"aabb_xy":[[-0.5078108955770672,-1.1103145723971621],[-0.3478109007698803,-0.9503294300007966]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.23868597055350832,-2.491947416127261,0.71338606911949],"aabb_xy":[[-0.3036859715540088,-2.5427337812819357],[-0.17368596955300777,-2.441161050972586]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.04266713803802924,-1.1783465376189437,0.71338606911949],"aabb_xy":[[-0.12266714020079172,-1.258301721245087],[0.037332864124733245,-1.0983913539927999]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.3244264155852925,-0.22893893722936243,0.71338606911949],"aabb_xy":[[-0.3894264165424197,-0.280887149163068],[-0.2594264146281653,-0.17699072529565685]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.30774592873864975,1.2899045924718728,0.71338606911949],"aabb_xy":[[-0.3313310522025446,1.224904590226441],[-0.2841608052747549,1.3549045947173046]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.4245478476629016,-1.7997218073341659,0.71338606911949],"aabb_xy":[[-0.4620478491785332,-1.8109485803503107],[-0.3870478461472698,-1.7884950343180206]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.672030026383801,-1.0904892050338435,0.71338606911949],"aabb_xy":[[0.6569277249227827,-1.105590726664905],[0.6871323278448189,-1.0753876834027811]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.10539991365281798,-1.4664901920887823,0.71338606911949],"aabb_xy":[[0.06263320677339779,-1.5304901955105847],[0.14816662053223817,-1.4024901886669798]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.5970125159426094,1.2614041542285386,0.71338606911949],"aabb_xy":[[-0.6145125152206963,1.2440660541621924],[-0.5795125166645225,1.2787422542948843]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.03188091713172003,-2.354555757297443,0.71338606911949],"aabb_xy":[[0.0032315847713038012,-2.3832013165745187],[0.06053024949213625,-2.325910198020367]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.29357283787782285,-0.8810722724347111,0.71338606911949],"aabb_xy":[[0.24359402936750696,-0.9310722724404299],[0.34355164638813873,-0.8310722724289923]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.18189356701583015,-0.8365554001265212,0.71338606911949],"aabb_xy":[[-0.21939356730800497,-0.8405968755271248],[-0.14439356672365533,-0.8325139247259176]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.270544619185761,-2.471402882287356,0.71338606911949],"aabb_xy":[[0.22054960822630898,-2.5214028813229477],[0.32053963014521303,-2.4214028832517642]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.0013222295462417266,-0.9400669413498735,0.71338606911949],"aabb_xy":[[-0.02056751804269907,-1.0300669386391224],[0.023211977135182523,-0.8500669440606242]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.5596623597544979,1.5510565651459962,0.71338606911949],"aabb_xy":[[0.5246623606245422,1.5453113440703319],[0.5946623588844535,1.55680178622166]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.5926890623687203,-0.15872941031003007,0.71338606911949],"aabb_xy":[[-0.5975883546752838,-0.18640632961259881],[-0.5877897700621568,-0.13105249100746127]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.34083654390803597,-1.4444468280166982,0.71338606911949],"aabb_xy":[[-0.346294489545056,-1.5244468313243573],[-0.33537859827101585,-1.364446824709039]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.34181768797022816,1.5187985894780263,0.71338606911949],"aabb_xy":[[0.2818176877188269,1.4645172644415614],[0.4018176882216293,1.5730799145144907]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.18402539178967914,-1.779787293049326,0.71338606911949],"aabb_xy":[[-0.18886898655090914,-1.78463894552831],[-0.1791817970284492,-1.7749356405703418]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680798092753102,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7156.png","name":"7156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7156.png","name":"7156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1469.png","name":"1469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9460.png","name":"9460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4942.png","name":"4942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.9341684085994,"rotation_z_degrees":181.75814502093016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016556367859089104,-0.011388330039279908,-0.011156841325944291]},{"name":"camera_2","offset_m":[-0.01191270578619582,-0.0006471070435719282,0.018868636656644473]},{"name":"camera_3","offset_m":[-0.013233205207249346,-0.014394107035892714,0.019544398577286872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002906375844264528,-0.001701110291484743,-0.0005731295592303178],"end_effector_yaw_offset_degrees":0.5327360787951851},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0006572983293984494,-0.001153121501551651,0.0009369736897061019],"end_effector_yaw_offset_degrees":-0.11542038051667625},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013705893992367857,0.0013606176266651076,0.001955717390935829],"end_effector_yaw_offset_degrees":-0.5150028219181781}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004151302384320168,0.0010580605683940736],"position_m":[0.27645130238432014,0.2028580605683941,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003906555344157825,-0.0043404809097085705],"position_m":[0.25240655534415785,-0.14224048090970856,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0030226955638303224,0.0028951925697028808],"position_m":[0.35682269556383034,-0.002304807430297119,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033761093614194026,-0.0009647483809835291],"position_m":[0.1242238906385806,0.41813525161901643,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016882977435344303,-0.004186429223221812],"position_m":[0.20301170225646556,-0.41178642922322184,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2eb658758d2574feb0b2ecb81be77b1eb81f65cf62168f6733b1cfad22bc48e2","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7156/tex_ceiling_textures_9478/tex_floor_textures_4942/tex_table_textures_1469/tex_wall_textures_9460","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2011712677441860257,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2011712677441860257,"visual_seed":2011712677441860257,"scene_id":"lab_003","finished_at":"2026-09-03T21:00:43"} +{"episode_id":"ep_000060","started_at":"2026-09-03T21:00:48","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.6273511806219152,0.24803560409072256,0.71338606911949],"aabb_xy":[[-0.6685999916518298,0.19303560457850505],[-0.5861023695920003,0.3030356036029399]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.4293126848528251,-0.2620588592539872,0.71338606911949],"aabb_xy":[[-0.43374331420766526,-0.2675072309886698],[-0.4248820554979849,-0.2566104875193046]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.4916053495495657,0.3364819482180583,0.71338606911949],"aabb_xy":[[-0.5260678275626535,0.32981827103513545],[-0.4571428715364779,0.3431456254009811]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.4651612485445223,0.94026288041887,0.71338606911949],"aabb_xy":[[-0.4728644392185992,0.932553509720132],[-0.45745805787044513,0.947972251117608]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[-0.022824345058347406,-2.1076007580100073,0.71338606911949],"aabb_xy":[[-0.03798721803528449,-2.122766215305126],[-0.007661472081410324,-2.0924353007148886]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.5512765766981023,-1.1775580962919519,0.71338606911949],"aabb_xy":[[0.5162765768020834,-1.1859323318038915],[0.5862765765941211,-1.1691838607800118]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.5539047721124044,0.4258425276296465,0.71338606911949],"aabb_xy":[[0.48990477352583195,0.37883556423013776],[0.6179047706989769,0.4728494910291552]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.14243237460403635,0.4257982442593309,0.71338606911949],"aabb_xy":[[-0.15184984917389913,0.4163820671216118],[-0.13301490003417363,0.43521442139704986]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.5460879283177357,-2.518998253108887,0.71338606911949],"aabb_xy":[[-0.6360879269122057,-2.535248839422308],[-0.45608792972326584,-2.5027476667954662]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.5291442571418918,1.112598748565084,0.71338606911949],"aabb_xy":[[0.47512866085999184,1.0485987456728267],[0.5831598534237918,1.176598751457341]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.15517253079139937,-2.2998751213236077,0.71338606911949],"aabb_xy":[[-0.21917252718697244,-2.3638384097423417],[-0.09117253439582629,-2.2359118329048746]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.39366286127903155,-1.423922443776073,0.71338606911949],"aabb_xy":[[-0.4016563510743137,-1.4319205757165487],[-0.38566937148374963,-1.4159243118355975]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.4358628071101276,0.9132873974828346,0.71338606911949],"aabb_xy":[[0.36586280530138215,0.8919336287186473],[0.505862808918873,0.9346411662470221]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.43798724897709673,-2.377226830593048,0.71338606911949],"aabb_xy":[[-0.455662879565695,-2.3949070468724507],[-0.42031161838849834,-2.359546614313645]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.5196674826249263,-1.5520343814043687,0.71338606911949],"aabb_xy":[[0.4850763997708811,-1.6170343816893995],[0.5542585654789715,-1.4870343811193374]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.30402377447427553,-1.5508835343207745,0.71338606911949],"aabb_xy":[[0.29792914658615727,-1.5594529288724435],[0.3101184023623939,-1.542314139769106]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.6581660894313965,1.1318859075687588,0.71338606911949],"aabb_xy":[[-0.6663806345470804,1.1232093172711173],[-0.6499515443157124,1.1405624978664]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.4819789509568735,-0.13630485823214133,0.71338606911949],"aabb_xy":[[0.4219789500960606,-0.18773128823862767],[0.5419789518176862,-0.0848784282256549]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.015534565683432477,-2.524983365909691,0.71338606911949],"aabb_xy":[[-0.07446543081743927,-2.570895008328149],[0.10553456218430422,-2.4790717234912325]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.39670473803569933,-1.6063028217969957,0.71338606911949],"aabb_xy":[[-0.426672294945525,-1.6363028220948816],[-0.36673718112587367,-1.5763028214991102]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.6487273217279497,-0.9489322613492379,0.71338606911949],"aabb_xy":[[0.6112273215560776,-0.981632996732145],[0.6862273218998215,-0.9162315259663306]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.2540074137288935,-1.905579000559634,0.71338606911949],"aabb_xy":[[-0.2653691483821796,-1.916947466965922],[-0.2426456790756073,-1.894210534153346]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.6383870756375692,-0.5251501510373946,0.71338606911949],"aabb_xy":[[-0.6584454872508094,-0.5452152379465521],[-0.6183286640243288,-0.5050850641282371]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.6054887386423888,0.7607895401636449,0.71338606911949],"aabb_xy":[[0.5627220317629685,0.6967895367418424],[0.6482554455218089,0.8247895435854473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612842402343369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6091.png","name":"6091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6313.png","name":"6313"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1449.png","name":"1449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/400.png","name":"400"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":573.0897698187988,"rotation_z_degrees":15.28325291988008,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016840607480482928,-0.011491266690289064,-0.011167592290495576]},{"name":"camera_2","offset_m":[-0.01653419574225873,0.00503278617713809,0.009091861494424026]},{"name":"camera_3","offset_m":[-0.01117270229723624,-0.016833489938878995,-0.007216642574700236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000497356271055156,0.001673720462012898,0.0013326857247990165],"end_effector_yaw_offset_degrees":-0.25184419736012265},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001024391366762173,-0.0009126916994329055,0.0013139676854439972],"end_effector_yaw_offset_degrees":-0.6957173297118804},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000918656784695427,0.0007676502159449866,0.0008811118998105624],"end_effector_yaw_offset_degrees":0.29189587476179457}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00232342216533799,0.0026423243280671426],"position_m":[0.27462342216533797,0.20444232432806714,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019229300015825715,0.0047606780027389895],"position_m":[0.25042293000158256,-0.133139321997261,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0005173816408300357,-0.00014324311299860476],"position_m":[0.35431738164083004,-0.0053432431129986045,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033907716347288423,0.0016261175715208452],"position_m":[0.13099077163472883,0.42072611757152084,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048058821961303785,0.0028718902211816106],"position_m":[0.19989411780386962,-0.4047281097788184,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3ef90e4442714f7c34fd3ee463bc6b917467ab424813bcbf28bf547f245c2ba4","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6091/tex_ceiling_textures_400/tex_floor_textures_4131/tex_table_textures_6313/tex_wall_textures_1449","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8887660942448213613,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8887660942448213613,"visual_seed":8887660942448213613,"scene_id":"lab_003","finished_at":"2026-09-03T21:03:41"} +{"episode_id":"ep_000061","started_at":"2026-09-03T21:03:44","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.3345249154244232,-0.8934157092004655,0.71338606911949],"aabb_xy":[[0.2845249141405831,-0.9433945635910875],[0.38452491670826305,-0.8434368548098433]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.603736958293414,0.060487293483679316,0.71338606911949],"aabb_xy":[[0.5537540081059346,0.010487293841118904],[0.6537199084808932,0.11048729312623971]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[-0.025455452538189816,-0.7425147888696544,0.71338606911949],"aabb_xy":[[-0.1154554519565607,-0.775890285713844],[0.06454454688018108,-0.7091392920254646]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.26753226205525726,-2.4759461940248904,0.71338606911949],"aabb_xy":[[-0.3175322624158233,-2.525926181234493],[-0.21753226169469117,-2.425966206815287]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.15218623532788833,-0.9004344917781435,0.71338606911949],"aabb_xy":[[0.1430263563840117,-0.9069657098216805],[0.1613461142717649,-0.8939032737346063]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.6949913555358462,-1.1340898004979398,0.71338606911949],"aabb_xy":[[0.6862773864859115,-1.1565898011571276],[0.7037053245857805,-1.1115897998387512]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.4496038758277541,1.5818430549119786,0.71338606911949],"aabb_xy":[[0.42460387655579174,1.5654976913158163],[0.4746038750997163,1.598188418508141]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.40127865096685095,-0.6078312815563638,0.71338606911949],"aabb_xy":[[-0.46627864912277,-0.634127526106276],[-0.3362786528109319,-0.5815350370064516]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.6127347158014071,0.48365668622175084,0.71338606911949],"aabb_xy":[[-0.6379555526612467,0.45843293536886404],[-0.5875138789415674,0.5088804370746375]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.5210127266455784,0.16785767602022394,0.71338606911949],"aabb_xy":[[-0.5860127277515216,0.14289230295209568],[-0.456012725539635,0.19282304908835227]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.510766262169253,-0.9322601572815263,0.71338606911949],"aabb_xy":[[0.42704403666917057,-1.0222601608162223],[0.5944884876693355,-0.8422601537468305]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.373600638886764,-1.5512139168875383,0.71338606911949],"aabb_xy":[[-0.3870471655208073,-1.5646837685406292],[-0.36015411225272065,-1.537744065234447]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.5554372226098891,1.3263168999610535,0.71338606911949],"aabb_xy":[[-0.590437220880009,1.3192427722660651],[-0.5204372243397692,1.3333910276560414]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.6251007756493021,-2.1625544384442654,0.71338606911949],"aabb_xy":[[0.5611007753888313,-2.207563237797193],[0.6891007759097729,-2.117545639091337]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.25606458276962724,1.2273814574395816,0.71338606911949],"aabb_xy":[[-0.2738580897045437,1.209581711843784],[-0.2382710758347108,1.2451812030353793]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.0379544189761124,-2.239613237552669,0.71338606911949],"aabb_xy":[[-0.08795442033699963,-2.289591142128084],[0.012045582384774814,-2.189635332977253]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.22155385497900087,-1.4427218624861804,0.71338606911949],"aabb_xy":[[-0.23975967864024852,-1.453747263068172],[-0.20334803131775317,-1.4316964619041888]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.24556251069276336,-1.23144118296859,0.71338606911949],"aabb_xy":[[0.23091910513873037,-1.2460999026253743],[0.26020591624679634,-1.2167824633118058]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.06611317823641005,-0.9538480849524746,0.71338606911949],"aabb_xy":[[-0.10202668266139973,-0.9897615931692293],[-0.03019967381142037,-0.91793457673572]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.4600790835539852,0.5678206327358271,0.71338606911949],"aabb_xy":[[0.38007908212385794,0.4883034777232176],[0.5400790849841124,0.6473377877484365]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.2750320673131647,1.5189844533976449,0.71338606911949],"aabb_xy":[[-0.2975320678252053,1.4964925950322463],[-0.2525320668011241,1.541476311763043]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.3949168400693661,-1.246657539090868,0.71338606911949],"aabb_xy":[[0.36862801574892534,-1.272928972745519],[0.42120566438980667,-1.2203861054362166]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.6493843386845126,-0.18378183321820174,0.71338606911949],"aabb_xy":[[0.5943920880490017,-0.23878183496151453],[0.7043765893200236,-0.12878183147488897]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.4450839994183025,1.58833003604722,0.71338606911949],"aabb_xy":[[-0.5150840020548888,1.568225171051354],[-0.37508399678171617,1.608434901043085]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.13323207608383947,-2.0362878036362018,0.71338606911949],"aabb_xy":[[-0.15823207524947258,-2.0432400493415583],[-0.10823207691820635,-2.029335557930845]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[-0.3962652758370503,0.4678232657032946,0.71338606911949],"aabb_xy":[[-0.43376527426045064,0.45465905173546395],[-0.35876527741364994,0.4809874796711252]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[-0.6051469788532493,-0.8025474962324506,0.71338606911949],"aabb_xy":[[-0.6100462711598127,-0.8302244155350192],[-0.6002476865466857,-0.7748705769298817]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[0.16332513118799963,-2.008039038524399,0.71338606911949],"aabb_xy":[[0.07332513259352968,-2.0242896248378206],[0.25332512978246957,-1.9917884522109783]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.02316973589744742,-0.8461063201327625,0.71338606911949],"aabb_xy":[[0.014367680588474705,-0.8539176462876916],[0.03197179120642012,-0.8382949939778335]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.41329533154736064,-0.4070592248680516,0.71338606911949],"aabb_xy":[[0.3482953305468601,-0.45784559002272646],[0.47829533254786116,-0.3562728597133766]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[-0.16703611327149837,1.3514806649176134,0.71338606911949],"aabb_xy":[[-0.17963881240857485,1.3388852686927482],[-0.15443341413442194,1.3640760611424791]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_31","position":[0.09496547279031475,1.0401257908412762,0.71338606911949],"aabb_xy":[[0.07828833679721925,1.023425866867346],[0.11164260878341026,1.0568257148152065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699912523464443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2606.png","name":"2606"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2606.png","name":"2606"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7717.png","name":"7717"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5190.png","name":"5190"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":663.4453193800769,"rotation_z_degrees":259.4667477403472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019875768817827075,0.010644537762427794,0.016808126106096232]},{"name":"camera_2","offset_m":[-0.007112393604994268,0.014847539780969369,-0.0071606103795875155]},{"name":"camera_3","offset_m":[0.015959988085155554,0.000605548520304082,-0.014809226588908868]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.571271859982111e-05,0.0016761431109215564,0.0013712921707754464],"end_effector_yaw_offset_degrees":0.8265605850716247},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0019866290275213825,0.0004220398453865272,-0.0015898443668489037],"end_effector_yaw_offset_degrees":0.310078768458784},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010206835735764182,-0.001610408580807495,-0.0006233440972831356],"end_effector_yaw_offset_degrees":0.819334565528405}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00273939043544988,0.0015395455303597793],"position_m":[0.2695606095645501,0.2033395455303598,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0043219447319098716,-0.00308989214351451],"position_m":[0.2528219447319099,-0.1409898921435145,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00012637091488241093,-0.003367595506785861],"position_m":[0.35367362908511757,-0.00856759550678586,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029969240377460517,-0.004881448884487703],"position_m":[0.13059692403774603,0.41421855111551226,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017171648376116825,-0.0029253549882963794],"position_m":[0.2064171648376117,-0.4105253549882964,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"67fc765cdc459f89e29f36844e24f0e0f5ccd60206d386298c340d4063ab03b5","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2606/tex_ceiling_textures_5190/tex_floor_textures_3449/tex_table_textures_7717/tex_wall_textures_5466","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2081525510390390663,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2081525510390390663,"visual_seed":2081525510390390663,"scene_id":"lab_003","finished_at":"2026-09-03T21:06:37"} +{"episode_id":"ep_000062","started_at":"2026-09-03T21:06:42","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.24708752805496426,0.7241098957609595,0.71338606911949],"aabb_xy":[[0.23623592180608866,0.7132506050333084],[0.25793913430383986,0.7349691864886104]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.11150996968629445,1.3965767192966378,0.71338606911949],"aabb_xy":[[0.02650997126887121,1.3117024238343529],[0.19650996810371768,1.4814510147589228]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.5972257764131976,-1.4578591307032012,0.71338606911949],"aabb_xy":[[0.5747257761696822,-1.4700637653629731],[0.619725776656713,-1.4456544960434292]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.3649734593076787,-2.357671463766429,0.71338606911949],"aabb_xy":[[-0.37432046688997395,-2.3719750859840736],[-0.3556264517253835,-2.3433678415487855]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.46352809479317614,-0.3743415347036234,0.71338606911949],"aabb_xy":[[0.43969187715257113,-0.46434153551210994],[0.48736431243378125,-0.28434153389513694]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.7056752174505614,1.443313933896286,0.71338606911949],"aabb_xy":[[0.7000935458164325,1.4308139340785102],[0.7112568890846901,1.4558139337140612]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.4206457763525641,0.19856973889195384,0.71338606911949],"aabb_xy":[[-0.47577098198215484,0.13856973745066667],[-0.3655205707229733,0.2585697403332409]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5603725865194125,-0.5713753973221416,0.71338606911949],"aabb_xy":[[-0.6503725832550227,-0.624558860639436],[-0.47037258978380225,-0.518191934004847]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.04533948517146669,1.035511472245906,0.71338606911949],"aabb_xy":[[0.002572778292046496,0.9715114688241036],[0.08810619205088688,1.0995114756677085]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.4952089695897407,0.7428623212228884,0.71338606911949],"aabb_xy":[[-0.5127872717786875,0.7252878316487835],[-0.47763066740079385,0.7604368107969933]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.17847680680444744,1.7319038065292713,0.71338606911949],"aabb_xy":[[-0.1943613000697726,1.717550866230447],[-0.1625923135391223,1.7462567468280952]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.2717723985283266,-0.6356306547358501,0.71338606911949],"aabb_xy":[[-0.31694371637649554,-0.6996306518803885],[-0.2266010806801576,-0.5716306575913117]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.1634379331905248,-1.3420784516762765,0.71338606911949],"aabb_xy":[[0.15702411954733986,-1.3484882719239448],[0.16985174683370974,-1.3356686314286081]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.3846417366386293,0.8549179052431293,0.71338606911949],"aabb_xy":[[-0.3925650168773777,0.832417905005126],[-0.37671845639988105,0.8774179054811327]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.5036617822934674,-1.2337179062168948,0.71338606911949],"aabb_xy":[[-0.5536617835773072,-1.2836967606075167],[-0.45366178100962734,-1.1837390518262725]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.1436449527289848,-2.0687174650361415,0.71338606911949],"aabb_xy":[[0.10864495441828936,-2.076432479959687],[0.17864495103968026,-2.061002450112596]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.2370039656313897,-1.1860385083832699,0.71338606911949],"aabb_xy":[[0.17300396633722148,-1.2500246487521243],[0.3010039649255579,-1.1220523680144159]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.5983730700413952,0.17065932054286037,0.71338606911949],"aabb_xy":[[-0.6064867247147723,0.1625535040888313],[-0.5902594153680181,0.17876513699688945]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.6162417243433624,-2.0459996895764925,0.71338606911949],"aabb_xy":[[-0.6712154463796953,-2.1009996891407257],[-0.5612680023070296,-1.9909996900122593]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.6653128073176886,-0.6617231621936532,0.71338606911949],"aabb_xy":[[0.6278128072120956,-0.6685453240466344],[0.7028128074232816,-0.6549010003406721]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.4584304612933492,0.5235548220543724,0.71338606911949],"aabb_xy":[[0.4519288247853446,0.5137870000280627],[0.4649320978013538,0.5333226440806822]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.3350715110841834,0.3815605946673455,0.71338606911949],"aabb_xy":[[-0.34040402573879647,0.3762362664221099],[-0.3297389964295705,0.3868849229125811]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.475172745635964,-1.2378550369769972,0.71338606911949],"aabb_xy":[[0.42517274461682886,-1.2743212527148253],[0.5251727466550994,-1.2013888212391695]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.1436496809792731,0.5008865724017699,0.71338606911949],"aabb_xy":[[-0.18114968216406585,0.49646834970570924],[-0.10614967979448027,0.5053047950978302]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.4359615552336941,-0.12255362187423868,0.71338606911949],"aabb_xy":[[-0.4463731139141778,-0.12789935521013712],[-0.42554999655321035,-0.11720788853834019]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663980294044068,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5856.png","name":"5856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5856.png","name":"5856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9887.png","name":"9887"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2436.png","name":"2436"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":667.3745546271628,"rotation_z_degrees":258.15529450103486,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013318630967140619,-0.0029423729645503653,-0.007067499932877501]},{"name":"camera_2","offset_m":[-0.01882549965715828,-0.012294272524674148,-0.004442009171211439]},{"name":"camera_3","offset_m":[-0.003516623386050407,-0.008581032139187586,-0.00203385157069505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009470452541133741,-0.0009537556449764303,-0.0016111583073302595],"end_effector_yaw_offset_degrees":-0.03138546159008504},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001331918683438502,0.0011167306183454471,-0.00024609232822198415],"end_effector_yaw_offset_degrees":-0.045002788644727953},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002169849462316624,0.0010326480575116202,0.0015935986018575858],"end_effector_yaw_offset_degrees":0.8765290770974385}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033002720406166133,-0.0008395842201265246],"position_m":[0.2689997279593834,0.20096041577987347,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002112186114150686,-0.0002562507505430465],"position_m":[0.24638781388584932,-0.13815625075054305,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.000554866337360369,-0.0023609890039042025],"position_m":[0.35324513366263965,-0.007560989003904202,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023506398349176297,0.0014313813255963205],"position_m":[0.12995063983491761,0.4205313813255963,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016214306716737649,0.0025851735750849992],"position_m":[0.20307856932832624,-0.40501482642491504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a253c5ba357d3c3b9842fb17ef2c8896c63624c21ba61067fe901b83a1fdda99","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5856/tex_ceiling_textures_4573/tex_floor_textures_2436/tex_table_textures_9887/tex_wall_textures_7065","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7411256281261507484,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7411256281261507484,"visual_seed":7411256281261507484,"scene_id":"lab_003","finished_at":"2026-09-03T21:09:38"} +{"episode_id":"ep_000063","started_at":"2026-09-03T21:09:42","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.6118563945033695,0.7496521038990416,0.71338606911949],"aabb_xy":[[0.5218563908264512,0.6882196973219371],[0.7018563981802876,0.8110845104761457]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.08474199480993305,-1.8411449798891752,0.71338606911949],"aabb_xy":[[-0.004945081498182416,-1.931144980143626],[0.1744290711180485,-1.751144979634725]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.5761280364786316,-1.1024249694901789,0.71338606911949],"aabb_xy":[[0.5673259811696589,-1.1102362956451077],[0.5849300917876044,-1.0946136433352496]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.09021335854730639,-1.626864556694071,0.71338606911949],"aabb_xy":[[-0.09762581408869486,-1.6327157671156987],[-0.08280090300591791,-1.6210133462724428]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.622493243936404,-0.13883265219025542,0.71338606911949],"aabb_xy":[[-0.6359397705704473,-0.15230250384334665],[-0.6090467173023606,-0.1253628005371642]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.48756503788402394,0.166162805642752,0.71338606911949],"aabb_xy":[[0.4831344085291839,0.16071443390806942],[0.49199566723886423,0.17161117737743461]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.4207288028896689,-1.0501267827660703,0.71338606911949],"aabb_xy":[[-0.4582288028334352,-1.0584198728009069],[-0.3832288029459024,-1.0418336927312337]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.23618768451374322,-0.4902140131297874,0.71338606911949],"aabb_xy":[[-0.24696065843511103,-0.5252140113488264],[-0.22541471059237547,-0.4552140149107484]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.5789914209661069,-0.47354239169591805,0.71338606911949],"aabb_xy":[[0.5414914201741114,-0.47991023265410815],[0.6164914217581023,-0.46717455073772796]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[0.49766614812671506,1.6708936963444452,0.71338606911949],"aabb_xy":[[0.4942254718866579,1.667032263370081],[0.5011068243667722,1.6747551293188099]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.5716831547944059,0.3909855090777441,0.71338606911949],"aabb_xy":[[-0.583555237805907,0.30598550938409375],[-0.5598110717829048,0.47598550877139445]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.04548031576745826,-0.9238491822997073,0.71338606911949],"aabb_xy":[[0.02025947890761858,-0.949072933152594],[0.0707011526272979,-0.8986254314468205]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.23814854901949878,1.433787243838243,0.71338606911949],"aabb_xy":[[0.18814854944316411,1.3838066648861371],[0.28814854859583355,1.483767822790349]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.2384594433708508,-1.479917314428225,0.71338606911949],"aabb_xy":[[-0.24237331656627334,-1.4886663298347815],[-0.2345455701754283,-1.471168299021668]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.3342324839289872,-0.8914363384560007,0.71338606911949],"aabb_xy":[[0.31673248479461996,-0.9013159654935885],[0.3517324830633543,-0.8815567114184129]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.3481328682001205,-1.375062748948705,0.71338606911949],"aabb_xy":[[-0.40576333708739126,-1.4350627478754154],[-0.2905023993128496,-1.3150627500219942]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.4095659516594114,0.7447465218106224,0.71338606911949],"aabb_xy":[[-0.4317384786360622,0.7225708546544992],[-0.3873934246827605,0.7669221889667455]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.6396876908448041,-1.0285579418045718,0.71338606911949],"aabb_xy":[[0.5596876903745882,-1.0368686494189203],[0.7196876913150201,-1.0202472341902238]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.3936807769182068,1.2950555569517919,0.71338606911949],"aabb_xy":[[-0.47368078017604975,1.215059049159808],[-0.31368077366036384,1.3750520647437758]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.5559839701783951,-0.81596254765066,0.71338606911949],"aabb_xy":[[0.4859839675418087,-0.8360674126465255],[0.6259839728149814,-0.7958576826547945]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.4931046354381854,-1.587234946742677,0.71338606911949],"aabb_xy":[[0.4753111285032689,-1.6050346923384746],[0.5108981423731018,-1.5694352011468793]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.554753278927895,-1.6050347368802989,0.71338606911949],"aabb_xy":[[-0.5602112245649151,-1.6850347401879575],[-0.549295333290875,-1.5250347335726393]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.24165364429846964,-0.9630373536091443,0.71338606911949],"aabb_xy":[[-0.321653641702063,-1.043029924807327],[-0.1616536468948762,-0.8830447824109614]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.192969425296598,-0.050848964527962615,0.71338606911949],"aabb_xy":[[-0.20059369338677627,-0.05848218806450635],[-0.18534515720641975,-0.0432157409914189]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.27401176626134893,0.9896550661495094,0.71338606911949],"aabb_xy":[[-0.3356025254853418,0.9256550680404626],[-0.21242100703735617,1.0536550642585563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660106328625132,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4611.png","name":"4611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4611.png","name":"4611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1353.png","name":"1353"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3697.png","name":"3697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4535.png","name":"4535"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7885.png","name":"7885"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":812.0415544526365,"rotation_z_degrees":307.92468266801495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0073978507641401636,0.01552748294623654,0.0013198436235192061]},{"name":"camera_2","offset_m":[0.015213597669598216,0.009657139880279365,0.011106603357622084]},{"name":"camera_3","offset_m":[-0.011266962374354362,0.01607807752372783,0.00532309188690017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019355465408823812,0.0010484861207864958,0.0013498554795389477],"end_effector_yaw_offset_degrees":0.6531208172049623},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012680081167387694,0.0008636732849359265,-0.0008599932845034734],"end_effector_yaw_offset_degrees":-0.8964727792678302},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006352346821909842,0.00013358310861758113,0.0002422530976288425],"end_effector_yaw_offset_degrees":-0.7177943849223141}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011765200967669485,0.004944634462120225],"position_m":[0.27112347990323304,0.20674463446212024,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002965897447316126,0.0036218992476884588],"position_m":[0.24553410255268387,-0.13427810075231153,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0018995057702177439,-0.0037710282755683555],"position_m":[0.35569950577021775,-0.008971028275568355,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025688646568198083,0.002186811413986545],"position_m":[0.1250311353431802,0.4212868114139865,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004146995681598969,-0.003968314864057168],"position_m":[0.20055300431840103,-0.4115683148640572,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"16e2c174e24d7fe23fbbc30bb2ad41ff76620e1a22c9b8c11b3a80c50af0ac56","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4611/tex_ceiling_textures_7885/tex_floor_textures_4535/tex_table_textures_1353/tex_wall_textures_3697","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4372933423381207165,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4372933423381207165,"visual_seed":4372933423381207165,"scene_id":"lab_003","finished_at":"2026-09-03T21:12:36"} +{"episode_id":"ep_000064","started_at":"2026-09-03T21:12:40","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.3179598319826973,0.6149149907183116,0.71338606911949],"aabb_xy":[[0.30535713284562077,0.6023195944934462],[0.3305625311197737,0.6275103869431772]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.4398597334555604,0.5642826807089647,0.71338606911949],"aabb_xy":[[-0.5098597350578399,0.5508498875073071],[-0.3698597318532809,0.5777154739106223]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.4824158427262266,-1.3103135148659817,0.71338606911949],"aabb_xy":[[0.4665313494609014,-1.3246664551648057],[0.4983003359915517,-1.2959605745671576]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.6274664812913899,-0.6343611273754062,0.71338606911949],"aabb_xy":[[0.6228313661391565,-0.6382284624525547],[0.6321015964436232,-0.6304937922982574]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.11232495494952488,-1.4433202005173986,0.71338606911949],"aabb_xy":[[-0.16180537616348367,-1.5073201984302504],[-0.0628445337355661,-1.3793202026045468]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.38204340856465735,-1.8733344474562452,0.71338606911949],"aabb_xy":[[0.30204340990777134,-1.8878393063805081],[0.46204340722154336,-1.8588295885319823]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.24131831068539544,-0.8274651899305925,0.71338606911949],"aabb_xy":[[-0.29120100756309164,-0.8774651891768672],[-0.19143561380769927,-0.7774651906843177]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.34487828384323194,1.7956557530885306,0.71338606911949],"aabb_xy":[[-0.4348782835664061,1.7725824005533506],[-0.25487828412005775,1.8187291056237103]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.059984897325940145,-2.2114398571551184,0.71338606911949],"aabb_xy":[[0.04248489804785327,-2.2287779572214643],[0.07748489660402702,-2.1941017570887724]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.5915365313775913,-1.6275696833580566,0.71338606911949],"aabb_xy":[[0.5065365326855166,-1.6595555467529357],[0.6765365300696659,-1.595583819963178]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.20792478837383815,0.15442713251029616,0.71338606911949],"aabb_xy":[[-0.2879247898039653,0.07490997749768669],[-0.1279247869437109,0.23394428752290564]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.011678400248380516,-1.9167483110659493,0.71338606911949],"aabb_xy":[[-0.05232159892138943,-1.9635149981849118],[0.07567839941815045,-1.8699816239469869]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.32655427784766367,-1.0919159878027476,0.71338606911949],"aabb_xy":[[-0.3440542781070003,-1.1060075299915204],[-0.30905427758832704,-1.0778244456139752]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.24408516703048094,-2.2791573312512488,0.71338606911949],"aabb_xy":[[-0.2496668386646097,-2.291657331069024],[-0.23850349539635218,-2.2666573314334726]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.6331744244177352,-0.9357653755308137,0.71338606911949],"aabb_xy":[[-0.6882996300473259,-0.9957653769721009],[-0.5780492187881443,-0.8757653740895266]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.41173556985289306,1.6313006181669336,0.71338606911949],"aabb_xy":[[0.3898458222639522,1.5413006208776847],[0.4336253174418338,1.721300615456183]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.3025149972538116,1.2614556732898619,0.71338606911949],"aabb_xy":[[0.2907468104591541,1.1764556733846403],[0.31428318404846917,1.3464556731950834]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.6045460386136956,-2.307871842377463,0.71338606911949],"aabb_xy":[[-0.6420460401293273,-2.319098615393608],[-0.5670460370980639,-2.296645069361318]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.4628837552355384,-0.20545664861483326,0.71338606911949],"aabb_xy":[[-0.5428837523951136,-0.2170042495726503],[-0.382883758075963,-0.19390904765701622]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.21248002854936893,1.6914051969450479,0.71338606911949],"aabb_xy":[[-0.2299800287944183,1.673905409105481],[-0.19498002830431954,1.7089049847846147]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.406381568430463,0.7699038347609939,0.71338606911949],"aabb_xy":[[0.33638156503890104,0.7345880610575629],[0.476381571822025,0.8052196084644246]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.5288769483166507,1.5776740928862707,0.71338606911949],"aabb_xy":[[-0.5459790262750189,1.560567287355001],[-0.5117748703582826,1.5947808984175404]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[0.47810455916609995,-0.3869011604743391,0.71338606911949],"aabb_xy":[[0.44364221176795804,-0.4213950428721617],[0.5125669065642415,-0.3524072780765163]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.6307645384672254,1.796822460035075,0.71338606911949],"aabb_xy":[[-0.6394785075171597,1.7743224593758866],[-0.6220505694172908,1.819322460694263]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.3146182050246025,0.7116462254357194,0.71338606911949],"aabb_xy":[[-0.32232139569867957,0.7039368547369814],[-0.3069150143505255,0.7193555961344574]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[0.04095510520611545,1.1677700412693488,0.71338606911949],"aabb_xy":[[-0.049044893388354494,1.1515194549559278],[0.1309551038005854,1.1840206275827698]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[0.47687962083320823,0.3526384831399456,0.71338606911949],"aabb_xy":[[0.4128796189208659,0.29672733388193523],[0.5408796227455506,0.4085496323979561]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[-0.608492121265255,0.918254592844459,0.71338606911949],"aabb_xy":[[-0.6334921204308882,0.9113023471391024],[-0.583492122099622,0.9252068385498156]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[-0.21807803836190215,-1.661056201878719,0.71338606911949],"aabb_xy":[[-0.29807186194046037,-1.7410562044715605],[-0.13808421478334393,-1.5810561992858774]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[-0.319962047543373,-0.9763313906888695,0.71338606911949],"aabb_xy":[[-0.32392253131310733,-0.9839992552743901],[-0.31600156377363864,-0.9686635261033489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671863623223605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6099.png","name":"6099"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3075.png","name":"3075"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":667.0819069759928,"rotation_z_degrees":129.8577839070206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012240259564181906,-0.007153695364733816,-0.011837913574584037]},{"name":"camera_2","offset_m":[0.013462772038604975,-0.019701425313942814,-0.013072992186256793]},{"name":"camera_3","offset_m":[0.016334037460489784,0.00623529826820907,0.008324212738377149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001566922898608142,-0.0018543639229836747,0.0011175061868272476],"end_effector_yaw_offset_degrees":-0.6501510496878737},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0007345007551479441,-0.0016257098023143746,0.0017494473621433785],"end_effector_yaw_offset_degrees":0.41506254665648923},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019636627636571923,0.0003835796423772332,-0.0012131000991335138],"end_effector_yaw_offset_degrees":0.09469181066685306}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017026253350522812,-0.0009291409489349083],"position_m":[0.27400262533505226,0.2008708590510651,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001484346724245876,0.004236006830872414],"position_m":[0.2486484346724246,-0.13366399316912758,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.000234264346186501,0.0035122482999688847],"position_m":[0.3535657356538135,-0.001687751700031115,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034971277572990356,-0.003536589915962961],"position_m":[0.12410287224270096,0.415563410084037,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025219815143367116,-0.00494159371891502],"position_m":[0.2072219815143367,-0.412541593718915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2aecaf2dd1bde23110bea9f11d37752d9d3f234f831be08dc03068fe4ba82938","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2510/tex_ceiling_textures_3075/tex_floor_textures_8134/tex_table_textures_6099/tex_wall_textures_9650","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":9023845762062120233,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":9023845762062120233,"visual_seed":9023845762062120233,"scene_id":"lab_003","finished_at":"2026-09-03T21:15:31"} +{"episode_id":"ep_000065","started_at":"2026-09-03T21:15:36","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.4093128428790876,0.6261770028814753,0.71338606911949],"aabb_xy":[[-0.4436097538968282,0.5918801166715338],[-0.37501593186134696,0.6604738890914165]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.6645023856143119,-1.3913922473540405,0.71338606911949],"aabb_xy":[[-0.6709161992574967,-1.3978020676017089],[-0.6580885719711268,-1.3849824271063722]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.21322473405260933,-0.6536451959434235,0.71338606911949],"aabb_xy":[[-0.2308575696461369,-0.6712681419590465],[-0.19559189845908176,-0.6360222499278005]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.4500514372099498,-2.400327339850543,0.71338606911949],"aabb_xy":[[0.4000514377697541,-2.4502952643348594],[0.5000514366501454,-2.350359415366227]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.5173057286154181,0.8106482453826853,0.71338606911949],"aabb_xy":[[-0.5297730867251538,0.7981829207493617],[-0.5048383705056825,0.8231135700160087]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.5304221768622792,0.03624856671117627,0.71338606911949],"aabb_xy":[[0.4804221772859446,-0.01373201224092968],[0.580422176438614,0.08622914566328221]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.6747489910381462,-0.8308237734347412,0.71338606911949],"aabb_xy":[[-0.6817904419888939,-0.8378505251725359],[-0.6677075400873987,-0.8237970216969468]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.6794841319537471,-0.2620081984404541,0.71338606911949],"aabb_xy":[[-0.6908458666070332,-0.2733766648467421],[-0.6681223973004609,-0.25063973203416595]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.10236142732933762,-2.1418990935828277,0.71338606911949],"aabb_xy":[[-0.18236142779955358,-2.1502098011971764],[-0.022361426859121684,-2.13358838596848]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.41119292763620235,-0.24665385059687273,0.71338606911949],"aabb_xy":[[-0.41999498294517496,-0.2544651767518017],[-0.40239087232722953,-0.2388425244419436]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.5195755197671321,-1.3123312181153157,0.71338606911949],"aabb_xy":[[0.4555755178547899,-1.3682423673733264],[0.5835755216794746,-1.2564200688573055]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.37587323076541307,-1.68551395063348,0.71338606911949],"aabb_xy":[[-0.3852202383477083,-1.699817572851124],[-0.36652622318311784,-1.671210328415836]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.5272937708260967,1.2532689166191147,0.71338606911949],"aabb_xy":[[-0.5424566438030339,1.2381034593239963],[-0.5121308978491598,1.2684343739142339]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.29532037572017333,-1.8470054267763834,0.71338606911949],"aabb_xy":[[0.21532037246233038,-1.9270019345683675],[0.3753203789780163,-1.7670089189843996]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.16717632245119463,1.6687132663514244,0.71338606911949],"aabb_xy":[[-0.22717632304721083,1.6139007938062009],[-0.10717632185517847,1.7235257388966478]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.11871839761673408,0.35719030933820184,0.71338606911949],"aabb_xy":[[-0.16652456523050274,0.2921903066311428],[-0.07091223000296543,0.4221903120452607]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.3132920019924889,-0.5569377072329238,0.71338606911949],"aabb_xy":[[-0.3169952633216277,-0.5606397255416415],[-0.30958874066335,-0.5532356889242058]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.2311416101656485,1.6704583500593624,0.71338606911949],"aabb_xy":[[0.1671416078228469,1.62551749881523],[0.29514161250845,1.715399201303495]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.3470997560045668,0.44525841230851837,0.71338606911949],"aabb_xy":[[0.34151808437043796,0.4327584124907428],[0.3526814276386955,0.4577584121262938]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.15288493628246813,1.3460404219886355,0.71338606911949],"aabb_xy":[[0.11011822940304797,1.282040418566833],[0.19565164316188835,1.410040425410438]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.31848328033743784,-0.3629490729796139,0.71338606911949],"aabb_xy":[[-0.3534832816889195,-0.3833088089364347],[-0.28348327898595604,-0.34258933702279304]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.5407217357252614,0.7043347374344973,0.71338606911949],"aabb_xy":[[0.49463664447052996,0.6403347401819421],[0.5868068269799929,0.7683347346870524]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.45809893381611033,-0.9422225845385401,0.71338606911949],"aabb_xy":[[-0.48101464670116023,-0.9651268816749637],[-0.43518322093106043,-0.9193182874021167]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[-0.1271129134559169,-1.0080684491858893,0.71338606911949],"aabb_xy":[[-0.1911129155056489,-1.0481629322751973],[-0.06311291140618491,-0.9679739660965814]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.4831070693056233,-2.536643647837867,0.71338606911949],"aabb_xy":[[-0.5471070684753931,-2.5834103349568296],[-0.41910707013585335,-2.4898769607189046]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[0.5328763756845585,-1.6025177891855982,0.71338606911949],"aabb_xy":[[0.528962502489136,-1.611266804592155],[0.536790248879981,-1.5937687737790414]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.1554768539375352,-0.8647168001502312,0.71338606911949],"aabb_xy":[[-0.22047685504347847,-0.8896821732183595],[-0.0904768528315919,-0.8397514270821029]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.027299845059981842,1.5815688786651054,0.71338606911949],"aabb_xy":[[-0.03670015521399639,1.5315027784678172],[0.09129984533396007,1.6316349788623932]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.3179059751903086,0.5882125713529374,0.71338606911949],"aabb_xy":[[0.2679059735288138,0.5382141290972345],[0.3679059768518033,0.63821101360864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639688600367698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9561.png","name":"9561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9561.png","name":"9561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9828.png","name":"9828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3124.png","name":"3124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9508.png","name":"9508"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":666.0860568676525,"rotation_z_degrees":175.3625319318545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00987955210559912,0.006828805098618808,-0.010595175708131555]},{"name":"camera_2","offset_m":[-0.014782581485787469,-0.017616712763088224,0.013891857803995721]},{"name":"camera_3","offset_m":[9.92125358946043e-05,0.01032993551473,0.002186046478746026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001326955385173485,0.00041632639143310496,-0.001868334581466224],"end_effector_yaw_offset_degrees":0.8474833062259519},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017745286875650453,-0.0011084357107346335,-0.001245778519337458],"end_effector_yaw_offset_degrees":-0.002850300469007916},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001410365468280657,-0.0011143043427998332,0.0008906880690744234],"end_effector_yaw_offset_degrees":0.22786268458158698}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005685958690585099,-0.0046850721447645495],"position_m":[0.2728685958690585,0.19711492785523546,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016660380148264611,0.002011497656912129],"position_m":[0.25016603801482645,-0.13588850234308786,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002768096526328756,-0.0012756389196814755],"position_m":[0.35103190347367125,-0.006475638919681476,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014003308217239632,0.002327804372811896],"position_m":[0.12619966917827602,0.42142780437281185,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016690909925570997,0.002542010090930188],"position_m":[0.2030309090074429,-0.4050579899090698,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1651fc721810de65e7d96269a5f614db095ba27d4be0fd7ec425c49583d9f942","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9561/tex_ceiling_textures_9508/tex_floor_textures_3124/tex_table_textures_162/tex_wall_textures_9828","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3511397851084619713,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3511397851084619713,"visual_seed":3511397851084619713,"scene_id":"lab_003","finished_at":"2026-09-03T21:18:28"} +{"episode_id":"ep_000066","started_at":"2026-09-03T21:21:43","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.5859499408322686,0.6840679271165904,0.71338606911949],"aabb_xy":[[0.568080833077813,0.6702350191393794],[0.603819048586724,0.6979008350938013]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.051122830590702106,-1.6240254513162506,0.71338606911949],"aabb_xy":[[-0.08460199785174305,-1.6575045646873576],[-0.01764366332966117,-1.5905463379451437]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.19046093491653515,0.6975826407802095,0.71338606911949],"aabb_xy":[[0.14046093363269516,0.6476037863895873],[0.2404609362003751,0.7475614951708315]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.3007248078417438,1.0145009513758376,0.71338606911949],"aabb_xy":[[0.28371471055169317,0.9983664628775635],[0.3177349051317945,1.0306354398741113]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.5945639228106715,-1.4184315023869856,0.71338606911949],"aabb_xy":[[-0.6358127338405861,-1.4734315018992028],[-0.5533151117807567,-1.3634315028747679]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.4701357486912203,-0.37203335650748004,0.71338606911949],"aabb_xy":[[0.4645540770570915,-0.38453335632525554],[0.475717420325349,-0.35953335668970454]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.0913752837001589,-0.4844507292450988,0.71338606911949],"aabb_xy":[[-0.14650048932974966,-0.5444507306863859],[-0.03625007807056812,-0.4244507278038117]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.552384515697985,-0.6260083555715568,0.71338606911949],"aabb_xy":[[0.47238451522776914,-0.6343190631859051],[0.632384516168201,-0.6176976479572084]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.026455454516915333,-2.2760820075235957,0.71338606911949],"aabb_xy":[[-0.03141147470179653,-2.298582007725718],[-0.021499434332034134,-2.2535820073214743]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.46719113942713275,-0.9575624234160804,0.71338606911949],"aabb_xy":[[-0.4818345449811657,-0.9722211430728646],[-0.4525477338730997,-0.9429037037592961]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.4445984809042107,-1.1348180558911107,0.71338606911949],"aabb_xy":[[0.3645984798310904,-1.1445961022284952],[0.524598481977331,-1.1250400095537263]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.11547652267745523,-2.292894834444489,0.71338606911949],"aabb_xy":[[0.08499227255042505,-2.3428948342259854],[0.14596077280448536,-2.2428948346629936]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.6580593915726202,0.5647534366912024,0.71338606911949],"aabb_xy":[[-0.693059391468639,0.5563792011792624],[-0.6230593916766013,0.5731276722031423]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.05689721339759368,1.1601618524998223,0.71338606911949],"aabb_xy":[[-0.07817522154106593,1.0951618501737492],[-0.035619205254121426,1.2251618548258953]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.2359028900403874,-2.027858903723955,0.71338606911949],"aabb_xy":[[-0.2734028915560191,-2.0390856767401],[-0.19840288852475568,-2.01663213070781]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.23154388196670217,0.983447251930992,0.71338606911949],"aabb_xy":[[-0.24670675494363928,0.9682817946358735],[-0.21638100898976512,0.998612709226111]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.2449803244850055,1.2560207795751022,0.71338606911949],"aabb_xy":[[-0.3089760218801021,1.1920207812743933],[-0.1809846270899089,1.3200207778758106]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.24759834912838108,-0.8215883441643634,0.71338606911949],"aabb_xy":[[0.23669257304081834,-0.9015883405631925],[0.2585041252159438,-0.7415883477655342]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.0570435986771235,-2.0806455646826945,0.71338606911949],"aabb_xy":[[-0.12104359797129172,-2.1446317050515487],[0.006956400617044722,-2.0166594243138403]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.6488114451275057,0.8554451245561405,0.71338606911949],"aabb_xy":[[-0.6938040318459561,0.8104451252816918],[-0.6038188584090552,0.9004451238305893]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.3488488069239688,-0.49912944046844165,0.71338606911949],"aabb_xy":[[0.2848488062204995,-0.5451478229413627],[0.41284880762743825,-0.4531110579955207]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.7149351913590545,1.109938274802973,0.71338606911949],"aabb_xy":[[0.7076914253128092,1.0299382765993705],[0.7221789574052998,1.1899382730065753]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.03476227849343405,-1.9151520449011314,0.71338606911949],"aabb_xy":[[0.023921800266919147,-1.9323383261917801],[0.045602756719948956,-1.8979657636104823]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.5600674518164939,0.480169459471973,0.71338606911949],"aabb_xy":[[-0.572939355317434,0.40016945905813683],[-0.5471955483155537,0.5601694598858091]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.1552627959848638,-1.8908952149461071,0.71338606911949],"aabb_xy":[[-0.1927627945604846,-1.903631510609665],[-0.11776279740924299,-1.8781589192825492]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.07885082547192457,1.6561771102641845,0.71338606911949],"aabb_xy":[[-0.011149174251249628,1.6331037577290044],[0.1688508251950987,1.679250462799364]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[0.6596672855235721,0.12357532226363688,0.71338606911949],"aabb_xy":[[0.6262271103275524,0.0901316964327068],[0.6931074607195916,0.15701894809456696]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[0.4333620883332585,1.3903018857699894,0.71338606911949],"aabb_xy":[[0.36936208974668605,1.3432949223704809],[0.49736208691983097,1.4373088491694983]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[0.6070523892509181,0.43145954151935406,0.71338606911949],"aabb_xy":[[0.602916532918218,0.3939595420749971],[0.6111882455836184,0.4689595409637111]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_29","position":[-0.17945176588080614,0.36238762824523096,0.71338606911949],"aabb_xy":[[-0.21059868472438925,0.2923876295584238],[-0.14830484703722302,0.43238762693203814]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[0.27969605986299806,1.3739755523623778,0.71338606911949],"aabb_xy":[[0.2497285029531724,1.3439755520644923],[0.3096636167728237,1.4039755526602637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626330579490048,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5232.png","name":"5232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2404.png","name":"2404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/90.png","name":"90"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7170.png","name":"7170"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":563.4343043051166,"rotation_z_degrees":76.67365192960592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008498535806546137,-0.019140516985012405,0.0035165688887086113]},{"name":"camera_2","offset_m":[0.004614824543918528,-0.0019620936578226555,0.019950944048100116]},{"name":"camera_3","offset_m":[0.018535682777654997,-0.011457514479623105,-0.0017055289989025384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020957528312243743,0.001142913919946365,-0.0009849193599542146],"end_effector_yaw_offset_degrees":-0.3026397356303321},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00034813650028331193,-0.0010959400652739452,-0.0012255119869002754],"end_effector_yaw_offset_degrees":0.9994469601612574},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001556309035458506,0.0001910053340064455,0.00022989601100032505],"end_effector_yaw_offset_degrees":0.029116826033181553}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008728270906452843,-0.003883144011676397],"position_m":[0.2731728270906453,0.19791685598832362,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033087427784015853,0.0027621235114125564],"position_m":[0.2451912572215984,-0.13513787648858744,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0030939689956621394,-0.003902604027371407],"position_m":[0.35070603100433784,-0.009102604027371407,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035334327046168037,-0.0031391358547689678],"position_m":[0.12406656729538319,0.415960864145231,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043365411719931,0.0012757096973263658],"position_m":[0.20036345882800688,-0.40632429030267364,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2cde872fdd3771bb95fa8e7c48ccf5f9df954ef16cc2defdfa683892b8442a8","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9944/tex_ceiling_textures_7170/tex_floor_textures_90/tex_table_textures_5232/tex_wall_textures_2404","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":807680627123100234,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":807680627123100234,"visual_seed":807680627123100234,"scene_id":"lab_003","finished_at":"2026-09-03T21:24:40"} +{"episode_id":"ep_000067","started_at":"2026-09-03T21:24:43","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.3793645551057474,-0.6888071720394537,0.71338606911949],"aabb_xy":[[0.3292670911246738,-0.7528071725492654],[0.429462019086821,-0.6248071715296418]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.1168905190341476,-1.9337936856009232,0.71338606911949],"aabb_xy":[[-0.14047564249804245,-1.9987936878463548],[-0.09330539557025276,-1.8687936833554912]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.34184837184884004,-2.087935945674949,0.71338606911949],"aabb_xy":[[-0.3455516331779789,-2.091637963983666],[-0.3381451105197012,-2.0842339273662307]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.3837956078299931,-2.2755932174394458,0.71338606911949],"aabb_xy":[[0.35002004863930014,-2.2896317126526107],[0.4175711670206861,-2.261554722226281]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.501446654770258,-1.5724747046804115,0.71338606911949],"aabb_xy":[[-0.5123524308578207,-1.6524747010792402],[-0.49054087868269525,-1.492474708281582]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.5033073107580646,0.5986771056556304,0.71338606911949],"aabb_xy":[[-0.5533073101982601,0.5487091811713141],[-0.45330731131786883,0.6486450301399467]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.13064692423713808,1.3609612496609715,0.71338606911949],"aabb_xy":[[0.050646923164017754,1.351183203323587],[0.21064692531025841,1.370739295998356]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.5946284469609556,0.933380200028834,0.71338606911949],"aabb_xy":[[-0.6596284448426035,0.8822565363222933],[-0.529628449079308,0.984503863735375]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.17092929979200744,0.6284094302519287,0.71338606911949],"aabb_xy":[[-0.18380120329294755,0.5484094298380925],[-0.15805739629106727,0.7084094306657648]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.3986211695687939,-0.37178117903122354,0.71338606911949],"aabb_xy":[[-0.415723247527162,-0.3888879845624933],[-0.3815190916104257,-0.3546743734999538]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.5361610937867842,0.48475268950358386,0.71338606911949],"aabb_xy":[[0.4561610951298982,0.47024783057932107],[0.6161610924436702,0.49925754842784664]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.1989915166783216,-2.111646604865677,0.71338606911949],"aabb_xy":[[0.19414792191709163,-2.116498257344661],[0.20383511143955158,-2.106794952386693]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.6641660283887554,-0.6779811652009939,0.71338606911949],"aabb_xy":[[0.6554680660980401,-0.6901061395084686],[0.6728639906794707,-0.6658561908935191]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.189293503515514,-0.3720316897338467,0.71338606911949],"aabb_xy":[[-0.20252444905019526,-0.38525910875584607],[-0.17606255798083267,-0.35880427071184723]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.2136204040641973,-1.1854402883098636,0.71338606911949],"aabb_xy":[[-0.23112040430924666,-1.2029400761494302],[-0.1961204038191479,-1.1679405004702965]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.5190477475999846,1.610072367237993,0.71338606911949],"aabb_xy":[[0.4690477472394185,1.5600923800283903],[0.5690477479605506,1.6600523544475962]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.1792638270574759,-1.2593993452976031,0.71338606911949],"aabb_xy":[[0.14811690821389276,-1.32939934398441],[0.210410745901059,-1.1893993466107957]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.038532494539167184,0.7755873579596262,0.71338606911949],"aabb_xy":[[0.0020366739118884425,0.7391034155328686],[0.07502831516644592,0.8120713003863838]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.6202787199417068,1.7766358388247743,0.71338606911949],"aabb_xy":[[0.5702787186578667,1.7266569844341517],[0.6702787212255467,1.826614693215396]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.38062179814918495,-1.3872829004914793,0.71338606911949],"aabb_xy":[[-0.42187060917909963,-1.4422829000036963],[-0.33937298711927016,-1.3322829009792614]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.5162664264633638,1.1982888964394758,0.71338606911949],"aabb_xy":[[0.46913704746152807,1.1342888953950734],[0.5633958054651994,1.2622888974838773]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.34838217634473034,0.7588895654856085,0.71338606911949],"aabb_xy":[[0.27838217421330075,0.7361275998599127],[0.4183821784761598,0.781651531111304]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.15865634084623326,1.144404761719033,0.71338606911949],"aabb_xy":[[-0.1747182683047509,1.0594047599064411],[-0.1425944133877156,1.2294047635316248]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.08929830213602563,-2.243246577776773,0.71338606911949],"aabb_xy":[[0.02429830117889843,-2.2951947897104787],[0.15429830309315284,-2.1912983658430676]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.40684870937982714,-1.085958039975241,0.71338606911949],"aabb_xy":[[-0.4438828188078869,-1.1203352473089505],[-0.3698145999517674,-1.0515808326415317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666583475951993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6588.png","name":"6588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6588.png","name":"6588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1439.png","name":"1439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8291.png","name":"8291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5854.png","name":"5854"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":735.4459853149165,"rotation_z_degrees":162.75423364186545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033411583595643855,-0.01650124038097415,-0.014543929425715318]},{"name":"camera_2","offset_m":[-0.015796563532385916,0.005457322144849869,0.016108306677264126]},{"name":"camera_3","offset_m":[0.017892394640182403,0.010239953974932884,0.014129430320937112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004955017731288758,-0.001949797660556056,0.000654632831884547],"end_effector_yaw_offset_degrees":-0.24122198017719332},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0014009803134837173,-0.000614564093963776,0.0002740492366003814],"end_effector_yaw_offset_degrees":0.6042879638198035},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012066072143662992,-0.0001437695514589503,0.0002328194048319774],"end_effector_yaw_offset_degrees":-0.40703131811154747}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008917161088827438,0.0011292279705772176],"position_m":[0.2731917161088827,0.20292922797057722,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002793141295002362,0.0008859219878449478],"position_m":[0.25129314129500235,-0.13701407801215504,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0008761998145669306,-0.004401066409779984],"position_m":[0.35292380018543307,-0.009601066409779983,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00018784537815382842,-0.003395189603848675],"position_m":[0.12778784537815382,0.4157048103961513,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000508171675392498,0.0009613155367929824],"position_m":[0.2052081716753925,-0.40663868446320706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01e2226f1573e2c2dfc3151fe572dba255a1f02f559bf5f88348253bdbe385f9","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6588/tex_ceiling_textures_5854/tex_floor_textures_6982/tex_table_textures_1439/tex_wall_textures_8291","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1297326829794338744,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1297326829794338744,"visual_seed":1297326829794338744,"scene_id":"lab_003","finished_at":"2026-09-03T21:27:36"} +{"episode_id":"ep_000068","started_at":"2026-09-03T21:27:40","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.6319736099119906,1.0291406745937786,0.71338606911949],"aabb_xy":[[0.5669736120303429,0.9780170108872377],[0.6969736077936385,1.0802643383003194]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.64191613149164,0.8318554576715442,0.71338606911949],"aabb_xy":[[0.5919211205321879,0.7818554586359528],[0.691911142451092,0.8818554567071363]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.11442052048751983,-1.259103810755752,0.71338606911949],"aabb_xy":[[-0.12073262002385826,-1.2648707500089706],[-0.1081084209511814,-1.2533368715025328]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.4752088369112929,-1.6680852181234764,0.71338606911949],"aabb_xy":[[-0.4903717098882301,-1.6832506754185954],[-0.46004596393435593,-1.652919760828358]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.40292096124480903,1.0665842758069237,0.71338606911949],"aabb_xy":[[0.38042096143090665,1.062109659436443],[0.4254209610587114,1.0710588921774045]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.5450493226483849,-1.9452949353829747,0.71338606911949],"aabb_xy":[[-0.5800493209590802,-1.9530099503065201],[-0.5100493243376893,-1.9375799204594288]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.15091466989460256,-2.521380818138768,0.71338606911949],"aabb_xy":[[0.14299138965585423,-2.5438808183767714],[0.1588379501333509,-2.4988808179007647]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.34754141198172794,-1.2200243703438942,0.71338606911949],"aabb_xy":[[0.29254141235998216,-1.275008063131367],[0.40254141160347384,-1.1650406775564215]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.4444723312982788,0.3894682110844845,0.71338606911949],"aabb_xy":[[0.43644606066765274,0.3807167161071319],[0.45249860192890473,0.39821970606183715]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.3390518079649554,-2.164331024243086,0.71338606911949],"aabb_xy":[[0.31655180844124786,-2.186826971693706],[0.36155180748866267,-2.1418350767924643]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.21059967215879438,-1.5211539842684492,0.71338606911949],"aabb_xy":[[0.1695817287724235,-1.5711539848994065],[0.25161761554516526,-1.4711539836374918]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.10452133681550024,-1.2060389042481483,0.71338606911949],"aabb_xy":[[-0.12952133598113336,-1.2129911499535049],[-0.07952133764986714,-1.1990866585427917]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.06539123762202925,1.552187153279768,0.71338606911949],"aabb_xy":[[-0.09916679681272222,1.538148658066603],[-0.03161567843133628,1.5662256484929329]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.45178768949305637,1.2697936825795022,0.71338606911949],"aabb_xy":[[-0.48928768943682277,1.2615005925446656],[-0.41428768954928996,1.2780867726143388]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.5373073476137784,-1.6914389810548627,0.71338606911949],"aabb_xy":[[0.47330735032812976,-1.7329457000077069],[0.601307344899427,-1.649932262102019]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[-0.27850366715142355,-1.7517930411642348,0.71338606911949],"aabb_xy":[[-0.32798408836538234,-1.8157930390770867],[-0.22902324593746476,-1.687793043251383]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.23327760500027506,0.7858280172977374,0.71338606911949],"aabb_xy":[[0.22456363595034054,0.7633280166385491],[0.24199157405020952,0.8083280179569255]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.6223559627523103,-2.1080853753494,0.71338606911949],"aabb_xy":[[0.6122742556737366,-2.188085373241514],[0.6324376698308836,-2.028085377457285]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.09003303236418081,-0.5193408699591062,0.71338606911949],"aabb_xy":[[-0.14503303056592565,-0.5598628365855437],[-0.03503303416243598,-0.4788189033326686]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.09388510328941557,0.2614726050696672,0.71338606911949],"aabb_xy":[[-0.10403811884356491,0.22540306349692674],[-0.08373208773526616,0.2975421466424074]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.13556904513908996,-0.27018608895343377,0.71338606911949],"aabb_xy":[[-0.16986595615683056,-0.304482975163375],[-0.1012721341213493,-0.2358892027434923]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.5175219308851409,0.6372187457166558,0.71338606911949],"aabb_xy":[[0.49252193161317864,0.6208733821204935],[0.5425219301571031,0.6535641093128182]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.33222504677796366,0.6581773078314508,0.71338606911949],"aabb_xy":[[-0.36570421403900466,0.6246981944603438],[-0.2987458795169228,0.6916564212025578]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.2514079787826575,0.4968975401378293,0.71338606911949],"aabb_xy":[[0.24727212244995733,0.45939754069347233],[0.2555438351153577,0.5343975395821863]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.45591732922803524,1.6466980072737738,0.71338606911949],"aabb_xy":[[-0.4599954871350849,1.6426170270255105],[-0.45183917132098544,1.6507789875220371]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.018711307392016985,0.6933891892929709,0.71338606911949],"aabb_xy":[[-0.041627020277066884,0.6704848921565474],[0.004204405493032919,0.7162934864293944]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[-0.019593566548066876,-1.4609900344323912,0.71338606911949],"aabb_xy":[[-0.0569248430733095,-1.4956430892272436],[0.017737709977175747,-1.4263369796375391]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_27","position":[0.16448245036999698,-2.3807545080360133,0.71338606911949],"aabb_xy":[[0.1004867529749004,-2.444754506336722],[0.22847814776509356,-2.3167545097353046]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[0.48552218121051127,-1.531627075728805,0.71338606911949],"aabb_xy":[[0.4609759655877605,-1.5618759722778421],[0.5100683968332619,-1.501378179179768]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[0.10449367259347131,0.8660334161707102,0.71338606911949],"aabb_xy":[[0.09507619802360855,0.8566172390329913],[0.11391114716333404,0.8754495933084293]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_30","position":[-0.46166943295424423,-2.499358717510902,0.71338606911949],"aabb_xy":[[-0.5116694333148102,-2.5493387047205047],[-0.41166943259367816,-2.449378730301299]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[0.03126921546833572,-0.8752586734906838,0.71338606911949],"aabb_xy":[[-0.03273078593965494,-0.9270476250146085],[0.09526921687632638,-0.823469721966759]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_32","position":[0.13410262902301984,-1.2917565039828347,0.71338606911949],"aabb_xy":[[0.11160262851097924,-1.3142483623482328],[0.15660262953506043,-1.2692646456174361]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_33","position":[-0.21248182975481472,-1.1735074383770245,0.71338606911949],"aabb_xy":[[-0.24296607988184488,-1.2235074381585207],[-0.18199757962778457,-1.1235074385955288]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_34","position":[0.05811695547742135,1.5211361472796132,0.71338606911949],"aabb_xy":[[0.03561695523390596,1.508931512619841],[0.08061695572093674,1.533340781939385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675405745248254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3985.png","name":"3985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1158.png","name":"1158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2465.png","name":"2465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3517.png","name":"3517"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":653.330735045365,"rotation_z_degrees":192.64923027362235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010937416317153862,-0.008153356041132955,0.001376110924723447]},{"name":"camera_2","offset_m":[0.007428953844993393,-0.017403227242290514,0.0014161626828713414]},{"name":"camera_3","offset_m":[-0.009390660978778151,0.00908910277270768,0.0012305453359666568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016983968997971643,0.0009219132535078175,5.263887196651877e-05],"end_effector_yaw_offset_degrees":0.7647978776084936},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0006853897053176652,-4.3000081488620175e-05,-0.0016629426508890002],"end_effector_yaw_offset_degrees":-0.8506329677699591},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006850447532738926,0.0012376467290470565,0.001007862941187348],"end_effector_yaw_offset_degrees":0.48287557638037515}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004078090998357175,0.0029097462339057094],"position_m":[0.27637809099835714,0.20470974623390573,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011771037735721023,-0.003245319538532625],"position_m":[0.2473228962264279,-0.14114531953853263,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0012551978561433632,-0.0016219278357437763],"position_m":[0.35505519785614337,-0.0068219278357437765,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004078498501191114,0.002131866669635953],"position_m":[0.1316784985011911,0.4212318666696359,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041011842938080524,0.004210552355228085],"position_m":[0.20880118429380803,-0.4033894476447719,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc61c5b16d1b3ca1644f429374636138230e3c25f946352bfd4bfb029d220a65","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_367/tex_ceiling_textures_3517/tex_floor_textures_2465/tex_table_textures_3985/tex_wall_textures_1158","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":333750102711927626,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":333750102711927626,"visual_seed":333750102711927626,"scene_id":"lab_003","finished_at":"2026-09-03T21:30:33"} +{"episode_id":"ep_000069","started_at":"2026-09-03T21:30:37","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.62186484517893,-0.3201323382619199,0.71338606911949],"aabb_xy":[[-0.6306669004879027,-0.3279436644168489],[-0.6130627898699573,-0.31232101210699076]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.2809415064096822,1.3254050357369436,0.71338606911949],"aabb_xy":[[0.26326587582108385,1.3077248194575406],[0.2986171369982805,1.343085252016346]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.4833175462802701,-2.499029272542861,0.71338606911949],"aabb_xy":[[0.4333175449193829,-2.549007177118276],[0.5333175476411574,-2.449051367967445]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.3333791508391564,-0.5496130270915645,0.71338606911949],"aabb_xy":[[-0.3373396346088909,-0.557280891677085],[-0.3294186670694221,-0.5419451625060439]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.09022655275306113,-1.2447910788857306,0.71338606911949],"aabb_xy":[[-0.12772655325041937,-1.2487597624338491],[-0.052726552255702885,-1.240822395337612]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.37675979746911303,-2.176833255768158,0.71338606911949],"aabb_xy":[[0.3394285209438705,-2.2114863105630103],[0.4140910739943557,-2.1421802009733057]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.013458325289528617,-2.08519735188732,0.71338606911949],"aabb_xy":[[-0.006432714590811631,-2.097853163172017],[0.03334936516986887,-2.0725415406026233]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.17434303039661436,1.2672980419375244,0.71338606911949],"aabb_xy":[[0.17063976906747547,1.2635960236288064],[0.1780462917257532,1.271000060246242]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.5839404493973013,0.37876775830460474,0.71338606911949],"aabb_xy":[[0.5139404460057392,0.3434519846011739],[0.6539404527888631,0.4140835320080356]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.49037737276479876,-2.0490321387879322,0.71338606911949],"aabb_xy":[[-0.533144079644219,-2.1130321422097347],[-0.44761066588537857,-1.9850321353661298]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.6204445946307604,-0.6141639373777692,0.71338606911949],"aabb_xy":[[0.5854445946542646,-0.6236285534253859],[0.6554445946072562,-0.6046993213301527]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.3829832328358431,-2.331615942460848,0.71338606911949],"aabb_xy":[[-0.40752944845859385,-2.361864839009885],[-0.3584370172130924,-2.3013670459118107]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.06282713887473812,1.0512205013068718,0.71338606911949],"aabb_xy":[[-0.08045997446826568,1.0335975552912489],[-0.04519430328121054,1.0688434473224948]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.10894384366013621,-2.1669319895152337,0.71338606911949],"aabb_xy":[[-0.11984961974769892,-2.246931985914063],[-0.0980380675725735,-2.0869319931164045]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.4660576400332317,-0.062222866265184695,0.71338606911949],"aabb_xy":[[-0.5029081879702192,-0.09972286708821843],[-0.42920709209624397,-0.024722865442150972]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.21601796512239801,0.6976283313091534,0.71338606911949],"aabb_xy":[[-0.25351796522799097,0.6908061694561721],[-0.17851796501680506,0.7044504931621344]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.29505671432194813,0.9614561371447334,0.71338606911949],"aabb_xy":[[-0.3306858702219079,0.9258234703878805],[-0.2594275584219884,0.9970888039015864]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.3603032688968999,0.5432331949377756,0.71338606911949],"aabb_xy":[[-0.42430326806666985,0.49646650781881313],[-0.29630326972712995,0.589999882056738]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.48324483595598416,-1.1053897455689061,0.71338606911949],"aabb_xy":[[-0.5532448375582637,-1.118822538770564],[-0.41324483435370474,-1.0919569523672488]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.018680859804976357,-2.4566718766987456,0.71338606911949],"aabb_xy":[[-0.0736808594267222,-2.5116555694862184],[0.036319139816769486,-2.401688183911273]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.4268507002586208,1.749335771533595,0.71338606911949],"aabb_xy":[[0.34685070227783577,1.7417342305717431],[0.5068506982394059,1.756937312495447]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.5834940675433404,1.322810326055408,0.71338606911949],"aabb_xy":[[0.5034940688864544,1.3083054671311452],[0.6634940662002264,1.337315184979671]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.56703963972084,0.11870730392553375,0.71338606911949],"aabb_xy":[[-0.5749629199595884,0.0962073036875304],[-0.5591163594820917,0.1412073041635371]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[0.6329131735824571,-0.22808712113844987,0.71338606911949],"aabb_xy":[[0.5829181626230051,-0.2780871201740416],[0.6829081845419092,-0.17808712210285813]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.636270081055629,-1.6658102251119185,0.71338606911949],"aabb_xy":[[0.5712700800551285,-1.7165965902665934],[0.7012700820561295,-1.6150238599572435]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.5224918741992539,-0.45521015893693795,0.71338606911949],"aabb_xy":[[0.4324918744760798,-0.47828351147211773],[0.6124918739224281,-0.43213680640175806]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.4339806945696725,0.9412372572878298,0.71338606911949],"aabb_xy":[[0.41392228295643213,0.9211721703786722],[0.4540391061829127,0.9613023441969872]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.247825971810629,0.5675138468477576,0.71338606911949],"aabb_xy":[[-0.25552916248470603,0.5598044761490196],[-0.24012278113655194,0.5752232175464956]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[-0.4732791249628927,1.2570686270390086,0.71338606911949],"aabb_xy":[[-0.5210852925766614,1.1920686243319494],[-0.425472957349124,1.3220686297460673]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[0.28347171929766146,-0.5503383473765884,0.71338606911949],"aabb_xy":[[0.27263124107114656,-0.5675246286672372],[0.29431219752417637,-0.5331520660859396]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[-0.1225833428381996,1.3979381616462936,0.71338606911949],"aabb_xy":[[-0.1865833448879316,1.3578436785569856],[-0.05858334078846762,1.4380326447356016]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_31","position":[-0.13302776728662913,-0.46865295493287107,0.71338606911949],"aabb_xy":[[-0.1383653429526337,-0.49365295586201086],[-0.12769019162062456,-0.4436529540037313]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_32","position":[-0.48856047487480797,0.4303648430374025,0.71338606911949],"aabb_xy":[[-0.49340406963603795,0.4255131905584184],[-0.483716880113578,0.43521649551638664]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679118634164315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3171.png","name":"3171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4711.png","name":"4711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5661.png","name":"5661"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":570.7509597610307,"rotation_z_degrees":171.47227704676826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01134129265656204,-0.0006300514428303171,0.01758125790858019]},{"name":"camera_2","offset_m":[0.00778171069481327,0.007436640703551271,-0.015213802335325703]},{"name":"camera_3","offset_m":[0.004201407890299005,-0.0046937074608653755,0.0011866216287034041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008862108051493848,3.883654911805527e-05,-0.0011818725677345005],"end_effector_yaw_offset_degrees":-0.04666998537238043},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00027680540882783766,0.0009685868064376185,0.0002872970436057858],"end_effector_yaw_offset_degrees":0.9341485939403975},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018102739094989686,-0.0018072816984562397,-0.0007094971033266471],"end_effector_yaw_offset_degrees":-0.6664320709728844}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002279166368834935,-0.0016160103398533223],"position_m":[0.27457916636883495,0.2001839896601467,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000920725400887815,-0.004930423497248717],"position_m":[0.2494207254008878,-0.1428304234972487,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0021918748638596686,0.004733532248934473],"position_m":[0.3559918748638597,-0.00046646775106552654,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030446693787270123,-0.00344882850343888],"position_m":[0.130644669378727,0.4156511714965611,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004066051346757418,0.003550194175124655],"position_m":[0.2087660513467574,-0.4040498058248754,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a12885aa6bd42767053932b1dc25a47337f39b72164fa0fc507494a2b2946bdb","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1059/tex_ceiling_textures_5661/tex_floor_textures_7997/tex_table_textures_3171/tex_wall_textures_4711","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8845757386270040738,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8845757386270040738,"visual_seed":8845757386270040738,"scene_id":"lab_003","finished_at":"2026-09-03T21:33:28"} +{"episode_id":"ep_000070","started_at":"2026-09-03T21:33:31","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.42502678550546413,-0.8028509005393156,0.71338606911949],"aabb_xy":[[-0.4291049434125139,-0.8069318807875789],[-0.4209486275984144,-0.7987699202910523]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.0611269638885118,-1.8477805162547578,0.71338606911949],"aabb_xy":[[0.05149532766808218,-1.8574178290344665],[0.07075860010894142,-1.8381432034750487]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.42786626665529803,-1.827470458490104,0.71338606911949],"aabb_xy":[[-0.46216317767303855,-1.861767344700045],[-0.3935693556375573,-1.7931735722801623]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.07508730510075445,-0.30079205263715014,0.71338606911949],"aabb_xy":[[-0.13908730536122527,-0.34580085199007815],[-0.011087304840283653,-0.25578325328422213]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.32348098240324696,-1.578176822033408,0.71338606911949],"aabb_xy":[[0.243480979145404,-1.658173329825392],[0.4034809856610899,-1.498180314241424]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.4383176971352183,0.2979284872310921,0.71338606911949],"aabb_xy":[[0.4274119210476555,0.21792849083226296],[0.44922347322278094,0.37792848362992126]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.05307239486194104,1.207861178693335,0.71338606911949],"aabb_xy":[[-0.07057232829592441,1.1903611787731005],[-0.03557246142795767,1.2253611786135696]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.44046650072277727,1.0394732179516635,0.71338606911949],"aabb_xy":[[0.42989902106467826,1.0289281878386551],[0.4510339803808763,1.0500182480646723]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.046773771734907044,-2.3735432515337633,0.71338606911949],"aabb_xy":[[-0.07792069057849016,-2.4435432502205705],[-0.01562685289132392,-2.303543252846956]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.30954474151098627,1.704930765352279,0.71338606911949],"aabb_xy":[[-0.32704474177032294,1.6908392231635065],[-0.2920447412516497,1.7190223075410518]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.5313404175527932,0.1999353137100659,0.71338606911949],"aabb_xy":[[0.5232127293594799,0.19102170529935827],[0.5394681057461064,0.20884892212077358]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.4718414618616399,0.7873588813473571,0.71338606911949],"aabb_xy":[[-0.5074706177615995,0.7517262145905043],[-0.4362123059616801,0.8229915481042102]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.491857616937482,-2.0329793763143975,0.71338606911949],"aabb_xy":[[0.454357616831889,-2.039801538167379],[0.5293576170430749,-2.026157214461416]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.17491670769882506,0.909427596855851,0.71338606911949],"aabb_xy":[[-0.18025428336482963,0.8844275959267112],[-0.1695791320328205,0.9344275977849907]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.2571002999352878,-1.6709143950513403,0.71338606911949],"aabb_xy":[[-0.2796002999454361,-1.6850106146909436],[-0.23460029992513953,-1.656818175411737]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.11220728439323535,0.3351348232248177,0.71338606911949],"aabb_xy":[[-0.13720728394497383,0.3249923393596829],[-0.08720728484149688,0.34527730708995236]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.006932816684240617,-1.0773186710222975,0.71338606911949],"aabb_xy":[[-0.04139516408238241,-1.11181255342012],[0.02752953071390118,-1.0428247886244746]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.2014512776934243,-0.5533156668354322,0.71338606911949],"aabb_xy":[[0.18365777075850787,-0.5711154124312299],[0.21924478462834074,-0.5355159212396345]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.43791248869767435,-1.0664725201869023,0.71338606911949],"aabb_xy":[[-0.5179124897707947,-1.0762505665242867],[-0.35791248762455397,-1.0566944738495179]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.5162074721375871,-0.3957391058951729,0.71338606911949],"aabb_xy":[[-0.5222444851382518,-0.4017658069641212],[-0.5101704591369224,-0.38971240482622477]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.5232823586321953,-1.0026130281247254,0.71338606911949],"aabb_xy":[[0.48828235950223964,-1.0083582492003895],[0.558282357762151,-0.9968678070490613]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.39303181068844106,0.9041442597451028,0.71338606911949],"aabb_xy":[[-0.401246355804125,0.8954676694474614],[-0.38481726557275703,0.912820850042744]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.06492042213027882,-1.2390057569421513,0.71338606911949],"aabb_xy":[[-0.1289204254199869,-1.2823406759460687],[-0.0009204188405707024,-1.1956708379382335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673840900399969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5317.png","name":"5317"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5317.png","name":"5317"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2924.png","name":"2924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1150.png","name":"1150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":836.0096360644231,"rotation_z_degrees":307.06977817246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014208950664730585,-0.01452488752647391,-0.003813705339575913]},{"name":"camera_2","offset_m":[-0.01649039643508673,0.011312750820606527,-0.014596670841079577]},{"name":"camera_3","offset_m":[-0.006203851645357422,-0.011020908748243628,0.006276777642334745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011195510125776833,-0.00031561086545196684,0.0007940012819788829],"end_effector_yaw_offset_degrees":-0.5089614020942408},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0009625545416591073,0.0006736170183930796,-0.0012698353877213897],"end_effector_yaw_offset_degrees":-0.19323554497642825},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000567490665691524,0.0014100003803898479,0.0010215839824957184],"end_effector_yaw_offset_degrees":0.2512812156443114}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016023049565734716,-0.0036453395475966686],"position_m":[0.2706976950434265,0.19815466045240335,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027724371758549447,0.0012251902477113342],"position_m":[0.24572756282414504,-0.13667480975228866,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004666928730364056,-0.002467603320363215],"position_m":[0.35846692873036407,-0.007667603320363215,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004914928314317472,-0.0011385750891845826],"position_m":[0.12268507168568252,0.4179614249108154,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.644084514841798e-05,-0.000760143448693019],"position_m":[0.20479644084514842,-0.40836014344869304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b3be8cb97e8db5fcea326517a53ed8d8b805bbe3c518424e1d7af48ad1696d9","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5317/tex_ceiling_textures_8226/tex_floor_textures_1150/tex_table_textures_2924/tex_wall_textures_6826","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4241475641968001737,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4241475641968001737,"visual_seed":4241475641968001737,"scene_id":"lab_003","finished_at":"2026-09-03T21:36:02"} +{"episode_id":"ep_000071","started_at":"2026-09-03T21:36:05","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.668655612129865,-0.6784252752691693,0.71338606911949],"aabb_xy":[[-0.6842113815401304,-0.6939757085135765],[-0.6530998427195999,-0.6628748420247621]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.10056035527485552,0.3551958381804834,0.71338606911949],"aabb_xy":[[-0.12840539205546264,0.3244113394421717],[-0.0727153184942484,0.3859803369187951]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.10668707338027505,-1.6510130574200383,0.71338606911949],"aabb_xy":[[-0.12436270396887339,-1.6686932736994409],[-0.08901144279167672,-1.6333328411406354]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.223362444569763,0.9727601603745777,0.71338606911949],"aabb_xy":[[-0.24094074675870983,0.9551856708004728],[-0.20578414238081613,0.9903346499486826]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.0789684130178373,1.0957299057062126,0.71338606911949],"aabb_xy":[[-0.0010315841417379845,1.0841823047483954],[0.1589684101774126,1.1072775066640295]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.20709743973867145,0.6739351550925843,0.71338606911949],"aabb_xy":[[0.18959750630468805,0.6564351551723496],[0.2245973731726548,0.6914351550128187]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[0.2786636623253582,-2.311626735486462,0.71338606911949],"aabb_xy":[[0.25415003822835236,-2.3358913287884984],[0.3031772864223641,-2.2873621421844255]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.17381674353444043,-1.919345368435465,0.71338606911949],"aabb_xy":[[-0.23781674544678277,-1.9752565176934758],[-0.10981674162209809,-1.8634342191774549]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.21562013467346686,0.19700082979579658,0.71338606911949],"aabb_xy":[[-0.2796201319591155,0.15549411084295262],[-0.1516201373878182,0.23850754874864055]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.40009672238253985,1.0125302686721036,0.71338606911949],"aabb_xy":[[-0.47009671879250153,0.9920923330204215],[-0.33009672597257794,1.0329682043237849]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.04296788081578218,-1.936127519925925,0.71338606911949],"aabb_xy":[[-0.06302629242902247,-1.9561926068350823],[-0.02290946920254188,-1.9160624330167675]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.6752533021898414,-2.037206703877163,0.71338606911949],"aabb_xy":[[-0.684055357498814,-2.045018030032092],[-0.6664512468808685,-2.029395377722234]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.3653994659205466,-2.026709238983312,0.71338606911949],"aabb_xy":[[0.28539946545033074,-2.0350199465976604],[0.44539946639076267,-2.018398531368964]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[0.5984609043555775,-0.4719095255093797,0.71338606911949],"aabb_xy":[[0.5574429609692066,-0.521909526140337],[0.6394788477419484,-0.42190952487842237]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.4508664898381308,-0.7375381680184903,0.71338606911949],"aabb_xy":[[-0.46016010807528146,-0.7750381665066242],[-0.4415728716009803,-0.7000381695303564]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.2627281995707872,-2.5570631662845256,0.71338606911949],"aabb_xy":[[0.2402281997568848,-2.561537782655006],[0.2852281993846896,-2.552588549914045]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.3509714227760392,0.7086739215048752,0.71338606911949],"aabb_xy":[[0.3014910015620804,0.6446739235920235],[0.400451843989998,0.7726739194177271]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.4364871891122192,-0.8758899553901687,0.71338606911949],"aabb_xy":[[-0.45469301277346685,-0.8869153559721603],[-0.4182813654509715,-0.864864554808177]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.5242181812776563,-1.4569124394422885,0.71338606911949],"aabb_xy":[[0.45921818272058346,-1.4866649728561712],[0.5892181798347291,-1.427159906028406]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.3672109019732732,-2.162379566621868,0.71338606911949],"aabb_xy":[[0.3595077112991962,-2.1700889373206063],[0.37491409264735026,-2.15467019592313]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.3664405987517538,-1.477025482441488,0.71338606911949],"aabb_xy":[[-0.3833513311880955,-1.4904976880341023],[-0.34952986631541194,-1.463553276848873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668179571298417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8389.png","name":"8389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8389.png","name":"8389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2839.png","name":"2839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5750.png","name":"5750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2543.png","name":"2543"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":639.6413690125819,"rotation_z_degrees":271.3043100575018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008148557963069264,0.011850187677174443,0.006251914096674704]},{"name":"camera_2","offset_m":[-0.017697260598366422,-0.011233926242397017,-0.0036752612478043456]},{"name":"camera_3","offset_m":[-0.01794359625309951,-0.007577023923265163,-0.00670156875424683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001953609625193091,-0.0008055928591441993,0.00036137482881948464],"end_effector_yaw_offset_degrees":0.9765634624138673},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-8.560078732942249e-05,-0.00038648055901350543,-0.0005663582428305758],"end_effector_yaw_offset_degrees":0.15935848155342813},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001648332359880275,0.0004367167683662766,0.0012580062457430443],"end_effector_yaw_offset_degrees":0.31857457419566426}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00032641760907496913,-0.0020123091562671957],"position_m":[0.271973582390925,0.19978769084373282,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004212429713688836,-0.0027386489881356447],"position_m":[0.24428757028631115,-0.14063864898813563,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004709774991412897,-0.0033881812955209823],"position_m":[0.3585097749914129,-0.008588181295520983,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004309265368807823,-0.003497621957864526],"position_m":[0.12329073463119217,0.41560237804213546,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031626143172133964,0.0019227429055352083],"position_m":[0.2078626143172134,-0.4056772570944648,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"baa620b178ab5993819193eef4ca39be56048f45089935d37699b647aded1290","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8389/tex_ceiling_textures_4763/tex_floor_textures_2543/tex_table_textures_2839/tex_wall_textures_5750","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1607450163135781970,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1607450163135781970,"visual_seed":1607450163135781970,"scene_id":"lab_003","finished_at":"2026-09-03T21:38:41"} +{"episode_id":"ep_000072","started_at":"2026-09-03T21:38:46","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.6613783801851696,-0.025408948488815142,0.71338606911949],"aabb_xy":[[0.6462062109035362,-0.0405778054170185],[0.6765505494668029,-0.01024009156061179]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.1281117904223058,-0.5711375625060842,0.71338606911949],"aabb_xy":[[-0.1931117915282491,-0.5961029355742125],[-0.06311178931636252,-0.5461721894379559]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.4744750268666911,0.8088542805763317,0.71338606911949],"aabb_xy":[[0.40947502590956386,0.756906068642626],[0.5394750278238183,0.8608024925100372]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.44330484884851457,0.44671158553292933,0.71338606911949],"aabb_xy":[[-0.4932779143810302,0.3967115857203965],[-0.3933317833159993,0.4967115853454623]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.1581604686633532,-1.9030886570274501,0.71338606911949],"aabb_xy":[[-0.17131171463464256,-1.9280886567841369],[-0.14500922269206384,-1.8780886572707638]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.0918811627707129,1.5582487452361087,0.71338606911949],"aabb_xy":[[0.06938116324700548,1.5357527977854875],[0.11438116229442029,1.580744692686729]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.05605576182203653,-1.8058236678858652,0.71338606911949],"aabb_xy":[[-0.02394423845157045,-1.878773215711582],[0.1360557620956435,-1.7328741200601485]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.3622718350088811,1.7982201319787676,0.71338606911949],"aabb_xy":[[-0.3972718349048999,1.7898458964668273],[-0.3272718351128622,1.8065943674907075]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.05494492146370333,-2.2082448289914614,0.71338606911949],"aabb_xy":[[-0.09244492003932413,-2.2209811246550193],[-0.017444922888082522,-2.1955085333279034]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.27675757545655755,0.7069155928761623,0.71338606911949],"aabb_xy":[[0.2417575771458621,0.6992005779526167],[0.311757573767253,0.714630607799708]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.5694257606117585,-0.7029173281453918,0.71338606911949],"aabb_xy":[[-0.6294257611196115,-0.7597640618313131],[-0.5094257601039056,-0.6460705944594705]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.2022199597355921,0.7700027626703991,0.71338606911949],"aabb_xy":[[-0.2662199616479345,0.7140916134123887],[-0.13821995782324978,0.8259139119284096]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.46562417899416486,1.1219112579091637,0.71338606911949],"aabb_xy":[[0.4243196359304288,1.0579112583410466],[0.5069287220579008,1.1859112574772808]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.30738112872472323,1.717166929535948,0.71338606911949],"aabb_xy":[[0.2835449110841182,1.627166928727462],[0.33121734636532835,1.8071669303444349]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.5743049801326567,-0.8912591819925206,0.71338606911949],"aabb_xy":[[0.5399887029580388,-0.9412591819656984],[0.6086212573072747,-0.8412591820193429]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.6912810738051638,1.7093601023817189,0.71338606911949],"aabb_xy":[[0.6868504444503235,1.7039117306470366],[0.6957117031600039,1.7148084741164016]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.10622203737764291,1.1902998453631888,0.71338606911949],"aabb_xy":[[-0.1312220366496052,1.1739544817670264],[-0.08122203810568063,1.2066452089593511]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.05165746265657145,-2.1845847666892015,0.71338606911949],"aabb_xy":[[0.041901473147397554,-2.194347300748436],[0.061413452165745334,-2.174822232629967]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.27108517999019394,1.2604729872767995,0.71338606911949],"aabb_xy":[[-0.28871801558372145,1.2428500412611765],[-0.2534523443966663,1.2780959332924224]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.10833937164398955,-1.0584141807465532,0.71338606911949],"aabb_xy":[[-0.1583393726631248,-1.0948803964843812],[-0.05833937062485427,-1.0219479650087253]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.2709974080979816,0.37643947889228224,0.71338606911949],"aabb_xy":[[-0.35099740856819756,0.36812877127793386],[-0.19099740762776568,0.3847501865066307]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.61387589960077,0.046552453291673235,0.71338606911949],"aabb_xy":[[-0.6337669394811104,0.033896642006976396],[-0.5939848597204299,0.05920826457637008]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.21683866631558113,-2.469801800980976,0.71338606911949],"aabb_xy":[[-0.22505321143126508,-2.4784783912786166],[-0.20862412119989712,-2.461125210683334]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.4755581210828828,-0.9435816574284794,0.71338606911949],"aabb_xy":[[-0.5355581216788989,-0.9983941299737029],[-0.41555812048686663,-0.888769184883256]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.6010531678952407,1.2226723976803973,0.71338606911949],"aabb_xy":[[-0.6560463792323775,1.1676723973416039],[-0.546059956558104,1.277672398019191]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.2625549544847945,0.576096122426137,0.71338606911949],"aabb_xy":[[0.22576032135988822,0.5391902473295547],[0.29934958760970076,0.6130019975227192]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670640056062067,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2125.png","name":"2125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1343.png","name":"1343"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9245.png","name":"9245"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":670.3193692991099,"rotation_z_degrees":169.84378221758166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013082182704560609,0.01729667103927648,0.018047425533905054]},{"name":"camera_2","offset_m":[0.005658762933866378,0.002037149712238836,0.01938416364805721]},{"name":"camera_3","offset_m":[0.003924091105034045,-0.0023286305139463004,0.01045365450562083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014588384253741513,0.0002686741805251079,-0.0009093536115746051],"end_effector_yaw_offset_degrees":-0.5769161040145516},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005826757950624516,-0.0008310456055007865,-0.0017907733067752485],"end_effector_yaw_offset_degrees":0.7862022409869045},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016490138464758052,4.130536447378248e-05,-0.0008867243071102912],"end_effector_yaw_offset_degrees":0.8127706616902906}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001682934691370942,-0.0004046233829207791],"position_m":[0.27061706530862906,0.20139537661707924,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014233393663066864,-0.0016968925849628292],"position_m":[0.24992333936630667,-0.13959689258496283,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.003416285847196865,-0.0021427616602350775],"position_m":[0.3503837141528031,-0.007342761660235077,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012474108148468497,0.004603070043638655],"position_m":[0.12635258918515313,0.4237030700436386,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004215363502295895,-0.0007493186951630093],"position_m":[0.2089153635022959,-0.408349318695163,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a6971db07e1d1cb56ebf1b1a8b0c9ec1d1d4e3615bd80e8d7f108a8c00ebe848","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8817/tex_ceiling_textures_9245/tex_floor_textures_1343/tex_table_textures_3885/tex_wall_textures_2125","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6843840353170851317,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6843840353170851317,"visual_seed":6843840353170851317,"scene_id":"lab_003","finished_at":"2026-09-03T21:41:41"} +{"episode_id":"ep_000073","started_at":"2026-09-03T21:41:44","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.6542732643745544,-2.4734994216144464,0.71338606911949],"aabb_xy":[[0.6198107863614665,-2.480163098797369],[0.688735742387642,-2.4668357444315236]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[0.3436599806373404,-1.9805518280556333,0.71338606911949],"aabb_xy":[[0.27965998205076786,-2.0275587914551423],[0.4076599792239128,-1.9335448646561244]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.5762696972920851,-1.3953738540637055,0.71338606911949],"aabb_xy":[[-0.5914418665737184,-1.4105427109919089],[-0.5610975280104518,-1.3802049971355022]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.41856829973705784,-1.8976104972397354,0.71338606911949],"aabb_xy":[[-0.478568299988459,-1.9518918222761998],[-0.35856829948565666,-1.8433291722032705]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.5144626067282312,0.08987149627043323,0.71338606911949],"aabb_xy":[[0.4594626075516416,0.034881821495475585],[0.5694626059048206,0.14486117104539087]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.3658209609646521,-1.0883097654956482,0.71338606911949],"aabb_xy":[[-0.36952422229379095,-1.092011783804366],[-0.36211769963551316,-1.08460774718693]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.5263140488183209,-2.4295515961152945,0.71338606911949],"aabb_xy":[[-0.538186131829822,-2.514551595808945],[-0.5144419658068198,-2.344551596421644]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.3266004207285078,1.7563383461065905,0.71338606911949],"aabb_xy":[[-0.37660042208939504,1.7063604415311744],[-0.2766004193676206,1.8063162506820056]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.30728502406467706,-0.08526732344840537,0.71338606911949],"aabb_xy":[[-0.3160662512119133,-0.09404707073693555],[-0.29850379691744083,-0.07648757615987524]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.3985858643602871,0.8035251511603985,0.71338606911949],"aabb_xy":[[0.3345858640998163,0.7585163518074705],[0.4625858646207579,0.8485339505133265]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.33436096704118395,-2.1641287284669897,0.71338606911949],"aabb_xy":[[-0.3983566644362805,-2.228128726767698],[-0.2703652696460873,-2.1001287301662805]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.2710386423568317,-1.66773255269253,0.71338606911949],"aabb_xy":[[-0.27713327024495005,-1.676301947244199],[-0.2649440144687134,-1.6591631581408615]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.35563352326262626,0.17845743127486768,0.71338606911949],"aabb_xy":[[-0.420633523296929,0.13175675459454037],[-0.29063352322832353,0.22515810795519495]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[0.24961687289533574,-0.9253728016951015,0.71338606911949],"aabb_xy":[[0.19461687327358992,-0.9803564944825743],[0.3046168725170816,-0.8703891089076289]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.020518870590427007,-1.3053978373976607,0.71338606911949],"aabb_xy":[[-0.03801887084976364,-1.3194893795864333],[-0.003018870331090385,-1.291306295208888]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.16707730430603807,1.1617072354420497,0.71338606911949],"aabb_xy":[[-0.23107730141814378,1.112674865647639],[-0.1030773071939324,1.2107396052364603]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[-0.08046608018047852,-2.0624924624059453,0.71338606911949],"aabb_xy":[[-0.10296521590670549,-2.0849924631842076],[-0.057966944454251546,-2.039992461627682]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.5263307281794669,-1.5555725206324273,0.71338606911949],"aabb_xy":[[0.44633072491545367,-1.5691325529413405],[0.6063307314434799,-1.5420124883235138]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.4634315024871823,-1.1949444017581288,0.71338606911949],"aabb_xy":[[-0.5334315051237686,-1.215049266753994],[-0.39343149985059594,-1.174839536762263]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.32752403108777606,-0.48008819457981033,0.71338606911949],"aabb_xy":[[0.319820840413699,-0.48779756527854834],[0.3352272217618531,-0.47237882388107233]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[-0.3803331174448654,1.4796016465279638,0.71338606911949],"aabb_xy":[[-0.4703331160393353,1.463351060214543],[-0.2903331188503954,1.495852232841385]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.4811342127196283,-0.8595668078072918,0.71338606911949],"aabb_xy":[[0.4586342131959208,-0.8820627552579123],[0.5036342122433355,-0.8370708603566708]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.5138705063681888,-1.3205263787648647,0.71338606911949],"aabb_xy":[[0.44987050402538714,-1.365467230008997],[0.5778705087109902,-1.275585527520732]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.23641525782311185,-1.9047128532845732,0.71338606911949],"aabb_xy":[[-0.29140846916024865,-1.959712853623367],[-0.1814220464859751,-1.8497128529457798]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.16162722190165624,0.5934120908464426,0.71338606911949],"aabb_xy":[[-0.2116046387669098,0.543412089357194],[-0.11164980503640264,0.6434120923356911]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.09122890447198695,0.2859186944822314,0.71338606911949],"aabb_xy":[[-0.14122890391218257,0.2359507699979151],[-0.041228905031791316,0.3358866189665477]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.27768964926914064,1.0458592786158385,0.71338606911949],"aabb_xy":[[0.2551896494552383,1.0413846622453578],[0.3001896490830431,1.0503338949863192]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.37069393986839083,-1.7641178958274752,0.71338606911949],"aabb_xy":[[0.3333626633431483,-1.7987709506223275],[0.4080252163936335,-1.729464841032623]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[0.6834098479050057,-0.867022250213288,0.71338606911949],"aabb_xy":[[0.6459098477331338,-0.8997229855961952],[0.7209098480768776,-0.8343215148303809]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[-0.5113793610290887,-0.8539562792544819,0.71338606911949],"aabb_xy":[[-0.5148200372691458,-0.8578177122288466],[-0.5079386847890315,-0.8500948462801177]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[0.6156843159741063,1.6752527919506703,0.71338606911949],"aabb_xy":[[0.6115484596414063,1.6377527925063138],[0.6198201723068066,1.7127527913950278]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665553655309649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7784.png","name":"7784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3088.png","name":"3088"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":755.1399711823292,"rotation_z_degrees":77.27112697836696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008731597737625366,-0.015461717641017225,-0.001191064296755702]},{"name":"camera_2","offset_m":[0.0008348608342084521,0.011576401290161523,-0.0005698647273612474]},{"name":"camera_3","offset_m":[0.009322239051779563,0.007034822467769861,0.0054105197117069945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019376898440780863,-0.0007906806028611247,-0.000778620502277064],"end_effector_yaw_offset_degrees":0.3583851561281721},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010786210903984666,0.00034804309087176034,-0.0008018966070242549],"end_effector_yaw_offset_degrees":-0.7504121602507534},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006417604141455535,-0.00032623571272434593,-0.0016967055196115313],"end_effector_yaw_offset_degrees":-0.0121751606281999}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002690900137715202,0.003475754991868825],"position_m":[0.26960909986228476,0.20527575499186884,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004486743619192069,-0.0035688221569736955],"position_m":[0.2480513256380808,-0.14146882215697368,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003964166963182947,-0.001765977983315552],"position_m":[0.357764166963183,-0.006965977983315552,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045389446400812584,0.003778499835547541],"position_m":[0.12306105535991874,0.42287849983554754,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003570544401409942,-0.0024926647195131226],"position_m":[0.20112945559859005,-0.41009266471951317,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4f3077bfd21e51b6072a3e78ca734867ec2d4f13f11c8e0a1f371416b44788e","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2387/tex_ceiling_textures_3088/tex_floor_textures_8581/tex_table_textures_7784/tex_wall_textures_290","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":552599747846357604,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":552599747846357604,"visual_seed":552599747846357604,"scene_id":"lab_003","finished_at":"2026-09-03T21:44:34"} +{"episode_id":"ep_000074","started_at":"2026-09-03T21:44:38","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.10512076887237454,-1.501110182866541,0.71338606911949],"aabb_xy":[[-0.12067653828263981,-1.5166606161109486],[-0.08956499946210927,-1.485559749622134]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.5998563661653828,1.0831579594679641,0.71338606911949],"aabb_xy":[[0.5846934931884459,1.0679925021728456],[0.61501923914232,1.098323416763083]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.1941464225385151,-0.7073782536240925,0.71338606911949],"aabb_xy":[[0.18773260889533014,-0.7137880738717608],[0.20056023618170002,-0.7009684333764241]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.5657814125501412,0.15004866676679107,0.71338606911949],"aabb_xy":[[-0.601410568450101,0.11441600000993815],[-0.5301522566501815,0.18568133352364405]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.6225737416047266,1.7271952662886556,0.71338606911949],"aabb_xy":[[0.5625737413533253,1.6729139412521907],[0.6825737418561276,1.78147659132512]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.0895275177574032,1.4813565316953627,0.71338606911949],"aabb_xy":[[0.08608684151734602,1.4774950987209983],[0.09296819399746037,1.4852179646697272]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[-0.12618843977932082,-0.08806809167255025,0.71338606911949],"aabb_xy":[[-0.16303898771630843,-0.12556809249558398],[-0.0893378918423332,-0.05056809084951651]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.01291092972138197,-1.9772830148569462,0.71338606911949],"aabb_xy":[[-0.00958907028876632,-1.9913792344965497],[0.03541092973153026,-1.9631867952173432]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.1821972524505978,-2.24101985192069,0.71338606911949],"aabb_xy":[[-0.21719725242709365,-2.2504844679683074],[-0.14719725247410198,-2.2315552358730737]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.4171662761651156,-2.0919314759288445,0.71338606911949],"aabb_xy":[[0.35316627425277325,-2.1478426251868554],[0.48116627807745793,-2.0360203266708345]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.5583500211885262,-2.1025175679307124,0.71338606911949],"aabb_xy":[[-0.6083233151917866,-2.1525175684852598],[-0.5083767271852657,-2.052517567376165]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.11082127293283939,-2.146383846461874,0.71338606911949],"aabb_xy":[[0.030821272659232412,-2.2193333942875904],[0.19082127320644637,-2.073434298636157]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.01170327912514535,1.803851198336178,0.71338606911949],"aabb_xy":[[-0.0057967211341912765,1.7897596561474058],[0.02920327938448198,1.817942740524951]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.05888651115863197,-1.0373328067685674,0.71338606911949],"aabb_xy":[[-0.14888650789424218,-1.090516270085862],[0.031113485576978253,-0.9841493434512729]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.1448822991089428,-2.0488454022389218,0.71338606911949],"aabb_xy":[[-0.1798822990049617,-2.057219637750862],[-0.10988229921292396,-2.0404711667269817]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.15909555639756434,-0.4223247912240482,0.71338606911949],"aabb_xy":[[-0.17915396801080463,-0.4423898781332057],[-0.13903714478432405,-0.4022597043148906]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.06117287015052619,0.22354416846138658,0.71338606911949],"aabb_xy":[[-0.0720133483770411,0.2063578871707378],[-0.050332391924011295,0.24073044975203542]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.12948977645734405,-2.3052348784978713,0.71338606911949],"aabb_xy":[[0.11484637090331107,-2.319893598154655],[0.14413318201137704,-2.2905761588410867]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.08302166077159823,0.012510972586150082,0.71338606911949],"aabb_xy":[[-0.10552166029530562,-0.009984974864470697],[-0.060521661247890816,0.035006920036770854]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.47060569640757843,-2.272710733486721,0.71338606911949],"aabb_xy":[[0.4626122066122965,-2.280708865427197],[0.47859918620286057,-2.264712601546246]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.3299218743660695,1.3105831337810083,0.71338606911949],"aabb_xy":[[-0.3532037165642008,1.22558313248378],[-0.3066400321679381,1.3955831350782362]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.5329252043784203,1.3969130672580188,0.71338606911949],"aabb_xy":[[-0.5829252056622601,1.3469342128673962],[-0.48292520309458026,1.4468919216486404]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.4210694581352983,0.9539339008232757,0.71338606911949],"aabb_xy":[[0.36106945828873144,0.8971152786302371],[0.481069457981865,1.0107525230163144]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.23063421241753246,1.0667471995364912,0.71338606911949],"aabb_xy":[[0.19313421090190072,1.0555204265203462],[0.26813421393316417,1.0779739725526363]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[0.07044729525913584,0.9814963579022078,0.71338606911949],"aabb_xy":[[0.05527512597750252,0.9663275009740044],[0.0856194645407692,0.9966652148304112]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.40925661677116953,-0.8387228704388565,0.71338606911949],"aabb_xy":[[-0.49925662044808766,-0.9001552770159607],[-0.31925661309425135,-0.7772904638617519]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.1740430264727888,-1.7550802741977292,0.71338606911949],"aabb_xy":[[-0.2090430278242705,-1.7754400101545498],[-0.13904302512130703,-1.734720538240908]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.4712267851195394,-0.5090158258494442,0.71338606911949],"aabb_xy":[[-0.5512267837068587,-0.588331427787605],[-0.39122678653222,-0.4297002239112833]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[-0.5321005896765406,0.2836835051803237,0.71338606911949],"aabb_xy":[[-0.5870928403120517,0.228683503437011],[-0.4771083390410298,0.3386835069236365]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[0.5878357511397505,-0.42200683415049767,0.71338606911949],"aabb_xy":[[0.5078357478819074,-0.5020033419424816],[0.6678357543975934,-0.3420103263585137]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[-0.05625112546432909,-0.2905706342595691,0.71338606911949],"aabb_xy":[[-0.0650531807733018,-0.2983819604144981],[-0.047449070155356377,-0.28275930810463995]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.11944866930479925,0.8968109146872161,0.71338606911949],"aabb_xy":[[-0.16163308346563,0.832810914410005],[-0.07726425514396852,0.9608109149644274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644606975315498,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2925.png","name":"2925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2925.png","name":"2925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7183.png","name":"7183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3095.png","name":"3095"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3216.png","name":"3216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9287.png","name":"9287"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":846.5345984999908,"rotation_z_degrees":263.84195882050017,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014663024937741494,-0.002057693158761628,0.019120705630979614]},{"name":"camera_2","offset_m":[-0.002034649730085842,-0.004984223146381646,0.007896566588780282]},{"name":"camera_3","offset_m":[0.009725142186289486,-0.007068461535135842,0.011034913397674581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007923721966331971,0.0005690449605511069,-0.0004938052483327989],"end_effector_yaw_offset_degrees":0.7768540953724099},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001223763044711991,0.0009824392839191676,0.0009620908400689025],"end_effector_yaw_offset_degrees":-0.3458138506166275},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00024239929860066494,-0.000492027506375654,0.0017066059785870343],"end_effector_yaw_offset_degrees":-0.32119396189757743}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002645520861862305,-0.0016554074407142084],"position_m":[0.26965447913813767,0.2001445925592858,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026381228690128132,0.0021090358804962683],"position_m":[0.24586187713098717,-0.13579096411950373,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.00014771381938605537,-0.004157609099385831],"position_m":[0.35365228618061395,-0.00935760909938583,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012762676053738927,-0.0018744330321762326],"position_m":[0.12887626760537388,0.41722556696782376,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019689371806920343,0.0013479434271232108],"position_m":[0.20273106281930797,-0.40625205657287683,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"526c3c23df03dd8c41ecac577f38d1a15b77fbb88dbcb58b360dbfb18b1447db","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2925/tex_ceiling_textures_9287/tex_floor_textures_3216/tex_table_textures_7183/tex_wall_textures_3095","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3705427179617386328,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3705427179617386328,"visual_seed":3705427179617386328,"scene_id":"lab_003","finished_at":"2026-09-03T21:47:29"} +{"episode_id":"ep_000075","started_at":"2026-09-03T21:47:32","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.3560537440625886,-1.3763372973011339,0.71338606911949],"aabb_xy":[[-0.38059995968533933,-1.406586193850171],[-0.3315075284398379,-1.3460884007520968]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.3303022108541156,1.8108359229696123,0.71338606911949],"aabb_xy":[[-0.4103022088349006,1.80323438200776],[-0.2503022128733305,1.818437463931464]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.10076492981286189,-0.5117765117736988,0.71338606911949],"aabb_xy":[[-0.11592780278979899,-0.5269419690688175],[-0.08560205683592481,-0.49661105447858]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.10882359068747216,-2.3553414700009982,0.71338606911949],"aabb_xy":[[-0.12888200230071245,-2.3754065569101552],[-0.08876517907423187,-2.3352763830918404]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.6264619068316564,-1.5685894123111506,0.71338606911949],"aabb_xy":[[-0.6804775031135563,-1.6325894152034077],[-0.5724463105497563,-1.5045894094188934]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.11805413188045755,-1.2943613101042595,0.71338606911949],"aabb_xy":[[-0.1880541340118871,-1.3171232757299547],[-0.04805412974902799,-1.2715993444785634]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.010811254037867424,0.7812362816981828,0.71338606911949],"aabb_xy":[[-0.06918874623573955,0.7082867338724662],[0.0908112543114744,0.8541858295238997]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.31504417504956916,1.5173369046915028,0.71338606911949],"aabb_xy":[[0.2697655601684199,1.4533369053433192],[0.3603227899307184,1.5813369040396865]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.48271825245915845,-1.7518243882920896,0.71338606911949],"aabb_xy":[[0.46570815516910774,-1.7679588767903633],[0.49972834974920904,-1.7356898997938155]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.3036374570741003,-1.0221677803202027,0.71338606911949],"aabb_xy":[[-0.3168684026087815,-1.035395199342202],[-0.29040651153941893,-1.008940361298203]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.18559008453684134,-1.924346513792002,0.71338606911949],"aabb_xy":[[-0.18970603464891397,-1.9284620688248475],[-0.18147413442476865,-1.9202309587591564]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.521919479180047,1.1413242829958596,0.71338606911949],"aabb_xy":[[-0.5859194798835164,1.0953059005229386],[-0.45791947847657777,1.1873426654687806]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.5977388409996409,0.9000888794897688,0.71338606911949],"aabb_xy":[[-0.6477388420187763,0.863622663751941],[-0.5477388399805058,0.9365550952275968]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.34244888973142107,-1.6365863349420402,0.71338606911949],"aabb_xy":[[0.30494888906684237,-1.652273392942262],[0.37994889039599977,-1.6208992769418176]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.6643559106429069,-1.124041130632362,0.71338606911949],"aabb_xy":[[0.6148754894289482,-1.1880411285452137],[0.7138363318568658,-1.06004113271951]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.1215263628682498,-1.2174615472429298,0.71338606911949],"aabb_xy":[[0.05752636647267674,-1.2814248356616633],[0.18552635926382288,-1.1534982588241962]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.23022675753148358,-2.269586072366784,0.71338606911949],"aabb_xy":[[0.22678608129142644,-2.273447505341149],[0.23366743377154078,-2.26572463939242]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.6571335425429428,-1.4043107165386954,0.71338606911949],"aabb_xy":[[-0.6730180358082679,-1.4186636568375193],[-0.6412490492776176,-1.3899577762398712]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.2552940608775649,1.1467247575392938,0.71338606911949],"aabb_xy":[[0.17029406218549026,1.114738894144415],[0.34029405956963954,1.1787106209341727]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.05859851908129954,-0.7631902326051863,0.71338606911949],"aabb_xy":[[0.016414104920468797,-0.8271902328823976],[0.10078293324213028,-0.6991902323279752]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.43084140418889083,-2.3228611266644683,0.71338606911949],"aabb_xy":[[0.41837404607915524,-2.3353264512977923],[0.44330876229862654,-2.3103958020311453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6706052272208871,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3952.png","name":"3952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2442.png","name":"2442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5265.png","name":"5265"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":667.9698055251849,"rotation_z_degrees":78.21818724727608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00842133117160436,0.012492297092555043,-0.015806880484239283]},{"name":"camera_2","offset_m":[-0.010620906918787512,-0.001128566718052934,0.007920390196828806]},{"name":"camera_3","offset_m":[-0.012223289785025253,0.016903385185247085,-0.006492884596490427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013110709424574967,0.0017423831299940313,0.0009904903526893332],"end_effector_yaw_offset_degrees":0.058062115452528484},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0018163273114687544,-4.72097639541019e-05,0.0018113286810859867],"end_effector_yaw_offset_degrees":-0.7141261611694409},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001213275353199145,-0.0019228954276401926,0.001965503574881158],"end_effector_yaw_offset_degrees":-0.591829376257826}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004229316378658089,0.001499276019096574],"position_m":[0.2765293163786581,0.2032992760190966,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003851780405467257,-0.003643775048870602],"position_m":[0.25235178040546724,-0.14154377504887058,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.001075662994821894,-0.001899191421377142],"position_m":[0.35487566299482187,-0.007099191421377142,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003352299088292484,-0.0031454874453793833],"position_m":[0.1242477009117075,0.41595451255462057,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002134491952814045,-0.0033891046639612154],"position_m":[0.20683449195281403,-0.4109891046639612,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2c5e27e0e4bed91f6a633a3d12c0dd7b825668a4cb530a7b4f40d91b0b01c6d4","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4605/tex_ceiling_textures_530/tex_floor_textures_5265/tex_table_textures_3952/tex_wall_textures_2442","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2260922720081680602,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2260922720081680602,"visual_seed":2260922720081680602,"scene_id":"lab_003","finished_at":"2026-09-03T21:50:20"} +{"episode_id":"ep_000076","started_at":"2026-09-03T21:50:23","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[0.41260249132676496,-2.2780690641005714,0.71338606911949],"aabb_xy":[[0.3937181075582548,-2.2969549888809238],[0.4314868750952752,-2.259183139320218]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.6207366398776182,-1.8401004878794036,0.71338606911949],"aabb_xy":[[0.6172959636375611,-1.8439619208537683],[0.6241773161176755,-1.8362390549050394]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.6018873095698627,0.15690328186587665,0.71338606911949],"aabb_xy":[[-0.6818873128277056,0.07690677407389268],[-0.5218873063120197,0.23689978965786063]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.2891930058971774,0.6227666724911392,0.71338606911949],"aabb_xy":[[-0.32263318109319694,0.589323046660209],[-0.25575283070115773,0.6562102983220691]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.45813409995091914,-1.9583893778660908,0.71338606911949],"aabb_xy":[[0.4206341015275188,-1.9715535918339215],[0.4956340983743195,-1.94522516389826]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.20372500378707326,-2.136617160598683,0.71338606911949],"aabb_xy":[[-0.2282386278840791,-2.1608817539007195],[-0.17921137969006737,-2.1123525672966466]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.26651530043141164,1.0778473535402622,0.71338606911949],"aabb_xy":[[-0.31651530000774636,1.0278667745881565],[-0.21651530085507692,1.1278279324923683]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.5807309547449017,-1.4654093137303021,0.71338606911949],"aabb_xy":[[-0.613192655626829,-1.4955421458452045],[-0.5482692538629741,-1.4352764816153993]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.14276160565086826,-1.5415307551539543,0.71338606911949],"aabb_xy":[[-0.1905677732646369,-1.6065307578610128],[-0.0949554380370996,-1.4765307524468951]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.026881695904243386,1.6077030292836176,0.71338606911949],"aabb_xy":[[-0.06542738872944442,1.569157258227429],[0.011663996920957646,1.6462488003398064]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.5675948568138636,0.17676697350068116,0.71338606911949],"aabb_xy":[[0.5135792605319636,0.11276697060842397],[0.6216104530957636,0.2407669763929383]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.32853082741617523,0.16370870816155758,0.71338606911949],"aabb_xy":[[-0.3455409247062258,0.14757421966328366],[-0.3115207301261245,0.1798431966598315]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.05909398900515517,0.882898632668931,0.71338606911949],"aabb_xy":[[0.054194696698591664,0.8552217133663621],[0.06399328131171866,0.9105755519714996]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.42378686529321996,0.40518809150513,0.71338606911949],"aabb_xy":[[0.3738026295850427,0.3551880926916344],[0.47377110100139713,0.4551880903186256]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.147349205290207,1.7167405892167875,0.71338606911949],"aabb_xy":[[-0.15922128830170812,1.6317405895231372],[-0.1354771222787059,1.8017405889104379]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.43177392250538077,0.8658445292896788,0.71338606911949],"aabb_xy":[[-0.46677392385686256,0.8454847933328581],[-0.3967739211538991,0.8862042652464998]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.37313722600418864,-1.3551377996910068,0.71338606911949],"aabb_xy":[[-0.423137227023324,-1.3916040154288347],[-0.32313722498505343,-1.3186715839531788]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.1402553735366393,0.9369787002558425,0.71338606911949],"aabb_xy":[[0.12680884690259597,0.9235088486027513],[0.15370190017068264,0.9504485519089337]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.3270135889106676,0.3297702348843359,0.71338606911949],"aabb_xy":[[-0.3970135910420971,0.30700826925864017],[-0.257013586779238,0.3525322005100315]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.31926990730809357,-2.4393258651336613,0.71338606911949],"aabb_xy":[[0.25526990590010284,-2.491114816657586],[0.3832699087160842,-2.3875369136097366]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.5685475804800657,-2.1945138688216597,0.71338606911949],"aabb_xy":[[-0.6285475810760819,-2.249326341366883],[-0.5085475798840495,-2.139701396276436]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694792434867746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2916.png","name":"2916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3841.png","name":"3841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8940.png","name":"8940"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":709.9415692591294,"rotation_z_degrees":249.16100769445273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01148303599368706,0.012474344401613779,0.013796831558724427]},{"name":"camera_2","offset_m":[0.013697537760668881,-0.014392214403116343,-0.0012266475179898463]},{"name":"camera_3","offset_m":[-0.0062747002825039155,0.006789356957635873,-0.01973296411111472]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012977651708687842,-0.0019399205466634605,-0.00016591913645211723],"end_effector_yaw_offset_degrees":0.3706439488128159},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00130338442849286,-0.0013821044279786246,-9.85200598118002e-05],"end_effector_yaw_offset_degrees":0.1665491536839423},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012237703569013903,-0.0006122190737519176,0.0008733360567326504],"end_effector_yaw_offset_degrees":-0.5576367242036846}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[8.620846348117699e-05,-0.004761747160744389],"position_m":[0.27238620846348116,0.1970382528392556,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00044550776842293763,8.686307193893957e-05],"position_m":[0.24894550776842295,-0.13781313692806105,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004063373668394853,0.002239873939255636],"position_m":[0.3497366263316051,-0.002960126060744364,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034919571212928277,0.0005115537256241611],"position_m":[0.13109195712129282,0.41961155372562414,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027786510881843583,-0.0007137019518369606],"position_m":[0.20747865108818436,-0.40831370195183697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cf81241e7c182ba806e46d2ec54a3640de9c8b98c5f27d4645af27db70b30320","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8866/tex_ceiling_textures_8940/tex_floor_textures_3841/tex_table_textures_2324/tex_wall_textures_2916","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5195479363825794912,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5195479363825794912,"visual_seed":5195479363825794912,"scene_id":"lab_003","finished_at":"2026-09-03T21:53:11"} +{"episode_id":"ep_000077","started_at":"2026-09-03T21:53:14","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.5000687147291775,1.6159255493331384,0.71338606911949],"aabb_xy":[[-0.5359822191541671,1.5800120411163838],[-0.46415521030418777,1.651839057549893]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.4609214798088797,-1.8802920749832088,0.71338606911949],"aabb_xy":[[-0.5409214772124729,-1.9602846461813914],[-0.38092148240528617,-1.8002995037850258]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.5631587914532842,0.7978165749406951,0.71338606911949],"aabb_xy":[[-0.6181510420887951,0.7428165731973824],[-0.5081665408177732,0.852816576684008]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.3403288367544275,-0.9663313236058553,0.71338606911949],"aabb_xy":[[0.3170469945562961,-1.0513313249030833],[0.3636106789525588,-0.8813313223086272]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.6121555640881288,1.0826630080410973,0.71338606911949],"aabb_xy":[[-0.6350712769731787,1.0597587109046738],[-0.5892398512030789,1.1055673051775208]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.3008557348306372,1.3020006671932935,0.71338606911949],"aabb_xy":[[-0.30884972340834055,1.2940005870982028],[-0.29286174625293376,1.3100007472883834]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.1624132403963947,0.23296200951926904,0.71338606911949],"aabb_xy":[[-0.1705268950697718,0.22485619306524],[-0.1542995857230176,0.24106782597329815]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.3910814496899268,-0.3133260790788195,0.71338606911949],"aabb_xy":[[-0.4550814529085647,-0.36004919097782784],[-0.327081446471289,-0.26660296717981113]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.5639698419169985,-1.9888741835844792,0.71338606911949],"aabb_xy":[[0.5039698420704317,-2.045692805777518],[0.6239698417635653,-1.9320555613914405]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.6061827454752889,-0.45426553004198844,0.71338606911949],"aabb_xy":[[-0.6562802094563626,-0.5182655305518002],[-0.5560852814942153,-0.3902655295321767]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.11188928419005884,-1.970098836468344,0.71338606911949],"aabb_xy":[[-0.1570606020382278,-2.0340988336128825],[-0.06671796634188987,-1.9060988393238056]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.6969945302027922,-2.3199260594388957,0.71338606911949],"aabb_xy":[[0.678110146434282,-2.3388119842192485],[0.7158789139713024,-2.301040134658543]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.5216208956842818,-0.0014843888730191601,0.71338606911949],"aabb_xy":[[0.48784533649358885,-0.015522884086184185],[0.5553964548749748,0.012554106340145865]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.5735040927750108,0.496610209546128,0.71338606911949],"aabb_xy":[[0.4935040956154355,0.485062608588311],[0.6535040899345861,0.508157810503945]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.5409503958821464,-2.2925602819858018,0.71338606911949],"aabb_xy":[[0.5233175602886189,-2.3101832280014243],[0.558583231475674,-2.2749373359701783]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.5798726692443228,-2.1238064816141904,0.71338606911949],"aabb_xy":[[-0.5839508271513724,-2.1278874618624535],[-0.575794511337273,-2.1197255013659273]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.32512896436243055,0.31199824013537825,0.71338606911949],"aabb_xy":[[-0.38912896365659877,0.24801209976652405],[-0.26112896506826233,0.37598438050423244]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.602083560884533,1.2186594396916122,0.71338606911949],"aabb_xy":[[-0.6256686843484279,1.1536594374461806],[-0.5784984374206382,1.2836594419370442]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.3316934587098252,1.098791242250266,0.71338606911949],"aabb_xy":[[-0.39569345599547384,1.057284523297422],[-0.26769346142417655,1.1402979612031099]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.3781425370238518,0.4677538208736043,0.71338606911949],"aabb_xy":[[0.341646716396573,0.43126987844684667],[0.4146383576511305,0.5042377633003619]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.6216869528385733,-0.24377768903172425,0.71338606911949],"aabb_xy":[[0.557686951160576,-0.2922950805110384],[0.6856869545165707,-0.19526029755240998]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.589520503033583,-0.7829500522196562,0.71338606911949],"aabb_xy":[[0.5395273909243913,-0.8329500528938519],[0.639513615142775,-0.7329500515454606]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.33202581600439923,0.8104577594359559,0.71338606911949],"aabb_xy":[[-0.34137282358669446,0.7961541372183119],[-0.322678808422104,0.8247613816535999]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[-0.32351510716929405,1.712917567698589,0.71338606911949],"aabb_xy":[[-0.4035151041835421,1.692783016025178],[-0.24351511015504612,1.7330521193720005]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.6442838682737433,1.6595717480229673,0.71338606911949],"aabb_xy":[[0.5642838661109808,1.5796165643968236],[0.7242838704365058,1.7395269316491109]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.01110815523946318,0.9542809871308036,0.71338606911949],"aabb_xy":[[-0.009176147483935578,0.9339983619880946],[0.031392457962861935,0.9745636122735123]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.4855174972145948,1.5132803853687649,0.71338606911949],"aabb_xy":[[0.45051749894447485,1.5062062576737765],[0.5205174954847147,1.5203545130637528]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.17055100752283192,1.2841753962243936,0.71338606911949],"aabb_xy":[[-0.19683983184327253,1.2579039625697421],[-0.1442621832023912,1.3104468298790446]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[-0.15982253069129304,0.34181869983601443,0.71338606911949],"aabb_xy":[[-0.21982253094269422,0.2875373747995497],[-0.09982253043989187,0.39610002487247903]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[0.043169653426199495,-1.6933673095456296,0.71338606911949],"aabb_xy":[[-0.002108961454949765,-1.757367308893813],[0.08844826830734875,-1.6293673101974457]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[0.6256730565365292,1.4756540545003936,0.71338606911949],"aabb_xy":[[0.6155200409823797,1.439584512927653],[0.6358260720906784,1.5117235960731334]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_31","position":[-0.3485922904906702,-1.295124926446734,0.71338606911949],"aabb_xy":[[-0.3655030229270119,-1.3085971320393484],[-0.33168155805432836,-1.281652720854119]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[0.06415412599469217,1.3521497397162783,0.71338606911949],"aabb_xy":[[0.04705204803632401,1.3350429341850085],[0.08125620395306032,1.369256545247548]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_33","position":[0.16356402776214474,1.2055537039766806,0.71338606911949],"aabb_xy":[[0.1422860196186725,1.1405537016506073],[0.18484203590561699,1.2705537063027534]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_34","position":[-0.40354373830247237,0.6487932371031957,0.71338606911949],"aabb_xy":[[-0.46754373900594176,0.6027748546302747],[-0.339543737599003,0.6948116195761167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645019681933833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5534.png","name":"5534"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5534.png","name":"5534"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9033.png","name":"9033"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9765.png","name":"9765"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.4839255951667,"rotation_z_degrees":83.34817589989191,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019585868902821286,-0.0038887513958680876,0.012231918156597809]},{"name":"camera_2","offset_m":[-0.005845816902804488,0.01171841991104185,0.015287031657114512]},{"name":"camera_3","offset_m":[-0.01592604279068194,0.014083893866760174,-0.013940289742542557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008636502410747924,-0.0016531102656301643,-0.0008347286866323121],"end_effector_yaw_offset_degrees":-0.8999880262588911},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000755665419722706,0.0016446702344686637,-0.0011118046871815936],"end_effector_yaw_offset_degrees":-0.7057164956093576},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018068791782974297,0.0006181634918004169,-0.001411101683265018],"end_effector_yaw_offset_degrees":-0.07921130589372183}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0049296783222401415,-0.0013730231405479874],"position_m":[0.2772296783222401,0.20042697685945202,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006146287113618244,0.004894186280026649],"position_m":[0.24911462871136184,-0.13300581371997336,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0026012807123049876,-0.004094467730866147],"position_m":[0.356401280712305,-0.009294467730866146,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00015844165144410227,-0.0037617894609317214],"position_m":[0.1274415583485559,0.4153382105390683,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030643638449524306,-0.00013312155329462533],"position_m":[0.20163563615504757,-0.40773312155329466,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"573f4ad52538a384b773c3218622fc6bba6b0fcfe75679d706dddf45b1f10cb1","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5534/tex_ceiling_textures_3853/tex_floor_textures_4015/tex_table_textures_9033/tex_wall_textures_9765","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1406522145907405671,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1406522145907405671,"visual_seed":1406522145907405671,"scene_id":"lab_003","finished_at":"2026-09-03T21:56:10"} +{"episode_id":"ep_000078","started_at":"2026-09-03T21:56:13","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.1678957336940725,-2.042924908400985,0.71338606911949],"aabb_xy":[[-0.1749371846448201,-2.0499516601387793],[-0.16085428274332492,-2.0358981566631904]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.1384917883582889,1.6839886028988658,0.71338606911949],"aabb_xy":[[0.058491789701402896,1.6694837439746029],[0.2184917870151749,1.6984934618231287]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.061837341002928814,-1.734451420835383,0.71338606911949],"aabb_xy":[[-0.09933734094669522,-1.7427445108702195],[-0.02433734105916241,-1.7261583308005464]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.27860541039281644,-0.9546411812611169,0.71338606911949],"aabb_xy":[[-0.3284221898576512,-1.0046411797454202],[-0.22878863092798168,-0.9046411827768134]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.40394994341340007,0.875358847504724,0.71338606911949],"aabb_xy":[[-0.4261224703900508,0.8531831803486005],[-0.3817774164367491,0.8975345146608469]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.5489006007676733,1.298429465698097,0.71338606911949],"aabb_xy":[[0.5451973394385343,1.294727447389379],[0.5526038620968121,1.3021314840068146]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.5522891083313733,-1.373437267532121,0.71338606911949],"aabb_xy":[[-0.6162891085918442,-1.418446066885049],[-0.4882891080709026,-1.328428468179193]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.12629903756766359,0.18232134978502845,0.71338606911949],"aabb_xy":[[-0.14876380753906868,0.15982134890616795],[-0.10383426759625844,0.20482135066388896]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.06524710238758513,-2.2187046149021747,0.71338606911949],"aabb_xy":[[-0.1452471056454281,-2.2987011226941587],[0.014752900870257823,-2.1387081071101908]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.26651083015093646,1.5176573257532975,0.71338606911949],"aabb_xy":[[0.21651083150501532,1.4677377820938353],[0.3165108287968577,1.56757686941276]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.6748898249327036,-0.850446722197421,0.71338606911949],"aabb_xy":[[-0.6923898240670706,-0.8603263492350088],[-0.6573898257983363,-0.8405670951598332]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.3247482023375572,0.5297454056934829,0.71338606911949],"aabb_xy":[[0.2347482029191863,0.4963699088492932],[0.4147482017559281,0.5631209025376727]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3052531216413953,-0.22322105743470422,0.71338606911949],"aabb_xy":[[-0.36024633297853204,-0.2782210577734978],[-0.25025991030425854,-0.16822105709591062]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.4321237058023953,0.04704175842795877,0.71338606911949],"aabb_xy":[[-0.4447504930895916,0.037495684726385876],[-0.4194969185151989,0.056587832129531675]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.09182744767946682,-2.10362641388394,0.71338606911949],"aabb_xy":[[0.06932744743595143,-2.1158310485437117],[0.11432744792298222,-2.091421779224168]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.10222295790736968,-1.6780857827497573,0.71338606911949],"aabb_xy":[[0.055093578905534,-1.742085783794159],[0.14935233690920535,-1.614085781705355]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.6212913445259522,-0.3677524749792238,0.71338606911949],"aabb_xy":[[0.6133680642872039,-0.39025247521722717],[0.6292146247647006,-0.34525247474122045]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.25205356581538096,0.7072181475336787,0.71338606911949],"aabb_xy":[[0.24720997105415105,0.7023664950546947],[0.256897160576611,0.712069800012663]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.23606624246293068,-0.5627042096226305,0.71338606911949],"aabb_xy":[[-0.2536445446518775,-0.5802786991967354],[-0.21848794027398383,-0.5451297200485256]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.01117732531964033,1.7846622970915003,0.71338606911949],"aabb_xy":[[-0.0461773252156592,1.7762880615795604],[0.023822674576378537,1.7930365326034405]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.10447892975412754,-2.3573106376078345,0.71338606911949],"aabb_xy":[[0.10040077184707781,-2.3613916178560976],[0.10855708766117729,-2.3532296573595706]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.0046531837508001495,-0.8957678724799871,0.71338606911949],"aabb_xy":[[-0.059346815418969794,-0.9425345595989497],[0.06865318292057009,-0.8490011853610248]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.44176698550113747,-0.7733509914371977,0.71338606911949],"aabb_xy":[[0.42475688821108676,-0.7894854799354716],[0.45877708279118806,-0.7572165029389237]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.6817570276266243,-2.3518044083920358,0.71338606911949],"aabb_xy":[[0.6705119720560064,-2.363046206116131],[0.6930020831972421,-2.3405626106679405]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[-0.24702114164531397,0.7128007228926112,0.71338606911949],"aabb_xy":[[-0.2616645471993469,0.698142003235827],[-0.23237773609128093,0.7274594425493954]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.14383349849926474,1.0180402899521819,0.71338606911949],"aabb_xy":[[0.07883349739332146,0.9930749168840536],[0.20883349960520803,1.0430056630203102]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.5147152416576923,-0.5627937530186906,0.71338606911949],"aabb_xy":[[0.45071524523037043,-0.6099633768407872],[0.5787152380850142,-0.5156241291965943]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.45674162500687876,1.371681326827947,0.71338606911949],"aabb_xy":[[-0.4792416255189193,1.3491894684625487],[-0.4342416244948381,1.3941731851933454]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[-0.49836382179414795,-0.5405696679654723,0.71338606911949],"aabb_xy":[[-0.5623638190964942,-0.5849360949333291],[-0.43436382449180144,-0.4962032409976156]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[0.36181936584132823,-0.640075198945838,0.71338606911949],"aabb_xy":[[0.327228282987283,-0.7050751992308689],[0.39641044869537345,-0.5750751986608068]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_30","position":[0.5573839625139583,-1.9375708907534337,0.71338606911949],"aabb_xy":[[0.5337988390500634,-2.0025708929988655],[0.5809690859778531,-1.872570888508002]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_31","position":[0.6384772817706206,-0.7347966364823075,0.71338606911949],"aabb_xy":[[0.6085097248607949,-0.7647966367801933],[0.6684448386804462,-0.7047966361844218]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_32","position":[-0.6746501506707627,-2.575406235286344,0.71338606911949],"aabb_xy":[[-0.6827778388640761,-2.5843198436970516],[-0.6665224624774496,-2.566492626875636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674745066008181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8913.png","name":"8913"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8913.png","name":"8913"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8215.png","name":"8215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1301.png","name":"1301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/608.png","name":"608"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.3837686871163,"rotation_z_degrees":238.6038589028546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00907746165361815,0.014181693023770665,0.008794965362984214]},{"name":"camera_2","offset_m":[0.0006939470340907757,0.01901956129004048,-0.01091939813583652]},{"name":"camera_3","offset_m":[-0.012225073499785718,-0.004078008778234273,0.008121901444961385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045523271351898356,-0.0011587800764886794,0.0017709344491149237],"end_effector_yaw_offset_degrees":0.36245827180828627},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0015067744133793913,-0.0011736147596329914,-0.0007907359747636655],"end_effector_yaw_offset_degrees":0.9715089239625652},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002959412072830437,-0.00194302325721109,0.0005347974586296916],"end_effector_yaw_offset_degrees":-0.5104767242241672}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00011718016518271444,-2.299280339638967e-05],"position_m":[0.2724171801651827,0.20177700719660363,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003947080053591783,0.0033508798205865815],"position_m":[0.2524470800535918,-0.13454912017941342,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.000620817443688285,0.001861779556143548],"position_m":[0.3531791825563117,-0.003338220443856452,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004128340445372179,-0.0027320345427438533],"position_m":[0.13172834044537218,0.41636796545725613,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002070440421046576,0.001655611250102028],"position_m":[0.20677044042104656,-0.40594438874989797,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d136446f81afe2a28f95745da9f3da3de1a8c8b53ad7ff3512837443d810a087","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8913/tex_ceiling_textures_608/tex_floor_textures_1301/tex_table_textures_8215/tex_wall_textures_2320","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8619158065513131273,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8619158065513131273,"visual_seed":8619158065513131273,"scene_id":"lab_003","finished_at":"2026-09-03T21:59:05"} +{"episode_id":"ep_000079","started_at":"2026-09-03T21:59:09","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.5927093988084586,1.347737550473072,0.71338606911949],"aabb_xy":[[0.5377139209877992,1.2927375490391648],[0.647704876629118,1.4027375519069787]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.24305705664129773,-1.9760546585310295,0.71338606911949],"aabb_xy":[[-0.3030570564878645,-2.0328732807240684],[-0.18305705679473092,-1.9192360363379906]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.631847427429672,-0.6121376984638873,0.71338606911949],"aabb_xy":[[-0.6496409343645885,-0.6299374440596851],[-0.6140539204947556,-0.5943379528680898]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.3745053576717703,1.151210730793403,0.71338606911949],"aabb_xy":[[0.3574032797134022,1.1341039252621332],[0.3916074356301385,1.1683175363246727]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.35767164110912586,-2.466790475628866,0.71338606911949],"aabb_xy":[[0.33383542346852085,-2.556790476437353],[0.38150785874973103,-2.37679047482038]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.36492054061879675,-0.6033522696173497,0.71338606911949],"aabb_xy":[[-0.37294681124942275,-0.6121037645947024],[-0.35689426998817075,-0.5946007746399972]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.43734767499213234,-0.34937680312171304,0.71338606911949],"aabb_xy":[[0.39984767488653933,-0.35619896497469417],[0.47484767509772524,-0.3425546412687319]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.47403073023536646,1.193495262417982,0.71338606911949],"aabb_xy":[[-0.5190233169538168,1.1484952631435332],[-0.429038143516916,1.2384952616924307]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.3967177307536698,0.4939665940519573,0.71338606911949],"aabb_xy":[[-0.40543169980360416,0.471466593392769],[-0.3880037617037352,0.5164665947111453]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.6681432245725818,0.6124394476076707,0.71338606911949],"aabb_xy":[[0.6306432244007097,0.5797387122247634],[0.7056432247444536,0.6451401829905777]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.48442790743386865,0.10468097245044916,0.71338606911949],"aabb_xy":[[0.4494279074573729,0.09521635640283255],[0.5194279074103645,0.11414558849806578]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.2142918773414283,-1.9305602589748387,0.71338606911949],"aabb_xy":[[0.20351890342006052,-1.9655602571938777],[0.22506485126279607,-1.8955602607557998]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.054343563438085885,-2.565729877118914,0.71338606911949],"aabb_xy":[[-0.06951573271971923,-2.5808987340471177],[-0.03917139415645255,-2.5505610201907105]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.18198203588222006,-0.9719135274330393,0.71338606911949],"aabb_xy":[[-0.18990531612096842,-0.9944135276710427],[-0.17405875564347176,-0.949413527195036]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.5438273206953422,1.0309384941305622,0.71338606911949],"aabb_xy":[[-0.6238273176583813,0.9538628524867887],[-0.46382732373230295,1.1080141357743356]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.01115624497208767,1.714043048471439,0.71338606911949],"aabb_xy":[[-0.05284375831762044,1.6707081294675215],[0.07515624826179577,1.7573779674753567]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.5688940415912593,0.474024473386244,0.71338606911949],"aabb_xy":[[0.5639380214063782,0.4515244731841225],[0.5738500617761405,0.4965244735883657]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.4961645799500414,-0.9806898109746951,0.71338606911949],"aabb_xy":[[0.4111645812579668,-1.012675674369574],[0.581164578642116,-0.9487039475798162]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.31186461383891473,-1.7495777855880164,0.71338606911949],"aabb_xy":[[0.24786461149611314,-1.7945186368321489],[0.37586461618171624,-1.7046369343438839]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.3160266274511461,-2.284457696686608,0.71338606911949],"aabb_xy":[[-0.3327037634442417,-2.3011576206605384],[-0.2993494914580507,-2.267757772712678]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.5057450794094585,-2.2266528208759913,0.71338606911949],"aabb_xy":[[0.44174507735972646,-2.2667473039652988],[0.5697450814591904,-2.186558337786683]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.4367909287596166,0.27443171479770756,0.71338606911949],"aabb_xy":[[-0.46179092803157884,0.2580863512015452],[-0.4117909294876543,0.2907770783938699]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.45441934753508895,-1.6627589835295846,0.71338606911949],"aabb_xy":[[-0.5344193478086958,-1.7357085313553011],[-0.37441934726148196,-1.5898094357038677]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.6845970363224703,-1.3176494517894466,0.71338606911949],"aabb_xy":[[0.6669214057338719,-1.3353296680688491],[0.7022726669110686,-1.2999692355100436]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.5801036137324083,-0.4437308402161495,0.71338606911949],"aabb_xy":[[0.5185128545084156,-0.5077308383251964],[0.6416943729564012,-0.3797308421071027]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.2422984382569311,-0.6067375411831495,0.71338606911949],"aabb_xy":[[0.20104962722701633,-0.6617375406953668],[0.28354724928684577,-0.5517375416709319]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.45384055590523864,-1.322995103586618,0.71338606911949],"aabb_xy":[[-0.5088405555269845,-1.3779787963740908],[-0.3988405562834928,-1.2680114107991454]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[-0.46816237593871657,1.5726928182606694,0.71338606911949],"aabb_xy":[[-0.5581623724395883,1.5267811758422112],[-0.3781623794378448,1.6186044606791277]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.5869965306636383,-1.362288399518014,0.71338606911949],"aabb_xy":[[-0.6070549422768787,-1.3823534864271716],[-0.5669381190503981,-1.3422233126088563]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_29","position":[-0.587572836617246,0.4413650821133861,0.71338606911949],"aabb_xy":[[-0.6054419443717015,0.4275321741361752],[-0.5697037288627905,0.4551979900905971]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_30","position":[0.15603728749293388,1.6286037840432495,0.71338606911949],"aabb_xy":[[0.14804379769765186,1.6206056521027743],[0.1640307772882159,1.6366019159837255]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_31","position":[-0.3953288650594001,-0.46285581533943176,0.71338606911949],"aabb_xy":[[-0.4186107072575314,-0.5478558166366598],[-0.37204702286126873,-0.3778558140422037]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710627168190251,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/920.png","name":"920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3738.png","name":"3738"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":729.3376614586605,"rotation_z_degrees":77.5190279469532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01824589788975198,0.0051821790817478605,-0.003862733796690193]},{"name":"camera_2","offset_m":[0.00857588868868386,0.0068067829640690546,0.013964429274458425]},{"name":"camera_3","offset_m":[-0.007233583919701138,0.004210512369257586,-0.006665190953581352]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005945222218815913,-0.001896889565393847,-0.0009909914597146657],"end_effector_yaw_offset_degrees":-0.02459953232854617},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.000821283111285767,-0.001038364214408259,0.0007614560018549799],"end_effector_yaw_offset_degrees":-0.13022106359294972},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012111104369037563,-0.0010191716282089973,0.0017994765409374966],"end_effector_yaw_offset_degrees":0.7765639943127001}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019201513559826376,-0.003688141403997821],"position_m":[0.2703798486440174,0.1981118585960022,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032249559673694595,0.0037051322583055097],"position_m":[0.24527504403263053,-0.13419486774169448,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0021815483995782804,-0.0026896066575274637],"position_m":[0.3516184516004217,-0.007889606657527463,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003490915948733988,0.0036998739543302314],"position_m":[0.124109084051266,0.4227998739543302,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004296876298915816,-0.0013370477612885457],"position_m":[0.2089968762989158,-0.4089370477612886,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"39e38feb71b716709e01a9633192f83ee98de14e7ca1e36ce755a5286d075925","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5435/tex_ceiling_textures_3738/tex_floor_textures_1521/tex_table_textures_920/tex_wall_textures_3792","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5333389378121962472,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5333389378121962472,"visual_seed":5333389378121962472,"scene_id":"lab_003","finished_at":"2026-09-03T22:02:03"} +{"episode_id":"ep_000080","started_at":"2026-09-03T22:02:05","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.24314893966476614,1.296688526913448,0.71338606911949],"aabb_xy":[[0.1931489383038789,1.2467106223380322],[0.2931489410256533,1.3466664314888634]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.516621640916944,0.4844697245151992,0.71338606911949],"aabb_xy":[[0.46652417693587045,0.4204697240053874],[0.5667191048980177,0.548469725025011]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.5763503878574658,-1.0940207112762348,0.71338606911949],"aabb_xy":[[-0.5842736680962142,-1.1165207115142382],[-0.5684271076187175,-1.0715207110382314]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.40025944566321836,1.5492136647149093,0.71338606911949],"aabb_xy":[[-0.4902594493401364,1.4877812581378045],[-0.31025944198630007,1.610646071292013]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.43980517662774044,-2.5199660929379344,0.71338606911949],"aabb_xy":[[0.43064529768386384,-2.5264973109814712],[0.44896505557161703,-2.5134348748943975]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.3415817049119394,-0.6472039543710237,0.71338606911949],"aabb_xy":[[-0.36408084063816637,-0.6697039551492867],[-0.31908256918571243,-0.6247039535927608]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.5331360103283026,-0.5353499089128868,0.71338606911949],"aabb_xy":[[-0.5372519604403752,-0.5394654639457322],[-0.5290200602162298,-0.5312343538800411]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.49357254823764984,-2.227056963962709,0.71338606911949],"aabb_xy":[[0.43357254764163367,-2.281869436507933],[0.553572548833666,-2.172244491417486]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.5358272116566212,-1.50345516258607,0.71338606911949],"aabb_xy":[[-0.5934576805438919,-1.5634551615127799],[-0.4781967427693502,-1.4434551636593589]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.1911831640373789,-2.4259060145340654,0.71338606911949],"aabb_xy":[[-0.25518316132302754,-2.4674127334869094],[-0.12718316675173025,-2.3843992955812214]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.6504945498602985,1.490419144834409,0.71338606911949],"aabb_xy":[[0.5955022992247876,1.4354191430910965],[0.7054868004958095,1.5454191465777223]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.08061354973973245,-1.410675232397361,0.71338606911949],"aabb_xy":[[-0.0984070566746489,-1.4284749779931585],[-0.06282004280481603,-1.3928754868015631]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.5180160046945925,1.1406765122143865,0.71338606911949],"aabb_xy":[[-0.5830160025762404,1.0895528485078456],[-0.45301600681294485,1.1918001759209274]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.5203824429764652,-0.06428962535649241,0.71338606911949],"aabb_xy":[[0.48288244218446963,-0.0706574663146825],[0.5578824437684605,-0.05792178439830231]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.33150093942669717,0.712331930057823,0.71338606911949],"aabb_xy":[[-0.3387832558033607,0.6223319264483138],[-0.3242186230500334,0.8023319336673318]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.35393369602033264,-2.025813774755438,0.71338606911949],"aabb_xy":[[-0.41793369332267905,-2.070180201723294],[-0.28993369871798624,-1.9814473477875807]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.24001734078824483,-0.9264504165615464,0.71338606911949],"aabb_xy":[[-0.29001734022844045,-0.9764183410458624],[-0.1900173413480492,-0.8764824920772298]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.17471249549211887,0.8826613814796413,0.71338606911949],"aabb_xy":[[0.1528038133527678,0.8607607146595506],[0.19662117763146988,0.9045620482997321]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.5741625587496266,1.7251523839354372,0.71338606911949],"aabb_xy":[[0.5570604807912585,1.7080455784041677],[0.5912646367079948,1.7422591894667072]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[0.6887740032099134,1.003135576998428,0.71338606911949],"aabb_xy":[[0.6736717017488951,0.9880340553673659],[0.7038763046709313,1.0182370986294895]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[-0.564027358534726,-1.2228536713790068,0.71338606911949],"aabb_xy":[[-0.6540273571291959,-1.2391042576924278],[-0.474027359940256,-1.2066030850655858]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.19126759668578963,0.22276184778448416,0.71338606911949],"aabb_xy":[[-0.23643891453395863,0.15876185063994575],[-0.14609627883762066,0.28676184492902257]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.07494893138957914,0.4112057743085682,0.71338606911949],"aabb_xy":[[-0.08306258606295625,0.40309995785453906],[-0.06683527671620204,0.4193115907625972]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.26351867451462735,0.6075912648708557,0.71338606911949],"aabb_xy":[[-0.28101867475967673,0.5900914770312887],[-0.246018674269578,0.6250910527104224]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[0.36300886321673453,0.33359022168808483,0.71338606911949],"aabb_xy":[[0.3511367802052334,0.24859022199443448],[0.37488094622823565,0.4185902213817352]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.07886839513150323,-1.654026095650806,0.71338606911949],"aabb_xy":[[-0.0835035102837366,-1.657893430727954],[-0.07423327997926983,-1.6501587605736565]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[-0.29395303542941414,-0.41928793464856584,0.71338606911949],"aabb_xy":[[-0.303709024938588,-0.4290504687078003],[-0.2841970459202402,-0.4095254005893314]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[0.5263061082300595,1.0279169253161018,0.71338606911949],"aabb_xy":[[0.5086732726365318,1.0102939793004788],[0.543938943823587,1.0455398713317248]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[0.616770293587025,-0.4242655801156676,0.71338606911949],"aabb_xy":[[0.5968792537066847,-0.4369213914003645],[0.6366613334673652,-0.41160976883097083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665502772774191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3156.png","name":"3156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3482.png","name":"3482"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/984.png","name":"984"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":805.8801708411293,"rotation_z_degrees":73.58738147509018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031965911511765005,0.0010117416467460214,-0.00586654728703143]},{"name":"camera_2","offset_m":[-0.011429456211523982,-0.019463832473136253,-0.01650156393929477]},{"name":"camera_3","offset_m":[-0.004688616064046509,0.003301421711226101,0.017805587894424487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000123163554769361,-0.0017867808329264125,-0.0019523029766827299],"end_effector_yaw_offset_degrees":-0.5113055258746064},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0019557034785634706,-0.0017135817290534878,-0.0013623497761716403],"end_effector_yaw_offset_degrees":0.017222411178468233},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017312952677503968,1.4506072553812852e-05,-0.0003293494004733249],"end_effector_yaw_offset_degrees":-0.6715649463112103}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004829725162851487,-0.004625109182910588],"position_m":[0.27712972516285145,0.19717489081708942,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004081428731752746,0.00029137173039488467],"position_m":[0.25258142873175277,-0.1376086282696051,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0016393682798698452,-0.0010201715491259698],"position_m":[0.3521606317201302,-0.0062201715491259696,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00142860242654241,0.0023045849359681937],"position_m":[0.12617139757345758,0.42140458493596816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001987432335681839,0.004796606609743049],"position_m":[0.20668743233568182,-0.40280339339025695,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"14291cf47f381d322f19c40c17570828f9c72d50ffb610dab8c40b8c8e35b559","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8289/tex_ceiling_textures_984/tex_floor_textures_4558/tex_table_textures_3156/tex_wall_textures_3482","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3183302512701519344,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3183302512701519344,"visual_seed":3183302512701519344,"scene_id":"lab_003","finished_at":"2026-09-03T22:04:57"} +{"episode_id":"ep_000081","started_at":"2026-09-03T22:05:01","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.039003487574107876,-1.8794125083718844,0.71338606911949],"aabb_xy":[[-0.05650342100809125,-1.896912508292119],[-0.021503554140124503,-1.86191250845165]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.32619225741172464,-0.9982364801637986,0.71338606911949],"aabb_xy":[[0.3202257184709889,-1.0041976248231625],[0.3321587963524605,-0.9922753355044345]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.6098760091120207,-1.4384299389860007,0.71338606911949],"aabb_xy":[[-0.6259379365705383,-1.5234299407985923],[-0.593814081653503,-1.3534299371734086]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.004051015747915665,-0.9729877721424653,0.71338606911949],"aabb_xy":[[-0.0012865599180889023,-0.9979877730716051],[0.009388591413920233,-0.9479877712133256]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.4173125459901337,1.471983478845846,0.71338606911949],"aabb_xy":[[0.332312547298059,1.439997615450967],[0.5023125446822083,1.5039693422407248]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.11606593302558943,-1.3389868677857555,0.71338606911949],"aabb_xy":[[0.036065931952469085,-1.34876491412314],[0.19606593409870976,-1.329208821448371]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.43119722696668217,-0.8039978628666542,0.71338606911949],"aabb_xy":[[0.415641457556417,-0.8195482961110616],[0.44675299637694754,-0.7884474296222472]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.24952789980816392,-0.6486383123275579,0.71338606911949],"aabb_xy":[[0.19551230352626392,-0.7126383152198149],[0.3035434960900639,-0.5846383094353006]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.5187362135125355,-1.9677796121505304,0.71338606911949],"aabb_xy":[[0.4774874024826207,-2.0227796116627474],[0.5599850245424501,-1.9127796126383128]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.5209865540191432,-1.2329259532179284,0.71338606911949],"aabb_xy":[[-0.527400367662328,-1.2393357734655965],[-0.5145727403759581,-1.2265161329702599]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[-0.10643733551187884,-2.273267233034994,0.71338606911949],"aabb_xy":[[-0.14235083993686853,-2.3091807412517493],[-0.07052383108688914,-2.23735372481824]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.5844701383779627,-0.023733098036569977,0.71338606911949],"aabb_xy":[[-0.6484701354900683,-0.07276546783098059],[-0.5204701412658569,0.02529927175784064]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.17958086791672756,0.9542738004875493,0.71338606911949],"aabb_xy":[[-0.22234757479614775,0.8902737970657468],[-0.13681416103730737,1.0182738039093517]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.3121898332086319,1.0010302811522314,0.71338606911949],"aabb_xy":[[0.289690697482405,0.9785302803739684],[0.33468896893485894,1.0235302819304943]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.22105165087538647,1.4790337576328905,0.71338606911949],"aabb_xy":[[0.21020004462651087,1.4681744669052397],[0.23190325712426207,1.4898930483605417]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.49260624604720216,1.7200205553212524,0.71338606911949],"aabb_xy":[[-0.500820791162886,1.7113439650236109],[-0.4843917009315181,1.7286971456188935]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.24698012213239917,0.1032458195629733,0.71338606911949],"aabb_xy":[[-0.2604266487664425,0.08977596790988208],[-0.23353359549835584,0.11671567121606453]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.3251445745682011,-0.49429586188095964,0.71338606911949],"aabb_xy":[[0.3138995189975833,-0.5055376596050549],[0.33638963013881895,-0.4830540641568643]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.566661903432071,1.065934283799356,0.71338606911949],"aabb_xy":[[0.516683094921755,1.015934283793637],[0.6166407119423868,1.1159342838050745]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.16913649826668498,-1.8218062521849308,0.71338606911949],"aabb_xy":[[-0.1740925184515662,-1.8443062523870526],[-0.1641804780818038,-1.7993062519828094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634443853971859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4232.png","name":"4232"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4232.png","name":"4232"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/712.png","name":"712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/976.png","name":"976"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5338.png","name":"5338"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":772.0303083272772,"rotation_z_degrees":257.60485372204323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006568658484558263,0.004450631278425595,-0.004968946340237172]},{"name":"camera_2","offset_m":[-0.014848952289444406,0.019524559951732166,0.005569502121050139]},{"name":"camera_3","offset_m":[-0.017890613036399116,-0.002730750092718885,-0.01411056890509812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005292290898394792,0.00042352973341446866,-0.0005138996961229778],"end_effector_yaw_offset_degrees":0.8910912584736963},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.00048095405537566284,0.0013851166679492333,0.0011347526909968723],"end_effector_yaw_offset_degrees":-0.7761857382352575},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005915134810416606,-0.0007115085014257358,-0.0014601765915484418],"end_effector_yaw_offset_degrees":0.41348138172647264}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038352189308905483,0.00161842459488984],"position_m":[0.2684647810691094,0.20341842459488985,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030439431936602236,0.004928645902545734],"position_m":[0.24545605680633978,-0.13297135409745425,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004660588238205642,0.0024790751668395984],"position_m":[0.35846058823820565,-0.0027209248331604013,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045634095058753685,-0.0020307100751789675],"position_m":[0.12303659049412462,0.417069289924821,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004105786599937734,0.0002504254646775849],"position_m":[0.20059421340006225,-0.40734957453532245,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8dbc1ad7ca4a6db75a0eab7f61b942d56693ca917d0592207e2d11bf01b0199f","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4232/tex_ceiling_textures_5338/tex_floor_textures_976/tex_table_textures_8529/tex_wall_textures_712","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8373660448612803124,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8373660448612803124,"visual_seed":8373660448612803124,"scene_id":"lab_003","finished_at":"2026-09-03T22:08:05"} +{"episode_id":"ep_000082","started_at":"2026-09-03T22:08:10","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[0.5249842433250669,-2.4951185215812615,0.71338606911949],"aabb_xy":[[0.47998424185883815,-2.5401183784427426],[0.5699842447912958,-2.4501186647197812]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.44133054992192156,-0.32088508356809253,0.71338606911949],"aabb_xy":[[0.4237522477329747,-0.3384595731421974],[0.4589088521108684,-0.3033105939939876]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.36031266050015115,-0.17279814358654466,0.71338606911949],"aabb_xy":[[-0.41530491113566215,-0.22779814532985745],[-0.3053204098646402,-0.1177981418432319]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.4192074419048604,-0.8529469575036535,0.71338606911949],"aabb_xy":[[-0.49920744297798075,-0.8627250038410379],[-0.3392074408317401,-0.843168911166269]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.29421445675720437,0.7625380847724075,0.71338606911949],"aabb_xy":[[-0.3076609833912477,0.7490682331193164],[-0.28076793012316104,0.7760079364254988]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.121527870579905,-1.9603176139419483,0.71338606911949],"aabb_xy":[[0.07635655273173604,-2.024317611086487],[0.166699188428074,-1.89631761679741]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.3537823053902167,-0.5882577225084886,0.71338606911949],"aabb_xy":[[0.34888301308365316,-0.6159346418110573],[0.35868159769678015,-0.5605808032059197]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.026388993301025288,-2.4664783524228784,0.71338606911949],"aabb_xy":[[-0.08136271533735817,-2.521478351987112],[0.028584728735307593,-2.4114783528586456]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.18477507144258376,-2.2166422520047693,0.71338606911949],"aabb_xy":[[-0.19534255110068277,-2.2271872821177774],[-0.17420759178448475,-2.2060972218917603]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.23350740497299038,-2.4649071724123184,0.71338606911949],"aabb_xy":[[0.22472617782575421,-2.4736869197008486],[0.24228863212022667,-2.456127425123788]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.4620830268930125,-2.2113946237423345,0.71338606911949],"aabb_xy":[[0.45117725080544974,-2.2913946201411637],[0.47298880298057516,-2.1313946273435054]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.2565998972106206,-0.7677768815267993,0.71338606911949],"aabb_xy":[[0.249558446259873,-0.7748036332645939],[0.2636413481613682,-0.7607501297890048]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.23507353986155227,0.9982614859754357,0.71338606911949],"aabb_xy":[[-0.3250735435384704,0.9368290793983312],[-0.14507353618463406,1.0596938925525399]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.17387260857310238,0.7073889303129222,0.71338606911949],"aabb_xy":[[-0.19174171632755788,0.6935560223357111],[-0.1560035008186469,0.721221838290133]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.6513288966629943,-0.5138497374794677,0.71338606911949],"aabb_xy":[[-0.6923468400493652,-0.563849738110425],[-0.6103109532766234,-0.4638497368485104]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.16897084860241862,1.7912148800173413,0.71338606911949],"aabb_xy":[[0.14647442716855452,1.7687148802105936],[0.19146727003628272,1.8137148798240885]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.49049527339317195,0.8964532265982621,0.71338606911949],"aabb_xy":[[-0.5804952698940438,0.8505415841798037],[-0.4004952768923002,0.9423648690167202]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.2131392418595942,-1.000874462480677,0.71338606911949],"aabb_xy":[[0.2071727029188584,-1.006835607140041],[0.21910578080032997,-0.9949133178213129]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.49801196040745954,-0.1978704747992217,0.71338606911949],"aabb_xy":[[0.4730119608557211,-0.20801295866435646],[0.523011959959198,-0.187727990934087]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.6364080268573546,-2.3569518855610996,0.71338606911949],"aabb_xy":[[0.5724080265833764,-2.407017985758388],[0.7004080271313329,-2.306885785363812]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.305915087230731,1.669653174631868,0.71338606911949],"aabb_xy":[[-0.3557318666955657,1.6196531761475645],[-0.2560983077658962,1.7196531731161713]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.5733970507946391,-0.9519617731885948,0.71338606911949],"aabb_xy":[[0.5434053880607689,-0.9819617725253953],[0.6033887135285095,-0.9219617738517942]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.6072697964728069,0.667508411384564,0.71338606911949],"aabb_xy":[[-0.6422697964493027,0.6580437953369473],[-0.572269796496311,0.6769730274321806]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.24673867208427158,1.3565707084233192,0.71338606911949],"aabb_xy":[[0.22923867183922217,1.339070920583752],[0.2642386723293209,1.3740704962628858]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.5648495905343982,-1.5467069488504703,0.71338606911949],"aabb_xy":[[0.5568062306084429,-1.6317069499458365],[0.5728929504603533,-1.4617069477551037]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.1404851810298684,-2.2348005584308606,0.71338606911949],"aabb_xy":[[0.07548518099556567,-2.281501235111188],[0.20548518106417113,-2.1880998817505333]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.39783114002833675,-2.4389793091765934,0.71338606911949],"aabb_xy":[[-0.44792860400941037,-2.5029793096864053],[-0.34773367604726313,-2.3749793086667816]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[-0.12103993094310184,0.3889138700891337,0.71338606911949],"aabb_xy":[[-0.18503992805520753,0.33988150029472314],[-0.05703993383099616,0.43794623988354436]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.486150406164989,-1.1779452192381918,0.71338606911949],"aabb_xy":[[-0.5361237001682495,-1.2279452197927392],[-0.4361771121617285,-1.1279452186836445]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[0.2886302180051987,-1.1211695757174547,0.71338606911949],"aabb_xy":[[0.27933659976804814,-1.1586695742055886],[0.2979238362423493,-1.0836695772293208]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_30","position":[0.48995870316761536,-0.7606492412179904,0.71338606911949],"aabb_xy":[[0.4700676632872752,-0.7733050525026873],[0.5098497430479556,-0.7479934299332935]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_31","position":[0.27973492668710565,0.6147750468260007,0.71338606911949],"aabb_xy":[[0.27102095763717104,0.5922750461668124],[0.28844889573704,0.6372750474851888]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_32","position":[-0.3167908655396606,1.470549046646283,0.71338606911949],"aabb_xy":[[-0.36679086590022664,1.4205690594366798],[-0.2667908651790945,1.5205290338558857]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_33","position":[-0.017158757416033787,1.526114694502962,0.71338606911949],"aabb_xy":[[-0.06715875843516907,1.489648478765134],[0.03284124360310149,1.5625809102407902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651894175151927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4658.png","name":"4658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4658.png","name":"4658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/171.png","name":"171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4587.png","name":"4587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8752.png","name":"8752"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4585.png","name":"4585"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.354346611374,"rotation_z_degrees":218.28412273559098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019839168914194908,-0.003656634070453014,-0.001346140563704759]},{"name":"camera_2","offset_m":[-0.008215874213911891,-0.01881993403649413,0.008780375195506653]},{"name":"camera_3","offset_m":[-0.00894025031795064,0.00161396500589207,0.017010715791738722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001417582381061498,0.00199943954549727,0.0004937330487681316],"end_effector_yaw_offset_degrees":-0.46021646267669536},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-5.2976806329449976e-05,0.00029645487601170483,-0.0013822516080813979],"end_effector_yaw_offset_degrees":-0.5927889292017205},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00018088525199301889,-0.0008507003815872963,0.0016088614901642985],"end_effector_yaw_offset_degrees":-0.617645721963737}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017100350437003172,-0.0007279023459702593],"position_m":[0.2740100350437003,0.20107209765402975,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004418297427350496,-0.0034796782056796915],"position_m":[0.2440817025726495,-0.14137967820567968,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0017557127607507918,0.004452637522332566],"position_m":[0.3520442872392492,-0.0007473624776674339,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017358124504846216,0.0008937595765245417],"position_m":[0.12586418754951537,0.4199937595765245,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017557953705933682,0.00043237073582897637],"position_m":[0.20294420462940663,-0.40716762926417105,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42b461c2e80080a274de9ed4ab42e476a1c78cc6640c87a5a226becc4ff237b8","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4658/tex_ceiling_textures_4585/tex_floor_textures_8752/tex_table_textures_171/tex_wall_textures_4587","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4707260722804866503,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4707260722804866503,"visual_seed":4707260722804866503,"scene_id":"lab_003","finished_at":"2026-09-03T22:11:02"} +{"episode_id":"ep_000083","started_at":"2026-09-03T22:11:06","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.39835890430651144,1.3787682093337126,0.71338606911949],"aabb_xy":[[-0.41123080780745164,1.2987682089198764],[-0.38548700080557136,1.4587682097475487]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.22567288735605778,-2.457910058606477,0.71338606911949],"aabb_xy":[[-0.23608444603654147,-2.463255791942375],[-0.21526132867557404,-2.452564325270578]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.29003030511162736,-2.0228722233559626,0.71338606911949],"aabb_xy":[[-0.2988115322588636,-2.0316519706444933],[-0.28124907796439114,-2.014092476067433]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.07045403708041931,1.1664769860829014,0.71338606911949],"aabb_xy":[[-0.12045403809955459,1.1300107703450735],[-0.020454036061284032,1.2029432018207293]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.09142555737099345,0.03379011745229432,0.71338606911949],"aabb_xy":[[-0.10227716361986905,0.022930826724643305],[-0.08057395112211785,0.04464940817994534]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.16924557524904416,0.3793504032332997,0.71338606911949],"aabb_xy":[[-0.17628702619979175,0.3723236514955051],[-0.16220412429829656,0.3863771549710942]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.1867437591027008,-0.32811348975179966,0.71338606911949],"aabb_xy":[[-0.2517437569843486,-0.37923715345834064],[-0.12174376122105302,-0.27698982604525885]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.5091227500240101,1.2770487347569217,0.71338606911949],"aabb_xy":[[0.4909169263627624,1.2660233341749303],[0.5273285736852578,1.2880741353389136]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.37550796177279944,0.7421271103786777,0.71338606911949],"aabb_xy":[[0.36748169114217344,0.7333756154013251],[0.38353423240342543,0.7508786053560303]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.3932131342520202,-2.168130162794972,0.71338606911949],"aabb_xy":[[-0.415102881840961,-2.2581301600842205],[-0.3713233866630794,-2.0781301655057223]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.5412265717839029,0.6260485129552524,0.71338606911949],"aabb_xy":[[-0.6052222691789995,0.5620485146545436],[-0.4772308743888063,0.690048511255961]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.3691281817198835,-0.09692018804380087,0.71338606911949],"aabb_xy":[[-0.3891865933331238,-0.11698527495295842],[-0.3490697701066432,-0.07685510113464335]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.0998510139297798,1.4233181113260982,0.71338606911949],"aabb_xy":[[0.07767848695312896,1.4011424441699751],[0.12202354090643062,1.4454937784822213]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.46077313071186987,-0.7394238144236063,0.71338606911949],"aabb_xy":[[0.400773129851057,-0.7908502444300924],[0.5207731315726826,-0.6879973844171197]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.1382947350722994,-1.404895768329605,0.71338606911949],"aabb_xy":[[-0.15293814062633235,-1.4195544879863893],[-0.12365132951826638,-1.3902370486728208]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.4385746749020958,-2.165408083346816,0.71338606911949],"aabb_xy":[[0.43260813596136,-2.1713692280061796],[0.4445412138428316,-2.1594469386874513]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.6444564941525001,-1.3104678052000025,0.71338606911949],"aabb_xy":[[-0.6620893297460275,-1.3280907512156253],[-0.6268236585589724,-1.2928448591843793]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.3199134162553581,-1.1969817967949639,0.71338606911949],"aabb_xy":[[0.2974134167316506,-1.2194777442455846],[0.3424134157790654,-1.174485849344343]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.3778754592713285,1.440180940776719,0.71338606911949],"aabb_xy":[[0.32787545791044126,1.3902030362013034],[0.4278754606322157,1.4901588453521346]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.14829148723338303,0.1923700695545909,0.71338606911949],"aabb_xy":[[-0.2282914886635102,0.11285291454198143],[-0.06829148580325581,0.2718872245672004]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.45753127784327785,-0.9795996723522422,0.71338606911949],"aabb_xy":[[-0.5412535033433603,-1.0695996758869382],[-0.37380905234319545,-0.8895996688175462]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.458131369663347,0.25660032410997013,0.71338606911949],"aabb_xy":[[-0.4951654790914067,0.2222231167762607],[-0.4210972602352872,0.2909775314436796]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.6866730509428551,0.9721599054860226,0.71338606911949],"aabb_xy":[[-0.6948875960585389,0.9634833151883812],[-0.6784585058271709,0.9808364957836638]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.5222852195633924,0.1211652021414511,0.71338606911949],"aabb_xy":[[-0.5862852159907143,0.07399557831935469],[-0.45828522313607045,0.16833482596354757]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.31578088338859983,-1.6556166231532943,0.71338606911949],"aabb_xy":[[-0.3797808837661334,-1.7053618900041063],[-0.25178088301106616,-1.6058713563024818]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.35079432159514834,-0.22511626842531163,0.71338606911949],"aabb_xy":[[-0.3552249509499885,-0.23056464015999423],[-0.34636369224030816,-0.21966789669062903]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.6089606087811279,-0.46241815607328807,0.71338606911949],"aabb_xy":[[-0.673960606937047,-0.4887144006232003],[-0.5439606106252088,-0.4361219115233759]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.03893449846266628,0.7573925172852354,0.71338606911949],"aabb_xy":[[-0.04301265636971601,0.7533115370369721],[-0.03485634055561653,0.7614734975334987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673381139266976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3577.png","name":"3577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3577.png","name":"3577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7830.png","name":"7830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2974.png","name":"2974"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6439.png","name":"6439"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":726.9930459485021,"rotation_z_degrees":210.30899209836346,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009097603282183236,-0.010912119769454068,0.0012739728906496564]},{"name":"camera_2","offset_m":[-0.013262435435683662,0.004625286200652282,2.2676594138903994e-05]},{"name":"camera_3","offset_m":[0.005871552667476222,0.01913763903921221,-0.005925290929941882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00036452343459953654,-0.0018616873329079101,-0.0006981469242760023],"end_effector_yaw_offset_degrees":0.9107994463533298},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005646392009655949,0.0006569264357388391,0.0015866722371070206],"end_effector_yaw_offset_degrees":0.2247527647718739},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014693372294295863,-0.001825331072433332,0.001873621514704455],"end_effector_yaw_offset_degrees":-0.9664669398189654}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004441096517205944,-0.0012310616856963008],"position_m":[0.2767410965172059,0.2005689383143037,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024859929809500133,0.002198052316999208],"position_m":[0.25098599298095003,-0.13570194768300078,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004886222848888153,-0.0016712884462580292],"position_m":[0.3489137771511118,-0.0068712884462580285,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015531842173298685,-0.004596718036292412],"position_m":[0.12915318421732985,0.41450328196370756,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002722747444753111,-0.004304014027717685],"position_m":[0.20197725255524687,-0.4119040140277177,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b2d2046dccb5718f03ca3dac4522ba26c88742f36e03c93428fe9cda9275900","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3577/tex_ceiling_textures_6691/tex_floor_textures_6439/tex_table_textures_7830/tex_wall_textures_2974","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":874379535803903089,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":874379535803903089,"visual_seed":874379535803903089,"scene_id":"lab_003","finished_at":"2026-09-03T22:13:59"} +{"episode_id":"ep_000084","started_at":"2026-09-03T22:17:24","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.21435672221691032,-1.3560185375809661,0.71338606911949],"aabb_xy":[[-0.24434838495078062,-1.3860185369177667],[-0.18436505948303997,-1.3260185382441656]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.5106455310957365,0.9945357612029029,0.71338606911949],"aabb_xy":[[-0.545645529406432,0.9868207462793571],[-0.47564553278504107,1.0022507761264485]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.46515209238610944,-0.2576089549955842,0.71338606911949],"aabb_xy":[[-0.48504313226644974,-0.2702647662802811],[-0.44526105250576925,-0.24495314371088744]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.1926756180801793,0.8913737512180142,0.71338606911949],"aabb_xy":[[-0.2566756145075012,0.8442041273959178],[-0.1286756216528574,0.9385433750401107]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.12426213894191762,-1.7250612548118878,0.71338606911949],"aabb_xy":[[-0.18826213622756627,-1.7665679737647317],[-0.06026214165626896,-1.6835545358590438]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.18278611804322742,1.1650507267372752,0.71338606911949],"aabb_xy":[[0.13280316785574806,1.1150507270947145],[0.23276906823070673,1.2150507263798354]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.5500738066096859,1.70520517270023,0.71338606911949],"aabb_xy":[[-0.5998905860745206,1.6552051742159264],[-0.5002570271448511,1.7552051711845331]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.24548970225772898,1.6379999413884012,0.71338606911949],"aabb_xy":[[-0.25199133876573365,1.6282321193620912],[-0.2389880657497244,1.6477677634147108]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.4220694334062713,0.35124713917717987,0.71338606911949],"aabb_xy":[[-0.4820694350491932,0.2992469898852357],[-0.3620694317633495,0.40324728846912405]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.22534122055266936,0.7308963138424724,0.71338606911949],"aabb_xy":[[0.2152595134740959,0.6508963159503576],[0.23542292763124284,0.8108963117345869]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.5494636081811948,0.8071829319254871,0.71338606911949],"aabb_xy":[[0.5327864721880993,0.7904830079515569],[0.5661407441742903,0.8238828558994175]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.303403571225996,0.767761666885558,0.71338606911949],"aabb_xy":[[-0.383403569206781,0.7601601259237061],[-0.2234035732452109,0.77536320784741]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.018412304944128932,1.3371250204262317,0.71338606911949],"aabb_xy":[[-0.04091230545616953,1.3146331620608334],[0.0040876955679116644,1.35961687879163]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.22229932934866736,-1.3403696272809127,0.71338606911949],"aabb_xy":[[0.1722993289881013,-1.3903496144905154],[0.27229932970923343,-1.2903896400713095]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[0.5710358278040417,1.1421438838103088,0.71338606911949],"aabb_xy":[[0.5575893011699984,1.1286740321572175],[0.584482354438085,1.1556137354634002]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.6368153992086237,-1.1870569961410637,0.71338606911949],"aabb_xy":[[-0.654315399453673,-1.2045567839806304],[-0.6193153989635742,-1.1695572083014967]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.04609046652143767,-2.1548398772483117,0.71338606911949],"aabb_xy":[[-0.056243482075587034,-2.190909418821051],[-0.03593745096728828,-2.1187703356755705]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.6154524794164689,-2.579809853764066,0.71338606911949],"aabb_xy":[[-0.6529524795220617,-2.586632015617046],[-0.5779524793108758,-2.5729876919110843]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.38952984242172106,-2.4064432708396195,0.71338606911949],"aabb_xy":[[-0.41452984235423895,-2.413325939060543],[-0.36452984248920317,-2.399560602618697]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.5580957999337403,0.3211121226280702,0.71338606911949],"aabb_xy":[[-0.5755265150127465,0.3038400079642193],[-0.5406650848547335,0.3383842372919209]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.6339924693615464,-1.0742961577448997,0.71338606911949],"aabb_xy":[[0.6114933336353193,-1.0967961585231627],[0.6564916050877733,-1.0517961569666368]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.6282004344529697,0.373225432596592,0.71338606911949],"aabb_xy":[[0.5482004374899304,0.29614979095281857],[0.7082004314160087,0.4503010742403655]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.7072212384835819,0.051799788257039125,0.71338606911949],"aabb_xy":[[0.6999774724373365,-0.02820020994656325],[0.7144650045298272,0.1317997864606415]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.377359299505103,-1.836829571232518,0.71338606911949],"aabb_xy":[[-0.4116562105228436,-1.871126457442459],[-0.34306238848736237,-1.8025326850225765]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.348290534669109,-1.148055420416204,0.71338606911949],"aabb_xy":[[-0.41229053688951595,-1.1924285045414924],[-0.2842905324487019,-1.1036823362909158]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[0.45026031104379594,0.7003534033319618,0.71338606911949],"aabb_xy":[[0.4191133922002128,0.6303534046451545],[0.48140722988737905,0.7703534020187689]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.4917950582589452,1.592123062751424,0.71338606911949],"aabb_xy":[[0.40210798195082975,1.5021230624969737],[0.5814821345670607,1.6821230630058748]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[-0.21478517576868333,0.3976437825246988,0.71338606911949],"aabb_xy":[[-0.22725253387841898,0.38517845789137534],[-0.20231781765894769,0.41010910715802235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650372584944725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7745.png","name":"7745"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7745.png","name":"7745"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1916.png","name":"1916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9887.png","name":"9887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4240.png","name":"4240"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":694.4238079774414,"rotation_z_degrees":167.89381194924286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001277087080745521,-0.016891949154961613,0.002415413232185415]},{"name":"camera_2","offset_m":[0.009574921850400177,0.012305750112623106,-0.017278683645683444]},{"name":"camera_3","offset_m":[-0.007085291570194538,-0.001186664630222132,-0.0006428653199912343]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010366170302413213,0.0006535949248084581,0.001854015462787071],"end_effector_yaw_offset_degrees":0.9270524014172703},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0005508581943955795,-0.0003342181738601661,0.0015229155086433541],"end_effector_yaw_offset_degrees":-0.0008426200561806318},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006022591128750205,2.54761733747633e-05,0.0011554969215713125],"end_effector_yaw_offset_degrees":0.6533843791518708}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027478330017822795,0.0002638632980964664],"position_m":[0.2695521669982177,0.20206386329809647,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00016604619874766718,-7.268980206930585e-05],"position_m":[0.24866604619874766,-0.1379726898020693,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.00249577045026578,0.004184162232787372],"position_m":[0.3562957704502658,-0.001015837767212628,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023198268046802427,-0.0012366227976526546],"position_m":[0.12528017319531976,0.41786337720234734,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002523716465446465,-0.0003097171395018781],"position_m":[0.20217628353455352,-0.4079097171395019,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4cd658bd161db33022698e8632573b7ca1bdc0092b186d702703ea50a25c45d2","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7745/tex_ceiling_textures_4240/tex_floor_textures_9887/tex_table_textures_2324/tex_wall_textures_1916","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7157686799830510992,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7157686799830510992,"visual_seed":7157686799830510992,"scene_id":"lab_003","finished_at":"2026-09-03T22:20:12"} +{"episode_id":"ep_000085","started_at":"2026-09-03T22:20:17","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.1019053259603786,-1.0315851412904558,0.71338606911949],"aabb_xy":[[0.07940532544833799,-1.054076999655854],[0.12440532647241918,-1.0090932829250574]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.4067918979757,0.5488700193349305,0.71338606911949],"aabb_xy":[[-0.4214353035297329,0.5342112996781462],[-0.39214849242166694,0.5635287389917146]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.498208031901866,1.3588628013934185,0.71338606911949],"aabb_xy":[[-0.548203042861318,1.3088628023578268],[-0.448213020942414,1.4088628004290102]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.10573064356956863,-0.8239556431225399,0.71338606911949],"aabb_xy":[[-0.18573064464268896,-0.8337336894599244],[-0.02573064249644831,-0.8141775967851556]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.026219928425624595,-0.17928796028431293,0.71338606911949],"aabb_xy":[[-0.04871992866913999,-0.19149259494408485],[-0.0037199281821092,-0.16708332562454095]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.165654320750116,-2.25121855857275,0.71338606911949],"aabb_xy":[[0.10165431934212533,-2.3030075100966743],[0.22965432215810666,-2.199429607048825]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.10820053532981533,0.9340679735467972,0.71338606911949],"aabb_xy":[[0.058720114115856537,0.8700679756339453],[0.15768095654377412,0.998067971459649]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.4473940683032023,-1.0129733769590148,0.71338606911949],"aabb_xy":[[0.434163122768521,-1.026200795981014],[0.46062501383788357,-0.9997459579370152]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.11902979335048569,1.61404042949829,0.71338606911949],"aabb_xy":[[-0.14902145608435602,1.5840404301614894],[-0.08903813061661535,1.6440404288350905]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.10841715154494114,-1.825085568552768,0.71338606911949],"aabb_xy":[[0.05842231861699955,-1.8750855674480118],[0.15841198447288274,-1.7750855696575247]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.32791715193195514,0.3341636041107492,0.71338606911949],"aabb_xy":[[-0.3779171505778763,0.2842440604512868],[-0.2779171532860339,0.3840831477702116]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[0.5408643293715396,-1.9324075222634356,0.71338606911949],"aabb_xy":[[0.4908643280876997,-1.9823863766540575],[0.5908643306553796,-1.8824286678728133]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.6449290716716638,0.1616502814143086,0.71338606911949],"aabb_xy":[[0.6224326502377997,0.13915028160756115],[0.6674254931055279,0.18415028122105603]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.5368689671490312,-0.26844406849108093,0.71338606911949],"aabb_xy":[[0.4995376906237887,-0.30309712328593325],[0.5742002436742739,-0.23379101369622862]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.04044963193143336,-0.3900482797735023,0.71338606911949],"aabb_xy":[[-0.045293226692663335,-0.3948999322524865],[-0.035606037170203386,-0.38519662729451826]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.295677948988907,-1.5919022356842403,0.71338606911949],"aabb_xy":[[0.2781779487295704,-1.6059937778730133],[0.31317794924824366,-1.577810693495468]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.1317035741912147,-0.46779416347652614,0.71338606911949],"aabb_xy":[[-0.1425551804400903,-0.47865345420417715],[-0.1208519679423391,-0.4569348727488751]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.1896848158896638,0.47206651844720104,0.71338606911949],"aabb_xy":[[-0.22718481570669735,0.46742830713605915],[-0.15218481607263024,0.4767047297583428]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.46368226497095033,-0.9018269119986777,0.71338606911949],"aabb_xy":[[-0.553682261471822,-0.9477385544171358],[-0.37368226847007846,-0.8559152695802194]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.6094065810490683,-0.39399272145627773,0.71338606911949],"aabb_xy":[[-0.6270822116376665,-0.4116729377356804],[-0.5917309504604699,-0.3763125051768749]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[-0.25502844653171114,-0.39199400469415613,0.71338606911949],"aabb_xy":[[-0.27752844634561347,-0.39646862106463676],[-0.2325284467178087,-0.3875193883236754]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.5477231234838125,-1.4674710240840474,0.71338606911949],"aabb_xy":[[-0.5827231226766306,-1.4784380700817097],[-0.5127231242909941,-1.4565039780863847]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.6393219627862428,1.7085602512139855,0.71338606911949],"aabb_xy":[[-0.6506836974395289,1.6971917848076974],[-0.6279602281329566,1.7199287176202736]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.5394932894983471,1.7186171196687217,0.71338606911949],"aabb_xy":[[0.5044932903683914,1.7128718985930576],[0.5744932886283027,1.7243623407443858]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.22411474153333388,-1.2955847802564493,0.71338606911949],"aabb_xy":[[-0.25408229844315955,-1.325584780554335],[-0.19414718462350822,-1.2655847799585636]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.43172467928805913,0.7031981249922592,0.71338606911949],"aabb_xy":[[-0.47953084690182773,0.6381981222852001],[-0.3839185116742904,0.768198127699318]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.5082085236684679,-2.492873536732447,0.71338606911949],"aabb_xy":[[-0.5154522897147132,-2.5728735349360496],[-0.5009647576222226,-2.412873538528845]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.42704833609555776,-1.0801889566911176,0.71338606911949],"aabb_xy":[[-0.4920483342514768,-1.1064852012410298],[-0.3620483379396387,-1.0538927121412054]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.1837575875133466,0.0983908168693115,0.71338606911949],"aabb_xy":[[-0.20196341117459427,0.08736541628731986],[-0.1655517638520989,0.10941621745130314]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[0.4280279295042497,0.14296536418382422,0.71338606911949],"aabb_xy":[[0.42339281435201637,0.13909802910667554],[0.4326630446564831,0.14683269926097284]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_30","position":[-0.11080491205052212,-1.7572680547721822,0.71338606911949],"aabb_xy":[[-0.1147653958202565,-1.7649359193577028],[-0.10684442828078775,-1.7496001901866616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645299769800745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3945.png","name":"3945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3945.png","name":"3945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/644.png","name":"644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9317.png","name":"9317"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6415.png","name":"6415"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":548.7018044618892,"rotation_z_degrees":35.662371147027926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003073559714890428,0.011805664689153453,0.003093444549382575]},{"name":"camera_2","offset_m":[0.013904041740841835,0.012473763637290417,0.011614118448176402]},{"name":"camera_3","offset_m":[-0.014808354858893398,-0.015050104758351064,0.011297630967522763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016257978130140007,-3.3988765515835604e-05,0.00045749652522772844],"end_effector_yaw_offset_degrees":-0.253137863430672},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0013256644827281568,-0.001354640711789747,-0.0014445837218014937],"end_effector_yaw_offset_degrees":0.8187259581896105},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001338222991522906,-0.0005519477636623442,-0.0006673850104659707],"end_effector_yaw_offset_degrees":0.33873806982588994}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003332065328916674,-0.0020265808103754833],"position_m":[0.27196679346710834,0.19977341918962452,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035542379980950077,0.001337336607417237],"position_m":[0.244945762001905,-0.13656266339258274,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0012179260089185571,0.0033590656905551257],"position_m":[0.35258207399108143,-0.001840934309444874,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001083992798787273,0.0028409222391103843],"position_m":[0.12868399279878726,0.42194092223911034,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004702125152780376,-0.00227738929317997],"position_m":[0.19999787484721962,-0.40987738929317996,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"839232705de110da9d54f8bf7992d1e6805c57bee32deeae7f3f42ae913ca436","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3945/tex_ceiling_textures_6415/tex_floor_textures_9317/tex_table_textures_7759/tex_wall_textures_644","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2207258639979828307,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2207258639979828307,"visual_seed":2207258639979828307,"scene_id":"lab_003","finished_at":"2026-09-03T22:23:07"} +{"episode_id":"ep_000086","started_at":"2026-09-03T22:23:11","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.6012512826048566,-1.6064901190944019,0.71338606911949],"aabb_xy":[[0.5642171731767968,-1.6408673264281113],[0.6382853920329162,-1.5721129117606925]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.20141609790174264,-1.1298596095053468,0.71338606911949],"aabb_xy":[[0.19797542166168547,-1.1337210424797113],[0.2048567741417998,-1.1259981765309823]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.14290457519090416,-2.349330686269827,0.71338606911949],"aabb_xy":[[-0.19787829722723707,-2.4043306858340605],[-0.0879308531545713,-2.294330686705594]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.08969521486566079,1.1307304456849132,0.71338606911949],"aabb_xy":[[-0.13969521522622685,1.08075045847531],[-0.03969521450509473,1.180710432894516]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.3437248604465097,1.4924208668842103,0.71338606911949],"aabb_xy":[[-0.3662239961727366,1.469920866105947],[-0.32122572472028266,1.514920867662473]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.6161793834107592,-2.185748618722452,0.71338606911949],"aabb_xy":[[0.5361793801529162,-2.265745126514436],[0.6961793866686021,-2.105752110930468]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.3067898752256182,-1.0895364807379255,0.71338606911949],"aabb_xy":[[0.2960169013042504,-1.1245364789569645],[0.31756284914698596,-1.0545364825188865]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.5407027021221902,0.03649030206616555,0.71338606911949],"aabb_xy":[[0.5181890102987329,-0.03350969853484199],[0.5632163939456473,0.10649030266717308]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.3369055215442265,-1.5351942515520516,0.71338606911949],"aabb_xy":[[-0.3734013421715052,-1.5716781939788091],[-0.30040970091694774,-1.498710309125294]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.1742416553633651,-0.9458799777063349,0.71338606911949],"aabb_xy":[[-0.1834015343072417,-0.952411195749872],[-0.1650817764194885,-0.9393487596627978]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.610892694896991,-2.4674834019489147,0.71338606911949],"aabb_xy":[[-0.6808926975335773,-2.48758826694478],[-0.5408926922604046,-2.447378536953049]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.1524710097471228,-1.8532793089815525,0.71338606911949],"aabb_xy":[[0.1444775199518408,-1.8612774409220283],[0.16046449954240485,-1.845281177041077]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.4792977670651114,-1.4251324227252344,0.71338606911949],"aabb_xy":[[-0.4963078643551621,-1.4412669112235086],[-0.4622876697750608,-1.4089979342269607]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.22116027678177175,0.8979438270525497,0.71338606911949],"aabb_xy":[[0.15716027966966606,0.8489114572581392],[0.28516027389387744,0.9469761968469604]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.7160738740919566,0.548553422080559,0.71338606911949],"aabb_xy":[[0.7080375393906716,0.5405153027761421],[0.7241102087932413,0.5565915413849757]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.5228127733391023,1.7447869967542924,0.71338606911949],"aabb_xy":[[-0.5613584661643032,1.7062412256981037],[-0.4842670805139011,1.7833327678104811]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.5996637083041928,-1.2437385848266673,0.71338606911949],"aabb_xy":[[-0.6371637081212262,-1.2483767961378092],[-0.5621637084871591,-1.2391003735155255]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.41785075535681404,-1.2397046815053185,0.71338606911949],"aabb_xy":[[0.3278507588559423,-1.2856163239237766],[0.5078507518576858,-1.19379303908686]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.5892007198584709,-1.1158297244366218,0.71338606911949],"aabb_xy":[[-0.6370068874722395,-1.1808297271436805],[-0.5413945522447022,-1.0508297217295626]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.6106687794964332,0.5472388013761091,0.71338606911949],"aabb_xy":[[-0.6481687780720539,0.5345025057125511],[-0.5731687809208122,0.559975097039667]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.5585710058752655,0.2798411388446542,0.71338606911949],"aabb_xy":[[-0.6085442998785259,0.22984113829010683],[-0.508597711872005,0.3298411393992015]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.034043008544839215,-2.1318534692817424,0.71338606911949],"aabb_xy":[[-0.05224883220608689,-2.1428788698637344],[-0.015837184883591537,-2.120828068699751]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614845220434278,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7636.png","name":"7636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7636.png","name":"7636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6524.png","name":"6524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7812.png","name":"7812"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":821.3302843990245,"rotation_z_degrees":179.56123130063403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017165559816416036,-0.008371452308833755,-0.017651256970955997]},{"name":"camera_2","offset_m":[0.01644982632729129,0.002297687837500898,-0.001919555812681141]},{"name":"camera_3","offset_m":[-0.012107851062559445,-0.017501820355395475,0.00955380083368488]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017678241026610891,-0.000915984288407222,-0.000880704749160412],"end_effector_yaw_offset_degrees":-0.9043392291346242},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012421983689464497,0.0014288128438346179,-0.001342179061005564],"end_effector_yaw_offset_degrees":-0.36404950905753175},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00047894145020424463,0.0008843180625043696,2.0550656397200304e-05],"end_effector_yaw_offset_degrees":0.6949539174082615}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013173349647778087,0.00264650121417679],"position_m":[0.2736173349647778,0.2044465012141768,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023191249807058734,0.0009999840844794753],"position_m":[0.24618087501929412,-0.1369000159155205,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0017088187374177779,-0.003139756593302121],"position_m":[0.3555088187374178,-0.008339756593302121,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008952478808950583,-0.0036747690427895363],"position_m":[0.12670475211910492,0.41542523095721046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003380586287443801,0.004391592108261501],"position_m":[0.20131941371255618,-0.4032084078917385,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"48b659e9ff4ac194fbf256e83a1d2b1b287372cc95bf6b84498d54cfc0672244","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7636/tex_ceiling_textures_7812/tex_floor_textures_6781/tex_table_textures_6990/tex_wall_textures_6524","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2903982183333549825,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2903982183333549825,"visual_seed":2903982183333549825,"scene_id":"lab_003","finished_at":"2026-09-03T22:26:01"} +{"episode_id":"ep_000087","started_at":"2026-09-03T22:26:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.6086137784596126,-2.234236522628724,0.71338606911949],"aabb_xy":[[0.6044978283475398,-2.2383520776615686],[0.6127297285716852,-2.2301209675958775]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.5039589931683159,0.6428291597301166,0.71338606911949],"aabb_xy":[[0.4761139563877088,0.6120446609918048],[0.5318040299489231,0.6736136584684281]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.5425264071118321,-1.0667262841924765,0.71338606911949],"aabb_xy":[[-0.622526410369675,-1.1467227919844603],[-0.46252640385398913,-0.9867297764004923]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.18282048624168323,-1.85122309382472,0.71338606911949],"aabb_xy":[[-0.2178204845118031,-1.8582972215197082],[-0.1478204879715633,-1.844148966129732]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.5769675319446075,-1.402590032624697,0.71338606911949],"aabb_xy":[[0.5600567995082656,-1.4160622382173111],[0.5938782643809492,-1.3891178270320823]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.04671629670954547,-0.18177445313125196,0.71338606911949],"aabb_xy":[[-0.052048811364158454,-0.18709878137648758],[-0.04138378205493248,-0.17645012488601639]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.25607540765619435,-0.3191731543240959,0.71338606911949],"aabb_xy":[[-0.3058921871210291,-0.36917315280839924],[-0.2062586281913596,-0.2691731558397925]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.583275170166411,0.2664499789501149,0.71338606911949],"aabb_xy":[[0.519275168116679,0.22635549586080694],[0.647275172216143,0.30654446203942287]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.2471739879722542,-0.567266378528545,0.71338606911949],"aabb_xy":[[-0.33217398666432885,-0.5992522419234239],[-0.16217398928017954,-0.5352805151336661]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.606946905215278,-0.4379221596144607,0.71338606911949],"aabb_xy":[[-0.6425760611152378,-0.4735548263713137],[-0.5713177493153183,-0.4022894928576078]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.3034361503679077,-1.6860585731693,0.71338606911949],"aabb_xy":[[-0.31135943060665605,-1.7085585734073034],[-0.2955128701291594,-1.6635585729312967]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.3620250731051933,-2.0881741382497836,0.71338606911949],"aabb_xy":[[0.3468622001282562,-2.103339595544903],[0.3771879460821304,-2.0730086809546653]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.27381335697641723,0.15519305258379168,0.71338606911949],"aabb_xy":[[-0.331443825863688,0.09519305365708106],[-0.21618288808914626,0.21519305151050222]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.25894899166161767,0.7128829153353458,0.71338606911949],"aabb_xy":[[0.24131615606809012,0.6952599693197227],[0.27658182725514524,0.7305058613509686]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.3142206261702632,1.6004553517377045,0.71338606911949],"aabb_xy":[[-0.3246321848507469,1.595109618401806],[-0.3038090674897795,1.6058010850736029]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.600500663434816,0.10814970095041421,0.71338606911949],"aabb_xy":[[0.5916986081258432,0.10033837479548514],[0.6093027187437886,0.1159610271053433]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.6771333061345204,-1.6073804190076801,0.71338606911949],"aabb_xy":[[0.6645306069974439,-1.6199758152325459],[0.6897360052715968,-1.5947850227828149]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.486498757160614,0.7993766747248436,0.71338606911949],"aabb_xy":[[-0.5164904198944844,0.769376675388043],[-0.45650709442674364,0.8293766740616441]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.6580618526529117,0.8511672696350079,0.71338606911949],"aabb_xy":[[-0.6706886399401081,0.8416211959334349],[-0.6454350653657154,0.8607133433365807]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.37325057673798123,-1.0690113011439855,0.71338606911949],"aabb_xy":[[0.3638331021681185,-1.0784274782817045],[0.382668051307844,-1.0595951240062664]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.6725652204389427,1.5717373076071053,0.71338606911949],"aabb_xy":[[-0.6844979548007707,1.559355154799246],[-0.6606324860771146,1.5841194604149647]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.33952894525286026,-2.3468244328500085,0.71338606911949],"aabb_xy":[[0.28952894359136544,-2.396822875105711],[0.38952894691435497,-2.2968259905943054]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.14981440711818095,-1.2058229515582697,0.71338606911949],"aabb_xy":[[-0.15377489088791532,-1.2134908161437905],[-0.14585392334844657,-1.1981550869727493]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.2956959991095244,-1.270989048209918,0.71338606911949],"aabb_xy":[[-0.31480830646750324,-1.2901238270871602],[-0.2765836917515455,-1.2518542693326762]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[0.4158141835439204,1.2021398350944539,0.71338606911949],"aabb_xy":[[0.3358141830737044,1.1938291274801058],[0.49581418401413635,1.2104505427088024]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.43409591114340923,-0.4363144936089478,0.71338606911949],"aabb_xy":[[-0.49909591117771196,-0.48301517028927504],[-0.3690959111091065,-0.38961381692862046]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.03939391438460638,0.7272359028196758,0.71338606911949],"aabb_xy":[[-0.06297903784850123,0.662235900574244],[-0.015808790920711524,0.7922359050651075]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.23713760089322178,-0.7778909407423553,0.71338606911949],"aabb_xy":[[0.17313760063275094,-0.8228997400952833],[0.30113760115369254,-0.7328821413894273]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.1697649753336875,-2.501394152771429,0.71338606911949],"aabb_xy":[[-0.2297649758415404,-2.5582408864573503],[-0.10976497482583457,-2.444547419085507]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676911257646824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5515.png","name":"5515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":638.9608596942126,"rotation_z_degrees":94.68383899590577,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019195477667277562,-0.005900570197726078,0.010005028511793818]},{"name":"camera_2","offset_m":[-0.010507299154623917,-0.006259734782470865,-0.013243130064356245]},{"name":"camera_3","offset_m":[-0.007751142414151247,-0.0025736261193204657,0.013677873109398619]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011765007293038756,-0.0018775271547395393,-0.000999763722356882],"end_effector_yaw_offset_degrees":0.07213365123416149},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0008298379240518946,0.0017991340794154924,0.00034385531000286074],"end_effector_yaw_offset_degrees":-0.6073928123701386},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005842848952605805,-0.0017242580597759223,-0.0011199854956520925],"end_effector_yaw_offset_degrees":-0.3206569972978468}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004155220136499794,0.004696265530248842],"position_m":[0.27645522013649976,0.20649626553024886,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001950374046217904,-0.0033888580224870667],"position_m":[0.2504503740462179,-0.14128885802248706,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004450328344073746,-0.0036342547248994442],"position_m":[0.3582503283440738,-0.008834254724899444,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038707939856188816,0.004583900979894186],"position_m":[0.13147079398561887,0.42368390097989417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008539390202604909,-0.002485758231211642],"position_m":[0.2038460609797395,-0.4100857582312117,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"38f9233e8f301395c0cd729bb631190379d17b7a271f6c32336d1d6d08d4e2dd","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_376/tex_ceiling_textures_2320/tex_floor_textures_8319/tex_table_textures_683/tex_wall_textures_5515","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":449447258616792016,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":449447258616792016,"visual_seed":449447258616792016,"scene_id":"lab_003","finished_at":"2026-09-03T22:28:51"} +{"episode_id":"ep_000088","started_at":"2026-09-03T22:28:55","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.047430507119011533,0.44200881860878427,0.71338606911949],"aabb_xy":[[-0.07071234931714286,0.35700881731155615],[-0.02414866492088019,0.5270088199060122]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.5481504164364159,0.48079526927064853,0.71338606911949],"aabb_xy":[[-0.556264071109793,0.47268945281661945],[-0.5400367617630388,0.4889010857246776]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.5155253557926609,-0.7981688662952697,0.71338606911949],"aabb_xy":[[-0.5332009863812591,-0.8158490825746724],[-0.4978497252040625,-0.7804886500158669]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.3744901797483858,-2.0953469779711167,0.71338606911949],"aabb_xy":[[-0.43449017999978695,-2.149628303007581],[-0.3144901794969846,-2.0410656529346514]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.07896053780525758,0.7286909662051575,0.71338606911949],"aabb_xy":[[0.044369454951212355,0.6636909659201263],[0.11355162065930278,0.7936909664901884]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.4469589350555727,-1.0138849966523131,0.71338606911949],"aabb_xy":[[0.40168032017442346,-1.0778849960004966],[0.492237549936722,-0.9498849973041292]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.29582027322131665,-1.7362662088653402,0.71338606911949],"aabb_xy":[[-0.3508202728430625,-1.791249901652813],[-0.2408202735995708,-1.6812825160778675]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.6206758684655438,-2.0191161913843585,0.71338606911949],"aabb_xy":[[-0.6756713462862031,-2.0741161928182654],[-0.5656803906448843,-1.9641161899504516]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.63058756492665,0.7267029723902998,0.71338606911949],"aabb_xy":[[-0.6480182800056564,0.7094308577264489],[-0.6131568498476434,0.7439750870541505]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.636118768601624,-0.4783638715706706,0.71338606911949],"aabb_xy":[[-0.6441551033029088,-0.48640199087508734],[-0.6280824339003391,-0.4703257522662538]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.503933721288365,-1.1475997984414448,0.71338606911949],"aabb_xy":[[-0.5679337235087719,-1.191972882566733],[-0.43993371906795786,-1.1032267143161565]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.5745015381165697,-1.3197020033473679,0.71338606911949],"aabb_xy":[[0.4945015348587267,-1.3996985111393518],[0.6545015413744126,-1.239705495555384]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.05790350720581283,-2.244690754757967,0.71338606911949],"aabb_xy":[[0.03599482506646179,-2.266591421578058],[0.07981218934516388,-2.2227900879378764]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.1331893531160988,-1.7597292459607614,0.71338606911949],"aabb_xy":[[-0.14986648910919434,-1.7764291699346917],[-0.11651221712300333,-1.7430293219868311]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.42010108976656313,1.6983280636044538,0.71338606911949],"aabb_xy":[[-0.42401496296198565,1.6895790481978967],[-0.4161872165711406,1.7070770790110104]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.4660868108273111,-0.07238561505605023,0.71338606911949],"aabb_xy":[[-0.5010868100201293,-0.08335266105371285],[-0.4310868116344928,-0.06141856905838759]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.16665958387186286,-0.5677811403937096,0.71338606911949],"aabb_xy":[[-0.20399086039710548,-0.602434195188562],[-0.12932830734662024,-0.5331280855988575]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.41393025850286524,0.3148909909638986,0.71338606911949],"aabb_xy":[[0.39504587473435504,0.2960050661835459],[0.43281464227137545,0.33377691574425145]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.09636722552273247,-2.0885621516895885,0.71338606911949],"aabb_xy":[[-0.14634029105524796,-2.138562151502122],[-0.04639415999021702,-2.038562151877056]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.6445334613351392,0.29537193583319743,0.71338606911949],"aabb_xy":[[-0.655306435256507,0.26037193761415844],[-0.6337604874137714,0.3303719340522364]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.12401269064281628,-2.254597596932888,0.71338606911949],"aabb_xy":[[-0.18801268922938874,-2.3016045603323962],[-0.06001269205624382,-2.207590633533379]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.3971879698189458,-1.7773294126737536,0.71338606911949],"aabb_xy":[[0.35218796835271693,-1.8223292695352347],[0.4421879712851747,-1.7323295558122733]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.15273274037018325,-0.7043093886351728,0.71338606911949],"aabb_xy":[[0.1440187713202487,-0.7268093892943608],[0.16144670942011768,-0.6818093879759843]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.6616932341760324,-0.12539238984077627,0.71338606911949],"aabb_xy":[[0.6248986010511262,-0.16229826493735855],[0.6984878673009387,-0.088486514744194]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.05554550426946703,-1.8251584741870577,0.71338606911949],"aabb_xy":[[0.04913169062628208,-1.8315682944347258],[0.06195931791265196,-1.8187486539393891]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.4820038309027451,0.04545163034182975,0.71338606911949],"aabb_xy":[[-0.5720038306259192,0.022378277806649905],[-0.39200383117957094,0.06852498287700956]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.5453352498632626,-0.7495219270173161,0.71338606911949],"aabb_xy":[[0.4803352489061354,-0.8014701389510217],[0.6103352508203898,-0.6975737150836105]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[0.46708542327918434,-0.6126468583605047,0.71338606911949],"aabb_xy":[[0.40208542472211145,-0.6423993917743873],[0.5320854218362572,-0.5828943249466221]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[-0.2284084325668791,1.4643597073466155,0.71338606911949],"aabb_xy":[[-0.2354498835176267,1.457332955608821],[-0.2213669816161315,1.47138645908441]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[-0.6097561624477386,-1.4293613737015185,0.71338606911949],"aabb_xy":[[-0.6211178971010246,-1.4407298401078066],[-0.5983944277944523,-1.4179929072952304]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_30","position":[0.5966091726860874,0.011727839254149774,0.71338606911949],"aabb_xy":[[0.5885829020554613,0.0029763442767971604],[0.6046354433167133,0.02047933423150239]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_31","position":[0.3163375101829926,0.5913890984281376,0.71338606911949],"aabb_xy":[[0.2663532744748153,0.541389099614642],[0.3663217458911698,0.6413890972416332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700806317728712,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8143.png","name":"8143"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8978.png","name":"8978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8123.png","name":"8123"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":719.4730840498864,"rotation_z_degrees":328.535624417984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010646553851517759,0.008585335431433246,0.01479222723670719]},{"name":"camera_2","offset_m":[-0.011567806520055379,0.014181804228987963,-0.01383407012117558]},{"name":"camera_3","offset_m":[-0.00556326817048363,0.013515686720209408,-0.0040776960060661775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004297031901675963,-0.0012064100719386102,0.0007315880255321545],"end_effector_yaw_offset_degrees":-0.5457278134155652},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0017599773475656492,-0.0011389942646766453,-0.00038203318762319903],"end_effector_yaw_offset_degrees":-0.8005595667922212},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00036455160679550735,-0.0019627347640912567,-0.0018179138741135081],"end_effector_yaw_offset_degrees":0.8434300843071709}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0043174578669407365,0.0008825017366370638],"position_m":[0.2679825421330593,0.20268250173663707,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001361410210015116,0.0022474587582943517],"position_m":[0.24986141021001512,-0.13565254124170564,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004955201916755555,-0.004568844773058752],"position_m":[0.3488447980832444,-0.009768844773058751,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008014623746056496,-0.001639785342043917],"position_m":[0.12679853762539434,0.4174602146579561,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006255071982276669,-0.004474812797482371],"position_m":[0.20532550719822765,-0.41207481279748237,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"46479cfe363f7ed47287b0b8d4f7783ac4df909a6f1e63116cb672be1ab8b433","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5565/tex_ceiling_textures_8123/tex_floor_textures_8978/tex_table_textures_8143/tex_wall_textures_4165","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6591604065254438237,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6591604065254438237,"visual_seed":6591604065254438237,"scene_id":"lab_003","finished_at":"2026-09-03T22:31:44"} +{"episode_id":"ep_000089","started_at":"2026-09-03T22:31:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.02879766691470631,1.2618163577812962,0.71338606911949],"aabb_xy":[[0.023465152260093325,1.2564920295360607],[0.034130181569319296,1.2671406860265317]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.5585482112885707,0.5035867643040022,0.71338606911949],"aabb_xy":[[0.5546343380931481,0.4948377488974454],[0.562462084483993,0.512335779710559]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.48951894456826117,-2.134425695589689,0.71338606911949],"aabb_xy":[[-0.5396164085493348,-2.198425696099501],[-0.43942148058718755,-2.0704256950798774]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.06897614663582907,1.3143391336544559,0.71338606911949],"aabb_xy":[[-0.08647614689516571,1.3002475914656835],[-0.05147614637649246,1.3284306758432287]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.6506726877012241,-2.1442021587955966,0.71338606911949],"aabb_xy":[[-0.674257811165119,-2.209202161041029],[-0.6270875642373293,-2.0792021565501653]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[0.6672488141506974,1.526094258327141,0.71338606911949],"aabb_xy":[[0.6619112384846928,1.5010942573980013],[0.6725863898167019,1.5510942592562809]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.45296462376224694,-1.234645400528814,0.71338606911949],"aabb_xy":[[-0.5079646233839927,-1.2896290933162868],[-0.3979646241405011,-1.1796617077413414]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.5084126567403509,-0.2544345593617585,0.71338606911949],"aabb_xy":[[0.4834126568078331,-0.26131722758268183],[0.5334126566728689,-0.2475518911408352]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.610563306301168,-1.441536828364372,0.71338606911949],"aabb_xy":[[-0.6518678493649039,-1.5055368279324888],[-0.569258763237432,-1.3775368287962546]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.3118758993474301,0.10101683197234745,0.71338606911949],"aabb_xy":[[-0.326519304901463,0.08635811231556317],[-0.29723249379339706,0.11567555162913173]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.22764337488836267,-0.4647865801131843,0.71338606911949],"aabb_xy":[[-0.2356797095896475,-0.4728246994176011],[-0.21960704018707783,-0.4567484608087675]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.3369229064143791,-0.7260881432113315,0.71338606911949],"aabb_xy":[[-0.39692290626094584,-0.7829067654043702],[-0.27692290656781227,-0.6692695210182928]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.4390386961809314,-2.364740923546265,0.71338606911949],"aabb_xy":[[0.3750386938381299,-2.4096817747903976],[0.503038698523733,-2.3198000723021326]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.011585869727540055,0.27879313933231975,0.71338606911949],"aabb_xy":[[-0.018868186104203703,0.18879313572281073],[-0.004303553350876396,0.3687931429418287]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.1772372755773779,-1.3253205575263916,0.71338606911949],"aabb_xy":[[-0.2672372749957488,-1.358696054370581],[-0.08723727615900698,-1.2919450606822016]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.06690224549420021,-1.7865654974999021,0.71338606911949],"aabb_xy":[[0.020817154239468724,-1.8505654947524575],[0.11298733674893167,-1.7225655002473472]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.24998533331176542,0.6685535523261876,0.71338606911949],"aabb_xy":[[0.1699853300539225,0.5885570445342038],[0.3299853365696084,0.7485500601181717]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.5847646691719217,0.6472463586984158,0.71338606911949],"aabb_xy":[[-0.6497646718097153,0.5957667599989689],[-0.5197646665341283,0.6987259573978628]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.5608019969587996,-0.4805851007411497,0.71338606911949],"aabb_xy":[[-0.6108019979779349,-0.5170513164789776],[-0.5108019959396644,-0.44411888500332175]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.3257924777664327,-0.8966957875573769,0.71338606911949],"aabb_xy":[[-0.3907924756480806,-0.947819451263918],[-0.260792479884785,-0.8455721238508362]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.1851659358645511,0.9418968476413605,0.71338606911949],"aabb_xy":[[0.17645196681461653,0.9193968469821722],[0.1938799049144855,0.9643968483005486]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.42016115917315755,1.3669477517446085,0.71338606911949],"aabb_xy":[[0.41374734552997255,1.36053793149694],[0.42657497281634243,1.3733575719922766]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.2233111659827619,-2.3441736883315905,0.71338606911949],"aabb_xy":[[0.18581116531818317,-2.359860746331812],[0.26081116664734055,-2.328486630331368]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.3579541106272839,-0.8489393660407607,0.71338606911949],"aabb_xy":[[0.2939541085775519,-0.8890338491300687],[0.4219541126770159,-0.8088448829514527]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.20282339067319544,-0.8669263145865636,0.71338606911949],"aabb_xy":[[-0.21366386889971034,-0.8841125958772122],[-0.19198291244668053,-0.8497400332959146]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[-0.3323817131988054,-1.5082996406298552,0.71338606911949],"aabb_xy":[[-0.35126609696731553,-1.527185565410208],[-0.3134973294302951,-1.4894137158495024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6703496230670777,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3820.png","name":"3820"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3820.png","name":"3820"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7946.png","name":"7946"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6048.png","name":"6048"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5190.png","name":"5190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":811.9027119730215,"rotation_z_degrees":277.4951285348391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0050854242440680555,0.0015318490490797733,-8.403965028183635e-05]},{"name":"camera_2","offset_m":[0.0007846678163740753,-0.018553155402328336,-0.013736375345995491]},{"name":"camera_3","offset_m":[0.0007766928845660687,0.0012764440095345726,-0.0061955190263834545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000498428108177931,-0.001807486746109448,0.0009428431057824298],"end_effector_yaw_offset_degrees":0.1046940791706712},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0010968324662445636,-0.0009025208968933263,0.0017635411615323773],"end_effector_yaw_offset_degrees":0.7525084375294528},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00019401733380790742,-0.0010126014647836867,-0.0012750011243683025],"end_effector_yaw_offset_degrees":0.36860694820598816}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010431836734254019,0.0019354313741571493],"position_m":[0.27334318367342536,0.20373543137415714,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000494835694470337,0.0009584924482447833],"position_m":[0.24899483569447034,-0.13694150755175521,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0018695682714686768,0.004383212425715539],"position_m":[0.35193043172853133,-0.0008167875742844605,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006011292041258375,0.0013040021020441729],"position_m":[0.12820112920412582,0.42040400210204415,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004618299612850939,0.000253901471442026],"position_m":[0.20931829961285092,-0.40734609852855796,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"52d7a380a9beef77c8f7eeed369f8a9f1df5a838202e1a081a2aaec2d1409203","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3820/tex_ceiling_textures_4901/tex_floor_textures_5190/tex_table_textures_7946/tex_wall_textures_6048","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8276422085511891361,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8276422085511891361,"visual_seed":8276422085511891361,"scene_id":"lab_003","finished_at":"2026-09-03T22:34:31"} +{"episode_id":"ep_000090","started_at":"2026-09-03T22:34:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.17259423452893152,1.738747128313992,0.71338606911949],"aabb_xy":[[0.1350942333441387,1.7343289056179314],[0.2100942357137243,1.7431653510100524]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.5716753579220089,1.5396404209557217,0.71338606911949],"aabb_xy":[[-0.6129799009857447,1.4756404213876044],[-0.5303708148582728,1.6036404205238386]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.21477270558153289,1.0619756504487508,0.71338606911949],"aabb_xy":[[-0.22298725069721687,1.053299060151109],[-0.2065581604658489,1.0706522407463916]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.3525325705830052,1.02589473961483,0.71338606911949],"aabb_xy":[[-0.41653257387271325,0.9825598206109124],[-0.288532567293297,1.0692296586187475]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.07974005741986467,-0.03519325649988714,0.71338606911949],"aabb_xy":[[-0.09794588108111237,-0.04621865708187878],[-0.06153423375861701,-0.024167855917895498]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.47554966521112396,-1.077138690763437,0.71338606911949],"aabb_xy":[[0.4380496666355031,-1.0898749864269948],[0.5130496637867447,-1.0644023950998789]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.43911016951420473,1.5853449939964306,0.71338606911949],"aabb_xy":[[-0.48911017087509195,1.535367089421015],[-0.3891101681533175,1.6353228985718462]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.18025667410389778,0.7662380511816487,0.71338606911949],"aabb_xy":[[0.13025667545797656,0.7163185075221863],[0.23025667274981895,0.8161575948411111]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.06103004661073386,1.097772703046235,0.71338606911949],"aabb_xy":[[-0.0762022158923672,1.0826038461180318],[-0.04585787732910051,1.1129415599744386]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.3315205666210377,-1.2600835174429164,0.71338606911949],"aabb_xy":[[0.26752056933538904,-1.3015902363957603],[0.39552056390668633,-1.2185767984900724]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.5835922810763325,-2.383959120194217,0.71338606911949],"aabb_xy":[[0.5661615659973259,-2.4012312348580673],[0.6010229961553389,-2.3666870055303653]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.6084312884681453,-0.8250353873397369,0.71338606911949],"aabb_xy":[[0.5734312871166636,-0.8453951232965579],[0.643431289819627,-0.8046756513829162]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.1546773488585539,0.057038597987018935,0.71338606911949],"aabb_xy":[[-0.16267083865383594,0.04904046604654328],[-0.1466838590632719,0.0650367299274946]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.08824627936084606,0.4614176834329293,0.71338606911949],"aabb_xy":[[-0.10258070448700951,0.4493574678783905],[-0.0739118542346826,0.47347789898746817]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.5303999285190046,1.7024993818419518,0.71338606911949],"aabb_xy":[[0.47539992934241515,1.647509707066994],[0.5853999276955941,1.7574890566169092]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.6193910054621932,1.358362993918948,0.71338606911949],"aabb_xy":[[0.5694080552747137,1.3083629942763872],[0.6693739556496724,1.408362993561508]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.3615659419190788,-2.532868114879983,0.71338606911949],"aabb_xy":[[-0.4115609528785309,-2.582868113915575],[-0.3115709309596268,-2.4828681158443917]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.5121911160733873,-2.3781843016798727,0.71338606911949],"aabb_xy":[[-0.5921911140541722,-2.385785842641724],[-0.4321911180926022,-2.3705827607180203]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.3549968669277117,-2.226279352370609,0.71338606911949],"aabb_xy":[[0.2949968666763105,-2.280560677407074],[0.4149968671791128,-2.171998027334144]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.49491544967012424,0.7386270235195007,0.71338606911949],"aabb_xy":[[-0.5449154513316189,0.6886285812637979],[-0.4449154480086294,0.7886254657752033]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.4213984390996533,-0.9710256263199339,0.71338606911949],"aabb_xy":[[-0.4570275949996131,-1.006658293076787],[-0.3857692831996936,-0.935392959563081]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684688277567421,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5615.png","name":"5615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5615.png","name":"5615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3007.png","name":"3007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9229.png","name":"9229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5787.png","name":"5787"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":537.1785851644245,"rotation_z_degrees":246.1627830310744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019120353829198477,-0.019549229068964252,-0.011624915403634554]},{"name":"camera_2","offset_m":[0.0019889028226924635,-0.013723375090552863,0.002217298446283711]},{"name":"camera_3","offset_m":[-0.018355685202670557,-0.01887976960231052,0.0012936225012678652]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00028461010420043954,-0.00036549144286421287,-0.0016214349113869214],"end_effector_yaw_offset_degrees":0.3642708474951024},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012336368966750547,-0.00140376193693637,0.001715459669640235],"end_effector_yaw_offset_degrees":0.042888661655479554},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007404655098425033,0.0018121478160525793,0.0018463196490500823],"end_effector_yaw_offset_degrees":0.9069703087233449}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010357272173978482,0.0038573946076956083],"position_m":[0.27333572721739785,0.2056573946076956,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009689562785166351,-0.0030889273319154864],"position_m":[0.24753104372148335,-0.14098892733191548,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.003565482795387916,-0.0012913883002106364],"position_m":[0.35736548279538793,-0.006491388300210637,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009370402079908148,0.0011256179702064262],"position_m":[0.1285370402079908,0.4202256179702064,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038524002353800537,0.002349768746949305],"position_m":[0.20855240023538005,-0.4052502312530507,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7d3133eac341b33077d13db1f2fb34136bf731ff8f7b341de81d2ac39bac2759","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5615/tex_ceiling_textures_5787/tex_floor_textures_9229/tex_table_textures_1607/tex_wall_textures_3007","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":130690846516494334,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":130690846516494334,"visual_seed":130690846516494334,"scene_id":"lab_003","finished_at":"2026-09-03T22:37:38"} +{"episode_id":"ep_000091","started_at":"2026-09-03T22:37:41","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[0.07955992022995795,-1.2819509245554732,0.71338606911949],"aabb_xy":[[0.024567669594447,-1.336950926298786],[0.1345521708654689,-1.2269509228121604]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.28377148820004794,-1.3988289061913024,0.71338606911949],"aabb_xy":[[-0.29311849578234317,-1.4131325284089462],[-0.2744244806177527,-1.3845252839736581]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.3993532191317201,-2.521865637375927,0.71338606911949],"aabb_xy":[[-0.4493532185719157,-2.571833561860243],[-0.34935321969152444,-2.4718977128916104]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.4472500722126962,0.5508113444324279,0.71338606911949],"aabb_xy":[[0.41725840947882586,0.5208113450956272],[0.4772417349465665,0.5808113437692283]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[0.5303697395322873,-2.1560872913198263,0.71338606911949],"aabb_xy":[[0.48038550382411005,-2.206087290133322],[0.5803539752404645,-2.1060872925063308]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.27620702667322644,1.8230695754230504,0.71338606911949],"aabb_xy":[[-0.3137070278580191,1.8186513527269896],[-0.23870702548843356,1.8274877981191107]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.5036093859948998,-0.7911099393486436,0.71338606911949],"aabb_xy":[[0.4935276789163262,-0.8711099372407581],[0.5136910930734732,-0.7111099414565288]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.4726489553723925,0.8393006683143458,0.71338606911949],"aabb_xy":[[0.4646055954464373,0.7543006672189794],[0.48069231529834766,0.9243006694097122]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.24267885214761664,-2.2952580707737043,0.71338606911949],"aabb_xy":[[0.23543508610137132,-2.3752580689773066],[0.24992261819386197,-2.215258072570102]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.5227300540104287,1.5993302100403644,0.71338606911949],"aabb_xy":[[0.4677300548338391,1.5443405352654067],[0.5777300531870181,1.654319884815322]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.5286336147491302,-0.39724891228873593,0.71338606911949],"aabb_xy":[[0.47865619788387653,-0.4472489137779845],[0.5786110316143837,-0.3472489107994874]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.5410364949260491,-2.37426634280974,0.71338606911949],"aabb_xy":[[0.5356989192600445,-2.39926634373888],[0.5463740705920537,-2.3492663418806004]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.6128949129129515,1.3637260749358164,0.71338606911949],"aabb_xy":[[-0.6928949131865584,1.2907765271100997],[-0.5328949126393444,1.4366756227615332]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.3653120126221709,-0.24159122761191876,0.71338606911949],"aabb_xy":[[-0.4293120133256403,-0.28760961008483976],[-0.30131201191870155,-0.19557284513899778]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.2501189060901925,1.1930887795068887,0.71338606911949],"aabb_xy":[[-0.28355908128621204,1.1596451536759582],[-0.21667873089417286,1.2265324053378184]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.09559191690426017,1.6015028575917172,0.71338606911949],"aabb_xy":[[0.03159192050868709,1.5375395691729834],[0.15959191329983324,1.6654661460104505]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.04885151862974302,0.8715958215955935,0.71338606911949],"aabb_xy":[[-0.015148481630727793,0.8265870222426653],[0.11285151889021382,0.9166046209485214]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.49698593942005026,1.1952013688466918,0.71338606911949],"aabb_xy":[[-0.5334817600473288,1.1587174264199342],[-0.4604901187927714,1.2316853112734494]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.396044087464124,-1.3059524261886335,0.71338606911949],"aabb_xy":[[0.3320440870865904,-1.3556976930394458],[0.4600440878416576,-1.2562071593378212]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.6530809649705522,-1.2236438168292414,0.71338606911949],"aabb_xy":[[0.6030809636867122,-1.2736226712198633],[0.7030809662543921,-1.173664962438619]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.0028749897955865356,-2.4603700558330908,0.71338606911949],"aabb_xy":[[-0.008997093215914576,-2.5453700555267407],[0.014747072807087647,-2.37537005613944]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.6918476246550749,0.7838390091292635,0.71338606911949],"aabb_xy":[[0.6802786439081384,0.7588390090123318],[0.7034166054020116,0.8088390092461952]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[0.5842658673461711,-0.9840318970070641,0.71338606911949],"aabb_xy":[[0.5492658673696753,-0.9934965130546807],[0.619265867322667,-0.9745672809594474]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.528044166365844,-2.288974672720122,0.71338606911949],"aabb_xy":[[-0.5381971819199932,-2.325044214292862],[-0.5178911508116945,-2.252905131147381]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.25400317383742865,-1.5077968574349003,0.71338606911949],"aabb_xy":[[-0.318003175515426,-1.5563142489142143],[-0.1900031721594313,-1.4592794659555859]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[0.4890116801506488,1.2907715971375153,0.71338606911949],"aabb_xy":[[0.4250116828483024,1.2464051701696583],[0.5530116774529952,1.3351380241053719]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[0.47980725663319856,-2.014966330643975,0.71338606911949],"aabb_xy":[[0.47485123644831745,-2.037466330846097],[0.4847632768180798,-1.992466330441854]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.055209403309234184,-1.9975465734874984,0.71338606911949],"aabb_xy":[[-0.07770940283294157,-2.0200425209381194],[-0.032709403785526774,-1.9750506260368776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723395229108969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2623.png","name":"2623"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2623.png","name":"2623"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2289.png","name":"2289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8414.png","name":"8414"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":848.5118859036588,"rotation_z_degrees":28.698053026400867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010775457390432938,-0.011448623595160887,0.00756330830557456]},{"name":"camera_2","offset_m":[-0.018330798021432913,-0.002928335379179567,0.006313383082282225]},{"name":"camera_3","offset_m":[0.003641274732682942,0.008102922129635797,0.01329620140464911]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012220855895753277,0.001232267314676701,0.0006143955236562163],"end_effector_yaw_offset_degrees":-0.33246699135477353},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0011049620631498878,0.0006289394942887365,-0.001672324943965296],"end_effector_yaw_offset_degrees":0.3030636644755911},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016663079246320698,0.0005393794194657278,0.00141471651043401],"end_effector_yaw_offset_degrees":0.28323484211095473}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014509892454755238,0.001120505300964374],"position_m":[0.27084901075452444,0.2029205053009644,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008132181192049073,-0.003050253365838854],"position_m":[0.2493132181192049,-0.14095025336583886,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004192728084728234,-0.004105141718727702],"position_m":[0.35799272808472826,-0.009305141718727702,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001422291098156666,-0.0029030490587660975],"position_m":[0.12902229109815666,0.4161969509412339,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046421745268966546,-0.002981524898016872],"position_m":[0.20934217452689666,-0.4105815248980169,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"18afe10ded040f4aa988d84bbe970515879b82a90c0721ee22564ea373e11f2e","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2623/tex_ceiling_textures_8414/tex_floor_textures_1041/tex_table_textures_2289/tex_wall_textures_9727","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":721461849056906810,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":721461849056906810,"visual_seed":721461849056906810,"scene_id":"lab_003","finished_at":"2026-09-03T22:40:31"} +{"episode_id":"ep_000092","started_at":"2026-09-03T22:40:34","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.48076505796166885,-0.39357340927955864,0.71338606911949],"aabb_xy":[[-0.5036807708467188,-0.4164777064159822],[-0.457849345076619,-0.37066911214313514]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.6672277605495802,1.245239374782109,0.71338606911949],"aabb_xy":[[0.6297277602574055,1.2411978993815054],[0.7047277608417551,1.2492808501827124]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.29837264491045856,-1.2544796544829502,0.71338606911949],"aabb_xy":[[0.2343726456162904,-1.3184657948518044],[0.36237264420462684,-1.190493514114096]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.02449425763344204,1.085050712198043,0.71338606911949],"aabb_xy":[[-0.03327548478067827,1.076270964909513],[-0.015713030486205818,1.0938304594865735]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.06263106135742447,0.8169714089276723,0.71338606911949],"aabb_xy":[[-0.007368935052537328,0.7965334732759903],[0.13263105776738623,0.8374093445793538]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.5613833330487954,0.35449953221060193,0.71338606911949],"aabb_xy":[[0.5314157761389698,0.3244995319127162],[0.5913508899586212,0.3844995325084877]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.4652871385911329,-0.9705956221026908,0.71338606911949],"aabb_xy":[[-0.5552871350920046,-1.0165072645211488],[-0.3752871420902611,-0.9246839796842323]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.2285276160184309,1.0323713316615524,0.71338606911949],"aabb_xy":[[-0.26585889254367356,0.9977182768667001],[-0.1911963394931883,1.0670243864564046]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.26679387495588763,-1.887707832460837,0.71338606911949],"aabb_xy":[[-0.3012562223540294,-1.922201714858659],[-0.2323315275577458,-1.8532139500630136]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.16720872813410181,-1.5319026281585297,0.71338606911949],"aabb_xy":[[-0.23120872730387176,-1.5786693152774922],[-0.10320872896433188,-1.4851359410395673]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.16397720571173302,1.6688683662632804,0.71338606911949],"aabb_xy":[[-0.18184631346618851,1.6550354582860693],[-0.14610809795727753,1.6827012742404914]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.11809050867253634,0.03858509537535593,0.71338606911949],"aabb_xy":[[-0.13476764466563185,0.02188517140142565],[-0.10141337267944084,0.0552850193492862]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.5014860805646402,-0.8763859297825749,0.71338606911949],"aabb_xy":[[0.4920686059947774,-0.8858021069202938],[0.5109035551345029,-0.8669697526448558]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.5905033399650261,-0.24437738890567617,0.71338606911949],"aabb_xy":[[0.5817893709150915,-0.2668773895648644],[0.5992173090149605,-0.22187738824648795]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.19096223832569714,-1.9348525538286931,0.71338606911949],"aabb_xy":[[0.18538056669156838,-1.9473525536464686],[0.1965439099598259,-1.9223525540109176]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.21590954531325313,1.4401101574206865,0.71338606911949],"aabb_xy":[[0.1609095471115083,1.399588190794249],[0.27090954351499796,1.480632124047124]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.69416433243018,-0.7527241180214601,0.71338606911949],"aabb_xy":[[0.6840826253516064,-0.8327241159135746],[0.7042460395087533,-0.6727241201293453]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.5898214280636218,0.25380229533019927,0.71338606911949],"aabb_xy":[[-0.6498214285714747,0.19695556164427794],[-0.5298214275557689,0.3106490290161205]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.41535817034974243,1.7704786678726854,0.71338606911949],"aabb_xy":[[0.3810612593320017,1.7361817816627438],[0.44965508136748294,1.8047755540826265]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.619205779186019,0.01660023744774941,0.71338606911949],"aabb_xy":[[0.555205777136287,-0.023494245641558553],[0.683205781235751,0.056694720537057375]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.10755061778624708,-1.0144866799818664,0.71338606911949],"aabb_xy":[[0.05755061642535988,-1.0644645845572818],[0.1575506191471343,-0.9645087754064506]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.6800459288547407,-2.5496084686978513,0.71338606911949],"aabb_xy":[[-0.6839598020501632,-2.558357484104408],[-0.6761320556593182,-2.5408594532912945]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.1695755077210913,-1.0324560678202304,0.71338606911949],"aabb_xy":[[-0.25957551139800944,-1.0938884743973343],[-0.07957550404417311,-0.9710236612431256]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.4017819641074108,0.12922061361470005,0.71338606911949],"aabb_xy":[[-0.4517607726177267,0.07922061360898125],[-0.3518031555970949,0.17922061362041886]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.5582533800697953,0.6027810835090128,0.71338606911949],"aabb_xy":[[-0.606059547683564,0.5377810808019539],[-0.5104472124560266,0.6677810862160718]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.5583302195810156,1.8235417541399905,0.71338606911949],"aabb_xy":[[0.5333302196484977,1.816659085919067],[0.5833302195135335,1.8304244223609136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680790520435788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9832.png","name":"9832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9832.png","name":"9832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6063.png","name":"6063"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9718.png","name":"9718"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.5951551098909,"rotation_z_degrees":231.65075094071497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009538945242009364,0.01324091528360977,-0.0002701341873912813]},{"name":"camera_2","offset_m":[0.005412115413020044,-0.01587694848599279,-0.005466059503686237]},{"name":"camera_3","offset_m":[-0.0003078431848532841,0.015086788388516206,0.0037238567817641857]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006036007298208044,-0.00013421136771568252,0.00018144819991555228],"end_effector_yaw_offset_degrees":-0.9199184480291087},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.000833959801142516,0.0013637870644524603,-0.0013628166320122414],"end_effector_yaw_offset_degrees":-0.6502922468910546},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010704382707036428,-0.0007966863304096252,-0.000981678795291305],"end_effector_yaw_offset_degrees":-0.7237385621317338}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001383570622578567,0.0010249875458887472],"position_m":[0.27091642937742144,0.20282498754588876,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004907301437207232,0.00337586801989304],"position_m":[0.24359269856279275,-0.13452413198010696,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0035556486684784993,-0.0022222707335339664],"position_m":[0.3502443513315215,-0.007422270733533966,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003989873421426211,-0.004927976219376956],"position_m":[0.12361012657857379,0.414172023780623,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006737497509924292,-0.0011496616787595127],"position_m":[0.20537374975099243,-0.40874966167875953,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0d4bd2ade6860f196732443b766b2a823b41981b52a092a50be5e9443c06626","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9832/tex_ceiling_textures_9718/tex_floor_textures_6063/tex_table_textures_5566/tex_wall_textures_1424","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4187323270630437629,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4187323270630437629,"visual_seed":4187323270630437629,"scene_id":"lab_003","finished_at":"2026-09-03T22:43:23"} +{"episode_id":"ep_000093","started_at":"2026-09-03T22:43:27","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.5025405922314705,-0.6274752672140784,0.71338606911949],"aabb_xy":[[0.45256752669895517,-0.6774752670266114],[0.5525136577639861,-0.5774752674015456]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.4525752870973969,-0.11339563621133131,0.71338606911949],"aabb_xy":[[0.44315781252753417,-0.12281181334905032],[0.46199276166725967,-0.10397945907361227]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.16239255820163978,1.6911989212892258,0.71338606911949],"aabb_xy":[[0.08239255961432033,1.611883319351065],[0.24239255678895918,1.770514523227387]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.08981532182174146,-2.00912660494254,0.71338606911949],"aabb_xy":[[0.06731532181159317,-2.023222824582143],[0.11231532183188975,-1.9950303853029365]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.39390244687691445,-0.5581813849182802,0.71338606911949],"aabb_xy":[[-0.4539024485198363,-0.6101815342102244],[-0.3339024452339926,-0.506181235626336]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.28021230396876906,-2.0027573965255625,0.71338606911949],"aabb_xy":[[0.2497280538417389,-2.0527573963070584],[0.3106965540957992,-1.9527573967440666]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.28647612557577207,-2.5124083874107503,0.71338606911949],"aabb_xy":[[0.2823979676687223,-2.516489367659014],[0.2905542834828218,-2.5083274071624877]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.47431767679824327,-0.046916811828545235,0.71338606911949],"aabb_xy":[[-0.47845353313094346,-0.08441681127290224],[-0.4701818204655431,-0.009416812384188233]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.5972987552565124,-0.8227188167746813,0.71338606911949],"aabb_xy":[[-0.6522987534582573,-0.8632407834011188],[-0.5422987570547676,-0.7821968501482436]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.49746148265055384,0.9939269210203268,0.71338606911949],"aabb_xy":[[-0.5324614809612493,0.9862119060967811],[-0.46246148433985834,1.0016419359438724]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.280153974966986,0.26341089962335573,0.71338606911949],"aabb_xy":[[-0.30466759906399193,0.23914630632131928],[-0.2556403508699802,0.2876754929253922]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.13863511276818152,1.1922239333003195,0.71338606911949],"aabb_xy":[[-0.18863511312874753,1.1422439460907163],[-0.08863511240761542,1.2422039205099222]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.49115363914574206,0.696408167148511,0.71338606911949],"aabb_xy":[[-0.5261536404972238,0.6760484311916901],[-0.4561536377942603,0.7167679031053318]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.0716784310588402,-1.641397340924169,0.71338606911949],"aabb_xy":[[-0.008321572205172934,-1.6549573732330822],[0.15167843432285333,-1.6278373086152556]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.48208415076532507,1.5715435443182684,0.71338606911949],"aabb_xy":[[-0.5195841507090915,1.5632504542834318],[-0.44458415082155867,1.579836634353105]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.33286349828070416,-1.244967527608425,0.71338606911949],"aabb_xy":[[0.3103634984668018,-1.2494421439789059],[0.35536349809460654,-1.2404929112379444]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.13499206184793333,0.918398929099157,0.71338606911949],"aabb_xy":[[0.06499205921134696,0.8982940641032914],[0.20499206448451965,0.9385037940950224]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.3412263409976022,1.5689919675402497,0.71338606911949],"aabb_xy":[[0.33065886133950323,1.5584469374272412],[0.35179382065570125,1.5795369976532583]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.43019594559389773,-0.3177002959242907,0.71338606911949],"aabb_xy":[[0.36619594629972946,-0.3816864362931449],[0.4941959448880659,-0.2537141555554365]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.12096299085105033,1.3524327681636685,0.71338606911949],"aabb_xy":[[-0.1547385500417433,1.3383942729505036],[-0.08718743166035736,1.3664712633768334]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.44142194287767883,1.37942761021062,0.71338606911949],"aabb_xy":[[-0.5054219414642513,1.332420646811111],[-0.37742194429110637,1.4264345736101285]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.4819016050486682,1.634862563698404,0.71338606911949],"aabb_xy":[[0.47255459746637296,1.6205589414807602],[0.4912486126309634,1.6491661859160482]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.21226516634156523,-1.426273189315121,0.71338606911949],"aabb_xy":[[-0.24976516683892347,-1.4302418728632396],[-0.17476516584420698,-1.4223045057670025]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[0.36155021129140463,-0.6834990436223969,0.71338606911949],"aabb_xy":[[0.3240502104994092,-0.6898668845805869],[0.3990502120834001,-0.6771312026642067]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.05974845296150788,-2.2952606558389954,0.71338606911949],"aabb_xy":[[0.042248452702171264,-2.309352198027769],[0.07724845322084452,-2.2811691136502237]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[-0.22680741649560626,0.7501464974186733,0.71338606911949],"aabb_xy":[[-0.2818074161173521,0.6951628046312007],[-0.17180741687386042,0.8051301902061462]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.08119011421006761,-0.5989907590644994,0.71338606911949],"aabb_xy":[[0.046190115017249345,-0.6099578050621619],[0.11619011340288588,-0.5880237130668367]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[0.25027921210732695,-2.2418868660723192,0.71338606911949],"aabb_xy":[[0.22243417532671977,-2.272671364810631],[0.278124248887934,-2.2111023673340076]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[0.11092493651124435,1.2143336644242213,0.71338606911949],"aabb_xy":[[0.04092493311968239,1.1790178907207902],[0.18092493990280634,1.249649438127652]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[0.5082992920411391,-2.308943804294517,0.71338606911949],"aabb_xy":[[0.49752631811977144,-2.343943802513556],[0.519072265962507,-2.273943806075478]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.4728258557958792,0.8895744628125013,0.71338606911949],"aabb_xy":[[-0.49032585604092854,0.8720746749729344],[-0.4553258555508298,0.9070742506520681]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[0.43801927382412176,-1.515400833976805,0.71338606911949],"aabb_xy":[[0.4330632536392407,-1.5379008341789269],[0.44297529400900304,-1.4929008337746834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635094877292314,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5103.png","name":"5103"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7990.png","name":"7990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/56.png","name":"56"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":697.9326641825814,"rotation_z_degrees":213.54818066830632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006767567862357996,0.01218509056079611,0.015176641348328867]},{"name":"camera_2","offset_m":[0.003708891668729581,0.01940462354547005,0.0017392210561297354]},{"name":"camera_3","offset_m":[-0.002368244740874506,-0.010578232110472601,0.019675763915189975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001245450431156744,0.0010797349413684712,0.0015000088022668022],"end_effector_yaw_offset_degrees":-0.8574362648709288},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[5.876528744915791e-05,0.0017349720499111438,-0.0012609149774687363],"end_effector_yaw_offset_degrees":0.18093654489852518},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015976295847813988,0.0003421601539329395,-0.0015626093318293682],"end_effector_yaw_offset_degrees":-0.5149681229038081}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002996720964349554,-0.0024511844587782896],"position_m":[0.27529672096434954,0.19934881554122172,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009167435336478111,0.001846807022318089],"position_m":[0.24941674353364782,-0.1360531929776819,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0034495739237479462,-0.0017218522521994916],"position_m":[0.35724957392374795,-0.006921852252199491,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001700593481933247,-0.0009014633687941696],"position_m":[0.12930059348193323,0.4181985366312058,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003931983738963505,0.004961084970263011],"position_m":[0.20430680162610365,-0.40263891502973703,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0acbb465c128935f7328425627492bbc3e53b04db6b60a7ad9ab4ddc96040800","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4885/tex_ceiling_textures_56/tex_floor_textures_8825/tex_table_textures_5103/tex_wall_textures_7990","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6363029493949714613,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6363029493949714613,"visual_seed":6363029493949714613,"scene_id":"lab_003","finished_at":"2026-09-03T22:46:31"} +{"episode_id":"ep_000094","started_at":"2026-09-03T22:46:34","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.4270158551927076,-2.1032124967364956,0.71338606911949],"aabb_xy":[[-0.48860661441670045,-2.1672124948455425],[-0.3654250959687148,-2.0392124986274487]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.04743587085506118,-2.4811641357194243,0.71338606911949],"aabb_xy":[[-0.13115809635514364,-2.5711641392541202],[0.03628635464502128,-2.3911641321847283]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.3904663280374361,1.024124510430827,0.71338606911949],"aabb_xy":[[-0.42546632723025435,1.0131574644331642],[-0.3554663288446178,1.0350915564284893]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.412831548026803,-1.3775170182383902,0.71338606911949],"aabb_xy":[[0.371527004963067,-1.4415170178065073],[0.454136091090539,-1.3135170186702732]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.21229928997289,-1.5076860828237864,0.71338606911949],"aabb_xy":[[-0.29229928856020937,-1.5870016847619473],[-0.13229929138557053,-1.4283704808856255]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.610854415641896,1.1728453955640643,0.71338606911949],"aabb_xy":[[0.5765381384672781,1.1228453955908866],[0.645170692816514,1.222845395537242]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.23479331528332692,-1.0576331425683996,0.71338606911949],"aabb_xy":[[0.2201499097292939,-1.0722918622251836],[0.24943672083735988,-1.0429744229116151]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.05430008566474498,0.746286610874928,0.71338606911949],"aabb_xy":[[0.004306973555553103,0.6962866102007325],[0.10429319777393689,0.7962866115491238]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.45298535981416854,-1.0330045352924162,0.71338606911949],"aabb_xy":[[-0.46109901448754553,-1.0411103517464453],[-0.44487170514079133,-1.0248987188383871]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.4692590811202816,0.3712570116843983,0.71338606911949],"aabb_xy":[[-0.5492529046988399,0.2912570090915567],[-0.3892652575417235,0.45125701427723985]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.2239760580369347,-0.9873094755963185,0.71338606911949],"aabb_xy":[[-0.23488183412449742,-1.0673094719951477],[-0.213070281949372,-0.9073094791974894]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.21475755526422352,-2.207148657043227,0.71338606911949],"aabb_xy":[[-0.2747575558602397,-2.2619611295884505],[-0.15475755466820734,-2.1523361844980036]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.43819619763687045,-0.13962586350361184,0.71338606911949],"aabb_xy":[[0.40069619746499846,-0.172326598886519],[0.47569619780874234,-0.10692512812070462]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.4003648758562026,-2.5395482957359983,0.71338606911949],"aabb_xy":[[0.3669247006601829,-2.572991921566928],[0.4338050510522221,-2.5061046699050675]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.4034200291944632,-0.5470225101899109,0.71338606911949],"aabb_xy":[[0.39637857824371553,-0.5540492619277054],[0.4104614801452107,-0.5399957584521163]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[0.1957147292721566,-2.2709324961172683,0.71338606911949],"aabb_xy":[[0.1877914490334083,-2.2934324963552712],[0.20363800951090497,-2.2484324958792645]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.5831950589134138,-0.3763841270351702,0.71338606911949],"aabb_xy":[[0.5656951254794303,-0.39388412695540476],[0.6006949923473971,-0.35888412711493567]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.49800379748034035,0.11061078975711647,0.71338606911949],"aabb_xy":[[-0.5162096211415881,0.09958538917512483],[-0.4797979738190927,0.12163619033910811]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.12927775190219792,-1.0400395223654906,0.71338606911949],"aabb_xy":[[-0.151774173336062,-1.062539522172238],[-0.1067813304683338,-1.0175395225587431]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.23646153032987982,-2.1188920443255306,0.71338606911949],"aabb_xy":[[0.15646152816711736,-2.1988472279516738],[0.3164615324926423,-2.0389368606993865]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.4593308030198775,-1.1125291203131835,0.71338606911949],"aabb_xy":[[0.4183128596335066,-1.1625291209441406],[0.5003487464062484,-1.062529119682226]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.38279176864772846,-1.5525570417142407,0.71338606911949],"aabb_xy":[[0.3177917676472279,-1.6033434068689156],[0.4477917696482289,-1.5017706765595658]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.47153422868531636,0.16098938637872795,0.71338606911949],"aabb_xy":[[0.4490205368618591,0.09098938577772042],[0.4940479205087735,0.23098938697973548]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.033986243240510916,-0.3056847738785331,0.71338606911949],"aabb_xy":[[-0.04914911621744801,-0.32085023117365186],[-0.01882337026357384,-0.29051931658341434]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.5193953859483453,-2.1942722332215694,0.71338606911949],"aabb_xy":[[0.46939538730242414,-2.2441917768810318],[0.5693953845942665,-2.144352689562107]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[0.21732819683035098,-2.402025347710583,0.71338606911949],"aabb_xy":[[0.1533281975361828,-2.466011488079437],[0.2813281961245192,-2.3380392073417284]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670127781964963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8895.png","name":"8895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8895.png","name":"8895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4569.png","name":"4569"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8240.png","name":"8240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3119.png","name":"3119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4032.png","name":"4032"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":519.6455577356431,"rotation_z_degrees":304.43403917194223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008582115259317496,0.01646141507395305,-0.003446401228550222]},{"name":"camera_2","offset_m":[-0.0061849359193721296,0.004338410308257351,-0.01617658456486844]},{"name":"camera_3","offset_m":[0.0070384886769455125,-0.012434789318563039,0.004908304707033042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014316434576404965,-0.0017801356778125125,-0.0008091457598693376],"end_effector_yaw_offset_degrees":-0.9865433514767368},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0003477211627586688,0.0007965379325132328,-0.0003842402523194508],"end_effector_yaw_offset_degrees":0.9778617072843832},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016068041250370422,-0.001401249243302241,0.0008051300542078234],"end_effector_yaw_offset_degrees":0.37084403617510775}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004095471640552778,0.004645492825166945],"position_m":[0.2682045283594472,0.20644549282516694,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004989875374270126,0.004324902528028069],"position_m":[0.25348987537427015,-0.13357509747197194,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.004426168473797085,-0.00249971861659819],"position_m":[0.35822616847379707,-0.00769971861659819,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00426561616130824,0.002851562428882453],"position_m":[0.13186561616130824,0.42195156242888243,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003170435083368334,-0.004347463907008067],"position_m":[0.20152956491663165,-0.4119474639070081,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3f7c66ecca7a1cb26c37790817b7a1d587a39ecc4d2e93622d9e0a8762a676a8","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8895/tex_ceiling_textures_4032/tex_floor_textures_3119/tex_table_textures_4569/tex_wall_textures_8240","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3394836868239480448,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3394836868239480448,"visual_seed":3394836868239480448,"scene_id":"lab_003","finished_at":"2026-09-03T22:49:25"} +{"episode_id":"ep_000095","started_at":"2026-09-03T22:49:28","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.648265148533776,1.3634685799240742,0.71338606911949],"aabb_xy":[[0.6408526929923875,1.3576173695024463],[0.6556776040751644,1.3693197903457022]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.3942284220599612,0.6374019853778421,0.71338606911949],"aabb_xy":[[0.32422841992853163,0.6146400197521462],[0.4642284241913907,0.6601639510035375]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.45286729448856267,-1.3927863626862993,0.71338606911949],"aabb_xy":[[-0.5168672951920321,-1.4388047451592203],[-0.3888672937850934,-1.3467679802133783]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.03652129022395356,-1.2022821387747122,0.71338606911949],"aabb_xy":[[-0.061521290156471446,-1.2091648069956358],[-0.011521290291435664,-1.1953994705537891]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.4468333065859723,-1.8908671039697071,0.71338606911949],"aabb_xy":[[-0.4529279344740906,-1.8994364985213763],[-0.44073867869785394,-1.8822977094180389]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.41460911038214565,1.3658314277930383,0.71338606911949],"aabb_xy":[[0.3506091070924375,1.3224965087891207],[0.4786091136718537,1.409166346796956]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.7027531848063215,-0.24909877552867776,0.71338606911949],"aabb_xy":[[0.6853224697273149,-0.26637089019252846],[0.7201838998853279,-0.2318266608648269]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.1715955559556953,-0.5074779658013719,0.71338606911949],"aabb_xy":[[-0.18504208258973867,-0.5209478174544631],[-0.158149029321652,-0.4940081141482806]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.16627665604747732,-0.31732234739276866,0.71338606911949],"aabb_xy":[[-0.18656095877087606,-0.3376049725354774],[-0.14599235332407853,-0.2970397222500597]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.48221820355881295,-0.9037638120713023,0.71338606911949],"aabb_xy":[[0.4730583246149363,-0.9102950301148394],[0.4913780825026895,-0.8972325940277652]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.0766800265057841,-2.013198455481295,0.71338606911949],"aabb_xy":[[-0.15668002976362705,-2.093194963273279],[0.003319976752058862,-1.933201947689311]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.12536503884818384,1.2507726997690782,0.71338606911949],"aabb_xy":[[-0.21536503534905557,1.20486105735062],[-0.035365042347312074,1.2966843421875365]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.671501627219251,1.5794877876929632,0.71338606911949],"aabb_xy":[[-0.6754155004146735,1.5707387722864063],[-0.6675877540238283,1.58823680309952]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.3371528059545953,-1.9468797378173557,0.71338606911949],"aabb_xy":[[-0.36169902157734596,-1.9771286343663927],[-0.3126065903318445,-1.9166308412683186]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.08096121920316102,-1.3930583677071762,0.71338606911949],"aabb_xy":[[-0.15096121561312276,-1.4134963033588575],[-0.010961222793199206,-1.372620432055494]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.5125960444034956,-2.3034664843977266,0.71338606911949],"aabb_xy":[[-0.5500960429791164,-2.316202780061284],[-0.47509604582787485,-2.2907301887341682]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.5459732300725754,-1.9360783900966836,0.71338606911949],"aabb_xy":[[-0.5634732303319121,-1.9501699322854567],[-0.5284732298132389,-1.9219868479079114]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.7065919878474882,-2.5292835073278748,0.71338606911949],"aabb_xy":[[0.6890920544135047,-2.546783507248109],[0.7240919212814715,-2.51178350740764]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.12658917547163995,0.9616172271871988,0.71338606911949],"aabb_xy":[[-0.14987101766977126,0.8766172258899706],[-0.10330733327350859,1.0466172284844266]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.6763445684268303,-0.9058992113214601,0.71338606911949],"aabb_xy":[[0.6661915528726807,-0.9419687528942002],[0.6864975839809795,-0.8698296697487196]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.3439056634358122,-2.2602447630510887,0.71338606911949],"aabb_xy":[[0.2799056610930106,-2.3051856142952207],[0.40790566577861376,-2.2153039118069557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667348525248122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/340.png","name":"340"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/340.png","name":"340"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6539.png","name":"6539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4315.png","name":"4315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/88.png","name":"88"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":733.8155405763505,"rotation_z_degrees":94.22664178459257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012127874993623496,-0.014071977163372891,-0.0020281488952995815]},{"name":"camera_2","offset_m":[0.01336309619387974,-0.014253258379121583,-0.009799437953588237]},{"name":"camera_3","offset_m":[-0.0012586854922755283,-0.008567655492325367,-0.01739834497149284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018298638660004933,0.0007306908182921129,0.0008061614826400353],"end_effector_yaw_offset_degrees":-0.9714978016869302},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.00032156466138924663,0.00017685947633975076,0.00013878747574105855],"end_effector_yaw_offset_degrees":0.8427413587991783},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016849582664451436,0.001815326826830531,0.0008791815376202167],"end_effector_yaw_offset_degrees":-0.06152302839382373}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004968194145814428,0.004180594213175311],"position_m":[0.26733180585418553,0.20598059421317533,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027574648112705857,-0.0030262087063127863],"position_m":[0.2457425351887294,-0.14092620870631278,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0046343846294303525,-0.00426588103886058],"position_m":[0.35843438462943034,-0.00946588103886058,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004505331231359489,-6.590509715921535e-05],"position_m":[0.13210533123135948,0.41903409490284077,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00041664303915030145,-0.0013644708487367818],"position_m":[0.2042833569608497,-0.40896447084873677,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f774c4d5ddf87400dd87375c001fcd37f1a5a0c8645ff7c0b381e4c961fada79","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_340/tex_ceiling_textures_88/tex_floor_textures_4315/tex_table_textures_6539/tex_wall_textures_2856","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3971833034094590730,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3971833034094590730,"visual_seed":3971833034094590730,"scene_id":"lab_003","finished_at":"2026-09-03T22:52:32"} +{"episode_id":"ep_000096","started_at":"2026-09-03T22:52:35","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.1372280614140482,0.03272073080606486,0.71338606911949],"aabb_xy":[[-0.18722806269788814,-0.017258123584557247],[-0.08722806013020822,0.08269958519668695]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6305005903429202,0.41964211062019885,0.71338606911949],"aabb_xy":[[0.5960381123298323,0.412978433437276],[0.6649630683560078,0.42630578780312167]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.07112983044230259,1.7219952614983636,0.71338606911949],"aabb_xy":[[-0.09362983025620497,1.7175206451278833],[-0.048629830628400206,1.7264698778688448]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.3133593817634664,-0.8736359384406884,0.71338606911949],"aabb_xy":[[-0.34835938007416184,-0.8813509533642341],[-0.27835938345277095,-0.8659209235171428]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.6006758154075265,-1.2345556949092298,0.71338606911949],"aabb_xy":[[-0.6556758136092713,-1.2750776615356674],[-0.5456758172057816,-1.1940337282827922]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.42530006792982866,1.037044718253994,0.71338606911949],"aabb_xy":[[0.3907089850757834,0.9720447179689627],[0.4598911507838738,1.1020447185390247]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[-0.6297672741920962,-0.35425744403747883,0.71338606911949],"aabb_xy":[[-0.679767275142629,-0.3858065910410002],[-0.5797672732415634,-0.32270829703395737]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.3104918400786134,-0.8012259479110113,0.71338606911949],"aabb_xy":[[0.2605130315682975,-0.85122594791673],[0.3604706485889293,-0.7512259479052924]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.37161842781824334,-2.0548688687857073,0.71338606911949],"aabb_xy":[[-0.4616184301522624,-2.13235122337082],[-0.2816184254842243,-1.9773865142005946]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.3814145617514908,0.823411773511586,0.71338606911949],"aabb_xy":[[-0.44141456339441265,0.7714116242196418],[-0.32141456010856895,0.8754119228035302]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.3564471408631755,-1.8443987993064166,0.71338606911949],"aabb_xy":[[0.3013219352335847,-1.9043988007477037],[0.41157234649276625,-1.7843987978651294]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.09784994251127643,1.5522246274890263,0.71338606911949],"aabb_xy":[[0.090588694940869,1.539437617225517],[0.10511119008168383,1.565011637752536]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.0035140639517888816,-1.7471312331799125,0.71338606911949],"aabb_xy":[[-0.08648593278382133,-1.8003146964972068],[0.09351406068739909,-1.6939477698626177]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[-0.5112045575029517,0.6495559740469692,0.71338606911949],"aabb_xy":[[-0.5220561637518273,0.6386966833193182],[-0.5003529512540761,0.6604152647746202]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.6383191239030217,-0.4079560555536723,0.71338606911949],"aabb_xy":[[0.6008191237311497,-0.44065679093657945],[0.6758191240748935,-0.37525532017076507]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.45238725707298577,-2.4819675002059656,0.71338606911949],"aabb_xy":[[-0.456523113405686,-2.5194674996503226],[-0.44825140074028563,-2.4444675007616086]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.063913568624695,-0.9695041603312617,0.71338606911949],"aabb_xy":[[-0.14391356578427028,-0.9810517612890787],[0.016086428534880293,-0.9579565593734446]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.10955273578946734,1.0742835349749873,0.71338606911949],"aabb_xy":[[0.04455273468352407,1.0493181619068588],[0.17455273689541062,1.0992489080431154]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.440820726006534,-1.2867729068472955,0.71338606911949],"aabb_xy":[[0.4058207277364141,-1.2938470345422834],[0.4758207242766539,-1.2796987791523071]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.060614419932073504,-2.2852570328380986,0.71338606911949],"aabb_xy":[[-0.0831281117555307,-2.355257033439106],[-0.03810072810861631,-2.215257032237091]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[0.5001552971956609,-1.6549740241208906,0.71338606911949],"aabb_xy":[[0.4824796666070625,-1.672654240400293],[0.5178309277842591,-1.6372938078414876]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.09100830454428399,1.4486248865413018,0.71338606911949],"aabb_xy":[[-0.11350830406799138,1.4261289390906808],[-0.06850830502057657,1.4711208339919224]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.021332090393168635,-0.30739597011935427,0.71338606911949],"aabb_xy":[[-0.041223130273508886,-0.32005178140405116],[-0.0014410505128283904,-0.2947401588346575]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.09008084404409744,0.8365099115240433,0.71338606911949],"aabb_xy":[[-0.15508084260117028,0.8067573781101606],[-0.025080845487024606,0.8662624449379258]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.18894394804538972,-2.5500267091445346,0.71338606911949],"aabb_xy":[[0.15144394962198937,-2.563190923112365],[0.22644394646879007,-2.5368624951767034]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.5250167195266997,1.7454234839788252,0.71338606911949],"aabb_xy":[[0.5031080373873487,1.7235228171587342],[0.5469254016660507,1.7673241507989157]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[0.5900132517681214,-2.240584016454635,0.71338606911949],"aabb_xy":[[0.5400132507489861,-2.2770502321924635],[0.6400132527872566,-2.2041178007168076]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.2999877207966851,-1.423162737815198,0.71338606911949],"aabb_xy":[[-0.31756602298563197,-1.4407372273893029],[-0.28240941860773827,-1.4055882482410933]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.5434027841313751,1.6340070470101815,0.71338606911949],"aabb_xy":[[0.5084027849385567,1.6230400010125188],[0.5784027833241933,1.6449740930078438]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.2534378082000618,1.7830132406645443,0.71338606911949],"aabb_xy":[[0.21966224900936882,1.7689747454513791],[0.28721336739075476,1.797051735877709]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6678050841321133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3581.png","name":"3581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8905.png","name":"8905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/927.png","name":"927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":816.3965023501585,"rotation_z_degrees":223.71543083002746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014352987405372063,-0.010479528729384983,0.01346965601949188]},{"name":"camera_2","offset_m":[0.0044448622928270135,0.017456732233561364,-0.003565195893965426]},{"name":"camera_3","offset_m":[-0.017234690723300822,0.009782772227699289,-0.01703512918154599]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00010641822262668146,0.0019004287794894808,0.001580921132588274],"end_effector_yaw_offset_degrees":0.48424776267768666},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.001581745875621216,-0.0014455491476121072,-0.0016362625280615891],"end_effector_yaw_offset_degrees":0.9630557580608017},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015930393421917169,-0.0018973102600496707,-0.0009603877623434599],"end_effector_yaw_offset_degrees":0.9443541912838291}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001507766921027406,0.0024064708348359755],"position_m":[0.2724507766921027,0.20420647083483598,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010140267908315083,0.003684763829513638],"position_m":[0.24748597320916849,-0.13421523617048636,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.002965168850621875,-0.0009128937425343401],"position_m":[0.35676516885062187,-0.00611289374253434,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037641683410033515,-0.0009692846130343212],"position_m":[0.13136416834100334,0.41813071538696567,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002095120339635885,0.001144468574906042],"position_m":[0.20679512033963587,-0.406455531425094,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ab277cc0882541f2be1e77e139aae987c27558ce6ee958f5dc8363dfb4989a0","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3581/tex_ceiling_textures_3576/tex_floor_textures_6379/tex_table_textures_8905/tex_wall_textures_927","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2675202277230854768,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2675202277230854768,"visual_seed":2675202277230854768,"scene_id":"lab_003","finished_at":"2026-09-03T22:55:29"} +{"episode_id":"ep_000097","started_at":"2026-09-03T22:55:32","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.5245884083821365,0.4684210943438898,0.71338606911949],"aabb_xy":[[-0.5470884083922848,0.45432487470428645],[-0.5020884083719882,0.482517313983493]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.48815174996747024,-0.031686669173855986,0.71338606911949],"aabb_xy":[[-0.5256517483908706,-0.04485088314168661],[-0.4506517515440699,-0.01852245520602535]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.013174854334262243,0.5014449202343503,0.71338606911949],"aabb_xy":[[-0.018074146640825735,0.4737680009317814],[-0.008275562027698743,0.5291218395369189]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.5256132283901847,0.4569510555819609,0.71338606911949],"aabb_xy":[[0.49728351844164453,0.4524903133882438],[0.553942938338725,0.4614117977756779]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.10737092187304842,-0.17556966797999607,0.71338606911949],"aabb_xy":[[-0.1298700575992754,-0.19806966875825904],[-0.08487178614682143,-0.1530696672017331]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.3225100624040764,-0.367855546105901,0.71338606911949],"aabb_xy":[[0.3119425827459774,-0.37840057621890955],[0.33307754206217544,-0.35731051599289243]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.5006956055183129,-2.543542801780522,0.71338606911949],"aabb_xy":[[-0.5646956088080209,-2.5868777207844396],[-0.43669560222860476,-2.5002078827766043]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.653927612236864,-0.9712105468448007,0.71338606911949],"aabb_xy":[[0.6387554429552307,-0.986379403773004],[0.6690997815184974,-0.9560416899165973]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.46439690544592094,-1.9577891702567767,0.71338606911949],"aabb_xy":[[0.3943969090359591,-1.9782271059084582],[0.5343969018558826,-1.9373512346050947]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.49834055675711086,1.3852828493106344,0.71338606911949],"aabb_xy":[[-0.5077580313269736,1.3758666721729154],[-0.4889230821872481,1.3946990264483534]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.33258055270093,-0.5045691018314451,0.71338606911949],"aabb_xy":[[0.3191340260668867,-0.5180389534845362],[0.34602707933497334,-0.49109925017835376]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.4293026993326825,0.598858106095308,0.71338606911949],"aabb_xy":[[0.38149653171891384,0.5338581033882491],[0.47710886694645116,0.6638581088023671]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.30329718165935826,1.539427668505152,0.71338606911949],"aabb_xy":[[-0.3210906885942747,1.5216279229093543],[-0.2855036747244418,1.5572274141009497]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.14795071556917938,-1.2213775580469686,0.71338606911949],"aabb_xy":[[0.09795071455004412,-1.2578437737847965],[0.19795071658831467,-1.1849113423091406]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.5454024301452678,-0.43977825932838455,0.71338606911949],"aabb_xy":[[-0.5524438810960154,-0.4468050110661791],[-0.5383609791945202,-0.43275150759059]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.37666362923467145,0.5081527994682484,0.71338606911949],"aabb_xy":[[-0.44066362961220507,0.45840753261743616],[-0.31266362885713783,0.5578980663190607]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.2499784845766746,1.7123001449109174,0.71338606911949],"aabb_xy":[[-0.30497848419842044,1.6573164521234447],[-0.19497848495492875,1.7672838376983901]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.41562344235419,1.2007294189593574,0.71338606911949],"aabb_xy":[[-0.41932670368332886,1.1970274006506394],[-0.41192018102505107,1.204431437268075]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.5784262243501548,1.2713213226963869,0.71338606911949],"aabb_xy":[[-0.6384262259930766,1.2193211734044427],[-0.5184262227072329,1.323321471988331]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.5197560161394925,0.788140069847119,0.71338606911949],"aabb_xy":[[0.4972912461680873,0.7656400689682585],[0.5422207861108975,0.8106400707259795]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6510794510646274,-2.3555402102402283,0.71338606911949],"aabb_xy":[[-0.6552153073973276,-2.3930402096845858],[-0.6469435947319272,-2.3180402107958717]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.4911788895868633,0.9697796133465428,0.71338606911949],"aabb_xy":[[-0.528678889879038,0.9657381379459391],[-0.4536788892946884,0.9738210887471463]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.15748255288021307,-0.07556239199063386,0.71338606911949],"aabb_xy":[[-0.16711418910064268,-0.08519970477034276],[-0.14785091665978345,-0.06592507921092493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705571562414242,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8729.png","name":"8729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2540.png","name":"2540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2599.png","name":"2599"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":536.2649076662315,"rotation_z_degrees":173.56406992772912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009770652277611194,0.016570854040706278,-0.004620576055200857]},{"name":"camera_2","offset_m":[-0.001979483180059787,-0.0002846097501142293,-0.002409405411834452]},{"name":"camera_3","offset_m":[0.007861345747872502,-0.008677113956225689,-0.019410786280155048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001791000894155836,0.00035752413745705454,-0.001744840598447746],"end_effector_yaw_offset_degrees":-0.5758080966439494},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.001736670211712594,0.00018068448787796326,-0.0006511582481990516],"end_effector_yaw_offset_degrees":-0.8801293691655958},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001141331252939358,-0.0013265395456839668,-0.0004589447292541009],"end_effector_yaw_offset_degrees":-0.0042472398843405035}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027144495976435404,0.0042140380990349615],"position_m":[0.27501444959764354,0.20601403809903496,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037163622231317587,0.0026510851773184872],"position_m":[0.24478363777686823,-0.1352489148226815,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.004407676966608341,-2.4543272725864596e-05],"position_m":[0.3493923230333917,-0.005224543272725864,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003607728980957477,-0.0027123133344203643],"position_m":[0.13120772898095748,0.4163876866655796,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001449687342690166,-0.004192236630993615],"position_m":[0.20614968734269015,-0.4117922366309936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7ecee99fa2319fe856e86c88ac3c97607ca8c24b10e1c8123569f4ab763b410","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4230/tex_ceiling_textures_2599/tex_floor_textures_2540/tex_table_textures_8729/tex_wall_textures_5587","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3140223253822753764,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3140223253822753764,"visual_seed":3140223253822753764,"scene_id":"lab_003","finished_at":"2026-09-03T22:58:24"} +{"episode_id":"ep_000098","started_at":"2026-09-03T22:58:28","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.03649981009185932,1.278184368174902,0.71338606911949],"aabb_xy":[[-0.02750019319784879,1.2348494491709843],[0.10049981338156744,1.3215192871788195]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.04983587490729946,-0.7913153379202089,0.71338606911949],"aabb_xy":[[-0.030164126165820863,-0.8010933842575935],[0.1298358759804198,-0.7815372915828246]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.36111896409026456,0.5865847747071218,0.71338606911949],"aabb_xy":[[0.3548068645539261,0.5808178354539029],[0.367431063626603,0.5923517139603405]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.581992930582157,-0.9632704418644713,0.71338606911949],"aabb_xy":[[0.5169929294762136,-0.9882358149325996],[0.6469929316881001,-0.938305068796343]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.2053961576333866,-1.0066341114755701,0.71338606911949],"aabb_xy":[[-0.26038840826889753,-1.061634113218883],[-0.15040390699787565,-0.9516341097322574]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.3476603278528399,-0.9298845152876511,0.71338606911949],"aabb_xy":[[-0.3819572388705804,-0.9641814014975923],[-0.31336341683509916,-0.8955876290777097]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.043566869659636964,-0.9731974052641028,0.71338606911949],"aabb_xy":[[-0.006433131624203003,-1.0231762596547247],[0.09356687094347692,-0.9232185508734807]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.5158593853532947,-1.5834617282267818,0.71338606911949],"aabb_xy":[[-0.5798593856272729,-1.6335278284240697],[-0.45185938507931644,-1.5333956280294938]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.1290166602837569,0.6623654284619351,0.71338606911949],"aabb_xy":[[-0.13543047392694182,0.6559556082142666],[-0.12260284664057196,0.6687752487096033]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.08513591125114339,-1.2052284499920323,0.71338606911949],"aabb_xy":[[-0.10968212687389411,-1.2354773465410693],[-0.06058969562839268,-1.1749795534429952]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.07156436096987095,-0.006420604972252164,0.71338606911949],"aabb_xy":[[-0.07640795573110093,-0.011272257451236278],[-0.06672076620864098,-0.0015689524932680507]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.19450021540033258,-2.3161401869907747,0.71338606911949],"aabb_xy":[[-0.2005948432884509,-2.3247095815424434],[-0.18840558751221426,-2.307570792439106]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.32399328477967515,0.3968461042298599,0.71338606911949],"aabb_xy":[[0.31136649749247874,0.387300030528287],[0.33662007206687145,0.4063921779314328]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.43732987003526436,-2.348380709951107,0.71338606911949],"aabb_xy":[[0.3723298714781915,-2.3781332433649895],[0.5023298685923372,-2.3186281765372243]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.03135331507389083,-1.9929508150878115,0.71338606911949],"aabb_xy":[[-0.05864668142698092,-2.0388624575062693],[0.12135331157476258,-1.9470391726693532]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.31243738985934244,1.6013539623672641,0.71338606911949],"aabb_xy":[[0.2484373925736938,1.55984724341442],[0.3764373871449911,1.6428606813201079]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.40856384540479906,-1.5568445918518552,0.71338606911949],"aabb_xy":[[0.3185638468103291,-1.5730951781652762],[0.498563843999269,-1.5405940055384342]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.6030106915160773,0.8706005067002511,0.71338606911949],"aabb_xy":[[-0.6830106947800905,0.8570404743913377],[-0.5230106882520642,0.8841605390091644]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.35498607830267837,-2.479754991755924,0.71338606911949],"aabb_xy":[[0.290986077599209,-2.5257733742288453],[0.41898607900614776,-2.4337366092830033]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.4894602452842469,-1.366055130162133,0.71338606911949],"aabb_xy":[[0.45242613585618713,-1.4004323374958427],[0.5264943547123067,-1.331677922828424]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.6357158971579278,0.49125089479109674,0.71338606911949],"aabb_xy":[[0.6132022053344706,0.42125089419008915],[0.658229588981385,0.5612508953921043]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.46006536706762774,-0.22711612539396553,0.71338606911949],"aabb_xy":[[-0.49452784508071546,-0.23377980257688835],[-0.4256028890545399,-0.2204524482110427]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.44983710680241806,1.355643893076396,0.71338606911949],"aabb_xy":[[0.44575894889536843,1.3515629128281328],[0.4539152647094679,1.3597248733246594]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.38468337095158267,-1.2032632102175504,0.71338606911949],"aabb_xy":[[0.3759694019016482,-1.2257632108767382],[0.39339734000151716,-1.1807632095583618]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.3368438302216492,-1.9513804460884223,0.71338606911949],"aabb_xy":[[0.24684383080327832,-1.9847559429326118],[0.4268438296400201,-1.9180049492442324]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.641683114928318,-0.6628912015339892,0.71338606911949],"aabb_xy":[[0.5866831157517285,-0.7178808763089467],[0.6966831141049075,-0.6079015267590314]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[0.6544680671139858,1.6741716048175825,0.71338606911949],"aabb_xy":[[0.621027891917966,1.6407279789866525],[0.6879082423100052,1.7076152306485126]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[-0.03378371155638704,-2.3286003185873723,0.71338606911949],"aabb_xy":[[-0.09878371159068977,-2.3753009952677],[0.031216288477915688,-2.2818996419070454]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[0.5910079671367494,-0.33506247184530524,0.71338606911949],"aabb_xy":[[0.5260079689808304,-0.3613587163952174],[0.6560079652926685,-0.308766227295393]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[-0.6735910336011137,1.2877353730234442,0.71338606911949],"aabb_xy":[[-0.6832226698215433,1.2780980602437353],[-0.6639593973806841,1.2973726858031531]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_30","position":[-0.568122876971626,-0.6648794848201272,0.71338606911949],"aabb_xy":[[-0.6321228788839685,-0.7207906340781377],[-0.5041228750592838,-0.6089683355621168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652657697222076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9515.png","name":"9515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9385.png","name":"9385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4456.png","name":"4456"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":555.6610269402223,"rotation_z_degrees":267.8931914369161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003301901091928041,0.007037298383686094,0.007884607703905123]},{"name":"camera_2","offset_m":[-0.006522771354389768,0.011415203743564407,-0.0011418225257699213]},{"name":"camera_3","offset_m":[-0.01763884718194367,0.01590909275691001,0.019690045758232032]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000818672995011632,-0.0017976065709905792,0.0010911682853342788],"end_effector_yaw_offset_degrees":-0.605500945542192},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0002713095864817481,0.0003108221516999561,0.0008902991497512819],"end_effector_yaw_offset_degrees":-0.15441897193012522},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012277978320599718,-0.0005168887187351637,0.0011909311979480274],"end_effector_yaw_offset_degrees":0.10567387811927897}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010631172988503183,-0.0030893312255864227],"position_m":[0.27123688270114965,0.1987106687744136,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035392678841687933,-0.002163333326847594],"position_m":[0.2449607321158312,-0.1400633333268476,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.002372344023767542,-0.003078493978681508],"position_m":[0.3514276559762325,-0.008278493978681509,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003929111566377858,0.004271239318077114],"position_m":[0.13152911156637784,0.4233712393180771,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010802317473538117,0.00399682301547601],"position_m":[0.2057802317473538,-0.403603176984524,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d410f311dbb6c8c0b5f7f1c30be643c5f8c33056c6da71b7bc858676076aeec","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9393/tex_ceiling_textures_4456/tex_floor_textures_9385/tex_table_textures_4090/tex_wall_textures_9515","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":864192087572409310,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":864192087572409310,"visual_seed":864192087572409310,"scene_id":"lab_003","finished_at":"2026-09-03T23:01:20"} +{"episode_id":"ep_000099","started_at":"2026-09-03T23:01:23","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.2625470122664459,0.6147499489968911,0.71338606911949],"aabb_xy":[[-0.3325470143978754,0.5919879833711953],[-0.1925470101350163,0.6375119146225866]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.18337858493888304,-2.251523768054125,0.71338606911949],"aabb_xy":[[0.13337930977044687,-2.301523769330072],[0.2333778601073192,-2.2015237667781777]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.15369101624263104,1.0027833575311034,0.71338606911949],"aabb_xy":[[0.10380831936493484,0.9527833582848289],[0.20357371312032727,1.0527833567773783]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.28606966139043244,-0.4270790695949578,0.71338606911949],"aabb_xy":[[-0.2941059960917172,-0.4351171888993745],[-0.27803332668914754,-0.41904095029054095]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.06401413291048552,-1.8088931177013068,0.71338606911949],"aabb_xy":[[0.04845836350022026,-1.8244435509457144],[0.07956990232075078,-1.7933426844569]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.19439006387440738,-1.094308161681566,0.71338606911949],"aabb_xy":[[0.14439695176521553,-1.1443081623557618],[0.24438317598359932,-1.0443081610073706]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.12778626535563853,1.13572288199373,0.71338606911949],"aabb_xy":[[-0.1502862648793459,1.113226934543109],[-0.10528626583193111,1.1582188294443505]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.2608033187161275,1.6145263652655477,0.71338606911949],"aabb_xy":[[-0.28864835549673457,1.5837418665272363],[-0.23295828193552032,1.6453108640038596]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.05309848535992434,-1.1172861234325187,0.71338606911949],"aabb_xy":[[-0.11709848563390257,-1.1673522236298066],[0.010901514914053896,-1.0672200232352307]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.09636629218681148,0.912900919647921,0.71338606911949],"aabb_xy":[[-0.1763662954508246,0.8993408873390075],[-0.01636628892279833,0.9264609519568342]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.27420247819047633,-2.234952525228108,0.71338606911949],"aabb_xy":[[-0.3542024761712613,-2.2425540661899594],[-0.19420248020969125,-2.2273509842662556]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.0011694614257115044,-1.2284278462577316,0.71338606911949],"aabb_xy":[[-0.016330538833625122,-1.2425193884465044],[0.01866946168504813,-1.2143363040689592]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.553942231590868,0.3349831914585275,0.71338606911949],"aabb_xy":[[0.46394223485525776,0.28179972814123294],[0.6439422283264782,0.38816665477582196]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.6186422619604239,-2.4784777095040287,0.71338606911949],"aabb_xy":[[0.6105145737671107,-2.4873913179147364],[0.6267699501537372,-2.469564101093321]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.013752102144597989,-1.362642560027003,0.71338606911949],"aabb_xy":[[-0.020793553095345585,-1.3696693117647976],[-0.006710651193850392,-1.3556158082892082]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.5822194690018139,-0.0404933118911015,0.71338606911949],"aabb_xy":[[0.5182194670894715,-0.09640446114911194],[0.6462194709141562,0.015417837366908937]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.11380302791479469,1.2179705841715385,0.71338606911949],"aabb_xy":[[-0.1210642754852021,1.205183573908029],[-0.10654178034438727,1.230757594435048]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.5926640496628377,-1.9484270865803104,0.71338606911949],"aabb_xy":[[-0.6039091052334555,-1.959668884304406],[-0.5814189940922199,-1.9371852888562153]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.46514755640714767,-1.0732606295005265,0.71338606911949],"aabb_xy":[[-0.5451413799857059,-1.1532606320933683],[-0.3851537328285895,-0.9932606269076851]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.3555018783985997,-0.5132255390418701,0.71338606911949],"aabb_xy":[[0.29050187576080616,-0.564705137741317],[0.42050188103639313,-0.4617459403424231]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.022377633163433996,-1.7827128648202906,0.71338606911949],"aabb_xy":[[-0.039955935352380845,-1.8002873543943956],[-0.004799330974487148,-1.7651383752461856]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.15572779379488721,-0.8757259672865689,0.71338606911949],"aabb_xy":[[0.07572779520756777,-0.9550415692247298],[0.23572779238220662,-0.796410365348408]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.012577897563253115,1.6054455237712255,0.71338606911949],"aabb_xy":[[-0.019079534071257735,1.5956777017449157],[-0.006076261055248501,1.6152133457975353]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.5492702852291691,-0.6305032519590279,0.71338606911949],"aabb_xy":[[0.4992702856528345,-0.680483830911134],[0.5992702848055039,-0.5805226730069221]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[-0.6010249392208145,-2.4351475426503333,0.71338606911949],"aabb_xy":[[-0.6510249405817017,-2.485125447225749],[-0.5510249378599272,-2.3851696380749177]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.17101932235372874,-2.4524058394622106,0.71338606911949],"aabb_xy":[[0.09101932533948076,-2.472540391135622],[0.2510193193679767,-2.432271287788799]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.13929624479464187,-1.3131483392601393,0.71338606911949],"aabb_xy":[[0.1214271370401864,-1.3269812472373503],[0.1571653525490974,-1.2993154312829287]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[-0.15497242171737435,-0.07257223400253521,0.71338606911949],"aabb_xy":[[-0.15893290548710873,-0.08024009858805581],[-0.15101193794763998,-0.0649043694170146]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[0.44497946612959294,-2.2583292121858105,0.71338606911949],"aabb_xy":[[0.3809794697022711,-2.3054988360079065],[0.5089794625569148,-2.2111595883637136]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.5140765680479206,0.858367072702575,0.71338606911949],"aabb_xy":[[-0.578072265443017,0.7943670744018662],[-0.4500808706528239,0.9223670710032835]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[-0.6165537142752089,1.190528919886126,0.71338606911949],"aabb_xy":[[-0.6499938894712283,1.1570852940551954],[-0.5831135390791891,1.2239725457170556]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_31","position":[0.0562965641489096,0.7914911202819681,0.71338606911949],"aabb_xy":[[-0.008703436851590925,0.7407047551272932],[0.12129656514941012,0.842277485436643]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_32","position":[0.5753268284279665,-0.8355447346127938,0.71338606911949],"aabb_xy":[[0.5153268278319503,-0.8903572071580172],[0.6353268290239826,-0.7807322620675703]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_33","position":[0.24966568847464699,-1.6195453637034252,0.71338606911949],"aabb_xy":[[0.21216568830277502,-1.6522460990863321],[0.2871656886465189,-1.5868446283205178]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_34","position":[-0.4585526003758075,-2.0661811897329816,0.71338606911949],"aabb_xy":[[-0.5046376916305388,-2.1301811869855363],[-0.412467509121076,-2.002181192480426]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675524002781948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7933.png","name":"7933"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1104.png","name":"1104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2639.png","name":"2639"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7305.png","name":"7305"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":699.0556362618534,"rotation_z_degrees":96.70115740482143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0025180884579914763,0.01835351437690252,0.0023797895340919514]},{"name":"camera_2","offset_m":[0.006439375090997183,-0.00930460715522579,0.0004211726815254342]},{"name":"camera_3","offset_m":[0.000524387652183645,0.017464471213814312,-0.0036046408656011664]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015304087761602628,-0.0008908293925409066,0.001151226409735323],"end_effector_yaw_offset_degrees":-0.7930238945024719},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0012568652527196662,-0.0012506856001719179,0.0012138135002896719],"end_effector_yaw_offset_degrees":-0.3057984860371885},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00021680909906842977,0.00046231139031208774,0.0006012426466256667],"end_effector_yaw_offset_degrees":0.36677360982828255}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004000208709584733,-0.00348805309804934],"position_m":[0.26829979129041526,0.19831194690195067,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011961216251937324,-0.0026861925880390237],"position_m":[0.24969612162519372,-0.140586192588039,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0023391613441401727,-0.0017640697978502794],"position_m":[0.3514608386558598,-0.006964069797850279,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005403847036545926,-0.0015867178951545582],"position_m":[0.1270596152963454,0.4175132821048454,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003117895258669851,0.002897883748012365],"position_m":[0.20781789525866984,-0.40470211625198765,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"455dd4b4b8cb39dfd03a52fa43ae873820a2b7f71778d3b0808028d5e4153f71","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3061/tex_ceiling_textures_7305/tex_floor_textures_2639/tex_table_textures_7933/tex_wall_textures_1104","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5291024795787399534,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5291024795787399534,"visual_seed":5291024795787399534,"scene_id":"lab_003","finished_at":"2026-09-03T23:04:18"} diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..abbdec5e3acb3941bf4bae2efb1e4a2567d3384c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_lou_00016 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded + beaker c and return it upright. Place beaker a at home. + layout_id: layout_00016 + reproducibility: + enabled: true + layout_id: layout_00016 + action_seed: 2891541627295583141 + step_seeds: + - 1164515841808467485 + - 5066845160497422571 + - 1159376154734467498 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2723 + - 0.2723 + 'y': + - 0.2018 + - 0.2018 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2485 + - 0.2485 + 'y': + - -0.1379 + - -0.1379 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.3538 + - 0.3538 + 'y': + - -0.0052 + - -0.0052 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1276 + - 0.1276 + 'y': + - 0.4191 + - 0.4191 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2047 + - 0.2047 + 'y': + - -0.4076 + - -0.4076 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1ef782977bf15a54599294c622124a3c35523fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29985170933915206, + 0.20636704922371404, + 1.0012100997783562 + ], + "current_z": 1.0012100997783562, + "required_z": 0.8611065888216023, + "initial_z": 0.7611065888216023, + "lift_margin": 0.14010351095675388, + "gripper_z": 1.002329494588694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2948248138372803, + 0.20144624804756084, + 1.002329494588694 + ], + "object_minus_gripper": [ + 0.005026895501871742, + 0.0049208011761532056, + -0.0011193948103378482 + ], + "object_to_gripper_xy": 0.0070344838191561095, + "object_to_gripper_z": -0.0011193948103378482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29985170933915206, + 0.18211510593043884, + 1.0012100997783562 + ], + "finger_b": [ + 0.2877084523298833, + 0.20636704922371404, + 1.0012100997783562 + ], + "finger_midpoint": [ + 0.2937800808345177, + 0.19424107757707643, + 1.0012100997783562 + ], + "object_minus_finger_midpoint": [ + 0.006071628504634385, + 0.012125971646637618, + 0.0 + ], + "finger_gap": 0.027122231550766457, + "fingertip_max_gap": 0.09172142342636355, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01356111577538324, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012100997783562, + "object_top_z": 1.0512435398970745, + "finger_top_clearance": 0.05003344011871835, + "fingertip_min_top_clearance": 0.015010032035615522, + "object_projection_between_fingers": 0.7995437807388626, + "object_to_finger_line_xy": 0.010858161867441558, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836071171318178, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1659770336580886, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3802083195854674, + -0.006814983985200396, + 0.7701464466120367 + ], + "gripper_position": [ + 0.3804607649541142, + -0.0199337148627034, + 1.039734075719265 + ], + "target_minus_gripper": [ + -0.0002524453686467698, + 0.013118730877503003, + -0.26958762910722833 + ], + "held_position": [ + 0.3857520424420551, + -0.01533065354881543, + 1.0384993267130351 + ], + "held_minus_target": [ + 0.005543722856587663, + -0.008515669563615033, + 0.26835288010099845 + ], + "held_minus_gripper": [ + 0.005291277487940893, + 0.00460306131388797, + -0.001234749006229885 + ], + "xy_dist": 0.013121159571489934, + "held_xy_dist": 0.010161175681353607, + "held_gripper_dist": 0.007121123227566548, + "max_held_gripper_dist": 0.007132758995491704, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464466120367, + "held_z": 1.0384993267130351, + "required_height": 0.8001464466120367, + "gripper_z": 1.039734075719265, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.81035747300204, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.16153574602280843, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.55324929220785, + "max_source_tilt_deg": 89.77503308142752, + "source_upright_tilt_deg": 2.415210700014163, + "max_source_upright_tilt_deg": 89.93394610200986, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.55324929220785, + "source_upright_return_tilt_deg": 2.415210700014163, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.840269260436758e-09, + "max_target_xy_drift": 8.473114528732689e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.039564681644358536, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 3.2409679443765716e-05, + "max_target_tilt_deg": 0.00011350052852761316, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3802, + -0.0068, + 0.7701 + ], + "controller_target_position": [ + 0.3802, + -0.0068, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0013, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3792, + -0.0307, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010257386015502803, + 0.001338926343425952, + -0.0007624289801282892 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.4152224010375174, + "source_return_step_error_deg": 2.5532619138099886, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5642265231726133, + "source_return_best_wrist_position": -1.6172759532928467, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6172759532928467 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3802, + -0.0068, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3802, + -0.0068, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0013, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3792, + -0.0307, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0649, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010257386015502803, + 0.001338926343425952, + -0.0007624289801282892 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.4152224010375174, + "pour_controller_source_return_step_error_deg": 2.5532619138099886, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5642265231726133, + "pour_controller_source_return_best_wrist_position": -1.6172759532928467, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6172759532928467, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013121159571489934, + "valid_pour_held_xy_dist": 0.010161175681353607, + "valid_pour_held_gripper_dist": 0.007121123227566548, + "valid_pour_required_height": 0.8001464466120367, + "valid_pour_held_z": 1.0384993267130351, + "valid_pour_source_tilt_deg": 2.55324929220785, + "valid_pour_source_upright_tilt_deg": 2.415210700014163, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.840269260436758e-09, + "valid_pour_target_tilt_deg": 3.2409679443765716e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3857520424420551, + -0.04003797193475775, + 1.0384993267130351 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37487056375756717, + -0.01533065354881543, + 1.0384993267130351 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3803113030998111, + -0.02768431274178659, + 1.0384993267130351 + ], + "valid_pour_held_grasp_object_position": [ + 0.3857520424420551, + -0.01533065354881543, + 1.0384993267130351 + ], + "valid_pour_held_grasp_finger_gap": 0.026997373208986243, + "valid_pour_held_grasp_max_gap": 0.12496592611074447, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02430834941975741, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.03464796259909466, + -0.9991116842645937, + 0.023986684925156876 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0050183336338686215, + "valid_pour_held_grasp_line_xy_max_dist": 0.04748296305537224, + "valid_pour_held_grasp_object_top_z": 0.049720656126737595, + "valid_pour_held_grasp_top_clearance": 0.0371894603503759, + "valid_pour_held_grasp_min_top_clearance": 0.014916196838021277, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3857520424420551, + -0.04003797193475775, + 1.0384993267130351 + ], + "held_grasp_finger_b": [ + 0.37487056375756717, + -0.01533065354881543, + 1.0384993267130351 + ], + "held_grasp_midpoint": [ + 0.3803113030998111, + -0.02768431274178659, + 1.0384993267130351 + ], + "held_grasp_object_position": [ + 0.3857520424420551, + -0.01533065354881543, + 1.0384993267130351 + ], + "held_grasp_finger_gap": 0.026997373208986243, + "held_grasp_max_gap": 0.12496592611074447, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02430834941975741, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03464796259909466, + -0.9991116842645937, + 0.023986684925156876 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0050183336338686215, + "held_grasp_line_xy_max_dist": 0.04748296305537224, + "held_grasp_object_top_z": 0.049720656126737595, + "held_grasp_top_clearance": 0.0371894603503759, + "held_grasp_min_top_clearance": 0.014916196838021277, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28156005277932633, + 0.20402861560323896, + 0.7611072824509564 + ], + "target_position": [ + 0.2754888026466795, + 0.2038665154532626, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006073413754371282, + "xy_threshold": 0.08, + "gripper_dist": 0.22075010771134437, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072824509564, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519725961231148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669400178194171, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19078566582707712, + "release_required_pad_clearance": 0.05334700089097086, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7090998099256334, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2058fc96aae181c8cf1eaf84b986679db17bbd36d9feef68d790f196959e2775", + "visual_seed": 6541845389901779432, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4885a38aa589b695b26921aeff9d5970b86b11c7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2918974312918466, + 0.20976512802571462, + 1.0031609878819758 + ], + "current_z": 1.0031609878819758, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14205430105327554, + "gripper_z": 1.0045813446114022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28663426322378505, + 0.20497093249574544, + 1.0045813446114022 + ], + "object_minus_gripper": [ + 0.005263168068061541, + 0.004794195529969181, + -0.0014203567294264197 + ], + "object_to_gripper_xy": 0.007119357337024117, + "object_to_gripper_z": -0.0014203567294264197, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2918974312918466, + 0.18493489231612906, + 1.0031609878819758 + ], + "finger_b": [ + 0.28047491308152805, + 0.20976512802571462, + 1.0031609878819758 + ], + "finger_midpoint": [ + 0.2861861721866873, + 0.19735001017092185, + 1.0031609878819758 + ], + "object_minus_finger_midpoint": [ + 0.005711259105159294, + 0.012415117854792768, + 0.0 + ], + "finger_gap": 0.02733156650575734, + "fingertip_max_gap": 0.09102869959724005, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366578325287867, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031609878819758, + "object_top_z": 1.0531149498277932, + "finger_top_clearance": 0.04995396194581736, + "fingertip_min_top_clearance": 0.01498618858374519, + "object_projection_between_fingers": 0.8253395115701402, + "object_to_finger_line_xy": 0.010377151982836312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801434979862003, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7731473351165709, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3802980891472523, + -0.009458746903903708, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3793607766840449, + -0.020199492132867217, + 1.0360161567990989 + ], + "target_minus_gripper": [ + 0.0009373124632074403, + 0.010740745228963509, + -0.2658697073978423 + ], + "held_position": [ + 0.3845993084547448, + -0.015421162313009329, + 1.034504398808457 + ], + "held_minus_target": [ + 0.004301219307492499, + -0.005962415409105621, + 0.2643579494072005 + ], + "held_minus_gripper": [ + 0.005238531770699939, + 0.004778329819857888, + -0.0015117579906418488 + ], + "xy_dist": 0.010781565875474044, + "held_xy_dist": 0.007351930701651533, + "held_gripper_dist": 0.007249831943034626, + "max_held_gripper_dist": 0.007283391783114326, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.034504398808457, + "required_height": 0.8001464494012566, + "gripper_z": 1.0360161567990989, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.51887915017176, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.634191046978068, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8304869402143398, + "max_source_tilt_deg": 89.84205933665173, + "source_upright_tilt_deg": 2.988201593542268, + "max_source_upright_tilt_deg": 89.87210670694432, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8304869402143398, + "source_upright_return_tilt_deg": 2.988201593542268, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.191719375074184e-08, + "max_target_xy_drift": 2.1023975401426704e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3803, + -0.0095, + 0.7701 + ], + "controller_target_position": [ + 0.3803, + -0.0095, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0002, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3806, + -0.0345, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032156466138924663, + 0.00017685947633975076, + 0.00013878747574105855 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9882019351910514, + "source_return_step_error_deg": 2.8305024839729915, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.024051773660491, + "source_return_best_wrist_position": -1.638506293296814, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638506293296814 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3803, + -0.0095, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3803, + -0.0095, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0002, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3806, + -0.0345, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032156466138924663, + 0.00017685947633975076, + 0.00013878747574105855 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9882019351910514, + "pour_controller_source_return_step_error_deg": 2.8305024839729915, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.024051773660491, + "pour_controller_source_return_best_wrist_position": -1.638506293296814, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638506293296814, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010781565875474044, + "valid_pour_held_xy_dist": 0.007351930701651533, + "valid_pour_held_gripper_dist": 0.007249831943034626, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.034504398808457, + "valid_pour_source_tilt_deg": 2.8304869402143398, + "valid_pour_source_upright_tilt_deg": 2.988201593542268, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.191719375074184e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3845993084547448, + -0.039310363047015025, + 1.034504398808457 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3731122963586674, + -0.015421162313009329, + 1.034504398808457 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37885580240670613, + -0.027365762680012177, + 1.034504398808457 + ], + "valid_pour_held_grasp_object_position": [ + 0.3845993084547448, + -0.015421162313009329, + 1.034504398808457 + ], + "valid_pour_held_grasp_finger_gap": 0.026507458546700547, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024141325519234865, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024776404908168834, + -0.9986403028711613, + 0.045865839589195545 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006062196470767224, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03793419417335508, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3845993084547448, + -0.039310363047015025, + 1.034504398808457 + ], + "held_grasp_finger_b": [ + 0.3731122963586674, + -0.015421162313009329, + 1.034504398808457 + ], + "held_grasp_midpoint": [ + 0.37885580240670613, + -0.027365762680012177, + 1.034504398808457 + ], + "held_grasp_object_position": [ + 0.3845993084547448, + -0.015421162313009329, + 1.034504398808457 + ], + "held_grasp_finger_gap": 0.026507458546700547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024141325519234865, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024776404908168834, + -0.9986403028711613, + 0.045865839589195545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006062196470767224, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03793419417335508, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2594494523935453, + 0.20765109850153085, + 0.7611074662895081 + ], + "target_position": [ + 0.26733180585418553, + 0.20598059421317533, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008057423946639622, + "xy_threshold": 0.08, + "gripper_dist": 0.2117444794044128, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074662895081, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548219331390596, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08809810688183588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18239013920353203, + "release_required_pad_clearance": 0.05404905344091794, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1098894655328513, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f774c4d5ddf87400dd87375c001fcd37f1a5a0c8645ff7c0b381e4c961fada79", + "visual_seed": 3971833034094590730, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40c83bcec1bd66e7c3cf53ad45b4dfb31d91cecc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_101_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2969709598504037, + 0.20945019216705188, + 1.003700594520871 + ], + "current_z": 1.003700594520871, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14259402690146017, + "gripper_z": 1.005401894870669, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29167445741729525, + 0.2044427126008701, + 1.005401894870669 + ], + "object_minus_gripper": [ + 0.005296502433108474, + 0.005007479566181777, + -0.001701300349798096 + ], + "object_to_gripper_xy": 0.007288881233059846, + "object_to_gripper_z": -0.001701300349798096, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2969709598504037, + 0.18493411479515012, + 1.003700594520871 + ], + "finger_b": [ + 0.28480738308227355, + 0.20945019216705188, + 1.003700594520871 + ], + "finger_midpoint": [ + 0.29088917146633864, + 0.197192153481101, + 1.003700594520871 + ], + "object_minus_finger_midpoint": [ + 0.00608178838406509, + 0.012258038685950878, + 0.0 + ], + "finger_gap": 0.027367693536344447, + "fingertip_max_gap": 0.09100253215764367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013683846768172223, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003700594520871, + "object_top_z": 1.0536273191731769, + "finger_top_clearance": 0.049926724652305854, + "fingertip_min_top_clearance": 0.014978017395691722, + "object_projection_between_fingers": 0.8024640228911956, + "object_to_finger_line_xy": 0.0108961754036938, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04800126607882184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8160106958594538, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3786288908726398, + -0.00610606246940039, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3787970888596614, + -0.018643112311230572, + 1.0347100956580242 + ], + "target_minus_gripper": [ + -0.00016819798702161215, + 0.012537049841830183, + -0.26456370586141253 + ], + "held_position": [ + 0.3841804006843604, + -0.0137791892021055, + 1.032920515609768 + ], + "held_minus_target": [ + 0.00555150981172059, + -0.00767312673270511, + 0.2627741258131564 + ], + "held_minus_gripper": [ + 0.0053833118246989775, + 0.004863923109125073, + -0.0017895800482561341 + ], + "xy_dist": 0.012538178069375643, + "held_xy_dist": 0.009470804350517635, + "held_gripper_dist": 0.007472642836543251, + "max_held_gripper_dist": 0.007532071627967329, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.032920515609768, + "required_height": 0.8001463897966117, + "gripper_z": 1.0347100956580242, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.510211640115, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.2819313103833672, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8407181995889674, + "max_source_tilt_deg": 89.7176131452332, + "source_upright_tilt_deg": 2.66514616409907, + "max_source_upright_tilt_deg": 89.99068554339375, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8407181995889674, + "source_upright_return_tilt_deg": 2.66514616409907, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.562742907046325e-07, + "max_target_xy_drift": 2.2626778557041214e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3786, + -0.0061, + 0.7701 + ], + "controller_target_position": [ + 0.3786, + -0.0061, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0014, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3802, + -0.0328, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001581745875621216, + -0.0014455491476121072, + -0.0016362625280615891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6651370229331466, + "source_return_step_error_deg": 2.840706982153323, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.870953809260818, + "source_return_best_wrist_position": -1.6386367082595825, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6386367082595825 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3786, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3786, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0014, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3802, + -0.0328, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001581745875621216, + -0.0014455491476121072, + -0.0016362625280615891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6651370229331466, + "pour_controller_source_return_step_error_deg": 2.840706982153323, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.870953809260818, + "pour_controller_source_return_best_wrist_position": -1.6386367082595825, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6386367082595825, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012538178069375643, + "valid_pour_held_xy_dist": 0.009470804350517635, + "valid_pour_held_gripper_dist": 0.007472642836543251, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.032920515609768, + "valid_pour_source_tilt_deg": 2.8407181995889674, + "valid_pour_source_upright_tilt_deg": 2.66514616409907, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.562742907046325e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3841804006843604, + -0.03765824065820819, + 1.032920515609768 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37245529721813747, + -0.0137791892021055, + 1.032920515609768 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3783178489512489, + -0.025718714930156844, + 1.032920515609768 + ], + "valid_pour_held_grasp_object_position": [ + 0.3841804006843604, + -0.0137791892021055, + 1.032920515609768 + ], + "valid_pour_held_grasp_finger_gap": 0.026602389925283642, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02390201441384645, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0041612888866325555, + -0.9989183579987533, + 0.046311960959092506 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005937933118323628, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03781803440592044, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3841804006843604, + -0.03765824065820819, + 1.032920515609768 + ], + "held_grasp_finger_b": [ + 0.37245529721813747, + -0.0137791892021055, + 1.032920515609768 + ], + "held_grasp_midpoint": [ + 0.3783178489512489, + -0.025718714930156844, + 1.032920515609768 + ], + "held_grasp_object_position": [ + 0.3841804006843604, + -0.0137791892021055, + 1.032920515609768 + ], + "held_grasp_finger_gap": 0.026602389925283642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02390201441384645, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0041612888866325555, + -0.9989183579987533, + 0.046311960959092506 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005937933118323628, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03781803440592044, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2657347122195653, + 0.20629588653528738, + 0.7611063896385067 + ], + "target_position": [ + 0.2724507766921027, + 0.20420647083483598, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007033575191079723, + "xy_threshold": 0.08, + "gripper_dist": 0.2107684204581595, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063896385067, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590242910191401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09015232923464635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1806207804528908, + "release_required_pad_clearance": 0.055076164617323176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.23571654429368, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ab277cc0882541f2be1e77e139aae987c27558ce6ee958f5dc8363dfb4989a0", + "visual_seed": 2675202277230854768, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aad2f77abf1a45bf519bf7cad74b220020c62d01 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_102_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2994481686756889, + 0.20947806952031456, + 1.0012941152928847 + ], + "current_z": 1.0012941152928847, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.1401874284641843, + "gripper_z": 1.0022423159544813, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2942394760603165, + 0.20465659596674887, + 1.0022423159544813 + ], + "object_minus_gripper": [ + 0.0052086926153724344, + 0.004821473553565686, + -0.000948200661596621 + ], + "object_to_gripper_xy": 0.0070976817334372395, + "object_to_gripper_z": -0.000948200661596621, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2994481686756889, + 0.1847603801109616, + 1.0012941152928847 + ], + "finger_b": [ + 0.28788770709827244, + 0.20947806952031456, + 1.0012941152928847 + ], + "finger_midpoint": [ + 0.29366793788698065, + 0.1971192248156381, + 1.0012941152928847 + ], + "object_minus_finger_midpoint": [ + 0.005780230788708263, + 0.012358844704676464, + 0.0 + ], + "finger_gap": 0.02728751439065423, + "fingertip_max_gap": 0.09130014382293081, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013643757195327115, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012941152928847, + "object_top_z": 1.0512636794771741, + "finger_top_clearance": 0.04996956418428944, + "fingertip_min_top_clearance": 0.014990869255286848, + "object_projection_between_fingers": 0.8205173828111165, + "object_to_finger_line_xy": 0.010471745231482327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048150071911465406, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0240432417514873, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3712560943371478, + -0.005217550465233549, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3698297492700814, + -0.016058291448627818, + 1.0357757738913906 + ], + "target_minus_gripper": [ + 0.0014263450670664035, + 0.010840740983394269, + -0.2656293244901342 + ], + "held_position": [ + 0.3751446070307348, + -0.011379539860095607, + 1.0347437290406645 + ], + "held_minus_target": [ + 0.0038885126935870318, + -0.006161989394862058, + 0.26459727963940805 + ], + "held_minus_gripper": [ + 0.005314857760653435, + 0.004678751588532211, + -0.001032044850726166 + ], + "xy_dist": 0.010934172365542295, + "held_xy_dist": 0.007286332703807859, + "held_gripper_dist": 0.007155665309185522, + "max_held_gripper_dist": 0.007164348797475033, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0347437290406645, + "required_height": 0.8001464494012565, + "gripper_z": 1.0357757738913906, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52484190531717, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4938275432117982, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3002117679883343, + "max_source_tilt_deg": 89.80290105520201, + "source_upright_tilt_deg": 1.3598457249382052, + "max_source_upright_tilt_deg": 89.90027988678273, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3002117679883343, + "source_upright_return_tilt_deg": 1.3598457249382052, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.872129116088484e-08, + "max_target_xy_drift": 1.0374218662335303e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3713, + -0.0052, + 0.7701 + ], + "controller_target_position": [ + 0.3713, + -0.0052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0002, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3695, + -0.0302, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001736670211712594, + 0.00018068448787796326, + -0.0006511582481990516 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.359804073608503, + "source_return_step_error_deg": 2.300185775377175, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.30912943570953, + "source_return_best_wrist_position": -1.6131449937820435, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131449937820435 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3713, + -0.0052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3713, + -0.0052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0002, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3695, + -0.0302, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001736670211712594, + 0.00018068448787796326, + -0.0006511582481990516 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.359804073608503, + "pour_controller_source_return_step_error_deg": 2.300185775377175, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.30912943570953, + "pour_controller_source_return_best_wrist_position": -1.6131449937820435, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131449937820435, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010934172365542295, + "valid_pour_held_xy_dist": 0.007286332703807859, + "valid_pour_held_gripper_dist": 0.007155665309185522, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0347437290406645, + "valid_pour_source_tilt_deg": 2.3002117679883343, + "valid_pour_source_upright_tilt_deg": 1.3598457249382052, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.872129116088484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3751446070307348, + -0.03602134119584377, + 1.0347437290406645 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3641191663734544, + -0.011379539860095607, + 1.0347437290406645 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36963188670209457, + -0.02370044052796969, + 1.0347437290406645 + ], + "valid_pour_held_grasp_object_position": [ + 0.3751446070307348, + -0.011379539860095607, + 1.0347437290406645 + ], + "valid_pour_held_grasp_finger_gap": 0.02699590181412158, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024595992038189737, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0035254378364321867, + -0.9997183731900376, + 0.023467969539908932 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005476899461704951, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03738338454534368, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3751446070307348, + -0.03602134119584377, + 1.0347437290406645 + ], + "held_grasp_finger_b": [ + 0.3641191663734544, + -0.011379539860095607, + 1.0347437290406645 + ], + "held_grasp_midpoint": [ + 0.36963188670209457, + -0.02370044052796969, + 1.0347437290406645 + ], + "held_grasp_object_position": [ + 0.3751446070307348, + -0.011379539860095607, + 1.0347437290406645 + ], + "held_grasp_finger_gap": 0.02699590181412158, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024595992038189737, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0035254378364321867, + -0.9997183731900376, + 0.023467969539908932 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005476899461704951, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03738338454534368, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27049290420992533, + 0.20275440655926236, + 0.7611064443751816 + ], + "target_position": [ + 0.27501444959764354, + 0.20601403809903496, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005574008474004689, + "xy_threshold": 0.08, + "gripper_dist": 0.21253446256461098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064443751816, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550619889316759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09138620018830935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18188498442947915, + "release_required_pad_clearance": 0.05569310009415468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.562314772450122, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7ecee99fa2319fe856e86c88ac3c97607ca8c24b10e1c8123569f4ab763b410", + "visual_seed": 3140223253822753764, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4fc7064dc11a31654e4aca596956d570b191f1a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_103_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29589515583620557, + 0.1997161290278847, + 1.0035752725617166 + ], + "current_z": 1.0035752725617166, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14246858573301635, + "gripper_z": 1.0048026959434104, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2906601787506046, + 0.194924582897197, + 1.0048026959434104 + ], + "object_minus_gripper": [ + 0.005234977085600945, + 0.0047915461306876905, + -0.001227423381693793 + ], + "object_to_gripper_xy": 0.007096752736940688, + "object_to_gripper_z": -0.001227423381693793, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29589515583620557, + 0.17500488624528637, + 1.0035752725617166 + ], + "finger_b": [ + 0.2843209051037429, + 0.1997161290278847, + 1.0035752725617166 + ], + "finger_midpoint": [ + 0.29010803046997424, + 0.18736050763658552, + 1.0035752725617166 + ], + "object_minus_finger_midpoint": [ + 0.005787125366231327, + 0.01235562139129917, + 0.0 + ], + "finger_gap": 0.027287520955162445, + "fingertip_max_gap": 0.09129846180562032, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013643760477581235, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035752725617166, + "object_top_z": 1.0535186240895662, + "finger_top_clearance": 0.04994335152784957, + "fingertip_min_top_clearance": 0.014983005458354869, + "object_projection_between_fingers": 0.820089045362096, + "object_to_finger_line_xy": 0.010481498863400447, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814923090281016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0417710345856066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3732914737469378, + -0.00827111411220573, + 0.7701464494012563 + ], + "gripper_position": [ + 0.37311106215824197, + -0.01888608402171485, + 1.0365713182916443 + ], + "target_minus_gripper": [ + 0.00018041158869580576, + 0.01061496990950912, + -0.26642486889038797 + ], + "held_position": [ + 0.3784758230675574, + -0.014282447177939734, + 1.0352298239855637 + ], + "held_minus_target": [ + 0.005184349320619619, + -0.006011333065734004, + 0.2650833745843074 + ], + "held_minus_gripper": [ + 0.005364760909315425, + 0.004603636843775115, + -0.0013414943060805484 + ], + "xy_dist": 0.010616502932751433, + "held_xy_dist": 0.007938110802035714, + "held_gripper_dist": 0.007195397054835063, + "max_held_gripper_dist": 0.007211661956045485, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0352298239855637, + "required_height": 0.8001464494012563, + "gripper_z": 1.0365713182916443, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.60969334537624, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.544127542398067, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.1795051327119737, + "max_source_tilt_deg": 89.85528839128533, + "source_upright_tilt_deg": 2.4022731823981434, + "max_source_upright_tilt_deg": 89.94795863440957, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.1795051327119737, + "source_upright_return_tilt_deg": 2.4022731823981434, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.0719530773294423e-08, + "max_target_xy_drift": 9.983847504634763e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3733, + -0.0083, + 0.7701 + ], + "controller_target_position": [ + 0.3733, + -0.0083, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0003, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.373, + -0.0332, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002713095864817481, + 0.0003108221516999561, + 0.0008902991497512819 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.402264606056351, + "source_return_step_error_deg": 3.1794746690305304, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.212884311355013, + "source_return_best_wrist_position": -1.6374808549880981, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6374808549880981 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3733, + -0.0083, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3733, + -0.0083, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0003, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.373, + -0.0332, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002713095864817481, + 0.0003108221516999561, + 0.0008902991497512819 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.402264606056351, + "pour_controller_source_return_step_error_deg": 3.1794746690305304, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.212884311355013, + "pour_controller_source_return_best_wrist_position": -1.6374808549880981, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6374808549880981, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010616502932751433, + "valid_pour_held_xy_dist": 0.007938110802035714, + "valid_pour_held_gripper_dist": 0.007195397054835063, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0352298239855637, + "valid_pour_source_tilt_deg": 3.1795051327119737, + "valid_pour_source_upright_tilt_deg": 2.4022731823981434, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.0719530773294423e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3784758230675574, + -0.038653905486599714, + 1.0352298239855637 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36756059441972305, + -0.014282447177939734, + 1.0352298239855637 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3730182087436402, + -0.026468176332269725, + 1.0352298239855637 + ], + "valid_pour_held_grasp_object_position": [ + 0.3784758230675574, + -0.014282447177939734, + 1.0352298239855637 + ], + "valid_pour_held_grasp_finger_gap": 0.02670412321206699, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024290863945762155, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.005421435966315429, + -0.99912117898508, + 0.041562937041637715 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005415264366237516, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03751564188404206, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3784758230675574, + -0.038653905486599714, + 1.0352298239855637 + ], + "held_grasp_finger_b": [ + 0.36756059441972305, + -0.014282447177939734, + 1.0352298239855637 + ], + "held_grasp_midpoint": [ + 0.3730182087436402, + -0.026468176332269725, + 1.0352298239855637 + ], + "held_grasp_object_position": [ + 0.3784758230675574, + -0.014282447177939734, + 1.0352298239855637 + ], + "held_grasp_finger_gap": 0.02670412321206699, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024290863945762155, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005421435966315429, + -0.99912117898508, + 0.041562937041637715 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005415264366237516, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03751564188404206, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2619487641722558, + 0.2028638980404606, + 0.76111168960149 + ], + "target_position": [ + 0.27123688270114965, + 0.1987106687744136, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010174402151631817, + "xy_threshold": 0.08, + "gripper_dist": 0.2106846082786453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76111168960149, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554852136046612, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561188579446315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18194121795646923, + "release_required_pad_clearance": 0.052805942897231575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6353225979000178, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d410f311dbb6c8c0b5f7f1c30be643c5f8c33056c6da71b7bc858676076aeec", + "visual_seed": 864192087572409310, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c9886994cbe345b3f1d24f58136e0d625d1f808 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_104_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29309125730885444, + 0.20056038090862732, + 1.0031830926237144 + ], + "current_z": 1.0031830926237144, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14207664421359323, + "gripper_z": 1.0049299738046615, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28765873514730245, + 0.19564938814468577, + 1.0049299738046615 + ], + "object_minus_gripper": [ + 0.005432522161551989, + 0.004910992763941552, + -0.001746881180947124 + ], + "object_to_gripper_xy": 0.007323260678361776, + "object_to_gripper_z": -0.001746881180947124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29309125730885444, + 0.17567381607310775, + 1.0031830926237144 + ], + "finger_b": [ + 0.2814111586480696, + 0.20056038090862732, + 1.0031830926237144 + ], + "finger_midpoint": [ + 0.28725120797846204, + 0.18811709849086755, + 1.0031830926237144 + ], + "object_minus_finger_midpoint": [ + 0.005840049330392394, + 0.012443282417759771, + 0.0 + ], + "finger_gap": 0.0274911952093427, + "fingertip_max_gap": 0.09119575143354411, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013745597604671327, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031830926237144, + "object_top_z": 1.0530846542133676, + "finger_top_clearance": 0.0499015615896532, + "fingertip_min_top_clearance": 0.01497046847689596, + "object_projection_between_fingers": 0.8194881242421814, + "object_to_finger_line_xy": 0.010573477449540014, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809787571677206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9180306624186968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37332431590620924, + -0.006957247996099217, + 0.7701463897966115 + ], + "gripper_position": [ + 0.373215819592714, + -0.01910803062334568, + 1.0367833464485663 + ], + "target_minus_gripper": [ + 0.00010849631349524325, + 0.012150782627246462, + -0.26663695665195475 + ], + "held_position": [ + 0.3787283743115245, + -0.014343459139782324, + 1.0349409865789854 + ], + "held_minus_target": [ + 0.005404058405315271, + -0.007386211143683107, + 0.2647945967823738 + ], + "held_minus_gripper": [ + 0.005512554718810514, + 0.004764571483563355, + -0.001842359869580923 + ], + "xy_dist": 0.012151267008202744, + "held_xy_dist": 0.009152046891659108, + "held_gripper_dist": 0.007515563241627829, + "max_held_gripper_dist": 0.007577299292185869, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0349409865789854, + "required_height": 0.8001463897966116, + "gripper_z": 1.0367833464485663, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50947397968464, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6050033917559936, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0444245425640424, + "max_source_tilt_deg": 89.67491860850662, + "source_upright_tilt_deg": 2.7038342318431368, + "max_source_upright_tilt_deg": 89.81274077470155, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0444245425640424, + "source_upright_return_tilt_deg": 2.7038342318431368, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.3533028015699e-08, + "max_target_xy_drift": 1.8013088368297144e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3733, + -0.007, + 0.7701 + ], + "controller_target_position": [ + 0.3733, + -0.007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0013, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3746, + -0.0334, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012568652527196662, + -0.0012506856001719179, + 0.0012138135002896719 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.703827206665077, + "source_return_step_error_deg": 3.0444366209536913, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0559969071463233, + "source_return_best_wrist_position": -1.6373709440231323, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6373709440231323 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3733, + -0.007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3733, + -0.007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0013, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3746, + -0.0334, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012568652527196662, + -0.0012506856001719179, + 0.0012138135002896719 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.703827206665077, + "pour_controller_source_return_step_error_deg": 3.0444366209536913, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0559969071463233, + "pour_controller_source_return_best_wrist_position": -1.6373709440231323, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6373709440231323, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012151267008202744, + "valid_pour_held_xy_dist": 0.009152046891659108, + "valid_pour_held_gripper_dist": 0.007515563241627829, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0349409865789854, + "valid_pour_source_tilt_deg": 3.0444245425640424, + "valid_pour_source_upright_tilt_deg": 2.7038342318431368, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.3533028015699e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3787283743115245, + -0.03860270857249927, + 1.0349409865789854 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36745364190263524, + -0.014343459139782324, + 1.0349409865789854 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37309100810707985, + -0.0264730838561408, + 1.0349409865789854 + ], + "valid_pour_held_grasp_object_position": [ + 0.3787283743115245, + -0.014343459139782324, + 1.0349409865789854 + ], + "valid_pour_held_grasp_finger_gap": 0.0267512761178011, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024303404952334573, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006311683808531555, + -0.9988867328130663, + 0.04674887867681288 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005741798366201852, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037639710139918486, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3787283743115245, + -0.03860270857249927, + 1.0349409865789854 + ], + "held_grasp_finger_b": [ + 0.36745364190263524, + -0.014343459139782324, + 1.0349409865789854 + ], + "held_grasp_midpoint": [ + 0.37309100810707985, + -0.0264730838561408, + 1.0349409865789854 + ], + "held_grasp_object_position": [ + 0.3787283743115245, + -0.014343459139782324, + 1.0349409865789854 + ], + "held_grasp_finger_gap": 0.0267512761178011, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024303404952334573, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006311683808531555, + -0.9988867328130663, + 0.04674887867681288 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005741798366201852, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037639710139918486, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26923916717031526, + 0.19445082809897912, + 0.7611129406613195 + ], + "target_position": [ + 0.26829979129041526, + 0.19831194690195067, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003973747029492233, + "xy_threshold": 0.08, + "gripper_dist": 0.21627121287125842, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611129406613195, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565382646987832, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581369505435231, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18479178367579557, + "release_required_pad_clearance": 0.05290684752717616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8522474159344043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "455dd4b4b8cb39dfd03a52fa43ae873820a2b7f71778d3b0808028d5e4153f71", + "visual_seed": 5291024795787399534, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..158ae9e5cc58441c43dfbf6ce3e47162df8ffd28 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_10_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2975289995482888, + 0.20045632260710575, + 1.0032203816849141 + ], + "current_z": 1.0032203816849141, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.14211369485621406, + "gripper_z": 1.0043345729757889, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2923767280198406, + 0.195635839522815, + 1.0043345729757889 + ], + "object_minus_gripper": [ + 0.005152271528448216, + 0.004820483084290755, + -0.0011141912908747553 + ], + "object_to_gripper_xy": 0.00705570400943743, + "object_to_gripper_z": -0.0011141912908747553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2975289995482888, + 0.17582647953939856, + 1.0032203816849141 + ], + "finger_b": [ + 0.2859069810259392, + 0.20045632260710575, + 1.0032203816849141 + ], + "finger_midpoint": [ + 0.291717990287114, + 0.18814140107325217, + 1.0032203816849141 + ], + "object_minus_finger_midpoint": [ + 0.005811009261174838, + 0.012314921533853579, + 0.0 + ], + "finger_gap": 0.027234178601046908, + "fingertip_max_gap": 0.09133218560334946, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013617089300523454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032203816849141, + "object_top_z": 1.0531905683344895, + "finger_top_clearance": 0.04997018664957542, + "fingertip_min_top_clearance": 0.014991055994872625, + "object_projection_between_fingers": 0.8178896772562814, + "object_to_finger_line_xy": 0.01051063432199321, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048166092801674734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0599295922274932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3739119879013723, + -0.00353206987804912, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3741601485705617, + -0.01357509699565912, + 1.0354306771521093 + ], + "target_minus_gripper": [ + -0.00024816066918936786, + 0.01004302711761, + -0.2652842277508529 + ], + "held_position": [ + 0.37942117770265926, + -0.008900626046243917, + 1.034223460875428 + ], + "held_minus_target": [ + 0.005509189801286951, + -0.005368556168194797, + 0.2640770114741715 + ], + "held_minus_gripper": [ + 0.005261029132097583, + 0.004674470949415203, + -0.001207216276681411 + ], + "xy_dist": 0.010046092643549647, + "held_xy_dist": 0.007692370739743799, + "held_gripper_dist": 0.007140481589108023, + "max_held_gripper_dist": 0.00714813221062046, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.034223460875428, + "required_height": 0.8001464494012565, + "gripper_z": 1.0354306771521093, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.55268858656332, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2941647045798494, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.093495480449625, + "max_source_tilt_deg": 89.89329220903065, + "source_upright_tilt_deg": 1.2901626062860867, + "max_source_upright_tilt_deg": 89.69089609443058, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.093495480449625, + "source_upright_return_tilt_deg": 1.2901626062860867, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.6166026888317614e-08, + "max_target_xy_drift": 1.3353441301749247e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3739, + -0.0035, + 0.7701 + ], + "controller_target_position": [ + 0.3739, + -0.0035, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0009, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3757, + -0.0278, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017655803781167784, + 0.0009050059091748972, + -0.0005605800556788992 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.2901595602097795, + "source_return_step_error_deg": 2.0934981157459625, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.111875006846013, + "source_return_best_wrist_position": -1.613521933555603, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613521933555603 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3739, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3739, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0009, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3757, + -0.0278, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017655803781167784, + 0.0009050059091748972, + -0.0005605800556788992 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.2901595602097795, + "pour_controller_source_return_step_error_deg": 2.0934981157459625, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.111875006846013, + "pour_controller_source_return_best_wrist_position": -1.613521933555603, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613521933555603, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010046092643549647, + "valid_pour_held_xy_dist": 0.007692370739743799, + "valid_pour_held_gripper_dist": 0.007140481589108023, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.034223460875428, + "valid_pour_source_tilt_deg": 2.093495480449625, + "valid_pour_source_upright_tilt_deg": 1.2901626062860867, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.6166026888317614e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37942117770265926, + -0.033479665648470915, + 1.034223460875428 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3683175940414037, + -0.008900626046243917, + 1.034223460875428 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37386938587203145, + -0.021190145847357414, + 1.034223460875428 + ], + "valid_pour_held_grasp_object_position": [ + 0.37942117770265926, + -0.008900626046243917, + 1.034223460875428 + ], + "valid_pour_held_grasp_finger_gap": 0.02697070184274679, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024535294049061712, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0033786086462146104, + -0.9997464958149611, + 0.022260483133166975 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005517035915920687, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037415088381802325, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37942117770265926, + -0.033479665648470915, + 1.034223460875428 + ], + "held_grasp_finger_b": [ + 0.3683175940414037, + -0.008900626046243917, + 1.034223460875428 + ], + "held_grasp_midpoint": [ + 0.37386938587203145, + -0.021190145847357414, + 1.034223460875428 + ], + "held_grasp_object_position": [ + 0.37942117770265926, + -0.008900626046243917, + 1.034223460875428 + ], + "held_grasp_finger_gap": 0.02697070184274679, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024535294049061712, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0033786086462146104, + -0.9997464958149611, + 0.022260483133166975 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005517035915920687, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037415088381802325, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27171618502709743, + 0.19868694021658037, + 0.7611063535569503 + ], + "target_position": [ + 0.27308832192507204, + 0.19721475273464234, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0020124849437345906, + "xy_threshold": 0.08, + "gripper_dist": 0.21528694930255884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063535569503, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753361776747761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805736116839565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18571253612728855, + "release_required_pad_clearance": 0.054028680584197825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.069097349043618, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26ad00c428e82347fe8b7b7b112ccca3ebce0230e7470d9380c4f6b535296a5f", + "visual_seed": 7357875042369849863, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..519e094ae483eb97b9d1666567eb3978ce26a9dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_11_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29459849461929605, + 0.20375935167172377, + 1.002234750973467 + ], + "current_z": 1.002234750973467, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14112812374941142, + "gripper_z": 1.0036939937132123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2894755067212287, + 0.19886714485080936, + 1.0036939937132123 + ], + "object_minus_gripper": [ + 0.005122987898067366, + 0.004892206820914402, + -0.0014592427397452923 + ], + "object_to_gripper_xy": 0.0070836920163390845, + "object_to_gripper_z": -0.0014592427397452923, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29459849461929605, + 0.1793168574191462, + 1.002234750973467 + ], + "finger_b": [ + 0.2826655437244819, + 0.20375935167172377, + 1.002234750973467 + ], + "finger_midpoint": [ + 0.28863201917188896, + 0.19153810454543496, + 1.002234750973467 + ], + "object_minus_finger_midpoint": [ + 0.0059664754474070825, + 0.012221247126288803, + 0.0 + ], + "finger_gap": 0.027199831660238896, + "fingertip_max_gap": 0.09115417946474694, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359991583011946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002234750973467, + "object_top_z": 1.0522044027682875, + "finger_top_clearance": 0.04996965179482049, + "fingertip_min_top_clearance": 0.01499089553844613, + "object_projection_between_fingers": 0.8075298988527709, + "object_to_finger_line_xy": 0.010723267971145364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04807708973237347, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9428221774286644, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37591011440817756, + -0.002381886032737714, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3755710123060835, + -0.011973564239235165, + 1.0360715986673181 + ], + "target_minus_gripper": [ + 0.000339102102094091, + 0.00959167820649745, + -0.26592520887070636 + ], + "held_position": [ + 0.38077153205994985, + -0.007209363800647038, + 1.0345206044442012 + ], + "held_minus_target": [ + 0.004861417651772282, + -0.004827477767909324, + 0.2643742146475895 + ], + "held_minus_gripper": [ + 0.005200519753866373, + 0.004764200438588127, + -0.001550994223116886 + ], + "xy_dist": 0.009597670605550224, + "held_xy_dist": 0.006851125687405093, + "held_gripper_dist": 0.007221398383245424, + "max_held_gripper_dist": 0.0072606287828610415, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0345206044442012, + "required_height": 0.8001463897966118, + "gripper_z": 1.0360715986673181, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50737028142028, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5046963013189981, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.830613880596757, + "max_source_tilt_deg": 89.90683853914308, + "source_upright_tilt_deg": 2.62373935886165, + "max_source_upright_tilt_deg": 89.85074255711908, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.830613880596757, + "source_upright_return_tilt_deg": 2.62373935886165, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.694586040598588e-08, + "max_target_xy_drift": 2.5576051439405394e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 218, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 218, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "controller_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0016, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3773, + -0.026, + 1.0353 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014094462879641555, + 0.001588744563606733, + -5.527433074150635e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6237390158408442, + "source_return_step_error_deg": 2.830612941932897, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8609086522953917, + "source_return_best_wrist_position": -1.6386586427688599, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6386586427688599 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0016, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3773, + -0.026, + 1.0353 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014094462879641555, + 0.001588744563606733, + -5.527433074150635e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6237390158408442, + "pour_controller_source_return_step_error_deg": 2.830612941932897, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8609086522953917, + "pour_controller_source_return_best_wrist_position": -1.6386586427688599, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6386586427688599, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009597670605550224, + "valid_pour_held_xy_dist": 0.006851125687405093, + "valid_pour_held_gripper_dist": 0.007221398383245424, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0345206044442012, + "valid_pour_source_tilt_deg": 2.830613880596757, + "valid_pour_source_upright_tilt_deg": 2.62373935886165, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.694586040598588e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38077153205994985, + -0.031025438661165573, + 1.0345206044442012 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36926545818204676, + -0.007209363800647038, + 1.0345206044442012 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3750184951209983, + -0.019117401230906307, + 1.0345206044442012 + ], + "valid_pour_held_grasp_object_position": [ + 0.38077153205994985, + -0.007209363800647038, + 1.0345206044442012 + ], + "valid_pour_held_grasp_finger_gap": 0.02644986120654675, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023867674380027674, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006654388898965656, + -0.9989517008608314, + 0.045290379283393745 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005856953712126725, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03786297877036502, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38077153205994985, + -0.031025438661165573, + 1.0345206044442012 + ], + "held_grasp_finger_b": [ + 0.36926545818204676, + -0.007209363800647038, + 1.0345206044442012 + ], + "held_grasp_midpoint": [ + 0.3750184951209983, + -0.019117401230906307, + 1.0345206044442012 + ], + "held_grasp_object_position": [ + 0.38077153205994985, + -0.007209363800647038, + 1.0345206044442012 + ], + "held_grasp_finger_gap": 0.02644986120654675, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023867674380027674, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006654388898965656, + -0.9989517008608314, + 0.045290379283393745 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005856953712126725, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03786297877036502, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2695246975924998, + 0.20531088405144926, + 0.7611063620057665 + ], + "target_position": [ + 0.27019334001980194, + 0.19972392957877572, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005626823524451021, + "xy_threshold": 0.08, + "gripper_dist": 0.21506505408052207, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063620057665, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576394445856549, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08834538972691901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1854223157853496, + "release_required_pad_clearance": 0.054172694863459506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.361023178022709, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0de4a7c84323ff6d4ab665ee371178036ad0c69e1de558fd0fd53b9444c74e5e", + "visual_seed": 3950939367477407747, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6c029e465b602885e06b79d145e20c9ecfcdf8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_12_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29408298878447153, + 0.20380754689173178, + 1.0017456163933922 + ], + "current_z": 1.0017456163933922, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14063904877398137, + "gripper_z": 1.0035688008193246, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28883986064314593, + 0.19885234797133614, + 1.0035688008193246 + ], + "object_minus_gripper": [ + 0.005243128141325604, + 0.004955198920395643, + -0.0018231844259324337 + ], + "object_to_gripper_xy": 0.007214179721011296, + "object_to_gripper_z": -0.0018231844259324337, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29408298878447153, + 0.17929360574987124, + 1.0017456163933922 + ], + "finger_b": [ + 0.28203301021291477, + 0.20380754689173178, + 1.0017456163933922 + ], + "finger_midpoint": [ + 0.28805799949869315, + 0.19155057632080152, + 1.0017456163933922 + ], + "object_minus_finger_midpoint": [ + 0.0060249892857783816, + 0.012256970570930253, + 0.0 + ], + "finger_gap": 0.027315477185683206, + "fingertip_max_gap": 0.09109240318161757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013657738592841591, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0017456163933922, + "object_top_z": 1.0516088240091603, + "finger_top_clearance": 0.049863207615768124, + "fingertip_min_top_clearance": 0.014958962284730419, + "object_projection_between_fingers": 0.805394564811965, + "object_to_finger_line_xy": 0.010814105990381405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804620159080879, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9002051567270126, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3797316960102742, + -0.00751848626262687, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3789764745609143, + -0.018375477388007058, + 1.035187537217228 + ], + "target_minus_gripper": [ + 0.0007552214493598552, + 0.010856991125380189, + -0.26504114742061624 + ], + "held_position": [ + 0.3843991106835392, + -0.013674398233654884, + 1.0332659907917738 + ], + "held_minus_target": [ + 0.004667414673265036, + -0.006155911971028014, + 0.2631196009951622 + ], + "held_minus_gripper": [ + 0.005422636122624891, + 0.004701079154352174, + -0.001921546425454057 + ], + "xy_dist": 0.010883226347648815, + "held_xy_dist": 0.007725283938293515, + "held_gripper_dist": 0.00742949987543281, + "max_held_gripper_dist": 0.007497026137430385, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0332659907917738, + "required_height": 0.8001463897966117, + "gripper_z": 1.035187537217228, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52619428277283, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.44720895496309765, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0423517241357176, + "max_source_tilt_deg": 89.82728290879326, + "source_upright_tilt_deg": 2.803255536560718, + "max_source_upright_tilt_deg": 89.85580341831935, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0423517241357176, + "source_upright_return_tilt_deg": 2.803255536560718, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.2345866759215014e-08, + "max_target_xy_drift": 1.4831147519622967e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3797, + -0.0075, + 0.7701 + ], + "controller_target_position": [ + 0.3797, + -0.0075, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0001, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3806, + -0.0326, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008342721277124774, + 0.00014600390723071765, + -0.001048893150601625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8032514889292517, + "source_return_step_error_deg": 3.042348075360468, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.065491305309149, + "source_return_best_wrist_position": -1.637908935546875, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637908935546875 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3797, + -0.0075, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3797, + -0.0075, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0001, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3806, + -0.0326, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008342721277124774, + 0.00014600390723071765, + -0.001048893150601625 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8032514889292517, + "pour_controller_source_return_step_error_deg": 3.042348075360468, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.065491305309149, + "pour_controller_source_return_best_wrist_position": -1.637908935546875, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637908935546875, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010883226347648815, + "valid_pour_held_xy_dist": 0.007725283938293515, + "valid_pour_held_gripper_dist": 0.00742949987543281, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0332659907917738, + "valid_pour_source_tilt_deg": 3.0423517241357176, + "valid_pour_source_upright_tilt_deg": 2.803255536560718, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.2345866759215014e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3843991106835392, + -0.03786458830903491, + 1.0332659907917738 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3732096582514632, + -0.013674398233654884, + 1.0332659907917738 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3788043844675012, + -0.0257694932713449, + 1.0332659907917738 + ], + "valid_pour_held_grasp_object_position": [ + 0.3843991106835392, + -0.013674398233654884, + 1.0332659907917738 + ], + "valid_pour_held_grasp_finger_gap": 0.02665275110776947, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024003607688612844, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.014087887020715062, + -0.9988033725658942, + 0.046833261580708885 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054534681036711675, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037560810484101884, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3843991106835392, + -0.03786458830903491, + 1.0332659907917738 + ], + "held_grasp_finger_b": [ + 0.3732096582514632, + -0.013674398233654884, + 1.0332659907917738 + ], + "held_grasp_midpoint": [ + 0.3788043844675012, + -0.0257694932713449, + 1.0332659907917738 + ], + "held_grasp_object_position": [ + 0.3843991106835392, + -0.013674398233654884, + 1.0332659907917738 + ], + "held_grasp_finger_gap": 0.02665275110776947, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024003607688612844, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014087887020715062, + -0.9988033725658942, + 0.046833261580708885 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054534681036711675, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037560810484101884, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.24746459432121282, + 0.19906803195280046, + 0.7611384430946404 + ], + "target_position": [ + 0.26952848563536075, + 0.19927393503975338, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022064852050348065, + "xy_threshold": 0.08, + "gripper_dist": 0.20334915647835083, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611384430946404, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568768398936011, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09281987484759678, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17464476466529286, + "release_required_pad_clearance": 0.05640993742379839, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.990869169563358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2687a3ee37da182a933a43d51c736e3aba46d869e61c9ac1d633a6c6a7170ac", + "visual_seed": 928627780900636897, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d725b375e706687142ad290c2cb57bbee9b934d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_13_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2949822748980291, + 0.20212158078828987, + 1.0027090679132904 + ], + "current_z": 1.0027090679132904, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14160238108459022, + "gripper_z": 1.0044309772311921, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2900050464349711, + 0.1972853139720242, + 1.0044309772311921 + ], + "object_minus_gripper": [ + 0.004977228463057981, + 0.004836266816265672, + -0.0017219093179017264 + ], + "object_to_gripper_xy": 0.006939904890672999, + "object_to_gripper_z": -0.0017219093179017264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2949822748980291, + 0.1778249324131106, + 1.0027090679132904 + ], + "finger_b": [ + 0.2830747815576008, + 0.20212158078828987, + 1.0027090679132904 + ], + "finger_midpoint": [ + 0.28902852822781494, + 0.18997325660070025, + 1.0027090679132904 + ], + "object_minus_finger_midpoint": [ + 0.005953746670214144, + 0.012148324187589626, + 0.0 + ], + "finger_gap": 0.02705763330225772, + "fingertip_max_gap": 0.09103404120190686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013528816651128848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027090679132904, + "object_top_z": 1.0526842875583444, + "finger_top_clearance": 0.049975219645054025, + "fingertip_min_top_clearance": 0.014992565893516191, + "object_projection_between_fingers": 0.8063305669739868, + "object_to_finger_line_xy": 0.010692442147112492, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801702060095343, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8302955942313975, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37411741530959053, + -0.0005291375246382485, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37209523697811264, + -0.013025791709839932, + 1.0369135613985732 + ], + "target_minus_gripper": [ + 0.0020221783314778863, + 0.012496654185201683, + -0.2667671716019615 + ], + "held_position": [ + 0.3772706273461408, + -0.008440055861159495, + 1.0351211442516646 + ], + "held_minus_target": [ + 0.003153212036550279, + -0.007910918336521246, + 0.2649747544550529 + ], + "held_minus_gripper": [ + 0.005175390368028165, + 0.004585735848680437, + -0.001792417146908587 + ], + "xy_dist": 0.01265920894166841, + "held_xy_dist": 0.008516183128288966, + "held_gripper_dist": 0.007143276416595085, + "max_held_gripper_dist": 0.0072050243375848255, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0351211442516646, + "required_height": 0.8001463897966117, + "gripper_z": 1.0369135613985732, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.43424627616612, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.2729452710621012, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.236273082742401, + "max_source_tilt_deg": 89.9963375672738, + "source_upright_tilt_deg": 1.9940713252750388, + "max_source_upright_tilt_deg": 89.91107596011261, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.236273082742401, + "source_upright_return_tilt_deg": 1.9940713252750388, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.334007256309707e-08, + "max_target_xy_drift": 1.655287617177307e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3741, + -0.0005, + 0.7701 + ], + "controller_target_position": [ + 0.3741, + -0.0005, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + -0.0017, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3728, + -0.0274, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012767316601210892, + -0.0016546166210248364, + 0.0010895434218467686 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.9940789129043264, + "source_return_step_error_deg": 2.236278204184906, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2276094872855765, + "source_return_best_wrist_position": -1.6121160984039307, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121160984039307 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3741, + -0.0005, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3741, + -0.0005, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + -0.0017, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3728, + -0.0274, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012767316601210892, + -0.0016546166210248364, + 0.0010895434218467686 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.9940789129043264, + "pour_controller_source_return_step_error_deg": 2.236278204184906, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2276094872855765, + "pour_controller_source_return_best_wrist_position": -1.6121160984039307, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121160984039307, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01265920894166841, + "valid_pour_held_xy_dist": 0.008516183128288966, + "valid_pour_held_gripper_dist": 0.007143276416595085, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0351211442516646, + "valid_pour_source_tilt_deg": 2.236273082742401, + "valid_pour_source_upright_tilt_deg": 1.9940713252750388, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.334007256309707e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3772706273461408, + -0.032894412582019396, + 1.0351211442516646 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36633406211219244, + -0.008440055861159495, + 1.0351211442516646 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3718023447291666, + -0.020667234221589444, + 1.0351211442516646 + ], + "valid_pour_held_grasp_object_position": [ + 0.3772706273461408, + -0.008440055861159495, + 1.0351211442516646 + ], + "valid_pour_held_grasp_finger_gap": 0.026788505403390353, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024169923900803022, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.02465346478493125, + -0.9993944394300506, + 0.02455526644924011 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005173993220919042, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0373656638938303, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3772706273461408, + -0.032894412582019396, + 1.0351211442516646 + ], + "held_grasp_finger_b": [ + 0.36633406211219244, + -0.008440055861159495, + 1.0351211442516646 + ], + "held_grasp_midpoint": [ + 0.3718023447291666, + -0.020667234221589444, + 1.0351211442516646 + ], + "held_grasp_object_position": [ + 0.3772706273461408, + -0.008440055861159495, + 1.0351211442516646 + ], + "held_grasp_finger_gap": 0.026788505403390353, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024169923900803022, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02465346478493125, + -0.9993944394300506, + 0.02455526644924011 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005173993220919042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0373656638938303, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2588012159085594, + 0.19524817651846466, + 0.7611081106524308 + ], + "target_position": [ + 0.2707272720995967, + 0.19764866143421153, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012165243281681892, + "xy_threshold": 0.08, + "gripper_dist": 0.20909366948502892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081106524308, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551815716667218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778368693457515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1791742158807454, + "release_required_pad_clearance": 0.05389184346728758, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7901497306980225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad3b22924d3fd12f3383c692e4911248a68e789e4c40a34ecbc5700f78cec514", + "visual_seed": 3712002785885832650, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5794f3e02966ba3240b6cc6ae831c83b0d441258 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_14_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2955492558225707, + 0.202362763427249, + 1.0034804611706596 + ], + "current_z": 1.0034804611706596, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.14237383394660408, + "gripper_z": 1.0049009731330132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29030421877513773, + 0.1974707473504223, + 1.0049009731330132 + ], + "object_minus_gripper": [ + 0.005245037047432954, + 0.004892016076826683, + -0.0014205119623535989 + ], + "object_to_gripper_xy": 0.007172324234505502, + "object_to_gripper_z": -0.0014205119623535989, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2955492558225707, + 0.17770522202823155, + 1.0034804611706596 + ], + "finger_b": [ + 0.2837765674839569, + 0.202362763427249, + 1.0034804611706596 + ], + "finger_midpoint": [ + 0.2896629116532638, + 0.19003399272774027, + 1.0034804611706596 + ], + "object_minus_finger_midpoint": [ + 0.00588634416930689, + 0.012328770699508718, + 0.0 + ], + "finger_gap": 0.027323809005378286, + "fingertip_max_gap": 0.09105466383111224, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013661904502689143, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034804611706596, + "object_top_z": 1.053420746304734, + "finger_top_clearance": 0.04994028513407445, + "fingertip_min_top_clearance": 0.014982085540222366, + "object_projection_between_fingers": 0.8143611744866084, + "object_to_finger_line_xy": 0.010623904962516766, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802733191555612, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8893605580404488, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3710427991158191, + -0.007302353767074569, + 0.7701463897966114 + ], + "gripper_position": [ + 0.3714453824729519, + -0.018132348745484445, + 1.0374880756484388 + ], + "target_minus_gripper": [ + -0.0004025833571327797, + 0.010829994978409876, + -0.2673416858518274 + ], + "held_position": [ + 0.3767406805551745, + -0.013338401419050827, + 1.0359783905533448 + ], + "held_minus_target": [ + 0.005697881439355401, + -0.006036047651976258, + 0.2658320007567334 + ], + "held_minus_gripper": [ + 0.0052952980822226214, + 0.004793947326433618, + -0.001509685095093971 + ], + "xy_dist": 0.010837475009974576, + "held_xy_dist": 0.008300585771731948, + "held_gripper_dist": 0.0073007713177827656, + "max_held_gripper_dist": 0.007334805859284752, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0359783905533448, + "required_height": 0.8001463897966115, + "gripper_z": 1.0374880756484388, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.4837924684054, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0035559932213292, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.889238600982225, + "max_source_tilt_deg": 89.71009614451887, + "source_upright_tilt_deg": 2.7109191212789754, + "max_source_upright_tilt_deg": 89.92187703389077, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.889238600982225, + "source_upright_return_tilt_deg": 2.7109191212789754, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.895958912565971e-08, + "max_target_xy_drift": 1.9976869225502014e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.371, + -0.0073, + 0.7701 + ], + "controller_target_position": [ + 0.371, + -0.0073, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.3729, + -0.0325, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018408402525494426, + 7.294210021617856e-06, + 0.0019689967877689904 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7109531480393425, + "source_return_step_error_deg": 2.889260520209168, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8805171169743606, + "source_return_best_wrist_position": -1.637771725654602, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637771725654602 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.371, + -0.0073, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.371, + -0.0073, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3729, + -0.0325, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018408402525494426, + 7.294210021617856e-06, + 0.0019689967877689904 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7109531480393425, + "pour_controller_source_return_step_error_deg": 2.889260520209168, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8805171169743606, + "pour_controller_source_return_best_wrist_position": -1.637771725654602, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637771725654602, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010837475009974576, + "valid_pour_held_xy_dist": 0.008300585771731948, + "valid_pour_held_gripper_dist": 0.0073007713177827656, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0359783905533448, + "valid_pour_source_tilt_deg": 2.889238600982225, + "valid_pour_source_upright_tilt_deg": 2.7109191212789754, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.895958912565971e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3767406805551745, + -0.0372875037994393, + 1.0359783905533448 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36527747239017583, + -0.013338401419050827, + 1.0359783905533448 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37100907647267517, + -0.025312952609245064, + 1.0359783905533448 + ], + "valid_pour_held_grasp_object_position": [ + 0.3767406805551745, + -0.013338401419050827, + 1.0359783905533448 + ], + "valid_pour_held_grasp_finger_gap": 0.026551170336925285, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024051603988349567, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011279848004202042, + -0.9988808917614146, + 0.04593178749976234 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058918994470065185, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03782375132166199, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3767406805551745, + -0.0372875037994393, + 1.0359783905533448 + ], + "held_grasp_finger_b": [ + 0.36527747239017583, + -0.013338401419050827, + 1.0359783905533448 + ], + "held_grasp_midpoint": [ + 0.37100907647267517, + -0.025312952609245064, + 1.0359783905533448 + ], + "held_grasp_object_position": [ + 0.3767406805551745, + -0.013338401419050827, + 1.0359783905533448 + ], + "held_grasp_finger_gap": 0.026551170336925285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024051603988349567, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011279848004202042, + -0.9988808917614146, + 0.04593178749976234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058918994470065185, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03782375132166199, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2618189694346227, + 0.20065740849755342, + 0.761106600676926 + ], + "target_position": [ + 0.2710276189325714, + 0.19816164110981838, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009540863715081177, + "xy_threshold": 0.08, + "gripper_dist": 0.20848876541489197, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106600676926, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553781946122959, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08802079698024885, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17962700722088373, + "release_required_pad_clearance": 0.05401039849012443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.032147668617935, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ef97f2000c0841efb85872cb782d9d3f9c658b3960169dcd2866b8b098236f5", + "visual_seed": 193463701494139259, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60e838ce912eb9860e670160bd2c9150548d8256 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_15_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2931407424653186, + 0.19823075557399786, + 1.0024344596211114 + ], + "current_z": 1.0024344596211114, + "required_z": 0.8611065676194105, + "initial_z": 0.7611065676194105, + "lift_margin": 0.14132789200170093, + "gripper_z": 1.0040722416915855, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2879436587755061, + 0.1934509025647883, + 1.0040722416915855 + ], + "object_minus_gripper": [ + 0.005197083689812532, + 0.00477985300920955, + -0.0016377820704740476 + ], + "object_to_gripper_xy": 0.0070609258365008365, + "object_to_gripper_z": -0.0016377820704740476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2931407424653186, + 0.1734812450934059, + 1.0024344596211114 + ], + "finger_b": [ + 0.28168511622444214, + 0.19823075557399786, + 1.0024344596211114 + ], + "finger_midpoint": [ + 0.2874129293448804, + 0.18585600033370187, + 1.0024344596211114 + ], + "object_minus_finger_midpoint": [ + 0.005727813120438241, + 0.012374755240295993, + 0.0 + ], + "finger_gap": 0.02727214039270825, + "fingertip_max_gap": 0.09153409970690093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013636070196354138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024344596211114, + "object_top_z": 1.0524307859279554, + "finger_top_clearance": 0.04999632630684392, + "fingertip_min_top_clearance": 0.014998897892053142, + "object_projection_between_fingers": 0.8235591166528052, + "object_to_finger_line_xy": 0.010395998906859591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826704985345047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0576560149614824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37610046184126783, + -0.0017357977604045692, + 0.7701463897966119 + ], + "gripper_position": [ + 0.37599777999043604, + -0.014420603855243089, + 1.0347861141684778 + ], + "target_minus_gripper": [ + 0.00010268185083178727, + 0.012684806094838519, + -0.2646397243718659 + ], + "held_position": [ + 0.38123755015784655, + -0.009740448602678326, + 1.0330414695077486 + ], + "held_minus_target": [ + 0.0051370883165787196, + -0.008004650842273756, + 0.2628950797111367 + ], + "held_minus_gripper": [ + 0.005239770167410507, + 0.004680155252564763, + -0.001744644660729211 + ], + "xy_dist": 0.012685221686125264, + "held_xy_dist": 0.009511262349396294, + "held_gripper_dist": 0.0072389798720265556, + "max_held_gripper_dist": 0.00729080175970677, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0330414695077486, + "required_height": 0.8001463897966119, + "gripper_z": 1.0347861141684778, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.58110900369974, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7226287726345453, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8372141205723955, + "max_source_tilt_deg": 89.81412853934424, + "source_upright_tilt_deg": 2.7296882307692694, + "max_source_upright_tilt_deg": 89.76886878352904, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8372141205723955, + "source_upright_return_tilt_deg": 2.7296882307692694, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.101406870096623e-08, + "max_target_xy_drift": 1.4202669262886047e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3761, + -0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.3761, + -0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0017, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3773, + -0.0287, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012173208490281699, + -0.001741530559242903, + -0.0013473342287674958 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.729711209045557, + "source_return_step_error_deg": 2.83721935940724, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8569769924367283, + "source_return_best_wrist_position": -1.6384018659591675, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6384018659591675 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3761, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3761, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0017, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3773, + -0.0287, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012173208490281699, + -0.001741530559242903, + -0.0013473342287674958 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.729711209045557, + "pour_controller_source_return_step_error_deg": 2.83721935940724, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8569769924367283, + "pour_controller_source_return_best_wrist_position": -1.6384018659591675, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6384018659591675, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012685221686125264, + "valid_pour_held_xy_dist": 0.009511262349396294, + "valid_pour_held_gripper_dist": 0.0072389798720265556, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0330414695077486, + "valid_pour_source_tilt_deg": 2.8372141205723955, + "valid_pour_source_upright_tilt_deg": 2.7296882307692694, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.101406870096623e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38123755015784655, + -0.03378925446997924, + 1.0330414695077486 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37000030893760844, + -0.009740448602678326, + 1.0330414695077486 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37561892954772746, + -0.02176485153632878, + 1.0330414695077486 + ], + "valid_pour_held_grasp_object_position": [ + 0.38123755015784655, + -0.009740448602678326, + 1.0330414695077486 + ], + "valid_pour_held_grasp_finger_gap": 0.026544691632884823, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024196259243000187, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015550123637402238, + -0.9988653443015295, + 0.04501352694744653 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058299189614989914, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037796860938912984, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38123755015784655, + -0.03378925446997924, + 1.0330414695077486 + ], + "held_grasp_finger_b": [ + 0.37000030893760844, + -0.009740448602678326, + 1.0330414695077486 + ], + "held_grasp_midpoint": [ + 0.37561892954772746, + -0.02176485153632878, + 1.0330414695077486 + ], + "held_grasp_object_position": [ + 0.38123755015784655, + -0.009740448602678326, + 1.0330414695077486 + ], + "held_grasp_finger_gap": 0.026544691632884823, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024196259243000187, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015550123637402238, + -0.9988653443015295, + 0.04501352694744653 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058299189614989914, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037796860938912984, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.269925685837949, + 0.19930381597237287, + 0.7611065540464962 + ], + "target_position": [ + 0.26853488090941463, + 0.19718890319319365, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002531243649428299, + "xy_threshold": 0.08, + "gripper_dist": 0.21635188857665152, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065540464962, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752743173391821, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687108300721601, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18666610622001306, + "release_required_pad_clearance": 0.053435541503608006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8850614113914979, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c066b4934b75e733e997f48ae48a511a765f36ebab43c869f0b0a2743076ad58", + "visual_seed": 8232829861484960256, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f17286b914720d609d704ea7328c39f2f75dbcc3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_16_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2962509742768804, + 0.20753758125816024, + 1.0011080820975216 + ], + "current_z": 1.0011080820975216, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14000163368740048, + "gripper_z": 1.0025383227572218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29117682800928146, + 0.20266292105460337, + 1.0025383227572218 + ], + "object_minus_gripper": [ + 0.005074146267598945, + 0.004874660203556869, + -0.0014302406597002104 + ], + "object_to_gripper_xy": 0.007036282572859719, + "object_to_gripper_z": -0.0014302406597002104, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2962509742768804, + 0.18315561406944636, + 1.0011080820975216 + ], + "finger_b": [ + 0.2842945107506614, + 0.20753758125816024, + 1.0011080820975216 + ], + "finger_midpoint": [ + 0.2902727425137709, + 0.1953465976638033, + 1.0011080820975216 + ], + "object_minus_finger_midpoint": [ + 0.0059782317631095205, + 0.012190983594356941, + 0.0 + ], + "finger_gap": 0.02715579761386738, + "fingertip_max_gap": 0.09174149885139063, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013577898806933702, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011080820975216, + "object_top_z": 1.0512486397951761, + "finger_top_clearance": 0.050140557697654575, + "fingertip_min_top_clearance": 0.015042167309296355, + "object_projection_between_fingers": 0.8061435032980668, + "object_to_finger_line_xy": 0.010735169908633315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837074942569532, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.024082126136586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3713806084400837, + -0.009749894173212266, + 0.7701465686105459 + ], + "gripper_position": [ + 0.3708692895645187, + -0.021528510830662775, + 1.0378624962025442 + ], + "target_minus_gripper": [ + 0.0005113188755649922, + 0.01177861665745051, + -0.26771592759199836 + ], + "held_position": [ + 0.376099918765724, + -0.016852655258842796, + 1.036373418262532 + ], + "held_minus_target": [ + 0.004719310325640325, + -0.0071027610856305295, + 0.26622684965198606 + ], + "held_minus_gripper": [ + 0.005230629201205317, + 0.00467585557181998, + -0.0014890779400122955 + ], + "xy_dist": 0.011789709807950306, + "held_xy_dist": 0.008527667030861533, + "held_gripper_dist": 0.007172200518700867, + "max_held_gripper_dist": 0.007216188477435893, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465686105459, + "held_z": 1.036373418262532, + "required_height": 0.8001465686105459, + "gripper_z": 1.0378624962025442, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.56343247412775, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4394573847542253, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0891671260771365, + "max_source_tilt_deg": 89.78579795268432, + "source_upright_tilt_deg": 1.7281199018712514, + "max_source_upright_tilt_deg": 89.82199232510239, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0891671260771365, + "source_upright_return_tilt_deg": 1.7281199018712514, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 1.1293606314098742e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3714, + -0.0097, + 0.7701 + ], + "controller_target_position": [ + 0.3714, + -0.0097, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0008, + 0.0 + ], + "controller_last_pour_pose_position": [ + 0.3718, + -0.0341, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00045566862813783146, + 0.000844902205280146, + 4.90662455836649e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7281715987691761, + "source_return_step_error_deg": 2.0892166029110837, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.073947855183471, + "source_return_best_wrist_position": -1.613248348236084, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613248348236084 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3714, + -0.0097, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3714, + -0.0097, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0008, + 0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3718, + -0.0341, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00045566862813783146, + 0.000844902205280146, + 4.90662455836649e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7281715987691761, + "pour_controller_source_return_step_error_deg": 2.0892166029110837, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.073947855183471, + "pour_controller_source_return_best_wrist_position": -1.613248348236084, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613248348236084, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011789709807950306, + "valid_pour_held_xy_dist": 0.008527667030861533, + "valid_pour_held_gripper_dist": 0.007172200518700867, + "valid_pour_required_height": 0.8001465686105459, + "valid_pour_held_z": 1.036373418262532, + "valid_pour_source_tilt_deg": 2.0891671260771365, + "valid_pour_source_upright_tilt_deg": 1.7281199018712514, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.376099918765724, + -0.041205380121444986, + 1.036373418262532 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3649299079796893, + -0.016852655258842796, + 1.036373418262532 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3705149133727067, + -0.02902901769014389, + 1.036373418262532 + ], + "valid_pour_held_grasp_object_position": [ + 0.376099918765724, + -0.016852655258842796, + 1.036373418262532 + ], + "valid_pour_held_grasp_finger_gap": 0.026792244198531302, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024216690554669705, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.011186952769411987, + -0.9995451874524193, + 0.02800482687757622 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005459154591151773, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03748694640966302, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.376099918765724, + -0.041205380121444986, + 1.036373418262532 + ], + "held_grasp_finger_b": [ + 0.3649299079796893, + -0.016852655258842796, + 1.036373418262532 + ], + "held_grasp_midpoint": [ + 0.3705149133727067, + -0.02902901769014389, + 1.036373418262532 + ], + "held_grasp_object_position": [ + 0.376099918765724, + -0.016852655258842796, + 1.036373418262532 + ], + "held_grasp_finger_gap": 0.026792244198531302, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024216690554669705, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011186952769411987, + -0.9995451874524193, + 0.02800482687757622 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005459154591151773, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03748694640966302, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25601185809271754, + 0.19809471684718802, + 0.7611100509066636 + ], + "target_position": [ + 0.27185522359567077, + 0.20341440955443912, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016712610836124592, + "xy_threshold": 0.08, + "gripper_dist": 0.2065278466339976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611100509066636, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514050842325216, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592316199234644, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770563199107434, + "release_required_pad_clearance": 0.05296158099617322, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9453828755533151, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "889c040982363224b00d94033712800ed38507d12a95867530eb70d7c78f665e", + "visual_seed": 6272210248050093473, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..240a3b967dab0ef856d4c2ef36b8af4d49440ab8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_17_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2980021055017754, + 0.20061623298715134, + 1.0026035165328033 + ], + "current_z": 1.0026035165328033, + "required_z": 0.8611065676194105, + "initial_z": 0.7611065676194105, + "lift_margin": 0.14149694891339282, + "gripper_z": 1.0039519134451578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29280323503213385, + 0.19559837598770718, + 1.0039519134451578 + ], + "object_minus_gripper": [ + 0.00519887046964157, + 0.0050178569994441535, + -0.0013483969123544437 + ], + "object_to_gripper_xy": 0.007225451060451648, + "object_to_gripper_z": -0.0013483969123544437, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2980021055017754, + 0.17626136918443408, + 1.0026035165328033 + ], + "finger_b": [ + 0.2857000150473612, + 0.20061623298715134, + 1.0026035165328033 + ], + "finger_midpoint": [ + 0.2918510602745683, + 0.1884388010857927, + 1.0026035165328033 + ], + "object_minus_finger_midpoint": [ + 0.006151045227207108, + 0.012177431901358643, + 0.0 + ], + "finger_gap": 0.02728554233284537, + "fingertip_max_gap": 0.09156679638638335, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013642771166422697, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026035165328033, + "object_top_z": 1.0525182324541067, + "finger_top_clearance": 0.049914715921303365, + "fingertip_min_top_clearance": 0.014974414776391009, + "object_projection_between_fingers": 0.7967209364956958, + "object_to_finger_line_xy": 0.010980750679281868, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048283398193191676, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2641226940588852, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37937254822318006, + -0.00041046351273722737, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3778900750682543, + -0.011045204205202303, + 1.035898663073423 + ], + "target_minus_gripper": [ + 0.0014824731549257786, + 0.010634740692465075, + -0.2657522136721665 + ], + "held_position": [ + 0.38325750016624943, + -0.006253686049635115, + 1.0344484554966655 + ], + "held_minus_target": [ + 0.00388495194306937, + -0.005843222536897888, + 0.264302006095409 + ], + "held_minus_gripper": [ + 0.005367425097995149, + 0.004791518155567187, + -0.0014502075767575118 + ], + "xy_dist": 0.010737571245446902, + "held_xy_dist": 0.007016844106553163, + "held_gripper_dist": 0.007339686671337075, + "max_held_gripper_dist": 0.007370003695421676, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0344484554966655, + "required_height": 0.8001464494012566, + "gripper_z": 1.035898663073423, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52302507499795, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.22749351988291056, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8525633139977873, + "max_source_tilt_deg": 89.9006884254603, + "source_upright_tilt_deg": 2.697599072988528, + "max_source_upright_tilt_deg": 89.69209563325866, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8525633139977873, + "source_upright_return_tilt_deg": 2.697599072988528, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.812601789832115e-08, + "max_target_xy_drift": 1.0904188882041589e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3794, + -0.0004, + 0.7701 + ], + "controller_target_position": [ + 0.3794, + -0.0004, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0004, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3788, + -0.0252, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006030364309263141, + 0.0004220755848494619, + -0.00019315247718756012 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.69760060077637, + "source_return_step_error_deg": 2.8525647010868544, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8540977980587017, + "source_return_best_wrist_position": -1.6377103328704834, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6377103328704834 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3794, + -0.0004, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3794, + -0.0004, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0004, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3788, + -0.0252, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006030364309263141, + 0.0004220755848494619, + -0.00019315247718756012 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.69760060077637, + "pour_controller_source_return_step_error_deg": 2.8525647010868544, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8540977980587017, + "pour_controller_source_return_best_wrist_position": -1.6377103328704834, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6377103328704834, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010737571245446902, + "valid_pour_held_xy_dist": 0.007016844106553163, + "valid_pour_held_gripper_dist": 0.007339686671337075, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0344484554966655, + "valid_pour_source_tilt_deg": 2.8525633139977873, + "valid_pour_source_upright_tilt_deg": 2.697599072988528, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.812601789832115e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38325750016624943, + -0.030310552396210364, + 1.0344484554966655 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3718081382877783, + -0.006253686049635115, + 1.0344484554966655 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37753281922701387, + -0.01828211922292274, + 1.0344484554966655 + ], + "valid_pour_held_grasp_object_position": [ + 0.38325750016624943, + -0.006253686049635115, + 1.0344484554966655 + ], + "valid_pour_held_grasp_finger_gap": 0.02664246058158241, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02395099942272589, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00691816358770869, + -0.998891860435388, + 0.04655308978470695 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005669143232446433, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037665541800281976, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38325750016624943, + -0.030310552396210364, + 1.0344484554966655 + ], + "held_grasp_finger_b": [ + 0.3718081382877783, + -0.006253686049635115, + 1.0344484554966655 + ], + "held_grasp_midpoint": [ + 0.37753281922701387, + -0.01828211922292274, + 1.0344484554966655 + ], + "held_grasp_object_position": [ + 0.38325750016624943, + -0.006253686049635115, + 1.0344484554966655 + ], + "held_grasp_finger_gap": 0.02664246058158241, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02395099942272589, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00691816358770869, + -0.998891860435388, + 0.04655308978470695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005669143232446433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037665541800281976, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.279404399569554, + 0.20839775677747213, + 0.7611157742040039 + ], + "target_position": [ + 0.27347218667028084, + 0.19761197016816753, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012309522438492775, + "xy_threshold": 0.08, + "gripper_dist": 0.21728191959287035, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611157742040039, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07607051091358087, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08917888449052212, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18810077156908725, + "release_required_pad_clearance": 0.05458944224526106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.183196717530964, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e923cca8f70e5d49e0e35c95b83afeab992627357e0fc0161027250e7841b211", + "visual_seed": 7316137461325916188, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..576e8f54d103cb91324ebba37bc2884fbf21587b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_18_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2977936446124113, + 0.20055059252998206, + 1.0010127105819817 + ], + "current_z": 1.0010127105819817, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.13990620256721564, + "gripper_z": 1.0022463291222437, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2924766025046807, + 0.19557451814150573, + 1.0022463291222437 + ], + "object_minus_gripper": [ + 0.005317042107730596, + 0.0049760743884763314, + -0.0012336185402619382 + ], + "object_to_gripper_xy": 0.007282324704037188, + "object_to_gripper_z": -0.0012336185402619382, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2977936446124113, + 0.17596009414637936, + 1.0010127105819817 + ], + "finger_b": [ + 0.2857374196020782, + 0.20055059252998206, + 1.0010127105819817 + ], + "finger_midpoint": [ + 0.29176553210724476, + 0.18825534333818073, + 1.0010127105819817 + ], + "object_minus_finger_midpoint": [ + 0.00602811250516655, + 0.012295249191801333, + 0.0 + ], + "finger_gap": 0.027386952591585433, + "fingertip_max_gap": 0.09120461046127618, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013693476295792702, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010127105819817, + "object_top_z": 1.0508785750564216, + "finger_top_clearance": 0.04986586447443986, + "fingertip_min_top_clearance": 0.014959759342331973, + "object_projection_between_fingers": 0.8062082566800296, + "object_to_finger_line_xy": 0.010825175989826472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04810230523063809, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9034077977457167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3778768292671864, + -0.006351075743652804, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3772387087663997, + -0.017325237072164074, + 1.0349528320743695 + ], + "target_minus_gripper": [ + 0.0006381205007867097, + 0.01097416132851127, + -0.26480644227775785 + ], + "held_position": [ + 0.3826967163494662, + -0.01254959779079225, + 1.033602313566948 + ], + "held_minus_target": [ + 0.004819887082279817, + -0.006198522047139447, + 0.26345592377033644 + ], + "held_minus_gripper": [ + 0.0054580075830665264, + 0.004775639281371823, + -0.0013505185074214054 + ], + "xy_dist": 0.010992698241911151, + "held_xy_dist": 0.007851941610506388, + "held_gripper_dist": 0.007377023624842273, + "max_held_gripper_dist": 0.007395131922988914, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.033602313566948, + "required_height": 0.8001463897966117, + "gripper_z": 1.0349528320743695, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.59256323093786, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5816228235807235, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9274727451651943, + "max_source_tilt_deg": 89.82935685239788, + "source_upright_tilt_deg": 2.720956947807902, + "max_source_upright_tilt_deg": 89.81950083688788, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9274727451651943, + "source_upright_return_tilt_deg": 2.720956947807902, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.990855787147922e-08, + "max_target_xy_drift": 1.3244769213095208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3779, + -0.0064, + 0.7701 + ], + "controller_target_position": [ + 0.3779, + -0.0064, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0001, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3778, + -0.0317, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.228855726527486e-05, + -0.00013121018325503862, + -0.0010453999872026528 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.720927936882031, + "source_return_step_error_deg": 2.92743841747581, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9140828316281313, + "source_return_best_wrist_position": -1.638460636138916, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638460636138916 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3779, + -0.0064, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3779, + -0.0064, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0001, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3778, + -0.0317, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -4.228855726527486e-05, + -0.00013121018325503862, + -0.0010453999872026528 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.720927936882031, + "pour_controller_source_return_step_error_deg": 2.92743841747581, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9140828316281313, + "pour_controller_source_return_best_wrist_position": -1.638460636138916, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638460636138916, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010992698241911151, + "valid_pour_held_xy_dist": 0.007851941610506388, + "valid_pour_held_gripper_dist": 0.007377023624842273, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.033602313566948, + "valid_pour_source_tilt_deg": 2.9274727451651943, + "valid_pour_source_upright_tilt_deg": 2.720956947807902, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.990855787147922e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3826967163494662, + -0.03680240124267035, + 1.033602313566948 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37136511651683946, + -0.01254959779079225, + 1.033602313566948 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37703091643315284, + -0.0246759995167313, + 1.033602313566948 + ], + "valid_pour_held_grasp_object_position": [ + 0.3826967163494662, + -0.01254959779079225, + 1.033602313566948 + ], + "valid_pour_held_grasp_finger_gap": 0.02676945330114564, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024121948313648583, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.009134835280712676, + -0.99887259052976, + 0.04658436081734729 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005583563092010256, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03755576361533278, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3826967163494662, + -0.03680240124267035, + 1.033602313566948 + ], + "held_grasp_finger_b": [ + 0.37136511651683946, + -0.01254959779079225, + 1.033602313566948 + ], + "held_grasp_midpoint": [ + 0.37703091643315284, + -0.0246759995167313, + 1.033602313566948 + ], + "held_grasp_object_position": [ + 0.3826967163494662, + -0.01254959779079225, + 1.033602313566948 + ], + "held_grasp_finger_gap": 0.02676945330114564, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024121948313648583, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.009134835280712676, + -0.99887259052976, + 0.04658436081734729 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005583563092010256, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03755576361533278, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2726190238152713, + 0.2004080018627823, + 0.761106439193092 + ], + "target_position": [ + 0.27313187653815274, + 0.19757852629943884, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028755781816748867, + "xy_threshold": 0.08, + "gripper_dist": 0.21459440903087904, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106439193092, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545365698335058, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08730324972320304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18494939661772306, + "release_required_pad_clearance": 0.05365162486160152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.313135535788394, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d58c6f2cc6461ca7b2b3a4a82304c98a16956ddc660be1ee07f76b7ddf000cb", + "visual_seed": 2624619697554956224, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e68dc03cf6447a48d77eb5005a2c3c39d0bb13c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_19_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29988031368342627, + 0.20297371538020972, + 1.0030189253947093 + ], + "current_z": 1.0030189253947093, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.14191211935671932, + "gripper_z": 1.0039973927604535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29482721018333397, + 0.1981136583284428, + 1.0039973927604535 + ], + "object_minus_gripper": [ + 0.005053103500092304, + 0.004860057051766925, + -0.000978467365744251 + ], + "object_to_gripper_xy": 0.007010992050278941, + "object_to_gripper_z": -0.000978467365744251, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29988031368342627, + 0.17859844856777782, + 1.0030189253947093 + ], + "finger_b": [ + 0.2879650668002634, + 0.20297371538020972, + 1.0030189253947093 + ], + "finger_midpoint": [ + 0.2939226902418448, + 0.19078608197399377, + 1.0030189253947093 + ], + "object_minus_finger_midpoint": [ + 0.005957623441581461, + 0.012187633406215953, + 0.0 + ], + "finger_gap": 0.027131655689691454, + "fingertip_max_gap": 0.09154228632072028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01356582784484574, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030189253947093, + "object_top_z": 1.0529262768890537, + "finger_top_clearance": 0.04990735149434444, + "fingertip_min_top_clearance": 0.014972205448303333, + "object_projection_between_fingers": 0.8071349667351584, + "object_to_finger_line_xy": 0.010704740073177413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048271143160360144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.300899958150116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3715625218159382, + -0.001691514303304178, + 0.7701463897966119 + ], + "gripper_position": [ + 0.37159285660546537, + -0.011967141731248923, + 1.0367262160208797 + ], + "target_minus_gripper": [ + -3.03347895271866e-05, + 0.010275627427944745, + -0.2665798262242678 + ], + "held_position": [ + 0.3768290138147686, + -0.007328192233986952, + 1.0356638161266782 + ], + "held_minus_target": [ + 0.0052664919988303915, + -0.0056366779306827736, + 0.26551742633006636 + ], + "held_minus_gripper": [ + 0.005236157209303205, + 0.004638949497261971, + -0.0010623998942014268 + ], + "xy_dist": 0.010275672203675338, + "held_xy_dist": 0.007714147786242545, + "held_gripper_dist": 0.007075725283946814, + "max_held_gripper_dist": 0.007083497023293101, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0356638161266782, + "required_height": 0.8001463897966119, + "gripper_z": 1.0367262160208797, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49656492215333, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7297085724233094, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1852825041081894, + "max_source_tilt_deg": 89.98848361052406, + "source_upright_tilt_deg": 1.6355660573182391, + "max_source_upright_tilt_deg": 89.84210579583095, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1852825041081894, + "source_upright_return_tilt_deg": 1.6355660573182391, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.133186607300456e-08, + "max_target_xy_drift": 1.1880113720224779e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3716, + -0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.3716, + -0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0006, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3727, + -0.0263, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011473969962331495, + 0.0005906669093267173, + 0.0008989655328958202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6355681847175811, + "source_return_step_error_deg": 2.185282792308777, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1960388538818676, + "source_return_best_wrist_position": -1.6128158569335938, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128158569335938 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3716, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3716, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0006, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3727, + -0.0263, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0011473969962331495, + 0.0005906669093267173, + 0.0008989655328958202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6355681847175811, + "pour_controller_source_return_step_error_deg": 2.185282792308777, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1960388538818676, + "pour_controller_source_return_best_wrist_position": -1.6128158569335938, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128158569335938, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010275672203675338, + "valid_pour_held_xy_dist": 0.007714147786242545, + "valid_pour_held_gripper_dist": 0.007075725283946814, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0356638161266782, + "valid_pour_source_tilt_deg": 2.1852825041081894, + "valid_pour_source_upright_tilt_deg": 1.6355660573182391, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.133186607300456e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3768290138147686, + -0.031878849550996874, + 1.0356638161266782 + ], + "valid_pour_held_grasp_finger_b": [ + 0.365814721201355, + -0.007328192233986952, + 1.0356638161266782 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3713218675080618, + -0.019603520892491913, + 1.0356638161266782 + ], + "valid_pour_held_grasp_object_position": [ + 0.3768290138147686, + -0.007328192233986952, + 1.0356638161266782 + ], + "valid_pour_held_grasp_finger_gap": 0.026908166352822144, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02438217919005796, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.014388224131724595, + -0.9995925968071396, + 0.024649937417664414 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005338593540984149, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03737068436429189, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3768290138147686, + -0.031878849550996874, + 1.0356638161266782 + ], + "held_grasp_finger_b": [ + 0.365814721201355, + -0.007328192233986952, + 1.0356638161266782 + ], + "held_grasp_midpoint": [ + 0.3713218675080618, + -0.019603520892491913, + 1.0356638161266782 + ], + "held_grasp_object_position": [ + 0.3768290138147686, + -0.007328192233986952, + 1.0356638161266782 + ], + "held_grasp_finger_gap": 0.026908166352822144, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02438217919005796, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014388224131724595, + -0.9995925968071396, + 0.024649937417664414 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005338593540984149, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03737068436429189, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28001231217900335, + 0.20312407813330569, + 0.7611063906046727 + ], + "target_position": [ + 0.2755661329703635, + 0.19962945177327499, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00565516780931945, + "xy_threshold": 0.08, + "gripper_dist": 0.2180519113104626, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063906046727, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572696242904686, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725637992399309, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1876279392035498, + "release_required_pad_clearance": 0.053628189961996545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2663024576918462, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9913f25d6afc7013d3379dca94c4003957011721ea7a132296cf827fe81562f", + "visual_seed": 2377030221848331762, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8b3744622e0545bc7669fe0787f1155dd59e3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_1_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2992353867824188, + 0.20732209552161351, + 1.0034327533421048 + ], + "current_z": 1.0034327533421048, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.14232624532733895, + "gripper_z": 1.0050024248258749, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29408044122348076, + 0.20241527385372174, + 1.0050024248258749 + ], + "object_minus_gripper": [ + 0.005154945558938029, + 0.004906821667891775, + -0.0015696714837700743 + ], + "object_to_gripper_xy": 0.007116906813785546, + "object_to_gripper_z": -0.0015696714837700743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2992353867824188, + 0.18286913037591795, + 1.0034327533421048 + ], + "finger_b": [ + 0.28725955323468877, + 0.20732209552161351, + 1.0034327533421048 + ], + "finger_midpoint": [ + 0.2932474700085538, + 0.19509561294876573, + 1.0034327533421048 + ], + "object_minus_finger_midpoint": [ + 0.00598791677386501, + 0.01222648257284778, + 0.0 + ], + "finger_gap": 0.02722807546595127, + "fingertip_max_gap": 0.09103614894414294, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614037732975636, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034327533421048, + "object_top_z": 1.0533584412436916, + "finger_top_clearance": 0.0499256879015868, + "fingertip_min_top_clearance": 0.014977706370476056, + "object_projection_between_fingers": 0.8065460458778849, + "object_to_finger_line_xy": 0.010755245654416398, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801807447207147, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8194882382137874, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3775111249691669, + -0.003313622114576322, + 0.7701463897966115 + ], + "gripper_position": [ + 0.37626565525666167, + -0.014533264586643474, + 1.035484394576988 + ], + "target_minus_gripper": [ + 0.0012454697125052205, + 0.011219642472067151, + -0.2653380047803765 + ], + "held_position": [ + 0.3815113922177016, + -0.009774486116923675, + 1.0338176975549636 + ], + "held_minus_target": [ + 0.004000267248534695, + -0.0064608640023473525, + 0.263671307758352 + ], + "held_minus_gripper": [ + 0.005245736961039915, + 0.0047587784697197995, + -0.001666697022024488 + ], + "xy_dist": 0.011288559341465188, + "held_xy_dist": 0.007599006626956393, + "held_gripper_dist": 0.007276098387976505, + "max_held_gripper_dist": 0.007326063024095915, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0338176975549636, + "required_height": 0.8001463897966116, + "gripper_z": 1.035484394576988, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52786767911948, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3624323899159112, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.83696753910861, + "max_source_tilt_deg": 89.82739131241134, + "source_upright_tilt_deg": 2.6459770653039927, + "max_source_upright_tilt_deg": 89.82915990394609, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.83696753910861, + "source_upright_return_tilt_deg": 2.6459770653039927, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.3424783150196925e-08, + "max_target_xy_drift": 1.1608423149516188e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3775, + -0.0033, + 0.7701 + ], + "controller_target_position": [ + 0.3775, + -0.0033, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0003, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3766, + -0.0289, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009495882770102387, + -0.000346834295851937, + -0.0005732729163663156 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6459552838250993, + "source_return_step_error_deg": 2.836946257042823, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8289604292785864, + "source_return_best_wrist_position": -1.638584852218628, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638584852218628 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3775, + -0.0033, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3775, + -0.0033, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0003, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3766, + -0.0289, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009495882770102387, + -0.000346834295851937, + -0.0005732729163663156 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6459552838250993, + "pour_controller_source_return_step_error_deg": 2.836946257042823, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8289604292785864, + "pour_controller_source_return_best_wrist_position": -1.638584852218628, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638584852218628, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011288559341465188, + "valid_pour_held_xy_dist": 0.007599006626956393, + "valid_pour_held_gripper_dist": 0.007276098387976505, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0338176975549636, + "valid_pour_source_tilt_deg": 2.83696753910861, + "valid_pour_source_upright_tilt_deg": 2.6459770653039927, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.3424783150196925e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3815113922177016, + -0.03365148814628227, + 1.0338176975549636 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37001631635802185, + -0.009774486116923675, + 1.0338176975549636 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37576385428786174, + -0.021712987131602975, + 1.0338176975549636 + ], + "valid_pour_held_grasp_object_position": [ + 0.3815113922177016, + -0.009774486116923675, + 1.0338176975549636 + ], + "valid_pour_held_grasp_finger_gap": 0.02649996216845953, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023872580095744788, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0018298548624408762, + -0.9989338588639198, + 0.04612805270571052 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005795574146080481, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03780499434267863, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3815113922177016, + -0.03365148814628227, + 1.0338176975549636 + ], + "held_grasp_finger_b": [ + 0.37001631635802185, + -0.009774486116923675, + 1.0338176975549636 + ], + "held_grasp_midpoint": [ + 0.37576385428786174, + -0.021712987131602975, + 1.0338176975549636 + ], + "held_grasp_object_position": [ + 0.3815113922177016, + -0.009774486116923675, + 1.0338176975549636 + ], + "held_grasp_finger_gap": 0.02649996216845953, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023872580095744788, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0018298548624408762, + -0.9989338588639198, + 0.04612805270571052 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005795574146080481, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03780499434267863, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27789196911991454, + 0.21295903249160428, + 0.7611064061659764 + ], + "target_position": [ + 0.274850305678118, + 0.20378790604020217, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009662363938538483, + "xy_threshold": 0.08, + "gripper_dist": 0.2177554610894806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064061659764, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553074355310611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588158035661524, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18921890905974273, + "release_required_pad_clearance": 0.05294079017830762, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9185508906420711, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6cd79c9a15507755632653e556946b25725ac7b4ae23fcb51c9b7978fb67c371", + "visual_seed": 1937093077599481586, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f635ba2ad723d6db8d3e2700e6c6c8967912e55 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_20_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29551860844243955, + 0.19908654184597432, + 1.0012415636885046 + ], + "current_z": 1.0012415636885046, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14013505567373852, + "gripper_z": 1.002933341948522, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2904136023946261, + 0.19431374489857192, + 1.002933341948522 + ], + "object_minus_gripper": [ + 0.005105006047813443, + 0.004772796947402402, + -0.0016917782600174291 + ], + "object_to_gripper_xy": 0.006988610552130196, + "object_to_gripper_z": -0.0016917782600174291, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29551860844243955, + 0.1744956680121111, + 1.0012415636885046 + ], + "finger_b": [ + 0.28395708097638306, + 0.19908654184597432, + 1.0012415636885046 + ], + "finger_midpoint": [ + 0.28973784470941133, + 0.18679110492904272, + 1.0012415636885046 + ], + "object_minus_finger_midpoint": [ + 0.005780763733028216, + 0.012295436916931607, + 0.0 + ], + "finger_gap": 0.02717314838698963, + "fingertip_max_gap": 0.09121476548947352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013586574193494802, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012415636885046, + "object_top_z": 1.051154138790333, + "finger_top_clearance": 0.04991257510182834, + "fingertip_min_top_clearance": 0.014973772530548518, + "object_projection_between_fingers": 0.8189700173782132, + "object_to_finger_line_xy": 0.010462831144758523, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04810738274473676, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9551725099927377, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.378470014691991, + -0.0060757167202904055, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3762096533237729, + -0.01689241517069527, + 1.0361672584960038 + ], + "target_minus_gripper": [ + 0.002260361368218111, + 0.010816698450404866, + -0.2660208090947471 + ], + "held_position": [ + 0.38140700231930363, + -0.01227598141409825, + 1.0343764536219453 + ], + "held_minus_target": [ + 0.0029369876273126483, + -0.006200264693807845, + 0.26423000422068865 + ], + "held_minus_gripper": [ + 0.0051973489955307595, + 0.004616433756597021, + -0.0017908048740584714 + ], + "xy_dist": 0.011050348360206744, + "held_xy_dist": 0.006860698112894028, + "held_gripper_dist": 0.007178501188085481, + "max_held_gripper_dist": 0.00724096865040119, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0343764536219453, + "required_height": 0.8001464494012567, + "gripper_z": 1.0361672584960038, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52047741443754, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2149979862028055, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.986663739157148, + "max_source_tilt_deg": 89.81975557695337, + "source_upright_tilt_deg": 2.680280452181551, + "max_source_upright_tilt_deg": 89.93035442534635, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.986663739157148, + "source_upright_return_tilt_deg": 2.680280452181551, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.95464484997833e-08, + "max_target_xy_drift": 1.210719347000122e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3785, + -0.0061, + 0.7701 + ], + "controller_target_position": [ + 0.3785, + -0.0061, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3765, + -0.0313, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019375836248670072, + -2.6695232302614835e-06, + 0.00021745816918914904 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.680207321961311, + "source_return_step_error_deg": 2.9866016327483327, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.963298134645433, + "source_return_best_wrist_position": -1.6377780437469482, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6377780437469482 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3785, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3785, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3765, + -0.0313, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019375836248670072, + -2.6695232302614835e-06, + 0.00021745816918914904 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.680207321961311, + "pour_controller_source_return_step_error_deg": 2.9866016327483327, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.963298134645433, + "pour_controller_source_return_best_wrist_position": -1.6377780437469482, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6377780437469482, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011050348360206744, + "valid_pour_held_xy_dist": 0.006860698112894028, + "valid_pour_held_gripper_dist": 0.007178501188085481, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0343764536219453, + "valid_pour_source_tilt_deg": 2.986663739157148, + "valid_pour_source_upright_tilt_deg": 2.680280452181551, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.95464484997833e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38140700231930363, + -0.03629627376799132, + 1.0343764536219453 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37032508463647257, + -0.01227598141409825, + 1.0343764536219453 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3758660434778881, + -0.024286127591044787, + 1.0343764536219453 + ], + "valid_pour_held_grasp_object_position": [ + 0.38140700231930363, + -0.01227598141409825, + 1.0343764536219453 + ], + "valid_pour_held_grasp_finger_gap": 0.026453418385825635, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024035737770621894, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0037649291012266948, + -0.9989060408896977, + 0.04661058659717109 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005614067781050809, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037744103819165604, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38140700231930363, + -0.03629627376799132, + 1.0343764536219453 + ], + "held_grasp_finger_b": [ + 0.37032508463647257, + -0.01227598141409825, + 1.0343764536219453 + ], + "held_grasp_midpoint": [ + 0.3758660434778881, + -0.024286127591044787, + 1.0343764536219453 + ], + "held_grasp_object_position": [ + 0.38140700231930363, + -0.01227598141409825, + 1.0343764536219453 + ], + "held_grasp_finger_gap": 0.026453418385825635, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024035737770621894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0037649291012266948, + -0.9989060408896977, + 0.04661058659717109 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005614067781050809, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037744103819165604, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2624150541468417, + 0.20060550741469582, + 0.7611070875701949 + ], + "target_position": [ + 0.2710863010973506, + 0.19781771945867657, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009108363484426615, + "xy_threshold": 0.08, + "gripper_dist": 0.2103187127147163, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070875701949, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569269590817881, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08808053846687451, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18094555594397793, + "release_required_pad_clearance": 0.05404026923343726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0907003993124547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4b82c416dbe50f21967e19184bae0f202f2f5066b506086a7bfa108134be66e", + "visual_seed": 2562398119622685096, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..728caed94af231f3b52004e0458c0da683125433 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_21_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2932531869464557, + 0.20563573346127434, + 1.002135714777201 + ], + "current_z": 1.002135714777201, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.14102896834385592, + "gripper_z": 1.00353196244431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2879032766367511, + 0.20070212797130166, + 1.00353196244431 + ], + "object_minus_gripper": [ + 0.005349910309704609, + 0.004933605489972681, + -0.0013962476671089963 + ], + "object_to_gripper_xy": 0.007277499807802968, + "object_to_gripper_z": -0.0013962476671089963, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2932531869464557, + 0.1808843270541246, + 1.002135714777201 + ], + "finger_b": [ + 0.2814340984464698, + 0.20563573346127434, + 1.002135714777201 + ], + "finger_midpoint": [ + 0.28734364269646273, + 0.19326003025769947, + 1.002135714777201 + ], + "object_minus_finger_midpoint": [ + 0.00590954424999296, + 0.012375703203574867, + 0.0 + ], + "finger_gap": 0.02742850655982551, + "fingertip_max_gap": 0.09117881189775864, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013714253279912767, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002135714777201, + "object_top_z": 1.0520082565856612, + "finger_top_clearance": 0.049872541808460236, + "fingertip_min_top_clearance": 0.014961762542538053, + "object_projection_between_fingers": 0.8143206333576024, + "object_to_finger_line_xy": 0.01066551188950625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048089405948879324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9193425007206129, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3745878747708026, + -0.00891382354623817, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37396491432264545, + -0.021438142648304723, + 1.0345731390595043 + ], + "target_minus_gripper": [ + 0.0006229604481571283, + 0.012524319102066552, + -0.26442674926289267 + ], + "held_position": [ + 0.37947993379452144, + -0.01672733285434807, + 1.0330675790415362 + ], + "held_minus_target": [ + 0.004892059023718864, + -0.007813509308109898, + 0.2629211892449246 + ], + "held_minus_gripper": [ + 0.005515019471875993, + 0.004710809793956654, + -0.0015055600179680884 + ], + "xy_dist": 0.01253980257780629, + "held_xy_dist": 0.009218631633787586, + "held_gripper_dist": 0.007407690575186935, + "max_held_gripper_dist": 0.007429118851929741, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0330675790415362, + "required_height": 0.8001463897966117, + "gripper_z": 1.0345731390595043, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.61745927046255, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.152267245975593, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.606587497775761, + "max_source_tilt_deg": 89.72271897701971, + "source_upright_tilt_deg": 1.699788829559077, + "max_source_upright_tilt_deg": 89.96059204572623, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.606587497775761, + "source_upright_return_tilt_deg": 1.699788829559077, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.21468485096674e-08, + "max_target_xy_drift": 1.9556887073095984e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3746, + -0.0089, + 0.7701 + ], + "controller_target_position": [ + 0.3746, + -0.0089, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0016, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.374, + -0.0357, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005444685389825077, + -0.0015641176626733362, + -0.001703098764277203 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6997832878457868, + "source_return_step_error_deg": 2.606598751651771, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5961023663243648, + "source_return_best_wrist_position": -1.6134616136550903, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6134616136550903 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3746, + -0.0089, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3746, + -0.0089, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0016, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.374, + -0.0357, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005444685389825077, + -0.0015641176626733362, + -0.001703098764277203 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6997832878457868, + "pour_controller_source_return_step_error_deg": 2.606598751651771, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5961023663243648, + "pour_controller_source_return_best_wrist_position": -1.6134616136550903, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6134616136550903, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01253980257780629, + "valid_pour_held_xy_dist": 0.009218631633787586, + "valid_pour_held_gripper_dist": 0.007407690575186935, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0330675790415362, + "valid_pour_source_tilt_deg": 2.606587497775761, + "valid_pour_source_upright_tilt_deg": 1.699788829559077, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.21468485096674e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37947993379452144, + -0.041621964311186595, + 1.0330675790415362 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36843759402982956, + -0.01672733285434807, + 1.0330675790415362 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37395876391217553, + -0.029174648582767332, + 1.0330675790415362 + ], + "valid_pour_held_grasp_object_position": [ + 0.37947993379452144, + -0.01672733285434807, + 1.0330675790415362 + ], + "valid_pour_held_grasp_finger_gap": 0.027233728038054388, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024686237871769504, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.01788020907201646, + -0.9995599757541668, + 0.023667551497153605 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005305976229742986, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03717969179057338, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37947993379452144, + -0.041621964311186595, + 1.0330675790415362 + ], + "held_grasp_finger_b": [ + 0.36843759402982956, + -0.01672733285434807, + 1.0330675790415362 + ], + "held_grasp_midpoint": [ + 0.37395876391217553, + -0.029174648582767332, + 1.0330675790415362 + ], + "held_grasp_object_position": [ + 0.37947993379452144, + -0.01672733285434807, + 1.0330675790415362 + ], + "held_grasp_finger_gap": 0.027233728038054388, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024686237871769504, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01788020907201646, + -0.9995599757541668, + 0.023667551497153605 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005305976229742986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03717969179057338, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25897143433962627, + 0.20054722167695346, + 0.761108797515932 + ], + "target_position": [ + 0.26853977523325784, + 0.20068168861188226, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009569285700266831, + "xy_threshold": 0.08, + "gripper_dist": 0.20612319244715407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108797515932, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580816035185524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535899972143411, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17619309151802204, + "release_required_pad_clearance": 0.05267949986071706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4130636807164426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a509172dbdc98d0c0deaaf73e2e92848af5a919c363969e053860fb2814221ce", + "visual_seed": 3564474426828707629, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0b5301593ac33be8205fbff4e9c9112d0b2673 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_23_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3017463843284746, + 0.20457183332303924, + 1.00201795670154 + ], + "current_z": 1.00201795670154, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.1409113294774843, + "gripper_z": 1.0030099858469645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2964993574672535, + 0.1995692838789698, + 1.0030099858469645 + ], + "object_minus_gripper": [ + 0.005247026861221138, + 0.005002549444069443, + -0.0009920291454246222 + ], + "object_to_gripper_xy": 0.007249606321914014, + "object_to_gripper_z": -0.0009920291454246222, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3017463843284746, + 0.18012646781869934, + 1.00201795670154 + ], + "finger_b": [ + 0.2895451454672868, + 0.20457183332303924, + 1.00201795670154 + ], + "finger_midpoint": [ + 0.29564576489788075, + 0.1923491505708693, + 1.00201795670154 + ], + "object_minus_finger_midpoint": [ + 0.006100619430593868, + 0.01222268275216995, + 0.0 + ], + "finger_gap": 0.027321166234048837, + "fingertip_max_gap": 0.0914752900958988, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013660583117024406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00201795670154, + "object_top_z": 1.0519688390496633, + "finger_top_clearance": 0.04995088234812339, + "fingertip_min_top_clearance": 0.014985264704437017, + "object_projection_between_fingers": 0.8005613199884856, + "object_to_finger_line_xy": 0.010916947725159025, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048237645047949404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.236949533886994, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37839881694380684, + -0.0026770591767057007, + 0.7701463897966118 + ], + "gripper_position": [ + 0.37704591492319817, + -0.013302541886398442, + 1.0364193446833296 + ], + "target_minus_gripper": [ + 0.0013529020206086706, + 0.01062548270969274, + -0.26627295488671787 + ], + "held_position": [ + 0.38244621040242077, + -0.008498198810724273, + 1.0353390553508888 + ], + "held_minus_target": [ + 0.004047393458613935, + -0.0058211396340185715, + 0.265192665554277 + ], + "held_minus_gripper": [ + 0.0054002954792226054, + 0.004804343075674169, + -0.0010802893324408647 + ], + "xy_dist": 0.01071126634396449, + "held_xy_dist": 0.007089926688448389, + "held_gripper_dist": 0.007308346508853831, + "max_held_gripper_dist": 0.007320998340631912, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0353390553508888, + "required_height": 0.8001463897966118, + "gripper_z": 1.0364193446833296, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.46563099540234, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5011509852194923, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9514013283162863, + "max_source_tilt_deg": 89.9852623651108, + "source_upright_tilt_deg": 2.6710271735641884, + "max_source_upright_tilt_deg": 89.89955798882667, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9514013283162863, + "source_upright_return_tilt_deg": 2.6710271735641884, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.98374754190445e-08, + "max_target_xy_drift": 1.9892459388155464e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3784, + -0.0027, + 0.7701 + ], + "controller_target_position": [ + 0.3784, + -0.0027, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0005, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3778, + -0.0274, + 1.0359 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005929495355972377, + 0.00045833247332589247, + 0.0005715433106089976 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.67102821448931, + "source_return_step_error_deg": 2.9514027074604354, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9878527441241434, + "source_return_best_wrist_position": -1.6377283334732056, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6377283334732056 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3784, + -0.0027, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3784, + -0.0027, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0005, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3778, + -0.0274, + 1.0359 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005929495355972377, + 0.00045833247332589247, + 0.0005715433106089976 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.67102821448931, + "pour_controller_source_return_step_error_deg": 2.9514027074604354, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9878527441241434, + "pour_controller_source_return_best_wrist_position": -1.6377283334732056, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6377283334732056, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01071126634396449, + "valid_pour_held_xy_dist": 0.007089926688448389, + "valid_pour_held_gripper_dist": 0.007308346508853831, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0353390553508888, + "valid_pour_source_tilt_deg": 2.9514013283162863, + "valid_pour_source_upright_tilt_deg": 2.6710271735641884, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.98374754190445e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38244621040242077, + -0.0325905818283502, + 1.0353390553508888 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37107874872051305, + -0.008498198810724273, + 1.0353390553508888 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3767624795614669, + -0.020544390319537236, + 1.0353390553508888 + ], + "valid_pour_held_grasp_object_position": [ + 0.38244621040242077, + -0.008498198810724273, + 1.0353390553508888 + ], + "valid_pour_held_grasp_finger_gap": 0.026639483939401503, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02400838622112163, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0050866543907120325, + -0.9989135799638573, + 0.046322626338538446 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056500716097874675, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03765823461065872, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38244621040242077, + -0.0325905818283502, + 1.0353390553508888 + ], + "held_grasp_finger_b": [ + 0.37107874872051305, + -0.008498198810724273, + 1.0353390553508888 + ], + "held_grasp_midpoint": [ + 0.3767624795614669, + -0.020544390319537236, + 1.0353390553508888 + ], + "held_grasp_object_position": [ + 0.38244621040242077, + -0.008498198810724273, + 1.0353390553508888 + ], + "held_grasp_finger_gap": 0.026639483939401503, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02400838622112163, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0050866543907120325, + -0.9989135799638573, + 0.046322626338538446 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056500716097874675, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03765823461065872, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26729746441360147, + 0.2041153920574708, + 0.7611064018891159 + ], + "target_position": [ + 0.27728513276526023, + 0.20287941937128795, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010063853515613001, + "xy_threshold": 0.08, + "gripper_dist": 0.2094896477669127, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064018891159, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589581022586407, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569509685055786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1798810932000658, + "release_required_pad_clearance": 0.05284754842527893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7380707877174667, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "009c68f101f6676c4975bc0a279354974135401744ddd93f70cd25f2bebd0b97", + "visual_seed": 3570201369890067269, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b6efc53e6861dc53289c463d207b19e18dff15a --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_24_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.292204613980574, + 0.20700912424446968, + 1.002467000054439 + ], + "current_z": 1.002467000054439, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14136049203967294, + "gripper_z": 1.0042314703660529, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2869308400987659, + 0.20209855342168215, + 1.0042314703660529 + ], + "object_minus_gripper": [ + 0.005273773881808108, + 0.0049105708227875355, + -0.0017644703116139748 + ], + "object_to_gripper_xy": 0.007205997277410922, + "object_to_gripper_z": -0.0017644703116139748, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.292204613980574, + 0.18233867022643963, + 1.002467000054439 + ], + "finger_b": [ + 0.2803860871536944, + 0.20700912424446968, + 1.002467000054439 + ], + "finger_midpoint": [ + 0.2862953505671342, + 0.19467389723545464, + 1.002467000054439 + ], + "object_minus_finger_midpoint": [ + 0.005909263413439836, + 0.012335227009015043, + 0.0 + ], + "finger_gap": 0.027355234925209627, + "fingertip_max_gap": 0.0910247233996492, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367761746260484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002467000054439, + "object_top_z": 1.0523203647104564, + "finger_top_clearance": 0.04985336465601753, + "fingertip_min_top_clearance": 0.014956009396805225, + "object_projection_between_fingers": 0.8133423503329038, + "object_to_finger_line_xy": 0.010658596917209757, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048012361699824604, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8469667205314262, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37643210208479805, + -0.009658686028189882, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3763998151476676, + -0.019695385061004447, + 1.0350831806705392 + ], + "target_minus_gripper": [ + 3.22869371304213e-05, + 0.010036699032814565, + -0.26493673126928285 + ], + "held_position": [ + 0.3818347643984494, + -0.015028683483307532, + 1.033193282224819 + ], + "held_minus_target": [ + 0.00540266231365133, + -0.00536999745511765, + 0.2630468328235628 + ], + "held_minus_gripper": [ + 0.005434949250781751, + 0.004666701577696915, + -0.001889898445720073 + ], + "xy_dist": 0.010036750964411246, + "held_xy_dist": 0.007617455792016017, + "held_gripper_dist": 0.007408676879780029, + "max_held_gripper_dist": 0.007465115335518456, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.033193282224819, + "required_height": 0.8001464494012563, + "gripper_z": 1.0350831806705392, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.62702836548974, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9271623548976097, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.178310706268426, + "max_source_tilt_deg": 89.79506887011375, + "source_upright_tilt_deg": 2.6895025719869317, + "max_source_upright_tilt_deg": 89.74206998460596, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.178310706268426, + "source_upright_return_tilt_deg": 2.6895025719869317, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.626714568112198e-08, + "max_target_xy_drift": 9.874215562123223e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3764, + -0.0097, + 0.7701 + ], + "controller_target_position": [ + 0.3764, + -0.0097, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + 0.0009, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3773, + -0.034, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008654428341050009, + 0.0008978902285302409, + -0.0012525921185224575 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.689518760191805, + "source_return_step_error_deg": 3.1783245551871335, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.167995279714259, + "source_return_best_wrist_position": -1.6388113498687744, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6388113498687744 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3764, + -0.0097, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3764, + -0.0097, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + 0.0009, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3773, + -0.034, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008654428341050009, + 0.0008978902285302409, + -0.0012525921185224575 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.689518760191805, + "pour_controller_source_return_step_error_deg": 3.1783245551871335, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.167995279714259, + "pour_controller_source_return_best_wrist_position": -1.6388113498687744, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6388113498687744, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010036750964411246, + "valid_pour_held_xy_dist": 0.007617455792016017, + "valid_pour_held_gripper_dist": 0.007408676879780029, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.033193282224819, + "valid_pour_source_tilt_deg": 3.178310706268426, + "valid_pour_source_upright_tilt_deg": 2.6895025719869317, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.626714568112198e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3818347643984494, + -0.039403976265985484, + 1.033193282224819 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3707986282119773, + -0.015028683483307532, + 1.033193282224819 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37631669630521336, + -0.02721632987464651, + 1.033193282224819 + ], + "valid_pour_held_grasp_object_position": [ + 0.3818347643984494, + -0.015028683483307532, + 1.033193282224819 + ], + "valid_pour_held_grasp_finger_gap": 0.026757264437300584, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024193978678451453, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.013996269537688831, + -0.9988985007176991, + 0.04478716002339523 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005374911447353167, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03746879599414883, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3818347643984494, + -0.039403976265985484, + 1.033193282224819 + ], + "held_grasp_finger_b": [ + 0.3707986282119773, + -0.015028683483307532, + 1.033193282224819 + ], + "held_grasp_midpoint": [ + 0.37631669630521336, + -0.02721632987464651, + 1.033193282224819 + ], + "held_grasp_object_position": [ + 0.3818347643984494, + -0.015028683483307532, + 1.033193282224819 + ], + "held_grasp_finger_gap": 0.026757264437300584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024193978678451453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.013996269537688831, + -0.9988985007176991, + 0.04478716002339523 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005374911447353167, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03746879599414883, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2658844951796904, + 0.21326615206094676, + 0.7611066092700983 + ], + "target_position": [ + 0.2675463912634373, + 0.2038243777071553, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009586918250464396, + "xy_threshold": 0.08, + "gripper_dist": 0.2125586447998369, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066092700983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590384798214987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08645374631043183, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18356617075801482, + "release_required_pad_clearance": 0.05322687315521592, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4750884917921692, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5374874a2da8eaf3c9726489e81451a8adfccf9039e279ee5157b339deb1ad10", + "visual_seed": 6491674236090197265, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f85197fe2483b674db2ed0986d556452e44fbf35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_25_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2929484259896883, + 0.19949317776941944, + 1.002022002766502 + ], + "current_z": 1.002022002766502, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1409156139610257, + "gripper_z": 1.00362066452979, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2877162939426268, + 0.19451869752360096, + 1.00362066452979 + ], + "object_minus_gripper": [ + 0.005232132047061466, + 0.00497448024581848, + -0.001598661763287934 + ], + "object_to_gripper_xy": 0.007219463932587093, + "object_to_gripper_z": -0.001598661763287934, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2929484259896883, + 0.17499764371153353, + 1.002022002766502 + ], + "finger_b": [ + 0.2808663933335205, + 0.19949317776941944, + 1.002022002766502 + ], + "finger_midpoint": [ + 0.2869074096616044, + 0.1872454107404765, + 1.002022002766502 + ], + "object_minus_finger_midpoint": [ + 0.0060410163280839035, + 0.012247767028942952, + 0.0 + ], + "finger_gap": 0.0273131232539553, + "fingertip_max_gap": 0.09131459359601005, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01365656162697765, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002022002766502, + "object_top_z": 1.0521350546622021, + "finger_top_clearance": 0.050113051895700034, + "fingertip_min_top_clearance": 0.015033915568710025, + "object_projection_between_fingers": 0.8043241263976465, + "object_to_finger_line_xy": 0.010835664587527178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048157296798005025, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9654861212867264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3772895447022145, + -0.005577836328513846, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3757603917304657, + -0.01827675542450434, + 1.0358786341418162 + ], + "target_minus_gripper": [ + 0.0015291529717487706, + 0.012698919095990493, + -0.2657322443452045 + ], + "held_position": [ + 0.381171115990948, + -0.013533277144800158, + 1.0342030238078732 + ], + "held_minus_target": [ + 0.0038815712887335097, + -0.00795544081628631, + 0.26405663401126145 + ], + "held_minus_gripper": [ + 0.00541072426048228, + 0.004743478279704182, + -0.001675610333943034 + ], + "xy_dist": 0.01279065498782295, + "held_xy_dist": 0.008851871793635203, + "held_gripper_dist": 0.0073881116128692555, + "max_held_gripper_dist": 0.007436180240429092, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0342030238078732, + "required_height": 0.8001463897966118, + "gripper_z": 1.0358786341418162, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.46576759918574, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5135190332059053, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1593137661942494, + "max_source_tilt_deg": 89.77746485564796, + "source_upright_tilt_deg": 1.6463648924923837, + "max_source_upright_tilt_deg": 89.9317404226019, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1593137661942494, + "source_upright_return_tilt_deg": 1.6463648924923837, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.685754776174449e-08, + "max_target_xy_drift": 2.125783303865332e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3773, + -0.0056, + 0.7701 + ], + "controller_target_position": [ + 0.3773, + -0.0056, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0018, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.377, + -0.0325, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027403764756999934, + -0.0017621993914682804, + -0.00020350809968178044 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6464022321610245, + "source_return_step_error_deg": 2.15935081166996, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1510003464008616, + "source_return_best_wrist_position": -1.6125644445419312, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125644445419312 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3773, + -0.0056, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3773, + -0.0056, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0018, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.377, + -0.0325, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00027403764756999934, + -0.0017621993914682804, + -0.00020350809968178044 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6464022321610245, + "pour_controller_source_return_step_error_deg": 2.15935081166996, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1510003464008616, + "pour_controller_source_return_best_wrist_position": -1.6125644445419312, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125644445419312, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01279065498782295, + "valid_pour_held_xy_dist": 0.008851871793635203, + "valid_pour_held_gripper_dist": 0.0073881116128692555, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0342030238078732, + "valid_pour_source_tilt_deg": 2.1593137661942494, + "valid_pour_source_upright_tilt_deg": 1.6463648924923837, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.685754776174449e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.381171115990948, + -0.0381157872144054, + 1.0342030238078732 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3699417497698986, + -0.013533277144800158, + 1.0342030238078732 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3755564328804233, + -0.02582453217960278, + 1.0342030238078732 + ], + "valid_pour_held_grasp_object_position": [ + 0.381171115990948, + -0.013533277144800158, + 1.0342030238078732 + ], + "valid_pour_held_grasp_finger_gap": 0.027025885129791566, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024368135359510896, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.01818686998992714, + -0.9995871989258172, + 0.022241166867064344 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005397200302627716, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03733195536680811, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.381171115990948, + -0.0381157872144054, + 1.0342030238078732 + ], + "held_grasp_finger_b": [ + 0.3699417497698986, + -0.013533277144800158, + 1.0342030238078732 + ], + "held_grasp_midpoint": [ + 0.3755564328804233, + -0.02582453217960278, + 1.0342030238078732 + ], + "held_grasp_object_position": [ + 0.381171115990948, + -0.013533277144800158, + 1.0342030238078732 + ], + "held_grasp_finger_gap": 0.027025885129791566, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024368135359510896, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01818686998992714, + -0.9995871989258172, + 0.022241166867064344 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005397200302627716, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03733195536680811, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2636422516553401, + 0.19474651214841676, + 0.7611103348271654 + ], + "target_position": [ + 0.26836959870478144, + 0.1979765787955206, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005725481697690977, + "xy_threshold": 0.08, + "gripper_dist": 0.21031454337537575, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103348271654, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535713458881053, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08773013813536955, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17990734139235104, + "release_required_pad_clearance": 0.053865069067684776, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.737757860481295, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ee0064838b1cbc34b9f535c6aabbe83f00d3de02bc68c9adc052fee4c21c3516", + "visual_seed": 5854042105689185031, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d51176b7a012f60dd576930ad626a3d4b8ff75f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_26_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2955901902823944, + 0.20349289256923614, + 1.001926003214691 + ], + "current_z": 1.001926003214691, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14081955480456987, + "gripper_z": 1.003033840724214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2904661347092916, + 0.1986529249863527, + 1.003033840724214 + ], + "object_minus_gripper": [ + 0.005124055573102804, + 0.0048399675828834365, + -0.0011078375095230353 + ], + "object_to_gripper_xy": 0.007048491449920928, + "object_to_gripper_z": -0.0011078375095230353, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2955901902823944, + 0.17897226321211326, + 1.001926003214691 + ], + "finger_b": [ + 0.2838254974340477, + 0.20349289256923614, + 1.001926003214691 + ], + "finger_midpoint": [ + 0.28970784385822107, + 0.19123257789067472, + 1.001926003214691 + ], + "object_minus_finger_midpoint": [ + 0.005882346424173346, + 0.012260314678561424, + 0.0 + ], + "finger_gap": 0.027196861250617432, + "fingertip_max_gap": 0.09123140712115183, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013598430625308702, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001926003214691, + "object_top_z": 1.0518782521971248, + "finger_top_clearance": 0.04995224898243378, + "fingertip_min_top_clearance": 0.014985674694730116, + "object_projection_between_fingers": 0.8128785324089945, + "object_to_finger_line_xy": 0.010607020794657111, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048115703560575915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9594988235902889, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3715331665283863, + -0.002277994438402278, + 0.7701464494012564 + ], + "gripper_position": [ + 0.37117805637158613, + -0.013069599495989778, + 1.035789294594982 + ], + "target_minus_gripper": [ + 0.00035511015680017577, + 0.0107916050575875, + -0.2656428451937256 + ], + "held_position": [ + 0.37634999026188115, + -0.00831798479322629, + 1.0345852829342415 + ], + "held_minus_target": [ + 0.004816823733494846, + -0.0060399903548240125, + 0.26443883353298503 + ], + "held_minus_gripper": [ + 0.005171933890295022, + 0.0047516147027634875, + -0.0012040116607405782 + ], + "xy_dist": 0.01079744613056304, + "held_xy_dist": 0.007725495088725791, + "held_gripper_dist": 0.007125755154950219, + "max_held_gripper_dist": 0.007139901619251076, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0345852829342415, + "required_height": 0.8001464494012565, + "gripper_z": 1.035789294594982, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54430111426254, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8460138370113478, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8173079332389372, + "max_source_tilt_deg": 89.96479758943912, + "source_upright_tilt_deg": 2.7199026442355763, + "max_source_upright_tilt_deg": 89.78596848495462, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8173079332389372, + "source_upright_return_tilt_deg": 2.7199026442355763, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.28642737865448e-09, + "max_target_xy_drift": 9.956008206973051e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3715, + -0.0023, + 0.7701 + ], + "controller_target_position": [ + 0.3715, + -0.0023, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0003, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3721, + -0.0272, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005437229420147366, + 0.0003120074416908848, + -0.0003902574326159205 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.719886774242123, + "source_return_step_error_deg": 2.817294664188098, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8508401055467605, + "source_return_best_wrist_position": -1.6390931606292725, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6390931606292725 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3715, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3715, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0003, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3721, + -0.0272, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005437229420147366, + 0.0003120074416908848, + -0.0003902574326159205 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.719886774242123, + "pour_controller_source_return_step_error_deg": 2.817294664188098, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8508401055467605, + "pour_controller_source_return_best_wrist_position": -1.6390931606292725, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6390931606292725, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01079744613056304, + "valid_pour_held_xy_dist": 0.007725495088725791, + "valid_pour_held_gripper_dist": 0.007125755154950219, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0345852829342415, + "valid_pour_source_tilt_deg": 2.8173079332389372, + "valid_pour_source_upright_tilt_deg": 2.7199026442355763, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.28642737865448e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37634999026188115, + -0.03216846195599603, + 1.0345852829342415 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3649112637708625, + -0.00831798479322629, + 1.0345852829342415 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37063062701637184, + -0.02024322337461116, + 1.0345852829342415 + ], + "valid_pour_held_grasp_object_position": [ + 0.37634999026188115, + -0.00831798479322629, + 1.0345852829342415 + ], + "valid_pour_held_grasp_finger_gap": 0.0264516488073642, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023954934117147535, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01148076943860429, + -0.9988734637486086, + 0.046043407258313795 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005881441874581081, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037874108393035934, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37634999026188115, + -0.03216846195599603, + 1.0345852829342415 + ], + "held_grasp_finger_b": [ + 0.3649112637708625, + -0.00831798479322629, + 1.0345852829342415 + ], + "held_grasp_midpoint": [ + 0.37063062701637184, + -0.02024322337461116, + 1.0345852829342415 + ], + "held_grasp_object_position": [ + 0.37634999026188115, + -0.00831798479322629, + 1.0345852829342415 + ], + "held_grasp_finger_gap": 0.0264516488073642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023954934117147535, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01148076943860429, + -0.9988734637486086, + 0.046043407258313795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005881441874581081, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037874108393035934, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2685063808917689, + 0.20491843451669736, + 0.7611063552413189 + ], + "target_position": [ + 0.2711824229548624, + 0.19896700977695292, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0065253856251019935, + "xy_threshold": 0.08, + "gripper_dist": 0.21273647919317673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063552413189, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588788692173501, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08777968942032059, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18306596903085592, + "release_required_pad_clearance": 0.0538898447101603, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7893087792687923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b815b2dcdba8a66b63a559a5c3cb7de132dcebbc13f5645b8308d6ecc49a9494", + "visual_seed": 3068644496404826506, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4519e32ae35376ecc83f380d67348350fda0498f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_27_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2982588717715701, + 0.20789020732277355, + 1.002251174832531 + ], + "current_z": 1.002251174832531, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.14114442839918573, + "gripper_z": 1.0030992631308926, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29298245882811985, + 0.20295036272205935, + 1.0030992631308926 + ], + "object_minus_gripper": [ + 0.0052764129434502705, + 0.004939844600714199, + -0.0008480882983616933 + ], + "object_to_gripper_xy": 0.007227904138062068, + "object_to_gripper_z": -0.0008480882983616933, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2982588717715701, + 0.18329660547233623, + 1.002251174832531 + ], + "finger_b": [ + 0.28630551648098274, + 0.20789020732277355, + 1.002251174832531 + ], + "finger_midpoint": [ + 0.29228219412627643, + 0.1955934063975549, + 1.002251174832531 + ], + "object_minus_finger_midpoint": [ + 0.005976677645293693, + 0.012296800925218648, + 0.0 + ], + "finger_gap": 0.02734461472906224, + "fingertip_max_gap": 0.09104899747761477, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013672307364531108, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002251174832531, + "object_top_z": 1.052202121038994, + "finger_top_clearance": 0.04995094620646312, + "fingertip_min_top_clearance": 0.014985283861938918, + "object_projection_between_fingers": 0.8089108454370949, + "object_to_finger_line_xy": 0.010750784522156139, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802449873880739, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7842111014963408, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3728495053059286, + -0.0034545761564298712, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37313837111311643, + -0.016498111164174586, + 1.034557855967801 + ], + "target_minus_gripper": [ + -0.0002888658071878436, + 0.013043535007744715, + -0.2644114661711894 + ], + "held_position": [ + 0.3785154998850651, + -0.011697658022284098, + 1.0336143300968357 + ], + "held_minus_target": [ + 0.005665994579136524, + -0.008243081865854226, + 0.263467940300224 + ], + "held_minus_gripper": [ + 0.0053771287719486804, + 0.004800453141890489, + -0.000943525870965356 + ], + "xy_dist": 0.013046733267482102, + "held_xy_dist": 0.010002594324373016, + "held_gripper_dist": 0.007269670230951712, + "max_held_gripper_dist": 0.007281274627109105, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0336143300968357, + "required_height": 0.8001463897966117, + "gripper_z": 1.034557855967801, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52557956574753, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.600444065714326, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.931795809224161, + "max_source_tilt_deg": 89.90108184616146, + "source_upright_tilt_deg": 2.6660288668302607, + "max_source_upright_tilt_deg": 89.99818007630566, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.931795809224161, + "source_upright_return_tilt_deg": 2.6660288668302607, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9810506716219094e-08, + "max_target_xy_drift": 1.4715559789234311e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3728, + -0.0035, + 0.7701 + ], + "controller_target_position": [ + 0.3728, + -0.0035, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.002, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3741, + -0.0306, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001241322198370263, + -0.0019524123213734961, + -0.0017894272508437053 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.666060174036001, + "source_return_step_error_deg": 2.9318269957209586, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9574271526079547, + "source_return_best_wrist_position": -1.6386758089065552, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6386758089065552 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3728, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3728, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.002, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3741, + -0.0306, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001241322198370263, + -0.0019524123213734961, + -0.0017894272508437053 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.666060174036001, + "pour_controller_source_return_step_error_deg": 2.9318269957209586, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9574271526079547, + "pour_controller_source_return_best_wrist_position": -1.6386758089065552, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6386758089065552, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013046733267482102, + "valid_pour_held_xy_dist": 0.010002594324373016, + "valid_pour_held_gripper_dist": 0.007269670230951712, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0336143300968357, + "valid_pour_source_tilt_deg": 2.931795809224161, + "valid_pour_source_upright_tilt_deg": 2.6660288668302607, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9810506716219094e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3785154998850651, + -0.03580224282668997, + 1.0336143300968357 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3671633843186112, + -0.011697658022284098, + 1.0336143300968357 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37283944210183817, + -0.023749950424487035, + 1.0336143300968357 + ], + "valid_pour_held_grasp_object_position": [ + 0.3785154998850651, + -0.011697658022284098, + 1.0336143300968357 + ], + "valid_pour_held_grasp_finger_gap": 0.026643977488860788, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02404046166993779, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.003350329981281692, + -0.9989176415380508, + 0.046393110620812195 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005663360253329613, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037661985901992906, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3785154998850651, + -0.03580224282668997, + 1.0336143300968357 + ], + "held_grasp_finger_b": [ + 0.3671633843186112, + -0.011697658022284098, + 1.0336143300968357 + ], + "held_grasp_midpoint": [ + 0.37283944210183817, + -0.023749950424487035, + 1.0336143300968357 + ], + "held_grasp_object_position": [ + 0.3785154998850651, + -0.011697658022284098, + 1.0336143300968357 + ], + "held_grasp_finger_gap": 0.026643977488860788, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02404046166993779, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003350329981281692, + -0.9989176415380508, + 0.046393110620812195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005663360253329613, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037661985901992906, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2681739140787021, + 0.2029316435859966, + 0.7611067787230782 + ], + "target_position": [ + 0.27373535069889227, + 0.2061972971156248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006449346498364393, + "xy_threshold": 0.08, + "gripper_dist": 0.21190869477226418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067787230782, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555446764602494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521759008601014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18160105259100118, + "release_required_pad_clearance": 0.05260879504300507, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.27976451097953586, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f589376fb5e2a3995b133277f43260a4ba126209530558351546c2b9390a3f4", + "visual_seed": 570198040582551477, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..34f830f6548387842c733f988dfc5138eb8c3437 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_28_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2948231622234085, + 0.20277964860304246, + 1.000700435184353 + ], + "current_z": 1.000700435184353, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.13959374835565264, + "gripper_z": 1.0020452673384197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28988168321683394, + 0.19793442684645784, + 1.0020452673384197 + ], + "object_minus_gripper": [ + 0.004941479006574545, + 0.004845221756584611, + -0.0013448321540667774 + ], + "object_to_gripper_xy": 0.006920577190010803, + "object_to_gripper_z": -0.0013448321540667774, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2948231622234085, + 0.17853721916603207, + 1.000700435184353 + ], + "finger_b": [ + 0.28285019228248076, + 0.20277964860304246, + 1.000700435184353 + ], + "finger_midpoint": [ + 0.2888366772529446, + 0.19065843388453727, + 1.000700435184353 + ], + "object_minus_finger_midpoint": [ + 0.00598648497046389, + 0.012121214718505191, + 0.0 + ], + "finger_gap": 0.027037888124163585, + "fingertip_max_gap": 0.09142209698125967, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013518944062081805, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.000700435184353, + "object_top_z": 1.0507295888174826, + "finger_top_clearance": 0.05002915363312965, + "fingertip_min_top_clearance": 0.01500874608993888, + "object_projection_between_fingers": 0.8039087337691254, + "object_to_finger_line_xy": 0.010735079515510981, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048211048490629835, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8589500910288198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37325368440215034, + -0.004222272572435363, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3724055271358616, + -0.01530160738389566, + 1.03745745646922 + ], + "target_minus_gripper": [ + 0.0008481572662887293, + 0.011079334811460298, + -0.2673110666726083 + ], + "held_position": [ + 0.3775131780535539, + -0.010675577149292613, + 1.0360157096181606 + ], + "held_minus_target": [ + 0.004259493651403545, + -0.00645330457685725, + 0.2658693198215488 + ], + "held_minus_gripper": [ + 0.005107650917692275, + 0.004626030234603047, + -0.0014417468510594666 + ], + "xy_dist": 0.011111751914652988, + "held_xy_dist": 0.007732297596965202, + "held_gripper_dist": 0.00704037553053842, + "max_held_gripper_dist": 0.0070715771237620665, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0360157096181606, + "required_height": 0.8001463897966118, + "gripper_z": 1.03745745646922, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54744300128074, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.14447353295019563, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8164907217441844, + "max_source_tilt_deg": 89.71380544352401, + "source_upright_tilt_deg": 2.7143938983061364, + "max_source_upright_tilt_deg": 89.72913943921756, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8164907217441844, + "source_upright_return_tilt_deg": 2.7143938983061364, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.023931401791837e-08, + "max_target_xy_drift": 1.4056570432296183e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3733, + -0.0042, + 0.7701 + ], + "controller_target_position": [ + 0.3733, + -0.0042, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0002, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3728, + -0.0297, + 1.0372 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00046652333460575645, + -0.00024334129938277812, + 0.0018712058753252705 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7144341078475924, + "source_return_step_error_deg": 2.816531614441944, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.840985415162938, + "source_return_best_wrist_position": -1.6377170085906982, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6377170085906982 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3733, + -0.0042, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3733, + -0.0042, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0002, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3728, + -0.0297, + 1.0372 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00046652333460575645, + -0.00024334129938277812, + 0.0018712058753252705 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7144341078475924, + "pour_controller_source_return_step_error_deg": 2.816531614441944, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.840985415162938, + "pour_controller_source_return_best_wrist_position": -1.6377170085906982, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6377170085906982, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011111751914652988, + "valid_pour_held_xy_dist": 0.007732297596965202, + "valid_pour_held_gripper_dist": 0.00704037553053842, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0360157096181606, + "valid_pour_source_tilt_deg": 2.8164907217441844, + "valid_pour_source_upright_tilt_deg": 2.7143938983061364, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.023931401791837e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3775131780535539, + -0.03464460924429533, + 1.0360157096181606 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36639758433067954, + -0.010675577149292613, + 1.0360157096181606 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3719553811921167, + -0.02266009319679397, + 1.0360157096181606 + ], + "valid_pour_held_grasp_object_position": [ + 0.3775131780535539, + -0.010675577149292613, + 1.0360157096181606 + ], + "valid_pour_held_grasp_finger_gap": 0.026421031837974722, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023780163143505104, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.01457197990827862, + -0.9988780213154745, + 0.04505947108472531 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005409772094064916, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0376681922899442, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3775131780535539, + -0.03464460924429533, + 1.0360157096181606 + ], + "held_grasp_finger_b": [ + 0.36639758433067954, + -0.010675577149292613, + 1.0360157096181606 + ], + "held_grasp_midpoint": [ + 0.3719553811921167, + -0.02266009319679397, + 1.0360157096181606 + ], + "held_grasp_object_position": [ + 0.3775131780535539, + -0.010675577149292613, + 1.0360157096181606 + ], + "held_grasp_finger_gap": 0.026421031837974722, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023780163143505104, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01457197990827862, + -0.9988780213154745, + 0.04505947108472531 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005409772094064916, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0376681922899442, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2749918436752034, + 0.1956883914511536, + 0.7611064017914978 + ], + "target_position": [ + 0.27048659390276175, + 0.1984514573010587, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0052850551939404924, + "xy_threshold": 0.08, + "gripper_dist": 0.21678515030673243, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064017914978, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566351641032153, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08835721818558327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18520657544208494, + "release_required_pad_clearance": 0.05417860909279164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3731124280040334, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a05da0881675de73fe8ac82b20b817fb1ba7e62eb30d064ccc7a971ff44f61e", + "visual_seed": 2080443014881519139, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72122aaf2c0e1b3eb679cd07a18fbed27f39e113 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_29_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30029683361897114, + 0.2056262885468069, + 1.0019589427532014 + ], + "current_z": 1.0019589427532014, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.14085231552914568, + "gripper_z": 1.002841099608044, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2951804647531112, + 0.20072607082421756, + 1.002841099608044 + ], + "object_minus_gripper": [ + 0.005116368865859922, + 0.004900217722589334, + -0.0008821568548424974 + ], + "object_to_gripper_xy": 0.007084445221774203, + "object_to_gripper_z": -0.0008821568548424974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30029683361897114, + 0.18122205852948753, + 1.0019589427532014 + ], + "finger_b": [ + 0.2883042975509933, + 0.2056262885468069, + 1.0019589427532014 + ], + "finger_midpoint": [ + 0.2943005655849822, + 0.19342417353814723, + 1.0019589427532014 + ], + "object_minus_finger_midpoint": [ + 0.00599626803398895, + 0.01220211500865967, + 0.0 + ], + "finger_gap": 0.02719167821374733, + "fingertip_max_gap": 0.09134254620306767, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013595839106873665, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019589427532014, + "object_top_z": 1.0518608934789122, + "finger_top_clearance": 0.0499019507257108, + "fingertip_min_top_clearance": 0.014970585217713273, + "object_projection_between_fingers": 0.8054863684062201, + "object_to_finger_line_xy": 0.010763168289699955, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817127310153384, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.152674227574979, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.38061181819502754, + -0.006678638191290123, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3785503152986197, + -0.016093092377014798, + 1.0365707831673487 + ], + "target_minus_gripper": [ + 0.0020615028964078297, + 0.009414454185724674, + -0.26642439337073687 + ], + "held_position": [ + 0.3837441950514706, + -0.011306203514372174, + 1.0355944427586325 + ], + "held_minus_target": [ + 0.0031323768564430754, + -0.004627565323082051, + 0.2654480529620207 + ], + "held_minus_gripper": [ + 0.005193879752850905, + 0.0047868888626426236, + -0.000976340408716192 + ], + "xy_dist": 0.0096375174089081, + "held_xy_dist": 0.005588035933149651, + "held_gripper_dist": 0.007130493143118411, + "max_held_gripper_dist": 0.007142554823446183, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0355944427586325, + "required_height": 0.8001463897966119, + "gripper_z": 1.0365707831673487, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50885926265934, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5669845242198999, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.854342731708943, + "max_source_tilt_deg": 89.98117629361839, + "source_upright_tilt_deg": 2.71639689149115, + "max_source_upright_tilt_deg": 89.74639719096835, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.854342731708943, + "source_upright_return_tilt_deg": 2.71639689149115, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.465844472494707e-08, + "max_target_xy_drift": 1.9691471885077638e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3806, + -0.0067, + 0.7701 + ], + "controller_target_position": [ + 0.3806, + -0.0067, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0014, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3788, + -0.0305, + 1.0357 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018585127256506393, + 0.0014261958674291748, + 0.00038357358898674903 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.716377233416724, + "source_return_step_error_deg": 2.8543461147818, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8496492835669875, + "source_return_best_wrist_position": -1.6382774114608765, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6382774114608765 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3806, + -0.0067, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3806, + -0.0067, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0014, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3788, + -0.0305, + 1.0357 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018585127256506393, + 0.0014261958674291748, + 0.00038357358898674903 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.716377233416724, + "pour_controller_source_return_step_error_deg": 2.8543461147818, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8496492835669875, + "pour_controller_source_return_best_wrist_position": -1.6382774114608765, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6382774114608765, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0096375174089081, + "valid_pour_held_xy_dist": 0.005588035933149651, + "valid_pour_held_gripper_dist": 0.007130493143118411, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0355944427586325, + "valid_pour_source_tilt_deg": 2.854342731708943, + "valid_pour_source_upright_tilt_deg": 2.71639689149115, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.465844472494707e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3837441950514706, + -0.035161282710631986, + 1.0355944427586325 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37225169341803593, + -0.011306203514372174, + 1.0355944427586325 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3779979442347533, + -0.023233743112502078, + 1.0355944427586325 + ], + "valid_pour_held_grasp_object_position": [ + 0.3837441950514706, + -0.011306203514372174, + 1.0355944427586325 + ], + "valid_pour_held_grasp_finger_gap": 0.026479093588231577, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023919688030686607, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.007954162219613368, + -0.9988763655884689, + 0.04671977709873565 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005867363106571727, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03785181927705327, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3837441950514706, + -0.035161282710631986, + 1.0355944427586325 + ], + "held_grasp_finger_b": [ + 0.37225169341803593, + -0.011306203514372174, + 1.0355944427586325 + ], + "held_grasp_midpoint": [ + 0.3779979442347533, + -0.023233743112502078, + 1.0355944427586325 + ], + "held_grasp_object_position": [ + 0.3837441950514706, + -0.011306203514372174, + 1.0355944427586325 + ], + "held_grasp_finger_gap": 0.026479093588231577, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023919688030686607, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.007954162219613368, + -0.9988763655884689, + 0.04671977709873565 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005867363106571727, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03785181927705327, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27382663399311474, + 0.2012135063203858, + 0.7611063205718499 + ], + "target_position": [ + 0.2759557017492939, + 0.20208248711891597, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022995776000422135, + "xy_threshold": 0.08, + "gripper_dist": 0.21423295099652168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063205718499, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518986329850884, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862819466051672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18476547899976214, + "release_required_pad_clearance": 0.053140973302583605, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3074387506023244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d2804c87ae8d0345a69dc58b22103aecc66114f8eece1b2f20969a523ac03557", + "visual_seed": 347386189341595446, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79e251565199ea114c510e2fb515eb552602b562 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_2_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2971592010274286, + 0.20235674227074651, + 1.0026372101803829 + ], + "current_z": 1.0026372101803829, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14153070216561692, + "gripper_z": 1.0041035799901887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2920053714735121, + 0.1974254124911931, + 1.0041035799901887 + ], + "object_minus_gripper": [ + 0.005153829553916522, + 0.004931329779553406, + -0.0014663698098058564 + ], + "object_to_gripper_xy": 0.00713301986998029, + "object_to_gripper_z": -0.0014663698098058564, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2971592010274286, + 0.17794289217765052, + 1.0026372101803829 + ], + "finger_b": [ + 0.2850901448476154, + 0.20235674227074651, + 1.0026372101803829 + ], + "finger_midpoint": [ + 0.291124672937522, + 0.19014981722419852, + 1.0026372101803829 + ], + "object_minus_finger_midpoint": [ + 0.006034528089906621, + 0.012206925046547995, + 0.0 + ], + "finger_gap": 0.027234136546614617, + "fingertip_max_gap": 0.09127218626024772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361706827330732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026372101803829, + "object_top_z": 1.0526300409789437, + "finger_top_clearance": 0.04999283079856087, + "fingertip_min_top_clearance": 0.014997849239568244, + "object_projection_between_fingers": 0.8036099880519136, + "object_to_finger_line_xy": 0.010819220496848832, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813609313012386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7887980869724911, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3759359828240101, + -0.002445222719900233, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37560541993231245, + -0.011787138664011237, + 1.0350457331826548 + ], + "target_minus_gripper": [ + 0.00033056289169763886, + 0.009341915944111004, + -0.26489934338604315 + ], + "held_position": [ + 0.38094347920906374, + -0.007112812201100691, + 1.0334485153946418 + ], + "held_minus_target": [ + 0.005007496385053656, + -0.004667589481200458, + 0.2633021255980301 + ], + "held_minus_gripper": [ + 0.005338059276751295, + 0.004674326462910546, + -0.0015972177880130278 + ], + "xy_dist": 0.009347762584287371, + "held_xy_dist": 0.006845539541288078, + "held_gripper_dist": 0.007272916154220507, + "max_held_gripper_dist": 0.007310228676000036, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0334485153946418, + "required_height": 0.8001463897966117, + "gripper_z": 1.0350457331826548, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.64088681931568, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.15746091929359687, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9320901890183673, + "max_source_tilt_deg": 89.90266790426774, + "source_upright_tilt_deg": 2.7772577930068327, + "max_source_upright_tilt_deg": 89.94006065845556, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9320901890183673, + "source_upright_return_tilt_deg": 2.7772577930068327, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2060627341270447e-07, + "max_target_xy_drift": 2.1471391503036836e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "controller_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.0016, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3757, + -0.026, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00019340914482984177, + 0.0016083359881164665, + -0.0013331059568757837 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.77726395847176, + "source_return_step_error_deg": 2.9320962051037136, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.920752838139148, + "source_return_best_wrist_position": -1.6391940116882324, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6391940116882324 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3759, + -0.0024, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.0016, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3757, + -0.026, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00019340914482984177, + 0.0016083359881164665, + -0.0013331059568757837 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.77726395847176, + "pour_controller_source_return_step_error_deg": 2.9320962051037136, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.920752838139148, + "pour_controller_source_return_best_wrist_position": -1.6391940116882324, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6391940116882324, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009347762584287371, + "valid_pour_held_xy_dist": 0.006845539541288078, + "valid_pour_held_gripper_dist": 0.007272916154220507, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0334485153946418, + "valid_pour_source_tilt_deg": 2.9320901890183673, + "valid_pour_source_upright_tilt_deg": 2.7772577930068327, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2060627341270447e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38094347920906374, + -0.03135294695698997, + 1.0334485153946418 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36978144466627993, + -0.007112812201100691, + 1.0334485153946418 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37536246193767187, + -0.019232879579045334, + 1.0334485153946418 + ], + "valid_pour_held_grasp_object_position": [ + 0.38094347920906374, + -0.007112812201100691, + 1.0334485153946418 + ], + "valid_pour_held_grasp_finger_gap": 0.02668660990305757, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023978493542194425, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.020889579450244906, + -0.9988254600655602, + 0.043718712186133206 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005353158902278495, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03749783309158999, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38094347920906374, + -0.03135294695698997, + 1.0334485153946418 + ], + "held_grasp_finger_b": [ + 0.36978144466627993, + -0.007112812201100691, + 1.0334485153946418 + ], + "held_grasp_midpoint": [ + 0.37536246193767187, + -0.019232879579045334, + 1.0334485153946418 + ], + "held_grasp_object_position": [ + 0.38094347920906374, + -0.007112812201100691, + 1.0334485153946418 + ], + "held_grasp_finger_gap": 0.02668660990305757, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023978493542194425, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.020889579450244906, + -0.9988254600655602, + 0.043718712186133206 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005353158902278495, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03749783309158999, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2801415064778739, + 0.20337677933898718, + 0.7611071451254023 + ], + "target_position": [ + 0.2726628287801657, + 0.19981640028585637, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008282929379644068, + "xy_threshold": 0.08, + "gripper_dist": 0.22068250964356015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071451254023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564738225083904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668075685593173, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19000379666569692, + "release_required_pad_clearance": 0.053340378427965865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6976124149638288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01e37e2c4d8eb4fc1f6e0f1ad09d3baa1619ec0168a659589a8f96e6664a639b", + "visual_seed": 742614855189454350, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48d799367a1749c6ae1a69bb8680c9a8dd543a9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_30_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2978111991591043, + 0.20843891530427566, + 1.0040684480591442 + ], + "current_z": 1.0040684480591442, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.14296199964902323, + "gripper_z": 1.0057231848912278, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29242122779926066, + 0.20352539262178238, + 1.0057231848912278 + ], + "object_minus_gripper": [ + 0.005389971359843648, + 0.004913522682493288, + -0.0016547368320836142 + ], + "object_to_gripper_xy": 0.007293455724916058, + "object_to_gripper_z": -0.0016547368320836142, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2978111991591043, + 0.1836125217681579, + 1.0040684480591442 + ], + "finger_b": [ + 0.2860896989665964, + 0.20843891530427566, + 1.0040684480591442 + ], + "finger_midpoint": [ + 0.2919504490628504, + 0.19602571853621678, + 1.0040684480591442 + ], + "object_minus_finger_midpoint": [ + 0.005860750096253919, + 0.012413196768058882, + 0.0 + ], + "finger_gap": 0.027454387313745547, + "fingertip_max_gap": 0.09107999400406705, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013727193656872761, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040684480591442, + "object_top_z": 1.0539129013401407, + "finger_top_clearance": 0.049844453280996515, + "fingertip_min_top_clearance": 0.01495333598429892, + "object_projection_between_fingers": 0.817718377496771, + "object_to_finger_line_xy": 0.010599492652570866, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04803999700203353, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9426227897533478, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37823001658980315, + -0.0048317957235052425, + 0.7701463897966118 + ], + "gripper_position": [ + 0.37644224461660675, + -0.01641332735140308, + 1.0359641064087695 + ], + "target_minus_gripper": [ + 0.001787771973196406, + 0.011581531627897837, + -0.2658177166121577 + ], + "held_position": [ + 0.3818757504185325, + -0.011597699857306604, + 1.0342137337742967 + ], + "held_minus_target": [ + 0.0036457338287293473, + -0.006765904133801361, + 0.26406734397768494 + ], + "held_minus_gripper": [ + 0.005433505801925753, + 0.004815627494096475, + -0.0017503726344727522 + ], + "xy_dist": 0.011718703148221842, + "held_xy_dist": 0.007685625146839513, + "held_gripper_dist": 0.007468403967446445, + "max_held_gripper_dist": 0.007518856371658834, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0342137337742967, + "required_height": 0.8001463897966118, + "gripper_z": 1.0359641064087695, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52297726367375, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4580970842974426, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8563501005012673, + "max_source_tilt_deg": 89.8661471187527, + "source_upright_tilt_deg": 2.809120211301523, + "max_source_upright_tilt_deg": 89.93884094812574, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8563501005012673, + "source_upright_return_tilt_deg": 2.809120211301523, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.847564458847046e-09, + "max_target_xy_drift": 1.5833100072877496e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3782, + -0.0048, + 0.7701 + ], + "controller_target_position": [ + 0.3782, + -0.0048, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0008, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3765, + -0.0308, + 1.0355 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017749044649616548, + -0.0008040336707665573, + 0.00013651609000990637 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8091155623077624, + "source_return_step_error_deg": 2.8563464064450375, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8875767787580946, + "source_return_best_wrist_position": -1.638001561164856, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638001561164856 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3782, + -0.0048, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3782, + -0.0048, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0008, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3765, + -0.0308, + 1.0355 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017749044649616548, + -0.0008040336707665573, + 0.00013651609000990637 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8091155623077624, + "pour_controller_source_return_step_error_deg": 2.8563464064450375, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8875767787580946, + "pour_controller_source_return_best_wrist_position": -1.638001561164856, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638001561164856, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011718703148221842, + "valid_pour_held_xy_dist": 0.007685625146839513, + "valid_pour_held_gripper_dist": 0.007468403967446445, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0342137337742967, + "valid_pour_source_tilt_deg": 2.8563501005012673, + "valid_pour_source_upright_tilt_deg": 2.809120211301523, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.847564458847046e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3818757504185325, + -0.035685759020580424, + 1.0342137337742967 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3703824954536062, + -0.011597699857306604, + 1.0342137337742967 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37612912293606937, + -0.023641729438943514, + 1.0342137337742967 + ], + "valid_pour_held_grasp_object_position": [ + 0.3818757504185325, + -0.011597699857306604, + 1.0342137337742967 + ], + "valid_pour_held_grasp_finger_gap": 0.026689501755225466, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024225577726488406, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014483599844526046, + -0.9987983613618547, + 0.04681942627177105 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059470741729621655, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037773924912673965, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3818757504185325, + -0.035685759020580424, + 1.0342137337742967 + ], + "held_grasp_finger_b": [ + 0.3703824954536062, + -0.011597699857306604, + 1.0342137337742967 + ], + "held_grasp_midpoint": [ + 0.37612912293606937, + -0.023641729438943514, + 1.0342137337742967 + ], + "held_grasp_object_position": [ + 0.3818757504185325, + -0.011597699857306604, + 1.0342137337742967 + ], + "held_grasp_finger_gap": 0.026689501755225466, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024225577726488406, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014483599844526046, + -0.9987983613618547, + 0.04681942627177105 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059470741729621655, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037773924912673965, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.277134936485655, + 0.20681874698750324, + 0.7611066032223398 + ], + "target_position": [ + 0.2731789931823396, + 0.2067295515123456, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003956948729998214, + "xy_threshold": 0.08, + "gripper_dist": 0.21649554384272596, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066032223398, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569066961258046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0862319313284952, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18576916849035188, + "release_required_pad_clearance": 0.0531159656642476, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2586359049820746, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7db53b9336ae55c11426825c13451f1af162be7e3d7bb8a47427b8290ab94b7", + "visual_seed": 2938271155692575734, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4252c6cb55bedfc6fe8d95e8aebd618f05f39f --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_31_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29861630285018853, + 0.20278731071762396, + 1.0012128960450228 + ], + "current_z": 1.0012128960450228, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.14010620921632233, + "gripper_z": 1.0025577645590869, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2935853126040191, + 0.19791560690663904, + 1.0025577645590869 + ], + "object_minus_gripper": [ + 0.005030990246169431, + 0.004871703810984923, + -0.0013448685140640126 + ], + "object_to_gripper_xy": 0.007003167917379746, + "object_to_gripper_z": -0.0013448685140640126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29861630285018853, + 0.17845657299651138, + 1.0012128960450228 + ], + "finger_b": [ + 0.28663495856190424, + 0.20278731071762396, + 1.0012128960450228 + ], + "finger_midpoint": [ + 0.2926256307060464, + 0.19062194185706766, + 1.0012128960450228 + ], + "object_minus_finger_midpoint": [ + 0.005990672144142117, + 0.012165368860556303, + 0.0 + ], + "finger_gap": 0.027120792927345858, + "fingertip_max_gap": 0.09062627033119011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560396463672929, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012128960450228, + "object_top_z": 1.0511261113553414, + "finger_top_clearance": 0.04991321531031856, + "fingertip_min_top_clearance": 0.014973964593095584, + "object_projection_between_fingers": 0.8048330252189164, + "object_to_finger_line_xy": 0.010748761889283184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781313516559506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2336987415068973, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3730660489803974, + -0.006934197762377483, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3732046561457209, + -0.02002693790495967, + 1.0359745881474303 + ], + "target_minus_gripper": [ + -0.00013860716532348993, + 0.013092740142582188, + -0.26582813874617384 + ], + "held_position": [ + 0.3783777400028494, + -0.01535448693115328, + 1.0345209749192228 + ], + "held_minus_target": [ + 0.005311691022451992, + -0.008420289168775796, + 0.26437452551796636 + ], + "held_minus_gripper": [ + 0.005173083857128502, + 0.004672450973806391, + -0.0014536132282074732 + ], + "xy_dist": 0.01309347380901883, + "held_xy_dist": 0.009955668295187424, + "held_gripper_dist": 0.007120785498294942, + "max_held_gripper_dist": 0.0071510084072338035, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0345209749192228, + "required_height": 0.8001464494012565, + "gripper_z": 1.0359745881474303, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.61589515714262, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5273391158631395, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7608627757951365, + "max_source_tilt_deg": 89.8806214538385, + "source_upright_tilt_deg": 2.89837036798946, + "max_source_upright_tilt_deg": 89.9896749633155, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7608627757951365, + "source_upright_return_tilt_deg": 2.89837036798946, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.6763806343078613e-08, + "max_target_xy_drift": 1.0570511221885681e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 218, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 218, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3731, + -0.0069, + 0.7701 + ], + "controller_target_position": [ + 0.3731, + -0.0069, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.002, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3727, + -0.0341, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004054587206084412, + -0.0019745970841908993, + 7.917948496646322e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8983342747711562, + "source_return_step_error_deg": 2.760822109315124, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.889582121142906, + "source_return_best_wrist_position": -1.6385972499847412, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6385972499847412 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3731, + -0.0069, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3731, + -0.0069, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.002, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3727, + -0.0341, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004054587206084412, + -0.0019745970841908993, + 7.917948496646322e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8983342747711562, + "pour_controller_source_return_step_error_deg": 2.760822109315124, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.889582121142906, + "pour_controller_source_return_best_wrist_position": -1.6385972499847412, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6385972499847412, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01309347380901883, + "valid_pour_held_xy_dist": 0.009955668295187424, + "valid_pour_held_gripper_dist": 0.007120785498294942, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0345209749192228, + "valid_pour_source_tilt_deg": 2.7608627757951365, + "valid_pour_source_upright_tilt_deg": 2.89837036798946, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.6763806343078613e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3783777400028494, + -0.0393629640100702, + 1.0345209749192228 + ], + "valid_pour_held_grasp_finger_b": [ + 0.367133655514364, + -0.01535448693115328, + 1.0345209749192228 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37275569775860673, + -0.02735872547061174, + 1.0345209749192228 + ], + "valid_pour_held_grasp_object_position": [ + 0.3783777400028494, + -0.01535448693115328, + 1.0345209749192228 + ], + "valid_pour_held_grasp_finger_gap": 0.026511061986142264, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02374075755269194, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.02107846795647957, + -0.9987208080073741, + 0.04596135160877534 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005396321483199484, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037612863219158604, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3783777400028494, + -0.0393629640100702, + 1.0345209749192228 + ], + "held_grasp_finger_b": [ + 0.367133655514364, + -0.01535448693115328, + 1.0345209749192228 + ], + "held_grasp_midpoint": [ + 0.37275569775860673, + -0.02735872547061174, + 1.0345209749192228 + ], + "held_grasp_object_position": [ + 0.3783777400028494, + -0.01535448693115328, + 1.0345209749192228 + ], + "held_grasp_finger_gap": 0.026511061986142264, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02374075755269194, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02107846795647957, + -0.9987208080073741, + 0.04596135160877534 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005396321483199484, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037612863219158604, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2739363213442495, + 0.19947976035314322, + 0.7611089843136863 + ], + "target_position": [ + 0.2742347491982623, + 0.20095695086765536, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001507033841761802, + "xy_threshold": 0.08, + "gripper_dist": 0.21551362057027787, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611089843136863, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535274920353731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08947163051017791, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18537340146682738, + "release_required_pad_clearance": 0.05473581525508896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5200276028380015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04ba975ae788d2011b68fbf01afda32fcee71c95aef4dce77e1fc7691ebbeb8a", + "visual_seed": 4255743038030324692, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..02485180f2e8ccb05a812899d7c6299ebfb82743 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_32_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2937189805232578, + 0.20075862021172816, + 1.001898960387449 + ], + "current_z": 1.001898960387449, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14079233316339346, + "gripper_z": 1.0030812941306961, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2884336176795399, + 0.19583116195274838, + 1.0030812941306961 + ], + "object_minus_gripper": [ + 0.005285362843717889, + 0.004927458258979778, + -0.0011823337432470549 + ], + "object_to_gripper_xy": 0.007225988187351379, + "object_to_gripper_z": -0.0011823337432470549, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2937189805232578, + 0.17614168885114334, + 1.001898960387449 + ], + "finger_b": [ + 0.28179518772640744, + 0.20075862021172816, + 1.001898960387449 + ], + "finger_midpoint": [ + 0.2877570841248326, + 0.18845015453143577, + 1.001898960387449 + ], + "object_minus_finger_midpoint": [ + 0.005961896398425204, + 0.012308465680292396, + 0.0 + ], + "finger_gap": 0.027352699030881118, + "fingertip_max_gap": 0.09107634495231529, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013676349515440559, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001898960387449, + "object_top_z": 1.051813880317525, + "finger_top_clearance": 0.04991491993007591, + "fingertip_min_top_clearance": 0.014974475979022772, + "object_projection_between_fingers": 0.809967243747489, + "object_to_finger_line_xy": 0.01073119652676721, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048038172476157645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.702635596965982, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3713298550850575, + -0.006165922296561224, + 0.7701464494012568 + ], + "gripper_position": [ + 0.37149941396118746, + -0.018295150538543914, + 1.0359326495445116 + ], + "target_minus_gripper": [ + -0.00016955887612996046, + 0.01212922824198269, + -0.2657862001432548 + ], + "held_position": [ + 0.3769030364517449, + -0.013540708160471464, + 1.0346391506423203 + ], + "held_minus_target": [ + 0.005573181366687385, + -0.00737478586391024, + 0.2644927012410635 + ], + "held_minus_gripper": [ + 0.005403622490557425, + 0.004754442378072449, + -0.0012934989021913257 + ], + "xy_dist": 0.012130413346567583, + "held_xy_dist": 0.009243798844875509, + "held_gripper_dist": 0.007312796849143247, + "max_held_gripper_dist": 0.007328778110076888, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012568, + "held_z": 1.0346391506423203, + "required_height": 0.8001464494012568, + "gripper_z": 1.0359326495445116, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.59655206141313, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5852794700774454, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9329273939099982, + "max_source_tilt_deg": 89.83860071439062, + "source_upright_tilt_deg": 2.7098274777049625, + "max_source_upright_tilt_deg": 89.81439850151047, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9329273939099982, + "source_upright_return_tilt_deg": 2.7098274777049625, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.083577962805201e-08, + "max_target_xy_drift": 1.0445873589283289e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3713, + -0.0062, + 0.7701 + ], + "controller_target_position": [ + 0.3713, + -0.0062, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0013, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3721, + -0.0326, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007941199134720062, + -0.0012823547282476522, + -0.00016427551534774882 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7098238280279987, + "source_return_step_error_deg": 2.9329248994294654, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9173796985050235, + "source_return_best_wrist_position": -1.6387439966201782, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6387439966201782 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3713, + -0.0062, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3713, + -0.0062, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0013, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3721, + -0.0326, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007941199134720062, + -0.0012823547282476522, + -0.00016427551534774882 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7098238280279987, + "pour_controller_source_return_step_error_deg": 2.9329248994294654, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9173796985050235, + "pour_controller_source_return_best_wrist_position": -1.6387439966201782, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6387439966201782, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012130413346567583, + "valid_pour_held_xy_dist": 0.009243798844875509, + "valid_pour_held_gripper_dist": 0.007312796849143247, + "valid_pour_required_height": 0.8001464494012568, + "valid_pour_held_z": 1.0346391506423203, + "valid_pour_source_tilt_deg": 2.9329273939099982, + "valid_pour_source_upright_tilt_deg": 2.7098274777049625, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.083577962805201e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3769030364517449, + -0.0377452282363465, + 1.0346391506423203 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36561263230219443, + -0.013540708160471464, + 1.0346391506423203 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3712578343769697, + -0.02564296819840898, + 1.0346391506423203 + ], + "valid_pour_held_grasp_object_position": [ + 0.3769030364517449, + -0.013540708160471464, + 1.0346391506423203 + ], + "valid_pour_held_grasp_finger_gap": 0.026708276207266235, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024085626070221598, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.008133308418785103, + -0.9988817928863053, + 0.04657266509880175 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005575256335782877, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037585608695863235, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3769030364517449, + -0.0377452282363465, + 1.0346391506423203 + ], + "held_grasp_finger_b": [ + 0.36561263230219443, + -0.013540708160471464, + 1.0346391506423203 + ], + "held_grasp_midpoint": [ + 0.3712578343769697, + -0.02564296819840898, + 1.0346391506423203 + ], + "held_grasp_object_position": [ + 0.3769030364517449, + -0.013540708160471464, + 1.0346391506423203 + ], + "held_grasp_finger_gap": 0.026708276207266235, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024085626070221598, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.008133308418785103, + -0.9988817928863053, + 0.04657266509880175 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005575256335782877, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037585608695863235, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2688084904209249, + 0.2014540395010628, + 0.7611063960769784 + ], + "target_position": [ + 0.2690453204664149, + 0.19741025862519693, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00405071009114024, + "xy_threshold": 0.08, + "gripper_dist": 0.21464125161376937, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063960769784, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758864965327041, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08652872924138004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18439952563709905, + "release_required_pad_clearance": 0.05326436462069002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5486039594759298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f04016da332e02becbb320ca4ca82b21fb7c1457e728a71f00ac8409d20e419", + "visual_seed": 6018190859221886580, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..adf141bd8302d8af6f411285db2a506fe251cc61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_33_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3015604991281126, + 0.20140710943145013, + 1.0013694779627031 + ], + "current_z": 1.0013694779627031, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14026279113400286, + "gripper_z": 1.0027016552577732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2963830791806682, + 0.19652446369239818, + 1.0027016552577732 + ], + "object_minus_gripper": [ + 0.005177419947444417, + 0.0048826457390519495, + -0.0013321772950700694 + ], + "object_to_gripper_xy": 0.0071165937586233985, + "object_to_gripper_z": -0.0013321772950700694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3015604991281126, + 0.1768835700358216, + 1.0013694779627031 + ], + "finger_b": [ + 0.2896900737029401, + 0.20140710943145013, + 1.0013694779627031 + ], + "finger_midpoint": [ + 0.2956252864155263, + 0.18914533973363587, + 1.0013694779627031 + ], + "object_minus_finger_midpoint": [ + 0.005935212712586291, + 0.012261769697814257, + 0.0 + ], + "finger_gap": 0.02724538464150444, + "fingertip_max_gap": 0.09104130741599117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013622692320752233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013694779627031, + "object_top_z": 1.0511774350066896, + "finger_top_clearance": 0.04980795704398644, + "fingertip_min_top_clearance": 0.014942387113195931, + "object_projection_between_fingers": 0.8101779405643831, + "object_to_finger_line_xy": 0.010684556279437943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802065370799559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9937922528334404, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37986109769408166, + -0.002115755950428469, + 0.7701463897966114 + ], + "gripper_position": [ + 0.37855153879464487, + -0.013384486252800712, + 1.0355270614223866 + ], + "target_minus_gripper": [ + 0.0013095588994367913, + 0.011268730302372243, + -0.26538067162577517 + ], + "held_position": [ + 0.3837816312752411, + -0.008601702891685464, + 1.034101188591002 + ], + "held_minus_target": [ + 0.003920533581159458, + -0.006485946941256995, + 0.26395479879439065 + ], + "held_minus_gripper": [ + 0.005230092480596249, + 0.004782783361115248, + -0.0014258728313845115 + ], + "xy_dist": 0.011344568177709388, + "held_xy_dist": 0.007578792204949281, + "held_gripper_dist": 0.007229245974943083, + "max_held_gripper_dist": 0.007258576898227384, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.034101188591002, + "required_height": 0.8001463897966115, + "gripper_z": 1.0355270614223866, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50389371513275, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7680404404078282, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.860970112757168, + "max_source_tilt_deg": 89.9016001408707, + "source_upright_tilt_deg": 2.833667219521228, + "max_source_upright_tilt_deg": 89.74987599272654, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.860970112757168, + "source_upright_return_tilt_deg": 2.833667219521228, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.280568540096283e-07, + "max_target_xy_drift": 1.7737737706342366e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3799, + -0.0021, + 0.7701 + ], + "controller_target_position": [ + 0.3799, + -0.0021, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + -0.0003, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3792, + -0.0276, + 1.0347 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00062596248684881, + -0.0003206471608370744, + -0.0006391153646979929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.8336638268614798, + "source_return_step_error_deg": 2.860966857078378, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8498885994791703, + "source_return_best_wrist_position": -1.638124704360962, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638124704360962 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3799, + -0.0021, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3799, + -0.0021, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + -0.0003, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3792, + -0.0276, + 1.0347 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00062596248684881, + -0.0003206471608370744, + -0.0006391153646979929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.8336638268614798, + "pour_controller_source_return_step_error_deg": 2.860966857078378, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8498885994791703, + "pour_controller_source_return_best_wrist_position": -1.638124704360962, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638124704360962, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011344568177709388, + "valid_pour_held_xy_dist": 0.007578792204949281, + "valid_pour_held_gripper_dist": 0.007229245974943083, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.034101188591002, + "valid_pour_source_tilt_deg": 2.860970112757168, + "valid_pour_source_upright_tilt_deg": 2.833667219521228, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.280568540096283e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3837816312752411, + -0.03244487845706714, + 1.034101188591002 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37224311286148354, + -0.008601702891685464, + 1.034101188591002 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37801237206836236, + -0.0205232906743763, + 1.034101188591002 + ], + "valid_pour_held_grasp_object_position": [ + 0.3837816312752411, + -0.008601702891685464, + 1.034101188591002 + ], + "valid_pour_held_grasp_finger_gap": 0.026488382891868587, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023954335128014027, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012160421603565792, + -0.9987772733594356, + 0.0479174536793765 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005941168822058114, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03788339575467985, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3837816312752411, + -0.03244487845706714, + 1.034101188591002 + ], + "held_grasp_finger_b": [ + 0.37224311286148354, + -0.008601702891685464, + 1.034101188591002 + ], + "held_grasp_midpoint": [ + 0.37801237206836236, + -0.0205232906743763, + 1.034101188591002 + ], + "held_grasp_object_position": [ + 0.3837816312752411, + -0.008601702891685464, + 1.034101188591002 + ], + "held_grasp_finger_gap": 0.026488382891868587, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023954335128014027, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012160421603565792, + -0.9987772733594356, + 0.0479174536793765 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005941168822058114, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03788339575467985, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2759721732562247, + 0.20198685012569165, + 0.7611064004990395 + ], + "target_position": [ + 0.27714897127798904, + 0.1985827381906883, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036017817327068367, + "xy_threshold": 0.08, + "gripper_dist": 0.21613018553488406, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064004990395, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576285999588943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0895736066855768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18618403076356146, + "release_required_pad_clearance": 0.054786803342788404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.626845174342937, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8893ad08d93953765b62cd63e9563c4b1fbbd095d9eab28bda4da4d46242fcbf", + "visual_seed": 689949863694048670, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f338c8bd8a5adc2a5ae2be8f4702a4abf576fc5e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_34_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2942435317185207, + 0.20693474627507913, + 1.003674994015329 + ], + "current_z": 1.003674994015329, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.1425683667912735, + "gripper_z": 1.0052577086227763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28927438819871565, + 0.20210364185093554, + 1.0052577086227763 + ], + "object_minus_gripper": [ + 0.0049691435198050415, + 0.004831104424143584, + -0.0015827146074474108 + ], + "object_to_gripper_xy": 0.006930509164368816, + "object_to_gripper_z": -0.0015827146074474108, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2942435317185207, + 0.1826300535534309, + 1.003674994015329 + ], + "finger_b": [ + 0.28236099976146006, + 0.20693474627507913, + 1.003674994015329 + ], + "finger_midpoint": [ + 0.2883022657399904, + 0.194782399914255, + 1.003674994015329 + ], + "object_minus_finger_midpoint": [ + 0.005941265978530286, + 0.012152346360824129, + 0.0 + ], + "finger_gap": 0.027053884268332107, + "fingertip_max_gap": 0.09106088321131381, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013526942134166055, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003674994015329, + "object_top_z": 1.0535435415021974, + "finger_top_clearance": 0.04986854748686853, + "fingertip_min_top_clearance": 0.014960564246060576, + "object_projection_between_fingers": 0.8070882298070828, + "object_to_finger_line_xy": 0.010675039676634536, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04803044160565691, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0353375204615969, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3737217000729268, + -0.005013774291939959, + 0.7701465090059015 + ], + "gripper_position": [ + 0.3727773011029568, + -0.014859314639896787, + 1.0356141808673833 + ], + "target_minus_gripper": [ + 0.0009443989699700062, + 0.009845540347956828, + -0.2654676718614818 + ], + "held_position": [ + 0.3779332044953603, + -0.010264650198995685, + 1.0339439607255092 + ], + "held_minus_target": [ + 0.004211504422433454, + -0.005250875907055726, + 0.26379745171960767 + ], + "held_minus_gripper": [ + 0.00515590339240346, + 0.004594664440901102, + -0.0016702201418741236 + ], + "xy_dist": 0.009890730719098881, + "held_xy_dist": 0.006731156460183854, + "held_gripper_dist": 0.007105203476227867, + "max_held_gripper_dist": 0.007148565073228708, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059015, + "held_z": 1.0339439607255092, + "required_height": 0.8001465090059016, + "gripper_z": 1.0356141808673833, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.51341499883574, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.39869507217273553, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1615392482829203, + "max_source_tilt_deg": 89.79934055425713, + "source_upright_tilt_deg": 1.7778376720300482, + "max_source_upright_tilt_deg": 89.83564264664942, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1615392482829203, + "source_upright_return_tilt_deg": 1.7778376720300482, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.91503091933078e-08, + "max_target_xy_drift": 1.4572743322006353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3737, + -0.005, + 0.7701 + ], + "controller_target_position": [ + 0.3737, + -0.005, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.001, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3738, + -0.0292, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010635258641141605, + 0.0010095384743636572, + -0.0005034299228007418 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7778364696837767, + "source_return_step_error_deg": 2.16153708825855, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1529427907182677, + "source_return_best_wrist_position": -1.613429069519043, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613429069519043 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3737, + -0.005, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3737, + -0.005, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.001, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3738, + -0.0292, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010635258641141605, + 0.0010095384743636572, + -0.0005034299228007418 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7778364696837767, + "pour_controller_source_return_step_error_deg": 2.16153708825855, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1529427907182677, + "pour_controller_source_return_best_wrist_position": -1.613429069519043, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613429069519043, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009890730719098881, + "valid_pour_held_xy_dist": 0.006731156460183854, + "valid_pour_held_gripper_dist": 0.007105203476227867, + "valid_pour_required_height": 0.8001465090059016, + "valid_pour_held_z": 1.0339439607255092, + "valid_pour_source_tilt_deg": 2.1615392482829203, + "valid_pour_source_upright_tilt_deg": 1.7778376720300482, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.91503091933078e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3779332044953603, + -0.034743664188115045, + 1.0339439607255092 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3669658059440012, + -0.010264650198995685, + 1.0339439607255092 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37244950521968073, + -0.022504157193555363, + 1.0339439607255092 + ], + "valid_pour_held_grasp_object_position": [ + 0.3779332044953603, + -0.010264650198995685, + 1.0339439607255092 + ], + "valid_pour_held_grasp_finger_gap": 0.026823608199939373, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02425009573229654, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.019798230362022114, + -0.9995186418114658, + 0.023885450506428985 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005248524484644897, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03737806712095488, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3779332044953603, + -0.034743664188115045, + 1.0339439607255092 + ], + "held_grasp_finger_b": [ + 0.3669658059440012, + -0.010264650198995685, + 1.0339439607255092 + ], + "held_grasp_midpoint": [ + 0.37244950521968073, + -0.022504157193555363, + 1.0339439607255092 + ], + "held_grasp_object_position": [ + 0.3779332044953603, + -0.010264650198995685, + 1.0339439607255092 + ], + "held_grasp_finger_gap": 0.026823608199939373, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02425009573229654, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019798230362022114, + -0.9995186418114658, + 0.023885450506428985 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005248524484644897, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03737806712095488, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25692482110792536, + 0.21327951779569226, + 0.7611069948719353 + ], + "target_position": [ + 0.2700019768081791, + 0.20508596492565495, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015431989821237436, + "xy_threshold": 0.08, + "gripper_dist": 0.20631556208272023, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069948719353, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758881106739468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0875180581151032, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17849547228100285, + "release_required_pad_clearance": 0.0537590290575516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.525071027595224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7704a29e8c3b1c87a94feae8c2db4f5724a589ca316ba363296f7cbe29e62b38", + "visual_seed": 1459545587447958548, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5859ee55981834b98eeb42ec1ee4a2511d417e77 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_36_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29924447791149245, + 0.2037234517799402, + 1.0037879477052765 + ], + "current_z": 1.0037879477052765, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.14268132048122106, + "gripper_z": 1.0048758829320397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2940299089020559, + 0.19885530009592714, + 1.0048758829320397 + ], + "object_minus_gripper": [ + 0.005214569009436565, + 0.004868151684013056, + -0.0010879352267632036 + ], + "object_to_gripper_xy": 0.0071337669412965396, + "object_to_gripper_z": -0.0010879352267632036, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29924447791149245, + 0.1790576207373545, + 1.0037879477052765 + ], + "finger_b": [ + 0.2875279028760976, + 0.2037234517799402, + 1.0037879477052765 + ], + "finger_midpoint": [ + 0.293386190393795, + 0.19139053625864735, + 1.0037879477052765 + ], + "object_minus_finger_midpoint": [ + 0.005858287517697458, + 0.012332915521292842, + 0.0 + ], + "finger_gap": 0.0273071666707006, + "fingertip_max_gap": 0.09129682732893049, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013653583335350312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0037879477052765, + "object_top_z": 1.0536584451299111, + "finger_top_clearance": 0.049870497424634674, + "fingertip_min_top_clearance": 0.014961149227390384, + "object_projection_between_fingers": 0.8159024223029017, + "object_to_finger_line_xy": 0.010583267891022546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814841366446525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.982350122325603, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3782409540421194, + -0.006677162045009361, + 0.7701464494012569 + ], + "gripper_position": [ + 0.37810414701719314, + -0.016517246683954614, + 1.0361479093026942 + ], + "target_minus_gripper": [ + 0.0001368070249262443, + 0.009840084638945253, + -0.2660014599014373 + ], + "held_position": [ + 0.38346274603254304, + -0.011850995123068829, + 1.0349309274051688 + ], + "held_minus_target": [ + 0.005221791990423663, + -0.005173833078059468, + 0.2647844780039119 + ], + "held_minus_gripper": [ + 0.0053585990153499075, + 0.0046662515608857855, + -0.0012169818975253932 + ], + "xy_dist": 0.009841035609308378, + "held_xy_dist": 0.007350895204726771, + "held_gripper_dist": 0.007208989664001644, + "max_held_gripper_dist": 0.007221822748538255, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012569, + "held_z": 1.0349309274051688, + "required_height": 0.8001464494012569, + "gripper_z": 1.0361479093026942, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.61643474208704, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1456384262170682, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.1377530030565945, + "max_source_tilt_deg": 89.97807820804005, + "source_upright_tilt_deg": 2.645562550417223, + "max_source_upright_tilt_deg": 89.7990371955777, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.1377530030565945, + "source_upright_return_tilt_deg": 2.645562550417223, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.781903629050954e-08, + "max_target_xy_drift": 7.506829698155312e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3782, + -0.0067, + 0.7701 + ], + "controller_target_position": [ + 0.3782, + -0.0067, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0011, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3783, + -0.0308, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.9924106714561823e-05, + 0.001127199571914407, + 5.492446019494078e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.64555193894964, + "source_return_step_error_deg": 3.1377416544973036, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.1217933351158584, + "source_return_best_wrist_position": -1.6378450393676758, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6378450393676758 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3782, + -0.0067, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3782, + -0.0067, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0011, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3783, + -0.0308, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 1.9924106714561823e-05, + 0.001127199571914407, + 5.492446019494078e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.64555193894964, + "pour_controller_source_return_step_error_deg": 3.1377416544973036, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.1217933351158584, + "pour_controller_source_return_best_wrist_position": -1.6378450393676758, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6378450393676758, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009841035609308378, + "valid_pour_held_xy_dist": 0.007350895204726771, + "valid_pour_held_gripper_dist": 0.007208989664001644, + "valid_pour_required_height": 0.8001464494012569, + "valid_pour_held_z": 1.0349309274051688, + "valid_pour_source_tilt_deg": 3.1377530030565945, + "valid_pour_source_upright_tilt_deg": 2.645562550417223, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.781903629050954e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38346274603254304, + -0.03624568550183263, + 1.0349309274051688 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3724916196918792, + -0.011850995123068829, + 1.0349309274051688 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37797718286221116, + -0.02404834031245073, + 1.0349309274051688 + ], + "valid_pour_held_grasp_object_position": [ + 0.38346274603254304, + -0.011850995123068829, + 1.0349309274051688 + ], + "valid_pour_held_grasp_finger_gap": 0.026748206142815614, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02425779978105453, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.010107490432383402, + -0.9989341925318644, + 0.0450368474459677 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005390191353370633, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03748045962504706, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38346274603254304, + -0.03624568550183263, + 1.0349309274051688 + ], + "held_grasp_finger_b": [ + 0.3724916196918792, + -0.011850995123068829, + 1.0349309274051688 + ], + "held_grasp_midpoint": [ + 0.37797718286221116, + -0.02404834031245073, + 1.0349309274051688 + ], + "held_grasp_object_position": [ + 0.38346274603254304, + -0.011850995123068829, + 1.0349309274051688 + ], + "held_grasp_finger_gap": 0.026748206142815614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02425779978105453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010107490432383402, + -0.9989341925318644, + 0.0450368474459677 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005390191353370633, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03748045962504706, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2720018984426951, + 0.20479498320831954, + 0.7611064453514474 + ], + "target_position": [ + 0.27468252909375057, + 0.20050507389524405, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0050585672479260164, + "xy_threshold": 0.08, + "gripper_dist": 0.2117479560682168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064453514474, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533871346066957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08999792697162635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829603488475452, + "release_required_pad_clearance": 0.05499896348581318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.072260623484413, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db2df2622c83416fa1e4ad4a29f329a57009104cb87e1a08d805b540e7e9d0ae", + "visual_seed": 8702821631068926450, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..efd4e79574dc217a1eb396b70bf0cd00dfaa5e61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_37_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2929613219777876, + 0.20845559075815767, + 1.0014517246510126 + ], + "current_z": 1.0014517246510126, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.14034527624089144, + "gripper_z": 1.0030831580539628, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2878400314118709, + 0.20356459212580524, + 1.0030831580539628 + ], + "object_minus_gripper": [ + 0.005121290565916703, + 0.004890998632352428, + -0.0016314334029501332 + ], + "object_to_gripper_xy": 0.007081630086514032, + "object_to_gripper_z": -0.0016314334029501332, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2929613219777876, + 0.18399834746095856, + 1.0014517246510126 + ], + "finger_b": [ + 0.281050340174983, + 0.20845559075815767, + 1.0014517246510126 + ], + "finger_midpoint": [ + 0.28700583107638533, + 0.1962269691095581, + 1.0014517246510126 + ], + "object_minus_finger_midpoint": [ + 0.005955490901402294, + 0.012228621648599558, + 0.0 + ], + "finger_gap": 0.02720346002267238, + "fingertip_max_gap": 0.09136253681017811, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601730011336178, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0014517246510126, + "object_top_z": 1.051533141481897, + "finger_top_clearance": 0.050081416830884296, + "fingertip_min_top_clearance": 0.015024425049265272, + "object_projection_between_fingers": 0.8082890890183467, + "object_to_finger_line_xy": 0.010708556176931743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818126840508906, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0175103467712119, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37343681967322273, + -0.008988364742465239, + 0.7701465090059016 + ], + "gripper_position": [ + 0.3723075400356599, + -0.018126072190747827, + 1.03642157739034 + ], + "target_minus_gripper": [ + 0.001129279637562819, + 0.009137707448282588, + -0.2662750683844384 + ], + "held_position": [ + 0.3776135156921206, + -0.013473102748253429, + 1.0347086195781965 + ], + "held_minus_target": [ + 0.004176696018897863, + -0.00448473800578819, + 0.26456211057229484 + ], + "held_minus_gripper": [ + 0.005305975656460682, + 0.004652969442494399, + -0.001712957812143534 + ], + "xy_dist": 0.009207223789515117, + "held_xy_dist": 0.006128430844419988, + "held_gripper_dist": 0.0072620745497360166, + "max_held_gripper_dist": 0.007309745246862935, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059016, + "held_z": 1.0347086195781965, + "required_height": 0.8001465090059017, + "gripper_z": 1.03642157739034, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49960435633398, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6299571859493212, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2837954635396334, + "max_source_tilt_deg": 89.86130470847311, + "source_upright_tilt_deg": 1.678754748367439, + "max_source_upright_tilt_deg": 89.98738522969505, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2837954635396334, + "source_upright_return_tilt_deg": 1.678754748367439, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.5646668093287644e-08, + "max_target_xy_drift": 1.1941647430010376e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3734, + -0.009, + 0.7701 + ], + "controller_target_position": [ + 0.3734, + -0.009, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0018, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3734, + -0.0324, + 1.0354 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.5221572271110024e-05, + 0.0017851000471587643, + 9.205605794473026e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6787581490871497, + "source_return_step_error_deg": 2.2838006232139705, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2957218748626373, + "source_return_best_wrist_position": -1.6133198738098145, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6133198738098145 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3734, + -0.009, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3734, + -0.009, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0018, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3734, + -0.0324, + 1.0354 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.5221572271110024e-05, + 0.0017851000471587643, + 9.205605794473026e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6787581490871497, + "pour_controller_source_return_step_error_deg": 2.2838006232139705, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2957218748626373, + "pour_controller_source_return_best_wrist_position": -1.6133198738098145, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6133198738098145, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009207223789515117, + "valid_pour_held_xy_dist": 0.006128430844419988, + "valid_pour_held_gripper_dist": 0.0072620745497360166, + "valid_pour_required_height": 0.8001465090059017, + "valid_pour_held_z": 1.0347086195781965, + "valid_pour_source_tilt_deg": 2.2837954635396334, + "valid_pour_source_upright_tilt_deg": 1.678754748367439, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.5646668093287644e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3776135156921206, + -0.03805470123734397, + 1.0347086195781965 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36658881531850074, + -0.013473102748253429, + 1.0347086195781965 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3721011655053107, + -0.025763901992798696, + 1.0347086195781965 + ], + "valid_pour_held_grasp_object_position": [ + 0.3776135156921206, + -0.013473102748253429, + 1.0347086195781965 + ], + "valid_pour_held_grasp_finger_gap": 0.026940657055961943, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024361160456847112, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.01903793692203943, + -0.9995707975642532, + 0.022266064190044173 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005284511223965447, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037329782291374146, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3776135156921206, + -0.03805470123734397, + 1.0347086195781965 + ], + "held_grasp_finger_b": [ + 0.36658881531850074, + -0.013473102748253429, + 1.0347086195781965 + ], + "held_grasp_midpoint": [ + 0.3721011655053107, + -0.025763901992798696, + 1.0347086195781965 + ], + "held_grasp_object_position": [ + 0.3776135156921206, + -0.013473102748253429, + 1.0347086195781965 + ], + "held_grasp_finger_gap": 0.026940657055961943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024361160456847112, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01903793692203943, + -0.9995707975642532, + 0.022266064190044173 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005284511223965447, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037329782291374146, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2689176661929675, + 0.2063980850711727, + 0.7611063153020245 + ], + "target_position": [ + 0.2685391246412087, + 0.2045619089044475, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0018747897539877695, + "xy_threshold": 0.08, + "gripper_dist": 0.2157123054560266, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063153020245, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536453780445503, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08969954377618929, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1858406693860357, + "release_required_pad_clearance": 0.054849771888094645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.7586426274214615, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07399e18e6918cc7d57424c603b5b04013c5b34569fe79b4f786ac8832e71d5e", + "visual_seed": 6949167795215075508, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05976529e40eac520bf94aef6bc00a6b18a6e44e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_38_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2964710681669045, + 0.20130190073174656, + 1.00190084208869 + ], + "current_z": 1.00190084208869, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1407942148646344, + "gripper_z": 1.0033767832304583, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2911237118494068, + 0.196274647147648, + 1.0033767832304583 + ], + "object_minus_gripper": [ + 0.00534735631749772, + 0.005027253584098557, + -0.001475941141768411 + ], + "object_to_gripper_xy": 0.007339448084502987, + "object_to_gripper_z": -0.001475941141768411, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2964710681669045, + 0.1766825034630647, + 1.00190084208869 + ], + "finger_b": [ + 0.2843629649381316, + 0.20130190073174656, + 1.00190084208869 + ], + "finger_midpoint": [ + 0.29041701655251806, + 0.18899220209740564, + 1.00190084208869 + ], + "object_minus_finger_midpoint": [ + 0.006054051614386435, + 0.012309698634340921, + 0.0 + ], + "finger_gap": 0.02743575925087185, + "fingertip_max_gap": 0.09126389638460156, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013717879625435912, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00190084208869, + "object_top_z": 1.0518480618256378, + "finger_top_clearance": 0.049947219736947934, + "fingertip_min_top_clearance": 0.014984165921084362, + "object_projection_between_fingers": 0.8052317046207976, + "object_to_finger_line_xy": 0.010865170554734906, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813194819230078, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1017340423823814, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37763632452551776, + -0.0009743848613946863, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3772841995928486, + -0.011675826974514122, + 1.0368773892039431 + ], + "target_minus_gripper": [ + 0.00035212493266917333, + 0.010701442113119436, + -0.2667309398026867 + ], + "held_position": [ + 0.38280684055229286, + -0.006871971699647206, + 1.0353215783706091 + ], + "held_minus_target": [ + 0.005170516026775096, + -0.005897586838252519, + 0.2651751289693527 + ], + "held_minus_gripper": [ + 0.005522640959444269, + 0.004803855274866917, + -0.0015558108333340037 + ], + "xy_dist": 0.010707233782291926, + "held_xy_dist": 0.00784319874144902, + "held_gripper_dist": 0.007483123413249154, + "max_held_gripper_dist": 0.007511377550047254, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0353215783706091, + "required_height": 0.8001464494012565, + "gripper_z": 1.0368773892039431, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.46230469327654, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.758307186538087, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1910888233928656, + "max_source_tilt_deg": 89.99358729456945, + "source_upright_tilt_deg": 1.5546221167047134, + "max_source_upright_tilt_deg": 89.92475574507432, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1910888233928656, + "source_upright_return_tilt_deg": 1.5546221167047134, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0477378964424133e-09, + "max_target_xy_drift": 1.0512838567940089e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3776, + -0.001, + 0.7701 + ], + "controller_target_position": [ + 0.3776, + -0.001, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0003, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3792, + -0.0258, + 1.0366 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016041857707697702, + 0.00034997920966680154, + 0.0012187418741314848 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.5546241344018852, + "source_return_step_error_deg": 2.191091006595792, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.211494341914647, + "source_return_best_wrist_position": -1.612113356590271, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612113356590271 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3776, + -0.001, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3776, + -0.001, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0003, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3792, + -0.0258, + 1.0366 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016041857707697702, + 0.00034997920966680154, + 0.0012187418741314848 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.5546241344018852, + "pour_controller_source_return_step_error_deg": 2.191091006595792, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.211494341914647, + "pour_controller_source_return_best_wrist_position": -1.612113356590271, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612113356590271, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010707233782291926, + "valid_pour_held_xy_dist": 0.00784319874144902, + "valid_pour_held_gripper_dist": 0.007483123413249154, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0353215783706091, + "valid_pour_source_tilt_deg": 2.1910888233928656, + "valid_pour_source_upright_tilt_deg": 1.5546221167047134, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0477378964424133e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38280684055229286, + -0.031580116806308095, + 1.0353215783706091 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37151131674146926, + -0.006871971699647206, + 1.0353215783706091 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37715907864688103, + -0.01922604425297765, + 1.0353215783706091 + ], + "valid_pour_held_grasp_object_position": [ + 0.38280684055229286, + -0.006871971699647206, + 1.0353215783706091 + ], + "valid_pour_held_grasp_finger_gap": 0.02716765158736937, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02453835389724372, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.014226579808494504, + -0.9996319214411087, + 0.023100347679410604 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054789200572797556, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03729037645049977, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38280684055229286, + -0.031580116806308095, + 1.0353215783706091 + ], + "held_grasp_finger_b": [ + 0.37151131674146926, + -0.006871971699647206, + 1.0353215783706091 + ], + "held_grasp_midpoint": [ + 0.37715907864688103, + -0.01922604425297765, + 1.0353215783706091 + ], + "held_grasp_object_position": [ + 0.38280684055229286, + -0.006871971699647206, + 1.0353215783706091 + ], + "held_grasp_finger_gap": 0.02716765158736937, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453835389724372, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014226579808494504, + -0.9996319214411087, + 0.023100347679410604 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054789200572797556, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03729037645049977, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2645920572979961, + 0.20466083927174447, + 0.7611064961426546 + ], + "target_position": [ + 0.27182910832298984, + 0.19989512900289083, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008665269869139665, + "xy_threshold": 0.08, + "gripper_dist": 0.2127213403960495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064961426546, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578484670614465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08610310376397211, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18346184450698078, + "release_required_pad_clearance": 0.053051551881986056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.132964647094502, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30467c85b6d51bb165ed77c99d446ef4e6a499db5f668a94db67ed684ee5a368", + "visual_seed": 7968603788781786480, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e879af0e25cc3bc93a9121529c16e9ff7aa4b574 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_39_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2940699939056985, + 0.20032937828739644, + 1.0016155921303778 + ], + "current_z": 1.0016155921303778, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14050890530167748, + "gripper_z": 1.0030120470318404, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28882500082431606, + 0.19547042389538205, + 1.0030120470318404 + ], + "object_minus_gripper": [ + 0.005244993081382432, + 0.004858954392014392, + -0.0013964549014626737 + ], + "object_to_gripper_xy": 0.0071497825286805415, + "object_to_gripper_z": -0.0013964549014626737, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2940699939056985, + 0.17561788284326083, + 1.0016155921303778 + ], + "finger_b": [ + 0.2824135398029902, + 0.20032937828739644, + 1.0016155921303778 + ], + "finger_midpoint": [ + 0.28824176685434433, + 0.18797363056532862, + 1.0016155921303778 + ], + "object_minus_finger_midpoint": [ + 0.005828227051354162, + 0.012355747722067822, + 0.0 + ], + "finger_gap": 0.02732271819080378, + "fingertip_max_gap": 0.09123148044632837, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013661359095401915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0016155921303778, + "object_top_z": 1.051571111445629, + "finger_top_clearance": 0.04995551931525122, + "fingertip_min_top_clearance": 0.014986655794575381, + "object_projection_between_fingers": 0.8179942492540185, + "object_to_finger_line_xy": 0.010542450807504279, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048115740223164186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9902043906949726, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37389961993758114, + -0.008152210296459421, + 0.7701464494012566 + ], + "gripper_position": [ + 0.37287153325702094, + -0.017694829183451277, + 1.036722817251787 + ], + "target_minus_gripper": [ + 0.001028086680560203, + 0.009542618886991856, + -0.2665763678505304 + ], + "held_position": [ + 0.3782121526893854, + -0.012974720683146045, + 1.035237619612603 + ], + "held_minus_target": [ + 0.0043125327518042655, + -0.004822510386686624, + 0.2650911702113463 + ], + "held_minus_gripper": [ + 0.0053406194323644685, + 0.004720108500305232, + -0.0014851976391840882 + ], + "xy_dist": 0.0095978402489893, + "held_xy_dist": 0.006469508881289587, + "held_gripper_dist": 0.007280621690723991, + "max_held_gripper_dist": 0.007305978756215783, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.035237619612603, + "required_height": 0.8001464494012567, + "gripper_z": 1.036722817251787, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.5225333013777, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3420570346977418, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0963759122097407, + "max_source_tilt_deg": 89.85088268492662, + "source_upright_tilt_deg": 1.3427632532768712, + "max_source_upright_tilt_deg": 89.68246892363905, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0963759122097407, + "source_upright_return_tilt_deg": 1.3427632532768712, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.085099734265601e-08, + "max_target_xy_drift": 1.5840151626966372e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3739, + -0.0082, + 0.7701 + ], + "controller_target_position": [ + 0.3739, + -0.0082, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + 0.0015, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3739, + -0.0318, + 1.0361 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.1315447427557293e-05, + 0.0015488134350650764, + 0.0007311492710484918 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.3427591385009288, + "source_return_step_error_deg": 2.0963805117057333, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0880007605892734, + "source_return_best_wrist_position": -1.6128681898117065, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128681898117065 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3739, + -0.0082, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3739, + -0.0082, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + 0.0015, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3739, + -0.0318, + 1.0361 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.1315447427557293e-05, + 0.0015488134350650764, + 0.0007311492710484918 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.3427591385009288, + "pour_controller_source_return_step_error_deg": 2.0963805117057333, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0880007605892734, + "pour_controller_source_return_best_wrist_position": -1.6128681898117065, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128681898117065, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0095978402489893, + "valid_pour_held_xy_dist": 0.006469508881289587, + "valid_pour_held_gripper_dist": 0.007280621690723991, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.035237619612603, + "valid_pour_source_tilt_deg": 2.0963759122097407, + "valid_pour_source_upright_tilt_deg": 1.3427632532768712, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.085099734265601e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3782121526893854, + -0.03756585705629085, + 1.035237619612603 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36701891704420775, + -0.012974720683146045, + 1.035237619612603 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37261553486679655, + -0.025270288869718445, + 1.035237619612603 + ], + "valid_pour_held_grasp_object_position": [ + 0.3782121526893854, + -0.012974720683146045, + 1.035237619612603 + ], + "valid_pour_held_grasp_finger_gap": 0.02701874372229547, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02457034627888743, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0012541030817855654, + -0.9997254041929117, + 0.02339964608235767 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055886086313949685, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037421039459333574, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3782121526893854, + -0.03756585705629085, + 1.035237619612603 + ], + "held_grasp_finger_b": [ + 0.36701891704420775, + -0.012974720683146045, + 1.035237619612603 + ], + "held_grasp_midpoint": [ + 0.37261553486679655, + -0.025270288869718445, + 1.035237619612603 + ], + "held_grasp_object_position": [ + 0.3782121526893854, + -0.012974720683146045, + 1.035237619612603 + ], + "held_grasp_finger_gap": 0.02701874372229547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457034627888743, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0012541030817855654, + -0.9997254041929117, + 0.02339964608235767 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055886086313949685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037421039459333574, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2705941444626018, + 0.1943267980967522, + 0.7611064601936495 + ], + "target_position": [ + 0.26947829223533126, + 0.19855982587275264, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004377630677146695, + "xy_threshold": 0.08, + "gripper_dist": 0.21639346795015088, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064601936495, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533088502456387, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741135984970193, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18552981267610008, + "release_required_pad_clearance": 0.053705679924850966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.420291286349441, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1453f01045fc18a6559920c828fddc3fa5880791ca0fc2d6678e20b8852934d6", + "visual_seed": 4144656411072716949, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5140022923b70b2ef9d14a18e56f90bd12d9cbf1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_3_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3005191743609009, + 0.20208688133140296, + 1.004300471768285 + ], + "current_z": 1.004300471768285, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1431939637535189, + "gripper_z": 1.0057323519779517, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2951030580718644, + 0.19720465271383525, + 1.0057323519779517 + ], + "object_minus_gripper": [ + 0.005416116289036543, + 0.004882228617567708, + -0.0014318802096666694 + ], + "object_to_gripper_xy": 0.007291808550048751, + "object_to_gripper_z": -0.0014318802096666694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3005191743609009, + 0.1771867550968894, + 1.004300471768285 + ], + "finger_b": [ + 0.28889842498709906, + 0.20208688133140296, + 1.004300471768285 + ], + "finger_midpoint": [ + 0.294708799674, + 0.18963681821414619, + 1.004300471768285 + ], + "object_minus_finger_midpoint": [ + 0.005810374686900932, + 0.012450063117256771, + 0.0 + ], + "finger_gap": 0.027478320591030073, + "fingertip_max_gap": 0.09118564979769836, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013739160295515024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004300471768285, + "object_top_z": 1.0542431119827267, + "finger_top_clearance": 0.049942640214441614, + "fingertip_min_top_clearance": 0.0149827920643325, + "object_projection_between_fingers": 0.8211504312569066, + "object_to_finger_line_xy": 0.010530415255500294, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809282489884918, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8289803902468326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 176, + "max_stable_success_frames": 176, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3755389264828389, + -0.002535292788736445, + 0.7701463897966115 + ], + "gripper_position": [ + 0.37644610036718484, + -0.013313856387909426, + 1.0349254596906337 + ], + "target_minus_gripper": [ + -0.0009071738843459687, + 0.01077856359917298, + -0.2647790698940221 + ], + "held_position": [ + 0.38199686634725866, + -0.008639306694162976, + 1.0333502465611755 + ], + "held_minus_target": [ + 0.006457939864419782, + -0.006104013905426532, + 0.2632038567645639 + ], + "held_minus_gripper": [ + 0.005550765980073813, + 0.004674549693746449, + -0.0015752131294581861 + ], + "xy_dist": 0.010816672210890747, + "held_xy_dist": 0.008886167511931263, + "held_gripper_dist": 0.0074258813758413394, + "max_held_gripper_dist": 0.00745106138644546, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0333502465611755, + "required_height": 0.8001463897966116, + "gripper_z": 1.0349254596906337, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.68624610559374, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5961573862551577, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.3400933337717635, + "max_source_tilt_deg": 89.96017048234313, + "source_upright_tilt_deg": 2.6703523179490603, + "max_source_upright_tilt_deg": 89.88819981179668, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.3400933337717635, + "source_upright_return_tilt_deg": 2.6703523179490603, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.080395102500916e-09, + "max_target_xy_drift": 1.383006183866156e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3755, + -0.0025, + 0.7701 + ], + "controller_target_position": [ + 0.3755, + -0.0025, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0002, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3763, + -0.0276, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007393547532584181, + 0.00016053192164522606, + -0.0015780593907904277 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.670339271704817, + "source_return_step_error_deg": 3.3401185547778125, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.35935145914724, + "source_return_best_wrist_position": -1.638864278793335, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638864278793335 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3755, + -0.0025, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3755, + -0.0025, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0002, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3763, + -0.0276, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007393547532584181, + 0.00016053192164522606, + -0.0015780593907904277 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.670339271704817, + "pour_controller_source_return_step_error_deg": 3.3401185547778125, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.35935145914724, + "pour_controller_source_return_best_wrist_position": -1.638864278793335, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638864278793335, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010816672210890747, + "valid_pour_held_xy_dist": 0.008886167511931263, + "valid_pour_held_gripper_dist": 0.0074258813758413394, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0333502465611755, + "valid_pour_source_tilt_deg": 3.3400933337717635, + "valid_pour_source_upright_tilt_deg": 2.6703523179490603, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.080395102500916e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38199686634725866, + -0.03322875374007717, + 1.0333502465611755 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3710131801702649, + -0.008639306694162976, + 1.0333502465611755 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3765050232587618, + -0.020934030217120075, + 1.0333502465611755 + ], + "valid_pour_held_grasp_object_position": [ + 0.38199686634725866, + -0.008639306694162976, + 1.0333502465611755 + ], + "valid_pour_held_grasp_finger_gap": 0.02693106511184624, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02444575322129568, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.010651510220523741, + -0.9989141285285763, + 0.045355365239595824 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005389637169424924, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03738038061387395, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38199686634725866, + -0.03322875374007717, + 1.0333502465611755 + ], + "held_grasp_finger_b": [ + 0.3710131801702649, + -0.008639306694162976, + 1.0333502465611755 + ], + "held_grasp_midpoint": [ + 0.3765050232587618, + -0.020934030217120075, + 1.0333502465611755 + ], + "held_grasp_object_position": [ + 0.38199686634725866, + -0.008639306694162976, + 1.0333502465611755 + ], + "held_grasp_finger_gap": 0.02693106511184624, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02444575322129568, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010651510220523741, + -0.9989141285285763, + 0.045355365239595824 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005389637169424924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03738038061387395, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2663758351350547, + 0.20520399172090054, + 0.7611073250624611 + ], + "target_position": [ + 0.2757730499194374, + 0.19820535836757597, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011717018158135972, + "xy_threshold": 0.08, + "gripper_dist": 0.20922911853768805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073250624611, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583464098601463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568495963437452, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809845443533175, + "release_required_pad_clearance": 0.05284247981718726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7284641647391451, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "852065f591acd556b9f8cd241c83ac8e2207eeb318e5c1932ebf6c5a30682737", + "visual_seed": 2072750376484627020, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1222e000e9809969494467acb233581c4b76bb45 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_40_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2993612445261252, + 0.20672789400328667, + 1.0003951790402081 + ], + "current_z": 1.0003951790402081, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.13928879023473184, + "gripper_z": 1.0020231853998043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2941419667552899, + 0.20188667547825423, + 1.0020231853998043 + ], + "object_minus_gripper": [ + 0.005219277770835307, + 0.004841218525032442, + -0.0016280063595961458 + ], + "object_to_gripper_xy": 0.007118866290095134, + "object_to_gripper_z": -0.0016280063595961458, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2993612445261252, + 0.1820596158177519, + 1.0003951790402081 + ], + "finger_b": [ + 0.28770301358079475, + 0.20672789400328667, + 1.0003951790402081 + ], + "finger_midpoint": [ + 0.29353212905346, + 0.1943937549105193, + 1.0003951790402081 + ], + "object_minus_finger_midpoint": [ + 0.005829115472665236, + 0.012334139092767371, + 0.0 + ], + "finger_gap": 0.027284396592440734, + "fingertip_max_gap": 0.09094355091150055, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013642198296220355, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0003951790402081, + "object_top_z": 1.0503903481958385, + "finger_top_clearance": 0.0499951691556304, + "fingertip_min_top_clearance": 0.01499855074668912, + "object_projection_between_fingers": 0.8174269791776304, + "object_to_finger_line_xy": 0.010540401109339511, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797177545575028, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.722380624665807, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3739102593666737, + -0.005008367498733028, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3723850195792734, + -0.017551973804660323, + 1.0355240737153801 + ], + "target_minus_gripper": [ + 0.0015252397874003232, + 0.012543606305927296, + -0.2653776243141236 + ], + "held_position": [ + 0.37768086347609897, + -0.012846083721389297, + 1.0338078879728427 + ], + "held_minus_target": [ + 0.0037706041094252574, + -0.00783771622265627, + 0.2636614385715862 + ], + "held_minus_gripper": [ + 0.0052958438968255805, + 0.004705890083271026, + -0.0017161857425374016 + ], + "xy_dist": 0.01263599681731394, + "held_xy_dist": 0.008697542810294405, + "held_gripper_dist": 0.007289489526589773, + "max_held_gripper_dist": 0.007346160167445832, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0338078879728427, + "required_height": 0.8001464494012566, + "gripper_z": 1.0355240737153801, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49187258219352, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0058796487296888, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0179272607356005, + "max_source_tilt_deg": 89.87335253460387, + "source_upright_tilt_deg": 2.6411180005502737, + "max_source_upright_tilt_deg": 89.84395302134749, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0179272607356005, + "source_upright_return_tilt_deg": 2.6411180005502737, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2468675848458792e-07, + "max_target_xy_drift": 2.709636576350791e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3739, + -0.005, + 0.7701 + ], + "controller_target_position": [ + 0.3739, + -0.005, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0016, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3725, + -0.0318, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001447355249296657, + -0.0016403309574505771, + -0.0009057024350048711 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6411369711427986, + "source_return_step_error_deg": 3.0179565575629628, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0084470317774716, + "source_return_best_wrist_position": -1.6381340026855469, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6381340026855469 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3739, + -0.005, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3739, + -0.005, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0016, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3725, + -0.0318, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001447355249296657, + -0.0016403309574505771, + -0.0009057024350048711 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6411369711427986, + "pour_controller_source_return_step_error_deg": 3.0179565575629628, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0084470317774716, + "pour_controller_source_return_best_wrist_position": -1.6381340026855469, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6381340026855469, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01263599681731394, + "valid_pour_held_xy_dist": 0.008697542810294405, + "valid_pour_held_gripper_dist": 0.007289489526589773, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0338078879728427, + "valid_pour_source_tilt_deg": 3.0179272607356005, + "valid_pour_source_upright_tilt_deg": 2.6411180005502737, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2468675848458792e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37768086347609897, + -0.03685197988035295, + 1.0338078879728427 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36643945823130203, + -0.012846083721389297, + 1.0338078879728427 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37206016085370053, + -0.024849031800871123, + 1.0338078879728427 + ], + "valid_pour_held_grasp_object_position": [ + 0.37768086347609897, + -0.012846083721389297, + 1.0338078879728427 + ], + "valid_pour_held_grasp_finger_gap": 0.02650758839035898, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02401656691023635, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.003217616167942818, + -0.9989377702950766, + 0.04596714069959806 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00568608587790667, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03774813714224294, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37768086347609897, + -0.03685197988035295, + 1.0338078879728427 + ], + "held_grasp_finger_b": [ + 0.36643945823130203, + -0.012846083721389297, + 1.0338078879728427 + ], + "held_grasp_midpoint": [ + 0.37206016085370053, + -0.024849031800871123, + 1.0338078879728427 + ], + "held_grasp_object_position": [ + 0.37768086347609897, + -0.012846083721389297, + 1.0338078879728427 + ], + "held_grasp_finger_gap": 0.02650758839035898, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02401656691023635, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.003217616167942818, + -0.9989377702950766, + 0.04596714069959806 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00568608587790667, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03774813714224294, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2715006512958343, + 0.2042467055489321, + 0.7611091598254082 + ], + "target_position": [ + 0.2749417644321341, + 0.20195717516575462, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0041331838807761555, + "xy_threshold": 0.08, + "gripper_dist": 0.21247622560330173, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091598254082, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754357543729382, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609043122556138, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829182248649224, + "release_required_pad_clearance": 0.053045215612780694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1091992481770454, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06934d8542308cec4ea44c604324eb780c5c53e33fa0b1aa889b0838cb9202eb", + "visual_seed": 1555278271258877425, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d68c940923e3dedcf9f3f44ebb5b5885ce9d92b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_41_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2970091489284912, + 0.2082464219569656, + 1.004100968569296 + ], + "current_z": 1.004100968569296, + "required_z": 0.8611066272240553, + "initial_z": 0.7611066272240553, + "lift_margin": 0.1429943413452408, + "gripper_z": 1.0052699216588121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29168624401140697, + 0.2032980885814475, + 1.0052699216588121 + ], + "object_minus_gripper": [ + 0.0053229049170842035, + 0.004948333375518116, + -0.0011689530895160338 + ], + "object_to_gripper_xy": 0.00726769013866068, + "object_to_gripper_z": -0.0011689530895160338, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2970091489284912, + 0.18356873952446176, + 1.004100968569296 + ], + "finger_b": [ + 0.28510843529557683, + 0.2082464219569656, + 1.004100968569296 + ], + "finger_midpoint": [ + 0.291058792112034, + 0.19590758074071368, + 1.004100968569296 + ], + "object_minus_finger_midpoint": [ + 0.00595035681645717, + 0.012338841216251922, + 0.0 + ], + "finger_gap": 0.02739735379944826, + "fingertip_max_gap": 0.09109795124179096, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01369867689972413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.004100968569296, + "object_top_z": 1.0539981734359434, + "finger_top_clearance": 0.04989720486664728, + "fingertip_min_top_clearance": 0.014969161459994168, + "object_projection_between_fingers": 0.8113187374672605, + "object_to_finger_line_xy": 0.010719357566537805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804897562089548, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9497115107877323, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3747070542580311, + -0.00988306398815654, + 0.7701464494012564 + ], + "gripper_position": [ + 0.37237797019600816, + -0.022127216697747212, + 1.037105480112157 + ], + "target_minus_gripper": [ + 0.0023290840620229236, + 0.012244152709590672, + -0.26695903071090066 + ], + "held_position": [ + 0.3778046155836644, + -0.017316185602842916, + 1.0358803369913336 + ], + "held_minus_target": [ + 0.0030975613256333245, + -0.007433121614686376, + 0.2657338875900772 + ], + "held_minus_gripper": [ + 0.005426645387656248, + 0.0048110310949042966, + -0.0012251431208234465 + ], + "xy_dist": 0.012463703628687013, + "held_xy_dist": 0.00805271277923018, + "held_gripper_dist": 0.007354962680123393, + "max_held_gripper_dist": 0.007367257047493049, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0358803369913336, + "required_height": 0.8001464494012565, + "gripper_z": 1.037105480112157, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54729956730817, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9638391488063429, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1358219667738223, + "max_source_tilt_deg": 89.81227786186885, + "source_upright_tilt_deg": 1.6942081120245456, + "max_source_upright_tilt_deg": 89.81481048681115, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1358219667738223, + "source_upright_return_tilt_deg": 1.6942081120245456, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.725290298461914e-09, + "max_target_xy_drift": 9.114122757925498e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3747, + -0.0099, + 0.7701 + ], + "controller_target_position": [ + 0.3747, + -0.0099, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + 0.0005, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3727, + -0.0345, + 1.0343 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019881355296862725, + 0.0005495779914203775, + -0.0010660530907743268 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6942021098623044, + "source_return_step_error_deg": 2.135804931542207, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1305429847876294, + "source_return_best_wrist_position": -1.6136430501937866, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6136430501937866 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3747, + -0.0099, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3747, + -0.0099, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + 0.0005, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3727, + -0.0345, + 1.0343 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019881355296862725, + 0.0005495779914203775, + -0.0010660530907743268 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6942021098623044, + "pour_controller_source_return_step_error_deg": 2.135804931542207, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1305429847876294, + "pour_controller_source_return_best_wrist_position": -1.6136430501937866, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6136430501937866, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012463703628687013, + "valid_pour_held_xy_dist": 0.00805271277923018, + "valid_pour_held_gripper_dist": 0.007354962680123393, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0358803369913336, + "valid_pour_source_tilt_deg": 2.1358219667738223, + "valid_pour_source_upright_tilt_deg": 1.6942081120245456, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.725290298461914e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3778046155836644, + -0.041779892691650736, + 1.0358803369913336 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36644679981129546, + -0.017316185602842916, + 1.0358803369913336 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37212570769747993, + -0.029548039147246824, + 1.0358803369913336 + ], + "valid_pour_held_grasp_object_position": [ + 0.3778046155836644, + -0.017316185602842916, + 1.0358803369913336 + ], + "valid_pour_held_grasp_finger_gap": 0.026971706353993596, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02443972209944038, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.001170204547792207, + -0.999562861766665, + 0.029541767011325274 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005676110255354593, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03748709805270506, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3778046155836644, + -0.041779892691650736, + 1.0358803369913336 + ], + "held_grasp_finger_b": [ + 0.36644679981129546, + -0.017316185602842916, + 1.0358803369913336 + ], + "held_grasp_midpoint": [ + 0.37212570769747993, + -0.029548039147246824, + 1.0358803369913336 + ], + "held_grasp_object_position": [ + 0.3778046155836644, + -0.017316185602842916, + 1.0358803369913336 + ], + "held_grasp_finger_gap": 0.026971706353993596, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02443972209944038, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.001170204547792207, + -0.999562861766665, + 0.029541767011325274 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005676110255354593, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03748709805270506, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28224059127966733, + 0.20820222385840942, + 0.7611108873107956 + ], + "target_position": [ + 0.2724210082297745, + 0.20590002207927047, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010085848715185707, + "xy_threshold": 0.08, + "gripper_dist": 0.22123643229816917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611108873107956, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753198987759142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08937059766272921, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19103024376713204, + "release_required_pad_clearance": 0.05468529883136461, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.404403789327812, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dd0b15b353a483168845005a9fb125786b331b7b5d577a9016c6fab00e2abed9", + "visual_seed": 8304139515768545202, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7067ab98ea272f06196402df4aff29e2fab6d3bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_42_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2990095327743064, + 0.2040246407720619, + 1.0040219729785922 + ], + "current_z": 1.0040219729785922, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.14291522654524702, + "gripper_z": 1.0055694343966293, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2936639385666312, + 0.1990772633569112, + 1.0055694343966293 + ], + "object_minus_gripper": [ + 0.005345594207675219, + 0.004947377415150694, + -0.0015474614180370772 + ], + "object_to_gripper_xy": 0.007283674946143192, + "object_to_gripper_z": -0.0015474614180370772, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2990095327743064, + 0.1792797507586951, + 1.0040219729785922 + ], + "finger_b": [ + 0.2871797439554916, + 0.2040246407720619, + 1.0040219729785922 + ], + "finger_midpoint": [ + 0.293094638364899, + 0.1916521957653785, + 1.0040219729785922 + ], + "object_minus_finger_midpoint": [ + 0.005914894409407401, + 0.012372445006683386, + 0.0 + ], + "finger_gap": 0.027427239840555877, + "fingertip_max_gap": 0.09103274533747388, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013713619920277927, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040219729785922, + "object_top_z": 1.0538813763023276, + "finger_top_clearance": 0.049859403323735396, + "fingertip_min_top_clearance": 0.014957820997120602, + "object_projection_between_fingers": 0.8139670918942026, + "object_to_finger_line_xy": 0.010672850235920645, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801637266873694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9533214047107291, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3786297551399889, + -0.006603086975730879, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3778239188627226, + -0.01762502612540566, + 1.035913873576232 + ], + "target_minus_gripper": [ + 0.0008058362772663252, + 0.011021939149674781, + -0.26576748377962034 + ], + "held_position": [ + 0.38325109501275045, + -0.012815952933684104, + 1.0342675034989663 + ], + "held_minus_target": [ + 0.004621339872761532, + -0.006212865957953225, + 0.2641211137023546 + ], + "held_minus_gripper": [ + 0.005427176150027857, + 0.004809073191721556, + -0.0016463700772657575 + ], + "xy_dist": 0.011051358048895715, + "held_xy_dist": 0.0077431573425231146, + "held_gripper_dist": 0.007435856397085825, + "max_held_gripper_dist": 0.00747502989563187, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.0342675034989663, + "required_height": 0.8001463897966118, + "gripper_z": 1.035913873576232, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50693997950258, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1574149241017393, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9521879315651454, + "max_source_tilt_deg": 89.97064325965064, + "source_upright_tilt_deg": 2.695645256083038, + "max_source_upright_tilt_deg": 89.93769388768601, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9521879315651454, + "source_upright_return_tilt_deg": 2.695645256083038, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.67872416973114e-08, + "max_target_xy_drift": 9.220093488693237e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3786, + -0.0066, + 0.7701 + ], + "controller_target_position": [ + 0.3786, + -0.0066, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0001, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3788, + -0.0319, + 1.0352 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00017799270342687456, + -0.00014185075846452383, + -0.0001852480928478215 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.695639393292768, + "source_return_step_error_deg": 2.9521778721911436, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.944938198095181, + "source_return_best_wrist_position": -1.6378740072250366, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6378740072250366 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3786, + -0.0066, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3786, + -0.0066, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0001, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3788, + -0.0319, + 1.0352 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00017799270342687456, + -0.00014185075846452383, + -0.0001852480928478215 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.695639393292768, + "pour_controller_source_return_step_error_deg": 2.9521778721911436, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.944938198095181, + "pour_controller_source_return_best_wrist_position": -1.6378740072250366, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6378740072250366, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011051358048895715, + "valid_pour_held_xy_dist": 0.0077431573425231146, + "valid_pour_held_gripper_dist": 0.007435856397085825, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.0342675034989663, + "valid_pour_source_tilt_deg": 2.9521879315651454, + "valid_pour_source_upright_tilt_deg": 2.695645256083038, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.67872416973114e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38325109501275045, + -0.03694843226447759, + 1.0342675034989663 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37185415315025894, + -0.012815952933684104, + 1.0342675034989663 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3775526240815047, + -0.024882192599080845, + 1.0342675034989663 + ], + "valid_pour_held_grasp_object_position": [ + 0.38325109501275045, + -0.012815952933684104, + 1.0342675034989663 + ], + "valid_pour_held_grasp_finger_gap": 0.026688327831997764, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02417741160623415, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006285520643488217, + -0.9988934647972707, + 0.04660834920423728 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005801442671840853, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03770317998032731, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38325109501275045, + -0.03694843226447759, + 1.0342675034989663 + ], + "held_grasp_finger_b": [ + 0.37185415315025894, + -0.012815952933684104, + 1.0342675034989663 + ], + "held_grasp_midpoint": [ + 0.3775526240815047, + -0.024882192599080845, + 1.0342675034989663 + ], + "held_grasp_object_position": [ + 0.38325109501275045, + -0.012815952933684104, + 1.0342675034989663 + ], + "held_grasp_finger_gap": 0.026688327831997764, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02417741160623415, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006285520643488217, + -0.9988934647972707, + 0.04660834920423728 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005801442671840853, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03770317998032731, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2693264167581101, + 0.19943578691275002, + 0.7611063558465266 + ], + "target_position": [ + 0.2744074649244327, + 0.20179237666195934, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005600943287926483, + "xy_threshold": 0.08, + "gripper_dist": 0.2143489279672242, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063558465266, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753460357684705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603712862350858, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18426009292893034, + "release_required_pad_clearance": 0.05301856431175429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.068982688193017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6225a760f66b86c31a2669e66ec6a5e2fa40440da3fd0dac8aaaa6151c3faddc", + "visual_seed": 4391307715938195981, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b329426c90e12165e291e60c0cf46bf5311d42c7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_43_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2983499078985787, + 0.20872284130163082, + 1.001959720350917 + ], + "current_z": 1.001959720350917, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14085321233615078, + "gripper_z": 1.0035430015182434, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.293224353754716, + 0.2038420223008096, + 1.0035430015182434 + ], + "object_minus_gripper": [ + 0.005125554143862676, + 0.004880819000821213, + -0.0015832811673264224 + ], + "object_to_gripper_xy": 0.0070776902588658985, + "object_to_gripper_z": -0.0015832811673264224, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2983499078985787, + 0.1842725675871552, + 1.001959720350917 + ], + "finger_b": [ + 0.28643940817247904, + 0.20872284130163082, + 1.001959720350917 + ], + "finger_midpoint": [ + 0.2923946580355289, + 0.19649770444439302, + 1.001959720350917 + ], + "object_minus_finger_midpoint": [ + 0.005955249863049794, + 0.012225136857237806, + 0.0 + ], + "finger_gap": 0.02719698307603615, + "fingertip_max_gap": 0.09092407315690329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013598491538018061, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001959720350917, + "object_top_z": 1.0518818182567395, + "finger_top_clearance": 0.04992209790582258, + "fingertip_min_top_clearance": 0.014976629371746791, + "object_projection_between_fingers": 0.8082132918717239, + "object_to_finger_line_xy": 0.010707620678556753, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04796203657845165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7765676160881071, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3770125321156208, + -0.007901328758664353, + 0.7701464494012563 + ], + "gripper_position": [ + 0.37706256085133294, + -0.01854033759581837, + 1.0353160563059298 + ], + "target_minus_gripper": [ + -5.002873571213762e-05, + 0.010639008837154018, + -0.2651696069046735 + ], + "held_position": [ + 0.3822793785915099, + -0.013808651848694793, + 1.033639444509368 + ], + "held_minus_target": [ + 0.005266846475889098, + -0.0059073230900304405, + 0.26349299510811164 + ], + "held_minus_gripper": [ + 0.00521681774017696, + 0.004731685747123578, + -0.0016766117965618665 + ], + "xy_dist": 0.010639126463739317, + "held_xy_dist": 0.007914299583070645, + "held_gripper_dist": 0.007239824891537631, + "max_held_gripper_dist": 0.007292584096576918, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.033639444509368, + "required_height": 0.8001464494012563, + "gripper_z": 1.0353160563059298, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.51486982912895, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3977371840968686, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.874124245032324, + "max_source_tilt_deg": 89.89141008256652, + "source_upright_tilt_deg": 2.640917553177734, + "max_source_upright_tilt_deg": 89.7950894948061, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.874124245032324, + "source_upright_return_tilt_deg": 2.640917553177734, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9816870751943665e-08, + "max_target_xy_drift": 1.0151416063308716e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.377, + -0.0079, + 0.7701 + ], + "controller_target_position": [ + 0.377, + -0.0079, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0003, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3784, + -0.0328, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013461648022165778, + 0.00025179957035672326, + -0.0009457695267861585 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.640926497616317, + "source_return_step_error_deg": 2.8741315822861546, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8650843005494946, + "source_return_best_wrist_position": -1.6386336088180542, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6386336088180542 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.377, + -0.0079, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.377, + -0.0079, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0003, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3784, + -0.0328, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013461648022165778, + 0.00025179957035672326, + -0.0009457695267861585 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.640926497616317, + "pour_controller_source_return_step_error_deg": 2.8741315822861546, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8650843005494946, + "pour_controller_source_return_best_wrist_position": -1.6386336088180542, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6386336088180542, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010639126463739317, + "valid_pour_held_xy_dist": 0.007914299583070645, + "valid_pour_held_gripper_dist": 0.007239824891537631, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.033639444509368, + "valid_pour_source_tilt_deg": 2.874124245032324, + "valid_pour_source_upright_tilt_deg": 2.640917553177734, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9816870751943665e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3822793785915099, + -0.0376718789787886, + 1.033639444509368 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3708578470207117, + -0.013808651848694793, + 1.033639444509368 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37656861280611076, + -0.025740265413741695, + 1.033639444509368 + ], + "valid_pour_held_grasp_object_position": [ + 0.3822793785915099, + -0.013808651848694793, + 1.033639444509368 + ], + "valid_pour_held_grasp_finger_gap": 0.02645571757645567, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023849266291733184, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.000996673943265294, + -0.9989379315240454, + 0.04606534058826217 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005748976606225004, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03780700046713727, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3822793785915099, + -0.0376718789787886, + 1.033639444509368 + ], + "held_grasp_finger_b": [ + 0.3708578470207117, + -0.013808651848694793, + 1.033639444509368 + ], + "held_grasp_midpoint": [ + 0.37656861280611076, + -0.025740265413741695, + 1.033639444509368 + ], + "held_grasp_object_position": [ + 0.3822793785915099, + -0.013808651848694793, + 1.033639444509368 + ], + "held_grasp_finger_gap": 0.02645571757645567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023849266291733184, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.000996673943265294, + -0.9989379315240454, + 0.04606534058826217 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005748976606225004, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03780700046713727, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2610167059687243, + 0.20804814491514884, + 0.7611074133871115 + ], + "target_position": [ + 0.273998863350934, + 0.20656880369353095, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013066172383159491, + "xy_threshold": 0.08, + "gripper_dist": 0.20620659072339628, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074133871115, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558609446187166, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09139831272669825, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17742630377500715, + "release_required_pad_clearance": 0.05569915636334913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.571973295313384, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad219dac3907dbced81a5a1b2e05ce0120f67261fd5c892b85ef40c16d6e4ac7", + "visual_seed": 8707588061151247891, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e54c34fba3d1185e2ddeebd7643e3b7955709aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_44_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2923675762900184, + 0.20677924920275578, + 1.0004980698334578 + ], + "current_z": 1.0004980698334578, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.13939144260940217, + "gripper_z": 1.0018567077539469, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.287063676753009, + 0.2018838636726148, + 1.0018567077539469 + ], + "object_minus_gripper": [ + 0.005303899537009438, + 0.004895385530140989, + -0.0013586379204890697 + ], + "object_to_gripper_xy": 0.007217766260236106, + "object_to_gripper_z": -0.0013586379204890697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2923675762900184, + 0.18204181299590053, + 1.0004980698334578 + ], + "finger_b": [ + 0.28062453862334835, + 0.20677924920275578, + 1.0004980698334578 + ], + "finger_midpoint": [ + 0.2864960574566834, + 0.19441053109932815, + 1.0004980698334578 + ], + "object_minus_finger_midpoint": [ + 0.005871518833335032, + 0.012368718103427628, + 0.0 + ], + "finger_gap": 0.027383200757564213, + "fingertip_max_gap": 0.09116269751560915, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013691600378782106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0004980698334578, + "object_top_z": 1.0503588458074848, + "finger_top_clearance": 0.04986077597402705, + "fingertip_min_top_clearance": 0.01495823279220813, + "object_projection_between_fingers": 0.8160954446221894, + "object_to_finger_line_xy": 0.010608425498750525, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808134875780458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8722791155338494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3752699307209675, + -0.004576907170332893, + 0.7701464494012564 + ], + "gripper_position": [ + 0.37460519759960154, + -0.017037537996735963, + 1.0369081001409357 + ], + "target_minus_gripper": [ + 0.0006647331213659458, + 0.012460630826403071, + -0.2667616507396793 + ], + "held_position": [ + 0.3799908017729706, + -0.012278092215757874, + 1.0354426606841194 + ], + "held_minus_target": [ + 0.004720871052003139, + -0.007701185045424982, + 0.26529621128286296 + ], + "held_minus_gripper": [ + 0.005385604173369085, + 0.004759445780978089, + -0.0014654394568163198 + ], + "xy_dist": 0.012478348877738087, + "held_xy_dist": 0.009032988132036852, + "held_gripper_dist": 0.007335159797569154, + "max_held_gripper_dist": 0.007362364321466693, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0354426606841194, + "required_height": 0.8001464494012565, + "gripper_z": 1.0369081001409357, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.55432783196412, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1645749510412085, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9067231849014434, + "max_source_tilt_deg": 89.8699799465014, + "source_upright_tilt_deg": 2.703994436384522, + "max_source_upright_tilt_deg": 89.90978090449043, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9067231849014434, + "source_upright_return_tilt_deg": 2.703994436384522, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.023931401791837e-08, + "max_target_xy_drift": 1.1296677941334514e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3753, + -0.0046, + 0.7701 + ], + "controller_target_position": [ + 0.3753, + -0.0046, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0016, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3751, + -0.0314, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00013651800505189594, + -0.0016068021430790563, + 0.00135495753466592 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7039599330349224, + "source_return_step_error_deg": 2.906697141022412, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8895162634126863, + "source_return_best_wrist_position": -1.637297511100769, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637297511100769 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3753, + -0.0046, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3753, + -0.0046, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0016, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3751, + -0.0314, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00013651800505189594, + -0.0016068021430790563, + 0.00135495753466592 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7039599330349224, + "pour_controller_source_return_step_error_deg": 2.906697141022412, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8895162634126863, + "pour_controller_source_return_best_wrist_position": -1.637297511100769, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637297511100769, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012478348877738087, + "valid_pour_held_xy_dist": 0.009032988132036852, + "valid_pour_held_gripper_dist": 0.007335159797569154, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0354426606841194, + "valid_pour_source_tilt_deg": 2.9067231849014434, + "valid_pour_source_upright_tilt_deg": 2.703994436384522, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.023931401791837e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3799908017729706, + -0.036470357055908176, + 1.0354426606841194 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3686939412399366, + -0.012278092215757874, + 1.0354426606841194 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3743423715064536, + -0.024374224635833025, + 1.0354426606841194 + ], + "valid_pour_held_grasp_object_position": [ + 0.3799908017729706, + -0.012278092215757874, + 1.0354426606841194 + ], + "valid_pour_held_grasp_finger_gap": 0.026699901423016422, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0242014692104331, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0031991201299691567, + -0.9988866009928438, + 0.047067228379813475 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005715482599724993, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03765565547881519, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3799908017729706, + -0.036470357055908176, + 1.0354426606841194 + ], + "held_grasp_finger_b": [ + 0.3686939412399366, + -0.012278092215757874, + 1.0354426606841194 + ], + "held_grasp_midpoint": [ + 0.3743423715064536, + -0.024374224635833025, + 1.0354426606841194 + ], + "held_grasp_object_position": [ + 0.3799908017729706, + -0.012278092215757874, + 1.0354426606841194 + ], + "held_grasp_finger_gap": 0.026699901423016422, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0242014692104331, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0031991201299691567, + -0.9988866009928438, + 0.047067228379813475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005715482599724993, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03765565547881519, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2522849683069244, + 0.2067772505335578, + 0.7611097167186451 + ], + "target_position": [ + 0.2676653786985584, + 0.20422649077720656, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015590490664174256, + "xy_threshold": 0.08, + "gripper_dist": 0.20496042605613451, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097167186451, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572269094127998, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08788041340749143, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17621115094675463, + "release_required_pad_clearance": 0.05394020670374572, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.888839786170517, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17e1e878fa94c0f2614f3a78c43ee6299a00f44ec9c7583bf3ea57532e637e86", + "visual_seed": 2767312120502456948, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a8368a3b1a3a0590b0facd5a80e1b74a818f2c77 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_45_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2945220207805221, + 0.2062409649292475, + 1.0000601487745255 + ], + "current_z": 1.0000601487745255, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.1389536407597598, + "gripper_z": 1.002308481494636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2890829839773237, + 0.20139125928459373, + 1.002308481494636 + ], + "object_minus_gripper": [ + 0.005439036803198405, + 0.0048497056446537845, + -0.0022483327201103798 + ], + "object_to_gripper_xy": 0.007287164481904708, + "object_to_gripper_z": -0.0022483327201103798, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2945220207805221, + 0.1813932421853528, + 1.0000601487745255 + ], + "finger_b": [ + 0.2828893052961369, + 0.2062409649292475, + 1.0000601487745255 + ], + "finger_midpoint": [ + 0.28870566303832945, + 0.19381710355730014, + 1.0000601487745255 + ], + "object_minus_finger_midpoint": [ + 0.005816357742192635, + 0.01242386137194737, + 0.0 + ], + "finger_gap": 0.027435914329544734, + "fingertip_max_gap": 0.09109311793608307, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013717957164772391, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0000601487745255, + "object_top_z": 1.049922243432022, + "finger_top_clearance": 0.04986209465749636, + "fingertip_min_top_clearance": 0.014958628397248907, + "object_projection_between_fingers": 0.8202274676372687, + "object_to_finger_line_xy": 0.010535332835740464, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804655896804154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9229071358267151, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3713756612545673, + -0.009080151238806471, + 0.7701463301919671 + ], + "gripper_position": [ + 0.3699199733433457, + -0.021813142587184975, + 1.0371357095987117 + ], + "target_minus_gripper": [ + 0.0014556879112215815, + 0.012732991348378504, + -0.2669893794067446 + ], + "held_position": [ + 0.37536027588280274, + -0.016982709673973903, + 1.0348208566401742 + ], + "held_minus_target": [ + 0.003984614628235461, + -0.007902558435167432, + 0.2646745264482071 + ], + "held_minus_gripper": [ + 0.0054403025394570426, + 0.004830432913211072, + -0.0023148529585375055 + ], + "xy_dist": 0.012815931334583471, + "held_xy_dist": 0.008850287201937796, + "held_gripper_dist": 0.007634691746855625, + "max_held_gripper_dist": 0.007734976472482801, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919671, + "held_z": 1.0348208566401742, + "required_height": 0.8001463301919671, + "gripper_z": 1.0371357095987117, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.42587929443286, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7116282088947787, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8299608675926713, + "max_source_tilt_deg": 89.84580406912191, + "source_upright_tilt_deg": 2.2334073515883044, + "max_source_upright_tilt_deg": 89.80742609589893, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8299608675926713, + "source_upright_return_tilt_deg": 2.2334073515883044, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.169265199034515e-08, + "max_target_xy_drift": 1.0212749340523696e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3714, + -0.0091, + 0.7701 + ], + "controller_target_position": [ + 0.3714, + -0.0091, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0019, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3706, + -0.0362, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007551711955590026, + -0.0018726392092847206, + 0.0010454317352369155 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.233404875589454, + "source_return_step_error_deg": 1.8299737328111074, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.220206824543618, + "source_return_best_wrist_position": -1.6137676239013672, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6137676239013672 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3714, + -0.0091, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3714, + -0.0091, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0019, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3706, + -0.0362, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007551711955590026, + -0.0018726392092847206, + 0.0010454317352369155 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.233404875589454, + "pour_controller_source_return_step_error_deg": 1.8299737328111074, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.220206824543618, + "pour_controller_source_return_best_wrist_position": -1.6137676239013672, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6137676239013672, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012815931334583471, + "valid_pour_held_xy_dist": 0.008850287201937796, + "valid_pour_held_gripper_dist": 0.007634691746855625, + "valid_pour_required_height": 0.8001463301919671, + "valid_pour_held_z": 1.0348208566401742, + "valid_pour_source_tilt_deg": 1.8299608675926713, + "valid_pour_source_upright_tilt_deg": 2.2334073515883044, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.169265199034515e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37536027588280274, + -0.04121337077154531, + 1.0348208566401742 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36362200052835597, + -0.016982709673973903, + 1.0348208566401742 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36949113820557933, + -0.029098040222759608, + 1.0348208566401742 + ], + "valid_pour_held_grasp_object_position": [ + 0.37536027588280274, + -0.016982709673973903, + 1.0348208566401742 + ], + "valid_pour_held_grasp_finger_gap": 0.026924190712483316, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024511910356655706, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02552807345202252, + -0.9992403716807409, + 0.0294448139604081 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006186672022054788, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03776395044721559, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37536027588280274, + -0.04121337077154531, + 1.0348208566401742 + ], + "held_grasp_finger_b": [ + 0.36362200052835597, + -0.016982709673973903, + 1.0348208566401742 + ], + "held_grasp_midpoint": [ + 0.36949113820557933, + -0.029098040222759608, + 1.0348208566401742 + ], + "held_grasp_object_position": [ + 0.37536027588280274, + -0.016982709673973903, + 1.0348208566401742 + ], + "held_grasp_finger_gap": 0.026924190712483316, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024511910356655706, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02552807345202252, + -0.9992403716807409, + 0.0294448139604081 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006186672022054788, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03776395044721559, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2522343941294798, + 0.2033074956263712, + 0.7611085058276369 + ], + "target_position": [ + 0.2699038824861882, + 0.2028148609092129, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0176763544814083, + "xy_threshold": 0.08, + "gripper_dist": 0.20525378501572256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085058276369, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543652846800811, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591526291973216, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1766956906388372, + "release_required_pad_clearance": 0.05295763145986608, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.951202053301869, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40484434ec4cf5b74be518063c11412abe7aa9d0c4d3235361ae0c18a3b6ce9c", + "visual_seed": 5277688707182652269, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db7ea6d6d432e4e150d7dbf493e9220ce43f2ec1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_46_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29332368079942645, + 0.20809146094393668, + 1.0028785684815928 + ], + "current_z": 1.0028785684815928, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.14177182204824756, + "gripper_z": 1.004444470827154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28824597784294204, + 0.20316802161017766, + 1.004444470827154 + ], + "object_minus_gripper": [ + 0.005077702956484409, + 0.004923439333759022, + -0.0015659023455611987 + ], + "object_to_gripper_xy": 0.007072716747297038, + "object_to_gripper_z": -0.0015659023455611987, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29332368079942645, + 0.1837530498517233, + 1.0028785684815928 + ], + "finger_b": [ + 0.28125622586402804, + 0.20809146094393668, + 1.0028785684815928 + ], + "finger_midpoint": [ + 0.28728995333172724, + 0.19592225539782998, + 1.0028785684815928 + ], + "object_minus_finger_midpoint": [ + 0.006033727467699201, + 0.012169205546106704, + 0.0 + ], + "finger_gap": 0.027165819021547032, + "fingertip_max_gap": 0.0911513686094815, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013582909510773528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0028785684815928, + "object_top_z": 1.0529023722772544, + "finger_top_clearance": 0.050023803795661514, + "fingertip_min_top_clearance": 0.015007141138698487, + "object_projection_between_fingers": 0.8026733399251408, + "object_to_finger_line_xy": 0.010811478896385576, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048075684304740754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9502666586636322, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37106291568343086, + -0.000825864754944963, + 0.7701465090059011 + ], + "gripper_position": [ + 0.370065446037914, + -0.013660859599536196, + 1.0354167625430837 + ], + "target_minus_gripper": [ + 0.0009974696455168353, + 0.012834994844591233, + -0.2652702535371826 + ], + "held_position": [ + 0.37532802635243084, + -0.008986178226257694, + 1.033761773332306 + ], + "held_minus_target": [ + 0.004265110668999983, + -0.00816031347131273, + 0.2636152643264048 + ], + "held_minus_gripper": [ + 0.005262580314516818, + 0.004674681373278502, + -0.0016549892107777797 + ], + "xy_dist": 0.012873695598172693, + "held_xy_dist": 0.009207707910707501, + "held_gripper_dist": 0.007230932636680263, + "max_held_gripper_dist": 0.007282075848453142, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.033761773332306, + "required_height": 0.8001465090059011, + "gripper_z": 1.0354167625430837, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.48875118574283, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3395684454854037, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.044899410770012, + "max_source_tilt_deg": 89.99579637779881, + "source_upright_tilt_deg": 2.709784725872753, + "max_source_upright_tilt_deg": 89.6867648954037, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.044899410770012, + "source_upright_return_tilt_deg": 2.709784725872753, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.573950380086899e-08, + "max_target_xy_drift": 8.95429847395843e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3711, + -0.0008, + 0.7701 + ], + "controller_target_position": [ + 0.3711, + -0.0008, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.002, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3708, + -0.028, + 1.0344 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002899212244695554, + -0.001957979650401152, + -0.0009430492753733049 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.70979206423491, + "source_return_step_error_deg": 3.04490688073855, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0381985016950797, + "source_return_best_wrist_position": -1.6381787061691284, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6381787061691284 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3711, + -0.0008, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3711, + -0.0008, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.002, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3708, + -0.028, + 1.0344 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002899212244695554, + -0.001957979650401152, + -0.0009430492753733049 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.70979206423491, + "pour_controller_source_return_step_error_deg": 3.04490688073855, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0381985016950797, + "pour_controller_source_return_best_wrist_position": -1.6381787061691284, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6381787061691284, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012873695598172693, + "valid_pour_held_xy_dist": 0.009207707910707501, + "valid_pour_held_gripper_dist": 0.007230932636680263, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.033761773332306, + "valid_pour_source_tilt_deg": 3.044899410770012, + "valid_pour_source_upright_tilt_deg": 2.709784725872753, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.573950380086899e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37532802635243084, + -0.03302001051644815, + 1.033761773332306 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3641969723231495, + -0.008986178226257694, + 1.033761773332306 + ], + "valid_pour_held_grasp_midpoint": [ + 0.36976249933779015, + -0.02100309437135292, + 1.033761773332306 + ], + "valid_pour_held_grasp_object_position": [ + 0.37532802635243084, + -0.008986178226257694, + 1.033761773332306 + ], + "valid_pour_held_grasp_finger_gap": 0.026486325874982765, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023833631858488927, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.015571433258848577, + -0.9988818276478152, + 0.04463882683523235 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005404611131046416, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03763010767593301, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37532802635243084, + -0.03302001051644815, + 1.033761773332306 + ], + "held_grasp_finger_b": [ + 0.3641969723231495, + -0.008986178226257694, + 1.033761773332306 + ], + "held_grasp_midpoint": [ + 0.36976249933779015, + -0.02100309437135292, + 1.033761773332306 + ], + "held_grasp_object_position": [ + 0.37532802635243084, + -0.008986178226257694, + 1.033761773332306 + ], + "held_grasp_finger_gap": 0.026486325874982765, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023833631858488927, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015571433258848577, + -0.9988818276478152, + 0.04463882683523235 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005404611131046416, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03763010767593301, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2658661785273069, + 0.1984212801296381, + 0.7611064533279641 + ], + "target_position": [ + 0.268966228929743, + 0.20300268952655534, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005531692739099466, + "xy_threshold": 0.08, + "gripper_dist": 0.21419171945272417, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064533279641, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756799438933813, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08873068042353348, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18300859137022607, + "release_required_pad_clearance": 0.05436534021176674, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7542287003310215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ed44c6c80827f725cf96c2e0f660a3fccfedb32384de51913a57ef1116d4d7a", + "visual_seed": 7093798521186955183, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c780996141bad2634e503baa52dc6e2b559cc74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_47_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29262771874289084, + 0.20309525560339145, + 1.0030655607366104 + ], + "current_z": 1.0030655607366104, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.14195905272184417, + "gripper_z": 1.004739507844275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28765468941923555, + 0.19838907426419253, + 1.004739507844275 + ], + "object_minus_gripper": [ + 0.004973029323655287, + 0.004706181339198923, + -0.001673947107664553 + ], + "object_to_gripper_xy": 0.006846836017560193, + "object_to_gripper_z": -0.001673947107664553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29262771874289084, + 0.1785794466643092, + 1.0030655607366104 + ], + "finger_b": [ + 0.2811918929424899, + 0.20309525560339145, + 1.0030655607366104 + ], + "finger_midpoint": [ + 0.2869098058426904, + 0.1908373511338503, + 1.0030655607366104 + ], + "object_minus_finger_midpoint": [ + 0.005717912900200461, + 0.012257904469541142, + 0.0 + ], + "finger_gap": 0.02705185760118334, + "fingertip_max_gap": 0.09010841235188619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013525928800591683, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030655607366104, + "object_top_z": 1.0529083066128944, + "finger_top_clearance": 0.04984274587628401, + "fingertip_min_top_clearance": 0.014952823762885186, + "object_projection_between_fingers": 0.8212932827615511, + "object_to_finger_line_xy": 0.010363743758986535, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047554206175943095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20411386059333667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37127475059096243, + -0.010071149238713011, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3691962617430646, + -0.02099206185394932, + 1.0362714204748504 + ], + "target_minus_gripper": [ + 0.0020784888478978525, + 0.01092091261523631, + -0.2661249710735941 + ], + "held_position": [ + 0.37427183303237654, + -0.016434331275322026, + 1.0345225202393085 + ], + "held_minus_target": [ + 0.0029970824414141117, + -0.006363182036609015, + 0.26437607083805215 + ], + "held_minus_gripper": [ + 0.005075571289311964, + 0.004557730578627295, + -0.0017489002355419725 + ], + "xy_dist": 0.011116944195257225, + "held_xy_dist": 0.007033675340222665, + "held_gripper_dist": 0.007042228622681954, + "max_held_gripper_dist": 0.007096529036016857, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0345225202393085, + "required_height": 0.8001464494012563, + "gripper_z": 1.0362714204748504, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49433145029472, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4082265590758204, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.120411666075482, + "max_source_tilt_deg": 89.80027011394499, + "source_upright_tilt_deg": 1.750738734956057, + "max_source_upright_tilt_deg": 89.84062217614262, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.120411666075482, + "source_upright_return_tilt_deg": 1.750738734956057, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.4504256279764817e-08, + "max_target_xy_drift": 7.738948766344125e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3713, + -0.0101, + 0.7701 + ], + "controller_target_position": [ + 0.3713, + -0.0101, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0002, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3693, + -0.0354, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001926596185523132, + -0.00015128239357394923, + 0.00021605664696072073 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7507424788419372, + "source_return_step_error_deg": 2.1204146486293016, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1114578573990777, + "source_return_best_wrist_position": -1.613200068473816, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613200068473816 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3713, + -0.0101, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3713, + -0.0101, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0002, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3693, + -0.0354, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001926596185523132, + -0.00015128239357394923, + 0.00021605664696072073 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7507424788419372, + "pour_controller_source_return_step_error_deg": 2.1204146486293016, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1114578573990777, + "pour_controller_source_return_best_wrist_position": -1.613200068473816, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613200068473816, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011116944195257225, + "valid_pour_held_xy_dist": 0.007033675340222665, + "valid_pour_held_gripper_dist": 0.007042228622681954, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0345225202393085, + "valid_pour_source_tilt_deg": 2.120411666075482, + "valid_pour_source_upright_tilt_deg": 1.750738734956057, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.4504256279764817e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37427183303237654, + -0.04081766242172945, + 1.0345225202393085 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3633498314849186, + -0.016434331275322026, + 1.0345225202393085 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3688108322586476, + -0.028625996848525737, + 1.0345225202393085 + ], + "valid_pour_held_grasp_object_position": [ + 0.37427183303237654, + -0.016434331275322026, + 1.0345225202393085 + ], + "valid_pour_held_grasp_finger_gap": 0.026717727365890155, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024185057117006414, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0171115139517296, + -0.9995332037500321, + 0.02530949804869064 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052607100369067746, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03744082952973171, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37427183303237654, + -0.04081766242172945, + 1.0345225202393085 + ], + "held_grasp_finger_b": [ + 0.3633498314849186, + -0.016434331275322026, + 1.0345225202393085 + ], + "held_grasp_midpoint": [ + 0.3688108322586476, + -0.028625996848525737, + 1.0345225202393085 + ], + "held_grasp_object_position": [ + 0.37427183303237654, + -0.016434331275322026, + 1.0345225202393085 + ], + "held_grasp_finger_gap": 0.026717727365890155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024185057117006414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0171115139517296, + -0.9995332037500321, + 0.02530949804869064 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0052607100369067746, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03744082952973171, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26524921541375834, + 0.19927609626777212, + 0.761106404062559 + ], + "target_position": [ + 0.2683594788559609, + 0.19813689309890678, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0033123288695198314, + "xy_threshold": 0.08, + "gripper_dist": 0.21200429927472508, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106404062559, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519600148838931, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08922385666221704, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1827174516352008, + "release_required_pad_clearance": 0.05461192833110852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.26241063122902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa807a4acbfc9e27a97450fb596cb424bda36178fd1e22fa7c16f8f76304d410", + "visual_seed": 8603930130509877618, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5aec3f5ee6169781308cccf43131aa94bf826b95 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_48_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29874512981431633, + 0.20337571092059115, + 1.001454642430623 + ], + "current_z": 1.001454642430623, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1403481940205018, + "gripper_z": 1.0026057439761362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29345917662204546, + 0.19850152266162302, + 1.0026057439761362 + ], + "object_minus_gripper": [ + 0.005285953192270876, + 0.004874188258968126, + -0.0011511015455132334 + ], + "object_to_gripper_xy": 0.007190202523903022, + "object_to_gripper_z": -0.0011511015455132334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29874512981431633, + 0.1786400558226764, + 1.001454642430623 + ], + "finger_b": [ + 0.2870605022536652, + 0.20337571092059115, + 1.001454642430623 + ], + "finger_midpoint": [ + 0.29290281603399076, + 0.19100788337163377, + 1.001454642430623 + ], + "object_minus_finger_midpoint": [ + 0.00584231378032557, + 0.012367827548957377, + 0.0 + ], + "finger_gap": 0.027356592520892006, + "fingertip_max_gap": 0.0913124056919675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013678296260446003, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001454642430623, + "object_top_z": 1.05141847889986, + "finger_top_clearance": 0.049963836469236966, + "fingertip_min_top_clearance": 0.014989150940771072, + "object_projection_between_fingers": 0.8175660148992023, + "object_to_finger_line_xy": 0.010565165126728691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815620284598375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0262403352997158, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3744809142357533, + -0.0058831462202145884, + 0.7701463301919672 + ], + "gripper_position": [ + 0.3740797884398947, + -0.017437193613818153, + 1.0369046319459296 + ], + "target_minus_gripper": [ + 0.0004011257958586034, + 0.011554047393603564, + -0.2667583017539624 + ], + "held_position": [ + 0.37937668842445726, + -0.012609621177681486, + 1.0356667694961348 + ], + "held_minus_target": [ + 0.004895774188703961, + -0.006726474957466897, + 0.2655204393041676 + ], + "held_minus_gripper": [ + 0.005296899984562564, + 0.004827572436136667, + -0.0012378624497948465 + ], + "xy_dist": 0.011561008307139154, + "held_xy_dist": 0.008319499399615893, + "held_gripper_dist": 0.007272888595133127, + "max_held_gripper_dist": 0.0072863786771539, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.0356667694961348, + "required_height": 0.8001463301919672, + "gripper_z": 1.0369046319459296, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50111382814055, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4033168720552505, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8348284887797286, + "max_source_tilt_deg": 89.97761574889115, + "source_upright_tilt_deg": 2.8928799638935794, + "max_source_upright_tilt_deg": 89.8929960755435, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8348284887797286, + "source_upright_return_tilt_deg": 2.8928799638935794, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.991126531989214e-08, + "max_target_xy_drift": 1.1222437024116516e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3745, + -0.0059, + 0.7701 + ], + "controller_target_position": [ + 0.3745, + -0.0059, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0006, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3749, + -0.0316, + 1.0365 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00041409949876646587, + -0.0005640582596544298, + 0.0011744851804376092 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.892882522570397, + "source_return_step_error_deg": 2.834824958173316, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9343252106082804, + "source_return_best_wrist_position": -1.6379965543746948, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6379965543746948 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3745, + -0.0059, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3745, + -0.0059, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0006, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3749, + -0.0316, + 1.0365 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00041409949876646587, + -0.0005640582596544298, + 0.0011744851804376092 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.892882522570397, + "pour_controller_source_return_step_error_deg": 2.834824958173316, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9343252106082804, + "pour_controller_source_return_best_wrist_position": -1.6379965543746948, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6379965543746948, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011561008307139154, + "valid_pour_held_xy_dist": 0.008319499399615893, + "valid_pour_held_gripper_dist": 0.007272888595133127, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.0356667694961348, + "valid_pour_source_tilt_deg": 2.8348284887797286, + "valid_pour_source_upright_tilt_deg": 2.8928799638935794, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.991126531989214e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37937668842445726, + -0.03654032821783945, + 1.0356667694961348 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36783570696721984, + -0.012609621177681486, + 1.0356667694961348 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3736061976958386, + -0.024574974697760467, + 1.0356667694961348 + ], + "valid_pour_held_grasp_object_position": [ + 0.37937668842445726, + -0.012609621177681486, + 1.0356667694961348 + ], + "valid_pour_held_grasp_finger_gap": 0.026568270407351775, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024142380764472865, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020983471018797092, + -0.9987256487837847, + 0.045899590471069396 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006045041054944595, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03789122953779504, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37937668842445726, + -0.03654032821783945, + 1.0356667694961348 + ], + "held_grasp_finger_b": [ + 0.36783570696721984, + -0.012609621177681486, + 1.0356667694961348 + ], + "held_grasp_midpoint": [ + 0.3736061976958386, + -0.024574974697760467, + 1.0356667694961348 + ], + "held_grasp_object_position": [ + 0.37937668842445726, + -0.012609621177681486, + 1.0356667694961348 + ], + "held_grasp_finger_gap": 0.026568270407351775, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024142380764472865, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020983471018797092, + -0.9987256487837847, + 0.045899590471069396 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006045041054944595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03789122953779504, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26148730792136277, + 0.19958193645484998, + 0.7611062663736285 + ], + "target_position": [ + 0.2742159645990855, + 0.20029885292583277, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012748830144201527, + "xy_threshold": 0.08, + "gripper_dist": 0.20484179075837225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062663736285, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572497484643229, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0868239491789058, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17523507671785962, + "release_required_pad_clearance": 0.053411974589452904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8383942562949733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e5766d606a651aefb781fa8f7f5a98bd448442ab35f91c5ba5378487cd7b5f7b", + "visual_seed": 2576481509376031595, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07246f17c61743893808eae5b1100bb2403448f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_49_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2934759965664796, + 0.20564086326813275, + 1.0006171194847835 + ], + "current_z": 1.0006171194847835, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1395104326560832, + "gripper_z": 1.0020165922845687, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2881917607928783, + 0.20072838108158114, + 1.0020165922845687 + ], + "object_minus_gripper": [ + 0.00528423577360132, + 0.004912482186551603, + -0.0013994727997852507 + ], + "object_to_gripper_xy": 0.007214958693173147, + "object_to_gripper_z": -0.0013994727997852507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2934759965664796, + 0.18095934699291166, + 1.0006171194847835 + ], + "finger_b": [ + 0.2816613732296554, + 0.20564086326813275, + 1.0006171194847835 + ], + "finger_midpoint": [ + 0.28756868489806753, + 0.1933001051305222, + 1.0006171194847835 + ], + "object_minus_finger_midpoint": [ + 0.005907311668412074, + 0.012340758137610541, + 0.0 + ], + "finger_gap": 0.027363526275592374, + "fingertip_max_gap": 0.09125452217155752, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013681763137796175, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0006171194847835, + "object_top_z": 1.0505586866923218, + "finger_top_clearance": 0.049941567207538284, + "fingertip_min_top_clearance": 0.014982470162261468, + "object_projection_between_fingers": 0.8135786561189675, + "object_to_finger_line_xy": 0.01065662426825217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048127261085778764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9520244388803595, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3794762603050892, + -0.0029366585922910985, + 0.7701463897966115 + ], + "gripper_position": [ + 0.3783253837176629, + -0.014947495258314847, + 1.0366065821020727 + ], + "target_minus_gripper": [ + 0.0011508765874262972, + 0.012010836666023749, + -0.26646019230546114 + ], + "held_position": [ + 0.3837393801483663, + -0.010225457743988732, + 1.0351059359582275 + ], + "held_minus_target": [ + 0.004263119843277097, + -0.007288799151697634, + 0.264959546161616 + ], + "held_minus_gripper": [ + 0.005413996430703394, + 0.004722037514326115, + -0.0015006461438451524 + ], + "xy_dist": 0.012065849093096867, + "held_xy_dist": 0.008443979149188555, + "held_gripper_dist": 0.007339000918886001, + "max_held_gripper_dist": 0.0073724268319082615, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966115, + "held_z": 1.0351059359582275, + "required_height": 0.8001463897966116, + "gripper_z": 1.0366065821020727, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49569065793956, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0623596960612987, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.1011381428511164, + "max_source_tilt_deg": 89.81337019065455, + "source_upright_tilt_deg": 2.650067142789235, + "max_source_upright_tilt_deg": 89.83036195314389, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.1011381428511164, + "source_upright_return_tilt_deg": 2.650067142789235, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.984472262666728e-08, + "max_target_xy_drift": 1.389733716576539e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3795, + -0.0029, + 0.7701 + ], + "controller_target_position": [ + 0.3795, + -0.0029, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0009, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3794, + -0.029, + 1.0364 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -5.394500501662504e-05, + -0.000909675776854642, + 0.0010641047796428023 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6500645894734225, + "source_return_step_error_deg": 3.1011405294144025, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0924968496684526, + "source_return_best_wrist_position": -1.636764407157898, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.636764407157898 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3795, + -0.0029, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3795, + -0.0029, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0009, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3794, + -0.029, + 1.0364 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -5.394500501662504e-05, + -0.000909675776854642, + 0.0010641047796428023 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6500645894734225, + "pour_controller_source_return_step_error_deg": 3.1011405294144025, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0924968496684526, + "pour_controller_source_return_best_wrist_position": -1.636764407157898, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.636764407157898, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012065849093096867, + "valid_pour_held_xy_dist": 0.008443979149188555, + "valid_pour_held_gripper_dist": 0.007339000918886001, + "valid_pour_required_height": 0.8001463897966116, + "valid_pour_held_z": 1.0351059359582275, + "valid_pour_source_tilt_deg": 3.1011381428511164, + "valid_pour_source_upright_tilt_deg": 2.650067142789235, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.984472262666728e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3837393801483663, + -0.03448133177215397, + 1.0351059359582275 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3726029970524608, + -0.010225457743988732, + 1.0351059359582275 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37817118860041354, + -0.02235339475807135, + 1.0351059359582275 + ], + "valid_pour_held_grasp_object_position": [ + 0.3837393801483663, + -0.010225457743988732, + 1.0351059359582275 + ], + "valid_pour_held_grasp_finger_gap": 0.026690193954503033, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0241746487912283, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00496436356252348, + -0.9989305608015939, + 0.04596835640995356 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005536122205590016, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037577640620021294, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3837393801483663, + -0.03448133177215397, + 1.0351059359582275 + ], + "held_grasp_finger_b": [ + 0.3726029970524608, + -0.010225457743988732, + 1.0351059359582275 + ], + "held_grasp_midpoint": [ + 0.37817118860041354, + -0.02235339475807135, + 1.0351059359582275 + ], + "held_grasp_object_position": [ + 0.3837393801483663, + -0.010225457743988732, + 1.0351059359582275 + ], + "held_grasp_finger_gap": 0.026690193954503033, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0241746487912283, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00496436356252348, + -0.9989305608015939, + 0.04596835640995356 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005536122205590016, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037577640620021294, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26346673416443217, + 0.1995164035625166, + 0.7611064027097498 + ], + "target_position": [ + 0.26885308097770855, + 0.20130453928870187, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005675399665940076, + "xy_threshold": 0.08, + "gripper_dist": 0.21119038536015605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064027097498, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541366455077356, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08917161710418027, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.180878977438996, + "release_required_pad_clearance": 0.05458580855209014, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.208438432102685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "398b449c07edd6c4a63f835b1712faf23722f2ef6771dd6f22eaf2d85711d77b", + "visual_seed": 5293044460317575003, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc3842a4b660624b7f898b51403eca0f63844935 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_4_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29769068319983133, + 0.2021343427470025, + 1.002650798088856 + ], + "current_z": 1.002650798088856, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.14154399205086599, + "gripper_z": 1.0041220274737195, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2925692416666318, + 0.1972366300033898, + 1.0041220274737195 + ], + "object_minus_gripper": [ + 0.005121441533199544, + 0.004897712743612698, + -0.0014712293848635483 + ], + "object_to_gripper_xy": 0.007086378023851643, + "object_to_gripper_z": -0.0014712293848635483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29769068319983133, + 0.1777170230520084, + 1.002650798088856 + ], + "finger_b": [ + 0.28570545803382796, + 0.2021343427470025, + 1.002650798088856 + ], + "finger_midpoint": [ + 0.2916980706168296, + 0.18992568289950545, + 1.002650798088856 + ], + "object_minus_finger_midpoint": [ + 0.005992612583001711, + 0.012208659847497055, + 0.0 + ], + "finger_gap": 0.02720020447289593, + "fingertip_max_gap": 0.09155013481531346, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600102236447977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.002650798088856, + "object_top_z": 1.0527298973422239, + "finger_top_clearance": 0.050079099253367954, + "fingertip_min_top_clearance": 0.015023729776010419, + "object_projection_between_fingers": 0.8058452332598837, + "object_to_finger_line_xy": 0.01075900274155681, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827506740765673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9549744612464076, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.377471696496648, + -0.00572666493556641, + 0.7701464494012564 + ], + "gripper_position": [ + 0.37774710396572037, + -0.018106269374077277, + 1.0354100345854582 + ], + "target_minus_gripper": [ + -0.0002754074690723418, + 0.012379604438510867, + -0.2652635851842018 + ], + "held_position": [ + 0.3830238751583743, + -0.013427352148422927, + 1.0338360999054812 + ], + "held_minus_target": [ + 0.005552178661726304, + -0.007700687212856517, + 0.26368965050422477 + ], + "held_minus_gripper": [ + 0.005276771192653962, + 0.0046789172256543506, + -0.0015739346799770182 + ], + "xy_dist": 0.012382667536844345, + "held_xy_dist": 0.009493538404724592, + "held_gripper_dist": 0.007225915236216245, + "max_held_gripper_dist": 0.0072706180696091565, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0338360999054812, + "required_height": 0.8001464494012565, + "gripper_z": 1.0354100345854582, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54611794458177, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.4059042394634559, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.934768829400526, + "max_source_tilt_deg": 89.8982058631545, + "source_upright_tilt_deg": 2.6498654642348822, + "max_source_upright_tilt_deg": 89.93576535841841, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.934768829400526, + "source_upright_return_tilt_deg": 2.6498654642348822, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.6298145057505597e-08, + "max_target_xy_drift": 7.851883360420531e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3775, + -0.0057, + 0.7701 + ], + "controller_target_position": [ + 0.3775, + -0.0057, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + -0.0012, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.379, + -0.0322, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015697278559791321, + -0.0012359102199995665, + -0.0005541742506564712 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6498748545339565, + "source_return_step_error_deg": 2.9347778143549736, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.921593205824831, + "source_return_best_wrist_position": -1.637847661972046, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637847661972046 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3775, + -0.0057, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3775, + -0.0057, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + -0.0012, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.379, + -0.0322, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015697278559791321, + -0.0012359102199995665, + -0.0005541742506564712 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6498748545339565, + "pour_controller_source_return_step_error_deg": 2.9347778143549736, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.921593205824831, + "pour_controller_source_return_best_wrist_position": -1.637847661972046, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637847661972046, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012382667536844345, + "valid_pour_held_xy_dist": 0.009493538404724592, + "valid_pour_held_gripper_dist": 0.007225915236216245, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0338360999054812, + "valid_pour_source_tilt_deg": 2.934768829400526, + "valid_pour_source_upright_tilt_deg": 2.6498654642348822, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.6298145057505597e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3830238751583743, + -0.03750963795164438, + 1.0338360999054812 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37183426296934685, + -0.013427352148422927, + 1.0338360999054812 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3774290690638606, + -0.02546849505003365, + 1.0338360999054812 + ], + "valid_pour_held_grasp_object_position": [ + 0.3830238751583743, + -0.013427352148422927, + 1.0338360999054812 + ], + "valid_pour_held_grasp_finger_gap": 0.026554922527638334, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023940672019992854, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.010354528307827803, + -0.9989307233011804, + 0.04505767180517728 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005496796096645728, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037634050903933736, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3830238751583743, + -0.03750963795164438, + 1.0338360999054812 + ], + "held_grasp_finger_b": [ + 0.37183426296934685, + -0.013427352148422927, + 1.0338360999054812 + ], + "held_grasp_midpoint": [ + 0.3774290690638606, + -0.02546849505003365, + 1.0338360999054812 + ], + "held_grasp_object_position": [ + 0.3830238751583743, + -0.013427352148422927, + 1.0338360999054812 + ], + "held_grasp_finger_gap": 0.026554922527638334, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023940672019992854, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010354528307827803, + -0.9989307233011804, + 0.04505767180517728 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005496796096645728, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037634050903933736, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2706388589157302, + 0.20246180124613336, + 0.7611063287155093 + ], + "target_position": [ + 0.27325076001865417, + 0.1997084665229008, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003795112576671943, + "xy_threshold": 0.08, + "gripper_dist": 0.21068418844874615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063287155093, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587904813524343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714374785495237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1805993675507134, + "release_required_pad_clearance": 0.053571873927476185, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.154763695004423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b8ddcc4a88cf7ba978cc887e0d28e1fb2954beec00d8a7ca470c3bf62977475", + "visual_seed": 9107431223255010422, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d9852e7c4303442b070327ba5cb7dc04607e48b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_50_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29942406755344747, + 0.20715346473892618, + 1.0009488362840866 + ], + "current_z": 1.0009488362840866, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1398423878739654, + "gripper_z": 1.0021790958043484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2942580107223721, + 0.2023065524159767, + 1.0021790958043484 + ], + "object_minus_gripper": [ + 0.00516605683107535, + 0.0048469123229494815, + -0.0012302595202617894 + ], + "object_to_gripper_xy": 0.007083833866506174, + "object_to_gripper_z": -0.0012302595202617894, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29942406755344747, + 0.18259054413422532, + 1.0009488362840866 + ], + "finger_b": [ + 0.2876546389517022, + 0.20715346473892618, + 1.0009488362840866 + ], + "finger_midpoint": [ + 0.29353935325257485, + 0.19487200443657576, + 1.0009488362840866 + ], + "object_minus_finger_midpoint": [ + 0.005884714300872618, + 0.012281460302350417, + 0.0 + ], + "finger_gap": 0.027237043125941888, + "fingertip_max_gap": 0.09126878241333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361852156297092, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0009488362840866, + "object_top_z": 1.0508675432322865, + "finger_top_clearance": 0.04991870694819989, + "fingertip_min_top_clearance": 0.014975612084459931, + "object_projection_between_fingers": 0.8132799992923399, + "object_to_finger_line_xy": 0.010613910583855562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048134391206665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8786921280942923, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37753851330344124, + -0.0037038686250820004, + 0.7701464494012565 + ], + "gripper_position": [ + 0.37797171343284286, + -0.015678026656673463, + 1.0355822145995712 + ], + "target_minus_gripper": [ + -0.000433200129401623, + 0.011974158031591462, + -0.2654357651983147 + ], + "held_position": [ + 0.38322204173304586, + -0.010965590158166567, + 1.0342461076745535 + ], + "held_minus_target": [ + 0.005683528429604623, + -0.007261721533084567, + 0.26409965827329696 + ], + "held_minus_gripper": [ + 0.005250328300203, + 0.004712436498506896, + -0.0013361069250177326 + ], + "xy_dist": 0.011981991608978865, + "held_xy_dist": 0.00922144755633236, + "held_gripper_dist": 0.007180402964141552, + "max_held_gripper_dist": 0.007202146060358131, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0342461076745535, + "required_height": 0.8001464494012566, + "gripper_z": 1.0355822145995712, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.55341258661534, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.830805713758607, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.844055491399922, + "max_source_tilt_deg": 89.75141756229912, + "source_upright_tilt_deg": 2.6874323634264354, + "max_source_upright_tilt_deg": 89.85651144781721, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.844055491399922, + "source_upright_return_tilt_deg": 2.6874323634264354, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.778887033462524e-09, + "max_target_xy_drift": 9.33601526618582e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3775, + -0.0037, + 0.7701 + ], + "controller_target_position": [ + 0.3775, + -0.0037, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0011, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.379, + -0.03, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015092113401120322, + -0.0011004886819080415, + -0.000262795433560846 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6874359005338952, + "source_return_step_error_deg": 2.844058132367067, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8303445600304955, + "source_return_best_wrist_position": -1.637831449508667, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637831449508667 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3775, + -0.0037, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3775, + -0.0037, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0011, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.379, + -0.03, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015092113401120322, + -0.0011004886819080415, + -0.000262795433560846 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6874359005338952, + "pour_controller_source_return_step_error_deg": 2.844058132367067, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8303445600304955, + "pour_controller_source_return_best_wrist_position": -1.637831449508667, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637831449508667, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011981991608978865, + "valid_pour_held_xy_dist": 0.00922144755633236, + "valid_pour_held_gripper_dist": 0.007180402964141552, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0342461076745535, + "valid_pour_source_tilt_deg": 2.844055491399922, + "valid_pour_source_upright_tilt_deg": 2.6874323634264354, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.778887033462524e-09, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38322204173304586, + -0.03500164612077802, + 1.0342461076745535 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37192903574180425, + -0.010965590158166567, + 1.0342461076745535 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37757553873742505, + -0.022983618139472292, + 1.0342461076745535 + ], + "valid_pour_held_grasp_object_position": [ + 0.38322204173304586, + -0.010965590158166567, + 1.0342461076745535 + ], + "valid_pour_held_grasp_finger_gap": 0.026556806482632814, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02403527446334851, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0022716228209806034, + -0.998900196045839, + 0.04683201970173422 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005701606582544424, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03772826628854798, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38322204173304586, + -0.03500164612077802, + 1.0342461076745535 + ], + "held_grasp_finger_b": [ + 0.37192903574180425, + -0.010965590158166567, + 1.0342461076745535 + ], + "held_grasp_midpoint": [ + 0.37757553873742505, + -0.022983618139472292, + 1.0342461076745535 + ], + "held_grasp_object_position": [ + 0.38322204173304586, + -0.010965590158166567, + 1.0342461076745535 + ], + "held_grasp_finger_gap": 0.026556806482632814, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02403527446334851, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0022716228209806034, + -0.998900196045839, + 0.04683201970173422 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005701606582544424, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03772826628854798, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.267759228659957, + 0.20499805876688812, + 0.7611064542098909 + ], + "target_position": [ + 0.274974363998834, + 0.20370695747450074, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007329742185473947, + "xy_threshold": 0.08, + "gripper_dist": 0.20907756606339722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064542098909, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548280911242432, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09036240242469497, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17974854840218035, + "release_required_pad_clearance": 0.055181201212347486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.458578294479235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f085abc3b3572b560c814862fa061a5d7685ff7fa820232416f745f6cfed0217", + "visual_seed": 1644019842875137955, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d57d13738968ffe2cb7f21c0bdee1165a79a07ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_51_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29512000961921925, + 0.2051415679981163, + 1.0013431633152878 + ], + "current_z": 1.0013431633152878, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.14023671490516643, + "gripper_z": 1.0030545252905603, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2899084447712933, + 0.20032792216904205, + 1.0030545252905603 + ], + "object_minus_gripper": [ + 0.0052115648479259535, + 0.004813645829074259, + -0.0017113619752724407 + ], + "object_to_gripper_xy": 0.007094476325416942, + "object_to_gripper_z": -0.0017113619752724407, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29512000961921925, + 0.1804156188039055, + 1.0013431633152878 + ], + "finger_b": [ + 0.2835743507198123, + 0.2051415679981163, + 1.0013431633152878 + ], + "finger_midpoint": [ + 0.28934718016951577, + 0.1927785934010109, + 1.0013431633152878 + ], + "object_minus_finger_midpoint": [ + 0.005772829449703476, + 0.01236297459710542, + 0.0 + ], + "finger_gap": 0.02728873032913311, + "fingertip_max_gap": 0.09114764025178221, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013644365164566567, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0013431633152878, + "object_top_z": 1.0512081662333792, + "finger_top_clearance": 0.04986500291809137, + "fingertip_min_top_clearance": 0.014959500875427427, + "object_projection_between_fingers": 0.8209926817871338, + "object_to_finger_line_xy": 0.010461365256545193, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048073820125891106, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9560757576947055, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37786711371008797, + -0.006091504034914, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37784099734642645, + -0.01668752691528244, + 1.0365114826785444 + ], + "target_minus_gripper": [ + 2.6116363661510267e-05, + 0.010596022880368441, + -0.2663650928819328 + ], + "held_position": [ + 0.3831468971063377, + -0.012013390052046793, + 1.034718267886067 + ], + "held_minus_target": [ + 0.005279783396249738, + -0.005921886017132793, + 0.26457187808945526 + ], + "held_minus_gripper": [ + 0.005305899759911248, + 0.0046741368632356485, + -0.0017932147924775155 + ], + "xy_dist": 0.010596055065246803, + "held_xy_dist": 0.007933778841839953, + "held_gripper_dist": 0.00729491240320573, + "max_held_gripper_dist": 0.0073456018536818156, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.034718267886067, + "required_height": 0.8001463897966117, + "gripper_z": 1.0365114826785444, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.4974801675021, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4663832116820457, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.12733607838111, + "max_source_tilt_deg": 89.67667009713767, + "source_upright_tilt_deg": 1.3926695000028306, + "max_source_upright_tilt_deg": 89.87483254208236, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.12733607838111, + "source_upright_return_tilt_deg": 1.3926695000028306, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.670167270160845e-08, + "max_target_xy_drift": 1.4167127661262764e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3779, + -0.0061, + 0.7701 + ], + "controller_target_position": [ + 0.3779, + -0.0061, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0005, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3797, + -0.0308, + 1.0362 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001785866754764783, + 0.0004872574086237035, + 0.0008456215423940385 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.3926660442560734, + "source_return_step_error_deg": 2.127332747308509, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.136245459434056, + "source_return_best_wrist_position": -1.6119868755340576, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6119868755340576 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3779, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3779, + -0.0061, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0005, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3797, + -0.0308, + 1.0362 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001785866754764783, + 0.0004872574086237035, + 0.0008456215423940385 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.3926660442560734, + "pour_controller_source_return_step_error_deg": 2.127332747308509, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.136245459434056, + "pour_controller_source_return_best_wrist_position": -1.6119868755340576, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6119868755340576, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010596055065246803, + "valid_pour_held_xy_dist": 0.007933778841839953, + "valid_pour_held_gripper_dist": 0.00729491240320573, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.034718267886067, + "valid_pour_source_tilt_deg": 2.12733607838111, + "valid_pour_source_upright_tilt_deg": 1.3926695000028306, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.670167270160845e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3831468971063377, + -0.03660275472973946, + 1.034718267886067 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3720348799895784, + -0.012013390052046793, + 1.034718267886067 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3775908885479581, + -0.024308072390893123, + 1.034718267886067 + ], + "valid_pour_held_grasp_object_position": [ + 0.3831468971063377, + -0.012013390052046793, + 1.034718267886067 + ], + "valid_pour_held_grasp_finger_gap": 0.0269835835213878, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02457367503634997, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0007583039213260704, + -0.9997046139546745, + 0.024292175960549896 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055547216758266215, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0374249862657666, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3831468971063377, + -0.03660275472973946, + 1.034718267886067 + ], + "held_grasp_finger_b": [ + 0.3720348799895784, + -0.012013390052046793, + 1.034718267886067 + ], + "held_grasp_midpoint": [ + 0.3775908885479581, + -0.024308072390893123, + 1.034718267886067 + ], + "held_grasp_object_position": [ + 0.3831468971063377, + -0.012013390052046793, + 1.034718267886067 + ], + "held_grasp_finger_gap": 0.0269835835213878, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457367503634997, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0007583039213260704, + -0.9997046139546745, + 0.024292175960549896 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055547216758266215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0374249862657666, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2647730886217612, + 0.20825504262670122, + 0.7611199338026285 + ], + "target_position": [ + 0.2706091040799312, + 0.20285909588884424, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00794829023286071, + "xy_threshold": 0.08, + "gripper_dist": 0.2089752690290191, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611199338026285, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558428323764017, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09125038687698898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1803204959280275, + "release_required_pad_clearance": 0.055625193438494494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.3552587307793456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f279a2a4718f577a828ec136f5e507bea80ac524e58a22a7bd2e7cdb74b2eba6", + "visual_seed": 5399345555725422656, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..902fb9babfb0aea855189085ab8ebe33cbb01196 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_52_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3013436811936935, + 0.20585540133681904, + 1.0012212417653275 + ], + "current_z": 1.0012212417653275, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.14011461454127183, + "gripper_z": 1.0023809453312176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2960879544581785, + 0.20103806064361757, + 1.0023809453312176 + ], + "object_minus_gripper": [ + 0.005255726735514998, + 0.004817340693201472, + -0.0011597035658901245 + ], + "object_to_gripper_xy": 0.0071294764795728155, + "object_to_gripper_z": -0.0011597035658901245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3013436811936935, + 0.1810766921457095, + 1.0012212417653275 + ], + "finger_b": [ + 0.2898132559856024, + 0.20585540133681904, + 1.0012212417653275 + ], + "finger_midpoint": [ + 0.295578468589648, + 0.19346604674126427, + 1.0012212417653275 + ], + "object_minus_finger_midpoint": [ + 0.0057652126040455, + 0.012389354595554763, + 0.0 + ], + "finger_gap": 0.02733011406227492, + "fingertip_max_gap": 0.09139904752084235, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366505703113745, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012212417653275, + "object_top_z": 1.051129531711436, + "finger_top_clearance": 0.04990828994610852, + "fingertip_min_top_clearance": 0.014972486983832571, + "object_projection_between_fingers": 0.8220050184940872, + "object_to_finger_line_xy": 0.010454001488252299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819952376042118, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9957996795379006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3737904242283526, + -0.003988301524288877, + 0.7701463301919668 + ], + "gripper_position": [ + 0.37264127148024473, + -0.014489452615690998, + 1.035581622534736 + ], + "target_minus_gripper": [ + 0.0011491527481078956, + 0.010501151091402122, + -0.2654352923427693 + ], + "held_position": [ + 0.37800101954843857, + -0.009819494569618132, + 1.034317143623111 + ], + "held_minus_target": [ + 0.004210595320085941, + -0.005831193045329255, + 0.2641708134311441 + ], + "held_minus_gripper": [ + 0.005359748068193837, + 0.004669958046072866, + -0.0012644789116251776 + ], + "xy_dist": 0.01056384050821196, + "held_xy_dist": 0.007192490895470491, + "held_gripper_dist": 0.007220409574569372, + "max_held_gripper_dist": 0.007228049653217575, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919668, + "held_z": 1.034317143623111, + "required_height": 0.8001463301919668, + "gripper_z": 1.035581622534736, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.58755670227623, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6231168788746686, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.352213526403679, + "max_source_tilt_deg": 89.98542643390705, + "source_upright_tilt_deg": 1.4130559427588876, + "max_source_upright_tilt_deg": 89.83172732306176, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.352213526403679, + "source_upright_return_tilt_deg": 1.4130559427588876, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.125835006943825e-08, + "max_target_xy_drift": 1.6530975699424744e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3738, + -0.004, + 0.7701 + ], + "controller_target_position": [ + 0.3738, + -0.004, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0004, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3719, + -0.0288, + 1.0346 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018933172115083879, + 0.00036850667801279326, + -0.0007056813466252124 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.4130655211696301, + "source_return_step_error_deg": 2.3522184215998463, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.339298047770258, + "source_return_best_wrist_position": -1.612842082977295, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612842082977295 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3738, + -0.004, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3738, + -0.004, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0004, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3719, + -0.0288, + 1.0346 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018933172115083879, + 0.00036850667801279326, + -0.0007056813466252124 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.4130655211696301, + "pour_controller_source_return_step_error_deg": 2.3522184215998463, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.339298047770258, + "pour_controller_source_return_best_wrist_position": -1.612842082977295, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612842082977295, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01056384050821196, + "valid_pour_held_xy_dist": 0.007192490895470491, + "valid_pour_held_gripper_dist": 0.007220409574569372, + "valid_pour_required_height": 0.8001463301919668, + "valid_pour_held_z": 1.034317143623111, + "valid_pour_source_tilt_deg": 2.352213526403679, + "valid_pour_source_upright_tilt_deg": 1.4130559427588876, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.125835006943825e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37800101954843857, + -0.03456318120820918, + 1.034317143623111 + ], + "valid_pour_held_grasp_finger_b": [ + 0.366963915931937, + -0.009819494569618132, + 1.034317143623111 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3724824677401878, + -0.022191337888913656, + 1.034317143623111 + ], + "valid_pour_held_grasp_object_position": [ + 0.37800101954843857, + -0.009819494569618132, + 1.034317143623111 + ], + "valid_pour_held_grasp_finger_gap": 0.027093683483612577, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024690604833148284, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.004127652070826349, + -0.9996959029608607, + 0.024311809715680477 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005475720598872088, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03732939032992234, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37800101954843857, + -0.03456318120820918, + 1.034317143623111 + ], + "held_grasp_finger_b": [ + 0.366963915931937, + -0.009819494569618132, + 1.034317143623111 + ], + "held_grasp_midpoint": [ + 0.3724824677401878, + -0.022191337888913656, + 1.034317143623111 + ], + "held_grasp_object_position": [ + 0.37800101954843857, + -0.009819494569618132, + 1.034317143623111 + ], + "held_grasp_finger_gap": 0.027093683483612577, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024690604833148284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004127652070826349, + -0.9996959029608607, + 0.024311809715680477 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005475720598872088, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03732939032992234, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27159778799945267, + 0.19699093572897763, + 0.7611064751490272 + ], + "target_position": [ + 0.2768141128700631, + 0.20458022548375895, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009209091385026942, + "xy_threshold": 0.08, + "gripper_dist": 0.21067580368285724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064751490272, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532025356097571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527342223258876, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17957347968880888, + "release_required_pad_clearance": 0.05263671111629438, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.33337803960002604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5b93eec13d9f2905058ca9131281fd6cf05a1fb9706a20e63230cbb7a2ee3a56", + "visual_seed": 5958563230958472470, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3ca070c810d32a2db402c9fc12304ae91d9184 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_53_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29524895113314664, + 0.20571604673976407, + 1.0040520579954215 + ], + "current_z": 1.0040520579954215, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.1429454307713659, + "gripper_z": 1.0057892307859166, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2899326167225784, + 0.200815533540433, + 1.0057892307859166 + ], + "object_minus_gripper": [ + 0.005316334410568224, + 0.004900513199331075, + -0.0017371727904951229 + ], + "object_to_gripper_xy": 0.0072303831974391145, + "object_to_gripper_z": -0.0017371727904951229, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29524895113314664, + 0.18097290678757139, + 1.0040520579954215 + ], + "finger_b": [ + 0.28350437649994853, + 0.20571604673976407, + 1.0040520579954215 + ], + "finger_midpoint": [ + 0.2893766638165476, + 0.19334447676366773, + 1.0040520579954215 + ], + "object_minus_finger_midpoint": [ + 0.005872287316599056, + 0.012371569976096342, + 0.0 + ], + "finger_gap": 0.027389012541684563, + "fingertip_max_gap": 0.09084007479184339, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013694506270842281, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040520579954215, + "object_top_z": 1.053815551468749, + "finger_top_clearance": 0.049763493473327536, + "fingertip_min_top_clearance": 0.014929048041998277, + "object_projection_between_fingers": 0.8161253604678074, + "object_to_finger_line_xy": 0.010610008425309923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0479200373959217, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8520063435885242, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.373825412154836, + -0.007664259665973409, + 0.7701464494012565 + ], + "gripper_position": [ + 0.373674778659416, + -0.020374836245231148, + 1.0371361562210555 + ], + "target_minus_gripper": [ + 0.00015063349541999393, + 0.01271057657925774, + -0.26698970681979894 + ], + "held_position": [ + 0.3790679892209237, + -0.015613285512117893, + 1.0353061545456144 + ], + "held_minus_target": [ + 0.005242577066087717, + -0.007949025846144483, + 0.2651597051443578 + ], + "held_minus_gripper": [ + 0.005393210561507711, + 0.004761550733113256, + -0.0018300016754411175 + ], + "xy_dist": 0.012711469129377526, + "held_xy_dist": 0.009522164995238315, + "held_gripper_dist": 0.007423475714036317, + "max_held_gripper_dist": 0.007482620706835929, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0353061545456144, + "required_height": 0.8001464494012566, + "gripper_z": 1.0371361562210555, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50041031865604, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1694351690136013, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9477293861473917, + "max_source_tilt_deg": 89.92072487290352, + "source_upright_tilt_deg": 2.781940355263882, + "max_source_upright_tilt_deg": 89.96572725739806, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9477293861473917, + "source_upright_return_tilt_deg": 2.781940355263882, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.295451348956488e-08, + "max_target_xy_drift": 1.1521423904452533e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3738, + -0.0077, + 0.7701 + ], + "controller_target_position": [ + 0.3738, + -0.0077, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0018, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3746, + -0.0347, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007524710714199856, + -0.0018151456971889442, + 0.0014572084100970373 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.781946229091687, + "source_return_step_error_deg": 2.9477372020817145, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.934755744299612, + "source_return_best_wrist_position": -1.6372880935668945, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6372880935668945 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3738, + -0.0077, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3738, + -0.0077, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0018, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3746, + -0.0347, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007524710714199856, + -0.0018151456971889442, + 0.0014572084100970373 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.781946229091687, + "pour_controller_source_return_step_error_deg": 2.9477372020817145, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.934755744299612, + "pour_controller_source_return_best_wrist_position": -1.6372880935668945, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6372880935668945, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012711469129377526, + "valid_pour_held_xy_dist": 0.009522164995238315, + "valid_pour_held_gripper_dist": 0.007423475714036317, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0353061545456144, + "valid_pour_source_tilt_deg": 2.9477293861473917, + "valid_pour_source_upright_tilt_deg": 2.781940355263882, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.295451348956488e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3790679892209237, + -0.03971271629799472, + 1.0353061545456144 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36772080480940966, + -0.015613285512117893, + 1.0353061545456144 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3733943970151667, + -0.027663000905056308, + 1.0353061545456144 + ], + "valid_pour_held_grasp_object_position": [ + 0.3790679892209237, + -0.015613285512117893, + 1.0353061545456144 + ], + "valid_pour_held_grasp_finger_gap": 0.02663721378583307, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02414170315976041, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006228294051389974, + -0.9988214980038732, + 0.048133392551410914 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00577763083342374, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037720072091385115, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3790679892209237, + -0.03971271629799472, + 1.0353061545456144 + ], + "held_grasp_finger_b": [ + 0.36772080480940966, + -0.015613285512117893, + 1.0353061545456144 + ], + "held_grasp_midpoint": [ + 0.3733943970151667, + -0.027663000905056308, + 1.0353061545456144 + ], + "held_grasp_object_position": [ + 0.3790679892209237, + -0.015613285512117893, + 1.0353061545456144 + ], + "held_grasp_finger_gap": 0.02663721378583307, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02414170315976041, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006228294051389974, + -0.9988214980038732, + 0.048133392551410914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00577763083342374, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037720072091385115, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2714987171829215, + 0.20525195829193502, + 0.7611063227607964 + ], + "target_position": [ + 0.2706358111428736, + 0.20368475563193564, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017890586942468617, + "xy_threshold": 0.08, + "gripper_dist": 0.21502260610983714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063227607964, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548491714559005, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08934700684960083, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18487798102037145, + "release_required_pad_clearance": 0.054673503424800415, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.390700556473453, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "96774eda59ecdf859c88e96434fc5f5aba9078bd892891e5ff0f1bb604cc0291", + "visual_seed": 8128818546149336593, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9e479d6000b715e570cf744af4903cfbd956db1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_54_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2967650821247976, + 0.2046967148769834, + 1.0031459300079497 + ], + "current_z": 1.0031459300079497, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.14203936238853887, + "gripper_z": 1.0047659574830625, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2915777499480029, + 0.19985375292470814, + 1.0047659574830625 + ], + "object_minus_gripper": [ + 0.005187332176794679, + 0.004842961952275265, + -0.0016200274751128063 + ], + "object_to_gripper_xy": 0.007096667921186342, + "object_to_gripper_z": -0.0016200274751128063, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2967650821247976, + 0.18005085481882283, + 1.0031459300079497 + ], + "finger_b": [ + 0.2850909439677838, + 0.2046967148769834, + 1.0031459300079497 + ], + "finger_midpoint": [ + 0.2909280130462907, + 0.19237378484790313, + 1.0031459300079497 + ], + "object_minus_finger_midpoint": [ + 0.005837069078506896, + 0.012322930029080276, + 0.0 + ], + "finger_gap": 0.027270935438951857, + "fingertip_max_gap": 0.09097433319680845, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635467719475916, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0031459300079497, + "object_top_z": 1.0529229867089387, + "finger_top_clearance": 0.049777056700988975, + "fingertip_min_top_clearance": 0.014933117010296659, + "object_projection_between_fingers": 0.8167476355897327, + "object_to_finger_line_xy": 0.010550396262037904, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04798716659840423, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9057347378770524, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37692142641608173, + -0.008126467609174477, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3764937200428575, + -0.01888434611325203, + 1.0348927846326095 + ], + "target_minus_gripper": [ + 0.00042770637322420146, + 0.010757878504077553, + -0.26474633523135305 + ], + "held_position": [ + 0.38180223376546046, + -0.01423287509158785, + 1.0331523279615906 + ], + "held_minus_target": [ + 0.004880807349378735, + -0.006106407482413373, + 0.2630058785603342 + ], + "held_minus_gripper": [ + 0.005308513722602937, + 0.00465147102166418, + -0.001740456671018853 + ], + "xy_dist": 0.010766377415370058, + "held_xy_dist": 0.007817320047370678, + "held_gripper_dist": 0.007269504111845548, + "max_held_gripper_dist": 0.00731552435652008, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0331523279615906, + "required_height": 0.8001464494012565, + "gripper_z": 1.0348927846326095, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.62146176131617, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1020755020621027, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.02131711890576, + "max_source_tilt_deg": 89.79083621105514, + "source_upright_tilt_deg": 2.656478445032863, + "max_source_upright_tilt_deg": 89.77644638086765, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.02131711890576, + "source_upright_return_tilt_deg": 2.656478445032863, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2016948687654793e-07, + "max_target_xy_drift": 1.4095006423774478e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3769, + -0.0081, + 0.7701 + ], + "controller_target_position": [ + 0.3769, + -0.0081, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3767, + -0.0331, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002647544965793914, + 0.00021951306243373023, + -0.001612389748045782 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.656503049406123, + "source_return_step_error_deg": 3.0213379318661073, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0051971665404476, + "source_return_best_wrist_position": -1.638784646987915, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.638784646987915 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3769, + -0.0081, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3769, + -0.0081, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3767, + -0.0331, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0002647544965793914, + 0.00021951306243373023, + -0.001612389748045782 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.656503049406123, + "pour_controller_source_return_step_error_deg": 3.0213379318661073, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0051971665404476, + "pour_controller_source_return_best_wrist_position": -1.638784646987915, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.638784646987915, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010766377415370058, + "valid_pour_held_xy_dist": 0.007817320047370678, + "valid_pour_held_gripper_dist": 0.007269504111845548, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0331523279615906, + "valid_pour_source_tilt_deg": 3.02131711890576, + "valid_pour_source_upright_tilt_deg": 2.656478445032863, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2016948687654793e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38180223376546046, + -0.03846618042868291, + 1.0331523279615906 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37073655301713576, + -0.01423287509158785, + 1.0331523279615906 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3762693933912981, + -0.02634952776013538, + 1.0331523279615906 + ], + "valid_pour_held_grasp_object_position": [ + 0.38180223376546046, + -0.01423287509158785, + 1.0331523279615906 + ], + "valid_pour_held_grasp_finger_gap": 0.0266402398259611, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02415419379939828, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0047959059362069675, + -0.9989253808613612, + 0.04609861990597519 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005503148767320554, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03759008320640686, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38180223376546046, + -0.03846618042868291, + 1.0331523279615906 + ], + "held_grasp_finger_b": [ + 0.37073655301713576, + -0.01423287509158785, + 1.0331523279615906 + ], + "held_grasp_midpoint": [ + 0.3762693933912981, + -0.02634952776013538, + 1.0331523279615906 + ], + "held_grasp_object_position": [ + 0.38180223376546046, + -0.01423287509158785, + 1.0331523279615906 + ], + "held_grasp_finger_gap": 0.0266402398259611, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02415419379939828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0047959059362069675, + -0.9989253808613612, + 0.04609861990597519 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005503148767320554, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03759008320640686, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2722959104587522, + 0.20299889528646353, + 0.761106605140484 + ], + "target_position": [ + 0.27226055674304533, + 0.20009788887240257, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002901221828753729, + "xy_threshold": 0.08, + "gripper_dist": 0.21414148380591122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106605140484, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557917868145116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0896012085227857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18439750180108336, + "release_required_pad_clearance": 0.054800604261392855, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.655689714513527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b1256d174168405a00f0e1712e693dc4d2c1d1fa9ff017819089a7401eee6b9", + "visual_seed": 71310341427083534, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..961c644cb5d14713b3e971914e9c18106f4df8ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_55_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2992614178305228, + 0.20866722236743837, + 1.003357187595601 + ], + "current_z": 1.003357187595601, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14225067958083515, + "gripper_z": 1.004824022135627, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2940955934490126, + 0.20374977532686006, + 1.004824022135627 + ], + "object_minus_gripper": [ + 0.005165824381510198, + 0.00491744704057831, + -0.0014668345400259408 + ], + "object_to_gripper_xy": 0.007132112375551692, + "object_to_gripper_z": -0.0014668345400259408, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2992614178305228, + 0.18419248126164056, + 1.003357187595601 + ], + "finger_b": [ + 0.28729367438072373, + 0.20866722236743837, + 1.003357187595601 + ], + "finger_midpoint": [ + 0.2932775461056233, + 0.19642985181453948, + 1.003357187595601 + ], + "object_minus_finger_midpoint": [ + 0.005983871724899503, + 0.01223737055289889, + 0.0 + ], + "finger_gap": 0.02724407890672829, + "fingertip_max_gap": 0.0909773319545372, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362203945336412, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003357187595601, + "object_top_z": 1.0531776922316847, + "finger_top_clearance": 0.04982050463608356, + "fingertip_min_top_clearance": 0.014946151390825101, + "object_projection_between_fingers": 0.8070342274362715, + "object_to_finger_line_xy": 0.01075123235243978, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0479886659772686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0153582544085582, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37406183397833753, + -0.0035062736397161324, + 0.7701463897966114 + ], + "gripper_position": [ + 0.37301303101280925, + -0.013586430415784417, + 1.0359355751568844 + ], + "target_minus_gripper": [ + 0.0010488029655282838, + 0.010080156776068286, + -0.26578918536027296 + ], + "held_position": [ + 0.3783516128972058, + -0.008891870399882387, + 1.0343855849241934 + ], + "held_minus_target": [ + 0.004289778918868281, + -0.005385596760166255, + 0.264239195127582 + ], + "held_minus_gripper": [ + 0.005338581884396565, + 0.00469456001590203, + -0.0015499902326909787 + ], + "xy_dist": 0.010134571934256341, + "held_xy_dist": 0.006885263657688061, + "held_gripper_dist": 0.007276112973336153, + "max_held_gripper_dist": 0.00730923905638432, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966114, + "held_z": 1.0343855849241934, + "required_height": 0.8001463897966115, + "gripper_z": 1.0359355751568844, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.48573907231885, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5780860913053681, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1941972743132756, + "max_source_tilt_deg": 89.78195031432523, + "source_upright_tilt_deg": 1.710388754885338, + "max_source_upright_tilt_deg": 89.99055999909561, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1941972743132756, + "source_upright_return_tilt_deg": 1.710388754885338, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0046870708465576e-08, + "max_target_xy_drift": 1.7939748406279202e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3741, + -0.0035, + 0.7701 + ], + "controller_target_position": [ + 0.3741, + -0.0035, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0009, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3737, + -0.0278, + 1.035 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003559405007235142, + 0.0009338712070823827, + -0.0003318071633208804 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7103841176182248, + "source_return_step_error_deg": 2.1941858827221097, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1852166919904454, + "source_return_best_wrist_position": -1.6129939556121826, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129939556121826 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3741, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3741, + -0.0035, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0009, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3737, + -0.0278, + 1.035 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003559405007235142, + 0.0009338712070823827, + -0.0003318071633208804 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7103841176182248, + "pour_controller_source_return_step_error_deg": 2.1941858827221097, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1852166919904454, + "pour_controller_source_return_best_wrist_position": -1.6129939556121826, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129939556121826, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010134571934256341, + "valid_pour_held_xy_dist": 0.006885263657688061, + "valid_pour_held_gripper_dist": 0.007276112973336153, + "valid_pour_required_height": 0.8001463897966115, + "valid_pour_held_z": 1.0343855849241934, + "valid_pour_source_tilt_deg": 2.1941972743132756, + "valid_pour_source_upright_tilt_deg": 1.710388754885338, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0046870708465576e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3783516128972058, + -0.03346141780618316, + 1.0343855849241934 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3672179725891242, + -0.008891870399882387, + 1.0343855849241934 + ], + "valid_pour_held_grasp_midpoint": [ + 0.372784792743165, + -0.021176644103032775, + 1.0343855849241934 + ], + "valid_pour_held_grasp_object_position": [ + 0.3783516128972058, + -0.008891870399882387, + 1.0343855849241934 + ], + "valid_pour_held_grasp_finger_gap": 0.026974443576470688, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02437906961839301, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0161251258127701, + -0.9995544713541197, + 0.02511651077496324 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005376927923694952, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03735118391017661, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3783516128972058, + -0.03346141780618316, + 1.0343855849241934 + ], + "held_grasp_finger_b": [ + 0.3672179725891242, + -0.008891870399882387, + 1.0343855849241934 + ], + "held_grasp_midpoint": [ + 0.372784792743165, + -0.021176644103032775, + 1.0343855849241934 + ], + "held_grasp_object_position": [ + 0.3783516128972058, + -0.008891870399882387, + 1.0343855849241934 + ], + "held_grasp_finger_gap": 0.026974443576470688, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02437906961839301, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0161251258127701, + -0.9995544713541197, + 0.02511651077496324 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005376927923694952, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03735118391017661, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.25504529657356384, + 0.22143383782347315, + 0.761108664635023 + ], + "target_position": [ + 0.27488099693723417, + 0.20469014679740183, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.025957777217894683, + "xy_threshold": 0.08, + "gripper_dist": 0.2030172624039692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108664635023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07867177138987914, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08886971117524779, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1785898504865508, + "release_required_pad_clearance": 0.0544348555876239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8938419853735655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 213, + "max_placed_release_frames": 213 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbcdbb89204f3d8a0c8017b7c369b4d370a3f38ee4bef53ce8828d4211f70e0c", + "visual_seed": 7006684283883796761, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6e914219cce1e594cc33f50ed316eabe55dfbbd --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_56_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29219100185986147, + 0.20524982884917292, + 1.0027851760774489 + ], + "current_z": 1.0027851760774489, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.14167842964410404, + "gripper_z": 1.0044638250776723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28698168263181545, + 0.20046789912909171, + 1.0044638250776723 + ], + "object_minus_gripper": [ + 0.0052093192280460165, + 0.004781929720081207, + -0.001678649000223409 + ], + "object_to_gripper_xy": 0.007071340655596071, + "object_to_gripper_z": -0.001678649000223409, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29219100185986147, + 0.18045203629590975, + 1.0027851760774489 + ], + "finger_b": [ + 0.28079723923494787, + 0.20524982884917292, + 1.0027851760774489 + ], + "finger_midpoint": [ + 0.28649412054740464, + 0.19285093257254132, + 1.0027851760774489 + ], + "object_minus_finger_midpoint": [ + 0.005696881312456825, + 0.012398896276631599, + 0.0 + ], + "finger_gap": 0.027290077725568174, + "fingertip_max_gap": 0.09112688976028252, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013645038862784111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0027851760774489, + "object_top_z": 1.052766089895231, + "finger_top_clearance": 0.049980913817782024, + "fingertip_min_top_clearance": 0.014994274145334573, + "object_projection_between_fingers": 0.8256890020626046, + "object_to_finger_line_xy": 0.010353219394059044, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806344488014126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9149377816233946, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3720860294110005, + -0.0017856630993559187, + 0.770146330191967 + ], + "gripper_position": [ + 0.3710995713858908, + -0.014181105643683176, + 1.03676874324166 + ], + "target_minus_gripper": [ + 0.0009864580251097155, + 0.012395442544327256, + -0.2666224130496929 + ], + "held_position": [ + 0.3762665482575292, + -0.009382745023417106, + 1.0350376643221328 + ], + "held_minus_target": [ + 0.004180518846528702, + -0.007597081924061187, + 0.26489133413016586 + ], + "held_minus_gripper": [ + 0.005166976871638418, + 0.004798360620266069, + -0.0017310789195270626 + ], + "xy_dist": 0.012434632897879275, + "held_xy_dist": 0.008671354656977126, + "held_gripper_dist": 0.0072607540145495555, + "max_held_gripper_dist": 0.007314279654008874, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146330191967, + "held_z": 1.0350376643221328, + "required_height": 0.800146330191967, + "gripper_z": 1.03676874324166, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54933496368083, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7197825009867536, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8780601258819265, + "max_source_tilt_deg": 89.91602293386865, + "source_upright_tilt_deg": 2.356815603469843, + "max_source_upright_tilt_deg": 89.98769284011516, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8780601258819265, + "source_upright_return_tilt_deg": 2.356815603469843, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.8990245343871606e-08, + "max_target_xy_drift": 1.345309884913645e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3721, + -0.0018, + 0.7701 + ], + "controller_target_position": [ + 0.3721, + -0.0018, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0006, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3724, + -0.0264, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032625115028219213, + 0.0005651873017143961, + -0.0012946941809416357 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.3568067829354806, + "source_return_step_error_deg": 1.8780758987692368, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3841667416007217, + "source_return_best_wrist_position": -1.6143828630447388, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6143828630447388 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3721, + -0.0018, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3721, + -0.0018, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0006, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3724, + -0.0264, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00032625115028219213, + 0.0005651873017143961, + -0.0012946941809416357 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.3568067829354806, + "pour_controller_source_return_step_error_deg": 1.8780758987692368, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3841667416007217, + "pour_controller_source_return_best_wrist_position": -1.6143828630447388, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6143828630447388, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012434632897879275, + "valid_pour_held_xy_dist": 0.008671354656977126, + "valid_pour_held_gripper_dist": 0.0072607540145495555, + "valid_pour_required_height": 0.800146330191967, + "valid_pour_held_z": 1.0350376643221328, + "valid_pour_source_tilt_deg": 1.8780601258819265, + "valid_pour_source_upright_tilt_deg": 2.356815603469843, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.8990245343871606e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3762665482575292, + -0.03345801250193276, + 1.0350376643221328 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36467986983187617, + -0.009382745023417106, + 1.0350376643221328 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3704732090447027, + -0.021420378762674934, + 1.0350376643221328 + ], + "valid_pour_held_grasp_object_position": [ + 0.3762665482575292, + -0.009382745023417106, + 1.0350376643221328 + ], + "valid_pour_held_grasp_finger_gap": 0.0267183386665707, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024400230151281472, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029803844115276427, + -0.999154115946402, + 0.02833343366618512 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006158848770491267, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037865462552066326, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3762665482575292, + -0.03345801250193276, + 1.0350376643221328 + ], + "held_grasp_finger_b": [ + 0.36467986983187617, + -0.009382745023417106, + 1.0350376643221328 + ], + "held_grasp_midpoint": [ + 0.3704732090447027, + -0.021420378762674934, + 1.0350376643221328 + ], + "held_grasp_object_position": [ + 0.3762665482575292, + -0.009382745023417106, + 1.0350376643221328 + ], + "held_grasp_finger_gap": 0.0267183386665707, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024400230151281472, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029803844115276427, + -0.999154115946402, + 0.02833343366618512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006158848770491267, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037865462552066326, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2636218584971606, + 0.21195864353817068, + 0.7611086378125993 + ], + "target_position": [ + 0.2676958611615839, + 0.2017226176177536, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011016974373809657, + "xy_threshold": 0.08, + "gripper_dist": 0.2128785965863051, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086378125993, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516625714955393, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710422829988611, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18565090601807882, + "release_required_pad_clearance": 0.053552114149943056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1103494293006655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a749d74600cc370b8fe67fff7e689cfcfbbe76177cdd5e2e71b42575e600fa0d", + "visual_seed": 4315042413713601876, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83f6dc212f21eea0f2f165ea005b443310abdaa2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_58_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29779013666974374, + 0.20530690488473574, + 1.0025782133732188 + ], + "current_z": 1.0025782133732188, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.14147182456774232, + "gripper_z": 1.003727932259377, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2924812685266475, + 0.20033750885826984, + 1.003727932259377 + ], + "object_minus_gripper": [ + 0.005308868143096224, + 0.0049693960264659, + -0.0011497188861582242 + ], + "object_to_gripper_xy": 0.00727179330211173, + "object_to_gripper_z": -0.0011497188861582242, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29779013666974374, + 0.1806615962224412, + 1.0025782133732188 + ], + "finger_b": [ + 0.2858232572163195, + 0.20530690488473574, + 1.0025782133732188 + ], + "finger_midpoint": [ + 0.29180669694303163, + 0.19298425055358848, + 1.0025782133732188 + ], + "object_minus_finger_midpoint": [ + 0.005983439726712114, + 0.012322654331147265, + 0.0 + ], + "finger_gap": 0.027397033469201675, + "fingertip_max_gap": 0.09111178060694805, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013698516734600838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0025782133732188, + "object_top_z": 1.0524270665306632, + "finger_top_clearance": 0.04984885315744436, + "fingertip_min_top_clearance": 0.014954655947233324, + "object_projection_between_fingers": 0.8092103760744224, + "object_to_finger_line_xy": 0.010764940597880877, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805589030347403, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9543053680707297, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3728663138157552, + -0.0012579221775307484, + 0.7701465090059013 + ], + "gripper_position": [ + 0.3718464981852605, + -0.011895611132659897, + 1.036911594216542 + ], + "target_minus_gripper": [ + 0.0010198156304946915, + 0.010637688955129149, + -0.2667650852106408 + ], + "held_position": [ + 0.37732577633411846, + -0.007155442539739218, + 1.0356537139302064 + ], + "held_minus_target": [ + 0.004459462518363266, + -0.00589752036220847, + 0.26550720492430513 + ], + "held_minus_gripper": [ + 0.005479278148857958, + 0.004740168592920679, + -0.0012578802863356664 + ], + "xy_dist": 0.01068646107120023, + "held_xy_dist": 0.007393750900277231, + "held_gripper_dist": 0.007353499176352425, + "max_held_gripper_dist": 0.007367004546352555, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0356537139302064, + "required_height": 0.8001465090059013, + "gripper_z": 1.036911594216542, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.52017005592488, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.801909686302373, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.1919644866981325, + "max_source_tilt_deg": 89.91620810974193, + "source_upright_tilt_deg": 2.7748229407919935, + "max_source_upright_tilt_deg": 89.79676900606597, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.1919644866981325, + "source_upright_return_tilt_deg": 2.7748229407919935, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.228219717394068e-08, + "max_target_xy_drift": 1.4825023872621366e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3729, + -0.0013, + 0.7701 + ], + "controller_target_position": [ + 0.3729, + -0.0013, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3722, + -0.0262, + 1.0368 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000701705491538068, + 0.00021149730047721619, + 0.0014227571564913522 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7748316132265067, + "source_return_step_error_deg": 3.1919669772709165, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.184063672399313, + "source_return_best_wrist_position": -1.6371455192565918, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6371455192565918 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3729, + -0.0013, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3729, + -0.0013, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0002, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3722, + -0.0262, + 1.0368 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000701705491538068, + 0.00021149730047721619, + 0.0014227571564913522 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7748316132265067, + "pour_controller_source_return_step_error_deg": 3.1919669772709165, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.184063672399313, + "pour_controller_source_return_best_wrist_position": -1.6371455192565918, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6371455192565918, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01068646107120023, + "valid_pour_held_xy_dist": 0.007393750900277231, + "valid_pour_held_gripper_dist": 0.007353499176352425, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0356537139302064, + "valid_pour_source_tilt_deg": 3.1919644866981325, + "valid_pour_source_upright_tilt_deg": 2.7748229407919935, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.228219717394068e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37732577633411846, + -0.03153610953391207, + 1.0356537139302064 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36623777061735324, + -0.007155442539739218, + 1.0356537139302064 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3717817734757358, + -0.019345776036825642, + 1.0356537139302064 + ], + "valid_pour_held_grasp_object_position": [ + 0.37732577633411846, + -0.007155442539739218, + 1.0356537139302064 + ], + "valid_pour_held_grasp_finger_gap": 0.02678359187741195, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024195141664883405, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.014153984295905454, + -0.9988275189309516, + 0.046295271408547944 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00540066440228303, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03746573977886536, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37732577633411846, + -0.03153610953391207, + 1.0356537139302064 + ], + "held_grasp_finger_b": [ + 0.36623777061735324, + -0.007155442539739218, + 1.0356537139302064 + ], + "held_grasp_midpoint": [ + 0.3717817734757358, + -0.019345776036825642, + 1.0356537139302064 + ], + "held_grasp_object_position": [ + 0.37732577633411846, + -0.007155442539739218, + 1.0356537139302064 + ], + "held_grasp_finger_gap": 0.02678359187741195, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024195141664883405, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014153984295905454, + -0.9988275189309516, + 0.046295271408547944 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00540066440228303, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03746573977886536, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26699619932083013, + 0.20122454736388973, + 0.7611071179132473 + ], + "target_position": [ + 0.27317344493401785, + 0.20058941583455756, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00620981122299211, + "xy_threshold": 0.08, + "gripper_dist": 0.21118061311816153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071179132473, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514558290044572, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08749755979848518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18205792977026558, + "release_required_pad_clearance": 0.053748779899242594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5064030594324165, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97b1341f7a8e347f6c70b9640d028d4becbde4bc7efb371dec8bd150f463da51", + "visual_seed": 678770174427127159, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef3cedc8b3ab964d7e8f2a575281b40ab6b4ea1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_59_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29801065925741493, + 0.20315486981792721, + 1.0005549613841322 + ], + "current_z": 1.0005549613841322, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.13944851297401095, + "gripper_z": 1.0022758170751993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2927911337020094, + 0.19828689774053782, + 1.0022758170751993 + ], + "object_minus_gripper": [ + 0.0052195255554055575, + 0.004867972077389399, + -0.001720855691067058 + ], + "object_to_gripper_xy": 0.007137268326872302, + "object_to_gripper_z": -0.001720855691067058, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29801065925741493, + 0.17851706472360113, + 1.0005549613841322 + ], + "finger_b": [ + 0.28627471980749986, + 0.20315486981792721, + 1.0005549613841322 + ], + "finger_midpoint": [ + 0.29214268953245737, + 0.19083596727076418, + 1.0005549613841322 + ], + "object_minus_finger_midpoint": [ + 0.005867969724957567, + 0.01231890254716303, + 0.0 + ], + "finger_gap": 0.027290176156230167, + "fingertip_max_gap": 0.09095872702355431, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013645088078115084, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0005549613841322, + "object_top_z": 1.050557160827423, + "finger_top_clearance": 0.05000219944329065, + "fingertip_min_top_clearance": 0.015000659832987212, + "object_projection_between_fingers": 0.8150633262178403, + "object_to_finger_line_xy": 0.010595306791371129, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797936351177716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7574891419022937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37172852075163776, + -0.007384286870576365, + 0.7701464494012566 + ], + "gripper_position": [ + 0.3709198117445854, + -0.018147480484764417, + 1.0392105994493357 + ], + "target_minus_gripper": [ + 0.0008087090070523772, + 0.010763193614188052, + -0.26906415004807904 + ], + "held_position": [ + 0.3762475995040924, + -0.01343104891716992, + 1.0374409694490723 + ], + "held_minus_target": [ + 0.004519078752454664, + -0.006046762046593556, + 0.2672945200478156 + ], + "held_minus_gripper": [ + 0.005327787759507041, + 0.004716431567594496, + -0.0017696300002634224 + ], + "xy_dist": 0.010793532648516244, + "held_xy_dist": 0.007548867730925711, + "held_gripper_dist": 0.007332232912284447, + "max_held_gripper_dist": 0.007396555194713975, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0374409694490723, + "required_height": 0.8001464494012567, + "gripper_z": 1.0392105994493357, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.47560307159056, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.88788335144652, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2148209773073666, + "max_source_tilt_deg": 89.86492462082518, + "source_upright_tilt_deg": 1.64368434628908, + "max_source_upright_tilt_deg": 89.88948564674068, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2148209773073666, + "source_upright_return_tilt_deg": 1.64368434628908, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.991126531989214e-08, + "max_target_xy_drift": 8.28458413724083e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3717, + -0.0074, + 0.7701 + ], + "controller_target_position": [ + 0.3717, + -0.0074, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0019, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3723, + -0.0306, + 1.0369 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005325636988127627, + 0.0019413145104622866, + 0.0015892360782469067 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.643689572932684, + "source_return_step_error_deg": 2.2148278029938027, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2051385633483727, + "source_return_best_wrist_position": -1.6128580570220947, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128580570220947 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3717, + -0.0074, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3717, + -0.0074, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0019, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3723, + -0.0306, + 1.0369 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005325636988127627, + 0.0019413145104622866, + 0.0015892360782469067 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.643689572932684, + "pour_controller_source_return_step_error_deg": 2.2148278029938027, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2051385633483727, + "pour_controller_source_return_best_wrist_position": -1.6128580570220947, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128580570220947, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010793532648516244, + "valid_pour_held_xy_dist": 0.007548867730925711, + "valid_pour_held_gripper_dist": 0.007332232912284447, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0374409694490723, + "valid_pour_source_tilt_deg": 2.2148209773073666, + "valid_pour_source_upright_tilt_deg": 1.64368434628908, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.991126531989214e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3762475995040924, + -0.03781606645777806, + 1.0374409694490723 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36505336568025987, + -0.01343104891716992, + 1.0374409694490723 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37065048259217614, + -0.025623557687473993, + 1.0374409694490723 + ], + "valid_pour_held_grasp_object_position": [ + 0.3762475995040924, + -0.01343104891716992, + 1.0374409694490723 + ], + "valid_pour_held_grasp_finger_gap": 0.02683169676629496, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024323317181243517, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.004615500117656941, + -0.999588543587597, + 0.028309727781997578 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005551546285643397, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037506924491942324, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3762475995040924, + -0.03781606645777806, + 1.0374409694490723 + ], + "held_grasp_finger_b": [ + 0.36505336568025987, + -0.01343104891716992, + 1.0374409694490723 + ], + "held_grasp_midpoint": [ + 0.37065048259217614, + -0.025623557687473993, + 1.0374409694490723 + ], + "held_grasp_object_position": [ + 0.3762475995040924, + -0.01343104891716992, + 1.0374409694490723 + ], + "held_grasp_finger_gap": 0.02683169676629496, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024323317181243517, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004615500117656941, + -0.999588543587597, + 0.028309727781997578 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005551546285643397, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037506924491942324, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2710745709326099, + 0.1992690251565685, + 0.7611064189886008 + ], + "target_position": [ + 0.27355372492918667, + 0.19861596907650758, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0025637251768563523, + "xy_threshold": 0.08, + "gripper_dist": 0.2153993874007364, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064189886008, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523211128674161, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08953445558234337, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18586675148285492, + "release_required_pad_clearance": 0.054767227791171685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.585885073270519, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68f9ede6a0e17e17258e608a9133b8f1182c5b9edb80235db3ff6305d1755e8c", + "visual_seed": 8781954645172066220, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a648b7fd23764df7253d9abfdcd9a3e9fe76afc --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_5_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29850924676674484, + 0.1998694116684032, + 1.0019065301201757 + ], + "current_z": 1.0019065301201757, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.14079978368683066, + "gripper_z": 1.0035739957240382, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2932320776067766, + 0.19488906807974363, + 1.0035739957240382 + ], + "object_minus_gripper": [ + 0.005277169159968231, + 0.004980343588659564, + -0.0016674656038624391 + ], + "object_to_gripper_xy": 0.007256192982826617, + "object_to_gripper_z": -0.0016674656038624391, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29850924676674484, + 0.1753262457917591, + 1.0019065301201757 + ], + "finger_b": [ + 0.2864382230609197, + 0.1998694116684032, + 1.0019065301201757 + ], + "finger_midpoint": [ + 0.2924737349138323, + 0.18759782873008113, + 1.0019065301201757 + ], + "object_minus_finger_midpoint": [ + 0.006035511852912567, + 0.012271582938322062, + 0.0 + ], + "finger_gap": 0.027350989096467052, + "fingertip_max_gap": 0.0911736941781304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675494548233538, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019065301201757, + "object_top_z": 1.0519335071628264, + "finger_top_clearance": 0.05002697704265069, + "fingertip_min_top_clearance": 0.015008093112795223, + "object_projection_between_fingers": 0.8052209995348573, + "object_to_finger_line_xy": 0.010831825352569704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0480868470890652, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9197936811208252, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37903017914359033, + -0.0016193847668840712, + 0.7701464494012564 + ], + "gripper_position": [ + 0.3771397546648616, + -0.012279620734166954, + 1.0374239044730516 + ], + "target_minus_gripper": [ + 0.001890424478728725, + 0.010660235967282883, + -0.2672774550717951 + ], + "held_position": [ + 0.38259485376719937, + -0.007532066530512294, + 1.0356801442124437 + ], + "held_minus_target": [ + 0.003564674623609043, + -0.005912681763628223, + 0.26553369481118727 + ], + "held_minus_gripper": [ + 0.005455099102337768, + 0.00474755420365466, + -0.0017437602606078517 + ], + "xy_dist": 0.010826556959067292, + "held_xy_dist": 0.006904108255969341, + "held_gripper_dist": 0.007438956713104366, + "max_held_gripper_dist": 0.007492424384058932, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012564, + "held_z": 1.0356801442124437, + "required_height": 0.8001464494012565, + "gripper_z": 1.0374239044730516, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.42906216258608, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5360127881768908, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2209723160054406, + "max_source_tilt_deg": 89.69038370994583, + "source_upright_tilt_deg": 1.7020189040832998, + "max_source_upright_tilt_deg": 89.87660083106803, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2209723160054406, + "source_upright_return_tilt_deg": 1.7020189040832998, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1641532182693481e-08, + "max_target_xy_drift": 1.4284193195430818e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.379, + -0.0016, + 0.7701 + ], + "controller_target_position": [ + 0.379, + -0.0016, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0004, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3783, + -0.0264, + 1.0373 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000730461062533502, + 0.0003896647567968826, + 0.0019085751554785502 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.7020363082925074, + "source_return_step_error_deg": 2.2209895086110105, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2124008011526786, + "source_return_best_wrist_position": -1.6118884086608887, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6118884086608887 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.379, + -0.0016, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.379, + -0.0016, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0004, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3783, + -0.0264, + 1.0373 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000730461062533502, + 0.0003896647567968826, + 0.0019085751554785502 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.7020363082925074, + "pour_controller_source_return_step_error_deg": 2.2209895086110105, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2124008011526786, + "pour_controller_source_return_best_wrist_position": -1.6118884086608887, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6118884086608887, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010826556959067292, + "valid_pour_held_xy_dist": 0.006904108255969341, + "valid_pour_held_gripper_dist": 0.007438956713104366, + "valid_pour_required_height": 0.8001464494012565, + "valid_pour_held_z": 1.0356801442124437, + "valid_pour_source_tilt_deg": 2.2209723160054406, + "valid_pour_source_upright_tilt_deg": 1.7020189040832998, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1641532182693481e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38259485376719937, + -0.03215020656744921, + 1.0356801442124437 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37136774583272514, + -0.007532066530512294, + 1.0356801442124437 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37698129979996226, + -0.019841136548980752, + 1.0356801442124437 + ], + "valid_pour_held_grasp_object_position": [ + 0.38259485376719937, + -0.007532066530512294, + 1.0356801442124437 + ], + "valid_pour_held_grasp_finger_gap": 0.027057360762841796, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024402671888974506, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.018224384072460714, + -0.9995588204094505, + 0.023452854130094902 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005396088339634866, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03731430699858698, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38259485376719937, + -0.03215020656744921, + 1.0356801442124437 + ], + "held_grasp_finger_b": [ + 0.37136774583272514, + -0.007532066530512294, + 1.0356801442124437 + ], + "held_grasp_midpoint": [ + 0.37698129979996226, + -0.019841136548980752, + 1.0356801442124437 + ], + "held_grasp_object_position": [ + 0.38259485376719937, + -0.007532066530512294, + 1.0356801442124437 + ], + "held_grasp_finger_gap": 0.027057360762841796, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024402671888974506, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018224384072460714, + -0.9995588204094505, + 0.023452854130094902 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005396088339634866, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03731430699858698, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2715403070552627, + 0.2022151302367375, + 0.7611064726934931 + ], + "target_position": [ + 0.2739815915442225, + 0.19834560713753244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004575268185726098, + "xy_threshold": 0.08, + "gripper_dist": 0.2116794211334148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064726934931, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548937105146639, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625471190964652, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18249709543856907, + "release_required_pad_clearance": 0.05312735595482326, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2808273108344228, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "903a862759ed092f9e622efd1d9f39cbd75fad9c0c2524711c5d45cd3bacf06e", + "visual_seed": 276575345576539532, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a594700ee184ba4b0b1edc8c7ac7e36ec7095cf6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_60_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29708694184368656, + 0.20391905513539735, + 1.0010527867308947 + ], + "current_z": 1.0010527867308947, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.13994627871612886, + "gripper_z": 1.002949970593286, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2917535698880417, + 0.19901962712295956, + 1.002949970593286 + ], + "object_minus_gripper": [ + 0.005333371955644872, + 0.004899428012437784, + -0.0018971838623913495 + ], + "object_to_gripper_xy": 0.0072421855310616885, + "object_to_gripper_z": -0.0018971838623913495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29708694184368656, + 0.179103438747576, + 1.0010527867308947 + ], + "finger_b": [ + 0.28543120561045787, + 0.20391905513539735, + 1.0010527867308947 + ], + "finger_midpoint": [ + 0.2912590737270722, + 0.1915112469414867, + 1.0010527867308947 + ], + "object_minus_finger_midpoint": [ + 0.005827868116614343, + 0.012407808193910658, + 0.0 + ], + "finger_gap": 0.027416619117719587, + "fingertip_max_gap": 0.09113452588585932, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013708309558859781, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0010527867308947, + "object_top_z": 1.0509818400845352, + "finger_top_clearance": 0.04992905335364051, + "fingertip_min_top_clearance": 0.014978716006092135, + "object_projection_between_fingers": 0.8192611043349299, + "object_to_finger_line_xy": 0.010549961606844939, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048067262942929664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8019237256033499, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37798417723242694, + -0.0019229772997572249, + 0.7701464494012562 + ], + "gripper_position": [ + 0.3762461568905436, + -0.012151598568807223, + 1.0372177573920693 + ], + "target_minus_gripper": [ + 0.0017380203418833617, + 0.010228621269049998, + -0.26707130799081313 + ], + "held_position": [ + 0.38166043166196495, + -0.007382553030142267, + 1.0352374515307083 + ], + "held_minus_target": [ + 0.003676254429538006, + -0.005459575730385042, + 0.26509100212945214 + ], + "held_minus_gripper": [ + 0.005414274771421368, + 0.004769045538664956, + -0.001980305861360998 + ], + "xy_dist": 0.010375230492594482, + "held_xy_dist": 0.006581930855494243, + "held_gripper_dist": 0.007481963509323656, + "max_held_gripper_dist": 0.0075396369231683835, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012562, + "held_z": 1.0352374515307083, + "required_height": 0.8001464494012562, + "gripper_z": 1.0372177573920693, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.4637253726239, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.335249194288161, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0690384068249923, + "max_source_tilt_deg": 89.86229377426184, + "source_upright_tilt_deg": 1.4692222024366066, + "max_source_upright_tilt_deg": 89.71833900385423, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0690384068249923, + "source_upright_return_tilt_deg": 1.4692222024366066, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.744305616018418e-08, + "max_target_xy_drift": 1.667784281757978e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.378, + -0.0019, + 0.7701 + ], + "controller_target_position": [ + 0.378, + -0.0019, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3771, + -0.0265, + 1.037 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008610498568212583, + 0.0006006895902546409, + 0.001700177858618554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.4692222715887342, + "source_return_step_error_deg": 2.069054738097305, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.062048194924785, + "source_return_best_wrist_position": -1.6120274066925049, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6120274066925049 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.378, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.378, + -0.0019, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + 0.0006, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3771, + -0.0265, + 1.037 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008610498568212583, + 0.0006006895902546409, + 0.001700177858618554 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.4692222715887342, + "pour_controller_source_return_step_error_deg": 2.069054738097305, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.062048194924785, + "pour_controller_source_return_best_wrist_position": -1.6120274066925049, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6120274066925049, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010375230492594482, + "valid_pour_held_xy_dist": 0.006581930855494243, + "valid_pour_held_gripper_dist": 0.007481963509323656, + "valid_pour_required_height": 0.8001464494012562, + "valid_pour_held_z": 1.0352374515307083, + "valid_pour_source_tilt_deg": 2.0690384068249923, + "valid_pour_source_upright_tilt_deg": 1.4692222024366066, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.744305616018418e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38166043166196495, + -0.03198790545817199, + 1.0352374515307083 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3703738566360535, + -0.007382553030142267, + 1.0352374515307083 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3760171441490092, + -0.01968522924415713, + 1.0352374515307083 + ], + "valid_pour_held_grasp_object_position": [ + 0.38166043166196495, + -0.007382553030142267, + 1.0352374515307083 + ], + "valid_pour_held_grasp_finger_gap": 0.027070466267190087, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024598882453151828, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00014344969041885187, + -0.999671249148131, + 0.02563928721321506 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005653857606459376, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037422427899212504, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38166043166196495, + -0.03198790545817199, + 1.0352374515307083 + ], + "held_grasp_finger_b": [ + 0.3703738566360535, + -0.007382553030142267, + 1.0352374515307083 + ], + "held_grasp_midpoint": [ + 0.3760171441490092, + -0.01968522924415713, + 1.0352374515307083 + ], + "held_grasp_object_position": [ + 0.38166043166196495, + -0.007382553030142267, + 1.0352374515307083 + ], + "held_grasp_finger_gap": 0.027070466267190087, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024598882453151828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00014344969041885187, + -0.999671249148131, + 0.02563928721321506 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005653857606459376, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037422427899212504, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2712755258713054, + 0.20196861949201247, + 0.7611063943164674 + ], + "target_position": [ + 0.27249167403077945, + 0.20196519105286465, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001216152992015053, + "xy_threshold": 0.08, + "gripper_dist": 0.21207456362087934, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063943164674, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565606290042634, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08779950428216378, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18175998868962162, + "release_required_pad_clearance": 0.05389975214108189, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8088840775117805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5052f3a2311de645e2f3329d1620834036a8c504dfdd7282e89da4504241105", + "visual_seed": 2817469085681066734, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be4ba11633c4e3249e71557e48359a810c3e8aaf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_61_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29290461376084304, + 0.20435999918758674, + 1.001329029868704 + ], + "current_z": 1.001329029868704, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14022252185393813, + "gripper_z": 1.0028784100189378, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28773675581603264, + 0.19950267203300662, + 1.0028784100189378 + ], + "object_minus_gripper": [ + 0.0051678579448103945, + 0.004857327154580121, + -0.001549380150233759 + ], + "object_to_gripper_xy": 0.0070922762794720096, + "object_to_gripper_z": -0.001549380150233759, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29290461376084304, + 0.17969857214062773, + 1.001329029868704 + ], + "finger_b": [ + 0.28126090841360424, + 0.20435999918758674, + 1.001329029868704 + ], + "finger_midpoint": [ + 0.28708276108722364, + 0.19202928566410724, + 1.001329029868704 + ], + "object_minus_finger_midpoint": [ + 0.005821852673619399, + 0.012330713523479503, + 0.0 + ], + "finger_gap": 0.027271997693711376, + "fingertip_max_gap": 0.09104757378559722, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635998846855688, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001329029868704, + "object_top_z": 1.0512108807069698, + "finger_top_clearance": 0.049881850838265684, + "fingertip_min_top_clearance": 0.014964555251479737, + "object_projection_between_fingers": 0.8177160166019113, + "object_to_finger_line_xy": 0.010529129299663665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802378689279861, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0546052624587874, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3728731683499043, + -0.005156248485065921, + 0.7701465090059013 + ], + "gripper_position": [ + 0.3708262180174576, + -0.016507004350165652, + 1.0368796731313537 + ], + "target_minus_gripper": [ + 0.0020469503324467286, + 0.011350755865099732, + -0.26673316412545234 + ], + "held_position": [ + 0.3761258548508746, + -0.011829055416131488, + 1.0352473584554622 + ], + "held_minus_target": [ + 0.00325268650097027, + -0.006672806931065567, + 0.2651008494495609 + ], + "held_minus_gripper": [ + 0.0052996368334169985, + 0.004677948934034164, + -0.001632314675891422 + ], + "xy_dist": 0.011533848636626013, + "held_xy_dist": 0.007423363241339527, + "held_gripper_dist": 0.007254916126094914, + "max_held_gripper_dist": 0.007287444422408106, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.0352473584554622, + "required_height": 0.8001465090059013, + "gripper_z": 1.0368796731313537, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.4954994126428, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2731462020087931, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2994700171461835, + "max_source_tilt_deg": 89.7664691214468, + "source_upright_tilt_deg": 1.3960599570659706, + "max_source_upright_tilt_deg": 89.7409392836711, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2994700171461835, + "source_upright_return_tilt_deg": 1.3960599570659706, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.122274160385132e-08, + "max_target_xy_drift": 1.0710209608078003e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3729, + -0.0052, + 0.7701 + ], + "controller_target_position": [ + 0.3729, + -0.0052, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0005, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3711, + -0.0309, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001816323726646957, + -0.0005015870071357633, + 0.0009565079960531533 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.3960566118482391, + "source_return_step_error_deg": 2.2994670241258786, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.295297880483773, + "source_return_best_wrist_position": -1.612558126449585, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612558126449585 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3729, + -0.0052, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3729, + -0.0052, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0005, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3711, + -0.0309, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001816323726646957, + -0.0005015870071357633, + 0.0009565079960531533 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.3960566118482391, + "pour_controller_source_return_step_error_deg": 2.2994670241258786, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.295297880483773, + "pour_controller_source_return_best_wrist_position": -1.612558126449585, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612558126449585, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011533848636626013, + "valid_pour_held_xy_dist": 0.007423363241339527, + "valid_pour_held_gripper_dist": 0.007254916126094914, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.0352473584554622, + "valid_pour_source_tilt_deg": 2.2994700171461835, + "valid_pour_source_upright_tilt_deg": 1.3960599570659706, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.122274160385132e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3761258548508746, + -0.03645961871881009, + 1.0352473584554622 + ], + "valid_pour_held_grasp_finger_b": [ + 0.365115489757372, + -0.011829055416131488, + 1.0352473584554622 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3706206723041233, + -0.024144337067470788, + 1.0352473584554622 + ], + "valid_pour_held_grasp_object_position": [ + 0.3761258548508746, + -0.011829055416131488, + 1.0352473584554622 + ], + "valid_pour_held_grasp_finger_gap": 0.026979488284611282, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024544984347690167, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.007108570555303729, + -0.9997031737442716, + 0.023303060534853096 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005425119465279852, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037369489939143165, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3761258548508746, + -0.03645961871881009, + 1.0352473584554622 + ], + "held_grasp_finger_b": [ + 0.365115489757372, + -0.011829055416131488, + 1.0352473584554622 + ], + "held_grasp_midpoint": [ + 0.3706206723041233, + -0.024144337067470788, + 1.0352473584554622 + ], + "held_grasp_object_position": [ + 0.3761258548508746, + -0.011829055416131488, + 1.0352473584554622 + ], + "held_grasp_finger_gap": 0.026979488284611282, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024544984347690167, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007108570555303729, + -0.9997031737442716, + 0.023303060534853096 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005425119465279852, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037369489939143165, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.24927301907290328, + 0.2038552441904915, + 0.7611178990880887 + ], + "target_position": [ + 0.2683898642572968, + 0.2006512340116882, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01938348397553814, + "xy_threshold": 0.08, + "gripper_dist": 0.20150855360085773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611178990880887, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574602974908745, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637699521177018, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17335651002571087, + "release_required_pad_clearance": 0.05318849760588509, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.393209703060603, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26edaa1b68a4d49d9d14b226d828ceaea463d0d98c41dd6bfb260069851f25ab", + "visual_seed": 1283616310303833023, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee82b443a38712426d5a1f0e711bbb5a245899d --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_62_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3007312886845047, + 0.20446789725452888, + 1.0024475635350758 + ], + "current_z": 1.0024475635350758, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14134087670637552, + "gripper_z": 1.0032366084711861, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29565604524737116, + 0.19957819728606782, + 1.0032366084711861 + ], + "object_minus_gripper": [ + 0.005075243437133559, + 0.004889699968461059, + -0.0007890449361103169 + ], + "object_to_gripper_xy": 0.007047500388629669, + "object_to_gripper_z": -0.0007890449361103169, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3007312886845047, + 0.18008771164737383, + 1.0024475635350758 + ], + "finger_b": [ + 0.28876628678293975, + 0.20446789725452888, + 1.0024475635350758 + ], + "finger_midpoint": [ + 0.29474878773372226, + 0.19227780445095136, + 1.0024475635350758 + ], + "object_minus_finger_midpoint": [ + 0.0059825009507824545, + 0.012190092803577524, + 0.0 + ], + "finger_gap": 0.02715795869986887, + "fingertip_max_gap": 0.09130287653311095, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013578979349934423, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0024475635350758, + "object_top_z": 1.0523949752107018, + "finger_top_clearance": 0.049947411675626, + "fingertip_min_top_clearance": 0.014984223502687815, + "object_projection_between_fingers": 0.8058974249936561, + "object_to_finger_line_xy": 0.010741196360664826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815143826655548, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1394901054505606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3786864391571703, + -0.0022978390598221844, + 0.7701464494012565 + ], + "gripper_position": [ + 0.37719003599107004, + -0.01435136995476076, + 1.0367202925133199 + ], + "target_minus_gripper": [ + 0.0014964031661002797, + 0.012053530894938574, + -0.26657384311206334 + ], + "held_position": [ + 0.38240399018428645, + -0.00963624929349478, + 1.0358491484193841 + ], + "held_minus_target": [ + 0.0037175510271161283, + -0.007338410233672595, + 0.2657026990181276 + ], + "held_minus_gripper": [ + 0.005213954193216408, + 0.004715120661265979, + -0.0008711440939357384 + ], + "xy_dist": 0.012146062303098632, + "held_xy_dist": 0.00822632666485369, + "held_gripper_dist": 0.007083542419697606, + "max_held_gripper_dist": 0.0070945700447147654, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0358491484193841, + "required_height": 0.8001464494012566, + "gripper_z": 1.0367202925133199, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.43400721954518, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5392141165001173, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.992358479187589, + "max_source_tilt_deg": 89.95363149288009, + "source_upright_tilt_deg": 2.6677143051725745, + "max_source_upright_tilt_deg": 89.92270938002493, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.992358479187589, + "source_upright_return_tilt_deg": 2.6677143051725745, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.854665831538137e-08, + "max_target_xy_drift": 9.346490225886309e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3787, + -0.0023, + 0.7701 + ], + "controller_target_position": [ + 0.3787, + -0.0023, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0012, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.378, + -0.0287, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006572983293984494, + -0.001153121501551651, + 0.0009369736897061019 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6676780297567597, + "source_return_step_error_deg": 2.9923280390739206, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0164372466806566, + "source_return_best_wrist_position": -1.6372321844100952, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6372321844100952 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3787, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3787, + -0.0023, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0012, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.378, + -0.0287, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006572983293984494, + -0.001153121501551651, + 0.0009369736897061019 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6676780297567597, + "pour_controller_source_return_step_error_deg": 2.9923280390739206, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0164372466806566, + "pour_controller_source_return_best_wrist_position": -1.6372321844100952, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6372321844100952, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012146062303098632, + "valid_pour_held_xy_dist": 0.00822632666485369, + "valid_pour_held_gripper_dist": 0.007083542419697606, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0358491484193841, + "valid_pour_source_tilt_deg": 2.992358479187589, + "valid_pour_source_upright_tilt_deg": 2.6677143051725745, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.854665831538137e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38240399018428645, + -0.03363974106156571, + 1.0358491484193841 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37125300354721613, + -0.00963624929349478, + 1.0358491484193841 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37682849686575126, + -0.021637995177530248, + 1.0358491484193841 + ], + "valid_pour_held_grasp_object_position": [ + 0.38240399018428645, + -0.00963624929349478, + 1.0358491484193841 + ], + "valid_pour_held_grasp_finger_gap": 0.026467189500208925, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023920122278386368, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.005143603371553985, + -0.9989162727875875, + 0.046258224182411316 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005541634167348278, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03770283267843929, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38240399018428645, + -0.03363974106156571, + 1.0358491484193841 + ], + "held_grasp_finger_b": [ + 0.37125300354721613, + -0.00963624929349478, + 1.0358491484193841 + ], + "held_grasp_midpoint": [ + 0.37682849686575126, + -0.021637995177530248, + 1.0358491484193841 + ], + "held_grasp_object_position": [ + 0.38240399018428645, + -0.00963624929349478, + 1.0358491484193841 + ], + "held_grasp_finger_gap": 0.026467189500208925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023920122278386368, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005143603371553985, + -0.9989162727875875, + 0.046258224182411316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005541634167348278, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03770283267843929, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27335795707320065, + 0.20114944063102105, + 0.7611065173514621 + ], + "target_position": [ + 0.27645130238432014, + 0.2028580605683941, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035338601138434384, + "xy_threshold": 0.08, + "gripper_dist": 0.21533421685822796, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065173514621, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075311384854738, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580437817499968, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.185339742560582, + "release_required_pad_clearance": 0.05290218908749984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.843945413987014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2eb658758d2574feb0b2ecb81be77b1eb81f65cf62168f6733b1cfad22bc48e2", + "visual_seed": 2011712677441860257, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..72d06bd34b550d40522de3f2b099a8f539a562a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_63_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29913608614911064, + 0.2092825281311034, + 1.0040671081620611 + ], + "current_z": 1.0040671081620611, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.14296030212407118, + "gripper_z": 1.0053196912456686, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2938508694546197, + 0.2043727840787079, + 1.0053196912456686 + ], + "object_minus_gripper": [ + 0.005285216694490946, + 0.004909744052395498, + -0.001252583083607428 + ], + "object_to_gripper_xy": 0.007213813288944951, + "object_to_gripper_z": -0.001252583083607428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29913608614911064, + 0.18459235579942967, + 1.0040671081620611 + ], + "finger_b": [ + 0.2873419086490665, + 0.2092825281311034, + 1.0040671081620611 + ], + "finger_midpoint": [ + 0.29323899739908854, + 0.19693744196526652, + 1.0040671081620611 + ], + "object_minus_finger_midpoint": [ + 0.005897088750022095, + 0.012345086165836877, + 0.0 + ], + "finger_gap": 0.027362515101326014, + "fingertip_max_gap": 0.09116754876905928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013681257550663031, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0040671081620611, + "object_top_z": 1.0538866123731252, + "finger_top_clearance": 0.04981950421106407, + "fingertip_min_top_clearance": 0.014945851263319238, + "object_projection_between_fingers": 0.8142095911022094, + "object_to_finger_line_xy": 0.010642306597478174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808377438452964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9573050908036986, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 175, + "max_stable_success_frames": 175, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3761810771233266, + -0.005336183266110643, + 0.7701463897966119 + ], + "gripper_position": [ + 0.3747927318978699, + -0.017048154627173698, + 1.037014565648811 + ], + "target_minus_gripper": [ + 0.001388345225456722, + 0.011711971361063056, + -0.26686817585219913 + ], + "held_position": [ + 0.38019618289229273, + -0.012296332104415782, + 1.0356839011877326 + ], + "held_minus_target": [ + 0.004015105768966132, + -0.006960148838305139, + 0.2655375113911207 + ], + "held_minus_gripper": [ + 0.005403450994422854, + 0.004751822522757916, + -0.0013306644610784346 + ], + "xy_dist": 0.011793972003842034, + "held_xy_dist": 0.008035219112590862, + "held_gripper_dist": 0.007317634033271676, + "max_held_gripper_dist": 0.007329762845664281, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966119, + "held_z": 1.0356839011877326, + "required_height": 0.8001463897966119, + "gripper_z": 1.037014565648811, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.46357510846215, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1073152875442942, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1375806006824503, + "max_source_tilt_deg": 89.95632316806768, + "source_upright_tilt_deg": 1.6020490409471266, + "max_source_upright_tilt_deg": 89.74466322539453, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1375806006824503, + "source_upright_return_tilt_deg": 1.6020490409471266, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.136566676022282e-08, + "max_target_xy_drift": 1.2475638607661898e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3762, + -0.0053, + 0.7701 + ], + "controller_target_position": [ + 0.3762, + -0.0053, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0009, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3752, + -0.0314, + 1.0367 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001024391366762173, + -0.0009126916994329055, + 0.0013139676854439972 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.6020539549512574, + "source_return_step_error_deg": 2.1375795461461187, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1290272316068806, + "source_return_best_wrist_position": -1.6118441820144653, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6118441820144653 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3762, + -0.0053, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3762, + -0.0053, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0009, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3752, + -0.0314, + 1.0367 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001024391366762173, + -0.0009126916994329055, + 0.0013139676854439972 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.6020539549512574, + "pour_controller_source_return_step_error_deg": 2.1375795461461187, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1290272316068806, + "pour_controller_source_return_best_wrist_position": -1.6118441820144653, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6118441820144653, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011793972003842034, + "valid_pour_held_xy_dist": 0.008035219112590862, + "valid_pour_held_gripper_dist": 0.007317634033271676, + "valid_pour_required_height": 0.8001463897966119, + "valid_pour_held_z": 1.0356839011877326, + "valid_pour_source_tilt_deg": 2.1375806006824503, + "valid_pour_source_upright_tilt_deg": 1.6020490409471266, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.136566676022282e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38019618289229273, + -0.0369181214115562, + 1.0356839011877326 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3689764845800508, + -0.012296332104415782, + 1.0356839011877326 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3745863337361718, + -0.02460722675798599, + 1.0356839011877326 + ], + "valid_pour_held_grasp_object_position": [ + 0.38019618289229273, + -0.012296332104415782, + 1.0356839011877326 + ], + "valid_pour_held_grasp_finger_gap": 0.027057607782339867, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02455027850328824, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00551589844410134, + -0.999609123152329, + 0.027407586084631 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005552145980426496, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03738322410198716, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38019618289229273, + -0.0369181214115562, + 1.0356839011877326 + ], + "held_grasp_finger_b": [ + 0.3689764845800508, + -0.012296332104415782, + 1.0356839011877326 + ], + "held_grasp_midpoint": [ + 0.3745863337361718, + -0.02460722675798599, + 1.0356839011877326 + ], + "held_grasp_object_position": [ + 0.38019618289229273, + -0.012296332104415782, + 1.0356839011877326 + ], + "held_grasp_finger_gap": 0.027057607782339867, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02455027850328824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00551589844410134, + -0.999609123152329, + 0.027407586084631 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005552145980426496, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03738322410198716, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2671071162515122, + 0.20769847654233176, + 0.7611063314289228 + ], + "target_position": [ + 0.27462342216533797, + 0.20444232432806714, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008191299154143558, + "xy_threshold": 0.08, + "gripper_dist": 0.21152083318653114, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063314289228, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562506576010918, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751641737868072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18235333645411855, + "release_required_pad_clearance": 0.053758208689340364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.525691340915431, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ef90e4442714f7c34fd3ee463bc6b917467ab424813bcbf28bf547f245c2ba4", + "visual_seed": 8887660942448213613, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7236894e485a2c4530b98c24f74da2ecfb66d134 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_64_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.293849811126708, + 0.2083024343711056, + 1.003983662287979 + ], + "current_z": 1.003983662287979, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1428769754592787, + "gripper_z": 1.0053691125496422, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2888219994791563, + 0.20339749393613657, + 1.0053691125496422 + ], + "object_minus_gripper": [ + 0.005027811647551672, + 0.0049049404349690295, + -0.001385450261663257 + ], + "object_to_gripper_xy": 0.00702405371803565, + "object_to_gripper_z": -0.001385450261663257, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.293849811126708, + 0.1840147228766175, + 1.003983662287979 + ], + "finger_b": [ + 0.28178993792578877, + 0.2083024343711056, + 1.003983662287979 + ], + "finger_midpoint": [ + 0.28781987452624835, + 0.19615857862386155, + 1.003983662287979 + ], + "object_minus_finger_midpoint": [ + 0.00602993660045964, + 0.012143855747244053, + 0.0 + ], + "finger_gap": 0.027117032862423195, + "fingertip_max_gap": 0.09091546421538452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013558516431211608, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.003983662287979, + "object_top_z": 1.0538296056482361, + "finger_top_clearance": 0.04984594336025716, + "fingertip_min_top_clearance": 0.014953783008077148, + "object_projection_between_fingers": 0.8022114492181458, + "object_to_finger_line_xy": 0.010801577091788812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795773210769226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9498063369182305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3755374661690418, + -0.008560200364656673, + 0.7701464494012566 + ], + "gripper_position": [ + 0.37345920116498477, + -0.019157379632407254, + 1.0351339950240903 + ], + "target_minus_gripper": [ + 0.002078265004057056, + 0.01059717926775058, + -0.26498754562283366 + ], + "held_position": [ + 0.3786439749169477, + -0.014465083551270737, + 1.033654301334289 + ], + "held_minus_target": [ + 0.003106508747905856, + -0.005904883186614064, + 0.2635078519330323 + ], + "held_minus_gripper": [ + 0.005184773751962912, + 0.004692296081136516, + -0.0014796936898013868 + ], + "xy_dist": 0.010799045969896183, + "held_xy_dist": 0.006672184203720179, + "held_gripper_dist": 0.007147657993198242, + "max_held_gripper_dist": 0.007181017199814785, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.033654301334289, + "required_height": 0.8001464494012567, + "gripper_z": 1.0351339950240903, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54044888757065, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.22073090091471023, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9331940597755755, + "max_source_tilt_deg": 89.70963123604264, + "source_upright_tilt_deg": 2.717039047836416, + "max_source_upright_tilt_deg": 89.78911307272791, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9331940597755755, + "source_upright_return_tilt_deg": 2.717039047836416, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.0168063688245551e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3755, + -0.0086, + 0.7701 + ], + "controller_target_position": [ + 0.3755, + -0.0086, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + 0.0004, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3736, + -0.0333, + 1.0338 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019866290275213825, + 0.0004220398453865272, + -0.0015898443668489037 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.717028748265558, + "source_return_step_error_deg": 2.933183667298578, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.925352171534433, + "source_return_best_wrist_position": -1.6391700506210327, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6391700506210327 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3755, + -0.0086, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3755, + -0.0086, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + 0.0004, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3736, + -0.0333, + 1.0338 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019866290275213825, + 0.0004220398453865272, + -0.0015898443668489037 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.717028748265558, + "pour_controller_source_return_step_error_deg": 2.933183667298578, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.925352171534433, + "pour_controller_source_return_best_wrist_position": -1.6391700506210327, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6391700506210327, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010799045969896183, + "valid_pour_held_xy_dist": 0.006672184203720179, + "valid_pour_held_gripper_dist": 0.007147657993198242, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.033654301334289, + "valid_pour_source_tilt_deg": 2.9331940597755755, + "valid_pour_source_upright_tilt_deg": 2.717039047836416, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3786439749169477, + -0.03839718709629167, + 1.033654301334289 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3674064050901338, + -0.014465083551270737, + 1.033654301334289 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37302519000354073, + -0.026431135323781205, + 1.033654301334289 + ], + "valid_pour_held_grasp_object_position": [ + 0.3786439749169477, + -0.014465083551270737, + 1.033654301334289 + ], + "valid_pour_held_grasp_finger_gap": 0.02643914816521367, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02378909067993744, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.010332235134842717, + -0.9988758342434033, + 0.04626351350323055 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005522799662823988, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03770959551633149, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3786439749169477, + -0.03839718709629167, + 1.033654301334289 + ], + "held_grasp_finger_b": [ + 0.3674064050901338, + -0.014465083551270737, + 1.033654301334289 + ], + "held_grasp_midpoint": [ + 0.37302519000354073, + -0.026431135323781205, + 1.033654301334289 + ], + "held_grasp_object_position": [ + 0.3786439749169477, + -0.014465083551270737, + 1.033654301334289 + ], + "held_grasp_finger_gap": 0.02643914816521367, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02378909067993744, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010332235134842717, + -0.9988758342434033, + 0.04626351350323055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005522799662823988, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03770959551633149, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2643981502589075, + 0.19277312820300807, + 0.7611065281858229 + ], + "target_position": [ + 0.2695606095645501, + 0.2033395455303598, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011760108894826373, + "xy_threshold": 0.08, + "gripper_dist": 0.2122765156032376, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065281858229, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584703994690155, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551077363642141, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17952294262477722, + "release_required_pad_clearance": 0.05275538681821071, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.560926724956071, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67fc765cdc459f89e29f36844e24f0e0f5ccd60206d386298c340d4063ab03b5", + "visual_seed": 2081525510390390663, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83f14c7b2f77c06fbba6f0b72d89da535b8416c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_65_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2937315403196732, + 0.20320132584483733, + 1.0003049046292827 + ], + "current_z": 1.0003049046292827, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.1391982178005825, + "gripper_z": 1.002095322105552, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2883772651785867, + 0.19823807356909837, + 1.002095322105552 + ], + "object_minus_gripper": [ + 0.005354275141086495, + 0.004963252275738961, + -0.0017904174762692904 + ], + "object_to_gripper_xy": 0.007300831147142412, + "object_to_gripper_z": -0.0017904174762692904, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2937315403196732, + 0.17853655675116337, + 1.0003049046292827 + ], + "finger_b": [ + 0.28175953536705384, + 0.20320132584483733, + 1.0003049046292827 + ], + "finger_midpoint": [ + 0.28774553784336354, + 0.19086894129800036, + 1.0003049046292827 + ], + "object_minus_finger_midpoint": [ + 0.005986002476309649, + 0.012332384546836966, + 0.0 + ], + "finger_gap": 0.02741677838532085, + "fingertip_max_gap": 0.09078765849833179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013708389192660401, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0003049046292827, + "object_top_z": 1.0501123597856663, + "finger_top_clearance": 0.04980745515638363, + "fingertip_min_top_clearance": 0.014942236546915072, + "object_projection_between_fingers": 0.8093218487545037, + "object_to_finger_line_xy": 0.010770293051745873, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047893829249165895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6855180667495664, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 169, + "max_stable_success_frames": 169, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3751089087731068, + -0.007553921689607126, + 0.7701464494012565 + ], + "gripper_position": [ + 0.3734450937048521, + -0.017289450364108075, + 1.0358567995375516 + ], + "target_minus_gripper": [ + 0.0016638150682546926, + 0.009735528674500948, + -0.26571035013629507 + ], + "held_position": [ + 0.3789340018443935, + -0.012536077428568805, + 1.0339574010771075 + ], + "held_minus_target": [ + 0.0038250930712867004, + -0.0049821557389616794, + 0.263810951675851 + ], + "held_minus_gripper": [ + 0.005488908139541393, + 0.00475337293553927, + -0.0018993984604440683 + ], + "xy_dist": 0.009876679561137011, + "held_xy_dist": 0.006281179253235361, + "held_gripper_dist": 0.007505356842960784, + "max_held_gripper_dist": 0.007568610895240457, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012565, + "held_z": 1.0339574010771075, + "required_height": 0.8001464494012566, + "gripper_z": 1.0358567995375516, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.56546787050041, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6157919754493665, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9942115275875936, + "max_source_tilt_deg": 89.72909492707757, + "source_upright_tilt_deg": 2.745359053146624, + "max_source_upright_tilt_deg": 89.87739409725181, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9942115275875936, + "source_upright_return_tilt_deg": 2.745359053146624, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.0219766798781573e-08, + "max_target_xy_drift": 1.1333185543600165e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3751, + -0.0076, + 0.7701 + ], + "controller_target_position": [ + 0.3751, + -0.0076, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0011, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3738, + -0.0316, + 1.0351 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001331918683438502, + 0.0011167306183454471, + -0.00024609232822198415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7453752691541857, + "source_return_step_error_deg": 2.9942235133205033, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.985276443731803, + "source_return_best_wrist_position": -1.63832426071167, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.63832426071167 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3751, + -0.0076, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3751, + -0.0076, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0011, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3738, + -0.0316, + 1.0351 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001331918683438502, + 0.0011167306183454471, + -0.00024609232822198415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7453752691541857, + "pour_controller_source_return_step_error_deg": 2.9942235133205033, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.985276443731803, + "pour_controller_source_return_best_wrist_position": -1.63832426071167, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.63832426071167, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009876679561137011, + "valid_pour_held_xy_dist": 0.006281179253235361, + "valid_pour_held_gripper_dist": 0.007505356842960784, + "valid_pour_required_height": 0.8001464494012566, + "valid_pour_held_z": 1.0339574010771075, + "valid_pour_source_tilt_deg": 2.9942115275875936, + "valid_pour_source_upright_tilt_deg": 2.745359053146624, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.0219766798781573e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3789340018443935, + -0.036767680403976294, + 1.0339574010771075 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3676183130623005, + -0.012536077428568805, + 1.0339574010771075 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37327615745334697, + -0.02465187891627255, + 1.0339574010771075 + ], + "valid_pour_held_grasp_object_position": [ + 0.3789340018443935, + -0.012536077428568805, + 1.0339574010771075 + ], + "valid_pour_held_grasp_finger_gap": 0.02674351127602663, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024096044985139384, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00952190747760815, + -0.9988522819283631, + 0.04694094337026078 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00557145567202629, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037564480635896874, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3789340018443935, + -0.036767680403976294, + 1.0339574010771075 + ], + "held_grasp_finger_b": [ + 0.3676183130623005, + -0.012536077428568805, + 1.0339574010771075 + ], + "held_grasp_midpoint": [ + 0.37327615745334697, + -0.02465187891627255, + 1.0339574010771075 + ], + "held_grasp_object_position": [ + 0.3789340018443935, + -0.012536077428568805, + 1.0339574010771075 + ], + "held_grasp_finger_gap": 0.02674351127602663, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024096044985139384, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00952190747760815, + -0.9988522819283631, + 0.04694094337026078 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00557145567202629, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037564480635896874, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2536309401966801, + 0.20691183416750636, + 0.7611063864928859 + ], + "target_position": [ + 0.2689997279593834, + 0.20096041577987347, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016480868245322303, + "xy_threshold": 0.08, + "gripper_dist": 0.2058990551866095, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063864928859, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587188299616057, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09201302316431435, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17776401343569198, + "release_required_pad_clearance": 0.05600651158215718, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.253104972052772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a253c5ba357d3c3b9842fb17ef2c8896c63624c21ba61067fe901b83a1fdda99", + "visual_seed": 7411256281261507484, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0bcc7654fae771478577023ddbb82ffd210f3bd6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_66_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29551729084638595, + 0.21089348709886738, + 1.0039960860911403 + ], + "current_z": 1.0039960860911403, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.14288939926244015, + "gripper_z": 1.0050673313817884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29043376225695494, + 0.20598693297747328, + 1.0050673313817884 + ], + "object_minus_gripper": [ + 0.005083528589431008, + 0.004906554121394097, + -0.0010712452906480596 + ], + "object_to_gripper_xy": 0.0070651635696374225, + "object_to_gripper_z": -0.0010712452906480596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29551729084638595, + 0.18653295107139373, + 1.0039960860911403 + ], + "finger_b": [ + 0.28348247586743514, + 0.21089348709886738, + 1.0039960860911403 + ], + "finger_midpoint": [ + 0.28949988335691057, + 0.19871321908513057, + 1.0039960860911403 + ], + "object_minus_finger_midpoint": [ + 0.006017407489475379, + 0.012180268013736811, + 0.0 + ], + "finger_gap": 0.027171170146377953, + "fingertip_max_gap": 0.09136723426740614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013585585073188952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0039960860911403, + "object_top_z": 1.0539656705822325, + "finger_top_clearance": 0.04996958449109212, + "fingertip_min_top_clearance": 0.014990875347327636, + "object_projection_between_fingers": 0.8038166475065109, + "object_to_finger_line_xy": 0.01078991233352504, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048183617133703074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.969200846931463, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37756339824263485, + -0.008963973404236065, + 0.7701463897966118 + ], + "gripper_position": [ + 0.3774435322545543, + -0.019020889457129403, + 1.0354300874841318 + ], + "target_minus_gripper": [ + 0.0001198659880805586, + 0.010056916052893338, + -0.26528369768752 + ], + "held_position": [ + 0.38274882626477946, + -0.014382773093800844, + 1.034265071591859 + ], + "held_minus_target": [ + 0.005185428022144611, + -0.005418799689564779, + 0.26411868179524733 + ], + "held_minus_gripper": [ + 0.00530529401022517, + 0.004638116363328559, + -0.0011650158922726916 + ], + "xy_dist": 0.010057630354613468, + "held_xy_dist": 0.007500136921981486, + "held_gripper_dist": 0.007142515660742729, + "max_held_gripper_dist": 0.007150652747810142, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966118, + "held_z": 1.034265071591859, + "required_height": 0.8001463897966118, + "gripper_z": 1.0354300874841318, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54766156733419, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.2391203436940306, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.37725249160796, + "max_source_tilt_deg": 89.76072128891265, + "source_upright_tilt_deg": 2.141102888552649, + "max_source_upright_tilt_deg": 89.97597122185232, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.37725249160796, + "source_upright_return_tilt_deg": 2.141102888552649, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.989072227506173e-08, + "max_target_xy_drift": 1.2798147936327136e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3776, + -0.009, + 0.7701 + ], + "controller_target_position": [ + 0.3776, + -0.009, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0009, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3788, + -0.0333, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012680081167387694, + 0.0008636732849359265, + -0.0008599932845034734 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.1411014986557095, + "source_return_step_error_deg": 2.377251153453515, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.383085230498868, + "source_return_best_wrist_position": -1.613105058670044, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613105058670044 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3776, + -0.009, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3776, + -0.009, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0009, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3788, + -0.0333, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012680081167387694, + 0.0008636732849359265, + -0.0008599932845034734 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.1411014986557095, + "pour_controller_source_return_step_error_deg": 2.377251153453515, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.383085230498868, + "pour_controller_source_return_best_wrist_position": -1.613105058670044, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613105058670044, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010057630354613468, + "valid_pour_held_xy_dist": 0.007500136921981486, + "valid_pour_held_gripper_dist": 0.007142515660742729, + "valid_pour_required_height": 0.8001463897966118, + "valid_pour_held_z": 1.034265071591859, + "valid_pour_source_tilt_deg": 2.37725249160796, + "valid_pour_source_upright_tilt_deg": 2.141102888552649, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.989072227506173e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38274882626477946, + -0.03905683438287633, + 1.034265071591859 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3717856477857542, + -0.014382773093800844, + 1.034265071591859 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3772672370252668, + -0.02671980373833859, + 1.034265071591859 + ], + "valid_pour_held_grasp_object_position": [ + 0.38274882626477946, + -0.014382773093800844, + 1.034265071591859 + ], + "valid_pour_held_grasp_finger_gap": 0.027000010793701856, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02434433471210016, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.028504554523150462, + -0.9993018555773567, + 0.024151434969553964 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005136459264135897, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03723558219534258, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38274882626477946, + -0.03905683438287633, + 1.034265071591859 + ], + "held_grasp_finger_b": [ + 0.3717856477857542, + -0.014382773093800844, + 1.034265071591859 + ], + "held_grasp_midpoint": [ + 0.3772672370252668, + -0.02671980373833859, + 1.034265071591859 + ], + "held_grasp_object_position": [ + 0.38274882626477946, + -0.014382773093800844, + 1.034265071591859 + ], + "held_grasp_finger_gap": 0.027000010793701856, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02434433471210016, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.028504554523150462, + -0.9993018555773567, + 0.024151434969553964 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005136459264135897, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03723558219534258, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2620095777657906, + 0.20790306559471025, + 0.7611064461278656 + ], + "target_position": [ + 0.27112347990323304, + 0.20674463446212024, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009187228899936688, + "xy_threshold": 0.08, + "gripper_dist": 0.20877096535951023, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064461278656, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523746189739808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08965001330019091, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18011332626264584, + "release_required_pad_clearance": 0.05482500665009546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.706532667131956, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16e2c174e24d7fe23fbbc30bb2ad41ff76620e1a22c9b8c11b3a80c50af0ac56", + "visual_seed": 4372933423381207165, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84e4823770bac3ff9c1da33cf8c8a568c481f871 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_67_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29866789208190486, + 0.2022664364824892, + 1.0032769069630783 + ], + "current_z": 1.0032769069630783, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.14217039894831218, + "gripper_z": 1.0050168648856206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29324707291826146, + 0.1973395966712352, + 1.0050168648856206 + ], + "object_minus_gripper": [ + 0.005420819163643398, + 0.004926839811253997, + -0.0017399579225423345 + ], + "object_to_gripper_xy": 0.007325232483046585, + "object_to_gripper_z": -0.0017399579225423345, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29866789208190486, + 0.1774168968199292, + 1.0032769069630783 + ], + "finger_b": [ + 0.28693125103775263, + 0.2022664364824892, + 1.0032769069630783 + ], + "finger_midpoint": [ + 0.2927995715598287, + 0.18984166665120922, + 1.0032769069630783 + ], + "object_minus_finger_midpoint": [ + 0.0058683205220761425, + 0.012424769831279991, + 0.0 + ], + "finger_gap": 0.02748178241017896, + "fingertip_max_gap": 0.09098140988780898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01374089120508948, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0032769069630783, + "object_top_z": 1.05304622783681, + "finger_top_clearance": 0.04976932087373176, + "fingertip_min_top_clearance": 0.014930796262119527, + "object_projection_between_fingers": 0.817611332265063, + "object_to_finger_line_xy": 0.010612489494999627, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04799070494390449, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9792197604305379, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37542940294806393, + -0.0016806543835922304, + 0.7701464494012566 + ], + "gripper_position": [ + 0.37505500759534693, + -0.0142920315512014, + 1.0372766381881768 + ], + "target_minus_gripper": [ + 0.0003743953527169941, + 0.01261137716760917, + -0.2671301887869202 + ], + "held_position": [ + 0.38050593712543435, + -0.009449036145075898, + 1.0354510249467899 + ], + "held_minus_target": [ + 0.005076534177370418, + -0.007768381761483668, + 0.2653045755455332 + ], + "held_minus_gripper": [ + 0.005450929530087412, + 0.004842995406125502, + -0.0018256132413869697 + ], + "xy_dist": 0.012616933301869752, + "held_xy_dist": 0.009280029873128752, + "held_gripper_dist": 0.0075166549044677535, + "max_held_gripper_dist": 0.007575138323813751, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0354510249467899, + "required_height": 0.8001464494012567, + "gripper_z": 1.0372766381881768, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.46031027803889, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5277092587412218, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8719074161960463, + "max_source_tilt_deg": 89.88570409381117, + "source_upright_tilt_deg": 2.9775732204985714, + "max_source_upright_tilt_deg": 89.9263220960887, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8719074161960463, + "source_upright_return_tilt_deg": 2.9775732204985714, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.5366822481155396e-08, + "max_target_xy_drift": 1.2310401494769377e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3754, + -0.0017, + 0.7701 + ], + "controller_target_position": [ + 0.3754, + -0.0017, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0016, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3762, + -0.0285, + 1.0371 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007345007551479441, + -0.0016257098023143746, + 0.0017494473621433785 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.9775498421535307, + "source_return_step_error_deg": 2.871897380146918, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.013521081088148, + "source_return_best_wrist_position": -1.637028455734253, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.637028455734253 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3754, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3754, + -0.0017, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0016, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3762, + -0.0285, + 1.0371 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007345007551479441, + -0.0016257098023143746, + 0.0017494473621433785 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.9775498421535307, + "pour_controller_source_return_step_error_deg": 2.871897380146918, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.013521081088148, + "pour_controller_source_return_best_wrist_position": -1.637028455734253, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.637028455734253, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012616933301869752, + "valid_pour_held_xy_dist": 0.009280029873128752, + "valid_pour_held_gripper_dist": 0.0075166549044677535, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0354510249467899, + "valid_pour_source_tilt_deg": 2.8719074161960463, + "valid_pour_source_upright_tilt_deg": 2.9775732204985714, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.5366822481155396e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38050593712543435, + -0.033484980589467875, + 1.0354510249467899 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3689371314192593, + -0.009449036145075898, + 1.0354510249467899 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37472153427234683, + -0.021467008367271886, + 1.0354510249467899 + ], + "valid_pour_held_grasp_object_position": [ + 0.38050593712543435, + -0.009449036145075898, + 1.0354510249467899 + ], + "valid_pour_held_grasp_finger_gap": 0.026675154934903852, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024221888535268243, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01887780519349256, + -0.9986499565414896, + 0.048393106645032255 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006038063659458088, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03782769946290347, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38050593712543435, + -0.033484980589467875, + 1.0354510249467899 + ], + "held_grasp_finger_b": [ + 0.3689371314192593, + -0.009449036145075898, + 1.0354510249467899 + ], + "held_grasp_midpoint": [ + 0.37472153427234683, + -0.021467008367271886, + 1.0354510249467899 + ], + "held_grasp_object_position": [ + 0.38050593712543435, + -0.009449036145075898, + 1.0354510249467899 + ], + "held_grasp_finger_gap": 0.026675154934903852, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024221888535268243, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01887780519349256, + -0.9986499565414896, + 0.048393106645032255 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006038063659458088, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03782769946290347, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2705859219622104, + 0.20894791989291356, + 0.7611124811632308 + ], + "target_position": [ + 0.27400262533505226, + 0.2008708590510651, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008769992803925823, + "xy_threshold": 0.08, + "gripper_dist": 0.21045996368550296, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611124811632308, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554492289595674, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586883699542346, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18226284205786397, + "release_required_pad_clearance": 0.05293441849771173, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8854735568491454, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2aecaf2dd1bde23110bea9f11d37752d9d3f234f831be08dc03068fe4ba82938", + "visual_seed": 9023845762062120233, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0793465dbcc6f32237f44ca52ad982e5bdb700c1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_68_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29735535396538854, + 0.20072807522775657, + 1.0005608030985687 + ], + "current_z": 1.0005608030985687, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.1394540566652237, + "gripper_z": 1.0020328837043033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29220196293399403, + 0.1957566501321406, + 1.0020328837043033 + ], + "object_minus_gripper": [ + 0.005153391031394505, + 0.004971425095615961, + -0.0014720806057346714 + ], + "object_to_gripper_xy": 0.007160482288489895, + "object_to_gripper_z": -0.0014720806057346714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29735535396538854, + 0.17637358117463628, + 1.0005608030985687 + ], + "finger_b": [ + 0.2851564333546093, + 0.20072807522775657, + 1.0005608030985687 + ], + "finger_midpoint": [ + 0.29125589365999893, + 0.18855082820119642, + 1.0005608030985687 + ], + "object_minus_finger_midpoint": [ + 0.0060994603053896035, + 0.012177247026560145, + 0.0 + ], + "finger_gap": 0.027238851749873134, + "fingertip_max_gap": 0.0912244353945397, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013619425874936555, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0005608030985687, + "object_top_z": 1.0503864645169587, + "finger_top_clearance": 0.049825661418390066, + "fingertip_min_top_clearance": 0.014947698425516985, + "object_projection_between_fingers": 0.7994303493980821, + "object_to_finger_line_xy": 0.010907160925793953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811221769726985, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1666642258854312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3728956393009847, + -0.006468746022649033, + 0.770146389796612 + ], + "gripper_position": [ + 0.37346843432483623, + -0.01855276422665525, + 1.0349984655013318 + ], + "target_minus_gripper": [ + -0.0005727950238515467, + 0.012084018204006217, + -0.2648520757047198 + ], + "held_position": [ + 0.37882616967874283, + -0.013846077986407525, + 1.0334232059858806 + ], + "held_minus_target": [ + 0.0059305303777581475, + -0.007377331963758492, + 0.26327681618926857 + ], + "held_minus_gripper": [ + 0.005357735353906601, + 0.004706686240247724, + -0.0015752595154512328 + ], + "xy_dist": 0.012097586126748704, + "held_xy_dist": 0.009465527849254099, + "held_gripper_dist": 0.007303400990474068, + "max_held_gripper_dist": 0.007335413085231743, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146389796612, + "held_z": 1.0334232059858806, + "required_height": 0.800146389796612, + "gripper_z": 1.0349984655013318, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.57477058814996, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.23532561942729488, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.948136810906546, + "max_source_tilt_deg": 89.82189605951832, + "source_upright_tilt_deg": 2.977828222275007, + "max_source_upright_tilt_deg": 89.81443913253958, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.948136810906546, + "source_upright_return_tilt_deg": 2.977828222275007, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.4604848462278142e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3729, + -0.0065, + 0.7701 + ], + "controller_target_position": [ + 0.3729, + -0.0065, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0011, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3747, + -0.0328, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017745286875650453, + -0.0011084357107346335, + -0.001245778519337458 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.977817637617724, + "source_return_step_error_deg": 2.9481269161078596, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.007438056119519, + "source_return_best_wrist_position": -1.6385434865951538, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6385434865951538 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3729, + -0.0065, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3729, + -0.0065, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0011, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3747, + -0.0328, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017745286875650453, + -0.0011084357107346335, + -0.001245778519337458 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.977817637617724, + "pour_controller_source_return_step_error_deg": 2.9481269161078596, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.007438056119519, + "pour_controller_source_return_best_wrist_position": -1.6385434865951538, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6385434865951538, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012097586126748704, + "valid_pour_held_xy_dist": 0.009465527849254099, + "valid_pour_held_gripper_dist": 0.007303400990474068, + "valid_pour_required_height": 0.800146389796612, + "valid_pour_held_z": 1.0334232059858806, + "valid_pour_source_tilt_deg": 2.948136810906546, + "valid_pour_source_upright_tilt_deg": 2.977828222275007, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37882616967874283, + -0.03800796373978521, + 1.0334232059858806 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3676220545311801, + -0.013846077986407525, + 1.0334232059858806 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3732241121049614, + -0.025927020863096367, + 1.0334232059858806 + ], + "valid_pour_held_grasp_object_position": [ + 0.37882616967874283, + -0.013846077986407525, + 1.0334232059858806 + ], + "valid_pour_held_grasp_finger_gap": 0.026633229608876218, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023954123622553673, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.015631484854432828, + -0.9986497256497041, + 0.04954172121572374 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005445759356107173, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03756805130258178, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37882616967874283, + -0.03800796373978521, + 1.0334232059858806 + ], + "held_grasp_finger_b": [ + 0.3676220545311801, + -0.013846077986407525, + 1.0334232059858806 + ], + "held_grasp_midpoint": [ + 0.3732241121049614, + -0.025927020863096367, + 1.0334232059858806 + ], + "held_grasp_object_position": [ + 0.37882616967874283, + -0.013846077986407525, + 1.0334232059858806 + ], + "held_grasp_finger_gap": 0.026633229608876218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023954123622553673, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015631484854432828, + -0.9986497256497041, + 0.04954172121572374 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005445759356107173, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03756805130258178, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27849242848645084, + 0.20109841017628474, + 0.7611064029094864 + ], + "target_position": [ + 0.2728685958690585, + 0.19711492785523546, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006891706951877619, + "xy_threshold": 0.08, + "gripper_dist": 0.21857502563844372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064029094864, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559833254216293, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08836451305016467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18862891810558347, + "release_required_pad_clearance": 0.05418225652508234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3805304837914867, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1651fc721810de65e7d96269a5f614db095ba27d4be0fd7ec425c49583d9f942", + "visual_seed": 3511397851084619713, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..575666e47d0a7795fb8989d71333d0f134bda797 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_6_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.298851640702523, + 0.20534882521364933, + 1.001237523288404 + ], + "current_z": 1.001237523288404, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1401310748782829, + "gripper_z": 1.0024022070175058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2934599197131072, + 0.20045824647467797, + 1.0024022070175058 + ], + "object_minus_gripper": [ + 0.005391720989415816, + 0.004890578738971363, + -0.0011646837291017231 + ], + "object_to_gripper_xy": 0.007279314227987812, + "object_to_gripper_z": -0.0011646837291017231, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.298851640702523, + 0.18049203068940556, + 1.001237523288404 + ], + "finger_b": [ + 0.28720271078280235, + 0.20534882521364933, + 1.001237523288404 + ], + "finger_midpoint": [ + 0.2930271757426627, + 0.19292042795152745, + 1.001237523288404 + ], + "object_minus_finger_midpoint": [ + 0.0058244649598603315, + 0.012428397262121887, + 0.0 + ], + "finger_gap": 0.027451007309296293, + "fingertip_max_gap": 0.09126069588118566, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013725503654648146, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001237523288404, + "object_top_z": 1.0511899114088559, + "finger_top_clearance": 0.049952388120451774, + "fingertip_min_top_clearance": 0.014985716436135532, + "object_projection_between_fingers": 0.8199241413713956, + "object_to_finger_line_xy": 0.010548066749585316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813034794059283, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9485825252841079, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37636924898688245, + -0.002519978353150116, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37451849367518475, + -0.014553345938228851, + 1.0349632529171506 + ], + "target_minus_gripper": [ + 0.001850755311697705, + 0.012033367585078735, + -0.264816863120539 + ], + "held_position": [ + 0.3799554363299919, + -0.009751326915887454, + 1.0337001090946232 + ], + "held_minus_target": [ + 0.003586187343109448, + -0.007231348562737338, + 0.2635537192980115 + ], + "held_minus_gripper": [ + 0.005436942654807153, + 0.004802019022341397, + -0.0012631438225274572 + ], + "xy_dist": 0.012174860601312893, + "held_xy_dist": 0.008071749605611026, + "held_gripper_dist": 0.007363101550228637, + "max_held_gripper_dist": 0.0073764480873496135, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0337001090946232, + "required_height": 0.8001463897966117, + "gripper_z": 1.0349632529171506, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.53268296248434, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.613815011305493, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.9429949595919296, + "max_source_tilt_deg": 89.80312009019484, + "source_upright_tilt_deg": 2.7263215608633695, + "max_source_upright_tilt_deg": 89.72755635847896, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.9429949595919296, + "source_upright_return_tilt_deg": 2.7263215608633695, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0113135094158943e-07, + "max_target_xy_drift": 1.447961399373765e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3764, + -0.0025, + 0.7701 + ], + "controller_target_position": [ + 0.3764, + -0.0025, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0012, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3745, + -0.0289, + 1.034 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001882540891682611, + -0.0011973207783003037, + -0.0013845332017712023 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7263322903288127, + "source_return_step_error_deg": 2.9430032340245442, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.985545499381807, + "source_return_best_wrist_position": -1.6381276845932007, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6381276845932007 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3764, + -0.0025, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3764, + -0.0025, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0012, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3745, + -0.0289, + 1.034 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001882540891682611, + -0.0011973207783003037, + -0.0013845332017712023 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7263322903288127, + "pour_controller_source_return_step_error_deg": 2.9430032340245442, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.985545499381807, + "pour_controller_source_return_best_wrist_position": -1.6381276845932007, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6381276845932007, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.012174860601312893, + "valid_pour_held_xy_dist": 0.008071749605611026, + "valid_pour_held_gripper_dist": 0.007363101550228637, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0337001090946232, + "valid_pour_source_tilt_deg": 2.9429949595919296, + "valid_pour_source_upright_tilt_deg": 2.7263215608633695, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0113135094158943e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3799554363299919, + -0.03392595157757971, + 1.0337001090946232 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36859798018255785, + -0.009751326915887454, + 1.0337001090946232 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3742767082562749, + -0.02183863924673358, + 1.0337001090946232 + ], + "valid_pour_held_grasp_object_position": [ + 0.3799554363299919, + -0.009751326915887454, + 1.0337001090946232 + ], + "valid_pour_held_grasp_finger_gap": 0.026709629119001016, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024284149096687375, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012052584199517349, + -0.9988681412060344, + 0.04601273408215679 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005850344995025008, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03771506221826065, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3799554363299919, + -0.03392595157757971, + 1.0337001090946232 + ], + "held_grasp_finger_b": [ + 0.36859798018255785, + -0.009751326915887454, + 1.0337001090946232 + ], + "held_grasp_midpoint": [ + 0.3742767082562749, + -0.02183863924673358, + 1.0337001090946232 + ], + "held_grasp_object_position": [ + 0.3799554363299919, + -0.009751326915887454, + 1.0337001090946232 + ], + "held_grasp_finger_gap": 0.026709629119001016, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024284149096687375, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012052584199517349, + -0.9988681412060344, + 0.04601273408215679 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005850344995025008, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03771506221826065, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27505795798903926, + 0.2037029217532684, + 0.7611065092456024 + ], + "target_position": [ + 0.27422595353933943, + 0.20184001896211193, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002040254448253672, + "xy_threshold": 0.08, + "gripper_dist": 0.2150384275769572, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065092456024, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557634907930316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08931373071777414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18472674345783138, + "release_required_pad_clearance": 0.05465686535888707, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.356152288246005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "acb910400002578103f072159a3649e9af6cc635c3db8e59d19e3cae2f5fa77c", + "visual_seed": 2864060274008342396, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..28b0aa91fe07b24dd0a72e2a915ada3b3173d42b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_70_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29764867058422856, + 0.20199502952822246, + 1.0018492561612224 + ], + "current_z": 1.0018492561612224, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1407427481464566, + "gripper_z": 1.0027685003282432, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2924976229316649, + 0.19718995713452836, + 1.0027685003282432 + ], + "object_minus_gripper": [ + 0.005151047652563634, + 0.004805072393694099, + -0.0009192441670207163 + ], + "object_to_gripper_xy": 0.007044289362854316, + "object_to_gripper_z": -0.0009192441670207163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29764867058422856, + 0.17738686689712707, + 1.0018492561612224 + ], + "finger_b": [ + 0.28601256846092415, + 0.20199502952822246, + 1.0018492561612224 + ], + "finger_midpoint": [ + 0.2918306195225764, + 0.18969094821267476, + 1.0018492561612224 + ], + "object_minus_finger_midpoint": [ + 0.005818051061652174, + 0.012304081315547694, + 0.0 + ], + "finger_gap": 0.027220590381224444, + "fingertip_max_gap": 0.09113740346851093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361029519061221, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0018492561612224, + "object_top_z": 1.0517354549137372, + "finger_top_clearance": 0.049886198752514765, + "fingertip_min_top_clearance": 0.014965859625754412, + "object_projection_between_fingers": 0.8172657446837654, + "object_to_finger_line_xy": 0.01051935646626591, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806870173425547, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8037219005137568, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 172, + "max_stable_success_frames": 172, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37256992971960956, + -0.009095308513708338, + 0.770146568610546 + ], + "gripper_position": [ + 0.37281417914275555, + -0.021067201023873702, + 1.0350719496006755 + ], + "target_minus_gripper": [ + -0.0002442494231459924, + 0.011971892510165364, + -0.2649253809901295 + ], + "held_position": [ + 0.37803391581907153, + -0.016373553221433107, + 1.0340320502248765 + ], + "held_minus_target": [ + 0.0054639860994619704, + -0.007278244707724769, + 0.26388548161433056 + ], + "held_minus_gripper": [ + 0.005219736676315978, + 0.004693647802440595, + -0.0010398993757989583 + ], + "xy_dist": 0.011974383827807621, + "held_xy_dist": 0.009100988414487586, + "held_gripper_dist": 0.0070962927909733724, + "max_held_gripper_dist": 0.007108296486467468, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.770146568610546, + "held_z": 1.0340320502248765, + "required_height": 0.800146568610546, + "gripper_z": 1.0350719496006755, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.65301040509246, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9969430972783699, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8089359527004705, + "max_source_tilt_deg": 89.80705322235903, + "source_upright_tilt_deg": 2.6275937915560337, + "max_source_upright_tilt_deg": 89.86940184957975, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8089359527004705, + "source_upright_return_tilt_deg": 2.6275937915560337, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1420419216156006e-08, + "max_target_xy_drift": 1.7617758028020574e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3726, + -0.0091, + 0.7701 + ], + "controller_target_position": [ + 0.3726, + -0.0091, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0011, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3722, + -0.0354, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00034813650028331193, + -0.0010959400652739452, + -0.0012255119869002754 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.6276094168970663, + "source_return_step_error_deg": 2.8089599543924977, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.795431265142133, + "source_return_best_wrist_position": -1.6397178173065186, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6397178173065186 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3726, + -0.0091, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3726, + -0.0091, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0011, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3722, + -0.0354, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00034813650028331193, + -0.0010959400652739452, + -0.0012255119869002754 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.6276094168970663, + "pour_controller_source_return_step_error_deg": 2.8089599543924977, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.795431265142133, + "pour_controller_source_return_best_wrist_position": -1.6397178173065186, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6397178173065186, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011974383827807621, + "valid_pour_held_xy_dist": 0.009100988414487586, + "valid_pour_held_gripper_dist": 0.0070962927909733724, + "valid_pour_required_height": 0.800146568610546, + "valid_pour_held_z": 1.0340320502248765, + "valid_pour_source_tilt_deg": 2.8089359527004705, + "valid_pour_source_upright_tilt_deg": 2.6275937915560337, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1420419216156006e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.37803391581907153, + -0.04047193562344692, + 1.0340320502248765 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3668102496672409, + -0.016373553221433107, + 1.0340320502248765 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37242208274315625, + -0.028422744422440013, + 1.0340320502248765 + ], + "valid_pour_held_grasp_object_position": [ + 0.37803391581907153, + -0.016373553221433107, + 1.0340320502248765 + ], + "valid_pour_held_grasp_finger_gap": 0.026583880760367502, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02409952896261799, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0023595799016887958, + -0.9989486192040496, + 0.04578305989129671 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005667131971972868, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03769696872586119, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37803391581907153, + -0.04047193562344692, + 1.0340320502248765 + ], + "held_grasp_finger_b": [ + 0.3668102496672409, + -0.016373553221433107, + 1.0340320502248765 + ], + "held_grasp_midpoint": [ + 0.37242208274315625, + -0.028422744422440013, + 1.0340320502248765 + ], + "held_grasp_object_position": [ + 0.37803391581907153, + -0.016373553221433107, + 1.0340320502248765 + ], + "held_grasp_finger_gap": 0.026583880760367502, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02409952896261799, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0023595799016887958, + -0.9989486192040496, + 0.04578305989129671 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005667131971972868, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03769696872586119, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27070068457824825, + 0.20294908004149842, + 0.7611064646086126 + ], + "target_position": [ + 0.2731728270906453, + 0.19791685598832362, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005606671697446862, + "xy_threshold": 0.08, + "gripper_dist": 0.21476829613105958, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064646086126, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551759106534424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671271924790096, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18556097282044073, + "release_required_pad_clearance": 0.05335635962395048, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.729133328187797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2cde872fdd3771bb95fa8e7c48ccf5f9df954ef16cc2defdfa683892b8442a8", + "visual_seed": 807680627123100234, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0597f8d9e0da0114d348f1a736c337a3de8de33e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_71_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29726686217469356, + 0.2039146793727552, + 1.0035408945996418 + ], + "current_z": 1.0035408945996418, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.14243414816629685, + "gripper_z": 1.0045722395094128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2924590906910205, + 0.19929003181214652, + 1.0045722395094128 + ], + "object_minus_gripper": [ + 0.004807771483673062, + 0.00462464756060868, + -0.0010313449097709704 + ], + "object_to_gripper_xy": 0.006670984312608125, + "object_to_gripper_z": -0.0010313449097709704, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29726686217469356, + 0.17951300985460467, + 1.0035408945996418 + ], + "finger_b": [ + 0.28594473746567284, + 0.2039146793727552, + 1.0035408945996418 + ], + "finger_midpoint": [ + 0.2916057998201832, + 0.19171384461367993, + 1.0035408945996418 + ], + "object_minus_finger_midpoint": [ + 0.00566106235451036, + 0.012200834759075269, + 0.0 + ], + "finger_gap": 0.026900408606555674, + "fingertip_max_gap": 0.09094457900586841, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013450204303277837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0035408945996418, + "object_top_z": 1.0536635784052433, + "finger_top_clearance": 0.050122683805601476, + "fingertip_min_top_clearance": 0.01503680514168046, + "object_projection_between_fingers": 0.8228512408202265, + "object_to_finger_line_xy": 0.01027042932446312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797228950293421, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4264887694627279, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37478758013312286, + -0.009594176107413992, + 0.7701463897966117 + ], + "gripper_position": [ + 0.37344739920646863, + -0.021061683123198394, + 1.0362859125322323 + ], + "target_minus_gripper": [ + 0.001340180926654222, + 0.011467507015784402, + -0.2661395227356207 + ], + "held_position": [ + 0.3783020632645667, + -0.01652137372614915, + 1.0351658083632715 + ], + "held_minus_target": [ + 0.0035144831314438685, + -0.006927197618735158, + 0.2650194185666599 + ], + "held_minus_gripper": [ + 0.00485466405809809, + 0.0045403093970492435, + -0.0011201041689608005 + ], + "xy_dist": 0.011545553346342143, + "held_xy_dist": 0.007767731878110465, + "held_gripper_dist": 0.006740682894725611, + "max_held_gripper_dist": 0.006754896784673914, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0351658083632715, + "required_height": 0.8001463897966117, + "gripper_z": 1.0362859125322323, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.54415768028997, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3341101165519165, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8147689928680517, + "max_source_tilt_deg": 89.96425578584335, + "source_upright_tilt_deg": 2.6000751792952554, + "max_source_upright_tilt_deg": 89.9357462758132, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8147689928680517, + "source_upright_return_tilt_deg": 2.6000751792952554, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.4504256279764817e-08, + "max_target_xy_drift": 1.3920079463372662e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 218, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 218, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3748, + -0.0096, + 0.7701 + ], + "controller_target_position": [ + 0.3748, + -0.0096, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0006, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3734, + -0.0354, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014009803134837173, + -0.000614564093963776, + 0.0002740492366003814 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.600074123796181, + "source_return_step_error_deg": 2.814768707134865, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.836213106720539, + "source_return_best_wrist_position": -1.6385570764541626, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6385570764541626 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3748, + -0.0096, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3748, + -0.0096, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0006, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3734, + -0.0354, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014009803134837173, + -0.000614564093963776, + 0.0002740492366003814 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.600074123796181, + "pour_controller_source_return_step_error_deg": 2.814768707134865, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.836213106720539, + "pour_controller_source_return_best_wrist_position": -1.6385570764541626, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6385570764541626, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011545553346342143, + "valid_pour_held_xy_dist": 0.007767731878110465, + "valid_pour_held_gripper_dist": 0.006740682894725611, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0351658083632715, + "valid_pour_source_tilt_deg": 2.8147689928680517, + "valid_pour_source_upright_tilt_deg": 2.6000751792952554, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.4504256279764817e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3783020632645667, + -0.04027107650105299, + 1.0351658083632715 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3673137145100344, + -0.01652137372614915, + 1.0351658083632715 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37280788888730054, + -0.02839622511360107, + 1.0351658083632715 + ], + "valid_pour_held_grasp_object_position": [ + 0.3783020632645667, + -0.01652137372614915, + 1.0351658083632715 + ], + "valid_pour_held_grasp_finger_gap": 0.02616853435421072, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.023598889198570977, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.011499796881320896, + -0.9989705219544701, + 0.043882239433532755 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005382670535388155, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.037794441692071336, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3783020632645667, + -0.04027107650105299, + 1.0351658083632715 + ], + "held_grasp_finger_b": [ + 0.3673137145100344, + -0.01652137372614915, + 1.0351658083632715 + ], + "held_grasp_midpoint": [ + 0.37280788888730054, + -0.02839622511360107, + 1.0351658083632715 + ], + "held_grasp_object_position": [ + 0.3783020632645667, + -0.01652137372614915, + 1.0351658083632715 + ], + "held_grasp_finger_gap": 0.02616853435421072, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.023598889198570977, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.011499796881320896, + -0.9989705219544701, + 0.043882239433532755 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005382670535388155, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037794441692071336, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2703205018536887, + 0.20627180693518854, + 0.7611063049611226 + ], + "target_position": [ + 0.2731917161088827, + 0.20292922797057722, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004406439087731868, + "xy_threshold": 0.08, + "gripper_dist": 0.2140804250583593, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063049611226, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535016966437687, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09015513334797852, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18492270221454915, + "release_required_pad_clearance": 0.05507756667398926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.238557052930037, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01e2226f1573e2c2dfc3151fe572dba255a1f02f559bf5f88348253bdbe385f9", + "visual_seed": 1297326829794338744, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4c250f117c3f6f626f079257c61978a7fe874e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_72_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.30059143090917595, + 0.20887035007573684, + 1.0026437132299097 + ], + "current_z": 1.0026437132299097, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.14153732442443312, + "gripper_z": 1.0039527046597247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2955913539810604, + 0.20398802769875435, + 1.0039527046597247 + ], + "object_minus_gripper": [ + 0.005000076928115549, + 0.004882322376982495, + -0.0013089914298149985 + ], + "object_to_gripper_xy": 0.0069884076211864906, + "object_to_gripper_z": -0.0013089914298149985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.30059143090917595, + 0.18458109994237967, + 1.0026437132299097 + ], + "finger_b": [ + 0.2885899115478106, + 0.20887035007573684, + 1.0026437132299097 + ], + "finger_midpoint": [ + 0.29459067122849325, + 0.19672572500905827, + 1.0026437132299097 + ], + "object_minus_finger_midpoint": [ + 0.006000759680682699, + 0.012144625066678572, + 0.0 + ], + "finger_gap": 0.027092510755225667, + "fingertip_max_gap": 0.09136782222787185, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013546255377612833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0026437132299097, + "object_top_z": 1.0526563283772181, + "finger_top_clearance": 0.05001261514730837, + "fingertip_min_top_clearance": 0.015003784544192494, + "object_projection_between_fingers": 0.8037661379224097, + "object_to_finger_line_xy": 0.010759722802446609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048183911113935926, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.158000506231111, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37691889321867866, + -0.00681498428187512, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3765441061414806, + -0.017805027987239333, + 1.034783415092124 + ], + "target_minus_gripper": [ + 0.0003747870771980688, + 0.010990043705364213, + -0.26463702529551236 + ], + "held_position": [ + 0.3817566505085929, + -0.013182205735979275, + 1.033391726986328 + ], + "held_minus_target": [ + 0.004837757289914257, + -0.006367221454104155, + 0.2632453371897163 + ], + "held_minus_gripper": [ + 0.005212544367112326, + 0.004622822251260058, + -0.0013916881057960406 + ], + "xy_dist": 0.01099643242142879, + "held_xy_dist": 0.007996587062098603, + "held_gripper_dist": 0.0071047800901698375, + "max_held_gripper_dist": 0.007126583973233662, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.033391726986328, + "required_height": 0.8001463897966117, + "gripper_z": 1.034783415092124, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.49716597880028, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.41142628187802344, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.260596325194111, + "max_source_tilt_deg": 89.80062625662246, + "source_upright_tilt_deg": 1.8524044731055016, + "max_source_upright_tilt_deg": 89.85702493084248, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.260596325194111, + "source_upright_return_tilt_deg": 1.8524044731055016, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.075708031654358e-08, + "max_target_xy_drift": 1.5584285688460956e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3769, + -0.0068, + 0.7701 + ], + "controller_target_position": [ + 0.3769, + -0.0068, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3776, + -0.0321, + 1.0337 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006853897053176652, + -4.3000081488620175e-05, + -0.0016629426508890002 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8524060047942839, + "source_return_step_error_deg": 2.260598100558466, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.25261638616581, + "source_return_best_wrist_position": -1.6131664514541626, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131664514541626 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3769, + -0.0068, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3769, + -0.0068, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3776, + -0.0321, + 1.0337 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006853897053176652, + -4.3000081488620175e-05, + -0.0016629426508890002 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8524060047942839, + "pour_controller_source_return_step_error_deg": 2.260598100558466, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.25261638616581, + "pour_controller_source_return_best_wrist_position": -1.6131664514541626, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131664514541626, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01099643242142879, + "valid_pour_held_xy_dist": 0.007996587062098603, + "valid_pour_held_gripper_dist": 0.0071047800901698375, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.033391726986328, + "valid_pour_source_tilt_deg": 2.260596325194111, + "valid_pour_source_upright_tilt_deg": 1.8524044731055016, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.075708031654358e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3817566505085929, + -0.03771719965797533, + 1.033391726986328 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3707964057767951, + -0.013182205735979275, + 1.033391726986328 + ], + "valid_pour_held_grasp_midpoint": [ + 0.376276528142694, + -0.0254497026969773, + 1.033391726986328 + ], + "valid_pour_held_grasp_object_position": [ + 0.3817566505085929, + -0.013182205735979275, + 1.033391726986328 + ], + "valid_pour_held_grasp_finger_gap": 0.026871786158223363, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02426938246799186, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.02306426004005441, + -0.9994774190917619, + 0.02264792781857372 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005203223340495885, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03733276890150231, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3817566505085929, + -0.03771719965797533, + 1.033391726986328 + ], + "held_grasp_finger_b": [ + 0.3707964057767951, + -0.013182205735979275, + 1.033391726986328 + ], + "held_grasp_midpoint": [ + 0.376276528142694, + -0.0254497026969773, + 1.033391726986328 + ], + "held_grasp_object_position": [ + 0.3817566505085929, + -0.013182205735979275, + 1.033391726986328 + ], + "held_grasp_finger_gap": 0.026871786158223363, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02426938246799186, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02306426004005441, + -0.9994774190917619, + 0.02264792781857372 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005203223340495885, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03733276890150231, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26590371828266224, + 0.21103021066952649, + 0.7611086841067223 + ], + "target_position": [ + 0.27637809099835714, + 0.20470974623390573, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012233591233535663, + "xy_threshold": 0.08, + "gripper_dist": 0.20845114336629256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086841067223, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570459708342643, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09051560147793579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1802763544466012, + "release_required_pad_clearance": 0.0552578007389679, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.612191110817058, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc61c5b16d1b3ca1644f429374636138230e3c25f946352bfd4bfb029d220a65", + "visual_seed": 333750102711927626, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..14f45b0dc160c75ab395a153c8f0b912bd7bcf62 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_73_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2990030936635324, + 0.20344484671800164, + 1.0011585795290836 + ], + "current_z": 1.0011585795290836, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.14005177349109355, + "gripper_z": 1.0027563809023796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.29380112524180724, + 0.19857277933835865, + 1.0027563809023796 + ], + "object_minus_gripper": [ + 0.005201968421725156, + 0.004872067379642991, + -0.001597801373296015 + ], + "object_to_gripper_xy": 0.007127237614420263, + "object_to_gripper_z": -0.001597801373296015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2990030936635324, + 0.17886967756983688, + 1.0011585795290836 + ], + "finger_b": [ + 0.2871928742982458, + 0.20344484671800164, + 1.0011585795290836 + ], + "finger_midpoint": [ + 0.2930979839808891, + 0.19115726214391926, + 1.0011585795290836 + ], + "object_minus_finger_midpoint": [ + 0.005905109682643295, + 0.012287584574082383, + 0.0 + ], + "finger_gap": 0.02726573344175982, + "fingertip_max_gap": 0.09102800799084773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363286672087991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0011585795290836, + "object_top_z": 1.051092729104407, + "finger_top_clearance": 0.04993414957532338, + "fingertip_min_top_clearance": 0.014980244872597014, + "object_projection_between_fingers": 0.8123789511210496, + "object_to_finger_line_xy": 0.01064479483740293, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04801400399542387, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8134921481679114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37785561001364626, + -0.0004594771571940908, + 0.7701464494012563 + ], + "gripper_position": [ + 0.3770183848165263, + -0.010364896885770844, + 1.0362109872211178 + ], + "target_minus_gripper": [ + 0.000837225197119984, + 0.009905419728576753, + -0.2660645378198615 + ], + "held_position": [ + 0.3822668348116327, + -0.005594860989308795, + 1.0345160049957065 + ], + "held_minus_target": [ + 0.004411224797986446, + -0.005135383832114704, + 0.2643695555944502 + ], + "held_minus_gripper": [ + 0.00524844999510643, + 0.004770035896462049, + -0.0016949822254113123 + ], + "xy_dist": 0.009940738706452864, + "held_xy_dist": 0.006769864941157664, + "held_gripper_dist": 0.007291943125747037, + "max_held_gripper_dist": 0.007345574166578676, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012563, + "held_z": 1.0345160049957065, + "required_height": 0.8001464494012563, + "gripper_z": 1.0362109872211178, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.50282820562222, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.764948741498824, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.8418538966109193, + "max_source_tilt_deg": 89.89580319567314, + "source_upright_tilt_deg": 2.709950546728409, + "max_source_upright_tilt_deg": 89.67775280807106, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.8418538966109193, + "source_upright_return_tilt_deg": 2.709950546728409, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.56318156939522e-08, + "max_target_xy_drift": 1.2594270949769288e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3779, + -0.0005, + 0.7701 + ], + "controller_target_position": [ + 0.3779, + -0.0005, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.001, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3781, + -0.0247, + 1.0356 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027680540882783766, + 0.0009685868064376185, + 0.0002872970436057858 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.7099300601890772, + "source_return_step_error_deg": 2.8418343911927875, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8329716090983204, + "source_return_best_wrist_position": -1.6381586790084839, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6381586790084839 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3779, + -0.0005, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3779, + -0.0005, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.001, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3781, + -0.0247, + 1.0356 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00027680540882783766, + 0.0009685868064376185, + 0.0002872970436057858 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.7099300601890772, + "pour_controller_source_return_step_error_deg": 2.8418343911927875, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8329716090983204, + "pour_controller_source_return_best_wrist_position": -1.6381586790084839, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6381586790084839, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.009940738706452864, + "valid_pour_held_xy_dist": 0.006769864941157664, + "valid_pour_held_gripper_dist": 0.007291943125747037, + "valid_pour_required_height": 0.8001464494012563, + "valid_pour_held_z": 1.0345160049957065, + "valid_pour_source_tilt_deg": 2.8418538966109193, + "valid_pour_source_upright_tilt_deg": 2.709950546728409, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.56318156939522e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3822668348116327, + -0.029450618867758956, + 1.0345160049957065 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37072881199161767, + -0.005594860989308795, + 1.0345160049957065 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3764978234016252, + -0.017522739928533877, + 1.0345160049957065 + ], + "valid_pour_held_grasp_object_position": [ + 0.3822668348116327, + -0.005594860989308795, + 1.0345160049957065 + ], + "valid_pour_held_grasp_finger_gap": 0.02649949347724263, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02395372846872028, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010803297623620452, + -0.9988816911884099, + 0.04602885800275535 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005922902619037916, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03786803453024767, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3822668348116327, + -0.029450618867758956, + 1.0345160049957065 + ], + "held_grasp_finger_b": [ + 0.37072881199161767, + -0.005594860989308795, + 1.0345160049957065 + ], + "held_grasp_midpoint": [ + 0.3764978234016252, + -0.017522739928533877, + 1.0345160049957065 + ], + "held_grasp_object_position": [ + 0.3822668348116327, + -0.005594860989308795, + 1.0345160049957065 + ], + "held_grasp_finger_gap": 0.02649949347724263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02395372846872028, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010803297623620452, + -0.9988816911884099, + 0.04602885800275535 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005922902619037916, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03786803453024767, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2622935648025194, + 0.19872983339996086, + 0.7611079053294341 + ], + "target_position": [ + 0.27457916636883495, + 0.2001839896601467, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01237136113268432, + "xy_threshold": 0.08, + "gripper_dist": 0.2076368947003988, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079053294341, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525535001364694, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0880655353063629, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1784056800657203, + "release_required_pad_clearance": 0.05403276765318145, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0706240713192563, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a12885aa6bd42767053932b1dc25a47337f39b72164fa0fc507494a2b2946bdb", + "visual_seed": 8845757386270040738, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..471c59e8e46b4dcf378d8320bc9ba387e4dcbbad --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_74_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29525366725740987, + 0.20090234097754547, + 1.0034897156707898 + ], + "current_z": 1.0034897156707898, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.14238326726066874, + "gripper_z": 1.004777231544039, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2900237494099685, + 0.19606373490323364, + 1.004777231544039 + ], + "object_minus_gripper": [ + 0.005229917847441368, + 0.00483860607431183, + -0.0012875158732492675 + ], + "object_to_gripper_xy": 0.007124896450710921, + "object_to_gripper_z": -0.0012875158732492675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29525366725740987, + 0.17618795949236563, + 1.0034897156707898 + ], + "finger_b": [ + 0.2836387953418645, + 0.20090234097754547, + 1.0034897156707898 + ], + "finger_midpoint": [ + 0.2894462312996372, + 0.18854515023495555, + 1.0034897156707898 + ], + "object_minus_finger_midpoint": [ + 0.005807435957772666, + 0.012357190742589924, + 0.0 + ], + "finger_gap": 0.02730761618687222, + "fingertip_max_gap": 0.09136493388209674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013653808093436097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0034897156707898, + "object_top_z": 1.053451146051851, + "finger_top_clearance": 0.049961430381061156, + "fingertip_min_top_clearance": 0.014988429114318379, + "object_projection_between_fingers": 0.8190905432192976, + "object_to_finger_line_xy": 0.010511879669683085, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818246694104837, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0213851947206936, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3803306928879445, + -0.0076607020137383795, + 0.7701463301919672 + ], + "gripper_position": [ + 0.37868227267952403, + -0.018005626789189308, + 1.0351543088654365 + ], + "target_minus_gripper": [ + 0.0016484202084204869, + 0.010344924775450928, + -0.26500797867346926 + ], + "held_position": [ + 0.38401196497675216, + -0.013320356299836265, + 1.033760443259483 + ], + "held_minus_target": [ + 0.003681272088807641, + -0.005659654286097886, + 0.2636141130675157 + ], + "held_minus_gripper": [ + 0.005329692297228128, + 0.0046852704893530425, + -0.0013938656059535592 + ], + "xy_dist": 0.01047543592378224, + "held_xy_dist": 0.006751551734970291, + "held_gripper_dist": 0.007231890545977285, + "max_held_gripper_dist": 0.007251714119794627, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463301919672, + "held_z": 1.033760443259483, + "required_height": 0.8001463301919672, + "gripper_z": 1.0351543088654365, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.57734556946706, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.430742227932155, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0295356428246207, + "max_source_tilt_deg": 89.83158096596962, + "source_upright_tilt_deg": 2.568618595058781, + "max_source_upright_tilt_deg": 89.67797779467955, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0295356428246207, + "source_upright_return_tilt_deg": 2.568618595058781, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.1995369840975634e-08, + "max_target_xy_drift": 1.9867590395619386e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3803, + -0.0077, + 0.7701 + ], + "controller_target_position": [ + 0.3803, + -0.0077, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0007, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3794, + -0.0322, + 1.0341 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009625545416591073, + 0.0006736170183930796, + -0.0012698353877213897 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.5686099423798927, + "source_return_step_error_deg": 3.0294989378955326, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0685053867606733, + "source_return_best_wrist_position": -1.6384060382843018, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6384060382843018 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3803, + -0.0077, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3803, + -0.0077, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0007, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3794, + -0.0322, + 1.0341 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009625545416591073, + 0.0006736170183930796, + -0.0012698353877213897 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.5686099423798927, + "pour_controller_source_return_step_error_deg": 3.0294989378955326, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0685053867606733, + "pour_controller_source_return_best_wrist_position": -1.6384060382843018, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6384060382843018, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01047543592378224, + "valid_pour_held_xy_dist": 0.006751551734970291, + "valid_pour_held_gripper_dist": 0.007231890545977285, + "valid_pour_required_height": 0.8001463301919672, + "valid_pour_held_z": 1.033760443259483, + "valid_pour_source_tilt_deg": 3.0295356428246207, + "valid_pour_source_upright_tilt_deg": 2.568618595058781, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.1995369840975634e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38401196497675216, + -0.037539231835355534, + 1.033760443259483 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37292189022787187, + -0.013320356299836265, + 1.033760443259483 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37846692760231204, + -0.0254297940675959, + 1.033760443259483 + ], + "valid_pour_held_grasp_object_position": [ + 0.38401196497675216, + -0.013320356299836265, + 1.033760443259483 + ], + "valid_pour_held_grasp_finger_gap": 0.026637261310816587, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024215105405101824, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0018541909898899568, + -0.9989952775859334, + 0.04477719661587831 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055938006119405975, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03763326048422073, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38401196497675216, + -0.037539231835355534, + 1.033760443259483 + ], + "held_grasp_finger_b": [ + 0.37292189022787187, + -0.013320356299836265, + 1.033760443259483 + ], + "held_grasp_midpoint": [ + 0.37846692760231204, + -0.0254297940675959, + 1.033760443259483 + ], + "held_grasp_object_position": [ + 0.38401196497675216, + -0.013320356299836265, + 1.033760443259483 + ], + "held_grasp_finger_gap": 0.026637261310816587, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024215105405101824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0018541909898899568, + -0.9989952775859334, + 0.04477719661587831 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055938006119405975, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03763326048422073, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2745279623850111, + 0.1999009830766771, + 0.7611063416545867 + ], + "target_position": [ + 0.2706976950434265, + 0.19815466045240335, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004209583187924894, + "xy_threshold": 0.08, + "gripper_dist": 0.218776645079299, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063416545867, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560674400478334, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516943239628989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18829722273414312, + "release_required_pad_clearance": 0.05258471619814495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2340678525761545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b3be8cb97e8db5fcea326517a53ed8d8b805bbe3c518424e1d7af48ad1696d9", + "visual_seed": 4241475641968001737, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10e7f772fa3a01b671184c617b37f555dc2b5e99 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_75_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2964422531426424, + 0.20215929667272217, + 1.0030028185530089 + ], + "current_z": 1.0030028185530089, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.14189642974753258, + "gripper_z": 1.0042158758864383, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2913330990773648, + 0.19719366042043263, + 1.0042158758864383 + ], + "object_minus_gripper": [ + 0.005109154065277566, + 0.004965636252289546, + -0.001213057333429468 + ], + "object_to_gripper_xy": 0.007124675336658818, + "object_to_gripper_z": -0.001213057333429468, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2964422531426424, + 0.17785628737566883, + 1.0030028185530089 + ], + "finger_b": [ + 0.28422486526214463, + 0.20215929667272217, + 1.0030028185530089 + ], + "finger_midpoint": [ + 0.2903335592023935, + 0.1900077920241955, + 1.0030028185530089 + ], + "object_minus_finger_midpoint": [ + 0.006108693940248877, + 0.012151504648526684, + 0.0 + ], + "finger_gap": 0.027201118129870958, + "fingertip_max_gap": 0.09164059560997742, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600559064935491, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0030028185530089, + "object_top_z": 1.0529176909277023, + "finger_top_clearance": 0.049914872374693386, + "fingertip_min_top_clearance": 0.014974461712408032, + "object_projection_between_fingers": 0.7982640901702894, + "object_to_finger_line_xy": 0.01091570169387197, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832029780498871, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2408944030835392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 173, + "max_stable_success_frames": 173, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3803735486275381, + -0.008581341387100445, + 0.7701463897966117 + ], + "gripper_position": [ + 0.3790803809209634, + -0.021678518420773438, + 1.0372252415844987 + ], + "target_minus_gripper": [ + 0.0012931677065746716, + 0.013097177033672993, + -0.26707885178788704 + ], + "held_position": [ + 0.3843296036410542, + -0.01688296844910181, + 1.0359560706370865 + ], + "held_minus_target": [ + 0.003956055013516091, + -0.008301627062001365, + 0.26580968084047485 + ], + "held_minus_gripper": [ + 0.005249222720090763, + 0.004795549971671628, + -0.0012691709474121904 + ], + "xy_dist": 0.013160863534308792, + "held_xy_dist": 0.009196052585023599, + "held_gripper_dist": 0.0072223565122245224, + "max_held_gripper_dist": 0.007241241045569377, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701463897966117, + "held_z": 1.0359560706370865, + "required_height": 0.8001463897966117, + "gripper_z": 1.0372252415844987, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.56537224785203, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.16950463769359866, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8137260169276155, + "max_source_tilt_deg": 89.96918381214252, + "source_upright_tilt_deg": 1.7321992627610194, + "max_source_upright_tilt_deg": 89.83129420123333, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8137260169276155, + "source_upright_return_tilt_deg": 1.7321992627610194, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.7706993203109864e-08, + "max_target_xy_drift": 1.484546880382945e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3804, + -0.0086, + 0.7701 + ], + "controller_target_position": [ + 0.3804, + -0.0086, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0004, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3803, + -0.0342, + 1.0348 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.560078732942249e-05, + -0.00038648055901350543, + -0.0005663582428305758 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.732184129379423, + "source_return_step_error_deg": 1.8137107478134262, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8412522086505354, + "source_return_best_wrist_position": -1.613379955291748, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613379955291748 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3804, + -0.0086, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3804, + -0.0086, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0004, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3803, + -0.0342, + 1.0348 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.560078732942249e-05, + -0.00038648055901350543, + -0.0005663582428305758 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.732184129379423, + "pour_controller_source_return_step_error_deg": 1.8137107478134262, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8412522086505354, + "pour_controller_source_return_best_wrist_position": -1.613379955291748, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613379955291748, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.013160863534308792, + "valid_pour_held_xy_dist": 0.009196052585023599, + "valid_pour_held_gripper_dist": 0.0072223565122245224, + "valid_pour_required_height": 0.8001463897966117, + "valid_pour_held_z": 1.0359560706370865, + "valid_pour_source_tilt_deg": 1.8137260169276155, + "valid_pour_source_upright_tilt_deg": 1.7321992627610194, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.7706993203109864e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3843296036410542, + -0.0411104732630531, + 1.0359560706370865 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3728074192490002, + -0.01688296844910181, + 1.0359560706370865 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3785685114450272, + -0.028996720856077456, + 1.0359560706370865 + ], + "valid_pour_held_grasp_object_position": [ + 0.3843296036410542, + -0.01688296844910181, + 1.0359560706370865 + ], + "valid_pour_held_grasp_finger_gap": 0.026827834848800705, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.024179521137860188, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.00320361437775006, + -0.9995430383527049, + 0.030057467218009275 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005733844928109986, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0375935768655835, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3843296036410542, + -0.0411104732630531, + 1.0359560706370865 + ], + "held_grasp_finger_b": [ + 0.3728074192490002, + -0.01688296844910181, + 1.0359560706370865 + ], + "held_grasp_midpoint": [ + 0.3785685114450272, + -0.028996720856077456, + 1.0359560706370865 + ], + "held_grasp_object_position": [ + 0.3843296036410542, + -0.01688296844910181, + 1.0359560706370865 + ], + "held_grasp_finger_gap": 0.026827834848800705, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024179521137860188, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00320361437775006, + -0.9995430383527049, + 0.030057467218009275 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005733844928109986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0375935768655835, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26914150560450395, + 0.20432196715370773, + 0.7611063192441635 + ], + "target_position": [ + 0.271973582390925, + 0.19978769084373282, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005346056544723849, + "xy_threshold": 0.08, + "gripper_dist": 0.21516186967015527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063192441635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563437640440591, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599053191351931, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18569354799804735, + "release_required_pad_clearance": 0.05299526595675966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.024109805644249, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "baa620b178ab5993819193eef4ca39be56048f45089935d37699b647aded1290", + "visual_seed": 1607450163135781970, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..971bcd46d58291398e81eaf39ab99ba0984f4eb4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_76_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29523429996321704, + 0.20479059831691182, + 1.0012244852296361 + ], + "current_z": 1.0012244852296361, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1401179772148703, + "gripper_z": 1.0030495475075165, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2899246369277364, + 0.19991754457825622, + 1.0030495475075165 + ], + "object_minus_gripper": [ + 0.0053096630354806384, + 0.004873053738655597, + -0.0018250622778803738 + ], + "object_to_gripper_xy": 0.007206883812728963, + "object_to_gripper_z": -0.0018250622778803738, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29523429996321704, + 0.18001998189865911, + 1.0012244852296361 + ], + "finger_b": [ + 0.2835734290747104, + 0.20479059831691182, + 1.0012244852296361 + ], + "finger_midpoint": [ + 0.2894038645189637, + 0.19240529010778545, + 1.0012244852296361 + ], + "object_minus_finger_midpoint": [ + 0.0058304354442533235, + 0.012385308209126367, + 0.0 + ], + "finger_gap": 0.02737808151822608, + "fingertip_max_gap": 0.09111558258443067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013689040759113051, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0012244852296361, + "object_top_z": 1.0510711257239875, + "finger_top_clearance": 0.04984664049435139, + "fingertip_min_top_clearance": 0.014953992148305383, + "object_projection_between_fingers": 0.8185922031251822, + "object_to_finger_line_xy": 0.010550299504721602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805779129221534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9971878144267796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3722474387890522, + -0.00733589814356707, + 0.7701465090059011 + ], + "gripper_position": [ + 0.37240953065018145, + -0.019094599156856934, + 1.034656090976784 + ], + "target_minus_gripper": [ + -0.00016209186112925433, + 0.011758701013289864, + -0.2645095819708828 + ], + "held_position": [ + 0.3777634919251234, + -0.014328536735178917, + 1.0327237176484267 + ], + "held_minus_target": [ + 0.005516053136071175, + -0.006992638591611847, + 0.26257720864252565 + ], + "held_minus_gripper": [ + 0.005353961274941921, + 0.004766062421678017, + -0.001932373328357162 + ], + "xy_dist": 0.011759818165745098, + "held_xy_dist": 0.00890639302259113, + "held_gripper_dist": 0.007423901873075584, + "max_held_gripper_dist": 0.0074863493367125795, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059011, + "held_z": 1.0327237176484267, + "required_height": 0.8001465090059011, + "gripper_z": 1.034656090976784, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.61513017595557, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.47318595164091, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.7976346678898976, + "max_source_tilt_deg": 89.80823529111136, + "source_upright_tilt_deg": 2.749431102862864, + "max_source_upright_tilt_deg": 89.98731601846598, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.7976346678898976, + "source_upright_return_tilt_deg": 2.749431102862864, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1548399925231934e-07, + "max_target_xy_drift": 2.056647255976994e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3722, + -0.0073, + 0.7701 + ], + "controller_target_position": [ + 0.3722, + -0.0073, + 0.7701 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0008, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3728, + -0.0334, + 1.0336 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005826757950624516, + -0.0008310456055007865, + -0.0017907733067752485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.749429499603467, + "source_return_step_error_deg": 2.7976333170375773, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8105831531570806, + "source_return_best_wrist_position": -1.6397098302841187, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6397098302841187 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3722, + -0.0073, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3722, + -0.0073, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0008, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3728, + -0.0334, + 1.0336 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005826757950624516, + -0.0008310456055007865, + -0.0017907733067752485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.749429499603467, + "pour_controller_source_return_step_error_deg": 2.7976333170375773, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8105831531570806, + "pour_controller_source_return_best_wrist_position": -1.6397098302841187, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6397098302841187, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.011759818165745098, + "valid_pour_held_xy_dist": 0.00890639302259113, + "valid_pour_held_gripper_dist": 0.007423901873075584, + "valid_pour_required_height": 0.8001465090059011, + "valid_pour_held_z": 1.0327237176484267, + "valid_pour_source_tilt_deg": 2.7976346678898976, + "valid_pour_source_upright_tilt_deg": 2.749431102862864, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1548399925231934e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3777634919251234, + -0.038378668507249, + 1.0327237176484267 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36631415551338403, + -0.014328536735178917, + 1.0327237176484267 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3720388237192537, + -0.02635360262121396, + 1.0327237176484267 + ], + "valid_pour_held_grasp_object_position": [ + 0.3777634919251234, + -0.014328536735178917, + 1.0327237176484267 + ], + "valid_pour_held_grasp_finger_gap": 0.02663636879387119, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02419383523172785, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014969266562795413, + -0.9988488749534076, + 0.04557242656348415 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005929231234818681, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03779472062294559, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3777634919251234, + -0.038378668507249, + 1.0327237176484267 + ], + "held_grasp_finger_b": [ + 0.36631415551338403, + -0.014328536735178917, + 1.0327237176484267 + ], + "held_grasp_midpoint": [ + 0.3720388237192537, + -0.02635360262121396, + 1.0327237176484267 + ], + "held_grasp_object_position": [ + 0.3777634919251234, + -0.014328536735178917, + 1.0327237176484267 + ], + "held_grasp_finger_gap": 0.02663636879387119, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02419383523172785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014969266562795413, + -0.9988488749534076, + 0.04557242656348415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005929231234818681, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03779472062294559, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2697961348715281, + 0.20915205944779353, + 0.7611063395832488 + ], + "target_position": [ + 0.27061706530862906, + 0.20139537661707924, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007800003546079747, + "xy_threshold": 0.08, + "gripper_dist": 0.2126622972433101, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063395832488, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584441246142358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08626589362828456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1835570493642331, + "release_required_pad_clearance": 0.05313294681414228, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2917800697632607, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a6971db07e1d1cb56ebf1b1a8b0c9ec1d1d4e3615bd80e8d7f108a8c00ebe848", + "visual_seed": 6843840353170851317, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60392540015f6cbc632e19fdf12ba233a07a696e --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_77_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29424584433865736, + 0.20789624003703594, + 1.001460067540988 + ], + "current_z": 1.001460067540988, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14035355952622197, + "gripper_z": 1.0029736305006112, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.28888150076635216, + 0.20286729576014884, + 1.0029736305006112 + ], + "object_minus_gripper": [ + 0.005364343572305197, + 0.005028944276887104, + -0.001513562959623238 + ], + "object_to_gripper_xy": 0.007352990038193146, + "object_to_gripper_z": -0.001513562959623238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29424584433865736, + 0.1833134272528248, + 1.001460067540988 + ], + "finger_b": [ + 0.28207610227350766, + 0.20789624003703594, + 1.001460067540988 + ], + "finger_midpoint": [ + 0.2881609733060825, + 0.19560483364493036, + 1.001460067540988 + ], + "object_minus_finger_midpoint": [ + 0.006084871032574879, + 0.012291406392105575, + 0.0 + ], + "finger_gap": 0.02743022614408874, + "fingertip_max_gap": 0.09086311886728934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371511307204438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001460067540988, + "object_top_z": 1.0513970919038857, + "finger_top_clearance": 0.04993702436289782, + "fingertip_min_top_clearance": 0.014981107308869361, + "object_projection_between_fingers": 0.8031642538135563, + "object_to_finger_line_xy": 0.010906453678078213, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047931559433644674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7238987649231837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 170, + "max_stable_success_frames": 170, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.379627834916753, + -0.006959027287878023, + 0.7701464494012566 + ], + "gripper_position": [ + 0.37894049291502574, + -0.017613309556570714, + 1.035492601454808 + ], + "target_minus_gripper": [ + 0.0006873420017272647, + 0.01065428226869269, + -0.2653461520535514 + ], + "held_position": [ + 0.38447965605249734, + -0.012813082973233005, + 1.0338952551804947 + ], + "held_minus_target": [ + 0.004851821135744339, + -0.0058540556853549815, + 0.2637488057792381 + ], + "held_minus_gripper": [ + 0.005539163137471603, + 0.004800226583337709, + -0.0015973462743132938 + ], + "xy_dist": 0.010676430568702159, + "held_xy_dist": 0.007603297725361836, + "held_gripper_dist": 0.00750173437512745, + "max_held_gripper_dist": 0.007540208276488491, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701464494012566, + "held_z": 1.0338952551804947, + "required_height": 0.8001464494012567, + "gripper_z": 1.035492601454808, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.48123114746664, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.334971601285243, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1814818172086023, + "max_source_tilt_deg": 89.89090744030477, + "source_upright_tilt_deg": 1.8467171682194392, + "max_source_upright_tilt_deg": 89.87080229799962, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1814818172086023, + "source_upright_return_tilt_deg": 1.8467171682194392, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.76113143622932e-08, + "max_target_xy_drift": 1.739355553676002e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3796, + -0.007, + 0.7701 + ], + "controller_target_position": [ + 0.3796, + -0.007, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + 0.0003, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3807, + -0.0318, + 1.0345 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010786210903984666, + 0.00034804309087176034, + -0.0008018966070242549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 1.8467209655148396, + "source_return_step_error_deg": 2.1814854680701674, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1731595810193025, + "source_return_best_wrist_position": -1.612890601158142, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612890601158142 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3796, + -0.007, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3796, + -0.007, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + 0.0003, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3807, + -0.0318, + 1.0345 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010786210903984666, + 0.00034804309087176034, + -0.0008018966070242549 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 1.8467209655148396, + "pour_controller_source_return_step_error_deg": 2.1814854680701674, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1731595810193025, + "pour_controller_source_return_best_wrist_position": -1.612890601158142, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612890601158142, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.010676430568702159, + "valid_pour_held_xy_dist": 0.007603297725361836, + "valid_pour_held_gripper_dist": 0.00750173437512745, + "valid_pour_required_height": 0.8001464494012567, + "valid_pour_held_z": 1.0338952551804947, + "valid_pour_source_tilt_deg": 2.1814818172086023, + "valid_pour_source_upright_tilt_deg": 1.8467171682194392, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.76113143622932e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.38447965605249734, + -0.037475970166529586, + 1.0338952551804947 + ], + "valid_pour_held_grasp_finger_b": [ + 0.37313528041619587, + -0.012813082973233005, + 1.0338952551804947 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37880746823434663, + -0.025144526569881295, + 1.0338952551804947 + ], + "valid_pour_held_grasp_object_position": [ + 0.38447965605249734, + -0.012813082973233005, + 1.0338952551804947 + ], + "valid_pour_held_grasp_finger_gap": 0.02714687575554106, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.02440972211546887, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.02118721692901293, + -0.9994806232459001, + 0.02428138370830446 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005418006505315983, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.0372750332648301, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38447965605249734, + -0.037475970166529586, + 1.0338952551804947 + ], + "held_grasp_finger_b": [ + 0.37313528041619587, + -0.012813082973233005, + 1.0338952551804947 + ], + "held_grasp_midpoint": [ + 0.37880746823434663, + -0.025144526569881295, + 1.0338952551804947 + ], + "held_grasp_object_position": [ + 0.38447965605249734, + -0.012813082973233005, + 1.0338952551804947 + ], + "held_grasp_finger_gap": 0.02714687575554106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02440972211546887, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02118721692901293, + -0.9994806232459001, + 0.02428138370830446 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005418006505315983, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0372750332648301, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2633916226415768, + 0.20323720679328028, + 0.7611067862531808 + ], + "target_position": [ + 0.26960909986228476, + 0.20527575499186884, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0065431415809220645, + "xy_threshold": 0.08, + "gripper_dist": 0.20935654457539174, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067862531808, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550224634138346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496565240171113, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1791665918703222, + "release_required_pad_clearance": 0.052482826200855565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956386172406119, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4f3077bfd21e51b6072a3e78ca734867ec2d4f13f11c8e0a1f371416b44788e", + "visual_seed": 552599747846357604, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce82cbb22d18f823ad5812fe8802d864c78d870 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00016/results/episode_78_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.29403102027865924, + 0.2039799119518725, + 1.0019825871622174 + ], + "current_z": 1.0019825871622174, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1408760791474516, + "gripper_z": 1.00322937046464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2889570487990321, + 0.19906640136748935, + 1.00322937046464 + ], + "object_minus_gripper": [ + 0.005073971479627126, + 0.004913510584383163, + -0.0012467833024225605 + ], + "object_to_gripper_xy": 0.0070631276952151205, + "object_to_gripper_z": -0.0012467833024225605, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.29403102027865924, + 0.17966537211050435, + 1.0019825871622174 + ], + "finger_b": [ + 0.281948164185914, + 0.2039799119518725, + 1.0019825871622174 + ], + "finger_midpoint": [ + 0.2879895922322866, + 0.19182264203118843, + 1.0019825871622174 + ], + "object_minus_finger_midpoint": [ + 0.006041428046372643, + 0.012157269920684083, + 0.0 + ], + "finger_gap": 0.02715128466676062, + "fingertip_max_gap": 0.09113981511992134, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013575642333380322, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0019825871622174, + "object_top_z": 1.0519886044513709, + "finger_top_clearance": 0.05000601728915344, + "fingertip_min_top_clearance": 0.015001805186746063, + "object_projection_between_fingers": 0.801957481831066, + "object_to_finger_line_xy": 0.010820448810079198, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806990755996067, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8742620334533224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 171, + "max_stable_success_frames": 171, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_c", + "passed": true, + "metrics": { + "target": "beaker_c", + "held": "beaker_a", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.37551627671782417, + -0.009350114644832836, + 0.7701465090059013 + ], + "gripper_position": [ + 0.37362784372914243, + -0.019355498531599916, + 1.0369678778538218 + ], + "target_minus_gripper": [ + 0.001888432988681743, + 0.01000538388676708, + -0.2668213688479205 + ], + "held_position": [ + 0.3788937770520091, + -0.014690554518402326, + 1.035630824645505 + ], + "held_minus_target": [ + 0.0033775003341849352, + -0.00534043987356949, + 0.26548431563960373 + ], + "held_minus_gripper": [ + 0.005265933322866678, + 0.00466494401319759, + -0.0013370532083167852 + ], + "xy_dist": 0.01018203741273424, + "held_xy_dist": 0.006318845349478831, + "held_gripper_dist": 0.007160968348555657, + "max_held_gripper_dist": 0.007185181074965978, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7701465090059013, + "held_z": 1.035630824645505, + "required_height": 0.8001465090059013, + "gripper_z": 1.0369678778538218, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.48283624192159, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.2772768571186441, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 3.0761705084461055, + "max_source_tilt_deg": 89.95754737167297, + "source_upright_tilt_deg": 2.836891242110706, + "max_source_upright_tilt_deg": 89.75237988039787, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 3.0761705084461055, + "source_upright_return_tilt_deg": 2.836891242110706, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.980232238596059e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_c", + "raw_target_position": [ + 0.3755, + -0.0094, + 0.7701 + ], + "controller_target_position": [ + 0.3755, + -0.0094, + 0.7701 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.001, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3743, + -0.0336, + 1.0363 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001223763044711991, + 0.0009824392839191676, + 0.0009620908400689025 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_a", + "source_return_upright_error_deg": 2.836890280463384, + "source_return_step_error_deg": 3.0761681224388187, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0701575989370173, + "source_return_best_wrist_position": -1.6379356384277344, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6379356384277344 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_c", + "pour_controller_raw_target_position": [ + 0.3755, + -0.0094, + 0.7701 + ], + "pour_controller_controller_target_position": [ + 0.3755, + -0.0094, + 0.7701 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.001, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3743, + -0.0336, + 1.0363 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.065, + 0.0603, + 0.0904 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001223763044711991, + 0.0009824392839191676, + 0.0009620908400689025 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_a", + "pour_controller_source_return_upright_error_deg": 2.836890280463384, + "pour_controller_source_return_step_error_deg": 3.0761681224388187, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0701575989370173, + "pour_controller_source_return_best_wrist_position": -1.6379356384277344, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6379356384277344, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01018203741273424, + "valid_pour_held_xy_dist": 0.006318845349478831, + "valid_pour_held_gripper_dist": 0.007160968348555657, + "valid_pour_required_height": 0.8001465090059013, + "valid_pour_held_z": 1.035630824645505, + "valid_pour_source_tilt_deg": 3.0761705084461055, + "valid_pour_source_upright_tilt_deg": 2.836891242110706, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.980232238596059e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3788937770520091, + -0.03876525317180421, + 1.035630824645505 + ], + "valid_pour_held_grasp_finger_b": [ + 0.36782354856592536, + -0.014690554518402326, + 1.035630824645505 + ], + "valid_pour_held_grasp_midpoint": [ + 0.37335866280896723, + -0.02672790384510327, + 1.035630824645505 + ], + "valid_pour_held_grasp_object_position": [ + 0.3788937770520091, + -0.014690554518402326, + 1.035630824645505 + ], + "valid_pour_held_grasp_finger_gap": 0.026497944712490635, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_a_local_size", + "valid_pour_held_grasp_z_skew": 0.0238272659913818, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.01968603104639391, + -0.9987744893185528, + 0.045409026284477065 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005325455416922962, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.04972025007009506, + "valid_pour_held_grasp_top_clearance": 0.03758868821273644, + "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3788937770520091, + -0.03876525317180421, + 1.035630824645505 + ], + "held_grasp_finger_b": [ + 0.36782354856592536, + -0.014690554518402326, + 1.035630824645505 + ], + "held_grasp_midpoint": [ + 0.37335866280896723, + -0.02672790384510327, + 1.035630824645505 + ], + "held_grasp_object_position": [ + 0.3788937770520091, + -0.014690554518402326, + 1.035630824645505 + ], + "held_grasp_finger_gap": 0.026497944712490635, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0238272659913818, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01968603104639391, + -0.9987744893185528, + 0.045409026284477065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005325455416922962, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03758868821273644, + "held_grasp_min_top_clearance": 0.014916075021028518, + "liquid_check_enabled": false, + "liquid_source": "beaker_a", + "liquid_target": "beaker_c" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_c", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "beaker_c" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/beaker_3" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_c", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2729935945283239, + 0.1992331100291464, + 0.7611063764199187 + ], + "target_position": [ + 0.26965447913813767, + 0.2001445925592858, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0034612847313862795, + "xy_threshold": 0.08, + "gripper_dist": 0.21866882207871424, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063764199187, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753824015257814, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08852408152991396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18819712287313342, + "release_required_pad_clearance": 0.054262040764956984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.543113661011043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "a2f6d4c8b299632916e29d67a31e66d2dd46f395a22430c756e89b621fc05a65", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "526c3c23df03dd8c41ecac577f38d1a15b77fbb88dbcb58b360dbfb18b1447db", + "visual_seed": 3705427179617386328, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "3aedd4becd38edc19bd427e3a49e0332250dedc4b8f42c00cd478427577ad9a3" + } +} \ No newline at end of file